+ python -m lidar_slam --no-model /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.002557844 Adjusted end_distance from 9.223372036854776e+18 to 513.932557844 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002557844 meters Centerline goodness [0,1] 0.33894965690603984 Centerline is valid? [0, False] SLAMing on 0.032557844 meters Centerline goodness [0,1] 0.33894965690603984 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 1.00000000e+00 -4.35535525e-17 1.35218054e-16 1.10156329e-12] [ 3.22607865e-17 1.00000000e+00 1.69403284e-16 1.36383621e-14] [ 9.72591932e-17 2.49346870e-17 1.00000000e+00 -6.50146610e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062557844 meters SLAMing on 0.09255784400000001 meters Centerline goodness [0,1] 0.36208866544789764 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999890e-01 2.22205063e-05 4.69152201e-04 1.93222862e-03] [-2.23835876e-05 9.99999939e-01 3.47606269e-04 -2.00441878e-03] [-4.69144449e-04 -3.47616732e-04 9.99999830e-01 1.96571132e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12255784400000001 meters Centerline goodness [0,1] 0.3483904582833065 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999962e-01 3.63670136e-05 2.74709087e-04 3.58168023e-03] [-3.64766630e-05 9.99999920e-01 3.99153142e-04 -2.30591000e-03] [-2.74694549e-04 -3.99163148e-04 9.99999883e-01 -6.40029851e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15255784400000003 meters Centerline goodness [0,1] 0.3098543155579989 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 9.99999583e-01 2.17313458e-04 8.86782348e-04 3.93831258e-03] [-2.18288322e-04 9.99999372e-01 1.09937808e-03 -6.18460451e-03] [-8.86542882e-04 -1.09957119e-03 9.99999002e-01 4.02427082e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18255784400000002 meters Centerline goodness [0,1] 0.3155890919933029 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99999731e-01 3.93076273e-04 6.18758508e-04 5.63557149e-03] [-3.94058318e-04 9.99998662e-01 1.58780024e-03 -9.54502245e-03] [-6.18133553e-04 -1.58804364e-03 9.99998548e-01 -3.02577213e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21255784400000002 meters Centerline goodness [0,1] 0.33203901235695854 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99999811e-01 5.47443852e-04 2.81069950e-04 7.88046569e-03] [-5.48020133e-04 9.99997740e-01 2.05434821e-03 -1.28075473e-02] [-2.79944674e-04 -2.05450186e-03 9.99997850e-01 -7.89659251e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24255784400000002 meters Centerline goodness [0,1] 0.33999360613810736 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999765e-01 6.68243627e-04 -1.54013438e-04 1.07759531e-02] [-6.67844781e-04 9.99996461e-01 2.57534394e-03 -1.64480014e-02] [ 1.55733850e-04 -2.57524047e-03 9.99996672e-01 -1.77163501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.272557844 meters Centerline goodness [0,1] 0.325189090075636 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999508e-01 7.84696657e-04 -6.06456041e-04 1.37278251e-02] [-7.82816450e-04 9.99994906e-01 3.09436132e-03 -2.02539686e-02] [ 6.08881087e-04 -3.09388505e-03 9.99995029e-01 -2.70209107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302557844 meters Centerline goodness [0,1] 0.07638824725122428 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 9.99998965e-01 -1.30865175e-03 5.98681724e-04 9.44312146e-03] [ 1.30718587e-03 9.99996163e-01 2.44239521e-03 -2.25202280e-02] [-6.01875672e-04 -2.44161009e-03 9.99996838e-01 1.30894229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.332557844 meters Centerline goodness [0,1] 0.22650395564113868 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 9.99999150e-01 -1.27046141e-03 2.94454133e-04 1.14051173e-02] [ 1.26967575e-03 9.99995674e-01 2.65320199e-03 -2.39391712e-02] [-2.97823650e-04 -2.65282588e-03 9.99996437e-01 8.44591029e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362557844 meters Centerline goodness [0,1] 0.10434519374068552 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 9.99999220e-01 -1.24865185e-03 1.57442745e-05 1.33570547e-02] [ 1.24860345e-03 9.99995385e-01 2.76958843e-03 -2.46256481e-02] [-1.92024535e-05 -2.76956661e-03 9.99996165e-01 1.52665758e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392557844 meters Centerline goodness [0,1] 0.12281675804474057 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.00 [[ 9.99999180e-01 -1.24952500e-03 -2.79355062e-04 1.54833589e-02] [ 1.25031599e-03 9.99995159e-01 2.84946229e-03 -2.51851403e-02] [ 2.75793235e-04 -2.84980924e-03 9.99995901e-01 -7.02977108e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422557844 meters Centerline goodness [0,1] 0.20496306555863342 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99999437 -0.00300997 -0.00148276 0.02610994] [ 0.00301242 0.99999409 0.00165388 -0.02380669] [ 0.00147777 -0.00165834 0.99999753 -0.00658446] [ 0. 0. 0. 1. ]] SLAMing on 0.452557844 meters Centerline goodness [0,1] 0.214535579490012 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.9999941 -0.00291036 -0.00182303 0.02817015] [ 0.00291407 0.99999368 0.00203585 -0.02675926] [ 0.00181709 -0.00204115 0.99999627 -0.0070259 ] [ 0. 0. 0. 1. ]] SLAMing on 0.482557844 meters Centerline goodness [0,1] 0.11588022835838285 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99999382 -0.00283236 -0.0020843 0.02977458] [ 0.00283718 0.9999933 0.00231191 -0.02863898] [ 0.00207774 -0.00231781 0.99999516 -0.00731964] [ 0. 0. 0. 1. ]] SLAMing on 0.512557844 meters Centerline goodness [0,1] 0.2253828807667011 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99999306 -0.00289993 -0.00233936 0.03137552] [ 0.00290531 0.99999314 0.00229797 -0.02855064] [ 0.00233268 -0.00230475 0.99999462 -0.00769528] [ 0. 0. 0. 1. ]] SLAMing on 0.5425578440000001 meters Centerline goodness [0,1] 0.21000069837279145 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.9999918 -0.00317748 -0.0025116 0.03428568] [ 0.00318241 0.99999301 0.00196436 -0.02592609] [ 0.00250534 -0.00197233 0.99999492 -0.00839664] [ 0. 0. 0. 1. ]] SLAMing on 0.5725578440000001 meters Centerline goodness [0,1] 0.20112157297147604 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99999068 -0.00328834 -0.00279659 0.03627081] [ 0.00329321 0.99999306 0.00173937 -0.02447268] [ 0.00279085 -0.00174856 0.99999458 -0.00913477] [ 0. 0. 0. 1. ]] SLAMing on 0.6025578440000001 meters SLAMing on 0.632557844 meters Centerline goodness [0,1] 0.19512195121951215 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 9.99992900e-01 -3.06404856e-03 -2.19338571e-03 3.87612018e-02] [ 3.06563091e-03 9.99995043e-01 7.18422502e-04 -1.39647056e-02] [ 2.19117355e-03 -7.25141512e-04 9.99997336e-01 -9.88222169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6625578440000001 meters Centerline goodness [0,1] 0.19755544238159173 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 0.99999288 -0.00167587 -0.00338141 0.04945044] [ 0.00168012 0.9999978 0.00125627 -0.0103087 ] [ 0.00337929 -0.00126195 0.99999349 -0.01600403] [ 0. 0. 0. 1. ]] SLAMing on 0.6925578440000001 meters Centerline goodness [0,1] 0.16353300249295222 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.02 [[ 9.99991053e-01 -1.89277559e-03 -3.78310861e-03 5.18605196e-02] [ 1.89426069e-03 9.99998130e-01 3.89015658e-04 -3.80510217e-03] [ 3.78236522e-03 -3.96178371e-04 9.99992768e-01 -1.65287065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7225578440000001 meters Centerline goodness [0,1] 0.16354612598202944 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 9.99989153e-01 -2.11101923e-03 -4.15189913e-03 5.40190549e-02] [ 2.10945049e-03 9.99997702e-01 -3.82179590e-04 1.58614560e-03] [ 4.15269638e-03 3.73417219e-04 9.99991308e-01 -1.70300893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7525578440000001 meters Centerline goodness [0,1] 0.2014154148993509 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.02 [[ 9.99985128e-01 -1.01442267e-03 -5.35858098e-03 6.62692875e-02] [ 1.01151522e-03 9.99999340e-01 -5.45260722e-04 9.65562283e-03] [ 5.35913057e-03 5.39832327e-04 9.99985494e-01 -2.48673646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7825578440000001 meters Centerline goodness [0,1] 0.2014154148993509 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.02 [[ 9.99985128e-01 -1.01442267e-03 -5.35858098e-03 6.62692875e-02] [ 1.01151522e-03 9.99999340e-01 -5.45260722e-04 9.65562283e-03] [ 5.35913057e-03 5.39832327e-04 9.99985494e-01 -2.48673646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8125578440000001 meters SLAMing on 0.8425578440000001 meters Centerline goodness [0,1] 0.11122214217657034 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.03 [[ 9.99977752e-01 -1.57270288e-04 -6.66866776e-03 7.88422733e-02] [ 1.52795541e-04 9.99999763e-01 -6.71514690e-04 1.79376200e-02] [ 6.66877179e-03 6.70480807e-04 9.99977539e-01 -3.21019760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8725578440000001 meters SLAMing on 0.902557844 meters SLAMing on 0.9325578440000001 meters SLAMing on 0.9625578440000001 meters SLAMing on 0.9925578440000001 meters SLAMing on 1.022557844 meters SLAMing on 1.052557844 meters Centerline goodness [0,1] 0.12067367835796694 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.03 [[ 9.99982125e-01 -6.44011939e-04 -5.94424347e-03 8.47686126e-02] [ 6.36479797e-04 9.99998992e-01 -1.26893685e-03 2.17500683e-02] [ 5.94505469e-03 1.26513077e-03 9.99981528e-01 -3.12985158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.082557844 meters SLAMing on 1.1125578440000001 meters SLAMing on 1.1425578440000002 meters SLAMing on 1.1725578440000002 meters Centerline goodness [0,1] 0.12518832719096962 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.03 [[ 0.99984911 0.01511504 -0.00856097 0.11717779] [-0.01506736 0.99987076 0.00560709 0.01756505] [ 0.00864461 -0.00547725 0.99994763 -0.03153008] [ 0. 0. 0. 1. ]] SLAMing on 1.2025578440000002 meters SLAMing on 1.2325578440000002 meters SLAMing on 1.262557844 meters Centerline goodness [0,1] 0.35698468786808013 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.03 [[ 0.99985527 0.0151779 -0.00768621 0.11914074] [-0.01513294 0.99986823 0.00587425 0.01644411] [ 0.00777436 -0.00575708 0.99995321 -0.03106949] [ 0. 0. 0. 1. ]] SLAMing on 1.292557844 meters Centerline goodness [0,1] 0.35208017713553197 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.03 [[ 0.99986878 0.01356827 -0.00884998 0.12751415] [-0.01352569 0.99989674 0.00485431 0.01715268] [ 0.00891493 -0.00473397 0.99994906 -0.0347227 ] [ 0. 0. 0. 1. ]] SLAMing on 1.322557844 meters Centerline goodness [0,1] 0.3544294925707878 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.03 [[ 0.99990625 0.01046316 -0.00883246 0.1240607 ] [-0.01045067 0.99994433 0.00145831 0.01950809] [ 0.00884723 -0.00136587 0.99995993 -0.0305674 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3525578440000001 meters Centerline goodness [0,1] 0.3713933766049178 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.03 [[ 0.99990409 0.01017987 -0.00939027 0.12672764] [-0.01016195 0.99994646 0.00195402 0.01533793] [ 0.00940966 -0.00185841 0.999954 -0.03058956] [ 0. 0. 0. 1. ]] SLAMing on 1.3825578440000001 meters Centerline goodness [0,1] 0.3735395754484121 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.04 [[ 9.99995310e-01 3.03383407e-03 -4.18226911e-04 1.41081920e-01] [-3.03191150e-03 9.99985173e-01 4.52338464e-03 1.12196086e-02] [ 4.31943909e-04 -4.52209540e-03 9.99989682e-01 -3.66776418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4125578440000002 meters Centerline goodness [0,1] 0.37015100081938435 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.04 [[ 9.99994681e-01 3.12846556e-03 -9.22732996e-04 1.43313219e-01] [-3.12381966e-03 9.99982650e-01 4.99411062e-03 8.17169862e-03] [ 9.38340889e-04 -4.99120160e-03 9.99987104e-01 -3.60891872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4425578440000002 meters Centerline goodness [0,1] 0.3701152656733202 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.04 [[ 0.99999394 0.0032092 -0.00134743 0.14518834] [-0.00320208 0.99998106 0.00525531 0.00652855] [ 0.00136427 -0.00525096 0.99998528 -0.0354716 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4725578440000002 meters Centerline goodness [0,1] 0.3661411797726528 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:-0.04 [[ 0.99999287 0.00340647 -0.00162788 0.14837089] [-0.00339722 0.99997825 0.00565325 0.00428954] [ 0.00164711 -0.00564768 0.9999827 -0.03501717] [ 0. 0. 0. 1. ]] SLAMing on 1.5025578440000003 meters Centerline goodness [0,1] 0.3629843517138599 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:-0.03 [[ 0.99999185 0.0035231 -0.00197024 0.1499506 ] [-0.00351156 0.99997682 0.00583347 0.00320537] [ 0.00199075 -0.0058265 0.99998104 -0.03467365] [ 0. 0. 0. 1. ]] SLAMing on 1.532557844 meters Centerline goodness [0,1] 0.3623726107171371 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:-0.03 [[ 0.99999102 0.00357386 -0.00227836 0.15131268] [-0.00356038 0.99997629 0.00589434 0.00281693] [ 0.00229938 -0.00588618 0.99998003 -0.03435881] [ 0. 0. 0. 1. ]] SLAMing on 1.562557844 meters Centerline goodness [0,1] 0.3711989472200028 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:-0.03 [[ 0.9999902 0.00360009 -0.00257822 0.15265271] [-0.00358475 0.999976 0.0059287 0.00263282] [ 0.0025995 -0.0059194 0.9999791 -0.03412389] [ 0. 0. 0. 1. ]] SLAMing on 1.5925578440000001 meters Centerline goodness [0,1] 0.07229651914353541 Centerline is valid? [False, False] Translation: X:0.16, Y:0.00, Z:-0.03 [[ 0.99998934 0.00361967 -0.0028678 0.15535641] [-0.00360223 0.99997512 0.00606427 0.00192785] [ 0.00288968 -0.00605388 0.9999775 -0.03424073] [ 0. 0. 0. 1. ]] SLAMing on 1.6225578440000001 meters Centerline goodness [0,1] 0.07176390101205499 Centerline is valid? [False, False] Translation: X:0.16, Y:0.00, Z:-0.03 [[ 9.99987769e-01 3.74261198e-03 -3.23328975e-03 1.56951807e-01] [-3.72214724e-03 9.99973149e-01 6.31238476e-03 3.57164209e-04] [ 3.25682774e-03 -6.30027277e-03 9.99974850e-01 -3.38521650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6525578440000002 meters Centerline goodness [0,1] 0.07157212777528199 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:-0.03 [[ 0.9999861 0.00387451 -0.00357489 0.1583289 ] [-0.00385094 0.99997095 0.00657776 -0.00131271] [ 0.00360027 -0.0065639 0.99997198 -0.03333194] [ 0. 0. 0. 1. ]] SLAMing on 1.6825578440000002 meters Centerline goodness [0,1] 0.07115302186026573 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:-0.03 [[ 0.99998455 0.00397977 -0.00388169 0.15959959] [-0.00395348 0.99996935 0.00675818 -0.00249196] [ 0.00390846 -0.00674272 0.99996963 -0.03302155] [ 0. 0. 0. 1. ]] SLAMing on 1.7125578440000002 meters Centerline goodness [0,1] 0.07028753993610226 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:-0.04 [[ 0.99997542 0.00513213 -0.00477627 0.17078336] [-0.00509575 0.99995814 0.00759892 -0.00399034] [ 0.00481507 -0.0075744 0.99995972 -0.04041666] [ 0. 0. 0. 1. ]] SLAMing on 1.7425578440000002 meters Centerline goodness [0,1] 0.36374787695791655 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:-0.04 [[ 0.99997362 0.0052281 -0.00504208 0.17189459] [-0.00518888 0.99995643 0.00775983 -0.0048275 ] [ 0.00508243 -0.00773346 0.99995718 -0.04015775] [ 0. 0. 0. 1. ]] SLAMing on 1.7725578440000003 meters Centerline goodness [0,1] 0.2776106676772222 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:-0.04 [[ 0.99997108 0.00538327 -0.00537193 0.17316658] [-0.00534004 0.99995351 0.00802932 -0.00649646] [ 0.00541491 -0.00800041 0.99995334 -0.03969928] [ 0. 0. 0. 1. ]] SLAMing on 1.802557844 meters Centerline goodness [0,1] 0.2795926119367551 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:-0.04 [[ 0.99996802 0.00559212 -0.00571738 0.17451448] [-0.00554375 0.999949 0.00844132 -0.0089355 ] [ 0.0057643 -0.00840936 0.99994803 -0.03902256] [ 0. 0. 0. 1. ]] SLAMing on 1.832557844 meters Centerline goodness [0,1] 0.2680795949605558 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.04 [[ 0.99996465 0.00575161 -0.00613383 0.17618143] [-0.00569748 0.999945 0.00880558 -0.0110246 ] [ 0.00618414 -0.00877032 0.99994242 -0.03824878] [ 0. 0. 0. 1. ]] SLAMing on 1.8625578440000001 meters Centerline goodness [0,1] 0.37039063615168677 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.04 [[ 0.99996342 0.00588997 -0.00620161 0.17808427] [-0.00583341 0.99994158 0.00909997 -0.01301493] [ 0.00625484 -0.00906346 0.99993936 -0.03773436] [ 0. 0. 0. 1. ]] SLAMing on 1.8925578440000002 meters Centerline goodness [0,1] 0.37377119247756085 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.04 [[ 0.99996123 0.00600578 -0.00643917 0.17890457] [-0.0059459 0.99993928 0.00927817 -0.01396692] [ 0.0064945 -0.00923952 0.99993622 -0.03721602] [ 0. 0. 0. 1. ]] SLAMing on 1.9225578440000002 meters Centerline goodness [0,1] 0.38478529355880675 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.04 [[ 0.99995922 0.00617345 -0.00659154 0.1795131 ] [-0.00611038 0.99993576 0.00954689 -0.0156439 ] [ 0.00665005 -0.00950622 0.9999327 -0.0370932 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9525578440000002 meters Centerline goodness [0,1] 0.20345127610208813 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.04 [[ 0.99995734 0.00642122 -0.00663964 0.18008935] [-0.00635437 0.9999294 0.01004114 -0.01870289] [ 0.00670365 -0.00999852 0.99992754 -0.03717315] [ 0. 0. 0. 1. ]] SLAMing on 1.9825578440000002 meters Centerline goodness [0,1] 0.4419880076049335 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.04 [[ 0.99995592 0.00646611 -0.00680794 0.18052961] [-0.00639659 0.99992768 0.010184 -0.01950897] [ 0.0068733 -0.01014 0.99992497 -0.03673847] [ 0. 0. 0. 1. ]] SLAMing on 2.0125578440000003 meters Centerline goodness [0,1] 0.2148808940299971 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.04 [[ 0.99995368 0.00656739 -0.00703622 0.18108147] [-0.00649347 0.99992403 0.01047746 -0.02116701] [ 0.0071045 -0.01043129 0.99992035 -0.03592415] [ 0. 0. 0. 1. ]] SLAMing on 2.042557844 meters Centerline goodness [0,1] 0.2150086579030802 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.03 [[ 0.99994988 0.00681194 -0.00733713 0.1818745 ] [-0.00672995 0.99991528 0.01114166 -0.02520485] [ 0.0074124 -0.01109173 0.99991101 -0.03477252] [ 0. 0. 0. 1. ]] SLAMing on 2.0725578440000003 meters Centerline goodness [0,1] 0.5055966054576049 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.03 [[ 0.99997239 0.00280029 -0.0068825 0.18188515] [-0.00275181 0.99997141 0.00704338 -0.02503496] [ 0.00690203 -0.00702425 0.99995151 -0.03402599] [ 0. 0. 0. 1. ]] SLAMing on 2.102557844 meters Centerline goodness [0,1] 0.5142161635832522 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.03 [[ 0.99997031 0.0030029 -0.00709699 0.18238047] [-0.00294878 0.99996659 0.00762388 -0.02843316] [ 0.00711965 -0.00760272 0.99994575 -0.03320911] [ 0. 0. 0. 1. ]] SLAMing on 2.1325578440000004 meters Centerline goodness [0,1] 0.5362102689486552 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.03 [[ 0.99996871 0.00319946 -0.00723495 0.18266487] [-0.00314055 0.99996194 0.00813997 -0.03128544] [ 0.00726072 -0.008117 0.9999407 -0.03265145] [ 0. 0. 0. 1. ]] SLAMing on 2.162557844 meters Centerline goodness [0,1] 0.33472439575725965 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.03 [[ 0.99996731 0.0034285 -0.00732321 0.18274694] [-0.00336503 0.99995682 0.00866283 -0.03420534] [ 0.00735259 -0.00863791 0.99993566 -0.03212619] [ 0. 0. 0. 1. ]] SLAMing on 2.1925578440000004 meters Centerline goodness [0,1] 0.26254529210304267 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.03 [[ 0.99997801 0.00192405 -0.00634626 0.17640774] [-0.00187641 0.99997008 0.00750428 -0.03788482] [ 0.00636051 -0.0074922 0.9999517 -0.02712847] [ 0. 0. 0. 1. ]] SLAMing on 2.2225578440000002 meters Centerline goodness [0,1] 0.2618240316792476 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.03 [[ 0.99997683 0.0021574 -0.00645564 0.17654837] [-0.00210571 0.99996575 0.00800355 -0.04069044] [ 0.00647268 -0.00798977 0.99994713 -0.02628768] [ 0. 0. 0. 1. ]] SLAMing on 2.252557844 meters Centerline goodness [0,1] 0.2600453023439039 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.03 [[ 0.99997609 0.00233624 -0.00650902 0.17651844] [-0.00228192 0.99996261 0.00834119 -0.04254226] [ 0.00652826 -0.00832614 0.99994403 -0.02556308] [ 0. 0. 0. 1. ]] SLAMing on 2.2825578440000003 meters Centerline goodness [0,1] 0.3010792521794967 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.02 [[ 0.99997543 0.00250555 -0.00654618 0.17636609] [-0.00244901 0.99995976 0.00863038 -0.04413106] [ 0.00656754 -0.00861414 0.99994133 -0.02490795] [ 0. 0. 0. 1. ]] SLAMing on 2.312557844 meters Centerline goodness [0,1] 0.20050366639508188 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.02 [[ 0.99997562 0.00293007 -0.00633763 0.17625008] [-0.0028711 0.99995268 0.0092947 -0.04836359] [ 0.00636456 -0.00927628 0.99993672 -0.02427075] [ 0. 0. 0. 1. ]] SLAMing on 2.3425578440000003 meters Centerline goodness [0,1] 0.38163841102594187 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.02 [[ 0.99997493 0.00308791 -0.00637207 0.17609639] [-0.00302667 0.99994935 0.00959894 -0.04987532] [ 0.00640139 -0.00957942 0.99993363 -0.02367981] [ 0. 0. 0. 1. ]] SLAMing on 2.372557844 meters Centerline goodness [0,1] 0.36688689283151465 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.02 [[ 0.99997446 0.00320093 -0.00638935 0.17602549] [-0.00313776 0.99994634 0.00987251 -0.05121925] [ 0.00642061 -0.00985221 0.99993085 -0.02299346] [ 0. 0. 0. 1. ]] SLAMing on 2.4025578440000004 meters Centerline goodness [0,1] 0.37604394511831374 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.02 [[ 0.99997361 0.00333478 -0.00645407 0.17598637] [-0.0032687 0.99994242 0.01022165 -0.05304184] [ 0.00648779 -0.01020029 0.99992693 -0.02226857] [ 0. 0. 0. 1. ]] SLAMing on 2.432557844 meters Centerline goodness [0,1] 0.3698538684073882 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.02 [[ 0.99997201 0.00353178 -0.00659582 0.17615476] [-0.00346092 0.99993651 0.01072407 -0.05576501] [ 0.00663328 -0.01070094 0.99992074 -0.0213076 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4625578440000004 meters Centerline goodness [0,1] 0.37162728752527996 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.02 [[ 0.99997033 0.00372694 -0.0067409 0.17633353] [-0.00365097 0.99993008 0.01124783 -0.05862494] [ 0.00678235 -0.01122289 0.99991402 -0.02032868] [ 0. 0. 0. 1. ]] SLAMing on 2.4925578440000002 meters Centerline goodness [0,1] 0.366626036079961 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.02 [[ 9.99980544e-01 6.17255705e-03 -9.01101100e-04 1.94642063e-01] [-6.16886113e-03 9.99972778e-01 4.04828075e-03 -5.32646483e-02] [ 9.26064814e-04 -4.04264322e-03 9.99991400e-01 -2.20747266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522557844 meters Centerline goodness [0,1] 0.3615007440294684 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.02 [[ 0.99997963 0.00629749 -0.00103506 0.19470908] [-0.00629293 0.99997076 0.00434423 -0.0548225 ] [ 0.00106239 -0.00433762 0.99999003 -0.02128326] [ 0. 0. 0. 1. ]] SLAMing on 2.5525578440000003 meters Centerline goodness [0,1] 0.3540520628683693 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.02 [[ 9.99979574e-01 6.31560276e-03 -9.82546434e-04 1.94798137e-01] [-6.31129164e-03 9.99970706e-01 4.33061282e-03 -5.48779939e-02] [ 1.00986808e-03 -4.32432323e-03 9.99990140e-01 -2.08387594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582557844 meters Centerline goodness [0,1] 0.35415495195951396 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.02 [[ 9.99980388e-01 6.18343225e-03 -9.94081423e-04 1.94635454e-01] [-6.17951374e-03 9.99973310e-01 3.89774191e-03 -5.23093271e-02] [ 1.01815631e-03 -3.89152253e-03 9.99991910e-01 -2.04826349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6125578440000004 meters Centerline goodness [0,1] 0.3572528789027163 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.02 [[ 0.9999815 0.00599968 -0.0010026 0.19437905] [-0.00599629 0.99997641 0.003349 -0.04910413] [ 0.00102267 -0.00334293 0.99999389 -0.01995168] [ 0. 0. 0. 1. ]] SLAMing on 2.642557844 meters Centerline goodness [0,1] 0.3572528789027163 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.02 [[ 0.9999815 0.00599968 -0.0010026 0.19437905] [-0.00599629 0.99997641 0.003349 -0.04910413] [ 0.00102267 -0.00334293 0.99999389 -0.01995168] [ 0. 0. 0. 1. ]] SLAMing on 2.6725578440000004 meters Centerline goodness [0,1] 0.3472517902070834 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.02 [[ 0.99998255 0.00581507 -0.00104268 0.19427513] [-0.00581212 0.99997917 0.00280818 -0.04591762] [ 0.00105899 -0.00280207 0.99999551 -0.01941997] [ 0. 0. 0. 1. ]] SLAMing on 2.702557844 meters Centerline goodness [0,1] 0.33142235123367203 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.02 [[ 9.99984026e-01 5.56325380e-03 -9.99444626e-04 1.94156460e-01] [-5.56086442e-03 9.99981711e-01 2.37778381e-03 -4.35444311e-02] [ 1.01265456e-03 -2.37218805e-03 9.99996674e-01 -1.84299512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7325578440000005 meters Centerline goodness [0,1] 0.34822246876658147 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.02 [[ 0.99998407 0.00550166 -0.00125887 0.19459741] [-0.00549854 0.99998184 0.0024662 -0.04414363] [ 0.00127242 -0.00245924 0.99999617 -0.0176688 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7625578440000003 meters Centerline goodness [0,1] 0.3620577067260019 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.01 [[ 9.99994758e-01 3.23778686e-03 -4.43720542e-06 1.87211634e-01] [-3.23778508e-03 9.99994695e-01 3.55444630e-04 -4.10859101e-02] [ 5.58803583e-06 -3.55428401e-04 9.99999937e-01 -1.29527029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792557844 meters Centerline goodness [0,1] 0.3790802437908024 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.01 [[ 9.99995462e-01 2.96350505e-03 -5.41334036e-04 1.88437315e-01] [-2.96325572e-03 9.99995503e-01 4.60806107e-04 -4.21955214e-02] [ 5.42697203e-04 -4.59199905e-04 9.99999747e-01 -1.19652805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8225578440000003 meters Centerline goodness [0,1] 0.36720958083832334 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.01 [[ 9.99996159e-01 2.56300298e-03 -1.05517655e-03 1.89612219e-01] [-2.56240649e-03 9.99996557e-01 5.66259832e-04 -4.34663459e-02] [ 1.05662425e-03 -5.63553866e-04 9.99999283e-01 -1.09063704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852557844 meters Centerline goodness [0,1] 0.3911576918443561 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.01 [[ 9.99999734e-01 5.64388123e-04 4.61258206e-04 1.82768929e-01] [-5.63949172e-04 9.99999389e-01 -9.51214286e-04 -4.11112226e-02] [-4.61794778e-04 9.50953907e-04 9.99999441e-01 -7.31691339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8825578440000004 meters Centerline goodness [0,1] 0.3916738279385086 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.01 [[ 9.99998177e-01 -1.86962568e-03 -3.87631668e-04 1.86728075e-01] [ 1.86865208e-03 9.99995137e-01 -2.49697360e-03 -4.01904895e-02] [ 3.92298189e-04 2.49624470e-03 9.99996807e-01 -7.49077201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.912557844 meters Centerline goodness [0,1] 0.3992784268750149 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.01 [[ 9.99998015e-01 -1.88062155e-03 -6.57582337e-04 1.87055697e-01] [ 1.87915231e-03 9.99995753e-01 -2.22783954e-03 -4.17086336e-02] [ 6.61769267e-04 2.22659942e-03 9.99997302e-01 -6.34881450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9425578440000004 meters Centerline goodness [0,1] 0.39596022823025256 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.01 [[ 9.99997752e-01 -1.91350121e-03 -9.13459573e-04 1.87375208e-01] [ 1.91150533e-03 9.99995795e-01 -2.18086850e-03 -4.20023004e-02] [ 9.17628827e-04 2.17911752e-03 9.99997205e-01 -5.38408488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9725578440000002 meters Centerline goodness [0,1] 0.39591963052897206 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:-0.01 [[ 9.99999015e-01 -1.23040149e-03 6.74691594e-04 2.30966406e-01] [ 1.23162045e-03 9.99997605e-01 -1.80925347e-03 -4.01697714e-02] [-6.72463870e-04 1.81008265e-03 9.99998136e-01 -6.13856991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0025578440000005 meters Centerline goodness [0,1] 0.4146324155549248 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:-0.01 [[ 9.99999000e-01 -1.37114483e-03 3.47010762e-04 2.31693931e-01] [ 1.37180959e-03 9.99997211e-01 -1.92272890e-03 -3.97178294e-02] [-3.44373454e-04 1.92320301e-03 9.99998091e-01 -5.56860312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0325578440000003 meters Centerline goodness [0,1] 0.4135561789738956 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:-0.01 [[ 9.99998947e-01 -1.42981926e-03 2.48890662e-04 2.31764023e-01] [ 1.43032209e-03 9.99996913e-01 -2.03194834e-03 -3.91626522e-02] [-2.45984575e-04 2.03230220e-03 9.99997905e-01 -5.19095313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062557844 meters Centerline goodness [0,1] 0.41869367762798104 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:-0.00 [[ 9.99998730e-01 -1.59165555e-03 7.63370327e-05 2.32021856e-01] [ 1.59183254e-03 9.99995907e-01 -2.37748081e-03 -3.72377213e-02] [-7.25525897e-05 2.37759931e-03 9.99997171e-01 -4.65103198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0925578440000003 meters Centerline goodness [0,1] 0.42111659160769177 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:-0.00 [[ 9.99998401e-01 -1.78605757e-03 -8.39533597e-05 2.32164950e-01] [ 1.78581430e-03 9.99994447e-01 -2.81353497e-03 -3.47989138e-02] [ 8.89780290e-05 2.81338055e-03 9.99996038e-01 -3.95004592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122557844 meters Centerline goodness [0,1] 0.4487668749701855 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:-0.00 [[ 9.99998219e-01 -1.86967070e-03 -2.57365128e-04 2.32259497e-01] [ 1.86889852e-03 9.99993847e-01 -2.96857465e-03 -3.38961350e-02] [ 2.62913802e-04 2.96808838e-03 9.99995561e-01 -3.01590749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1525578440000004 meters Centerline goodness [0,1] 0.4792763472767302 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:-0.00 [[ 9.99997888e-01 -1.95345708e-03 -6.39092757e-04 2.32858346e-01] [ 1.95156504e-03 9.99993751e-01 -2.94784888e-03 -3.42939556e-02] [ 6.44847259e-04 2.94659542e-03 9.99995451e-01 -1.93826953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.182557844 meters Centerline goodness [0,1] 0.49347642590136265 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:-0.00 [[ 9.99997668e-01 -2.02009792e-03 -7.64284745e-04 2.33081377e-01] [ 2.01779277e-03 9.99993449e-01 -3.00492571e-03 -3.39663866e-02] [ 7.70349982e-04 3.00337653e-03 9.99995193e-01 -1.71449486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2125578440000004 meters Centerline goodness [0,1] 0.4692023843315356 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.00 [[ 0.99999833 -0.00140863 0.00116331 0.27600534] [ 0.00141092 0.99999706 -0.00197337 -0.03385705] [-0.00116053 0.00197501 0.99999738 -0.0028565 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2425578440000002 meters Centerline goodness [0,1] 0.48773071715324134 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:-0.00 [[ 9.99998592e-01 -1.41219041e-03 9.06454779e-04 2.76367055e-01] [ 1.41364234e-03 9.99997716e-01 -1.60313404e-03 -3.59540041e-02] [-9.04188778e-04 1.60441318e-03 9.99998304e-01 -1.92863701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2725578440000005 meters Centerline goodness [0,1] 0.5477028440977837 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:0.00 [[ 9.99983716e-01 -5.68637516e-03 4.83391694e-04 2.76564836e-01] [ 5.68904756e-03 9.99967460e-01 -5.71956066e-03 -3.61781921e-02] [-4.50852397e-04 5.72221755e-03 9.99983526e-01 3.29778587e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3025578440000003 meters Centerline goodness [0,1] 0.5500755857898715 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:0.00 [[ 9.99984497e-01 -5.56534235e-03 1.79954786e-04 2.77020407e-01] [ 5.56616694e-03 9.99972195e-01 -4.96266112e-03 -4.04554558e-02] [-1.52330874e-04 4.96358585e-03 9.99987670e-01 1.02805531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332557844 meters Centerline goodness [0,1] 0.5754305232696049 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:0.00 [[ 9.99985329e-01 -5.41671186e-03 -3.58704565e-05 2.77321634e-01] [ 5.41650412e-03 9.99975835e-01 -4.35774147e-03 -4.36740508e-02] [ 5.94742196e-05 4.35748324e-03 9.99990504e-01 1.77735541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3625578440000004 meters Centerline goodness [0,1] 0.5749007936507937 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.00 [[ 9.99986034e-01 -5.27819348e-03 -2.68194654e-04 2.77785645e-01] [ 5.27712579e-03 9.99978715e-01 -3.83690641e-03 -4.64441760e-02] [ 2.88440880e-04 3.83543753e-03 9.99992603e-01 2.24740760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.392557844 meters Centerline goodness [0,1] 0.5744710860366713 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.00 [[ 9.99986721e-01 -5.13421729e-03 -4.44362552e-04 2.78184296e-01] [ 5.13268852e-03 9.99981130e-01 -3.37571773e-03 -4.89298172e-02] [ 4.61685835e-04 3.37339213e-03 9.99994204e-01 2.49789744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4225578440000004 meters Centerline goodness [0,1] 0.5714118446010819 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.00 [[ 9.99987179e-01 -4.99885151e-03 -8.07847669e-04 2.78605850e-01] [ 4.99639528e-03 9.99982975e-01 -3.01440570e-03 -5.07748148e-02] [ 8.22902482e-04 3.01033073e-03 9.99995130e-01 3.84268737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.452557844 meters Centerline goodness [0,1] 0.5691594039921282 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.01 [[ 9.99987041e-01 -4.99763149e-03 -9.70098763e-04 2.78521912e-01] [ 4.99466703e-03 9.99982922e-01 -3.03457456e-03 -5.05467153e-02] [ 9.85247882e-04 3.02968992e-03 9.99994925e-01 5.07290315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4825578440000005 meters Centerline goodness [0,1] 0.5672127311022701 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.01 [[ 0.99998713 -0.00493998 -0.0011541 0.27843777] [ 0.00493659 0.99998355 -0.00291981 -0.05108627] [ 0.0011685 0.00291408 0.99999507 0.00646086] [ 0. 0. 0. 1. ]] SLAMing on 3.5125578440000003 meters Centerline goodness [0,1] 0.5638610947616245 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.01 [[ 0.9999874 -0.00484429 -0.00131451 0.27836692] [ 0.00484073 0.99998466 -0.0026938 -0.05230794] [ 0.00132754 0.0026874 0.99999551 0.00767097] [ 0. 0. 0. 1. ]] SLAMing on 3.5425578440000005 meters Centerline goodness [0,1] 0.5627739108017531 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.01 [[ 0.99998786 -0.00470854 -0.00145402 0.27824567] [ 0.00470511 0.99998616 -0.00235622 -0.05407947] [ 0.0014651 0.00234935 0.99999617 0.00878866] [ 0. 0. 0. 1. ]] SLAMing on 3.5725578440000003 meters Centerline goodness [0,1] 0.5596274454741177 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:0.01 [[ 0.999988 -0.00461599 -0.00163812 0.27831552] [ 0.00461251 0.99998712 -0.00211829 -0.05531681] [ 0.00164788 0.00211071 0.99999641 0.00980303] [ 0. 0. 0. 1. ]] SLAMing on 3.602557844 meters Centerline goodness [0,1] 0.5600176215539427 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.01 [[ 0.99999445 0.00296101 0.00152893 0.2941185 ] [-0.002954 0.99998522 -0.00456548 -0.05888733] [-0.00154243 0.00456094 0.99998841 0.01169657] [ 0. 0. 0. 1. ]] SLAMing on 3.6325578440000004 meters Centerline goodness [0,1] 0.5556690737687788 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.01 [[ 0.99999478 0.00296155 0.00128812 0.29380719] [-0.00295634 0.99998753 -0.00402395 -0.06198045] [-0.00130003 0.00402012 0.99999107 0.01371323] [ 0. 0. 0. 1. ]] SLAMing on 3.662557844 meters Centerline goodness [0,1] 0.5509338058709692 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.01 [[ 0.99999474 0.00304153 0.001124 0.29379765] [-0.00303745 0.99998886 -0.00361311 -0.06418408] [-0.00113498 0.00360968 0.99999284 0.01478033] [ 0. 0. 0. 1. ]] SLAMing on 3.6925578440000004 meters Centerline goodness [0,1] 0.5508707819691467 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.02 [[ 9.99994676e-01 3.14370530e-03 8.74269513e-04 2.94037149e-01] [-3.14097273e-03 9.99990232e-01 -3.10955061e-03 -6.69009067e-02] [-8.84036484e-04 3.10678800e-03 9.99994783e-01 1.58225231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7225578440000002 meters Centerline goodness [0,1] 0.54909099341434 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.02 [[ 9.99994378e-01 3.27504203e-03 7.19231625e-04 2.94065694e-01] [-3.27319495e-03 9.99991380e-01 -2.55445382e-03 -6.98613282e-02] [-7.27591370e-04 2.55208528e-03 9.99996479e-01 1.66650925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7525578440000005 meters Centerline goodness [0,1] 0.5452745937485615 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.02 [[ 9.99995471e-01 3.00372051e-03 1.89991581e-04 2.94889212e-01] [-3.00332607e-03 9.99993402e-01 -2.04340504e-03 -7.36136906e-02] [-1.96128145e-04 2.04282518e-03 9.99997894e-01 1.80588056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7825578440000003 meters Centerline goodness [0,1] 0.543476256339327 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:0.02 [[ 9.99995540e-01 2.98662160e-03 -1.61244027e-05 2.95108702e-01] [-2.98664817e-03 9.99993481e-01 -2.02930463e-03 -7.36331449e-02] [ 1.00635326e-05 2.02934373e-03 9.99997941e-01 1.89042972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8125578440000005 meters Centerline goodness [0,1] 0.5421962146840998 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:0.02 [[ 9.99995841e-01 2.87752042e-03 -1.94558450e-04 2.95199427e-01] [-2.87796248e-03 9.99993187e-01 -2.31135617e-03 -7.20051483e-02] [ 1.87906150e-04 2.31190649e-03 9.99997310e-01 1.98274925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8425578440000003 meters Centerline goodness [0,1] 0.5405076933660483 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:0.02 [[ 9.99996249e-01 2.71319595e-03 -3.74478373e-04 2.95152829e-01] [-2.71421960e-03 9.99992506e-01 -2.76064573e-03 -6.95371410e-02] [ 3.66985394e-04 2.76165180e-03 9.99996119e-01 2.10956839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.872557844 meters Centerline goodness [0,1] 0.5407321562478696 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:0.02 [[ 9.99996619e-01 2.54284398e-03 -5.43833829e-04 2.95142895e-01] [-2.54461648e-03 9.99991371e-01 -3.28379613e-03 -6.67359588e-02] [ 5.35478955e-04 3.28516887e-03 9.99994460e-01 2.21933832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9025578440000004 meters Centerline goodness [0,1] 0.5374979814989965 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:0.03 [[ 0.99999225 0.00296972 -0.00258505 0.24743119] [-0.00297655 0.99999207 -0.00264423 -0.06505409] [ 0.00257718 0.0026519 0.99999316 0.02817959] [ 0. 0. 0. 1. ]] SLAMing on 3.932557844 meters Centerline goodness [0,1] 0.5366357772326702 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.02 [[ 9.99996742e-01 -2.61942794e-04 2.53898566e-03 2.72414610e-01] [ 2.57133416e-04 9.99998173e-01 1.89435372e-03 -6.27131860e-02] [-2.53947723e-03 -1.89369470e-03 9.99994982e-01 2.13008432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9625578440000004 meters Centerline goodness [0,1] 0.534670292318151 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.02 [[ 9.99996865e-01 -5.49074153e-04 2.44292304e-03 2.72332159e-01] [ 5.46285550e-04 9.99999199e-01 1.14202340e-03 -5.88421424e-02] [-2.44354814e-03 -1.14068529e-03 9.99996364e-01 2.20471470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9925578440000002 meters Centerline goodness [0,1] 0.5339382940108892 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.02 [[ 9.99996917e-01 -8.42273270e-04 2.33606613e-03 2.72193867e-01] [ 8.41275642e-04 9.99999555e-01 4.28004481e-04 -5.51325106e-02] [-2.33642558e-03 -4.26037886e-04 9.99997180e-01 2.29375422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0225578440000005 meters Centerline goodness [0,1] 0.5320573945420697 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:0.02 [[ 9.99996981e-01 -1.09052522e-03 2.20204675e-03 2.72102402e-01] [ 1.09090098e-03 9.99999391e-01 -1.69448169e-04 -5.20312198e-02] [-2.20186062e-03 1.71849872e-04 9.99997561e-01 2.39482507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052557844000001 meters Centerline goodness [0,1] 0.5305277681959296 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.03 [[ 9.99998204e-01 -1.89524879e-03 1.72628346e-05 2.24503121e-01] [ 1.89525453e-03 9.99998147e-01 -3.38592769e-04 -5.02976580e-02] [-1.66210850e-05 3.38624879e-04 9.99999943e-01 3.04768966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082557844 meters Centerline goodness [0,1] 0.5282661190223646 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:0.03 [[ 0.99999042 -0.00354008 0.00257305 0.26655517] [ 0.00354565 0.99999138 -0.00216092 -0.04582128] [-0.00256538 0.00217002 0.99999435 0.02978493] [ 0. 0. 0. 1. ]] SLAMing on 4.112557844 meters Centerline goodness [0,1] 0.526645483431684 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:0.03 [[ 0.9999905 -0.00367073 0.00235059 0.26681266] [ 0.00367635 0.99999038 -0.00239272 -0.04453298] [-0.00234179 0.00240134 0.99999437 0.03057176] [ 0. 0. 0. 1. ]] SLAMing on 4.142557844000001 meters Centerline goodness [0,1] 0.5248132216436495 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:0.03 [[ 0.99999017 -0.0038573 0.00218623 0.2668702 ] [ 0.00386345 0.99998857 -0.0028183 -0.04223296] [-0.00217533 0.00282672 0.99999364 0.03143475] [ 0. 0. 0. 1. ]] SLAMing on 4.172557844 meters Centerline goodness [0,1] 0.5237638241477013 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:0.03 [[ 0.99998977 -0.00402656 0.00206199 0.26680655] [ 0.0040332 0.99998667 -0.00322527 -0.04009224] [-0.00204898 0.00323355 0.99999267 0.03240082] [ 0. 0. 0. 1. ]] SLAMing on 4.202557844 meters Centerline goodness [0,1] 0.5220048899755501 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:0.03 [[ 0.99998968 -0.00413185 0.00189039 0.2667495 ] [ 0.00413846 0.9999853 -0.00350418 -0.03871139] [-0.00187589 0.00351197 0.99999207 0.03366474] [ 0. 0. 0. 1. ]] SLAMing on 4.2325578440000005 meters Centerline goodness [0,1] 0.521601375970308 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:0.03 [[ 0.99998949 -0.0042288 0.00177125 0.26664423] [ 0.00423548 0.99998387 -0.00378462 -0.03729435] [-0.00175521 0.00379208 0.99999127 0.0346923 ] [ 0. 0. 0. 1. ]] SLAMing on 4.262557844000001 meters Centerline goodness [0,1] 0.5197025022961984 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.03, Z:0.04 [[ 0.99998928 -0.00439846 0.00144556 0.26667631] [ 0.00440492 0.99998018 -0.00449806 -0.03359818] [-0.00142575 0.00450438 0.99998884 0.03651098] [ 0. 0. 0. 1. ]] SLAMing on 4.292557844 meters Centerline goodness [0,1] 0.5189449304040836 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.03, Z:0.04 [[ 0.99998879 -0.00455915 0.00127493 0.26685021] [ 0.00456547 0.9999771 -0.00499541 -0.03093706] [-0.00125213 0.00500117 0.99998671 0.03719773] [ 0. 0. 0. 1. ]] SLAMing on 4.322557844 meters Centerline goodness [0,1] 0.5187819110138585 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.05 [[ 0.99998874 0.00332833 -0.0033823 0.24056239] [-0.00335011 0.99997356 -0.00645379 -0.03137813] [ 0.00336073 0.00646505 0.99997345 0.04689912] [ 0. 0. 0. 1. ]] SLAMing on 4.352557844000001 meters Centerline goodness [0,1] 0.516809937440929 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.03, Z:0.04 [[ 9.99997196e-01 3.77750012e-04 2.33763528e-03 2.65983234e-01] [-3.74732546e-04 9.99999096e-01 -1.29112331e-03 -3.36457001e-02] [-2.33812089e-03 1.29024370e-03 9.99996434e-01 3.87563305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382557844000001 meters Centerline goodness [0,1] 0.5159859503760076 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.03, Z:0.04 [[ 9.99997461e-01 2.44081109e-04 2.24031845e-03 2.65343600e-01] [-2.39965557e-04 9.99998284e-01 -1.83712407e-03 -3.07813929e-02] [-2.24076301e-03 1.83658181e-03 9.99995803e-01 4.06325782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412557844 meters Centerline goodness [0,1] 0.5157527575819347 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.03, Z:0.05 [[ 9.99993615e-01 2.28687070e-03 2.74605298e-03 2.58244495e-01] [-2.28567102e-03 9.99997291e-01 -4.39930867e-04 -2.55048256e-02] [-2.74705160e-03 4.33651484e-04 9.99996133e-01 4.86958719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442557844 meters Centerline goodness [0,1] 0.5121885702773488 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:0.05 [[ 0.99998701 -0.00268701 0.00433029 0.28083226] [ 0.00267124 0.99998979 0.00364341 -0.02090475] [-0.00434004 -0.0036318 0.99998399 0.04777234] [ 0. 0. 0. 1. ]] SLAMing on 4.472557844000001 meters Centerline goodness [0,1] 0.5154311889158485 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:0.06 [[ 9.99994180e-01 3.19701820e-03 -1.19138903e-03 2.52124844e-01] [-3.19671650e-03 9.99994858e-01 2.55050449e-04 -1.55977409e-02] [ 1.19219830e-03 -2.51240432e-04 9.99999258e-01 6.05216881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502557844 meters Centerline goodness [0,1] 0.51557423605589 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.01, Z:0.06 [[ 9.99994754e-01 2.93724666e-03 -1.36542508e-03 2.52406153e-01] [-2.93801774e-03 9.99995525e-01 -5.63058143e-04 -1.14772166e-02] [ 1.36376513e-03 5.67066832e-04 9.99998909e-01 6.09295367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532557844 meters Centerline goodness [0,1] 0.5136822855103815 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.01, Z:0.06 [[ 9.99994665e-01 3.26640574e-03 -6.08717566e-06 2.99835431e-01] [-3.26641132e-03 9.99993360e-01 -1.61541538e-03 -6.70770912e-03] [ 8.10533155e-07 1.61542665e-03 9.99998695e-01 5.67329256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5625578440000005 meters Centerline goodness [0,1] 0.5122300869097751 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:0.06 [[ 9.99985212e-01 5.42741203e-03 3.44065131e-04 2.94641078e-01] [-5.42744096e-03 9.99985268e-01 8.31922837e-05 -1.87359917e-03] [-3.43608544e-04 -8.50584466e-05 9.99999937e-01 6.19080802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592557844000001 meters Centerline goodness [0,1] 0.5122300869097751 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:0.06 [[ 9.99985212e-01 5.42741203e-03 3.44065131e-04 2.94641078e-01] [-5.42744096e-03 9.99985268e-01 8.31922837e-05 -1.87359917e-03] [-3.43608544e-04 -8.50584466e-05 9.99999937e-01 6.19080802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622557844 meters Centerline goodness [0,1] 0.5121802679658953 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:0.06 [[ 9.99987128e-01 5.06219370e-03 3.44514576e-04 2.93814018e-01] [-5.06180504e-03 9.99986562e-01 -1.11980268e-03 4.55829767e-03] [-3.50178605e-04 1.11804440e-03 9.99999314e-01 6.34943140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652557844 meters Centerline goodness [0,1] 0.5126211837020632 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:0.07 [[ 9.99988629e-01 4.75374781e-03 3.79850885e-04 2.92918154e-01] [-4.75285845e-03 9.99986040e-01 -2.30890114e-03 1.09558342e-02] [-3.90821516e-04 2.30706950e-03 9.99997262e-01 6.50583318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682557844000001 meters Centerline goodness [0,1] 0.5012247261067071 Centerline is valid? [False, False] Translation: X:0.32, Y:0.01, Z:0.06 [[ 0.9999821 0.00151116 0.00578956 0.31897095] [-0.00152465 0.99999613 0.00232627 0.01266203] [-0.00578602 -0.00233506 0.99998053 0.0565764 ] [ 0. 0. 0. 1. ]] SLAMing on 4.712557844 meters Centerline goodness [0,1] 0.5054016182253763 Centerline is valid? [False, False] Translation: X:0.29, Y:0.02, Z:0.07 [[ 9.99984524e-01 5.56016936e-03 -1.90586529e-04 2.86482457e-01] [-5.56063203e-03 9.99981365e-01 -2.51976920e-03 2.04980134e-02] [ 1.76572633e-04 2.52078999e-03 9.99996807e-01 7.29088723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742557844 meters Centerline goodness [0,1] 0.45449912477011367 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.07 [[ 0.99996554 0.00795821 0.00236141 0.32704642] [-0.00795323 0.99996615 -0.00211024 0.02981626] [-0.00237813 0.00209138 0.99999499 0.07444564] [ 0. 0. 0. 1. ]] SLAMing on 4.7725578440000005 meters Centerline goodness [0,1] 0.4494617424833397 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.08 [[ 0.99996761 0.00769467 0.00236223 0.32650609] [-0.0076874 0.99996574 -0.00307023 0.03477701] [-0.00238577 0.00305197 0.9999925 0.07548182] [ 0. 0. 0. 1. ]] SLAMing on 4.802557844000001 meters Centerline goodness [0,1] 0.42574190495504627 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:0.09 [[ 0.99997869 0.00468432 -0.00454647 0.29823229] [-0.00467678 0.99998767 0.00166753 0.03300706] [ 0.00455423 -0.00164623 0.99998827 0.08913068] [ 0. 0. 0. 1. ]] SLAMing on 4.832557844 meters Centerline goodness [0,1] 0.4097007916275326 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:0.09 [[ 9.99978863e-01 4.39703910e-03 -4.78947787e-03 2.98867024e-01] [-4.39341213e-03 9.99990054e-01 7.67536885e-04 3.75645848e-02] [ 4.79280513e-03 -7.46478512e-04 9.99988236e-01 8.91854743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862557844 meters Centerline goodness [0,1] 0.37394753168483563 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:0.09 [[ 9.99979554e-01 4.07156296e-03 -4.93095475e-03 2.98972983e-01] [-4.07238889e-03 9.99991695e-01 -1.57468852e-04 4.23361759e-02] [ 4.93027266e-03 1.77546398e-04 9.99987830e-01 8.97107658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892557844000001 meters Centerline goodness [0,1] 0.4045732397554902 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:0.10 [[ 0.99997344 0.00376074 -0.00624327 0.24574397] [-0.00376759 0.99999231 -0.00108472 0.04479194] [ 0.00623914 0.00110821 0.99997992 0.09983284] [ 0. 0. 0. 1. ]] SLAMing on 4.922557844000001 meters Centerline goodness [0,1] 0.38291538877863973 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.11 [[ 0.99997986 0.00209741 -0.00599077 0.23944746] [-0.00211743 0.99999219 -0.0033379 0.05120718] [ 0.00598372 0.00335052 0.99997648 0.10802033] [ 0. 0. 0. 1. ]] SLAMing on 4.952557844 meters Centerline goodness [0,1] 0.4179967040657381 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.11 [[ 0.99997962 0.00200908 -0.00606005 0.23868544] [-0.00203089 0.99999148 -0.00359437 0.0524891 ] [ 0.00605278 0.0036066 0.99997518 0.10997056] [ 0. 0. 0. 1. ]] SLAMing on 4.9825578440000005 meters Centerline goodness [0,1] 0.39857165245035486 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.11 [[ 0.99997882 0.00188815 -0.00622804 0.2386079 ] [-0.0019127 0.99999041 -0.00393881 0.05415775] [ 0.00622054 0.00395063 0.99997285 0.11111404] [ 0. 0. 0. 1. ]] SLAMing on 5.012557844000001 meters Centerline goodness [0,1] 0.354525693028259 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:0.12 [[ 0.99997744 0.00355141 -0.00570207 0.23320271] [-0.0035673 0.99998977 -0.00277941 0.05494466] [ 0.00569214 0.00279968 0.99997988 0.11609847] [ 0. 0. 0. 1. ]] SLAMing on 5.042557844 meters Centerline goodness [0,1] 0.3660803336657902 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:0.12 [[ 0.99997886 0.00480688 -0.00437764 0.22701831] [-0.00481563 0.99998643 -0.0019897 0.05498779] [ 0.00436802 0.00201074 0.99998844 0.1194244 ] [ 0. 0. 0. 1. ]] SLAMing on 5.072557844 meters Centerline goodness [0,1] 0.3718126922638715 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:0.12 [[ 0.99998018 0.0047372 -0.00414809 0.22553905] [-0.00474819 0.99998523 -0.0026441 0.05853286] [ 0.0041355 0.00266374 0.9999879 0.12095769] [ 0. 0. 0. 1. ]] SLAMing on 5.102557844000001 meters Centerline goodness [0,1] 0.35665985931472655 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.12 [[ 0.99998092 0.0045705 -0.00415659 0.22463863] [-0.00458425 0.99998403 -0.00330377 0.06196215] [ 0.00414142 0.00332276 0.9999859 0.12264894] [ 0. 0. 0. 1. ]] SLAMing on 5.132557844000001 meters Centerline goodness [0,1] 0.34361687816689834 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:0.12 [[ 9.99999218e-01 1.11876712e-03 5.58016030e-04 2.50967185e-01] [-1.11970370e-03 9.99997960e-01 1.68094125e-03 6.20362950e-02] [-5.56134310e-04 -1.68156474e-03 9.99998432e-01 1.15156122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162557844 meters Centerline goodness [0,1] 0.354517034433973 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.13 [[ 9.99998631e-01 1.61024732e-03 -3.81309030e-04 1.97420977e-01] [-1.60950498e-03 9.99996825e-01 1.93919100e-03 6.13195505e-02] [ 3.84430397e-04 -1.93857463e-03 9.99998047e-01 1.25340237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192557844 meters Centerline goodness [0,1] 0.3588324106693508 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.13 [[ 9.99998553e-01 1.61017962e-03 -5.48588382e-04 1.96331335e-01] [-1.60910831e-03 9.99996809e-01 1.94773491e-03 6.16316641e-02] [ 5.51722835e-04 -1.94684936e-03 9.99997953e-01 1.28444509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222557844000001 meters Centerline goodness [0,1] 0.3477446125016731 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.13 [[ 9.99999341e-01 5.68768107e-04 9.97264392e-04 2.42077474e-01] [-5.69855085e-04 9.99999244e-01 1.09001418e-03 6.26790405e-02] [-9.96643672e-04 -1.09058176e-03 9.99998909e-01 1.26224136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252557844 meters Centerline goodness [0,1] 0.35735260899028687 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.13 [[ 9.99998224e-01 -9.58373958e-04 1.62251108e-03 2.36517426e-01] [ 9.58970811e-04 9.99999473e-01 -3.67119393e-04 6.36392551e-02] [-1.62215838e-03 3.68674682e-04 9.99998616e-01 1.31082561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282557844 meters Centerline goodness [0,1] 0.34503067484662575 Centerline is valid? [False, False] Translation: X:0.28, Y:0.07, Z:0.13 [[ 9.99994913e-01 -7.59844337e-04 3.09794967e-03 2.82126471e-01] [ 7.60951724e-04 9.99999647e-01 -3.56294801e-04 6.59065646e-02] [-3.09767785e-03 3.58650379e-04 9.99995138e-01 1.28763557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3125578440000005 meters Centerline goodness [0,1] 0.3489802378691268 Centerline is valid? [False, False] Translation: X:0.28, Y:0.07, Z:0.13 [[ 9.99995169e-01 -9.01486707e-04 2.97477957e-03 2.82106457e-01] [ 9.03825121e-04 9.99999284e-01 -7.84828947e-04 6.81453202e-02] [-2.97406992e-03 7.87513836e-04 9.99995267e-01 1.29446000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342557844000001 meters Centerline goodness [0,1] 0.3359104598372814 Centerline is valid? [False, False] Translation: X:0.28, Y:0.07, Z:0.13 [[ 0.99999555 -0.0010729 0.00278533 0.28220079] [ 0.00107685 0.99999842 -0.00141705 0.0715285 ] [-0.00278381 0.00142004 0.99999512 0.13026012] [ 0. 0. 0. 1. ]] SLAMing on 5.372557844 meters Centerline goodness [0,1] 0.3430501886877726 Centerline is valid? [False, False] Translation: X:0.28, Y:0.07, Z:0.14 [[ 9.99993405e-01 7.50959995e-04 3.55340893e-03 2.75286482e-01] [-7.52143700e-04 9.99999662e-01 3.31793708e-04 7.04277291e-02] [-3.55315856e-03 -3.34464194e-04 9.99993632e-01 1.36675230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402557844 meters Centerline goodness [0,1] 0.3440729208970714 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:0.14 [[ 9.99993608e-01 7.41223836e-04 3.49772680e-03 2.74504021e-01] [-7.42277868e-04 9.99999679e-01 3.00059102e-04 7.05423384e-02] [-3.49750327e-03 -3.02653470e-04 9.99993838e-01 1.38572068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432557844000001 meters Centerline goodness [0,1] 0.35186748499851694 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:0.14 [[ 9.99993809e-01 7.66223796e-04 3.43444363e-03 2.73865048e-01] [-7.67508303e-04 9.99999636e-01 3.72704982e-04 7.02329127e-02] [-3.43415680e-03 -3.75338638e-04 9.99994033e-01 1.40285065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462557844000001 meters Centerline goodness [0,1] 0.34206771600045294 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:0.14 [[ 9.99994247e-01 8.12340138e-04 3.29334784e-03 2.73511080e-01] [-8.14200012e-04 9.99999510e-01 5.63435431e-04 6.93819439e-02] [-3.29288853e-03 -5.66113633e-04 9.99994418e-01 1.41894901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492557844 meters Centerline goodness [0,1] 0.33859269343212306 Centerline is valid? [False, False] Translation: X:0.32, Y:0.07, Z:0.14 [[ 9.99989427e-01 -1.53190496e-03 4.33589447e-03 3.18384371e-01] [ 1.53179558e-03 9.99998826e-01 2.85472973e-05 6.74052061e-02] [-4.33593312e-03 -2.19052915e-05 9.99990600e-01 1.40412543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5225578440000005 meters Centerline goodness [0,1] 0.3440569140249222 Centerline is valid? [False, False] Translation: X:0.32, Y:0.06, Z:0.14 [[ 0.99999013 -0.00139751 0.00421851 0.31815939] [ 0.00139327 0.99999852 0.00100853 0.06203951] [-0.00421992 -0.00100264 0.99999059 0.14171908] [ 0. 0. 0. 1. ]] SLAMing on 5.552557844000001 meters Centerline goodness [0,1] 0.3455023955732506 Centerline is valid? [False, False] Translation: X:0.31, Y:0.06, Z:0.15 [[ 9.99981757e-01 -3.19751599e-03 5.12456787e-03 3.11442151e-01] [ 3.19962319e-03 9.99994800e-01 -4.03050725e-04 6.01854447e-02] [-5.12325246e-03 4.19440058e-04 9.99986788e-01 1.47006798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582557844 meters Centerline goodness [0,1] 0.3541394089781187 Centerline is valid? [False, False] Translation: X:0.31, Y:0.06, Z:0.15 [[ 9.99983415e-01 -2.90056070e-03 4.97562654e-03 3.11077576e-01] [ 2.89818817e-03 9.99995683e-01 4.83974115e-04 5.57071986e-02] [-4.97700886e-03 -4.69545787e-04 9.99987504e-01 1.48804282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612557844 meters Centerline goodness [0,1] 0.35395041992209486 Centerline is valid? [False, False] Translation: X:0.31, Y:0.05, Z:0.15 [[ 0.99998496 -0.00267303 0.00478988 0.31091041] [ 0.002668 0.99999588 0.00105672 0.0529185 ] [-0.00479269 -0.00104392 0.99998797 0.15032715] [ 0. 0. 0. 1. ]] SLAMing on 5.642557844000001 meters Centerline goodness [0,1] 0.3493333333333334 Centerline is valid? [False, False] Translation: X:0.31, Y:0.05, Z:0.15 [[ 0.99998638 -0.00247031 0.00459711 0.31092375] [ 0.00246359 0.99999589 0.00146723 0.05090082] [-0.00460071 -0.00145588 0.99998836 0.15149273] [ 0. 0. 0. 1. ]] SLAMing on 5.672557844000001 meters Centerline goodness [0,1] 0.34217679433898684 Centerline is valid? [False, False] Translation: X:0.31, Y:0.05, Z:0.15 [[ 0.99998955 -0.0019996 0.00411075 0.31048316] [ 0.00199081 0.99999573 0.00214042 0.0465104 ] [-0.00411501 -0.00213222 0.99998926 0.15441466] [ 0. 0. 0. 1. ]] SLAMing on 5.702557844 meters Centerline goodness [0,1] 0.34628289698934056 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.17 [[ 0.99999198 0.00369099 0.0015546 0.27962232] [-0.00368883 0.99999223 -0.00138925 0.04273692] [-0.00155972 0.0013835 0.99999783 0.16548954] [ 0. 0. 0. 1. ]] SLAMing on 5.7325578440000005 meters Centerline goodness [0,1] 0.3248657117278424 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:0.16 [[ 0.99998727 0.0042719 0.0026869 0.32478653] [-0.00426847 0.99999007 -0.00128125 0.04290145] [-0.00269235 0.00126977 0.99999557 0.16389403] [ 0. 0. 0. 1. ]] SLAMing on 5.762557844000001 meters Centerline goodness [0,1] 0.33449335623248666 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:0.17 [[ 9.99986634e-01 4.44925073e-03 2.63367470e-03 3.24041824e-01] [-4.44691045e-03 9.99989713e-01 -8.93788748e-04 4.09936604e-02] [-2.63762429e-03 8.82065086e-04 9.99996132e-01 1.65714922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792557844 meters Centerline goodness [0,1] 0.32825354012137564 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:0.17 [[ 9.99985831e-01 4.66290940e-03 2.56807975e-03 3.23413701e-01] [-4.66186981e-03 9.99989049e-01 -4.10649778e-04 3.85900624e-02] [-2.56996645e-03 3.98671906e-04 9.99996618e-01 1.67370397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822557844 meters Centerline goodness [0,1] 0.3252059824467133 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:0.17 [[ 9.99984868e-01 4.93054082e-03 2.43981686e-03 3.22919863e-01] [-4.93126154e-03 9.99987799e-01 2.89473255e-04 3.49912529e-02] [-2.43835983e-03 -3.01500250e-04 9.99996982e-01 1.69146201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852557844000001 meters Centerline goodness [0,1] 0.32713313635956665 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:0.18 [[ 0.99999099 0.00286688 0.00313055 0.31646667] [-0.00286339 0.99999527 -0.00112163 0.02813516] [-0.00313375 0.00111266 0.99999447 0.17518683] [ 0. 0. 0. 1. ]] SLAMing on 5.882557844000001 meters Centerline goodness [0,1] 0.33425709288326555 Centerline is valid? [False, False] Translation: X:0.29, Y:0.02, Z:0.19 [[ 0.99999305 -0.00285115 -0.0024029 0.28888924] [ 0.00285674 0.99999322 0.00232208 0.02105958] [ 0.00239626 -0.00232893 0.99999442 0.18647082] [ 0. 0. 0. 1. ]] SLAMing on 5.912557844 meters Centerline goodness [0,1] 0.3298070660108259 Centerline is valid? [False, False] Translation: X:0.29, Y:0.02, Z:0.19 [[ 0.99999288 -0.0025616 -0.00277264 0.28969391] [ 0.00257041 0.99999164 0.00317933 0.01676407] [ 0.00276447 -0.00318643 0.9999911 0.18705736] [ 0. 0. 0. 1. ]] SLAMing on 5.942557844 meters Centerline goodness [0,1] 0.3287149987689415 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:0.19 [[ 0.99999269 -0.00219125 -0.00313418 0.28947968] [ 0.00220604 0.99998641 0.00472341 0.00827687] [ 0.00312378 -0.00473029 0.99998393 0.18956164] [ 0. 0. 0. 1. ]] SLAMing on 5.972557844000001 meters Centerline goodness [0,1] 0.32867288060363964 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:0.19 [[ 9.99995284e-01 3.05100236e-03 -3.51212983e-04 3.11143158e-01] [-3.05087449e-03 9.99995280e-01 3.64027328e-04 6.43959796e-03] [ 3.52321974e-04 -3.62954105e-04 9.99999872e-01 1.88197797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002557844000001 meters Centerline goodness [0,1] 0.32048408785298077 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:0.19 [[ 9.99998938e-01 1.41329621e-03 3.56524424e-04 3.05177439e-01] [-1.41288613e-03 9.99998343e-01 -1.14783753e-03 6.39048384e-03] [-3.58146068e-04 1.14733259e-03 9.99999278e-01 1.93114235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032557844 meters Centerline goodness [0,1] 0.3269906974673966 Centerline is valid? [False, False] Translation: X:0.30, Y:0.00, Z:0.19 [[ 9.99998668e-01 1.61757760e-03 2.15895470e-04 3.04969969e-01] [-1.61744895e-03 9.99998515e-01 -5.94760668e-04 3.63397992e-03] [-2.16857221e-04 5.94410676e-04 9.99999800e-01 1.94351388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0625578440000005 meters Centerline goodness [0,1] 0.32466537473522916 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:0.20 [[ 0.99998069 -0.00599497 -0.00163848 0.27842237] [ 0.00599778 0.99998054 0.00171704 0.00343365] [ 0.00162815 -0.00172684 0.99999718 0.20094742] [ 0. 0. 0. 1. ]] SLAMing on 6.092557844000001 meters Centerline goodness [0,1] 0.33349742671738647 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:0.20 [[ 0.99998129 -0.00581287 -0.00190411 0.2785538 ] [ 0.00581706 0.99998065 0.00220578 0.00103275] [ 0.00189125 -0.00221681 0.99999575 0.20228507] [ 0. 0. 0. 1. ]] SLAMing on 6.122557844 meters Centerline goodness [0,1] 0.3351080701436404 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.01, Z:0.21 [[ 9.99999990e-01 -1.00059715e-04 -9.49555327e-05 2.50057345e-01] [ 1.00108526e-04 9.99999863e-01 5.14179948e-04 -8.01498011e-03] [ 9.49040710e-05 -5.14189449e-04 9.99999863e-01 2.08895541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152557844 meters Centerline goodness [0,1] 0.324752430882287 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.01, Z:0.21 [[ 9.99999938e-01 2.44590699e-05 -3.52158400e-04 2.50215880e-01] [-2.41648350e-05 9.99999651e-01 8.35498761e-04 -9.59902685e-03] [ 3.52178712e-04 -8.35490199e-04 9.99999589e-01 2.10082461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182557844000001 meters Centerline goodness [0,1] 0.32985702651343773 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.01, Z:0.21 [[ 9.99999841e-01 1.46200066e-04 -5.44222780e-04 2.50291213e-01] [-1.45575471e-04 9.99999331e-01 1.14754376e-03 -1.11575088e-02] [ 5.44390186e-04 -1.14746435e-03 9.99999193e-01 2.11071015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212557844000001 meters Centerline goodness [0,1] 0.3195307262569832 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.01, Z:0.21 [[ 9.99999731e-01 4.55612583e-04 5.74850440e-04 2.96233772e-01] [-4.56094877e-04 9.99999544e-01 8.39138630e-04 -9.14844350e-03] [-5.74467856e-04 -8.39400591e-04 9.99999483e-01 2.08570088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242557844 meters Centerline goodness [0,1] 0.3235854768899554 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.01, Z:0.21 [[ 9.99999796e-01 4.93594735e-04 4.05222880e-04 2.96061011e-01] [-4.93972851e-04 9.99999442e-01 9.33538164e-04 -9.53234369e-03] [-4.04761865e-04 -9.33738143e-04 9.99999482e-01 2.09889499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2725578440000005 meters Centerline goodness [0,1] 0.3313633492736624 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.01, Z:0.21 [[ 9.99999849e-01 5.15602282e-04 1.90857730e-04 2.95707945e-01] [-5.15789736e-04 9.99999383e-01 9.83424181e-04 -9.62970566e-03] [-1.90350557e-04 -9.83522475e-04 9.99999498e-01 2.11849363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302557844000001 meters Centerline goodness [0,1] 0.39636542239685657 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.01, Z:0.21 [[ 0.99997547 -0.00532721 0.00454782 0.31608103] [ 0.00530731 0.99997634 0.00437541 -0.01022731] [-0.00457102 -0.00435117 0.99998009 0.21125317] [ 0. 0. 0. 1. ]] SLAMing on 6.332557844 meters Centerline goodness [0,1] 0.3183973288814691 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.01, Z:0.21 [[ 0.99997761 -0.00509117 0.00434256 0.31577825] [ 0.00506942 0.99997463 0.00500389 -0.01340759] [-0.00436793 -0.00498177 0.99997805 0.2130912 ] [ 0. 0. 0. 1. ]] SLAMing on 6.362557844 meters Centerline goodness [0,1] 0.3958444563089518 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:0.21 [[ 0.99998005 -0.00481245 0.00409042 0.31562819] [ 0.00478879 0.99997186 0.00577512 -0.01741138] [-0.0041181 -0.00575541 0.99997496 0.21490088] [ 0. 0. 0. 1. ]] SLAMing on 6.392557844000001 meters Centerline goodness [0,1] 0.3874924727345719 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:0.22 [[ 0.99998211 -0.00454363 0.00389002 0.31548021] [ 0.00451817 0.99996847 0.00652965 -0.02128847] [-0.00391957 -0.00651196 0.99997112 0.21641581] [ 0. 0. 0. 1. ]] SLAMing on 6.422557844000001 meters Centerline goodness [0,1] 0.39889681449647774 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:0.22 [[ 0.99998383 -0.00433636 0.0036788 0.31533017] [ 0.00431026 0.9999657 0.00707289 -0.02398464] [-0.00370935 -0.00705692 0.99996822 0.21798034] [ 0. 0. 0. 1. ]] SLAMing on 6.452557844 meters Centerline goodness [0,1] 0.39225419825138075 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.03, Z:0.22 [[ 0.99998524 -0.00420866 0.00343744 0.31514466] [ 0.00418323 0.99996406 0.00737376 -0.02525109] [-0.00346835 -0.00735927 0.99996691 0.21978735] [ 0. 0. 0. 1. ]] SLAMing on 6.4825578440000005 meters Centerline goodness [0,1] 0.39225419825138075 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.03, Z:0.22 [[ 0.99998524 -0.00420866 0.00343744 0.31514466] [ 0.00418323 0.99996406 0.00737376 -0.02525109] [-0.00346835 -0.00735927 0.99996691 0.21978735] [ 0. 0. 0. 1. ]] SLAMing on 6.512557844000001 meters Centerline goodness [0,1] 0.3948534347728798 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:0.22 [[ 0.99998786 -0.00388185 0.00303489 0.31441377] [ 0.00385697 0.99995927 0.00815983 -0.02906141] [-0.00306644 -0.00814803 0.9999621 0.22344993] [ 0. 0. 0. 1. ]] SLAMing on 6.542557844000001 meters Centerline goodness [0,1] 0.37565517393900527 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.03, Z:0.22 [[ 0.99997983 0.0022362 0.00594444 0.33639919] [-0.00226271 0.99998751 0.00445742 -0.03155699] [-0.0059344 -0.00447078 0.9999724 0.22135737] [ 0. 0. 0. 1. ]] SLAMing on 6.572557844 meters Centerline goodness [0,1] 0.37393686349879607 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.04, Z:0.22 [[ 0.99998031 0.00252205 0.00574578 0.33623826] [-0.00255163 0.9999835 0.00514655 -0.03514254] [-0.0057327 -0.00516111 0.99997025 0.22281146] [ 0. 0. 0. 1. ]] SLAMing on 6.602557844000001 meters Centerline goodness [0,1] 0.37606516844010773 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:0.23 [[ 9.99981521e-01 6.75521145e-04 6.04165925e-03 3.31305277e-01] [-6.96499416e-04 9.99993734e-01 3.47083994e-03 -3.99701050e-02] [-6.03927677e-03 -3.47498382e-03 9.99975726e-01 2.27991836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632557844000001 meters Centerline goodness [0,1] 0.36785564599739706 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:0.23 [[ 9.99982787e-01 9.37808759e-04 5.79184075e-03 3.31529316e-01] [-9.61549397e-04 9.99991143e-01 4.09755630e-03 -4.30600252e-02] [-5.78794672e-03 -4.10305491e-03 9.99974832e-01 2.29007388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662557844 meters Centerline goodness [0,1] 0.36751307110238474 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.23 [[ 0.9999841 0.00116359 0.00551833 0.33166181] [-0.00118902 0.99998868 0.00460674 -0.0455755 ] [-0.00551291 -0.00461322 0.99997416 0.23037291] [ 0. 0. 0. 1. ]] SLAMing on 6.692557844 meters Centerline goodness [0,1] 0.3803353831491525 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.24 [[ 9.99996058e-01 3.28207577e-04 2.78852327e-03 2.75811789e-01] [-3.41570365e-04 9.99988455e-01 4.79294214e-03 -5.12088126e-02] [-2.78691799e-03 -4.79387572e-03 9.99984626e-01 2.44839912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722557844000001 meters Centerline goodness [0,1] 0.3678726223360057 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.25 [[ 9.99996440e-01 5.40311038e-04 2.61302779e-03 2.75266829e-01] [-5.53941627e-04 9.99986230e-01 5.21848917e-03 -5.33005261e-02] [-2.61017220e-03 -5.21991806e-03 9.99982970e-01 2.46918001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752557844000001 meters Centerline goodness [0,1] 0.37137836254674894 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:0.25 [[ 9.99995710e-01 -7.69272319e-04 2.82634252e-03 2.69309084e-01] [ 7.58656131e-04 9.99992661e-01 3.75531153e-03 -5.40697076e-02] [-2.82921064e-03 -3.75315120e-03 9.99988955e-01 2.54338404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782557844 meters Centerline goodness [0,1] 0.3556799928609673 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.26 [[ 9.99996271e-01 -6.41717827e-04 2.65448336e-03 2.69152844e-01] [ 6.31119618e-04 9.99991835e-01 3.99148216e-03 -5.52489432e-02] [-2.65702309e-03 -3.98979198e-03 9.99988511e-01 2.55621099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8125578440000005 meters Centerline goodness [0,1] 0.34774197852044564 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.26 [[ 9.99996830e-01 -5.09236012e-04 2.46610043e-03 2.69341848e-01] [ 4.98631241e-04 9.99990635e-01 4.29892595e-03 -5.68665832e-02] [-2.46826651e-03 -4.29768265e-03 9.99987719e-01 2.56262606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842557844000001 meters Centerline goodness [0,1] 0.3440516610079223 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.26 [[ 9.99997478e-01 -3.06451905e-04 2.22490544e-03 2.69727681e-01] [ 2.95790522e-04 9.99988481e-01 4.79058519e-03 -5.94050935e-02] [-2.22634790e-03 -4.78991501e-03 9.99986050e-01 2.56894688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872557844 meters Centerline goodness [0,1] 0.33942662629031184 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.26 [[ 9.99997950e-01 -9.84703768e-05 2.02252698e-03 2.69809627e-01] [ 8.77173410e-05 9.99985866e-01 5.31603485e-03 -6.20888553e-02] [-2.02302187e-03 -5.31584654e-03 9.99983824e-01 2.57882218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902557844 meters Centerline goodness [0,1] 0.3594682582745523 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.27 [[ 9.99998775e-01 -1.56210014e-03 -9.74323723e-05 2.15896472e-01] [ 1.56261169e-03 9.99983697e-01 5.49211987e-03 -6.76248662e-02] [ 8.88515427e-05 -5.49226539e-03 9.99984913e-01 2.69907873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932557844000001 meters Centerline goodness [0,1] 0.3472693370476041 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.27 [[ 9.99999217e-01 -1.13812086e-03 -5.20749076e-04 2.15140301e-01] [ 1.14159306e-03 9.99976791e-01 6.71669405e-03 -7.36080292e-02] [ 5.13092580e-04 -6.71728327e-03 9.99977307e-01 2.73591288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962557844000001 meters Centerline goodness [0,1] 0.35360395816934664 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.27 [[ 9.99999286e-01 -8.85252873e-04 -8.02951155e-04 2.15278406e-01] [ 8.91196172e-04 9.99971986e-01 7.43191140e-03 -7.72076101e-02] [ 7.96349540e-04 -7.43262167e-03 9.99972061e-01 2.74992676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992557844 meters Centerline goodness [0,1] 0.349958399856086 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:0.28 [[ 9.99989707e-01 -4.52651610e-03 -3.11733524e-04 2.12832799e-01] [ 4.52758247e-03 9.99983592e-01 3.50953740e-03 -7.63216867e-02] [ 2.95842432e-04 -3.51091268e-03 9.99993793e-01 2.76531379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0225578440000005 meters Centerline goodness [0,1] 0.34818562767475036 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:0.28 [[ 9.99995066e-01 3.12828403e-03 2.85183498e-04 2.30044486e-01] [-3.12869117e-03 9.99994071e-01 1.43853476e-03 -8.20898825e-02] [-2.80681662e-04 -1.43941991e-03 9.99998925e-01 2.80244586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052557844000001 meters Centerline goodness [0,1] 0.35261830919922355 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:0.28 [[ 9.99994587e-01 3.28871608e-03 9.71484861e-05 2.29464611e-01] [-3.28888733e-03 9.99992938e-01 1.81858437e-03 -8.38511860e-02] [-9.11669923e-05 -1.81889404e-03 9.99998342e-01 2.82423218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082557844000001 meters Centerline goodness [0,1] 0.3436886708296164 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:0.29 [[ 9.99996708e-01 2.56164940e-03 -1.45918217e-04 2.25934944e-01] [-2.56148111e-03 9.99996067e-01 1.14206509e-03 -8.30244458e-02] [ 1.48843214e-04 -1.14168756e-03 9.99999337e-01 2.88593406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112557844 meters Centerline goodness [0,1] 0.3362920671736658 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:0.29 [[ 9.99996436e-01 2.63990700e-03 -3.98310458e-04 2.25885404e-01] [-2.63937470e-03 9.99995631e-01 1.33105667e-03 -8.38999808e-02] [ 4.01822583e-04 -1.33000064e-03 9.99999035e-01 2.90176234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142557844000001 meters Centerline goodness [0,1] 0.33520364823177007 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.29 [[ 9.99996039e-01 2.75597826e-03 -5.71379256e-04 2.25721241e-01] [-2.75505025e-03 9.99994895e-01 1.61861907e-03 -8.53185169e-02] [ 5.75837218e-04 -1.61703848e-03 9.99998527e-01 2.91470222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172557844000001 meters Centerline goodness [0,1] 0.32382516815023643 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.29 [[ 9.99995539e-01 2.89253795e-03 -7.45753688e-04 2.25385861e-01] [-2.89108081e-03 9.99993924e-01 1.94764442e-03 -8.69229638e-02] [ 7.51382792e-04 -1.94547969e-03 9.99997825e-01 2.93112767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202557844 meters Centerline goodness [0,1] 0.33714247075529113 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:0.31 [[ 0.99999567 0.00172279 -0.00238578 0.16712801] [-0.00171629 0.99999481 0.00272641 -0.0940913 ] [ 0.00239046 -0.00272231 0.99999344 0.30946215] [ 0. 0. 0. 1. ]] SLAMing on 7.2325578440000005 meters Centerline goodness [0,1] 0.33004596367530903 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:0.31 [[ 0.99999474 0.00184203 -0.0026692 0.16729947] [-0.00183397 0.99999375 0.00302176 -0.0955278 ] [ 0.00267475 -0.00301685 0.99999187 0.3107399 ] [ 0. 0. 0. 1. ]] SLAMing on 7.262557844000001 meters Centerline goodness [0,1] 0.32302528529872454 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:0.31 [[ 0.99999389 0.00196139 -0.00289284 0.1674802 ] [-0.0019518 0.9999926 0.003314 -0.09696336] [ 0.00289932 -0.00330834 0.99999032 0.31164552] [ 0. 0. 0. 1. ]] SLAMing on 7.292557844000001 meters Centerline goodness [0,1] 0.32360648456584495 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:0.31 [[ 0.99999275 0.00208135 -0.00318739 0.16789806] [-0.00206989 0.99999139 0.00359608 -0.09841781] [ 0.00319485 -0.00358946 0.99998845 0.3124565 ] [ 0. 0. 0. 1. ]] SLAMing on 7.322557844 meters Centerline goodness [0,1] 0.3235148626163601 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:0.31 [[ 0.99999041 0.00227526 -0.00374184 0.16836654] [-0.00226016 0.9999893 0.00403572 -0.10075808] [ 0.00375098 -0.00402722 0.99998486 0.31442237] [ 0. 0. 0. 1. ]] SLAMing on 7.352557844000001 meters Centerline goodness [0,1] 0.3143860734325984 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:0.31 [[ 0.99999284 0.0033286 -0.00180286 0.21267477] [-0.00332211 0.99998804 0.00358925 -0.09826757] [ 0.00181479 -0.00358323 0.99999193 0.3121324 ] [ 0. 0. 0. 1. ]] SLAMing on 7.382557844000001 meters Centerline goodness [0,1] 0.31738522023055904 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:0.31 [[ 0.99999214 0.00345048 -0.00195161 0.21201165] [-0.00344298 0.99998673 0.0038326 -0.09923285] [ 0.00196481 -0.00382585 0.99999075 0.31426053] [ 0. 0. 0. 1. ]] SLAMing on 7.412557844 meters Centerline goodness [0,1] 0.3138505136379738 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:0.32 [[ 0.99999136 0.00357105 -0.00212878 0.21151419] [-0.00356225 0.99998516 0.00412176 -0.10058098] [ 0.00214347 -0.00411414 0.99998924 0.31624723] [ 0. 0. 0. 1. ]] SLAMing on 7.442557844 meters Centerline goodness [0,1] 0.31681048899591946 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:0.32 [[ 0.99999053 0.003692 -0.00230593 0.2110408 ] [-0.00368175 0.99998339 0.00443386 -0.10211836] [ 0.00232226 -0.00442532 0.99998751 0.31815446] [ 0. 0. 0. 1. ]] SLAMing on 7.472557844000001 meters Centerline goodness [0,1] 0.3206404251486219 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:0.32 [[ 0.99998933 0.00387507 -0.00251309 0.21077624] [-0.00386273 0.99998055 0.0048968 -0.10441278] [ 0.00253202 -0.00488705 0.99998485 0.31985375] [ 0. 0. 0. 1. ]] SLAMing on 7.502557844000001 meters Centerline goodness [0,1] 0.31962338949454905 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:0.33 [[ 0.9999966 0.00171582 -0.00196348 0.20478811] [-0.00171004 0.9999942 0.00294476 -0.10661862] [ 0.00196852 -0.00294139 0.99999374 0.32564011] [ 0. 0. 0. 1. ]] SLAMing on 7.532557844 meters Centerline goodness [0,1] 0.30689846085704797 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.32 [[ 9.99996692e-01 2.44360340e-03 -8.02480995e-04 2.51014377e-01] [-2.44173875e-03 9.99994336e-01 2.31642293e-03 -1.04864161e-01] [ 8.08136869e-04 -2.31445582e-03 9.99996995e-01 3.22369207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5625578440000005 meters Centerline goodness [0,1] 0.31414889570140303 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.32 [[ 0.99999584 0.00267394 -0.00108178 0.25104686] [-0.00267079 0.99999221 0.00290665 -0.10775641] [ 0.00108955 -0.00290374 0.99999519 0.32389314] [ 0. 0. 0. 1. ]] SLAMing on 7.592557844000001 meters Centerline goodness [0,1] 0.3128330273586173 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.33 [[ 9.99999071e-01 1.21454438e-03 -6.19465874e-04 2.46496066e-01] [-1.21354349e-03 9.99997962e-01 1.61355855e-03 -1.07573221e-01] [ 6.21424350e-04 -1.61280530e-03 9.99998506e-01 3.28043179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622557844000001 meters Centerline goodness [0,1] 0.30826849119041233 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.33 [[ 9.99998531e-01 1.45579562e-03 -9.04740131e-04 2.46284559e-01] [-1.45373460e-03 9.99996357e-01 2.27452909e-03 -1.10923757e-01] [ 9.08048084e-04 -2.27321050e-03 9.99997004e-01 3.30012101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652557844 meters Centerline goodness [0,1] 0.3068035658845967 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.33 [[ 0.99999793 0.00166027 -0.00117736 0.24612109] [-0.00165691 0.99999456 0.0028537 -0.11369784] [ 0.00118209 -0.00285175 0.99999524 0.33184562] [ 0. 0. 0. 1. ]] SLAMing on 7.682557844000001 meters Centerline goodness [0,1] 0.30781092859537373 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.34 [[ 9.99999818e-01 -4.12967687e-04 -4.40134554e-04 2.39298093e-01] [ 4.13567301e-04 9.99998985e-01 1.36312303e-03 -1.18142233e-01] [ 4.39571182e-04 -1.36330481e-03 9.99998974e-01 3.38363220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712557844000001 meters Centerline goodness [0,1] 0.3112709723976186 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.34 [[ 9.99996385e-01 -2.64395734e-03 4.88573948e-04 2.32801782e-01] [ 2.64421465e-03 9.99996365e-01 -5.26776149e-04 -1.21260429e-01] [-4.87179399e-04 5.28066139e-04 9.99999742e-01 3.43438143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742557844 meters Centerline goodness [0,1] 0.3082217887491312 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.13, Z:0.35 [[ 9.99997217e-01 -2.35349117e-03 1.63718830e-04 2.32388204e-01] [ 2.35341695e-03 9.99997129e-01 4.52096597e-04 -1.26682319e-01] [-1.64782365e-04 -4.51710040e-04 9.99999884e-01 3.45913012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7725578440000005 meters Centerline goodness [0,1] 0.3007398520295941 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.14, Z:0.35 [[ 0.99998198 0.00515419 0.00307654 0.24646375] [-0.0051487 0.99998515 -0.00178832 -0.13554772] [-0.00308571 0.00177245 0.99999367 0.35135383] [ 0. 0. 0. 1. ]] SLAMing on 7.802557844000001 meters Centerline goodness [0,1] 0.30141725253877916 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.14, Z:0.35 [[ 0.99998174 0.00528516 0.00293007 0.2459262 ] [-0.00528074 0.99998491 -0.00151724 -0.13672406] [-0.00293804 0.00150174 0.99999456 0.35324534] [ 0. 0. 0. 1. ]] SLAMing on 7.832557844000001 meters Centerline goodness [0,1] 0.29511625319835355 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.14, Z:0.35 [[ 0.99998216 0.0053517 0.00265401 0.24602324] [-0.00534778 0.9999846 -0.0014826 -0.13682608] [-0.00266191 0.00146839 0.99999538 0.35458142] [ 0. 0. 0. 1. ]] SLAMing on 7.862557844 meters Centerline goodness [0,1] 0.30285352507574725 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.37 [[ 0.99999266 0.00162287 -0.0034705 0.21608257] [-0.00161246 0.9999942 0.00300012 -0.14198414] [ 0.00347535 -0.0029945 0.99998948 0.36841835] [ 0. 0. 0. 1. ]] SLAMing on 7.892557844000001 meters Centerline goodness [0,1] 0.29599464465022873 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.14, Z:0.37 [[ 0.99993351 0.01113722 -0.0029887 0.23867572] [-0.01113072 0.99993567 0.00218285 -0.14468731] [ 0.00301282 -0.00214944 0.99999315 0.36827326] [ 0. 0. 0. 1. ]] SLAMing on 7.922557844000001 meters Centerline goodness [0,1] 0.29474197336642216 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.14, Z:0.37 [[ 0.99993199 0.01122388 -0.00316935 0.23852445] [-0.01121807 0.99993537 0.00184602 -0.14234664] [ 0.00318986 -0.00181034 0.99999327 0.36931146] [ 0. 0. 0. 1. ]] SLAMing on 7.952557844000001 meters Centerline goodness [0,1] 0.2862396362663814 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.38 [[ 0.99990893 0.01320596 -0.00278224 0.23229102] [-0.01319515 0.99990546 0.00386882 -0.14327671] [ 0.00283307 -0.00383176 0.99998865 0.37636364] [ 0. 0. 0. 1. ]] SLAMing on 7.9825578440000005 meters Centerline goodness [0,1] 0.2865207398978067 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.38 [[ 0.99990689 0.01330866 -0.00301521 0.23171188] [-0.01329629 0.99990325 0.004086 -0.14431314] [ 0.0030693 -0.00404553 0.99998711 0.37863455] [ 0. 0. 0. 1. ]] SLAMing on 8.012557844 meters Centerline goodness [0,1] 0.2883898495396362 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.38 [[ 0.99993519 0.01115392 -0.00228246 0.22550473] [-0.01114943 0.9999359 0.00196911 -0.14479358] [ 0.00230427 -0.00194354 0.99999546 0.383704 ] [ 0. 0. 0. 1. ]] SLAMing on 8.042557844000001 meters Centerline goodness [0,1] 0.2913554135541355 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.39 [[ 9.99957122e-01 9.13757140e-03 -1.50302500e-03 2.19490859e-01] [-9.13758040e-03 9.99958251e-01 8.78856348e-07 -1.44636874e-01] [ 1.50297028e-03 1.28551931e-05 9.99998870e-01 3.88410802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072557844 meters Centerline goodness [0,1] 0.28564442270928736 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.14, Z:0.39 [[ 9.99998279e-01 1.80411090e-03 -4.32259699e-04 2.39169056e-01] [-1.80334128e-03 9.99996800e-01 1.77429759e-03 -1.41288967e-01] [ 4.35459345e-04 -1.77351502e-03 9.99998333e-01 3.91196185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102557844000001 meters Centerline goodness [0,1] 0.2831678799911759 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.14, Z:0.39 [[ 9.99997899e-01 1.92734259e-03 -6.97734248e-04 2.38756050e-01] [-1.92584523e-03 9.99995855e-01 2.14038364e-03 -1.43078298e-01] [ 7.01856609e-04 -2.13903541e-03 9.99997466e-01 3.93404957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132557844 meters Centerline goodness [0,1] 0.28632781368989635 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.40 [[ 9.99999993e-01 -2.94962969e-05 1.13151186e-04 2.32448069e-01] [ 2.94707954e-05 9.99999974e-01 2.25370679e-04 -1.42103911e-01] [-1.13157831e-04 -2.25367343e-04 9.99999968e-01 3.98562133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162557844 meters Centerline goodness [0,1] 0.28232734450351027 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.15, Z:0.40 [[ 0.99998583 0.00494305 0.00197493 0.20456853] [-0.00493968 0.99998635 -0.00170566 -0.14863454] [-0.00198333 0.00169588 0.9999966 0.40424311] [ 0. 0. 0. 1. ]] SLAMing on 8.192557844000001 meters Centerline goodness [0,1] 0.2803875709989977 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.15, Z:0.41 [[ 0.99998626 0.00497266 0.00165656 0.2046391 ] [-0.00497001 0.99998637 -0.00159913 -0.14900165] [-0.00166449 0.00159088 0.99999735 0.40573912] [ 0. 0. 0. 1. ]] SLAMing on 8.222557844 meters Centerline goodness [0,1] 0.2807045027302838 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:0.41 [[ 0.99998676 0.00496634 0.00134656 0.20505566] [-0.00496422 0.99998644 -0.0015765 -0.14898471] [-0.00135437 0.00156979 0.99999785 0.40653345] [ 0. 0. 0. 1. ]] SLAMing on 8.252557844 meters Centerline goodness [0,1] 0.28073889210749137 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:0.41 [[ 9.99987392e-01 4.98895196e-03 5.71378768e-04 2.06030354e-01] [-4.98817210e-03 9.99986637e-01 -1.35826378e-03 -1.50136052e-01] [-5.78147445e-04 1.35539652e-03 9.99998914e-01 4.08503046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282557844000001 meters Centerline goodness [0,1] 0.2794213300437367 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:0.41 [[ 9.99987401e-01 5.00796961e-03 3.44678548e-04 2.05611307e-01] [-5.00752278e-03 9.99986636e-01 -1.28522825e-03 -1.50306381e-01] [-3.51110326e-04 1.28348607e-03 9.99999115e-01 4.10499552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312557844 meters Centerline goodness [0,1] 0.27746283979824127 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.15, Z:0.41 [[ 9.99987347e-01 5.02732306e-03 1.80334815e-04 2.04779203e-01] [-5.02708912e-03 9.99986551e-01 -1.27507021e-03 -1.49931686e-01] [-1.86742579e-04 1.27414751e-03 9.99999171e-01 4.12842385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342557844 meters Centerline goodness [0,1] 0.2779791521264381 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.15, Z:0.42 [[ 9.99987336e-01 5.03255211e-03 3.96493710e-05 2.03865112e-01] [-5.03249838e-03 9.99986549e-01 -1.25539663e-03 -1.49627919e-01] [-4.59666866e-05 1.25518119e-03 9.99999211e-01 4.15308909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372557844000001 meters Centerline goodness [0,1] 0.27475639396169194 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:0.42 [[ 9.99992221e-01 -3.07485632e-03 2.47040139e-03 2.23257829e-01] [ 3.07549300e-03 9.99995238e-01 -2.53962783e-04 -1.45774663e-01] [-2.46960873e-03 2.61558509e-04 9.99996916e-01 4.17517287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402557844 meters Centerline goodness [0,1] 0.27475639396169194 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:0.42 [[ 9.99992221e-01 -3.07485632e-03 2.47040139e-03 2.23257829e-01] [ 3.07549300e-03 9.99995238e-01 -2.53962783e-04 -1.45774663e-01] [-2.46960873e-03 2.61558509e-04 9.99996916e-01 4.17517287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432557844000002 meters Centerline goodness [0,1] 0.2743341134514655 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:0.42 [[ 9.99993494e-01 -2.96590564e-03 2.05322232e-03 2.23404075e-01] [ 2.96538395e-03 9.99995570e-01 2.57078953e-04 -1.48264871e-01] [-2.05397570e-03 -2.50988688e-04 9.99997859e-01 4.19365217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462557844 meters Centerline goodness [0,1] 0.27603264902300273 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:0.42 [[ 9.99994644e-01 -2.83079639e-03 1.64250975e-03 2.23617114e-01] [ 2.82948688e-03 9.99995678e-01 7.99039524e-04 -1.50714604e-01] [-1.64476457e-03 -7.94387784e-04 9.99998332e-01 4.21036846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492557844 meters Centerline goodness [0,1] 0.27531083481349916 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:0.42 [[ 9.99994327e-01 -2.07004775e-03 2.65718083e-03 2.69727572e-01] [ 2.06790597e-03 9.99997535e-01 8.08529205e-04 -1.50157240e-01] [-2.65884798e-03 -8.03029819e-04 9.99996143e-01 4.17622323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522557844000001 meters Centerline goodness [0,1] 0.276981981981982 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.15, Z:0.42 [[ 9.99985236e-01 -3.91185334e-03 3.77173423e-03 2.63285011e-01] [ 3.91495525e-03 9.99992004e-01 -8.15378570e-04 -1.49810703e-01] [-3.76851443e-03 8.30132702e-04 9.99992555e-01 4.22314808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552557844 meters Centerline goodness [0,1] 0.27290715715153013 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.16, Z:0.43 [[ 0.99997191 -0.00649531 0.00374127 0.25804934] [ 0.00650467 0.99997573 -0.00249619 -0.15546953] [-0.00372497 0.00252046 0.99998989 0.43026121] [ 0. 0. 0. 1. ]] SLAMing on 8.582557844 meters Centerline goodness [0,1] 0.2668828860849476 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.16, Z:0.43 [[ 0.999991 0.00105524 0.00410809 0.27508619] [-0.00104002 0.99999259 -0.00370527 -0.16412192] [-0.00411197 0.00370096 0.9999847 0.43289662] [ 0. 0. 0. 1. ]] SLAMing on 8.612557844000001 meters Centerline goodness [0,1] 0.2701843470581742 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.17, Z:0.43 [[ 0.99999191 0.00131947 0.00379857 0.27501057] [-0.00130858 0.99999503 -0.00286764 -0.16799751] [-0.00380233 0.00286265 0.99998867 0.43463445] [ 0. 0. 0. 1. ]] SLAMing on 8.642557844 meters Centerline goodness [0,1] 0.26732453215984353 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.17, Z:0.44 [[ 0.99999247 0.0016033 0.00353493 0.27503301] [-0.00159589 0.99999652 -0.00209866 -0.17156225] [-0.00353829 0.002093 0.99999155 0.43595452] [ 0. 0. 0. 1. ]] SLAMing on 8.672557844 meters Centerline goodness [0,1] 0.26581967029771625 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:0.44 [[ 9.99992080e-01 -8.83509083e-04 3.88057319e-03 2.70089398e-01] [ 8.98751259e-04 9.99991882e-01 -3.92782953e-03 -1.77671234e-01] [-3.87707141e-03 3.93128609e-03 9.99984757e-01 4.41656046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702557844000001 meters Centerline goodness [0,1] 0.2669146969055629 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:0.44 [[ 9.99993703e-01 -6.38889817e-04 3.49073363e-03 2.70105641e-01] [ 6.50239532e-04 9.99994503e-01 -3.25121697e-03 -1.81206955e-01] [-3.48863727e-03 3.25346631e-03 9.99988622e-01 4.43511261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732557844 meters Centerline goodness [0,1] 0.27012852544623767 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:0.45 [[ 9.99994817e-01 -4.15742841e-04 3.19278806e-03 2.70066538e-01] [ 4.24406133e-04 9.99996229e-01 -2.71319616e-03 -1.83608426e-01] [-3.19164803e-03 2.71453713e-03 9.99991222e-01 4.45075597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762557844000002 meters Centerline goodness [0,1] 0.2618429881458286 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.19, Z:0.45 [[ 9.99996281e-01 1.37088912e-05 2.72720798e-03 2.69607519e-01] [-8.82067380e-06 9.99998394e-01 -1.79239288e-03 -1.87483654e-01] [-2.72722817e-03 1.79236216e-03 9.99994675e-01 4.48175585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792557844000001 meters Centerline goodness [0,1] 0.2655902629628798 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.19, Z:0.45 [[ 9.99996901e-01 2.06715832e-04 2.48081382e-03 2.69487289e-01] [-2.03478269e-04 9.99999127e-01 -1.30522209e-03 -1.89923272e-01] [-2.48108146e-03 1.30471325e-03 9.99996071e-01 4.49717326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822557844 meters Centerline goodness [0,1] 0.26119920381097217 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.19, Z:0.45 [[ 9.99997468e-01 4.21951164e-04 2.21044148e-03 2.69195858e-01] [-4.20350166e-04 9.99999649e-01 -7.24703235e-04 -1.92959114e-01] [-2.21074649e-03 7.23772241e-04 9.99997294e-01 4.51555466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852557844000001 meters Centerline goodness [0,1] 0.26349519349272865 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.20, Z:0.45 [[ 9.99997878e-01 6.58318509e-04 1.95206711e-03 2.68661950e-01] [-6.58065431e-04 9.99999775e-01 -1.30285937e-04 -1.95838355e-01] [-1.95215244e-03 1.29001073e-04 9.99998086e-01 4.53805486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882557844 meters Centerline goodness [0,1] 0.26455300285772143 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.20, Z:0.46 [[ 9.99998052e-01 8.72486950e-04 1.77069619e-03 2.68041376e-01] [-8.73158066e-04 9.99999547e-01 3.78274825e-04 -1.98022197e-01] [-1.77036535e-03 -3.79820186e-04 9.99998361e-01 4.55864865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912557844 meters Centerline goodness [0,1] 0.2663151392136963 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.20, Z:0.45 [[ 9.99993287e-01 2.09317324e-03 3.00725522e-03 3.13599471e-01] [-2.09325374e-03 9.99997809e-01 2.36206087e-05 -1.98010843e-01] [-3.00719919e-03 -2.99153984e-05 9.99995478e-01 4.52633408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942557844000001 meters Centerline goodness [0,1] 0.2634627177542075 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.21, Z:0.47 [[ 9.99999729e-01 -2.41229771e-04 6.95606746e-04 2.58170760e-01] [ 2.40409790e-04 9.99999277e-01 1.17864358e-03 -2.06198817e-01] [-6.95890567e-04 -1.17847603e-03 9.99999063e-01 4.67710830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972557844 meters Centerline goodness [0,1] 0.26209371795443404 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.21, Z:0.47 [[ 9.99998370e-01 7.66067053e-04 1.63484084e-03 3.03016343e-01] [-7.67275135e-04 9.99999433e-01 7.38460681e-04 -2.06967375e-01] [-1.63427420e-03 -7.39713850e-04 9.99998391e-01 4.65174473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002557844 meters Centerline goodness [0,1] 0.26197641498918833 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.21, Z:0.47 [[ 9.99998555e-01 9.95434904e-04 1.37842453e-03 3.02591793e-01] [-9.97327169e-04 9.99998560e-01 1.37276720e-03 -2.09834690e-01] [-1.37705605e-03 -1.37413995e-03 9.99998108e-01 4.67262335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032557844000001 meters Centerline goodness [0,1] 0.2587338698799514 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.21, Z:0.47 [[ 9.99997066e-01 -5.87294432e-04 2.35016908e-03 2.96900621e-01] [ 5.87254177e-04 9.99999827e-01 1.78189138e-05 -2.09666928e-01] [-2.35017914e-03 -1.64387149e-05 9.99997238e-01 4.71627145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062557844 meters Centerline goodness [0,1] 0.26161747555396075 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.21, Z:0.47 [[ 9.99997730e-01 -4.25189437e-04 2.08803319e-03 2.96460075e-01] [ 4.23868196e-04 9.99999710e-01 6.33169975e-04 -2.12839098e-01] [-2.08830180e-03 -6.32283486e-04 9.99997620e-01 4.73761619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092557844 meters Centerline goodness [0,1] 0.2603073590142847 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.22, Z:0.48 [[ 0.99999275 -0.00292516 0.00243668 0.29101119] [ 0.00292843 0.99999481 -0.00134263 -0.21664162] [-0.00243274 0.00134976 0.99999613 0.48011638] [ 0. 0. 0. 1. ]] SLAMing on 9.122557844000001 meters Centerline goodness [0,1] 0.2588185104519838 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.22, Z:0.48 [[ 9.99993912e-01 -2.72365613e-03 2.18139103e-03 2.90481068e-01] [ 2.72535296e-03 9.99995986e-01 -7.75269934e-04 -2.19084646e-01] [-2.17927070e-03 7.81210274e-04 9.99997320e-01 4.82299165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152557844 meters Centerline goodness [0,1] 0.2571038006453926 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.22, Z:0.48 [[ 9.99994865e-01 -2.53145324e-03 1.96521523e-03 2.89877743e-01] [ 2.53189828e-03 9.99996770e-01 -2.24004167e-04 -2.21373316e-01] [-1.96464182e-03 2.28978742e-04 9.99998044e-01 4.84372914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182557844000002 meters Centerline goodness [0,1] 0.2572985425065344 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:0.48 [[ 0.99998185 0.00468517 0.00378827 0.31187515] [-0.00467578 0.99998598 -0.00248437 -0.22571442] [-0.00379985 0.00246661 0.99998974 0.48272993] [ 0. 0. 0. 1. ]] SLAMing on 9.212557844 meters Centerline goodness [0,1] 0.25546353550460965 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:0.49 [[ 0.99998619 0.00252963 0.00460732 0.30519854] [-0.00250963 0.99998742 -0.0043422 -0.22725704] [-0.00461825 0.00433058 0.99997996 0.48889331] [ 0. 0. 0. 1. ]] SLAMing on 9.242557844 meters Centerline goodness [0,1] 0.25817074546069696 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.23, Z:0.49 [[ 0.99997484 -0.0062769 0.00330542 0.28057551] [ 0.00628607 0.9999764 -0.00277043 -0.22503232] [-0.00328795 0.00279114 0.9999907 0.4948596 ] [ 0. 0. 0. 1. ]] SLAMing on 9.272557844000001 meters Centerline goodness [0,1] 0.25557403578171356 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.23, Z:0.50 [[ 0.99997643 -0.00612234 0.00310735 0.27987682] [ 0.0061297 0.99997842 -0.00236224 -0.22681209] [-0.00309282 0.00238123 0.99999238 0.49710633] [ 0. 0. 0. 1. ]] SLAMing on 9.302557844 meters Centerline goodness [0,1] 0.2558486034513432 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.23, Z:0.50 [[ 0.99999209 0.00243307 0.00314603 0.29836121] [-0.00242296 0.9999919 -0.00321344 -0.2330974 ] [-0.00315383 0.00320579 0.99998989 0.49883623] [ 0. 0. 0. 1. ]] SLAMing on 9.332557844 meters Centerline goodness [0,1] 0.25415608147256763 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.23, Z:0.50 [[ 0.99999245 0.00255847 0.00292646 0.29803729] [-0.00254993 0.9999925 -0.00291515 -0.23411363] [-0.0029339 0.00290767 0.99999147 0.50042879] [ 0. 0. 0. 1. ]] SLAMing on 9.362557844000001 meters Centerline goodness [0,1] 0.25435586949209554 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.24, Z:0.50 [[ 0.99999245 0.00269113 0.00280397 0.29752203] [-0.00268389 0.99999306 -0.00258395 -0.23536212] [-0.0028109 0.00257641 0.99999273 0.50195607] [ 0. 0. 0. 1. ]] SLAMing on 9.392557844 meters Centerline goodness [0,1] 0.2501223581757508 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.23, Z:0.50 [[ 0.99997 -0.0044808 0.00631827 0.31581062] [ 0.00448795 0.9999893 -0.00111799 -0.23404435] [-0.0063132 0.00114631 0.99997941 0.50430903] [ 0. 0. 0. 1. ]] SLAMing on 9.422557844 meters Centerline goodness [0,1] 0.25172398352140424 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:0.51 [[ 9.99970536e-01 -4.38961779e-03 6.29744514e-03 3.14436676e-01] [ 4.39531274e-03 9.99989944e-01 -8.90772849e-04 -2.35001092e-01] [-6.29347166e-03 9.18425845e-04 9.99979774e-01 5.06987256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452557844000001 meters Centerline goodness [0,1] 0.2526253980442196 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:0.51 [[ 9.99971382e-01 -4.31190313e-03 6.21639621e-03 3.13481350e-01] [ 4.31680392e-03 9.99990382e-01 -7.75162949e-04 -2.35191804e-01] [-6.21299399e-03 8.01975728e-04 9.99980378e-01 5.09160121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482557844 meters Centerline goodness [0,1] 0.24770212386221668 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.24, Z:0.51 [[ 0.99995832 0.00454183 0.00792055 0.33301681] [-0.0045275 0.99998808 -0.00182548 -0.23967619] [-0.00792874 0.00178954 0.99996697 0.50891391] [ 0. 0. 0. 1. ]] SLAMing on 9.512557844000002 meters Centerline goodness [0,1] 0.2461090583361326 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.24, Z:0.51 [[ 0.99995909 0.00474227 0.007702 0.33160702] [-0.0047312 0.99998775 -0.00145541 -0.24039166] [-0.00770881 0.00141891 0.99996928 0.51232385] [ 0. 0. 0. 1. ]] SLAMing on 9.542557844000001 meters Centerline goodness [0,1] 0.2481253050539114 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.24, Z:0.51 [[ 0.99996028 0.00478569 0.00751966 0.33117646] [-0.00477657 0.99998783 -0.00123114 -0.24137836] [-0.00752546 0.00119517 0.99997097 0.51396714] [ 0. 0. 0. 1. ]] SLAMing on 9.572557844 meters Centerline goodness [0,1] 0.24879442757635295 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.24, Z:0.52 [[ 9.99960437e-01 4.88747781e-03 7.43214718e-03 3.30517500e-01] [-4.88035982e-03 9.99987615e-01 -9.75564946e-04 -2.42343810e-01] [-7.43682319e-03 9.39254798e-04 9.99971905e-01 5.15613200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602557844000001 meters Centerline goodness [0,1] 0.24836878798712902 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.24, Z:0.52 [[ 9.99962640e-01 4.88541158e-03 7.13104039e-03 3.29719468e-01] [-4.87822122e-03 9.99987576e-01 -1.02536334e-03 -2.41606707e-01] [-7.13596111e-03 9.90538242e-04 9.99974048e-01 5.18442397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632557844 meters Centerline goodness [0,1] 0.2473712470356616 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.24, Z:0.52 [[ 0.99996472 0.00476571 0.00691696 0.32979071] [-0.00475672 0.99998782 -0.0013159 -0.24013383] [-0.00692315 0.00128295 0.99997521 0.51937236] [ 0. 0. 0. 1. ]] SLAMing on 9.662557844 meters Centerline goodness [0,1] 0.24725508173259692 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.24, Z:0.52 [[ 0.99996645 0.00465785 0.00673864 0.32975382] [-0.00464725 0.99998794 -0.00158798 -0.23866537] [-0.00674596 0.00155661 0.99997603 0.52029853] [ 0. 0. 0. 1. ]] SLAMing on 9.692557844000001 meters Centerline goodness [0,1] 0.24494277348948634 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.24, Z:0.52 [[ 0.99996817 0.00455487 0.00655013 0.32964517] [-0.00454272 0.99998794 -0.00186882 -0.23707043] [-0.00655856 0.00183901 0.9999768 0.52142301] [ 0. 0. 0. 1. ]] SLAMing on 9.722557844 meters Centerline goodness [0,1] 0.24640404447128827 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:0.52 [[ 9.99956251e-01 -3.12151233e-03 8.81773763e-03 3.07181447e-01] [ 3.13043379e-03 9.99994602e-01 -9.98142294e-04 -2.29480714e-01] [-8.81457432e-03 1.02570197e-03 9.99960625e-01 5.22899906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752557844 meters Centerline goodness [0,1] 0.24112618056488067 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:0.52 [[ 0.99995654 -0.00320855 0.00875344 0.30670608] [ 0.0032195 0.99999405 -0.00123673 -0.22817995] [-0.00874942 0.00126486 0.99996092 0.52413181] [ 0. 0. 0. 1. ]] SLAMing on 9.782557844000001 meters Centerline goodness [0,1] 0.2448984123459531 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:0.53 [[ 0.99995693 -0.00334339 0.00865791 0.30555727] [ 0.00335724 0.99999311 -0.00158545 -0.22586405] [-0.00865255 0.00161445 0.99996126 0.52654642] [ 0. 0. 0. 1. ]] SLAMing on 9.812557844 meters Centerline goodness [0,1] 0.2433268772679712 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.22, Z:0.53 [[ 0.99995618 -0.00342025 0.00871399 0.30459158] [ 0.00343656 0.99999237 -0.00185681 -0.22419766] [-0.00870758 0.00188668 0.99996031 0.52807298] [ 0. 0. 0. 1. ]] SLAMing on 9.842557844000002 meters Centerline goodness [0,1] 0.24421651400801736 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.22, Z:0.53 [[ 0.99995539 -0.00353749 0.0087578 0.30367521] [ 0.00355705 0.99999121 -0.00221896 -0.22216523] [-0.00874987 0.00225001 0.99995919 0.52961492] [ 0. 0. 0. 1. ]] SLAMing on 9.872557844000001 meters Centerline goodness [0,1] 0.2437749838093749 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.22, Z:0.53 [[ 0.99995471 -0.00370731 0.00876546 0.30290444] [ 0.00373171 0.9999892 -0.00276908 -0.21916439] [-0.00875509 0.00280167 0.99995775 0.53106775] [ 0. 0. 0. 1. ]] SLAMing on 9.902557844 meters Centerline goodness [0,1] 0.24292235389354866 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.21, Z:0.54 [[ 0.99994793 -0.00211674 0.0099826 0.29592748] [ 0.00213549 0.99999597 -0.00186864 -0.2122691 ] [-0.0099786 0.00188986 0.99994843 0.53639774] [ 0. 0. 0. 1. ]] SLAMing on 9.932557844000002 meters Centerline goodness [0,1] 0.24185849393290504 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:0.54 [[ 0.99994609 -0.00232887 0.01011934 0.29499578] [ 0.00235521 0.99999387 -0.00259172 -0.20831015] [-0.01011324 0.00261542 0.99994544 0.53746814] [ 0. 0. 0. 1. ]] SLAMing on 9.962557844 meters Centerline goodness [0,1] 0.24151212235901776 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:0.54 [[ 0.99994365 -0.00250845 0.01031558 0.29378021] [ 0.0025415 0.99999168 -0.00319212 -0.20501002] [-0.01030748 0.00321816 0.9999417 0.53885829] [ 0. 0. 0. 1. ]] SLAMing on 9.992557844 meters Centerline goodness [0,1] 0.24171070528686422 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:0.54 [[ 0.99993873 -0.00142456 0.01097722 0.28778289] [ 0.00144991 0.9999963 -0.00230161 -0.20191467] [-0.0109739 0.00231738 0.9999371 0.54492711] [ 0. 0. 0. 1. ]] SLAMing on 10.022557844000001 meters Centerline goodness [0,1] 0.24104256465517238 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:0.55 [[ 0.99993701 -0.00150957 0.01112207 0.28662954] [ 0.0015383 0.9999955 -0.00257525 -0.20030108] [-0.01111813 0.00259219 0.99993483 0.54637698] [ 0. 0. 0. 1. ]] SLAMing on 10.052557844 meters Centerline goodness [0,1] 0.24026003138309793 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:0.55 [[ 0.99993648 -0.00158838 0.01115834 0.28569798] [ 0.00162013 0.99999466 -0.00283702 -0.19862953] [-0.01115378 0.00285492 0.99993372 0.54785379] [ 0. 0. 0. 1. ]] SLAMing on 10.082557844 meters Centerline goodness [0,1] 0.23924430317410572 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:0.55 [[ 0.99993579 -0.00172267 0.01120016 0.28502868] [ 0.001759 0.99999322 -0.00323466 -0.19644897] [-0.01119451 0.00325415 0.99993204 0.54884705] [ 0. 0. 0. 1. ]] SLAMing on 10.112557844000001 meters Centerline goodness [0,1] 0.23825962206630646 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.19, Z:0.55 [[ 0.99993446 -0.00187361 0.01129437 0.28426767] [ 0.00191536 0.99999137 -0.00368733 -0.19404349] [-0.01128737 0.00370873 0.99992942 0.54984857] [ 0. 0. 0. 1. ]] SLAMing on 10.142557844 meters Centerline goodness [0,1] 0.2399139322216245 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.19, Z:0.55 [[ 0.99993267 -0.00203855 0.0114236 0.28340836] [ 0.00208695 0.99998889 -0.00422644 -0.19120669] [-0.01141485 0.00425 0.99992582 0.55089007] [ 0. 0. 0. 1. ]] SLAMing on 10.172557844 meters Centerline goodness [0,1] 0.24049429657794674 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.18, Z:0.56 [[ 9.99915789e-01 -3.16310276e-04 1.29736510e-02 2.76422251e-01] [ 3.58279305e-04 9.99994710e-01 -3.23274698e-03 -1.83969358e-01] [-1.29725598e-02 3.23712294e-03 9.99910613e-01 5.55149103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202557844000001 meters Centerline goodness [0,1] 0.238371182458888 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:0.56 [[ 9.99910315e-01 -4.34915843e-04 1.33855745e-02 2.74850050e-01] [ 4.88512353e-04 9.99991876e-01 -4.00104087e-03 -1.79478788e-01] [-1.33837257e-02 4.00722106e-03 9.99902404e-01 5.56231282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.232557844 meters Centerline goodness [0,1] 0.2391421513586346 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:0.56 [[ 9.99904836e-01 -6.06394252e-04 1.37822628e-02 2.73254192e-01] [ 6.71345682e-04 9.99988689e-01 -4.70854473e-03 -1.75729570e-01] [-1.37792516e-02 4.71734931e-03 9.99893934e-01 5.57466161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262557844000002 meters Centerline goodness [0,1] 0.2397718597026991 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.17, Z:0.56 [[ 9.99884227e-01 7.00962974e-04 1.52000355e-02 2.66379435e-01] [-6.41771119e-04 9.99992194e-01 -3.89872005e-03 -1.70673907e-01] [-1.52026497e-02 3.88851374e-03 9.99876872e-01 5.61937948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292557844000001 meters Centerline goodness [0,1] 0.2397718597026991 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.17, Z:0.56 [[ 9.99884227e-01 7.00962974e-04 1.52000355e-02 2.66379435e-01] [-6.41771119e-04 9.99992194e-01 -3.89872005e-03 -1.70673907e-01] [-1.52026497e-02 3.88851374e-03 9.99876872e-01 5.61937948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322557844 meters Centerline goodness [0,1] 0.23829996865063374 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.17, Z:0.56 [[ 9.99881558e-01 5.13161266e-04 1.53820055e-02 2.65655607e-01] [-4.45245533e-04 9.99990140e-01 -4.41837111e-03 -1.68069411e-01] [-1.53841212e-02 4.41099902e-03 9.99871928e-01 5.62404134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352557844000001 meters Centerline goodness [0,1] 0.23680513746738907 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.17, Z:0.56 [[ 9.99879779e-01 3.55508657e-04 1.55016514e-02 2.65229021e-01] [-2.81179799e-04 9.99988456e-01 -4.79681522e-03 -1.66126690e-01] [-1.55031777e-02 4.79187979e-03 9.99868336e-01 5.62582851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382557844 meters Centerline goodness [0,1] 0.23876302673312189 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.16, Z:0.57 [[ 0.99985576 -0.0075822 0.01519747 0.24077269] [ 0.00762858 0.99996641 -0.0029961 -0.16061698] [-0.01517425 0.0031116 0.99988002 0.56554298] [ 0. 0. 0. 1. ]] SLAMing on 10.412557844 meters Centerline goodness [0,1] 0.23639086986653546 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.16, Z:0.57 [[ 9.99867084e-01 6.36922809e-04 1.62913903e-02 2.60250204e-01] [-5.70270627e-04 9.99991451e-01 -4.09557029e-03 -1.64163084e-01] [-1.62938596e-02 4.08573542e-03 9.99858898e-01 5.65329832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442557844000001 meters Centerline goodness [0,1] 0.23693574737595957 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.16, Z:0.57 [[ 9.99865086e-01 5.63680679e-04 1.64162418e-02 2.59345364e-01] [-4.94019897e-04 9.99990859e-01 -4.24715227e-03 -1.63299915e-01] [-1.64184858e-02 4.23846932e-03 9.99856224e-01 5.66428821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472557844 meters Centerline goodness [0,1] 0.23652540283722912 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.57 [[ 9.99845041e-01 7.87838144e-04 1.75861708e-02 2.53984149e-01] [-7.17746003e-04 9.99991776e-01 -3.99159563e-03 -1.62717254e-01] [-1.75891709e-02 3.97835469e-03 9.99837384e-01 5.70457130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502557844 meters Centerline goodness [0,1] 0.23664379709818917 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.57 [[ 9.99840308e-01 7.09336914e-04 1.78564965e-02 2.52898836e-01] [-6.35254082e-04 9.99991170e-01 -4.15411910e-03 -1.61916963e-01] [-1.78592855e-02 4.14211231e-03 9.99831930e-01 5.71238607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532557844000001 meters Centerline goodness [0,1] 0.23681128080371217 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.57 [[ 9.99837206e-01 6.46936147e-04 1.80317086e-02 2.52393676e-01] [-5.70172401e-04 9.99990755e-01 -4.26196916e-03 -1.61452434e-01] [-1.80342991e-02 4.25099415e-03 9.99828332e-01 5.71310334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562557844 meters Centerline goodness [0,1] 0.23558914002942355 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.57 [[ 9.99836492e-01 5.74971937e-04 1.80736884e-02 2.52219316e-01] [-4.97178469e-04 9.99990595e-01 -4.30843727e-03 -1.61428377e-01] [-1.80759957e-02 4.29874696e-03 9.99827375e-01 5.71354104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592557844000002 meters Centerline goodness [0,1] 0.23525478132941025 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.57 [[ 9.99828916e-01 4.75587257e-04 1.84909003e-02 2.50311483e-01] [-3.90650960e-04 9.99989359e-01 -4.59675129e-03 -1.59913243e-01] [-1.84928897e-02 4.58874137e-03 9.99818462e-01 5.72943187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622557844000001 meters Centerline goodness [0,1] 0.23395375825745401 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.57 [[ 9.99822535e-01 4.51307671e-04 1.88333316e-02 2.48732230e-01] [-3.60119115e-04 9.99988198e-01 -4.84498122e-03 -1.58362133e-01] [-1.88352959e-02 4.83733916e-03 9.99810898e-01 5.74350796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.652557844 meters Centerline goodness [0,1] 0.2345513465191642 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.58 [[ 9.99817479e-01 3.99855782e-04 1.91010095e-02 2.47450137e-01] [-3.01451795e-04 9.99986671e-01 -5.15437042e-03 -1.56561892e-01] [-1.91028159e-02 5.14767160e-03 9.99804273e-01 5.75606163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682557844000002 meters Centerline goodness [0,1] 0.23443649373881936 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.15, Z:0.58 [[ 9.99813599e-01 2.94294543e-04 1.93049157e-02 2.46549710e-01] [-1.87400750e-04 9.99984644e-01 -5.53870360e-03 -1.54701208e-01] [-1.93062493e-02 5.53405342e-03 9.99798301e-01 5.76445667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712557844 meters Centerline goodness [0,1] 0.23526902960784757 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.15, Z:0.58 [[ 9.99809765e-01 1.88884401e-04 1.95038005e-02 2.45800853e-01] [-7.27721802e-05 9.99982273e-01 -5.95385074e-03 -1.52730467e-01] [-1.95045793e-02 5.95129877e-03 9.99792055e-01 5.77038070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742557844 meters Centerline goodness [0,1] 0.2335856048936218 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.15, Z:0.58 [[ 9.99806293e-01 7.66996857e-05 1.96817462e-02 2.45033772e-01] [ 4.86769232e-05 9.99979712e-01 -6.36963930e-03 -1.50701878e-01] [-1.96818354e-02 6.36936350e-03 9.99786005e-01 5.77694742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.772557844000001 meters Centerline goodness [0,1] 0.23536020852995376 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.15, Z:0.58 [[ 0.99976568 0.00199309 0.02155503 0.23739015] [-0.00189322 0.99998738 -0.00465266 -0.14807884] [-0.02156403 0.00461076 0.99975684 0.58174236] [ 0. 0. 0. 1. ]] SLAMing on 10.802557844 meters Centerline goodness [0,1] 0.2347110403444641 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.15, Z:0.58 [[ 0.99975851 0.00193985 0.02188978 0.23612933] [-0.00183407 0.99998655 -0.00485175 -0.14702919] [-0.0218989 0.00481043 0.99974862 0.58259866] [ 0. 0. 0. 1. ]] SLAMing on 10.832557844 meters Centerline goodness [0,1] 0.23214127644507387 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.14, Z:0.58 [[ 0.99973548 -0.00560023 0.022307 0.25478268] [ 0.0056883 0.99997627 -0.00388658 -0.14245072] [-0.0222847 0.00401244 0.99974361 0.58433674] [ 0. 0. 0. 1. ]] SLAMing on 10.862557844000001 meters Centerline goodness [0,1] 0.23271716592403058 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.14, Z:0.59 [[ 0.99973156 -0.00571618 0.02245277 0.25405167] [ 0.0058117 0.99997433 -0.00419121 -0.14106404] [-0.02242824 0.00432057 0.99973912 0.58507055] [ 0. 0. 0. 1. ]] SLAMing on 10.892557844 meters Centerline goodness [0,1] 0.23391066953097028 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.59 [[ 0.99967661 0.00229914 0.02532563 0.22877125] [-0.00218217 0.99998683 -0.00464521 -0.14050842] [-0.02533597 0.00458844 0.99966846 0.585852 ] [ 0. 0. 0. 1. ]] SLAMing on 10.922557844000002 meters Centerline goodness [0,1] 0.23333927298645762 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.59 [[ 0.99966969 0.00219152 0.02560676 0.22791041] [-0.00205975 0.99998451 -0.00517132 -0.1376726 ] [-0.0256177 0.00511687 0.99965872 0.58623697] [ 0. 0. 0. 1. ]] SLAMing on 10.952557844000001 meters Centerline goodness [0,1] 0.23626013689037473 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.59 [[ 0.99953632 -0.00287813 0.0303128 0.20200271] [ 0.00297136 0.99999099 -0.00303081 -0.1282583 ] [-0.0303038 0.00311947 0.99953587 0.58740506] [ 0. 0. 0. 1. ]] SLAMing on 10.982557844 meters Centerline goodness [0,1] 0.23255192084856047 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.59 [[ 0.9995286 -0.00302633 0.03055176 0.20124486] [ 0.00313578 0.99998884 -0.00353499 -0.12587448] [-0.03054072 0.00362912 0.99952694 0.58773755] [ 0. 0. 0. 1. ]] SLAMing on 11.012557844000002 meters Centerline goodness [0,1] 0.23318345524908846 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.12, Z:0.59 [[ 0.9995199 -0.0032214 0.0308156 0.20044257] [ 0.00335094 0.99998576 -0.00415285 -0.12295023] [-0.03080178 0.00425412 0.99951646 0.58807988] [ 0. 0. 0. 1. ]] SLAMing on 11.042557844000001 meters Centerline goodness [0,1] 0.23208563290012463 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.12, Z:0.59 [[ 0.99950594 -0.00341704 0.03124427 0.19916463] [ 0.00357219 0.99998156 -0.00491131 -0.11909163] [-0.03122691 0.0050205 0.99949971 0.58854717] [ 0. 0. 0. 1. ]] SLAMing on 11.072557844 meters Centerline goodness [0,1] 0.23244680851063826 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:0.59 [[ 0.99948656 -0.00359575 0.03183841 0.19748804] [ 0.00378168 0.99997614 -0.00578133 -0.1143764 ] [-0.03181686 0.00589876 0.99947631 0.58902461] [ 0. 0. 0. 1. ]] SLAMing on 11.102557844000001 meters Centerline goodness [0,1] 0.23209384683488266 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:0.59 [[ 9.99475101e-01 -3.05543392e-04 3.23948951e-02 1.95831499e-01] [ 4.08231472e-04 9.99994913e-01 -3.16331797e-03 -1.08146994e-01] [-3.23937638e-02 3.17488216e-03 9.99470142e-01 5.89465900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132557844 meters Centerline goodness [0,1] 0.23267426049352447 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.59 [[ 9.99475094e-01 -6.33195987e-04 3.23903523e-02 1.96070734e-01] [ 7.65512022e-04 9.99991413e-01 -4.07280691e-03 -1.03952636e-01] [-3.23874953e-02 4.09546428e-03 9.99466997e-01 5.88974838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162557844 meters Centerline goodness [0,1] 0.23393971940659197 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.59 [[ 9.99476603e-01 -9.03114626e-04 3.23373387e-02 1.96305050e-01] [ 1.05952514e-03 9.99987822e-01 -4.82003044e-03 -1.00513426e-01] [-3.23325919e-02 4.85176988e-03 9.99465389e-01 5.88682976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192557844000001 meters Centerline goodness [0,1] 0.22045702334067596 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.59 [[ 0.99947252 -0.00111765 0.03245659 0.19587781] [ 0.00129365 0.99998457 -0.00540217 -0.09762815] [-0.03245005 0.00544131 0.99945855 0.58885854] [ 0. 0. 0. 1. ]] SLAMing on 11.222557844 meters Centerline goodness [0,1] 0.23302076356329537 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.10, Z:0.59 [[ 0.99946457 -0.00126867 0.03269506 0.19498317] [ 0.00145955 0.99998203 -0.00581514 -0.09540536] [-0.03268709 0.00585975 0.99944846 0.58943167] [ 0. 0. 0. 1. ]] SLAMing on 11.252557844 meters Centerline goodness [0,1] 0.2340482573726541 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.59 [[ 0.99945497 -0.00145614 0.03297946 0.19405354] [ 0.00166131 0.99997943 -0.00619455 -0.0937138 ] [-0.03296976 0.00624597 0.99943683 0.58988684] [ 0. 0. 0. 1. ]] SLAMing on 11.282557844000001 meters Centerline goodness [0,1] 0.23389587716549531 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.59 [[ 0.99940698 -0.00257141 0.0343376 0.19048281] [ 0.00283097 0.99996777 -0.00751247 -0.09019234] [-0.03431717 0.00760522 0.99938206 0.5906459 ] [ 0. 0. 0. 1. ]] SLAMing on 11.312557844 meters Centerline goodness [0,1] 0.23195784999557245 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.59 [[ 0.9994016 -0.00273773 0.03448109 0.18999424] [ 0.00300911 0.99996489 -0.00782103 -0.08886523] [-0.03445846 0.00792011 0.99937475 0.59086435] [ 0. 0. 0. 1. ]] SLAMing on 11.342557844000002 meters Centerline goodness [0,1] 0.22611749966441452 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.59 [[ 0.99939853 -0.00282085 0.03456342 0.18965772] [ 0.00310224 0.99996246 -0.00809035 -0.08735294] [-0.0345393 0.00819271 0.99936976 0.59110058] [ 0. 0. 0. 1. ]] SLAMing on 11.372557844000001 meters Centerline goodness [0,1] 0.23227405505886523 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.59 [[ 0.99938903 -0.00299815 0.03482196 0.18883114] [ 0.00329725 0.99995814 -0.00853513 -0.08519504] [-0.03479491 0.00864473 0.99935708 0.59150573] [ 0. 0. 0. 1. ]] SLAMing on 11.402557844 meters Centerline goodness [0,1] 0.23338214412495562 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.59 [[ 0.99938546 -0.003089 0.03491657 0.18851593] [ 0.00339546 0.99995621 -0.00872097 -0.08453409] [-0.0348881 0.00883417 0.99935218 0.59167566] [ 0. 0. 0. 1. ]] SLAMing on 11.432557844000002 meters Centerline goodness [0,1] 0.2318252936380264 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.59 [[ 0.99938361 -0.00316907 0.03496229 0.1883467 ] [ 0.00348383 0.99995392 -0.00894544 -0.08352452] [-0.03493233 0.00906173 0.9993486 0.59175362] [ 0. 0. 0. 1. ]] SLAMing on 11.462557844 meters Centerline goodness [0,1] 0.22517557116188103 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.59 [[ 9.99374093e-01 6.12790851e-04 3.53701342e-02 1.87278550e-01] [-4.34929778e-04 9.99987224e-01 -5.03604168e-03 -8.29434749e-02] [-3.53727684e-02 5.01750606e-03 9.99361592e-01 5.91858545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492557844 meters Centerline goodness [0,1] 0.22582581247499223 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.59 [[ 9.99369380e-01 5.45474347e-04 3.55041643e-02 1.86758712e-01] [-3.52492124e-04 9.99985133e-01 -5.44151384e-03 -8.08954581e-02] [-3.55066047e-02 5.42556737e-03 9.99354714e-01 5.92355538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522557844000001 meters Centerline goodness [0,1] 0.22448163210880723 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.59 [[ 9.99367593e-01 4.90099488e-04 3.55552166e-02 1.86375783e-01] [-2.82581955e-04 9.99982900e-01 -5.84127671e-03 -7.88840955e-02] [-3.55574714e-02 5.82753539e-03 9.99350642e-01 5.92963860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552557844 meters Centerline goodness [0,1] 0.2291326792857622 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.59 [[ 9.99362310e-01 4.43564793e-04 3.57040260e-02 1.85871498e-01] [-2.21497858e-04 9.99980610e-01 -6.22337608e-03 -7.69004967e-02] [-3.57060941e-02 6.21149913e-03 9.99343030e-01 5.93321390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582557844 meters Centerline goodness [0,1] 0.22720288596432625 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.59 [[ 9.99358953e-01 4.13674413e-04 3.57982108e-02 1.85629697e-01] [-1.78764547e-04 9.99978434e-01 -6.56500801e-03 -7.50304017e-02] [-3.58001546e-02 6.55440008e-03 9.99337475e-01 5.93385951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612557844000001 meters Centerline goodness [0,1] 0.2276805642353361 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:0.59 [[ 9.99354026e-01 3.39867473e-04 3.59362796e-02 1.85381991e-01] [-9.16076912e-05 9.99976123e-01 -6.90975377e-03 -7.32924787e-02] [-3.59377699e-02 6.90199820e-03 9.99330195e-01 5.93227930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642557844 meters Centerline goodness [0,1] 0.23337834796308798 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:0.59 [[ 9.99338596e-01 2.59041964e-04 3.63634814e-02 1.84213544e-01] [ 2.27522662e-07 9.99974583e-01 -7.12975605e-03 -7.24924130e-02] [-3.63644041e-02 7.12504867e-03 9.99313196e-01 5.93533471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672557844000002 meters Centerline goodness [0,1] 0.22367779403289445 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:0.59 [[ 9.99330545e-01 2.19155429e-04 3.65843358e-02 1.83417766e-01] [ 4.23732170e-05 9.99974454e-01 -7.14772250e-03 -7.24978336e-02] [-3.65849677e-02 7.14448762e-03 9.99305007e-01 5.94007230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702557844000001 meters Centerline goodness [0,1] 0.2240748898678414 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:0.59 [[ 9.99323078e-01 2.38612157e-04 3.67876247e-02 1.82765903e-01] [ 2.23420585e-05 9.99974844e-01 -7.09295832e-03 -7.26192727e-02] [-3.67883918e-02 7.08897885e-03 9.99297934e-01 5.94255399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732557844 meters Centerline goodness [0,1] 0.22805803571428573 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.59 [[ 0.99930262 -0.00786266 0.03650265 0.1625884 ] [ 0.00807415 0.99995144 -0.0056501 -0.06781253] [-0.03645645 0.00594088 0.99931758 0.59374244] [ 0. 0. 0. 1. ]] SLAMing on 11.762557844000002 meters Centerline goodness [0,1] 0.22902846493466156 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.59 [[ 0.99930614 -0.00794406 0.03638865 0.16302074] [ 0.00814609 0.9999522 -0.00540696 -0.0695785 ] [-0.03634396 0.00569963 0.99932309 0.59330428] [ 0. 0. 0. 1. ]] SLAMing on 11.792557844000001 meters Centerline goodness [0,1] 0.22625901661041625 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.59 [[ 0.99930546 -0.0079001 0.03641682 0.16285778] [ 0.00809408 0.99995381 -0.00518226 -0.07080877] [-0.0363742 0.00547342 0.99932325 0.59343724] [ 0. 0. 0. 1. ]] SLAMing on 11.822557844 meters Centerline goodness [0,1] 0.23054384017758045 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.59 [[ 0.99930362 -0.00785151 0.0364779 0.16250649] [ 0.00804012 0.99995504 -0.0050267 -0.07155207] [-0.03643679 0.00531648 0.99932182 0.59382521] [ 0. 0. 0. 1. ]] SLAMing on 11.852557844000001 meters Centerline goodness [0,1] 0.2314781834372217 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.59 [[ 0.99929265 -0.00771815 0.0368053 0.16141399] [ 0.00790144 0.99995708 -0.00483703 -0.07210076] [-0.03676639 0.00512443 0.99931075 0.59448304] [ 0. 0. 0. 1. ]] SLAMing on 11.882557844 meters Centerline goodness [0,1] 0.22792454487559566 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.59 [[ 9.99277114e-01 8.21307077e-04 3.80075550e-02 1.81658481e-01] [-6.10200691e-04 9.99984326e-01 -5.56559394e-03 -7.68132302e-02] [-3.80115303e-02 5.53837842e-03 9.99261953e-01 5.93851876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912557844 meters Centerline goodness [0,1] 0.23298996715304 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:0.59 [[ 9.99184244e-01 1.02262788e-03 4.03707996e-02 1.37122814e-01] [-7.91147766e-04 9.99983159e-01 -5.74940984e-03 -7.38480484e-02] [-4.03759992e-02 5.71278046e-03 9.99168225e-01 5.94320380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942557844000001 meters Centerline goodness [0,1] 0.23046007638333776 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:0.59 [[ 9.99184459e-01 9.66329189e-04 4.03668498e-02 1.37062444e-01] [-7.24724117e-04 9.99981741e-01 -5.99943940e-03 -7.27122006e-02] [-4.03719101e-02 5.96529179e-03 9.99166915e-01 5.94493937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972557844 meters Centerline goodness [0,1] 0.2308886818403656 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:0.59 [[ 9.99186487e-01 8.90986602e-04 4.03183685e-02 1.37163699e-01] [-6.38391216e-04 9.99980093e-01 -6.27746105e-03 -7.14046514e-02] [-4.03231590e-02 6.24661536e-03 9.99167165e-01 5.94521734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002557844000002 meters Centerline goodness [0,1] 0.2313865063223981 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:0.59 [[ 9.99190385e-01 7.98215107e-04 4.02235801e-02 1.37378972e-01] [-5.31899276e-04 9.99977872e-01 -6.63115517e-03 -6.97254682e-02] [-4.02279831e-02 6.60439160e-03 9.99168700e-01 5.94593590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032557844000001 meters Centerline goodness [0,1] 0.23402126050793937 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:0.59 [[ 9.99175111e-01 7.71832152e-04 4.06017586e-02 1.36492606e-01] [-4.78587682e-04 9.99973737e-01 -7.23168137e-03 -6.64775400e-02] [-4.06062739e-02 7.20628453e-03 9.99149238e-01 5.94654172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062557844 meters Centerline goodness [0,1] 0.23125290588261338 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.59 [[ 9.99171928e-01 6.72872090e-04 4.06817492e-02 1.36411034e-01] [-3.62219451e-04 9.99970726e-01 -7.64305593e-03 -6.44747261e-02] [-4.06857011e-02 7.62199122e-03 9.99142922e-01 5.94436861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092557844000002 meters Centerline goodness [0,1] 0.22947992216522206 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.59 [[ 9.99170282e-01 5.60395471e-04 4.07238799e-02 1.36381484e-01] [-2.32344439e-04 9.99967492e-01 -8.05978203e-03 -6.24633853e-02] [-4.07270727e-02 8.04363271e-03 9.99137931e-01 5.94331302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122557844000001 meters Centerline goodness [0,1] 0.23006622516556297 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.59 [[ 9.99164561e-01 3.99041683e-04 4.08658775e-02 1.35764432e-01] [-4.15035871e-05 9.99961721e-01 -8.74953670e-03 -5.89276410e-02] [-4.08678047e-02 8.74053092e-03 9.99126331e-01 5.94902360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152557844 meters Centerline goodness [0,1] 0.23119906354219577 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.60 [[ 9.99165243e-01 2.73289647e-04 4.08502467e-02 1.35755665e-01] [ 9.66953170e-05 9.99958999e-01 -9.05485455e-03 -5.75906169e-02] [-4.08510464e-02 9.05124597e-03 9.99124250e-01 5.95014800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182557844000002 meters Centerline goodness [0,1] 0.24093544049901916 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.59 [[ 9.99166179e-01 1.57987977e-04 4.08279595e-02 1.35949944e-01] [ 2.21233021e-04 9.99956882e-01 -9.28358218e-03 -5.66877618e-02] [-4.08276657e-02 9.28487383e-03 9.99123062e-01 5.94680047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.212557844 meters Centerline goodness [0,1] 0.24093544049901916 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.59 [[ 9.99166179e-01 1.57987977e-04 4.08279595e-02 1.35949944e-01] [ 2.21233021e-04 9.99956882e-01 -9.28358218e-03 -5.66877618e-02] [-4.08276657e-02 9.28487383e-03 9.99123062e-01 5.94680047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242557844 meters Centerline goodness [0,1] 0.23008400767314174 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.59 [[ 9.99168469e-01 6.94353650e-05 4.07721146e-02 1.36252753e-01] [ 3.16323521e-04 9.99955252e-01 -9.45481366e-03 -5.59971789e-02] [-4.07709466e-02 9.45984887e-03 9.99123737e-01 5.94310626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272557844000001 meters Centerline goodness [0,1] 0.2282198848977972 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.59 [[ 9.99165962e-01 -1.30436254e-05 4.08335676e-02 1.36214508e-01] [ 4.08183773e-04 9.99953175e-01 -9.66852374e-03 -5.49944540e-02] [-4.08315295e-02 9.67712743e-03 9.99119182e-01 5.94079797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302557844 meters Centerline goodness [0,1] 0.2353450380662775 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:0.60 [[ 0.99916409 -0.00666992 0.04033152 0.11374587] [ 0.0069595 0.99995097 -0.00704388 -0.04826262] [-0.04028256 0.00731868 0.99916152 0.59563526] [ 0. 0. 0. 1. ]] SLAMing on 12.332557844000002 meters Centerline goodness [0,1] 0.23346148747182816 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:0.60 [[ 0.99916291 -0.00676271 0.04034523 0.11355624] [ 0.00706471 0.99994805 -0.00734753 -0.04685012] [-0.04029345 0.0076264 0.99915878 0.59595535] [ 0. 0. 0. 1. ]] SLAMing on 12.362557844000001 meters Centerline goodness [0,1] 0.2365784855956109 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:0.60 [[ 0.99916438 -0.00685702 0.04029297 0.11369516] [ 0.00717047 0.99994511 -0.00763997 -0.04552016] [-0.04023837 0.00792251 0.9991587 0.59593926] [ 0. 0. 0. 1. ]] SLAMing on 12.392557844 meters Centerline goodness [0,1] 0.23894240439845338 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:0.60 [[ 0.99924386 0.00158118 0.03884853 0.09378077] [-0.001235 0.99995933 -0.00893355 -0.04767566] [-0.03886107 0.00887881 0.99920518 0.59570249] [ 0. 0. 0. 1. ]] SLAMing on 12.422557844000002 meters Centerline goodness [0,1] 0.23003229988354468 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:0.60 [[ 0.99925295 -0.00625932 0.03813602 0.11391169] [ 0.0065637 0.99994756 -0.00786142 -0.0429106 ] [-0.03808481 0.00810586 0.99924163 0.59614835] [ 0. 0. 0. 1. ]] SLAMing on 12.452557844000001 meters Centerline goodness [0,1] 0.23613020533061335 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:0.60 [[ 0.99932436 0.00226413 0.03668363 0.09332342] [-0.00193944 0.99995865 -0.00888415 -0.04427305] [-0.03670223 0.008807 0.99928744 0.59627782] [ 0. 0. 0. 1. ]] SLAMing on 12.482557844 meters Centerline goodness [0,1] 0.2396602576896636 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:0.60 [[ 0.99932228 0.002191 0.03674478 0.09317329] [-0.00185911 0.99995719 -0.00906405 -0.04352161] [-0.03676307 0.0089896 0.99928358 0.5962861 ] [ 0. 0. 0. 1. ]] SLAMing on 12.512557844000002 meters Centerline goodness [0,1] 0.23416366965999602 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:0.60 [[ 0.9993214 0.00210437 0.03677391 0.09317624] [-0.00176433 0.99995541 -0.00927672 -0.04256938] [-0.03679179 0.00920555 0.99928055 0.59613057] [ 0. 0. 0. 1. ]] SLAMing on 12.542557844000001 meters Centerline goodness [0,1] 0.22962459731323004 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:0.60 [[ 0.99932276 0.00199401 0.03674299 0.09334359] [-0.00164286 0.99995272 -0.00958448 -0.04114991] [-0.03676036 0.00951762 0.99927879 0.5959758 ] [ 0. 0. 0. 1. ]] SLAMing on 12.572557844 meters Centerline goodness [0,1] 0.23823633468954541 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.60 [[ 0.9993409 -0.00685363 0.0356482 0.0723673 ] [ 0.00718853 0.99993115 -0.00927478 -0.03375766] [-0.03558218 0.00952493 0.99932136 0.59634839] [ 0. 0. 0. 1. ]] SLAMing on 12.602557844000001 meters Centerline goodness [0,1] 0.22951393446209034 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.60 [[ 0.99934237 -0.00691863 0.03559441 0.07253914] [ 0.00725387 0.99993046 -0.00929786 -0.03371544] [-0.03552761 0.00954994 0.99932306 0.59617887] [ 0. 0. 0. 1. ]] SLAMing on 12.632557844 meters Centerline goodness [0,1] 0.23874533830580713 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.60 [[ 0.99927915 -0.0159323 0.03445779 0.05082645] [ 0.01623355 0.99983226 -0.00848061 -0.0302193 ] [-0.0343169 0.00903387 0.99937017 0.59676346] [ 0. 0. 0. 1. ]] SLAMing on 12.662557844 meters Centerline goodness [0,1] 0.22798920142819823 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.59 [[ 0.99932053 -0.01016991 0.03542662 0.07388419] [ 0.01058687 0.99987665 -0.01160197 -0.03371261] [-0.03530426 0.01196915 0.99930493 0.5943844 ] [ 0. 0. 0. 1. ]] SLAMing on 12.692557844000001 meters Centerline goodness [0,1] 0.23323525536867062 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.59 [[ 0.99940662 -0.00220326 0.03437363 0.05426966] [ 0.00265999 0.99990872 -0.01324701 -0.0387207 ] [-0.0343413 0.01333058 0.99932125 0.59360933] [ 0. 0. 0. 1. ]] SLAMing on 12.722557844 meters Centerline goodness [0,1] 0.248336491429075 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.59 [[ 0.99941183 -0.00220627 0.03422165 0.05475313] [ 0.00265905 0.99990946 -0.01319104 -0.03916342] [-0.03418945 0.01327428 0.99932721 0.59332372] [ 0. 0. 0. 1. ]] SLAMing on 12.752557844000002 meters Centerline goodness [0,1] 0.23193716128749153 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:0.59 [[ 0.9994192 -0.00223052 0.03400415 0.05524704] [ 0.00268444 0.99990782 -0.01330931 -0.03858952] [-0.03397132 0.01339286 0.99933307 0.59344239] [ 0. 0. 0. 1. ]] SLAMing on 12.782557844000001 meters Centerline goodness [0,1] 0.23758132583084224 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.59 [[ 9.99411650e-01 1.12129439e-03 3.42796833e-02 5.40753177e-02] [-7.91924351e-04 9.99953409e-01 -9.62038414e-03 -3.89247434e-02] [-3.42888735e-02 9.58757707e-03 9.99365975e-01 5.94057852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812557844 meters Centerline goodness [0,1] 0.23196766087621545 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.60 [[ 9.99409935e-01 1.17061784e-03 3.43279878e-02 5.33919358e-02] [-8.32073148e-04 9.99950898e-01 -9.87468871e-03 -3.70368394e-02] [-3.43378617e-02 9.84029861e-03 9.99361836e-01 5.95267053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842557844000002 meters Centerline goodness [0,1] 0.22917575228957698 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.60 [[ 9.99406542e-01 1.15867531e-03 3.44270411e-02 5.29329332e-02] [-8.16476683e-04 9.99950142e-01 -9.95221742e-03 -3.66654750e-02] [-3.44368561e-02 9.91820233e-03 9.99357660e-01 5.95718228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872557844000001 meters Centerline goodness [0,1] 0.23511657407812436 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.60 [[ 9.99401066e-01 1.16460820e-03 3.45854406e-02 5.23222836e-02] [-8.21164289e-04 9.99950231e-01 -9.94284796e-03 -3.67327682e-02] [-3.45952988e-02 9.90849252e-03 9.99352284e-01 5.96152853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902557844 meters Centerline goodness [0,1] 0.2439979754857734 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.60 [[ 9.99394441e-01 1.17573946e-03 3.47759726e-02 5.17986777e-02] [-8.32689574e-04 9.99950871e-01 -9.87740483e-03 -3.71230394e-02] [-3.47858774e-02 9.84246589e-03 9.99346321e-01 5.96263493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932557844000002 meters Centerline goodness [0,1] 0.2461181667586968 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.60 [[ 9.99398161e-01 1.25333496e-03 3.46661791e-02 5.21179710e-02] [-9.23699452e-04 9.99954226e-01 -9.52323158e-03 -3.88569824e-02] [-3.46765282e-02 9.48547901e-03 9.99353573e-01 5.96018752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962557844 meters Centerline goodness [0,1] 0.23659760087241 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.60 [[ 0.9994059 0.00132422 0.03443964 0.05276334] [-0.0010073 0.99995701 -0.0092178 -0.0402585 ] [-0.03445037 0.00917763 0.99936427 0.59571016] [ 0. 0. 0. 1. ]] SLAMing on 12.992557844 meters Centerline goodness [0,1] 0.23611990480972866 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.60 [[ 0.9994164 0.00139692 0.03413082 0.05366377] [-0.00109383 0.99995982 -0.00889735 -0.04176694] [-0.03414188 0.00885482 0.99937777 0.59529971] [ 0. 0. 0. 1. ]] SLAMing on 13.022557844000001 meters Centerline goodness [0,1] 0.23873864057358296 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.60 [[ 0.999427 0.0015025 0.03381448 0.05451097] [-0.00121514 0.99996299 -0.00851724 -0.04346623] [-0.03382602 0.00847127 0.99939183 0.59505441] [ 0. 0. 0. 1. ]] SLAMing on 13.052557844 meters Centerline goodness [0,1] 0.23677581863979846 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.60 [[ 0.99942863 0.00167418 0.03375803 0.05456115] [-0.0014059 0.99996726 -0.00796941 -0.04595477] [-0.03377026 0.0079174 0.99939826 0.59514486] [ 0. 0. 0. 1. ]] SLAMing on 13.082557844000002 meters Centerline goodness [0,1] 0.23261038624384345 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.60 [[ 0.99942295 0.00170837 0.03392429 0.05397352] [-0.00144326 0.99996824 -0.00783759 -0.04672457] [-0.03393661 0.0077841 0.99939367 0.59547374] [ 0. 0. 0. 1. ]] SLAMing on 13.112557844000001 meters Centerline goodness [0,1] 0.24482955043379195 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.60 [[ 0.99939998 -0.00700837 0.03392001 0.03255248] [ 0.00726966 0.9999448 -0.00758582 -0.04054579] [-0.03386497 0.00782785 0.99939576 0.5966625 ] [ 0. 0. 0. 1. ]] SLAMing on 13.142557844 meters Centerline goodness [0,1] 0.2408868601238996 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.60 [[ 0.99939749 -0.00699927 0.03399499 0.03218356] [ 0.00726542 0.99994387 -0.00771213 -0.03993115] [-0.03393911 0.00795447 0.99939225 0.59710683] [ 0. 0. 0. 1. ]] SLAMing on 13.172557844000002 meters Centerline goodness [0,1] 0.238796304291512 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.60 [[ 0.99943101 -0.00303847 0.03359216 0.0333033 ] [ 0.00317038 0.99998747 -0.00387443 -0.03837646] [-0.03357997 0.00397873 0.99942811 0.59681172] [ 0. 0. 0. 1. ]] SLAMing on 13.202557844000001 meters Centerline goodness [0,1] 0.2428825622775801 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.60 [[ 9.99444026e-01 7.87160488e-04 3.33319455e-02 3.41961158e-02] [-7.89785789e-04 9.99999686e-01 6.55961888e-05 -3.86121526e-02] [-3.33318834e-02 -9.18848159e-05 9.99444334e-01 5.96392020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232557844 meters Centerline goodness [0,1] 0.2433788863058639 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.60 [[ 9.99453690e-01 8.38663997e-04 3.30396336e-02 3.49887270e-02] [-8.31033133e-04 9.99999625e-01 -2.44692525e-04 -3.69102377e-02] [-3.30398264e-02 2.17101817e-04 9.99454012e-01 5.96324731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262557844000002 meters Centerline goodness [0,1] 0.24301378786233852 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.60 [[ 9.99455780e-01 8.00368416e-04 3.29773256e-02 3.49368743e-02] [-7.82204485e-04 9.99999535e-01 -5.63697924e-04 -3.54666517e-02] [-3.29777614e-02 5.37596136e-04 9.99455941e-01 5.96788067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292557844000001 meters Centerline goodness [0,1] 0.24339953650559876 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:0.60 [[ 9.99417289e-01 1.17283592e-03 3.41131456e-02 3.12888229e-02] [-1.15056049e-03 9.99999112e-01 -6.72609655e-04 -3.39316610e-02] [-3.41139042e-02 6.32968480e-04 9.99417751e-01 5.98617591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322557844 meters Centerline goodness [0,1] 0.24995068060761494 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.60 [[ 0.99941672 -0.00515251 0.03375911 0.00712962] [ 0.00507969 0.99998458 0.00224244 -0.03093026] [-0.03377015 -0.00206964 0.99942748 0.6010252 ] [ 0. 0. 0. 1. ]] SLAMing on 13.352557844000001 meters Centerline goodness [0,1] 0.24085056826759255 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.60 [[ 0.99939524 0.00305254 0.03463865 0.02715062] [-0.00309286 0.9999946 0.00111031 -0.03593128] [-0.03463507 -0.00121677 0.99939929 0.60107979] [ 0. 0. 0. 1. ]] SLAMing on 13.382557844 meters Centerline goodness [0,1] 0.24624591947769314 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.60 [[ 0.99939614 0.00303036 0.03461448 0.02716845] [-0.00306899 0.99999473 0.00106283 -0.03585817] [-0.03461108 -0.00116842 0.99940017 0.60115529] [ 0. 0. 0. 1. ]] SLAMing on 13.412557844000002 meters Centerline goodness [0,1] 0.2454691992681014 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.60 [[ 9.99395282e-01 3.01018585e-03 3.46411585e-02 2.69533563e-02] [-3.04588298e-03 9.99994883e-01 9.77756968e-04 -3.55250146e-02] [-3.46380380e-02 -1.08267862e-03 9.99399337e-01 6.01473543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442557844000001 meters Centerline goodness [0,1] 0.24367088607594933 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:0.60 [[ 9.99380477e-01 3.13874428e-03 3.50543918e-02 2.53715122e-02] [-3.17266563e-03 9.99994551e-01 9.12094295e-04 -3.47603755e-02] [-3.50513379e-02 -1.02274510e-03 9.99384990e-01 6.02628967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472557844 meters Centerline goodness [0,1] 0.2428142613427775 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:0.60 [[ 9.99374971e-01 3.13706283e-03 3.52111557e-02 2.45085963e-02] [-3.16812870e-03 9.99994640e-01 8.26513997e-04 -3.42644263e-02] [-3.52083741e-02 -9.37550875e-04 9.99379553e-01 6.03599441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502557844000002 meters Centerline goodness [0,1] 0.24574039821564575 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:0.60 [[ 9.99368770e-01 3.12003711e-03 3.53882270e-02 2.37249919e-02] [-3.14925026e-03 9.99994745e-01 7.69793885e-04 -3.40539644e-02] [-3.53856393e-02 -8.80754351e-04 9.99373344e-01 6.04298304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532557844000001 meters Centerline goodness [0,1] 0.24491034841619153 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:0.60 [[ 9.99371645e-01 3.06540786e-03 3.53117362e-02 2.38625921e-02] [-3.09214364e-03 9.99994973e-01 7.02549175e-04 -3.40005714e-02] [-3.53094050e-02 -8.11296685e-04 9.99376099e-01 6.04382188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562557844 meters Centerline goodness [0,1] 0.24081834397094537 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:0.60 [[ 9.99375377e-01 3.06038044e-03 3.52063814e-02 2.42601346e-02] [-3.08604100e-03 9.99995011e-01 6.74542972e-04 -3.38634491e-02] [-3.52041414e-02 -7.82769973e-04 9.99379836e-01 6.04104910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592557844000002 meters Centerline goodness [0,1] 0.24740870325825493 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.61 [[ 9.99475753e-01 3.31131840e-03 3.22064268e-02 -2.10680188e-02] [-3.33736142e-03 9.99994146e-01 7.54905287e-04 -3.17271860e-02] [-3.22037386e-02 -8.61994017e-04 9.99480953e-01 6.07334786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622557844000001 meters Centerline goodness [0,1] 0.24912441992820245 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.61 [[ 9.99478348e-01 3.24600485e-03 3.21324646e-02 -2.08496917e-02] [-3.26475707e-03 9.99994530e-01 5.31142320e-04 -3.06448206e-02] [-3.21305648e-02 -6.35769940e-04 9.99483478e-01 6.07268484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652557844 meters Centerline goodness [0,1] 0.24577435606638898 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.61 [[ 9.99486893e-01 3.18649273e-03 3.18715662e-02 -2.02309870e-02] [-3.19235160e-03 9.99994896e-01 1.32943261e-04 -2.85457219e-02] [-3.18709799e-02 -2.34620292e-04 9.99491964e-01 6.07333973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682557844000002 meters Centerline goodness [0,1] 0.24429184177461982 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.61 [[ 9.99491519e-01 3.14290270e-03 3.17305021e-02 -1.98497333e-02] [-3.14406204e-03 9.99995057e-01 -1.33569414e-05 -2.78477360e-02] [-3.17303873e-02 -8.64125177e-05 9.99496461e-01 6.07276254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712557844 meters Centerline goodness [0,1] 0.248377335321463 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:0.61 [[ 9.99518672e-01 -5.35997691e-03 3.05564373e-02 -4.00720042e-02] [ 5.33814384e-03 9.99985435e-01 7.96048386e-04 -2.16582440e-02] [-3.05602591e-02 -6.32550568e-04 9.99532726e-01 6.07769912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742557844 meters Centerline goodness [0,1] 0.24326313283262269 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.61 [[ 9.99508892e-01 2.98123553e-03 3.11943373e-02 -2.07195934e-02] [-2.97571254e-03 9.99995548e-01 -2.23473561e-04 -2.56053204e-02] [-3.11948647e-02 1.30538431e-04 9.99513313e-01 6.08189705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772557844000001 meters Centerline goodness [0,1] 0.2453495202663012 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.61 [[ 9.99503661e-01 2.93684260e-03 3.13656988e-02 -2.13257554e-02] [-2.92676002e-03 9.99995650e-01 -3.67358639e-04 -2.49278087e-02] [-3.13666412e-02 2.75376431e-04 9.99507908e-01 6.08549532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802557844 meters Centerline goodness [0,1] 0.2442699952159353 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.61 [[ 9.99494276e-01 2.82905283e-03 3.16731492e-02 -2.23757137e-02] [-2.80766356e-03 9.99995799e-01 -7.19767263e-04 -2.33822002e-02] [-3.16750524e-02 6.30475713e-04 9.99498021e-01 6.09155936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832557844000002 meters Centerline goodness [0,1] 0.2501980459466596 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:0.61 [[ 9.99520122e-01 -5.62707129e-03 3.04608269e-02 -4.20386444e-02] [ 5.62868288e-03 9.99984158e-01 3.28407900e-05 -1.71171457e-02] [-3.04605291e-02 1.38629304e-04 9.99535961e-01 6.09188483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862557844000001 meters Centerline goodness [0,1] 0.24213530518259063 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.61 [[ 9.99531029e-01 3.02679071e-03 3.04722997e-02 -2.01496055e-02] [-3.00876084e-03 9.99995270e-01 -6.37515696e-04 -2.03595399e-02] [-3.04740852e-02 5.45532857e-04 9.99535408e-01 6.08397366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892557844 meters Centerline goodness [0,1] 0.2448224852071006 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.61 [[ 9.99542656e-01 3.01020436e-03 3.00901589e-02 -1.89609706e-02] [-2.98279883e-03 9.99995095e-01 -9.55625741e-04 -1.85897481e-02] [-3.00928879e-02 8.65435800e-04 9.99546732e-01 6.07896596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922557844000002 meters Centerline goodness [0,1] 0.24702854775041982 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.61 [[ 0.9995521 0.00361775 0.02970725 -0.01805907] [-0.0035859 0.99999294 -0.00112552 -0.01574201] [-0.02971111 0.00101849 0.99955801 0.60799727] [ 0. 0. 0. 1. ]] SLAMing on 13.952557844000001 meters Centerline goodness [0,1] 0.24909739344839732 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.61 [[ 0.99954765 0.00353374 0.02986662 -0.01865693] [-0.00348489 0.9999925 -0.00168741 -0.01314624] [-0.02987236 0.00158257 0.99955247 0.60848458] [ 0. 0. 0. 1. ]] SLAMing on 13.982557844 meters Centerline goodness [0,1] 0.24352275437417337 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.61 [[ 9.99523110e-01 -3.56429509e-03 3.06732517e-02 -9.49799211e-04] [ 3.57926644e-03 9.99993501e-01 -4.33198137e-04 -5.89497569e-03] [-3.06715083e-02 5.42779289e-04 9.99529371e-01 6.09736635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012557844000002 meters Centerline goodness [0,1] 0.249485844309281 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.61 [[ 0.99951749 0.00556731 0.03055809 -0.02365966] [-0.00552779 0.99998377 -0.00137761 -0.0064646 ] [-0.03056527 0.00120802 0.99953204 0.61043123] [ 0. 0. 0. 1. ]] SLAMing on 14.042557844000001 meters Centerline goodness [0,1] 0.249649430324277 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.61 [[ 0.99951174 0.00572422 0.03071669 -0.02416343] [-0.0056725 0.99998234 -0.00177044 -0.00392182] [-0.03072628 0.00159534 0.99952656 0.6106101 ] [ 0. 0. 0. 1. ]] SLAMing on 14.072557844 meters Centerline goodness [0,1] 0.249649430324277 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.61 [[ 0.99951174 0.00572422 0.03071669 -0.02416343] [-0.0056725 0.99998234 -0.00177044 -0.00392182] [-0.03072628 0.00159534 0.99952656 0.6106101 ] [ 0. 0. 0. 1. ]] SLAMing on 14.102557844000001 meters Centerline goodness [0,1] 0.24569407758300765 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.61 [[ 0.99953257 0.00619705 0.02993727 -0.02195463] [-0.00613842 0.99997906 -0.00204999 -0.00106709] [-0.02994935 0.00186527 0.99954968 0.60987813] [ 0. 0. 0. 1. ]] SLAMing on 14.132557844 meters Centerline goodness [0,1] 0.2458170206250957 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.61 [[ 9.99542590e-01 6.09955075e-03 2.96210480e-02 -2.09966216e-02] [-6.03254904e-03 9.99979041e-01 -2.35080197e-03 1.80462544e-04] [-2.96347660e-02 2.17103626e-03 9.99558436e-01 6.09466958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162557844000002 meters Centerline goodness [0,1] 0.24394854634739904 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.61 [[ 0.99954813 0.00605532 0.02944254 -0.02068027] [-0.00598312 0.99997888 -0.00253969 0.00103981] [-0.02945729 0.00236239 0.99956325 0.60962993] [ 0. 0. 0. 1. ]] SLAMing on 14.192557844000001 meters Centerline goodness [0,1] 0.2426979497671179 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.61 [[ 0.99954117 0.00607425 0.02967424 -0.02150894] [-0.00600237 0.99997883 -0.00251092 0.00101805] [-0.02968887 0.00233165 0.99955647 0.61011276] [ 0. 0. 0. 1. ]] SLAMing on 14.222557844 meters Centerline goodness [0,1] 0.2470850255469671 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.61 [[ 9.99534943e-01 6.10934978e-03 2.98759671e-02 -2.22507957e-02] [-6.04125040e-03 9.99978945e-01 -2.36913754e-03 3.33956419e-04] [-2.98898119e-02 2.18754756e-03 9.99550806e-01 6.10630931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252557844000002 meters Centerline goodness [0,1] 0.24417545229727966 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.61 [[ 9.99537073e-01 6.09577341e-03 2.98074156e-02 -2.20799225e-02] [-6.03084920e-03 9.99979243e-01 -2.26754087e-03 -3.73824629e-04] [-2.98206194e-02 2.08672714e-03 9.99553088e-01 6.10643882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282557844000001 meters Centerline goodness [0,1] 0.23712538753014123 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.61 [[ 9.99552512e-01 6.12633550e-03 2.92787198e-02 -2.03086741e-02] [-6.06508470e-03 9.99979230e-01 -2.18034149e-03 -7.47139149e-04] [-2.92914692e-02 2.00178790e-03 9.99568908e-01 6.09746525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312557844 meters Centerline goodness [0,1] 0.24597625329815298 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:0.61 [[ 9.99641601e-01 6.43764413e-03 2.59851242e-02 -6.51499029e-02] [-6.39288743e-03 9.99977936e-01 -1.80510421e-03 -8.64155262e-04] [-2.59961715e-02 1.63833729e-03 9.99660700e-01 6.12614114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342557844000002 meters Centerline goodness [0,1] 0.24777591825949086 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:0.61 [[ 0.99964006 0.00646949 0.0260366 -0.0654146 ] [-0.006426 0.99997782 -0.00175374 -0.00101194] [-0.02604736 0.0015858 0.99965945 0.61288543] [ 0. 0. 0. 1. ]] SLAMing on 14.372557844000001 meters Centerline goodness [0,1] 0.2475869465297993 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:0.61 [[ 0.99963528 0.00648991 0.02621441 -0.06626183] [-0.00644658 0.99997771 -0.00173719 -0.00106937] [-0.0262251 0.00156756 0.99965483 0.61370273] [ 0. 0. 0. 1. ]] SLAMing on 14.402557844 meters Centerline goodness [0,1] 0.24718240507714195 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:0.61 [[ 0.99962522 0.00650301 0.02659182 -0.06783372] [-0.00646071 0.99997772 -0.00167647 -0.00150783] [-0.02660213 0.00150404 0.99964497 0.61496914] [ 0. 0. 0. 1. ]] SLAMing on 14.432557844000002 meters Centerline goodness [0,1] 0.2447015594584545 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:0.62 [[ 0.99962391 0.00655015 0.02662972 -0.06801156] [-0.00651125 0.9999776 -0.00154709 -0.00212701] [-0.02663926 0.00137312 0.99964417 0.61512354] [ 0. 0. 0. 1. ]] SLAMing on 14.462557844 meters Centerline goodness [0,1] 0.24672059466550067 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:0.62 [[ 0.99962329 0.0066206 0.02663531 -0.06804773] [-0.0065876 0.99997742 -0.00132655 -0.00314472] [-0.02664349 0.00115059 0.99964434 0.61514157] [ 0. 0. 0. 1. ]] SLAMing on 14.492557844000002 meters Centerline goodness [0,1] 0.24248713624767593 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.00, Z:0.62 [[ 9.99697930e-01 1.41441662e-06 2.45774126e-02 -5.10803545e-02] [-3.78992763e-06 9.99999995e-01 9.66076549e-05 -4.99415206e-04] [-2.45774123e-02 -9.66716193e-05 9.99697925e-01 6.17727662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522557844000001 meters Centerline goodness [0,1] 0.2463103879300893 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.00, Z:0.62 [[ 9.99679591e-01 -8.52691913e-03 2.38329088e-02 -7.25087677e-02] [ 8.49491790e-03 9.99962875e-01 1.44365621e-03 7.34168840e-04] [-2.38443340e-02 -1.24073505e-03 9.99714914e-01 6.17997063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552557844 meters Centerline goodness [0,1] 0.24365102090262325 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:0.62 [[ 9.99679370e-01 -8.42602362e-03 2.38780101e-02 -7.27003818e-02] [ 8.38790948e-03 9.99963383e-01 1.69591250e-03 -3.53144760e-04] [-2.38914255e-02 -1.49508215e-03 9.99713441e-01 6.18177803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582557844000002 meters Centerline goodness [0,1] 0.23846087295064233 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.01, Z:0.62 [[ 9.99708194e-01 -2.97983138e-04 2.41544441e-02 -5.23814463e-02] [ 2.80808561e-04 9.99999705e-01 7.14420557e-04 -5.52310400e-03] [-2.41546499e-02 -7.07429310e-04 9.99707984e-01 6.18483622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612557844000001 meters Centerline goodness [0,1] 0.24712189120309347 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.62 [[ 9.99781930e-01 -5.61620497e-04 2.08752957e-02 -9.52545993e-02] [ 5.49950398e-04 9.99999689e-01 5.64775381e-04 -7.88973684e-03] [-2.08756064e-02 -5.53171843e-04 9.99781928e-01 6.19814524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642557844 meters Centerline goodness [0,1] 0.245451951984902 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:0.62 [[ 9.99789123e-01 -4.48154326e-04 2.05306608e-02 -9.40426713e-02] [ 4.31089624e-04 9.99999558e-01 8.35599531e-04 -9.12190424e-03] [-2.05310262e-02 -8.26572768e-04 9.99788875e-01 6.19062035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672557844000002 meters Centerline goodness [0,1] 0.24081811221699656 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:0.62 [[ 9.99793025e-01 -2.02095561e-04 2.03437245e-02 -9.33299903e-02] [ 1.72951462e-04 9.99998956e-01 1.43433345e-03 -1.18151602e-02] [-2.03439931e-02 -1.43051810e-03 9.99792016e-01 6.18592720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702557844000001 meters Centerline goodness [0,1] 0.2448375641194266 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:0.62 [[ 9.99791548e-01 -1.04311012e-04 2.04168834e-02 -9.37305779e-02] [ 6.97211543e-05 9.99998561e-01 1.69488361e-03 -1.30454357e-02] [-2.04170308e-02 -1.69310682e-03 9.99790117e-01 6.19033562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732557844 meters Centerline goodness [0,1] 0.24110706229394407 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:0.62 [[ 9.99788831e-01 -8.01296201e-06 2.05497978e-02 -9.43151450e-02] [-3.13989445e-05 9.99998161e-01 1.91754983e-03 -1.40626042e-02] [-2.05497754e-02 -1.91779015e-03 9.99786992e-01 6.19523655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762557844000002 meters Centerline goodness [0,1] 0.2405120972116741 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.02, Z:0.62 [[ 9.99784677e-01 1.38232593e-04 2.07504120e-02 -9.51680194e-02] [-1.83481411e-04 9.99997610e-01 2.17873458e-03 -1.50567440e-02] [-2.07500613e-02 -2.18207277e-03 9.99782313e-01 6.20159302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792557844000001 meters Centerline goodness [0,1] 0.2420865493018819 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.02, Z:0.62 [[ 9.99784663e-01 1.86066278e-04 2.07507530e-02 -9.51698677e-02] [-2.33020461e-04 9.99997418e-01 2.26037507e-03 -1.54037204e-02] [-2.07502789e-02 -2.26472368e-03 9.99782125e-01 6.20155225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822557844 meters Centerline goodness [0,1] 0.24740472989354434 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.02, Z:0.62 [[ 9.99846094e-01 -3.51833401e-04 1.75403926e-02 -1.38838127e-01] [ 3.21192489e-04 9.99998418e-01 1.74966372e-03 -1.72050244e-02] [-1.75409804e-02 -1.74376060e-03 9.99844625e-01 6.21766025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852557844000001 meters Centerline goodness [0,1] 0.24543419088594254 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.02, Z:0.62 [[ 9.99849789e-01 -3.20743848e-04 1.73290409e-02 -1.37918385e-01] [ 2.88121192e-04 9.99998182e-01 1.88500630e-03 -1.80941746e-02] [-1.73296140e-02 -1.87973029e-03 9.99848064e-01 6.20991835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882557844 meters Centerline goodness [0,1] 0.2414917908013483 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.02, Z:0.62 [[ 9.99850981e-01 -1.99024693e-04 1.72620114e-02 -1.37689456e-01] [ 1.62547349e-04 9.99997751e-01 2.11453453e-03 -1.90698711e-02] [-1.72623934e-02 -2.11141352e-03 9.99848764e-01 6.20801650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912557844000002 meters Centerline goodness [0,1] 0.24264769859914725 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.02, Z:0.62 [[ 9.99849969e-01 -1.21837752e-04 1.73212316e-02 -1.38040158e-01] [ 8.33133420e-05 9.99997522e-01 2.22481917e-03 -1.92973606e-02] [-1.73214597e-02 -2.22304229e-03 9.99847501e-01 6.21164492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942557844000001 meters Centerline goodness [0,1] 0.2406122316622349 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.02, Z:0.62 [[ 9.99849579e-01 -2.34712026e-05 1.73441230e-02 -1.38438689e-01] [-1.90151747e-05 9.99997000e-01 2.44944334e-03 -2.02092031e-02] [-1.73441285e-02 -2.44940469e-03 9.99846579e-01 6.21789119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972557844 meters Centerline goodness [0,1] 0.23965457536144052 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.02, Z:0.62 [[ 9.99851345e-01 8.61511295e-05 1.72418071e-02 -1.38510418e-01] [-1.34656248e-04 9.99996037e-01 2.81208588e-03 -2.19924319e-02] [-1.72414966e-02 -2.81398956e-03 9.99847394e-01 6.22434072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002557844000002 meters Centerline goodness [0,1] 0.2421139589991087 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.03, Z:0.62 [[ 9.99852413e-01 5.10481801e-05 1.71799032e-02 -1.38629660e-01] [-1.11734185e-04 9.99993758e-01 3.53144209e-03 -2.63705983e-02] [-1.71796157e-02 -3.53284048e-03 9.99846178e-01 6.22999905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032557844000001 meters Centerline goodness [0,1] 0.2459066631643464 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.03, Z:0.62 [[ 9.99851617e-01 2.26236619e-04 1.72247739e-02 -1.38828599e-01] [-2.96466908e-04 9.99991654e-01 4.07483935e-03 -2.88380177e-02] [-1.72237083e-02 -4.07934129e-03 9.99843339e-01 6.23220473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062557844 meters Centerline goodness [0,1] 0.24527930332800907 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.03, Z:0.62 [[ 9.99848719e-01 3.83237878e-04 1.73894564e-02 -1.39439317e-01] [-4.62676735e-04 9.99989476e-01 4.56442654e-03 -3.11012005e-02] [-1.73875242e-02 -4.57178173e-03 9.99838373e-01 6.23634010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092557844000002 meters Centerline goodness [0,1] 0.23715627963106634 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:0.62 [[ 9.99792360e-01 -4.01941706e-04 2.03733839e-02 -9.69280611e-02] [ 3.27794925e-04 9.99993312e-01 3.64260333e-03 -3.18816695e-02] [-2.03747118e-02 -3.63516869e-03 9.99785805e-01 6.22779545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122557844000001 meters Centerline goodness [0,1] 0.24113613256322064 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:0.62 [[ 9.99791746e-01 -3.30251083e-04 2.04048082e-02 -9.72287072e-02] [ 2.49897708e-04 9.99992205e-01 3.94038707e-03 -3.35372396e-02] [-2.04059505e-02 -3.93446735e-03 9.99784035e-01 6.23218100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152557844 meters Centerline goodness [0,1] 0.24579006301183393 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.62 [[ 0.99977702 0.00791232 0.01957817 -0.11694374] [-0.00797345 0.99996357 0.00304618 -0.04040275] [-0.01955336 -0.00320161 0.99980369 0.62252786] [ 0. 0. 0. 1. ]] SLAMing on 15.182557844000002 meters Centerline goodness [0,1] 0.23904391088038068 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.62 [[ 9.99801857e-01 9.23808783e-04 1.98844989e-02 -9.42764319e-02] [-1.03822029e-03 9.99982963e-01 5.74424992e-03 -4.08065532e-02] [-1.98788535e-02 -5.76375623e-03 9.99785782e-01 6.20960591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212557844 meters Centerline goodness [0,1] 0.24118056461786075 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.62 [[ 0.99980276 0.00113511 0.01982789 -0.09406872] [-0.00126248 0.99997864 0.00641247 -0.04393879] [-0.01982019 -0.00643624 0.99978284 0.62087224] [ 0. 0. 0. 1. ]] SLAMing on 15.242557844000002 meters Centerline goodness [0,1] 0.24209681268849403 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.62 [[ 0.99979609 -0.00252362 0.02003525 -0.09502291] [ 0.00244959 0.99999008 0.00371887 -0.05134693] [-0.02004444 -0.00366903 0.99979236 0.62175266] [ 0. 0. 0. 1. ]] SLAMing on 15.272557844000001 meters Centerline goodness [0,1] 0.24388064255977682 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.62 [[ 0.99979367 -0.00253601 0.02015385 -0.09546695] [ 0.00244566 0.99998686 0.00450645 -0.0558765 ] [-0.02016501 -0.00445623 0.99978673 0.62209666] [ 0. 0. 0. 1. ]] SLAMing on 15.302557844 meters Centerline goodness [0,1] 0.24378564276696701 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.62 [[ 0.99979735 -0.00238016 0.01998997 -0.0952574 ] [ 0.00227379 0.99998315 0.00534213 -0.05989589] [-0.02000235 -0.0052956 0.99978591 0.62244274] [ 0. 0. 0. 1. ]] SLAMing on 15.332557844000002 meters Centerline goodness [0,1] 0.24464063285330306 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.62 [[ 0.9997977 -0.00216272 0.01999723 -0.09542843] [ 0.00204044 0.99997911 0.00613294 -0.06347165] [-0.02001008 -0.00609089 0.99978123 0.62277236] [ 0. 0. 0. 1. ]] SLAMing on 15.362557844000001 meters Centerline goodness [0,1] 0.24665404596284235 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.62 [[ 0.99971722 0.00261401 0.02363584 -0.11685085] [-0.00270312 0.99998936 0.00373932 -0.07112772] [-0.02362581 -0.00380215 0.99971364 0.6211151 ] [ 0. 0. 0. 1. ]] SLAMing on 15.392557844 meters Centerline goodness [0,1] 0.24354572322670376 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:0.62 [[ 0.99969881 -0.00536462 0.02394788 -0.09729867] [ 0.00525496 0.99997543 0.00463953 -0.06820631] [-0.02397218 -0.00451229 0.99970244 0.62176582] [ 0. 0. 0. 1. ]] SLAMing on 15.422557844000002 meters Centerline goodness [0,1] 0.24069564467814586 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:0.62 [[ 0.99970088 -0.00528776 0.02387885 -0.0969757 ] [ 0.00517879 0.9999759 0.00462299 -0.06788297] [-0.02390272 -0.00449795 0.99970417 0.62144731] [ 0. 0. 0. 1. ]] SLAMing on 15.452557844000001 meters Centerline goodness [0,1] 0.24562591468076278 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.62 [[ 0.99973083 0.00372512 0.02289958 -0.11905979] [-0.00382336 0.99998367 0.00424757 -0.07073576] [-0.02288338 -0.00433398 0.99972875 0.62182329] [ 0. 0. 0. 1. ]] SLAMing on 15.482557844 meters Centerline goodness [0,1] 0.24113214879423128 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.62 [[ 0.99973408 0.00374269 0.0227543 -0.11858758] [-0.00383457 0.99998466 0.00399578 -0.06927377] [-0.022739 -0.00408197 0.9997331 0.621553 ] [ 0. 0. 0. 1. ]] SLAMing on 15.512557844000002 meters Centerline goodness [0,1] 0.24514726660145636 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.62 [[ 0.99973929 0.00355379 0.02255483 -0.11798856] [-0.0036336 0.99998728 0.00349827 -0.06737441] [-0.02254211 -0.00357931 0.99973949 0.62130475] [ 0. 0. 0. 1. ]] SLAMing on 15.542557844000001 meters Centerline goodness [0,1] 0.24475509224931302 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.62 [[ 0.99974332 0.00349989 0.02238406 -0.11745015] [-0.00357716 0.99998778 0.00341319 -0.06719705] [-0.02237184 -0.00349238 0.99974362 0.62106486] [ 0. 0. 0. 1. ]] SLAMing on 15.572557844000002 meters Centerline goodness [0,1] 0.2496469861442061 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.62 [[ 0.99976402 -0.00561662 0.02098456 -0.13856694] [ 0.00553436 0.99997678 0.0039763 -0.06361296] [-0.02100641 -0.00385923 0.99977189 0.62133832] [ 0. 0. 0. 1. ]] SLAMing on 15.602557844000001 meters Centerline goodness [0,1] 0.24442399544279392 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.62 [[ 0.99976318 -0.00563408 0.02101981 -0.13858491] [ 0.00555149 0.99997665 0.00398552 -0.06364689] [-0.02104177 -0.00386789 0.99977112 0.62112925] [ 0. 0. 0. 1. ]] SLAMing on 15.632557844 meters Centerline goodness [0,1] 0.24133824166305762 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.62 [[ 0.9997543 -0.00555873 0.02145787 -0.14001287] [ 0.00546879 0.99997602 0.0042478 -0.06440688] [-0.02148097 -0.00412941 0.99976073 0.62174268] [ 0. 0. 0. 1. ]] SLAMing on 15.662557844000002 meters Centerline goodness [0,1] 0.23990740340097794 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.62 [[ 0.99975249 -0.00555159 0.02154396 -0.14036893] [ 0.00546034 0.99997588 0.00429191 -0.06458027] [-0.02156727 -0.00417321 0.99975869 0.62199747] [ 0. 0. 0. 1. ]] SLAMing on 15.692557844000001 meters Centerline goodness [0,1] 0.244907316434139 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.62 [[ 0.99977785 0.00234276 0.02094651 -0.1597388 ] [-0.00240464 0.99999282 0.00292924 -0.06968873] [-0.0209395 -0.00297896 0.99977631 0.62108558] [ 0. 0. 0. 1. ]] SLAMing on 15.722557844 meters Centerline goodness [0,1] 0.24802110817941958 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.62 [[ 0.99978447 0.00219005 0.0206452 -0.15896678] [-0.0022458 0.99999389 0.00267761 -0.06914491] [-0.02063921 -0.0027234 0.99978328 0.62094861] [ 0. 0. 0. 1. ]] SLAMing on 15.752557844000002 meters Centerline goodness [0,1] 0.2420917702268185 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.62 [[ 0.99978634 0.00212217 0.02056121 -0.15876006] [-0.00217247 0.9999947 0.00242435 -0.06793211] [-0.02055596 -0.0024685 0.99978566 0.6209118 ] [ 0. 0. 0. 1. ]] SLAMing on 15.782557844000001 meters Centerline goodness [0,1] 0.24483621721623683 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.62 [[ 0.99978389 0.00202928 0.0206895 -0.15910194] [-0.00207285 0.99999568 0.00208471 -0.06616818] [-0.02068518 -0.00212715 0.99978378 0.62092234] [ 0. 0. 0. 1. ]] SLAMing on 15.812557844 meters Centerline goodness [0,1] 0.2431517256349034 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.62 [[ 0.99978401 0.00196903 0.02068958 -0.15883266] [-0.00200015 0.9999969 0.00148326 -0.06264718] [-0.0206866 -0.00152432 0.99978485 0.62038622] [ 0. 0. 0. 1. ]] SLAMing on 15.842557844000002 meters Centerline goodness [0,1] 0.246095876984732 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.62 [[ 0.99978728 0.00186177 0.02054071 -0.15831215] [-0.00188762 0.99999745 0.001239 -0.06160765] [-0.02053835 -0.00127751 0.99978825 0.62007931] [ 0. 0. 0. 1. ]] SLAMing on 15.872557844000001 meters Centerline goodness [0,1] 0.24014390969020638 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.62 [[ 0.99979042 0.00179894 0.02039305 -0.15794018] [-0.00182315 0.99999765 0.00116893 -0.0614214 ] [-0.0203909 -0.00120587 0.99979136 0.62002171] [ 0. 0. 0. 1. ]] SLAMing on 15.902557844000002 meters Centerline goodness [0,1] 0.24341448596102933 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.62 [[ 0.9997945 0.00173507 0.02019768 -0.15763118] [-0.0017573 0.99999787 0.00108265 -0.06102595] [-0.02019576 -0.00111792 0.99979542 0.62031677] [ 0. 0. 0. 1. ]] SLAMing on 15.932557844000002 meters Centerline goodness [0,1] 0.23920079402753203 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.62 [[ 9.99797068e-01 1.66822065e-03 2.00758684e-02 -1.57152791e-01] [-1.68712444e-03 9.99998149e-01 9.24717639e-04 -6.03171011e-02] [-2.00742886e-02 -9.58400473e-04 9.99798032e-01 6.19988402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962557844 meters Centerline goodness [0,1] 0.24378628742905606 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.62 [[ 9.99799093e-01 1.57271881e-03 1.99825098e-02 -1.56614811e-01] [-1.58651101e-03 9.99998514e-01 6.74379455e-04 -5.92361027e-02] [-1.99814195e-02 -7.05946439e-04 9.99800102e-01 6.19385050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992557844000002 meters Centerline goodness [0,1] 0.24679395839270446 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.62 [[ 9.99798512e-01 1.46719072e-03 2.00195536e-02 -1.56492315e-01] [-1.47390780e-03 9.99998862e-01 3.20775268e-04 -5.75176938e-02] [-2.00190602e-02 -3.50217612e-04 9.99799537e-01 6.18957034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022557843999998 meters Centerline goodness [0,1] 0.24679395839270446 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.62 [[ 9.99798512e-01 1.46719072e-03 2.00195536e-02 -1.56492315e-01] [-1.47390780e-03 9.99998862e-01 3.20775268e-04 -5.75176938e-02] [-2.00190602e-02 -3.50217612e-04 9.99799537e-01 6.18957034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052557844 meters Centerline goodness [0,1] 0.2423211150369584 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 9.99792247e-01 1.95474100e-03 2.02889343e-02 -1.57505183e-01] [-1.95848311e-03 9.99998069e-01 1.64573050e-04 -5.46876867e-02] [-2.02885734e-02 -2.04274395e-04 9.99794145e-01 6.19461340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082557844 meters Centerline goodness [0,1] 0.24523881827252614 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 9.99793484e-01 1.89128143e-03 2.02339235e-02 -1.57638420e-01] [-1.88839305e-03 9.99998204e-01 -1.61855221e-04 -5.29875009e-02] [-2.02341933e-02 1.23612194e-04 9.99795260e-01 6.19948986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112557844 meters Centerline goodness [0,1] 0.24629047743737453 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 9.99793042e-01 1.82396832e-03 2.02619624e-02 -1.57881093e-01] [-1.81531846e-03 9.99998253e-01 -4.45286060e-04 -5.16205902e-02] [-2.02627392e-02 4.08411990e-04 9.99794606e-01 6.20285514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142557844 meters Centerline goodness [0,1] 0.24769620474297938 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 9.99788953e-01 1.78273978e-03 2.04663218e-02 -1.58424566e-01] [-1.76820779e-03 9.99998172e-01 -7.28118037e-04 -5.01880599e-02] [-2.04675824e-02 6.91775661e-04 9.99790278e-01 6.20365371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172557844 meters Centerline goodness [0,1] 0.24633278361253363 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 9.99753539e-01 2.21565548e-03 2.20896482e-02 -1.62815459e-01] [-2.20038686e-03 9.99997323e-01 -7.15493272e-04 -4.88142507e-02] [-2.20911744e-02 6.66711159e-04 9.99755738e-01 6.21147051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202557844 meters Centerline goodness [0,1] 0.24619162483430035 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 9.99749592e-01 2.20428534e-03 2.22687011e-02 -1.63427127e-01] [-2.18562307e-03 9.99997240e-01 -8.62353327e-04 -4.79812541e-02] [-2.22705405e-02 8.13466400e-04 9.99751650e-01 6.21430028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232557844 meters Centerline goodness [0,1] 0.2460072910337644 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 0.99975288 0.00216885 0.0221243 -0.1630727 ] [-0.00214585 0.99999713 -0.00106342 -0.04694128] [-0.02212654 0.00101569 0.99975466 0.62139108] [ 0. 0. 0. 1. ]] SLAMing on 16.262557844 meters Centerline goodness [0,1] 0.24825342764824032 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 0.99975754 0.00213245 0.02191591 -0.16243824] [-0.0021051 0.99999698 -0.00127111 -0.04588923] [-0.02191855 0.00122467 0.99975901 0.62110623] [ 0. 0. 0. 1. ]] SLAMing on 16.292557844 meters Centerline goodness [0,1] 0.24711260827718962 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.62 [[ 0.99976063 0.00212998 0.021775 -0.16209462] [-0.00209923 0.99999677 -0.00143515 -0.04497142] [-0.02177799 0.0013891 0.99976187 0.62104653] [ 0. 0. 0. 1. ]] SLAMing on 16.322557844 meters Centerline goodness [0,1] 0.24579234260646732 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 0.99974478 0.00240351 0.02246324 -0.16400098] [-0.00237639 0.99999642 -0.00123396 -0.04537086] [-0.02246612 0.00118027 0.99974691 0.62142823] [ 0. 0. 0. 1. ]] SLAMing on 16.352557844 meters Centerline goodness [0,1] 0.24722765818656234 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 9.99737962e-01 2.50591574e-03 2.27536152e-02 -1.64958906e-01] [-2.48381444e-03 9.99996416e-01 -9.99540860e-04 -4.64666263e-02] [-2.27560384e-02 9.42763185e-04 9.99740603e-01 6.21865460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382557844 meters Centerline goodness [0,1] 0.2455485291261088 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.62 [[ 9.99736554e-01 2.61591061e-03 2.28030694e-02 -1.65209892e-01] [-2.59999326e-03 9.99996355e-01 -7.27655086e-04 -4.78174728e-02] [-2.28048898e-02 6.68175562e-04 9.99739711e-01 6.22126827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412557844 meters Centerline goodness [0,1] 0.24291497975708498 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.62 [[ 9.99748130e-01 2.83779951e-03 2.22626232e-02 -1.63491908e-01] [-2.83309766e-03 9.99995957e-01 -2.42736661e-04 -5.01295781e-02] [-2.22632221e-02 1.79603337e-04 9.99752128e-01 6.21403735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442557844 meters Centerline goodness [0,1] 0.24782846515698498 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.62 [[ 9.99760129e-01 -5.79717031e-03 2.11205292e-02 -1.83718369e-01] [ 5.77695438e-03 9.99982795e-01 1.01805755e-03 -4.75540362e-02] [-2.11260677e-02 -8.95801015e-04 9.99776418e-01 6.21203832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472557844 meters Centerline goodness [0,1] 0.2483065060660844 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.62 [[ 0.99975456 -0.00570205 0.02140788 -0.18466988] [ 0.00567722 0.99998314 0.00122053 -0.04844474] [-0.02141447 -0.0010987 0.99977008 0.62168275] [ 0. 0. 0. 1. ]] SLAMing on 16.502557844 meters Centerline goodness [0,1] 0.24694207744579877 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.62 [[ 0.99974636 -0.00562661 0.02180732 -0.18606779] [ 0.00559786 0.99998338 0.0013795 -0.04920518] [-0.02181472 -0.00125707 0.99976124 0.62245572] [ 0. 0. 0. 1. ]] SLAMing on 16.532557844 meters Centerline goodness [0,1] 0.24922842860247774 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.62 [[ 9.99769609e-01 2.40625787e-03 2.13293025e-02 -2.05745837e-01] [-2.40995643e-03 9.99997085e-01 1.47700279e-04 -5.59203088e-02] [-2.13288849e-02 -1.99068940e-04 9.99772494e-01 6.20805183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562557844 meters Centerline goodness [0,1] 0.24509358433409068 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.62 [[ 9.99780476e-01 2.50325711e-03 2.08022373e-02 -2.03715250e-01] [-2.50612254e-03 9.99996853e-01 1.11678010e-04 -5.55267765e-02] [-2.08018923e-02 -1.63786450e-04 9.99783604e-01 6.19300385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592557843999998 meters Centerline goodness [0,1] 0.24758752001384743 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.62 [[ 9.99792274e-01 2.55008979e-03 2.02214301e-02 -2.01719283e-01] [-2.54984602e-03 9.99996748e-01 -3.78386111e-05 -5.46599128e-02] [-2.02214608e-02 -1.37307820e-05 9.99795525e-01 6.18128677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622557844 meters Centerline goodness [0,1] 0.24904206170217424 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.05, Z:0.62 [[ 9.99822579e-01 -6.03975561e-03 1.78418775e-02 -2.20803351e-01] [ 6.02400576e-03 9.99981417e-01 9.36358648e-04 -5.11206315e-02] [-1.78472014e-02 -8.28712945e-04 9.99840383e-01 6.17857129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652557844 meters Centerline goodness [0,1] 0.2457564415041783 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.05, Z:0.62 [[ 9.99823875e-01 -6.03184453e-03 1.77717479e-02 -2.20692016e-01] [ 6.01683135e-03 9.99981495e-01 8.98126022e-04 -5.09483728e-02] [-1.77768364e-02 -7.91038230e-04 9.99841667e-01 6.17916231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682557843999998 meters Centerline goodness [0,1] 0.24357563596349274 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.05, Z:0.62 [[ 9.99819001e-01 -5.95241389e-03 1.80702764e-02 -2.22012262e-01] [ 5.93464224e-03 9.99981852e-01 1.03694035e-03 -5.15075518e-02] [-1.80761208e-02 -9.29512039e-04 9.99836182e-01 6.18967486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712557844 meters Centerline goodness [0,1] 0.2459091205424082 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.06, Z:0.62 [[ 9.99823872e-01 1.92680661e-03 1.86684966e-02 -2.41653987e-01] [-1.93227030e-03 9.99998095e-01 2.74635679e-04 -5.76123960e-02] [-1.86679318e-02 -3.10659889e-04 9.99825691e-01 6.18000355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742557844 meters Centerline goodness [0,1] 0.24668030824154297 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.06, Z:0.62 [[ 9.99822860e-01 1.98221642e-03 1.87168299e-02 -2.41788186e-01] [-1.99024978e-03 9.99997935e-01 4.10587683e-04 -5.81618962e-02] [-1.87159774e-02 -4.47766118e-04 9.99824740e-01 6.18002165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772557843999998 meters Centerline goodness [0,1] 0.24571540282815996 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.06, Z:0.62 [[ 9.99824365e-01 2.00938792e-03 1.86333211e-02 -2.41354031e-01] [-2.02026363e-03 9.99997800e-01 5.64864644e-04 -5.89795623e-02] [-1.86321451e-02 -6.02409655e-04 9.99826225e-01 6.17568456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802557844 meters Centerline goodness [0,1] 0.24602657634184466 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.06, Z:0.62 [[ 9.99830748e-01 2.02980467e-03 1.82853713e-02 -2.40236290e-01] [-2.04419837e-03 9.99997615e-01 7.68513520e-04 -6.01634980e-02] [-1.82837678e-02 -8.05762374e-04 9.99832513e-01 6.17087343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832557844 meters Centerline goodness [0,1] 0.25061322820849763 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.06, Z:0.62 [[ 0.99985118 -0.00675502 0.01587433 -0.2600528 ] [ 0.00672085 0.99997498 0.00220519 -0.06016012] [-0.01588883 -0.00209817 0.99987156 0.61668911] [ 0. 0. 0. 1. ]] SLAMing on 16.862557844 meters Centerline goodness [0,1] 0.25101507802383516 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.06, Z:0.62 [[ 0.99985468 -0.00663957 0.01570158 -0.25959297] [ 0.00660092 0.99997506 0.00251193 -0.06148025] [-0.01571787 -0.00240792 0.99987357 0.61666636] [ 0. 0. 0. 1. ]] SLAMing on 16.892557844 meters Centerline goodness [0,1] 0.2503077734787197 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.07, Z:0.62 [[ 0.99985643 -0.00640632 0.01568709 -0.25972659] [ 0.00635466 0.99997423 0.00334076 -0.06547269] [-0.01570809 -0.0032406 0.99987137 0.6171323 ] [ 0. 0. 0. 1. ]] SLAMing on 16.922557844 meters Centerline goodness [0,1] 0.24463185209211802 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.07, Z:0.62 [[ 9.99858146e-01 3.12923367e-04 1.68401324e-02 -2.37405546e-01] [-3.26290110e-04 9.99999634e-01 7.91001604e-04 -6.85031740e-02] [-1.68398787e-02 -7.96384166e-04 9.99857882e-01 6.15803693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952557844 meters Centerline goodness [0,1] 0.248255472707115 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.07, Z:0.62 [[ 9.99856173e-01 5.07727182e-04 1.69521646e-02 -2.37659881e-01] [-5.30537878e-04 9.99998960e-01 1.34112183e-03 -7.10596684e-02] [-1.69514660e-02 -1.34992271e-03 9.99855402e-01 6.15805849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982557844 meters Centerline goodness [0,1] 0.24553667920287037 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.07, Z:0.62 [[ 9.99854716e-01 6.76610716e-04 1.70320124e-02 -2.37938463e-01] [-7.07959690e-04 9.99998066e-01 1.83462917e-03 -7.33108150e-02] [-1.70307381e-02 -1.84642060e-03 9.99853262e-01 6.15982571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012557844 meters Centerline goodness [0,1] 0.24831833668210013 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.08, Z:0.62 [[ 9.99853343e-01 8.69592564e-04 1.71036823e-02 -2.38278393e-01] [-9.09862942e-04 9.99996832e-01 2.34684520e-03 -7.56439248e-02] [-1.71015873e-02 -2.36206303e-03 9.99850967e-01 6.16363530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042557844 meters Centerline goodness [0,1] 0.2468953538862353 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.08, Z:0.62 [[ 0.99985387 0.00110671 0.01705908 -0.23837 ] [-0.00115928 0.99999461 0.0030722 -0.07945756] [-0.01705559 -0.00309152 0.99984976 0.61680663] [ 0. 0. 0. 1. ]] SLAMing on 17.072557844 meters Centerline goodness [0,1] 0.24973614775725594 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.09, Z:0.62 [[ 0.99981906 0.0094967 0.01648214 -0.25912678] [-0.00953994 0.99995125 0.0025468 -0.08600323] [-0.01645715 -0.00270358 0.99986092 0.61642357] [ 0. 0. 0. 1. ]] SLAMing on 17.102557844 meters Centerline goodness [0,1] 0.2448346439728536 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.08, Z:0.62 [[ 0.99976273 0.01117053 0.01870033 -0.21575147] [-0.01123362 0.99993155 0.00327194 -0.08476462] [-0.0186625 -0.00348124 0.99981978 0.61507521] [ 0. 0. 0. 1. ]] SLAMing on 17.132557844 meters Centerline goodness [0,1] 0.24843825084094184 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.08, Z:0.61 [[ 0.99983692 0.00274654 0.01784905 -0.23588064] [-0.00282259 0.99998704 0.00423679 -0.08219948] [-0.01783718 -0.00428648 0.99983172 0.6147359 ] [ 0. 0. 0. 1. ]] SLAMing on 17.162557844 meters Centerline goodness [0,1] 0.25278671190025115 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.08, Z:0.61 [[ 0.9998379 0.00276024 0.01779189 -0.23581948] [-0.00283658 0.99998687 0.00426673 -0.08255055] [-0.01777988 -0.00431651 0.99983261 0.61490226] [ 0. 0. 0. 1. ]] SLAMing on 17.192557844 meters Centerline goodness [0,1] 0.24748508282532367 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.08, Z:0.61 [[ 0.99980923 0.00380625 0.01915761 -0.19229449] [-0.00388247 0.99998469 0.00394317 -0.08027365] [-0.01914231 -0.00401679 0.9998087 0.61447119] [ 0. 0. 0. 1. ]] SLAMing on 17.222557844 meters Centerline goodness [0,1] 0.24539056090504774 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.08, Z:0.61 [[ 0.99981516 0.00424863 0.01875113 -0.19103448] [-0.00432965 0.99998146 0.00428244 -0.08059803] [-0.01873259 -0.00436283 0.99981501 0.61378342] [ 0. 0. 0. 1. ]] SLAMing on 17.252557844 meters Centerline goodness [0,1] 0.2460880089910954 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.08, Z:0.61 [[ 0.99981884 0.00428491 0.01854509 -0.190015 ] [-0.00436598 0.99998108 0.0043336 -0.08084816] [-0.01852617 -0.00441378 0.99981863 0.6127851 ] [ 0. 0. 0. 1. ]] SLAMing on 17.282557844 meters Centerline goodness [0,1] 0.24647932886195523 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.08, Z:0.61 [[ 0.99982348 0.00428807 0.01829252 -0.18889553] [-0.00437046 0.99998048 0.00446601 -0.08179507] [-0.01827301 -0.00454517 0.9998227 0.61190607] [ 0. 0. 0. 1. ]] SLAMing on 17.312557844 meters Centerline goodness [0,1] 0.24650055685366756 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.08, Z:0.61 [[ 0.99985319 -0.00510419 0.0163566 -0.21023173] [ 0.00502244 0.99997471 0.00503566 -0.08127054] [-0.01638189 -0.00495277 0.99985354 0.61222134] [ 0. 0. 0. 1. ]] SLAMing on 17.342557843999998 meters Centerline goodness [0,1] 0.24276461601359933 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.08, Z:0.61 [[ 0.99985997 0.00144557 0.01667159 -0.18654541] [-0.00148187 0.99999656 0.00216569 -0.08293113] [-0.0166684 -0.00219009 0.99985867 0.61071293] [ 0. 0. 0. 1. ]] SLAMing on 17.372557844 meters Centerline goodness [0,1] 0.24533912099837218 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.08, Z:0.61 [[ 0.99985152 -0.00791743 0.01530563 -0.2076235 ] [ 0.0078631 0.99996258 0.0036064 -0.08469146] [-0.01533361 -0.00348552 0.99987636 0.611003 ] [ 0. 0. 0. 1. ]] SLAMing on 17.402557844 meters Centerline goodness [0,1] 0.24500998003992014 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.61 [[ 0.99985661 -0.00783885 0.01501062 -0.20691334] [ 0.00777784 0.99996127 0.00411904 -0.08731352] [-0.01504233 -0.0040017 0.99987885 0.6111409 ] [ 0. 0. 0. 1. ]] SLAMing on 17.432557843999998 meters Centerline goodness [0,1] 0.24750808778525835 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.61 [[ 0.99988361 -0.0011522 0.01521296 -0.22517123] [ 0.00111304 0.99999605 0.00258201 -0.09597017] [-0.01521587 -0.00256477 0.99988094 0.60964936] [ 0. 0. 0. 1. ]] SLAMing on 17.462557844 meters Centerline goodness [0,1] 0.25199778638627557 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.10, Z:0.61 [[ 9.99879882e-01 4.37963070e-03 1.48674602e-02 -2.49332739e-01] [-4.37237308e-03 9.99990306e-01 -5.20624573e-04 -1.00848516e-01] [-1.48695962e-02 4.55555954e-04 9.99889338e-01 6.11325951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492557844 meters Centerline goodness [0,1] 0.2502680114643271 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.61 [[ 9.99868307e-01 -3.47308114e-03 1.58526363e-02 -2.30365556e-01] [ 3.46281440e-03 9.99993777e-01 6.75039883e-04 -9.77460511e-02] [-1.58548821e-02 -6.20056248e-04 9.99874111e-01 6.12449139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522557844 meters Centerline goodness [0,1] 0.24626994394135404 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.61 [[ 0.99982332 -0.00180431 0.01871027 -0.18867289] [ 0.00178079 0.9999976 0.00127352 -0.09610768] [-0.01871252 -0.00123997 0.99982414 0.61227941] [ 0. 0. 0. 1. ]] SLAMing on 17.552557844 meters Centerline goodness [0,1] 0.2498364231188659 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.61 [[ 9.99818176e-01 6.27384144e-03 1.80070643e-02 -2.09025130e-01] [-6.28116327e-03 9.99980212e-01 3.50079520e-04 -1.01528075e-01] [-1.80045116e-02 -4.63121178e-04 9.99837798e-01 6.11727248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582557844 meters Centerline goodness [0,1] 0.24612889273356398 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.61 [[ 9.99821295e-01 6.24495160e-03 1.78431632e-02 -2.08286835e-01] [-6.25049496e-03 9.99980433e-01 2.54919104e-04 -1.01178046e-01] [-1.78412221e-02 -3.66402150e-04 9.99840766e-01 6.11040956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612557844 meters Centerline goodness [0,1] 0.24759233896389055 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.61 [[ 0.99987036 -0.00186861 0.01599278 -0.22586683] [ 0.00183234 0.99999572 0.00228264 -0.09727112] [-0.01599697 -0.00225304 0.9998695 0.6093418 ] [ 0. 0. 0. 1. ]] SLAMing on 17.642557844 meters Centerline goodness [0,1] 0.24715167855279174 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.61 [[ 0.99987155 -0.00182634 0.01592311 -0.22567202] [ 0.00178929 0.99999566 0.00234104 -0.0974054 ] [-0.01592732 -0.00231224 0.99987048 0.60926745] [ 0. 0. 0. 1. ]] SLAMing on 17.672557844 meters Centerline goodness [0,1] 0.24837402824920618 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.61 [[ 0.99987528 -0.00175792 0.015695 -0.2252249 ] [ 0.00171835 0.99999531 0.00253441 -0.09832775] [-0.01569938 -0.00250712 0.99987361 0.60953569] [ 0. 0. 0. 1. ]] SLAMing on 17.702557844 meters Centerline goodness [0,1] 0.25224532818024115 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.61 [[ 0.99987785 -0.00165936 0.01554128 -0.22512426] [ 0.00161533 0.99999465 0.00284529 -0.09976751] [-0.01554592 -0.00281984 0.99987518 0.61012637] [ 0. 0. 0. 1. ]] SLAMing on 17.732557844 meters Centerline goodness [0,1] 0.2458626284478096 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.10, Z:0.61 [[ 9.99846285e-01 -6.99548050e-04 1.75190423e-02 -1.83684078e-01] [ 6.33925998e-04 9.99992764e-01 3.75102891e-03 -1.02571362e-01] [-1.75215396e-02 -3.73934655e-03 9.99839494e-01 6.10973144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762557844 meters Centerline goodness [0,1] 0.24683585383267348 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.11, Z:0.61 [[ 9.99842296e-01 -5.20342603e-04 1.77513979e-02 -1.84580320e-01] [ 4.44010292e-04 9.99990640e-01 4.30374350e-03 -1.05084152e-01] [-1.77534711e-02 -4.29518298e-03 9.99833169e-01 6.11639128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792557844 meters Centerline goodness [0,1] 0.2457258953465753 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.61 [[ 9.99837611e-01 -3.64534008e-04 1.80171846e-02 -1.85663001e-01] [ 2.78135100e-04 9.99988453e-01 4.79763444e-03 -1.07463252e-01] [-1.80187254e-02 -4.79184414e-03 9.99826167e-01 6.12539828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822557844 meters Centerline goodness [0,1] 0.2521103967108429 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.11, Z:0.61 [[ 0.99980858 0.0050207 0.0189103 -0.21019081] [-0.00505449 0.99998571 0.00173956 -0.11283875] [-0.01890129 -0.00183481 0.99981967 0.61370137] [ 0. 0. 0. 1. ]] SLAMing on 17.852557844 meters Centerline goodness [0,1] 0.2520609923215801 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.61 [[ 0.99980459 0.00526145 0.01905491 -0.21075645] [-0.0053063 0.99998327 0.00230397 -0.11525527] [-0.01904247 -0.00240464 0.99981578 0.61414748] [ 0. 0. 0. 1. ]] SLAMing on 17.882557844 meters Centerline goodness [0,1] 0.2520609923215801 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.61 [[ 0.99980459 0.00526145 0.01905491 -0.21075645] [-0.0053063 0.99998327 0.00230397 -0.11525527] [-0.01904247 -0.00240464 0.99981578 0.61414748] [ 0. 0. 0. 1. ]] SLAMing on 17.912557844 meters Centerline goodness [0,1] 0.2491285049258417 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.61 [[ 0.999804 0.00540685 0.01904552 -0.21057031] [-0.0054544 0.99998213 0.00244555 -0.11553555] [-0.01903196 -0.00254895 0.99981563 0.61379497] [ 0. 0. 0. 1. ]] SLAMing on 17.942557844 meters Centerline goodness [0,1] 0.24920514761544288 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.61 [[ 0.99980561 0.00551548 0.01892925 -0.21013487] [-0.00556257 0.99998156 0.00243611 -0.11523671] [-0.01891546 -0.00254093 0.99981786 0.61345322] [ 0. 0. 0. 1. ]] SLAMing on 17.972557844 meters Centerline goodness [0,1] 0.25374346814209814 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.61 [[ 0.99984289 -0.00333983 0.01740828 -0.2301316 ] [ 0.00328258 0.99998911 0.00331624 -0.11194742] [-0.01741917 -0.00325858 0.99984296 0.61368487] [ 0. 0. 0. 1. ]] SLAMing on 18.002557844 meters Centerline goodness [0,1] 0.252114245755119 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.61 [[ 0.99984774 -0.00327865 0.0171388 -0.22942112] [ 0.00322411 0.99998965 0.00320908 -0.11186862] [-0.01714914 -0.00315334 0.99984797 0.6134696 ] [ 0. 0. 0. 1. ]] SLAMing on 18.032557844 meters Centerline goodness [0,1] 0.2517694861936386 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.61 [[ 0.99984842 -0.00322262 0.01711011 -0.22941261] [ 0.00316706 0.99998963 0.00327331 -0.11205236] [-0.01712048 -0.00321862 0.99984825 0.61353895] [ 0. 0. 0. 1. ]] SLAMing on 18.062557844 meters Centerline goodness [0,1] 0.24913509773395603 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.61 [[ 0.99984603 -0.00310524 0.0172708 -0.23002676] [ 0.00304603 0.9999894 0.00345407 -0.11259206] [-0.01728134 -0.00340093 0.99984488 0.61389984] [ 0. 0. 0. 1. ]] SLAMing on 18.092557843999998 meters Centerline goodness [0,1] 0.25073482984606676 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.61 [[ 0.99984228 -0.00296236 0.01751085 -0.23082737] [ 0.00289634 0.99998861 0.00379439 -0.11398591] [-0.01752189 -0.00374307 0.99983947 0.61430623] [ 0. 0. 0. 1. ]] SLAMing on 18.122557844 meters Centerline goodness [0,1] 0.2543643077191986 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.12, Z:0.61 [[ 0.9998403 -0.00292608 0.01762976 -0.23118698] [ 0.00284699 0.99998578 0.00450994 -0.11841312] [-0.0176427 -0.00445903 0.99983441 0.6147691 ] [ 0. 0. 0. 1. ]] SLAMing on 18.152557844 meters Centerline goodness [0,1] 0.2516820766592872 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.12, Z:0.61 [[ 0.99984438 -0.00285937 0.01740825 -0.23036786] [ 0.00277559 0.99998446 0.00483465 -0.12019898] [-0.0174218 -0.00478558 0.99983678 0.61430571] [ 0. 0. 0. 1. ]] SLAMing on 18.182557843999998 meters Centerline goodness [0,1] 0.25172025793049724 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.12, Z:0.61 [[ 0.9998492 -0.00277827 0.01714254 -0.22945864] [ 0.0026912 0.99998337 0.00510021 -0.1214885 ] [-0.01715642 -0.00505331 0.99984005 0.61384093] [ 0. 0. 0. 1. ]] SLAMing on 18.212557844 meters Centerline goodness [0,1] 0.2621856909275708 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.62 [[ 0.99989477 -0.00318283 0.01415333 -0.27307914] [ 0.00309175 0.9999744 0.0064522 -0.1273365 ] [-0.0141735 -0.00640776 0.99987902 0.61542736] [ 0. 0. 0. 1. ]] SLAMing on 18.242557844 meters Centerline goodness [0,1] 0.2538709182891308 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.62 [[ 0.9999004 -0.002936 0.0138046 -0.27219297] [ 0.00283781 0.99997058 0.00712704 -0.13037426] [-0.01382512 -0.00708715 0.99987931 0.61549643] [ 0. 0. 0. 1. ]] SLAMing on 18.272557844 meters Centerline goodness [0,1] 0.2490124549398839 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.62 [[ 0.99987613 0.00550258 0.01474581 -0.25239801] [-0.00558604 0.99996858 0.00562491 -0.1345672 ] [-0.01471439 -0.00570658 0.99987545 0.61651075] [ 0. 0. 0. 1. ]] SLAMing on 18.302557844 meters Centerline goodness [0,1] 0.25083742985165525 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.14, Z:0.62 [[ 0.99987698 0.00558045 0.01465915 -0.252251 ] [-0.00566658 0.99996689 0.00584045 -0.13565351] [-0.01462607 -0.0059228 0.99987549 0.61667953] [ 0. 0. 0. 1. ]] SLAMing on 18.332557844 meters Centerline goodness [0,1] 0.2523994641013815 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.62 [[ 0.99990443 -0.0034348 0.01339179 -0.27165118] [ 0.00333997 0.99996924 0.00709734 -0.1331115 ] [-0.01341576 -0.00705193 0.99988514 0.61585468] [ 0. 0. 0. 1. ]] SLAMing on 18.362557844 meters Centerline goodness [0,1] 0.25134704740297986 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.61 [[ 0.9999095 -0.00319033 0.01306938 -0.27009784] [ 0.00309701 0.99996961 0.007155 -0.13269858] [-0.01309181 -0.00711387 0.99988899 0.61428424] [ 0. 0. 0. 1. ]] SLAMing on 18.392557844 meters Centerline goodness [0,1] 0.2498423398934435 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.61 [[ 0.99991087 -0.00321113 0.01295923 -0.26940941] [ 0.00312051 0.99997058 0.00700662 -0.13198514] [-0.01298135 -0.00696555 0.99989148 0.61340995] [ 0. 0. 0. 1. ]] SLAMing on 18.422557844 meters Centerline goodness [0,1] 0.25228263011539054 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.61 [[ 0.9999132 0.00456073 0.01236102 -0.28850535] [-0.0046336 0.99997202 0.00587245 -0.13693837] [-0.01233389 -0.00592921 0.99990636 0.61190051] [ 0. 0. 0. 1. ]] SLAMing on 18.452557844 meters Centerline goodness [0,1] 0.24972848516442936 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.61 [[ 0.99991517 0.00455193 0.01220342 -0.28802218] [-0.00462356 0.99997222 0.00584717 -0.13688481] [-0.01217647 -0.0059031 0.99990844 0.61172541] [ 0. 0. 0. 1. ]] SLAMing on 18.482557844 meters Centerline goodness [0,1] 0.2463733803968835 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.61 [[ 0.99991751 0.00452168 0.01202213 -0.28782186] [-0.00459356 0.9999717 0.00595813 -0.13775869] [-0.01199485 -0.00601286 0.99990998 0.6122385 ] [ 0. 0. 0. 1. ]] SLAMing on 18.512557844 meters Centerline goodness [0,1] 0.24818386231946732 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.61 [[ 0.99991847 0.00453564 0.01193652 -0.28781551] [-0.00460875 0.99997075 0.0061043 -0.1385831 ] [-0.01190849 -0.00615881 0.99991012 0.61265508] [ 0. 0. 0. 1. ]] SLAMing on 18.542557844 meters Centerline goodness [0,1] 0.2500380162057654 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.61 [[ 0.99992431 0.00190082 0.01215565 -0.28856341] [-0.00194235 0.99999232 0.00340546 -0.1391221 ] [-0.01214908 -0.00342881 0.99992032 0.61279146] [ 0. 0. 0. 1. ]] SLAMing on 18.572557844 meters Centerline goodness [0,1] 0.24996186616112093 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.61 [[ 0.99993106 0.00179292 0.01160447 -0.28714131] [-0.00183766 0.99999092 0.00384601 -0.14170834] [-0.01159747 -0.00386707 0.99992527 0.61276656] [ 0. 0. 0. 1. ]] SLAMing on 18.602557844 meters Centerline goodness [0,1] 0.25000543821104615 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.61 [[ 0.99993109 0.00189623 0.01158567 -0.28729512] [-0.00194548 0.99998911 0.00424165 -0.14346685] [-0.0115775 -0.00426389 0.99992389 0.61317007] [ 0. 0. 0. 1. ]] SLAMing on 18.632557844 meters Centerline goodness [0,1] 0.25173755300083056 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.61 [[ 0.99993021 0.00202507 0.01163966 -0.28778224] [-0.00207949 0.99998696 0.00466518 -0.1452883 ] [-0.01163006 -0.00468906 0.99992137 0.61388583] [ 0. 0. 0. 1. ]] SLAMing on 18.662557844 meters Centerline goodness [0,1] 0.24930687922370476 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.61 [[ 0.99993079 0.00207669 0.01158063 -0.28796786] [-0.00213465 0.99998525 0.00499522 -0.14697369] [-0.01157009 -0.00501959 0.99992047 0.6146022 ] [ 0. 0. 0. 1. ]] SLAMing on 18.692557844 meters Centerline goodness [0,1] 0.25059826828525433 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.61 [[ 0.99993559 0.00215518 0.01114343 -0.286878 ] [-0.00221494 0.99998322 0.00535373 -0.14883955] [-0.0111317 -0.00537807 0.99992358 0.61467606] [ 0. 0. 0. 1. ]] SLAMing on 18.722557844 meters Centerline goodness [0,1] 0.2516785085718011 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.61 [[ 0.9999354 0.00215415 0.01116083 -0.28687011] [-0.00221304 0.99998368 0.00526749 -0.14828915] [-0.0111493 -0.00529185 0.99992384 0.61455495] [ 0. 0. 0. 1. ]] SLAMing on 18.752557844 meters Centerline goodness [0,1] 0.25224513097512247 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.61 [[ 0.99993088 0.00218013 0.0115536 -0.28808651] [-0.00223939 0.99998439 0.00511827 -0.14728334] [-0.01154227 -0.00514378 0.99992016 0.61499268] [ 0. 0. 0. 1. ]] SLAMing on 18.782557844 meters Centerline goodness [0,1] 0.2501899489851297 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 0.99992542 0.00221543 0.01201024 -0.28956371] [-0.00227522 0.99998508 0.00496707 -0.14632457] [-0.01199906 -0.00499403 0.99991554 0.61562458] [ 0. 0. 0. 1. ]] SLAMing on 18.812557844 meters Centerline goodness [0,1] 0.2504709321208185 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 0.99991381 0.0023528 0.01291652 -0.29220972] [-0.00241523 0.99998547 0.00481974 -0.14522178] [-0.012905 -0.00485052 0.99990496 0.61628163] [ 0. 0. 0. 1. ]] SLAMing on 18.842557843999998 meters Centerline goodness [0,1] 0.25181396975260073 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.62 [[ 0.99991227 0.00232487 0.01304053 -0.29234471] [-0.00238626 0.99998614 0.00469352 -0.1445966 ] [-0.01302943 -0.00472423 0.99990395 0.61590893] [ 0. 0. 0. 1. ]] SLAMing on 18.872557844 meters Centerline goodness [0,1] 0.24922252937111267 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.62 [[ 0.99991716 -0.00445608 0.0120755 -0.27365033] [ 0.00438835 0.99997453 0.00562945 -0.13845764] [-0.01210028 -0.00557599 0.99991124 0.61682203] [ 0. 0. 0. 1. ]] SLAMing on 18.902557844 meters Centerline goodness [0,1] 0.25138193688792165 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 0.99994022 0.00270587 0.01059386 -0.29108906] [-0.00275065 0.99998733 0.00421495 -0.14642801] [-0.01058232 -0.00424384 0.999935 0.61542652] [ 0. 0. 0. 1. ]] SLAMing on 18.932557843999998 meters Centerline goodness [0,1] 0.25037510600821966 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 0.99994212 0.00277384 0.01039552 -0.29078042] [-0.00282089 0.99998584 0.0045132 -0.14791589] [-0.01038285 -0.00454227 0.99993578 0.61581522] [ 0. 0. 0. 1. ]] SLAMing on 18.962557844 meters Centerline goodness [0,1] 0.2487935307160558 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 0.99994289 0.0028705 0.01029431 -0.29070131] [-0.00292077 0.99998387 0.00487067 -0.14965963] [-0.01028017 -0.00490045 0.99993515 0.61621218] [ 0. 0. 0. 1. ]] SLAMing on 18.992557844 meters Centerline goodness [0,1] 0.25308179977106626 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.15, Z:0.62 [[ 0.99991599 0.00839975 0.00987223 -0.31443071] [-0.00842059 0.9999624 0.00207113 -0.15439995] [-0.00985447 -0.00215408 0.99994912 0.61730612] [ 0. 0. 0. 1. ]] SLAMing on 19.022557844 meters Centerline goodness [0,1] 0.24942776938026345 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 9.99948207e-01 2.03497347e-04 1.01755336e-02 -2.92776296e-01] [-2.28385929e-04 9.99996985e-01 2.44482184e-03 -1.50330124e-01] [-1.01750054e-02 -2.44701916e-03 9.99945239e-01 6.16733418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052557844 meters Centerline goodness [0,1] 0.24727154612386315 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 9.99957007e-01 1.23362492e-05 9.27273357e-03 -2.89585597e-01] [-3.64204611e-05 9.99996627e-01 2.59715084e-03 -1.52194971e-01] [-9.27267025e-03 -2.59737689e-03 9.99953635e-01 6.15140379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082557844 meters Centerline goodness [0,1] 0.24569039820720562 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.61 [[ 9.99957641e-01 7.62036144e-05 9.20382241e-03 -2.89256245e-01] [-1.02120088e-04 9.99996032e-01 2.81540097e-03 -1.53284478e-01] [-9.20357134e-03 -2.81622160e-03 9.99953681e-01 6.14877436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112557844 meters Centerline goodness [0,1] 0.24914542010494456 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 9.99956389e-01 1.84049685e-04 9.33734947e-03 -2.89770443e-01] [-2.12592413e-04 9.99995308e-01 3.05593364e-03 -1.54243074e-01] [-9.33674321e-03 -3.05778542e-03 9.99951736e-01 6.15187390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142557844 meters Centerline goodness [0,1] 0.24548970464317355 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 9.99955554e-01 2.56302962e-04 9.42468676e-03 -2.90284672e-01] [-2.86996405e-04 9.99994660e-01 3.25549871e-03 -1.55050017e-01] [-9.42380203e-03 -3.25805887e-03 9.99950287e-01 6.15755472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172557844 meters Centerline goodness [0,1] 0.24649775164303012 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 9.99957752e-01 2.84014826e-04 9.18769697e-03 -2.89582012e-01] [-3.16010613e-04 9.99993891e-01 3.48119577e-03 -1.56402148e-01] [-9.18665213e-03 -3.48395210e-03 9.99951733e-01 6.15608144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202557844 meters Centerline goodness [0,1] 0.2461281868000953 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 9.99960539e-01 2.47331694e-04 8.88024000e-03 -2.88494763e-01] [-2.78396176e-04 9.99993846e-01 3.49709224e-03 -1.56769147e-01] [-8.87932041e-03 -3.49942647e-03 9.99954455e-01 6.15055534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232557844 meters Centerline goodness [0,1] 0.2528345919288435 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.61 [[ 0.99994155 0.00798188 0.00729357 -0.30793339] [-0.00800023 0.9999649 0.00249089 -0.16257499] [-0.00727343 -0.0025491 0.9999703 0.61420452] [ 0. 0. 0. 1. ]] SLAMing on 19.262557844 meters Centerline goodness [0,1] 0.2502559634026794 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.61 [[ 9.99973550e-01 4.24648889e-04 7.26073375e-03 -2.88110739e-01] [-4.47825635e-04 9.99994809e-01 3.19073885e-03 -1.56642871e-01] [-7.25934112e-03 -3.19390600e-03 9.99968550e-01 6.14752455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292557844 meters Centerline goodness [0,1] 0.2500218875853616 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 9.99970345e-01 4.38958010e-04 7.68870828e-03 -2.89489899e-01] [-4.63471876e-04 9.99994815e-01 3.18680284e-03 -1.56442819e-01] [-7.68726954e-03 -3.19027184e-03 9.99965363e-01 6.15310217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322557844 meters Centerline goodness [0,1] 0.25155204562904465 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 9.99969844e-01 4.46075258e-04 7.75323705e-03 -2.89808238e-01] [-4.71210214e-04 9.99994639e-01 3.24034170e-03 -1.56743651e-01] [-7.75175005e-03 -3.24389739e-03 9.99964693e-01 6.15627851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352557844 meters Centerline goodness [0,1] 0.24608917970273436 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.15, Z:0.61 [[ 0.9999499 0.00152996 0.00989178 -0.24575727] [-0.00155883 0.99999455 0.00291177 -0.15391468] [-0.00988727 -0.00292705 0.99994684 0.61440273] [ 0. 0. 0. 1. ]] SLAMing on 19.382557844 meters Centerline goodness [0,1] 0.2457053955357722 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.15, Z:0.61 [[ 0.99995109 0.00156578 0.00976558 -0.24534872] [-0.00159556 0.9999941 0.0030434 -0.15446151] [-0.00976075 -0.00305884 0.99994768 0.61421553] [ 0. 0. 0. 1. ]] SLAMing on 19.412557844 meters Centerline goodness [0,1] 0.24550200629934849 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:0.61 [[ 0.99995239 0.00163606 0.0096199 -0.24498102] [-0.00166761 0.99999326 0.00327238 -0.15549035] [-0.00961448 -0.00328827 0.99994837 0.61421845] [ 0. 0. 0. 1. ]] SLAMing on 19.442557844 meters Centerline goodness [0,1] 0.2515431423193101 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.62 [[ 0.99994662 0.0017302 0.01018614 -0.24696057] [-0.00177095 0.99999046 0.00399278 -0.15930414] [-0.01017914 -0.0040106 0.99994015 0.61554534] [ 0. 0. 0. 1. ]] SLAMing on 19.472557844 meters Centerline goodness [0,1] 0.2476317890512052 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.62 [[ 0.99991112 0.00211926 0.01316281 -0.20678594] [-0.00216059 0.99999278 0.00312664 -0.15852663] [-0.01315609 -0.0031548 0.99990848 0.61617942] [ 0. 0. 0. 1. ]] SLAMing on 19.502557844 meters Centerline goodness [0,1] 0.2492139737991267 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.62 [[ 0.99990856 0.00226607 0.01333199 -0.20746885] [-0.00231302 0.99999117 0.00350759 -0.16020298] [-0.01332392 -0.0035381 0.99990497 0.61668244] [ 0. 0. 0. 1. ]] SLAMing on 19.532557844 meters Centerline goodness [0,1] 0.24898270046784898 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.62 [[ 0.99990828 0.00237066 0.01333468 -0.20737021] [-0.00242117 0.99998995 0.00377269 -0.16133331] [-0.0133256 -0.00380463 0.99990397 0.61649448] [ 0. 0. 0. 1. ]] SLAMing on 19.562557844 meters Centerline goodness [0,1] 0.25151429008768666 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.62 [[ 0.99990989 0.00240881 0.01320638 -0.20668516] [-0.00246045 0.99998938 0.00389572 -0.16201986] [-0.01319685 -0.00392786 0.9999052 0.61581595] [ 0. 0. 0. 1. ]] SLAMing on 19.592557843999998 meters Centerline goodness [0,1] 0.251231419251735 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.62 [[ 0.99991032 0.00249959 0.01315654 -0.20640833] [-0.00255277 0.99998864 0.00402639 -0.16269488] [-0.01314632 -0.00405961 0.99990534 0.61558422] [ 0. 0. 0. 1. ]] SLAMing on 19.622557844 meters Centerline goodness [0,1] 0.24568639730494313 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.16, Z:0.61 [[ 0.99987284 0.00407903 0.01541658 -0.1632927 ] [-0.00413571 0.9999848 0.00364682 -0.15962666] [-0.01540147 -0.00371011 0.99987451 0.61469392] [ 0. 0. 0. 1. ]] SLAMing on 19.652557844 meters Centerline goodness [0,1] 0.25089291583583495 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.16, Z:0.61 [[ 0.99988026 -0.00493158 0.01466749 -0.18368126] [ 0.00486096 0.99997644 0.00484656 -0.15677359] [-0.01469105 -0.00477468 0.99988068 0.61439731] [ 0. 0. 0. 1. ]] SLAMing on 19.682557844 meters Centerline goodness [0,1] 0.2500272979406434 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.16, Z:0.61 [[ 0.99988068 -0.00492338 0.01464211 -0.18356851] [ 0.00485223 0.99997627 0.00489053 -0.15715155] [-0.01466584 -0.0048189 0.99988084 0.61434722] [ 0. 0. 0. 1. ]] SLAMing on 19.712557844 meters Centerline goodness [0,1] 0.2475273295158772 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.16, Z:0.61 [[ 0.99988409 -0.00493042 0.0144048 -0.18261384] [ 0.0048599 0.99997606 0.00492593 -0.15763543] [-0.01442874 -0.00485536 0.99988411 0.61366944] [ 0. 0. 0. 1. ]] SLAMing on 19.742557844 meters Centerline goodness [0,1] 0.24930946736553639 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.16, Z:0.61 [[ 0.99989958 -0.0049655 0.01327331 -0.17870509] [ 0.00489814 0.99997499 0.00510233 -0.15923356] [-0.01329832 -0.0050368 0.99989889 0.61161214] [ 0. 0. 0. 1. ]] SLAMing on 19.772557844 meters Centerline goodness [0,1] 0.24716335997560812 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.16, Z:0.61 [[ 0.99990545 -0.00487608 0.01285718 -0.17734213] [ 0.00480618 0.99997353 0.0054621 -0.16106047] [-0.01288347 -0.00539979 0.99990242 0.61100527] [ 0. 0. 0. 1. ]] SLAMing on 19.802557844 meters Centerline goodness [0,1] 0.24716335997560812 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.16, Z:0.61 [[ 0.99990545 -0.00487608 0.01285718 -0.17734213] [ 0.00480618 0.99997353 0.0054621 -0.16106047] [-0.01288347 -0.00539979 0.99990242 0.61100527] [ 0. 0. 0. 1. ]] SLAMing on 19.832557844 meters Centerline goodness [0,1] 0.2464622896277573 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.16, Z:0.61 [[ 0.99990924 -0.00472661 0.01261647 -0.17672757] [ 0.00465154 0.99997134 0.00597286 -0.16352607] [-0.01264434 -0.00591364 0.99990257 0.61101717] [ 0. 0. 0. 1. ]] SLAMing on 19.862557844 meters Centerline goodness [0,1] 0.24560114132549393 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.61 [[ 0.99990407 -0.00480577 0.0129904 -0.17815772] [ 0.00471787 0.99996583 0.00678843 -0.16850806] [-0.01302258 -0.00672649 0.99989258 0.61220487] [ 0. 0. 0. 1. ]] SLAMing on 19.892557844 meters Centerline goodness [0,1] 0.2491416074357572 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:0.61 [[ 9.99914288e-01 1.70338223e-04 1.30915412e-02 -2.01549631e-01] [-2.18453957e-04 9.99993227e-01 3.67398781e-03 -1.74034904e-01] [-1.30908268e-02 -3.67653280e-03 9.99907552e-01 6.13132649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922557844 meters Centerline goodness [0,1] 0.24892064257380175 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:0.61 [[ 9.99917604e-01 2.29007097e-04 1.28348278e-02 -2.00967909e-01] [-2.80657288e-04 9.99991870e-01 4.02256488e-03 -1.75899988e-01] [-1.28338023e-02 -4.02583562e-03 9.99909539e-01 6.13288214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952557844 meters Centerline goodness [0,1] 0.24680999065278353 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:0.61 [[ 9.99920186e-01 3.26797194e-04 1.26299416e-02 -2.00494860e-01] [-3.82267497e-04 9.99990292e-01 4.38980374e-03 -1.77749399e-01] [-1.26283844e-02 -4.39428139e-03 9.99910603e-01 6.13405674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982557844 meters Centerline goodness [0,1] 0.2483452417481261 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:0.61 [[ 9.99920952e-01 4.52549436e-04 1.25652100e-02 -2.00524305e-01] [-5.11672966e-04 9.99988812e-01 4.70251958e-03 -1.79133591e-01] [-1.25629413e-02 -4.70857714e-03 9.99909997e-01 6.13803923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012557844 meters Centerline goodness [0,1] 0.2506923697581612 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:0.61 [[ 9.99919497e-01 5.61604088e-04 1.26760980e-02 -2.01113727e-01] [-6.24116656e-04 9.99987662e-01 4.92811385e-03 -1.80066481e-01] [-1.26731740e-02 -4.93562849e-03 9.99907511e-01 6.14436522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042557844 meters Centerline goodness [0,1] 0.24540395400705917 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:0.61 [[ 9.99916182e-01 6.32137077e-04 1.29317240e-02 -2.01949785e-01] [-6.97563831e-04 9.99986978e-01 5.05551446e-03 -1.80570612e-01] [-1.29283598e-02 -5.06411142e-03 9.99903601e-01 6.14797444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072557844 meters Centerline goodness [0,1] 0.25357127062049445 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:0.62 [[ 9.99941731e-01 -3.84958345e-04 1.07882281e-02 -2.48460087e-01] [ 3.20767635e-04 9.99982240e-01 5.95116860e-03 -1.85652779e-01] [-1.07903275e-02 -5.94736132e-03 9.99924096e-01 6.17338643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102557844 meters Centerline goodness [0,1] 0.2519759374725564 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:0.62 [[ 9.99940873e-01 -3.90749276e-04 1.08672761e-02 -2.48707040e-01] [ 3.25916763e-04 9.99982144e-01 5.96697891e-03 -1.85834687e-01] [-1.08694136e-02 -5.96308427e-03 9.99923146e-01 6.17448956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132557844 meters Centerline goodness [0,1] 0.24947698744769875 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:0.62 [[ 9.99940622e-01 -4.06477877e-04 1.08897644e-02 -2.48922226e-01] [ 3.41596684e-04 9.99982185e-01 5.95919546e-03 -1.85839289e-01] [-1.08919927e-02 -5.95512171e-03 9.99922948e-01 6.17751967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162557844 meters Centerline goodness [0,1] 0.25016383415614485 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:0.62 [[ 9.99940155e-01 -3.69092954e-04 1.09338665e-02 -2.49180643e-01] [ 3.02819690e-04 9.99981578e-01 6.06231905e-03 -1.86254219e-01] [-1.09359026e-02 -6.05864526e-03 9.99921846e-01 6.18002552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192557844 meters Centerline goodness [0,1] 0.24483813957498168 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:0.62 [[ 9.99908289e-01 9.94408421e-04 1.35064786e-02 -2.05850931e-01] [-1.07551108e-03 9.99981429e-01 5.99878679e-03 -1.84168733e-01] [-1.35002625e-02 -6.01276300e-03 9.99890789e-01 6.16657746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222557844 meters Centerline goodness [0,1] 0.25246002460024597 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:0.62 [[ 0.99993534 -0.00165324 0.01125079 -0.25079723] [ 0.00158731 0.99998153 0.00586693 -0.18866789] [-0.01126028 -0.0058487 0.9999195 0.61835356] [ 0. 0. 0. 1. ]] SLAMing on 20.252557844 meters Centerline goodness [0,1] 0.24578224989765363 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:0.62 [[ 0.99991086 -0.0015187 0.01326546 -0.20686518] [ 0.00145931 0.99998888 0.00448551 -0.18614317] [-0.01327213 -0.00446576 0.99990195 0.61691296] [ 0. 0. 0. 1. ]] SLAMing on 20.282557844 meters Centerline goodness [0,1] 0.2495993677694115 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 0.99991733 0.00377454 0.01229165 -0.23042654] [-0.00379466 0.9999915 0.00161381 -0.18890996] [-0.01228546 -0.00166032 0.99992315 0.61786594] [ 0. 0. 0. 1. ]] SLAMing on 20.312557844 meters Centerline goodness [0,1] 0.24771144496517894 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 0.99992143 0.00373371 0.01196669 -0.22952 ] [-0.00375374 0.99999159 0.00165164 -0.18905423] [-0.01196042 -0.00169643 0.99992703 0.61758477] [ 0. 0. 0. 1. ]] SLAMing on 20.342557843999998 meters Centerline goodness [0,1] 0.2449045896597284 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:0.62 [[ 0.99991946 -0.00448108 0.01187384 -0.2080782 ] [ 0.00445352 0.99998733 0.00234671 -0.18397303] [-0.01188421 -0.00229365 0.99992675 0.61837364] [ 0. 0. 0. 1. ]] SLAMing on 20.372557844 meters Centerline goodness [0,1] 0.24851216523717834 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99916998e-01 7.65849361e-04 1.28612361e-02 -2.30559777e-01] [-7.59471175e-04 9.99999586e-01 -5.00800013e-04 -1.87798199e-01] [-1.28616143e-02 4.90990707e-04 9.99917165e-01 6.17941980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402557844 meters Centerline goodness [0,1] 0.246635888234908 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99920089e-01 6.21935465e-04 1.26264733e-02 -2.30115910e-01] [-6.15349554e-04 9.99999673e-01 -5.25473793e-04 -1.88050017e-01] [-1.26267959e-02 5.17662107e-04 9.99920145e-01 6.18160662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432557844 meters Centerline goodness [0,1] 0.2502475193065059 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99924422e-01 5.23997551e-04 1.22831104e-02 -2.29232656e-01] [-5.17898222e-04 9.99999741e-01 -4.99737870e-04 -1.88397154e-01] [-1.22833691e-02 4.93338700e-04 9.99924435e-01 6.17988662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462557844 meters Centerline goodness [0,1] 0.24443911897344284 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99931220e-01 2.96614882e-04 1.17246319e-02 -2.27545054e-01] [-2.89833398e-04 9.99999790e-01 -5.80091238e-04 -1.88601417e-01] [-1.17248015e-02 5.76653149e-04 9.99931096e-01 6.17339831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492557844 meters Centerline goodness [0,1] 0.2463303859402769 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99936434e-01 1.18014664e-04 1.12744901e-02 -2.26193539e-01] [-1.10865268e-04 9.99999792e-01 -6.34744284e-04 -1.88845523e-01] [-1.12745627e-02 6.33453987e-04 9.99936239e-01 6.16836381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522557844 meters Centerline goodness [0,1] 0.24143839330253536 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:0.62 [[ 9.99942442e-01 -4.15599624e-04 1.07210369e-02 -2.24724796e-01] [ 4.26404409e-04 9.99999404e-01 -1.00554545e-03 -1.88249182e-01] [-1.07206126e-02 1.01005907e-03 9.99942022e-01 6.16638878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552557844 meters Centerline goodness [0,1] 0.24480790340285397 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:0.62 [[ 9.99909203e-01 -9.54206096e-03 9.51501604e-03 -2.44891503e-01] [ 9.54089181e-03 9.99954470e-01 1.68259495e-04 -1.83238644e-01] [-9.51618837e-03 -7.74624792e-05 9.99954717e-01 6.16374420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582557844 meters Centerline goodness [0,1] 0.24214349405189095 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99948637e-01 -7.04051944e-04 1.01108098e-02 -2.25899944e-01] [ 7.12391328e-04 9.99999409e-01 -8.21220963e-04 -1.86642635e-01] [-1.01102257e-02 8.28381635e-04 9.99948547e-01 6.16660734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612557844 meters Centerline goodness [0,1] 0.2412448833734 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99949692e-01 -7.75294849e-04 1.00006542e-02 -2.25650122e-01] [ 7.83976889e-04 9.99999319e-01 -8.64256180e-04 -1.86652359e-01] [-9.99997731e-03 8.72052983e-04 9.99949619e-01 6.16714404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642557844 meters Centerline goodness [0,1] 0.2364079449632297 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99949278e-01 -8.63539555e-04 1.00346832e-02 -2.26048215e-01] [ 8.72663318e-04 9.99999210e-01 -9.04879866e-04 -1.86791292e-01] [-1.00338939e-02 9.13590869e-04 9.99949242e-01 6.17314497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672557844 meters Centerline goodness [0,1] 0.24435237679895339 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99947453e-01 -8.97861027e-04 1.02120068e-02 -2.26702704e-01] [ 9.07439000e-04 9.99999153e-01 -9.33318071e-04 -1.86768421e-01] [-1.02111601e-02 9.42535801e-04 9.99947421e-01 6.17684570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702557844 meters Centerline goodness [0,1] 0.2412445448031787 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.62 [[ 9.99946813e-01 -9.90826487e-04 1.02659177e-02 -2.26769271e-01] [ 1.00276567e-03 9.99998827e-01 -1.15791039e-03 -1.85545008e-01] [-1.02647584e-02 1.16814312e-03 9.99946634e-01 6.17499612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732557844 meters Centerline goodness [0,1] 0.24172884084136337 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.62 [[ 0.99994791 -0.00110963 0.01014653 -0.22628473] [ 0.00112458 0.99999829 -0.00146811 -0.18413499] [-0.01014488 0.00147945 0.99994744 0.61718604] [ 0. 0. 0. 1. ]] SLAMing on 20.762557844 meters Centerline goodness [0,1] 0.24056767047421257 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.62 [[ 0.99994915 -0.00125039 0.01000628 -0.22580294] [ 0.00126875 0.99999752 -0.0018288 -0.18261327] [-0.01000396 0.0018414 0.99994826 0.61697498] [ 0. 0. 0. 1. ]] SLAMing on 20.792557844 meters Centerline goodness [0,1] 0.24281693828130113 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.62 [[ 0.99995035 -0.00148984 0.00985235 -0.22534141] [ 0.00151525 0.99999554 -0.00257198 -0.17908622] [-0.00984847 0.00258678 0.99994816 0.61682161] [ 0. 0. 0. 1. ]] SLAMing on 20.822557844 meters Centerline goodness [0,1] 0.24713893465129055 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.62 [[ 0.99995033 -0.00159204 0.00983894 -0.22521666] [ 0.00162099 0.99999438 -0.00293438 -0.17721577] [-0.00983421 0.00295019 0.99994729 0.61659818] [ 0. 0. 0. 1. ]] SLAMing on 20.852557844 meters Centerline goodness [0,1] 0.23637739111639466 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.61 [[ 9.99930388e-01 -4.30217892e-04 1.17912999e-02 -1.79970650e-01] [ 4.69864860e-04 9.99994245e-01 -3.35982767e-03 -1.74499318e-01] [-1.17897866e-02 3.36513410e-03 9.99924836e-01 6.14572704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882557844 meters Centerline goodness [0,1] 0.24339964623414057 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.61 [[ 9.99930960e-01 -5.41218455e-04 1.17380464e-02 -1.79915278e-01] [ 5.83410461e-04 9.99993381e-01 -3.59133947e-03 -1.73562148e-01] [-1.17360250e-02 3.59793962e-03 9.99924657e-01 6.14709294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912557844 meters Centerline goodness [0,1] 0.24349732945416647 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.61 [[ 9.99929771e-01 -6.47200619e-04 1.18335827e-02 -1.80257538e-01] [ 6.91857155e-04 9.99992654e-01 -3.77000797e-03 -1.72873800e-01] [-1.18310558e-02 3.77793036e-03 9.99922874e-01 6.14833680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942557844 meters Centerline goodness [0,1] 0.2381898693163409 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.62 [[ 9.99927047e-01 -7.15871316e-04 1.20576838e-02 -1.81131299e-01] [ 7.63040714e-04 9.99992073e-01 -3.90783235e-03 -1.72146493e-01] [-1.20547907e-02 3.91674776e-03 9.99919667e-01 6.15347898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972557844 meters Centerline goodness [0,1] 0.24168016412914373 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.62 [[ 9.99916996e-01 -6.33432731e-04 1.28685548e-02 -1.84242794e-01] [ 6.81627084e-04 9.99992770e-01 -3.74108489e-03 -1.71822176e-01] [-1.28660921e-02 3.74954592e-03 9.99910198e-01 6.16982037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002557844 meters Centerline goodness [0,1] 0.24164808279385974 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.62 [[ 9.99916550e-01 -6.66465974e-04 1.29015367e-02 -1.84394942e-01] [ 7.14082850e-04 9.99992950e-01 -3.68653645e-03 -1.72199359e-01] [-1.28989887e-02 3.69544157e-03 9.99909976e-01 6.17061547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032557844 meters Centerline goodness [0,1] 0.243524787071413 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.62 [[ 9.99919325e-01 -7.12591124e-04 1.26821249e-02 -1.83635388e-01] [ 7.58546887e-04 9.99993163e-01 -3.61922307e-03 -1.72792167e-01] [-1.26794591e-02 3.62855107e-03 9.99913029e-01 6.16578358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062557844 meters Centerline goodness [0,1] 0.23875701337936983 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.62 [[ 9.99925098e-01 -8.47844433e-04 1.22097839e-02 -1.81977283e-01] [ 8.92069978e-04 9.99993060e-01 -3.61714935e-03 -1.73273936e-01] [-1.22066324e-02 3.62777040e-03 9.99918915e-01 6.15607800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092557844 meters Centerline goodness [0,1] 0.24531769648170842 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:0.61 [[ 0.99989801 -0.00995503 0.01024 -0.20156518] [ 0.00998193 0.99994685 -0.00257912 -0.1694045 ] [-0.01021378 0.00268107 0.99994424 0.61490548] [ 0. 0. 0. 1. ]] SLAMing on 21.122557844 meters Centerline goodness [0,1] 0.2407229965156794 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:0.61 [[ 0.99989957 -0.00996774 0.01007429 -0.20092039] [ 0.00999421 0.99994673 -0.00258122 -0.16937889] [-0.01004802 0.00268165 0.99994592 0.61444951] [ 0. 0. 0. 1. ]] SLAMing on 21.152557844 meters Centerline goodness [0,1] 0.24259789875835724 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:0.62 [[ 0.99993088 -0.0064621 0.00982203 -0.20105388] [ 0.00645082 0.9999785 0.00118014 -0.17000795] [-0.00982944 -0.0011167 0.99995107 0.61541243] [ 0. 0. 0. 1. ]] SLAMing on 21.182557844 meters Centerline goodness [0,1] 0.2481044372651151 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.62 [[ 9.99955085e-01 1.86693914e-03 9.29202969e-03 -2.23008061e-01] [-1.87137461e-03 9.99998139e-01 4.68668838e-04 -1.72973095e-01] [-9.29113743e-03 -4.86036657e-04 9.99956718e-01 6.15568176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212557844 meters Centerline goodness [0,1] 0.24102486091794162 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:0.62 [[ 0.99995668 -0.00474938 0.00800558 -0.20492797] [ 0.00473914 0.99998793 0.00129806 -0.16723698] [-0.00801164 -0.00126007 0.99996711 0.61760683] [ 0. 0. 0. 1. ]] SLAMing on 21.242557844 meters Centerline goodness [0,1] 0.2453086338654229 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.62 [[ 9.99964320e-01 3.25567702e-03 7.79481183e-03 -2.25399596e-01] [-3.25670280e-03 9.99994690e-01 1.18908415e-04 -1.69444817e-01] [-7.79438331e-03 -1.44289558e-04 9.99969613e-01 6.16322219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272557844 meters Centerline goodness [0,1] 0.24657743285664457 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.62 [[ 9.99963700e-01 3.12155078e-03 7.92811868e-03 -2.25534018e-01] [-3.11945395e-03 9.99995096e-01 -2.76832019e-04 -1.67639145e-01] [-7.92894394e-03 2.52090569e-04 9.99968534e-01 6.15983399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302557844 meters Centerline goodness [0,1] 0.2424967897795286 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.62 [[ 9.99962881e-01 2.99683655e-03 8.07808373e-03 -2.25852877e-01] [-2.99200232e-03 9.99995338e-01 -6.10456040e-04 -1.66120772e-01] [-8.07987550e-03 5.86263735e-04 9.99967185e-01 6.15880934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332557844 meters Centerline goodness [0,1] 0.2379298442421366 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.62 [[ 9.99963403e-01 2.76533315e-03 8.09599182e-03 -2.25967558e-01] [-2.75724540e-03 9.99995689e-01 -1.00997226e-03 -1.64546537e-01] [-8.09874982e-03 9.87612661e-04 9.99966717e-01 6.15974858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362557844 meters Centerline goodness [0,1] 0.23828907410996958 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.62 [[ 0.99996449 0.00269751 0.00798372 -0.22580095] [-0.00268927 0.99999584 -0.00104286 -0.16451014] [-0.0079865 0.00102135 0.99996759 0.61613694] [ 0. 0. 0. 1. ]] SLAMing on 21.392557844 meters Centerline goodness [0,1] 0.23864592547843533 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.62 [[ 0.99996623 0.0025868 0.00780091 -0.22540156] [-0.00257874 0.99999613 -0.00104357 -0.16478357] [-0.00780358 0.00102342 0.99996903 0.61617819] [ 0. 0. 0. 1. ]] SLAMing on 21.422557844 meters Centerline goodness [0,1] 0.24191475923949735 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.62 [[ 0.9999709 0.00193475 0.00737986 -0.22414407] [-0.00192462 0.9999972 -0.00137958 -0.16473254] [-0.00738251 0.00136534 0.99997182 0.61577072] [ 0. 0. 0. 1. ]] SLAMing on 21.452557844 meters Centerline goodness [0,1] 0.23963733379606533 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.62 [[ 0.99997133 0.0018545 0.00734182 -0.22395493] [-0.0018441 0.99999729 -0.00142363 -0.16469459] [-0.00734444 0.00141005 0.99997204 0.61553078] [ 0. 0. 0. 1. ]] SLAMing on 21.482557844 meters Centerline goodness [0,1] 0.23981044714475142 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.62 [[ 0.99997148 0.00178774 0.00733729 -0.22391051] [-0.00177639 0.99999722 -0.00155275 -0.16412232] [-0.00734004 0.00153967 0.99997188 0.61544207] [ 0. 0. 0. 1. ]] SLAMing on 21.512557844 meters Centerline goodness [0,1] 0.24104213293931032 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.62 [[ 0.99997186 0.00169068 0.00730879 -0.22383476] [-0.0016776 0.99999698 -0.0017957 -0.1630079 ] [-0.0073118 0.00178338 0.99997168 0.61545333] [ 0. 0. 0. 1. ]] SLAMing on 21.542557844 meters Centerline goodness [0,1] 0.23997401472498914 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.62 [[ 0.99997292 0.00156358 0.00719147 -0.22344224] [-0.00154832 0.99999654 -0.00212797 -0.16154856] [-0.00719477 0.00211678 0.99997188 0.61533862] [ 0. 0. 0. 1. ]] SLAMing on 21.572557844 meters Centerline goodness [0,1] 0.2466502657821904 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.62 [[ 9.99964966e-01 -5.60379757e-03 6.21803464e-03 -2.46228958e-01] [ 5.60288202e-03 9.99984290e-01 1.64652150e-04 -1.55539376e-01] [-6.21885963e-03 -1.29807468e-04 9.99980654e-01 6.16528255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602557844 meters Centerline goodness [0,1] 0.239725139375081 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:0.62 [[ 9.99951536e-01 -4.37821900e-03 8.81798820e-03 -2.03496904e-01] [ 4.37640334e-03 9.99990398e-01 2.25189283e-04 -1.54378423e-01] [-8.81888946e-03 -1.86587296e-04 9.99961095e-01 6.15874578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632557844 meters Centerline goodness [0,1] 0.24279033515198756 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:0.62 [[ 9.99948651e-01 -4.46510641e-03 9.09715869e-03 -2.04407078e-01] [ 4.46623464e-03 9.99990021e-01 -1.03708240e-04 -1.52665089e-01] [-9.09660484e-03 1.44332960e-04 9.99958615e-01 6.16256886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662557844 meters Centerline goodness [0,1] 0.24477390011370592 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.15, Z:0.62 [[ 9.99953299e-01 3.77558849e-03 8.89631141e-03 -2.25666549e-01] [-3.76699713e-03 9.99992422e-01 -9.82280823e-04 -1.54230015e-01] [-8.89995269e-03 9.48722570e-04 9.99959945e-01 6.15633636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692557844 meters Centerline goodness [0,1] 0.24477390011370592 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.15, Z:0.62 [[ 9.99953299e-01 3.77558849e-03 8.89631141e-03 -2.25666549e-01] [-3.76699713e-03 9.99992422e-01 -9.82280823e-04 -1.54230015e-01] [-8.89995269e-03 9.48722570e-04 9.99959945e-01 6.15633636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722557844 meters Centerline goodness [0,1] 0.24819192868223827 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.15, Z:0.62 [[ 0.99995513 0.00364459 0.00874348 -0.22503227] [-0.00363304 0.99999251 -0.00133638 -0.15261962] [-0.00874829 0.00130456 0.99996088 0.61519817] [ 0. 0. 0. 1. ]] SLAMing on 21.752557844 meters Centerline goodness [0,1] 0.23935284320723293 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.15, Z:0.61 [[ 0.99996367 0.00351034 0.0077681 -0.22174616] [-0.00349432 0.99999174 -0.00207446 -0.14869153] [-0.00777531 0.00204724 0.99996768 0.61362426] [ 0. 0. 0. 1. ]] SLAMing on 21.782557844 meters Centerline goodness [0,1] 0.24433886188784515 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.61 [[ 9.99964046e-01 -4.63217467e-03 7.10285864e-03 -2.39706846e-01] [ 4.63680043e-03 9.99989048e-01 -6.34924695e-04 -1.39962877e-01] [-7.09983977e-03 6.67836405e-04 9.99974573e-01 6.11972118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812557844 meters Centerline goodness [0,1] 0.2373312084078134 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:0.61 [[ 0.99995583 0.00443372 0.00828774 -0.21849055] [-0.00442042 0.99998891 -0.00162238 -0.14057684] [-0.00829484 0.00158567 0.99996434 0.61157421] [ 0. 0. 0. 1. ]] SLAMing on 21.842557844 meters Centerline goodness [0,1] 0.2435983900794082 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.61 [[ 0.99996605 -0.00209568 0.00796899 -0.24128908] [ 0.00208608 0.99999709 0.00121214 -0.13428154] [-0.0079715 -0.00119547 0.99996751 0.61264302] [ 0. 0. 0. 1. ]] SLAMing on 21.872557844 meters Centerline goodness [0,1] 0.24274521819057204 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.61 [[ 9.99964742e-01 -2.28738633e-03 8.07978097e-03 -2.41548221e-01] [ 2.28306666e-03 9.99997246e-01 5.43809218e-04 -1.31023470e-01] [-8.08100262e-03 -5.25343365e-04 9.99967210e-01 6.12640383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902557844 meters Centerline goodness [0,1] 0.24013016119300057 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.61 [[ 9.99945768e-01 -9.77498819e-04 1.03684693e-02 -1.97114906e-01] [ 9.71433317e-04 9.99999354e-01 5.90015063e-04 -1.27866164e-01] [-1.03690394e-02 -5.79910789e-04 9.99946072e-01 6.11221680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932557844 meters Centerline goodness [0,1] 0.24158549312923983 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.61 [[ 9.99947610e-01 -1.27032705e-03 1.01569001e-02 -1.96117267e-01] [ 1.27196185e-03 9.99999179e-01 -1.54496340e-04 -1.24379612e-01] [-1.01566955e-02 1.67407435e-04 9.99948405e-01 6.10301623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962557844 meters Centerline goodness [0,1] 0.24241109206500744 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.61 [[ 9.99948058e-01 -1.38743977e-03 1.00973089e-02 -1.96005368e-01] [ 1.39021868e-03 9.99998998e-01 -2.68199495e-04 -1.24084966e-01] [-1.00969266e-02 2.82223032e-04 9.99948985e-01 6.10342412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992557844 meters Centerline goodness [0,1] 0.243232104121475 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.61 [[ 9.99941943e-01 -2.02289538e-03 1.05839124e-02 -1.97547933e-01] [ 2.03052127e-03 9.99997687e-01 -7.09821529e-04 -1.23473490e-01] [-1.05824520e-02 7.31271178e-04 9.99943737e-01 6.10987457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022557844 meters Centerline goodness [0,1] 0.2500493605072066 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.13, Z:0.61 [[ 0.9999309 0.00595748 0.01013388 -0.21787004] [-0.00594036 0.99998088 -0.00171855 -0.12684482] [-0.01014392 0.00165823 0.99994717 0.61015161] [ 0. 0. 0. 1. ]] SLAMing on 22.052557844 meters Centerline goodness [0,1] 0.24528055107468283 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.13, Z:0.61 [[ 0.99993026 0.0058765 0.0102443 -0.21794906] [-0.00585711 0.999981 -0.00192101 -0.12586677] [-0.0102554 0.00186088 0.99994568 0.60975089] [ 0. 0. 0. 1. ]] SLAMing on 22.082557844 meters Centerline goodness [0,1] 0.24478375916366635 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.61 [[ 0.9999317 0.00574089 0.01018018 -0.21752745] [-0.00571821 0.99998111 -0.00225599 -0.12432785] [-0.01019294 0.00219762 0.99994564 0.60929206] [ 0. 0. 0. 1. ]] SLAMing on 22.112557844 meters Centerline goodness [0,1] 0.24201071746252145 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.61 [[ 0.99993461 0.0055961 0.00997302 -0.21681289] [-0.00557037 0.99998109 -0.00260637 -0.12277655] [-0.00998742 0.00255064 0.99994687 0.60893745] [ 0. 0. 0. 1. ]] SLAMing on 22.142557844 meters Centerline goodness [0,1] 0.23890328151986184 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.61 [[ 0.99993695 0.00545946 0.00981286 -0.21623639] [-0.00543093 0.99998095 -0.00293218 -0.12134171] [-0.00982868 0.0028787 0.99994755 0.60865538] [ 0. 0. 0. 1. ]] SLAMing on 22.172557844 meters Centerline goodness [0,1] 0.2434907758733481 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.11, Z:0.61 [[ 0.99993698 -0.00338906 0.01070277 -0.2377733 ] [ 0.00341989 0.99999005 -0.00286357 -0.11219562] [-0.01069295 0.00289999 0.99993862 0.60888544] [ 0. 0. 0. 1. ]] SLAMing on 22.202557844 meters Centerline goodness [0,1] 0.24653739612188363 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.11, Z:0.61 [[ 0.99993288 -0.00343783 0.01106432 -0.23915678] [ 0.00347117 0.99998949 -0.00299479 -0.11157055] [-0.0110539 0.003033 0.9999343 0.60982131] [ 0. 0. 0. 1. ]] SLAMing on 22.232557844 meters Centerline goodness [0,1] 0.2452952768694372 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.11, Z:0.61 [[ 0.99992836 -0.00348065 0.01145236 -0.24062237] [ 0.00351582 0.99998916 -0.00305265 -0.11131181] [-0.01144161 0.0030927 0.99992976 0.61072178] [ 0. 0. 0. 1. ]] SLAMing on 22.262557844 meters Centerline goodness [0,1] 0.2494523788662052 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.11, Z:0.61 [[ 0.99989232 0.00330321 0.01429831 -0.2597566 ] [-0.00324894 0.99998744 -0.00381678 -0.11466141] [-0.01431074 0.00376992 0.99989049 0.60871595] [ 0. 0. 0. 1. ]] SLAMing on 22.292557844 meters Centerline goodness [0,1] 0.24675211818379317 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.11, Z:0.61 [[ 0.99989719 0.0030578 0.01400934 -0.25875401] [-0.00300038 0.99998702 -0.00411807 -0.1136314 ] [-0.01402175 0.00407562 0.99989338 0.60811215] [ 0. 0. 0. 1. ]] SLAMing on 22.322557844 meters Centerline goodness [0,1] 0.24596449188541558 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.11, Z:0.61 [[ 0.99990114 0.00293765 0.01375076 -0.25771182] [-0.0028781 0.9999864 -0.00434817 -0.1126174 ] [-0.01376335 0.00430816 0.999896 0.60733169] [ 0. 0. 0. 1. ]] SLAMing on 22.352557844 meters Centerline goodness [0,1] 0.24234979743125595 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.11, Z:0.61 [[ 0.99993366 -0.0032184 0.01105965 -0.23963547] [ 0.00325382 0.99998963 -0.00318628 -0.10799436] [-0.01104929 0.00322205 0.99993376 0.60988269] [ 0. 0. 0. 1. ]] SLAMing on 22.382557844 meters Centerline goodness [0,1] 0.2474260679079956 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.10, Z:0.61 [[ 0.9999576 -0.00337308 0.00856853 -0.28644994] [ 0.00339711 0.99999034 -0.00279057 -0.10455043] [-0.00855903 0.00281956 0.9999594 0.61254455] [ 0. 0. 0. 1. ]] SLAMing on 22.412557844 meters Centerline goodness [0,1] 0.2449072173856689 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.61 [[ 0.99993688 -0.00292378 0.01084826 -0.24348448] [ 0.00295456 0.99999165 -0.00282222 -0.10450213] [-0.01083991 0.0028541 0.99993717 0.61237137] [ 0. 0. 0. 1. ]] SLAMing on 22.442557844 meters Centerline goodness [0,1] 0.24800280154960708 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.11, Z:0.61 [[ 0.99993315 0.00531009 0.01027082 -0.26470146] [-0.00527167 0.99997902 -0.00376452 -0.1072015 ] [-0.0102906 0.00371013 0.99994017 0.61226667] [ 0. 0. 0. 1. ]] SLAMing on 22.472557844 meters Centerline goodness [0,1] 0.24591133004926113 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.11, Z:0.61 [[ 0.99993596 0.00513153 0.01008709 -0.26414806] [-0.00509261 0.9999795 -0.00388108 -0.10701585] [-0.0101068 0.00382946 0.99994159 0.61196755] [ 0. 0. 0. 1. ]] SLAMing on 22.502557844 meters Centerline goodness [0,1] 0.2474952553294788 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.10, Z:0.61 [[ 0.99995698 -0.00364522 0.00852937 -0.28343011] [ 0.00366961 0.99998922 -0.00284545 -0.10213888] [-0.0085189 0.00287663 0.99995958 0.61099239] [ 0. 0. 0. 1. ]] SLAMing on 22.532557844 meters Centerline goodness [0,1] 0.24516636445065865 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.10, Z:0.61 [[ 0.99995931 -0.00368802 0.00823315 -0.28230205] [ 0.00371194 0.99998893 -0.00289149 -0.10197061] [-0.0082224 0.00292193 0.99996193 0.6102164 ] [ 0. 0. 0. 1. ]] SLAMing on 22.562557844 meters Centerline goodness [0,1] 0.2428744956834844 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.10, Z:0.61 [[ 0.99996049 -0.00373549 0.00806664 -0.28164711] [ 0.0037601 0.99998832 -0.00303814 -0.10125335] [-0.0080552 0.00306835 0.99996285 0.60976813] [ 0. 0. 0. 1. ]] SLAMing on 22.592557844 meters Centerline goodness [0,1] 0.24153484256641555 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.10, Z:0.61 [[ 0.99996115 -0.00383894 0.00793509 -0.28141265] [ 0.00386591 0.9999868 -0.00338573 -0.09959185] [-0.00792199 0.00341627 0.99996278 0.61000923] [ 0. 0. 0. 1. ]] SLAMing on 22.622557844 meters Centerline goodness [0,1] 0.24453157697645223 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.09, Z:0.61 [[ 0.99998907 -0.00188605 0.00427913 -0.32501427] [ 0.00189368 0.99999662 -0.0017801 -0.09391346] [-0.00427576 0.00178818 0.99998926 0.61185184] [ 0. 0. 0. 1. ]] SLAMing on 22.652557844 meters Centerline goodness [0,1] 0.2461754570795197 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.09, Z:0.61 [[ 0.99999082 -0.00193066 0.00382597 -0.32356075] [ 0.0019389 0.99999581 -0.00215096 -0.09198771] [-0.00382181 0.00215836 0.99999037 0.6112428 ] [ 0. 0. 0. 1. ]] SLAMing on 22.682557844 meters Centerline goodness [0,1] 0.2442729684108994 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.09, Z:0.61 [[ 0.99999146 -0.00201653 0.00360718 -0.32274945] [ 0.00202583 0.99999463 -0.00257704 -0.08992213] [-0.00360196 0.00258432 0.99999017 0.61071434] [ 0. 0. 0. 1. ]] SLAMing on 22.712557844 meters Centerline goodness [0,1] 0.24255896975404634 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.09, Z:0.61 [[ 0.99999095 -0.00213153 0.00368265 -0.3229013 ] [ 0.0021425 0.99999327 -0.00297747 -0.08800819] [-0.00367628 0.00298533 0.99998879 0.61068046] [ 0. 0. 0. 1. ]] SLAMing on 22.742557844 meters Centerline goodness [0,1] 0.25018314205163494 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.08, Z:0.61 [[ 9.99953787e-01 -8.86181859e-03 3.72731930e-03 -3.47101368e-01] [ 8.86326260e-03 9.99960652e-01 -3.71070933e-04 -8.34607072e-02] [-3.72388427e-03 4.04089995e-04 9.99992985e-01 6.12151000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772557844 meters Centerline goodness [0,1] 0.241677559912854 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.08, Z:0.61 [[ 0.99997089 -0.001397 0.00750148 -0.32882407] [ 0.00141382 0.9999965 -0.00223687 -0.08342329] [-0.00749833 0.00224741 0.99996936 0.61286091] [ 0. 0. 0. 1. ]] SLAMing on 22.802557844 meters Centerline goodness [0,1] 0.244550423553494 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.08, Z:0.61 [[ 0.99997085 -0.0015095 0.00748471 -0.32891688] [ 0.00152849 0.99999563 -0.00253247 -0.08206666] [-0.00748085 0.00254384 0.99996878 0.61309866] [ 0. 0. 0. 1. ]] SLAMing on 22.832557844 meters Centerline goodness [0,1] 0.2441923993094255 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.08, Z:0.61 [[ 0.99997117 -0.00160709 0.00742192 -0.32873839] [ 0.00162789 0.99999476 -0.00279719 -0.08074191] [-0.00741738 0.00280919 0.99996854 0.6130123 ] [ 0. 0. 0. 1. ]] SLAMing on 22.862557844 meters Centerline goodness [0,1] 0.24301307683994378 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.08, Z:0.61 [[ 0.99992309 -0.00950359 0.00796889 -0.30876848] [ 0.00951665 0.99995343 -0.00160325 -0.07554381] [-0.00795328 0.00167896 0.99996696 0.61409821] [ 0. 0. 0. 1. ]] SLAMing on 22.892557844 meters Centerline goodness [0,1] 0.2474547137379347 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.08, Z:0.61 [[ 9.99971170e-01 -9.09681682e-04 7.53873187e-03 -3.30606711e-01] [ 9.27179064e-04 9.99996884e-01 -2.31782814e-03 -7.79422404e-02] [-7.53659989e-03 2.32475107e-03 9.99968897e-01 6.13916056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922557844 meters Centerline goodness [0,1] 0.24200873926426592 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:0.61 [[ 0.99995204 -0.00206354 0.00957437 -0.28625125] [ 0.00210021 0.9999905 -0.00382077 -0.07714061] [-0.0095664 0.00384069 0.99994687 0.61299678] [ 0. 0. 0. 1. ]] SLAMing on 22.952557844 meters Centerline goodness [0,1] 0.2429804673875131 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.07, Z:0.61 [[ 0.99991076 -0.01077573 0.00789609 -0.30570412] [ 0.01079973 0.99993717 -0.00300278 -0.07033774] [-0.00786323 0.00308779 0.99996432 0.61245007] [ 0. 0. 0. 1. ]] SLAMing on 22.982557844 meters Centerline goodness [0,1] 0.24084086681949912 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.07, Z:0.61 [[ 0.99997233 -0.00244891 0.00702487 -0.28581473] [ 0.00247545 0.99998982 -0.00377151 -0.07345856] [-0.00701556 0.00378879 0.99996821 0.61312246] [ 0. 0. 0. 1. ]] SLAMing on 23.012557844 meters Centerline goodness [0,1] 0.24319236494177388 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.07, Z:0.61 [[ 0.99997271 -0.00257572 0.00692474 -0.28549381] [ 0.00260429 0.99998812 -0.00412029 -0.0718372 ] [-0.00691404 0.00413821 0.99996754 0.61302517] [ 0. 0. 0. 1. ]] SLAMing on 23.042557844 meters Centerline goodness [0,1] 0.23917882225823883 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 0.99995015 0.00551903 0.00832035 -0.26621599] [-0.00547163 0.99996874 -0.00570821 -0.07442724] [-0.00835159 0.0056624 0.99994909 0.61347627] [ 0. 0. 0. 1. ]] SLAMing on 23.072557844 meters Centerline goodness [0,1] 0.2458923512747876 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.07, Z:0.61 [[ 0.99995826 -0.0029517 0.00864717 -0.28631177] [ 0.00299655 0.99998211 -0.00517783 -0.06555232] [-0.00863173 0.00520353 0.99994921 0.61282822] [ 0. 0. 0. 1. ]] SLAMing on 23.102557844 meters Centerline goodness [0,1] 0.24515440567968994 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.06, Z:0.61 [[ 9.99959079e-01 6.63031782e-04 9.02218234e-03 -2.87350542e-01] [-6.44733605e-04 9.99997730e-01 -2.03088944e-03 -6.12175858e-02] [-9.02350840e-03 2.02498943e-03 9.99957237e-01 6.13074673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132557844 meters Centerline goodness [0,1] 0.24499978117204257 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.06, Z:0.61 [[ 9.99960385e-01 4.41631517e-04 8.89007259e-03 -2.86746153e-01] [-4.17101597e-04 9.99996102e-01 -2.76091355e-03 -5.76068256e-02] [-8.89125724e-03 2.75709611e-03 9.99956671e-01 6.12651677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162557844 meters Centerline goodness [0,1] 0.24021887233168238 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.61 [[ 0.99994862 -0.00666201 0.00764032 -0.26765131] [ 0.00667728 0.99997576 -0.00197512 -0.04978849] [-0.00762697 0.00202604 0.99996886 0.6144472 ] [ 0. 0. 0. 1. ]] SLAMing on 23.192557844 meters Centerline goodness [0,1] 0.24748314803466687 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.61 [[ 0.9999753 0.00189674 0.00676805 -0.2894263 ] [-0.00187421 0.99999268 -0.0033346 -0.04954093] [-0.00677433 0.00332183 0.99997154 0.61413198] [ 0. 0. 0. 1. ]] SLAMing on 23.222557844 meters Centerline goodness [0,1] 0.23950297136682874 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.04, Z:0.62 [[ 0.99996267 -0.0056727 0.00651692 -0.27058811] [ 0.00569092 0.99997994 -0.00278079 -0.03938804] [-0.00650101 0.00281777 0.9999749 0.61632382] [ 0. 0. 0. 1. ]] SLAMing on 23.252557844000002 meters Centerline goodness [0,1] 0.23912011052586135 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.04, Z:0.62 [[ 0.99996173 -0.00586022 0.00649631 -0.27057874] [ 0.005882 0.99997713 -0.00333809 -0.03658415] [-0.0064766 0.00337618 0.99997333 0.61643509] [ 0. 0. 0. 1. ]] SLAMing on 23.282557844 meters Centerline goodness [0,1] 0.24483660130718954 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.03, Z:0.62 [[ 0.99996107 -0.00603712 0.00643559 -0.27030298] [ 0.00606178 0.99997434 -0.0038182 -0.03429681] [-0.00641238 0.00385706 0.999972 0.61623485] [ 0. 0. 0. 1. ]] SLAMing on 23.312557844 meters Centerline goodness [0,1] 0.24270724486241724 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.03, Z:0.61 [[ 0.99996089 -0.00647503 0.00602473 -0.26846426] [ 0.00650251 0.99996849 -0.00455302 -0.03159174] [-0.00599506 0.00459201 0.99997149 0.61472566] [ 0. 0. 0. 1. ]] SLAMing on 23.342557844 meters Centerline goodness [0,1] 0.2410485656004514 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.03, Z:0.61 [[ 0.99996032 -0.0066234 0.00595706 -0.26832254] [ 0.00665254 0.99996594 -0.00488551 -0.03019928] [-0.0059245 0.00492495 0.99997032 0.61478887] [ 0. 0. 0. 1. ]] SLAMing on 23.372557844 meters Centerline goodness [0,1] 0.24257145346810738 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.03, Z:0.62 [[ 0.99995837 -0.00678843 0.00609738 -0.26891378] [ 0.00682113 0.99996238 -0.0053583 -0.02791233] [-0.00606078 0.00539967 0.99996705 0.61524308] [ 0. 0. 0. 1. ]] SLAMing on 23.402557844 meters Centerline goodness [0,1] 0.24421889941754327 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.03, Z:0.62 [[ 0.99997229 -0.00326053 0.00669283 -0.2707383 ] [ 0.00327266 0.99999302 -0.00180172 -0.02650253] [-0.00668691 0.00182357 0.99997598 0.61575434] [ 0. 0. 0. 1. ]] SLAMing on 23.432557844 meters Centerline goodness [0,1] 0.24337102642874264 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.02, Z:0.62 [[ 0.99997192 -0.00345357 0.00665006 -0.27070034] [ 0.00346957 0.99999111 -0.00239464 -0.02360347] [-0.00664174 0.00241765 0.99997502 0.6159344 ] [ 0. 0. 0. 1. ]] SLAMing on 23.462557844 meters Centerline goodness [0,1] 0.24316565537939583 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.02, Z:0.62 [[ 0.99997255 -0.00376462 0.00638142 -0.26960707] [ 0.00378455 0.99998799 -0.00311415 -0.02058575] [-0.00636962 0.00313821 0.99997479 0.61521426] [ 0. 0. 0. 1. ]] SLAMing on 23.492557844 meters Centerline goodness [0,1] 0.2455427372836917 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.02, Z:0.62 [[ 0.99997225 -0.00386498 0.0063686 -0.26953712] [ 0.00388633 0.99998686 -0.00334323 -0.01965145] [-0.00635559 0.00336788 0.99997413 0.61514471] [ 0. 0. 0. 1. ]] SLAMing on 23.522557844 meters Centerline goodness [0,1] 0.23854953593783723 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.02, Z:0.62 [[ 0.99996444 0.0044081 0.00718888 -0.24953088] [-0.00437713 0.9999811 -0.00431794 -0.0232786 ] [-0.00720778 0.00428632 0.99996484 0.61551017] [ 0. 0. 0. 1. ]] SLAMing on 23.552557844 meters Centerline goodness [0,1] 0.24167498806060872 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.01, Z:0.61 [[ 0.99996716 -0.00289116 0.00757141 -0.2673049 ] [ 0.00291231 0.99999188 -0.00278418 -0.01498894] [-0.0075633 0.00280614 0.99996746 0.61346097] [ 0. 0. 0. 1. ]] SLAMing on 23.582557844 meters Centerline goodness [0,1] 0.24027138566582396 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.01, Z:0.61 [[ 0.99996823 -0.00300844 0.00738113 -0.2667051 ] [ 0.00303223 0.99999024 -0.00321391 -0.0128268 ] [-0.00737139 0.00323619 0.99996759 0.6132813 ] [ 0. 0. 0. 1. ]] SLAMing on 23.612557844 meters Centerline goodness [0,1] 0.24027138566582396 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.01, Z:0.61 [[ 0.99996823 -0.00300844 0.00738113 -0.2667051 ] [ 0.00303223 0.99999024 -0.00321391 -0.0128268 ] [-0.00737139 0.00323619 0.99996759 0.6132813 ] [ 0. 0. 0. 1. ]] SLAMing on 23.642557844 meters Centerline goodness [0,1] 0.24382304751501915 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.01, Z:0.61 [[ 0.99997883 -0.00105345 0.00642147 -0.26222937] [ 0.00106481 0.99999787 -0.00176584 -0.00773092] [-0.0064196 0.00177264 0.99997782 0.61086038] [ 0. 0. 0. 1. ]] SLAMing on 23.672557844 meters Centerline goodness [0,1] 0.2416439068799584 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.01, Z:0.61 [[ 0.99997927 -0.00118963 0.00632845 -0.26210454] [ 0.0012042 0.99999664 -0.00229777 -0.00510374] [-0.0063257 0.00230535 0.99997734 0.61112427] [ 0. 0. 0. 1. ]] SLAMing on 23.702557844 meters Centerline goodness [0,1] 0.24465951695875843 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.00, Z:0.61 [[ 0.99997779 -0.00128442 0.00653982 -0.26296423] [ 0.00130279 0.99999522 -0.00280509 -0.0023537 ] [-0.00653619 0.00281355 0.99997468 0.61179449] [ 0. 0. 0. 1. ]] SLAMing on 23.732557844 meters Centerline goodness [0,1] 0.24899184711142286 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.00, Z:0.61 [[ 9.99976535e-01 -1.45236367e-03 6.69479639e-03 -2.63734574e-01] [ 1.47510934e-03 9.99993153e-01 -3.39382887e-03 5.07656421e-04] [-6.68982147e-03 3.40362479e-03 9.99971830e-01 6.12632405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762557844 meters Centerline goodness [0,1] 0.24457254731346534 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.00, Z:0.61 [[ 0.9999757 -0.00163081 0.00677734 -0.26413733] [ 0.00165696 0.9999912 -0.00385485 0.00252958] [-0.00677099 0.00386599 0.9999696 0.61304381] [ 0. 0. 0. 1. ]] SLAMing on 23.792557844 meters Centerline goodness [0,1] 0.2445832605276953 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.00, Z:0.61 [[ 0.99997458 -0.00175248 0.00691121 -0.26448467] [ 0.0017809 0.99998998 -0.00410827 0.00348619] [-0.00690394 0.00412047 0.99996768 0.61306156] [ 0. 0. 0. 1. ]] SLAMing on 23.822557844 meters Centerline goodness [0,1] 0.2386932504747109 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.00, Z:0.61 [[ 0.99995241 -0.00391338 0.0089362 -0.21883593] [ 0.00396123 0.99997788 -0.00534352 0.00247487] [-0.00891509 0.00537867 0.99994579 0.61091847] [ 0. 0. 0. 1. ]] SLAMing on 23.852557844 meters Centerline goodness [0,1] 0.2411195066875108 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.00, Z:0.61 [[ 0.99995267 -0.00389512 0.00891536 -0.21854833] [ 0.00394141 0.99997882 -0.00517956 0.00181945] [-0.00889499 0.00521445 0.99994684 0.61038939] [ 0. 0. 0. 1. ]] SLAMing on 23.882557844 meters Centerline goodness [0,1] 0.24063120628615842 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.00, Z:0.61 [[ 9.99952471e-01 -4.15811405e-03 8.81848897e-03 -2.18098297e-01] [ 4.20237934e-03 9.99978635e-01 -5.00702400e-03 3.62839622e-04] [-8.79748078e-03 5.04384465e-03 9.99948581e-01 6.09848430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912557844 meters Centerline goodness [0,1] 0.24442520025979653 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.00, Z:0.61 [[ 9.99952669e-01 -4.08894498e-03 8.82837297e-03 -2.18114968e-01] [ 4.13087031e-03 9.99980253e-01 -4.73592946e-03 -9.91222706e-04] [-8.80883368e-03 4.77217416e-03 9.99949814e-01 6.09766710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942557844 meters Centerline goodness [0,1] 0.2469593039819421 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.01, Z:0.61 [[ 0.99995184 0.00435419 0.0087959 -0.23859207] [-0.00430424 0.99997455 -0.00568974 -0.00589358] [-0.00882045 0.0056516 0.99994513 0.60866652] [ 0. 0. 0. 1. ]] SLAMing on 23.972557844 meters Centerline goodness [0,1] 0.24845946360825422 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.01, Z:0.61 [[ 0.99995103 0.00441489 0.00885713 -0.2388085 ] [-0.00436645 0.99997545 -0.00548032 -0.0068894 ] [-0.0088811 0.00544138 0.99994576 0.60872198] [ 0. 0. 0. 1. ]] SLAMing on 24.002557844000002 meters Centerline goodness [0,1] 0.25071250248547383 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.00, Z:0.61 [[ 0.99995679 -0.00395648 0.00841205 -0.25880772] [ 0.00399348 0.99998241 -0.00438625 -0.00199195] [-0.00839455 0.00441965 0.999955 0.6080799 ] [ 0. 0. 0. 1. ]] SLAMing on 24.032557844 meters Centerline goodness [0,1] 0.24123942689452793 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.61 [[ 0.99993491 -0.00452884 0.01047168 -0.21402898] [ 0.00457512 0.99997985 -0.00440002 -0.00563618] [-0.01045155 0.00444764 0.99993549 0.60678454] [ 0. 0. 0. 1. ]] SLAMing on 24.062557844 meters Centerline goodness [0,1] 0.24634482155735737 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.01, Z:0.61 [[ 0.99994607 0.00422652 0.00948657 -0.23524152] [-0.00417417 0.99997599 -0.00553172 -0.00804707] [-0.00950972 0.00549182 0.9999397 0.60618592] [ 0. 0. 0. 1. ]] SLAMing on 24.092557844 meters Centerline goodness [0,1] 0.24395455833932966 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.01, Z:0.61 [[ 0.99994745 0.0042072 0.00934855 -0.23476009] [-0.00415399 0.99997511 -0.00570381 -0.00712729] [-0.00937231 0.00566468 0.99994003 0.60596993] [ 0. 0. 0. 1. ]] SLAMing on 24.122557844 meters Centerline goodness [0,1] 0.24436802124371504 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.01, Z:0.61 [[ 0.99994966 0.0042007 0.00911208 -0.23403349] [-0.00414697 0.99997396 -0.00590683 -0.00600031] [-0.00913666 0.00586875 0.99994104 0.60577406] [ 0. 0. 0. 1. ]] SLAMing on 24.152557844 meters Centerline goodness [0,1] 0.2474668064290706 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.00, Z:0.61 [[ 0.99995119 0.0041658 0.00895901 -0.23356463] [-0.00411075 0.99997261 -0.00615412 -0.00476815] [-0.0089844 0.00611699 0.99994093 0.60567988] [ 0. 0. 0. 1. ]] SLAMing on 24.182557844 meters Centerline goodness [0,1] 0.24396235028150337 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.00, Z:0.61 [[ 0.99995146 0.00411786 0.0089505 -0.23358229] [-0.00406092 0.99997146 -0.00637094 -0.0038802 ] [-0.00897648 0.00633429 0.99993965 0.60577922] [ 0. 0. 0. 1. ]] SLAMing on 24.212557844 meters Centerline goodness [0,1] 0.24953991762334593 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.00, Z:0.61 [[ 0.999952 -0.00422091 0.00884187 -0.25342917] [ 0.00426952 0.99997584 -0.00548591 0.00169242] [-0.00881851 0.0055234 0.99994586 0.60500639] [ 0. 0. 0. 1. ]] SLAMing on 24.242557844 meters Centerline goodness [0,1] 0.2404072212755861 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.00, Z:0.60 [[ 0.99992514 -0.00469465 0.0112995 -0.20957952] [ 0.00475421 0.99997492 -0.00525033 -0.00168765] [-0.01127456 0.00530366 0.99992237 0.60393642] [ 0. 0. 0. 1. ]] SLAMing on 24.272557844 meters Centerline goodness [0,1] 0.24631930440816152 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.00, Z:0.60 [[ 0.99992287 -0.00464256 0.01151951 -0.21025484] [ 0.00470117 0.99997612 -0.00506596 -0.00254876] [-0.01149571 0.00511973 0.99992082 0.60411778] [ 0. 0. 0. 1. ]] SLAMing on 24.302557844 meters Centerline goodness [0,1] 0.2475486991763629 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.00, Z:0.60 [[ 0.99991992 -0.00458745 0.01179471 -0.21104933] [ 0.00464433 0.9999777 -0.00479971 -0.00386963] [-0.01177242 0.00485411 0.99991892 0.60424898] [ 0. 0. 0. 1. ]] SLAMing on 24.332557844 meters Centerline goodness [0,1] 0.2492061754078616 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.60 [[ 0.99991682 -0.00456043 0.01206475 -0.21191858] [ 0.00461519 0.99997916 -0.00451515 -0.00535575] [-0.01204391 0.00457045 0.99991702 0.60455065] [ 0. 0. 0. 1. ]] SLAMing on 24.362557844 meters Centerline goodness [0,1] 0.24661176318007916 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.60 [[ 0.99988325 -0.00589557 0.01409719 -0.16895029] [ 0.00595279 0.9999742 -0.0040204 -0.01238258] [-0.01407312 0.00410384 0.99989255 0.60400399] [ 0. 0. 0. 1. ]] SLAMing on 24.392557844 meters Centerline goodness [0,1] 0.2505371629028722 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.02, Z:0.60 [[ 0.99991546 0.00300335 0.01265158 -0.18964072] [-0.00294788 0.99998597 -0.00440106 -0.01710067] [-0.01266462 0.0043634 0.99991028 0.60376261] [ 0. 0. 0. 1. ]] SLAMing on 24.422557844 meters Centerline goodness [0,1] 0.24529327362059217 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.02, Z:0.60 [[ 0.99991741 0.0030946 0.01247394 -0.18895961] [-0.00304424 0.99998715 -0.00405412 -0.01869672] [-0.01248633 0.00401581 0.99991398 0.60321346] [ 0. 0. 0. 1. ]] SLAMing on 24.452557844 meters Centerline goodness [0,1] 0.2441681980326451 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.02, Z:0.60 [[ 0.99991814 0.0031674 0.01239678 -0.18858355] [-0.00312079 0.99998799 -0.00377766 -0.02010612] [-0.0124086 0.00373866 0.99991602 0.60281798] [ 0. 0. 0. 1. ]] SLAMing on 24.482557844 meters Centerline goodness [0,1] 0.24875393494228748 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.60 [[ 0.99991782 -0.00528385 0.01168034 -0.20860211] [ 0.00531841 0.99998157 -0.00292963 -0.01492795] [-0.01166465 0.00299151 0.99992749 0.60242509] [ 0. 0. 0. 1. ]] SLAMing on 24.512557844 meters Centerline goodness [0,1] 0.24536534537402854 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.60 [[ 0.99991793 -0.00514558 0.01173247 -0.20909592] [ 0.00518126 0.99998204 -0.0030132 -0.0140397 ] [-0.01171675 0.00307374 0.99992663 0.60322288] [ 0. 0. 0. 1. ]] SLAMing on 24.542557844 meters Centerline goodness [0,1] 0.24502522573241237 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.60 [[ 0.99992116 -0.00514764 0.01145304 -0.20836349] [ 0.00518548 0.99998119 -0.00327699 -0.01253801] [-0.01143595 0.00333612 0.99992904 0.60324285] [ 0. 0. 0. 1. ]] SLAMing on 24.572557844 meters Centerline goodness [0,1] 0.24313005936319487 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.60 [[ 0.99992651 -0.00516053 0.01096979 -0.20703536] [ 0.00519978 0.99998017 -0.00355228 -0.01105348] [-0.01095124 0.00360906 0.99993352 0.60309733] [ 0. 0. 0. 1. ]] SLAMing on 24.602557844 meters Centerline goodness [0,1] 0.24808702666172522 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.01, Z:0.60 [[ 0.99994887 0.00375064 0.00939049 -0.2276987 ] [-0.00370582 0.99998168 -0.00478554 -0.0114702 ] [-0.00940826 0.0047505 0.99994446 0.60247999] [ 0. 0. 0. 1. ]] SLAMing on 24.632557844 meters Centerline goodness [0,1] 0.24439032875282662 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.01, Z:0.60 [[ 0.99995047 0.00428208 0.00898468 -0.22616803] [-0.00423482 0.99997714 -0.00527187 -0.00712607] [-0.00900705 0.00523356 0.99994574 0.60185387] [ 0. 0. 0. 1. ]] SLAMing on 24.662557844000002 meters Centerline goodness [0,1] 0.24495526676679946 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.00, Z:0.60 [[ 0.99995155 0.00452337 0.00874284 -0.22544889] [-0.00447314 0.99997343 -0.00575645 -0.00377579] [-0.00876864 0.00571707 0.99994521 0.60181978] [ 0. 0. 0. 1. ]] SLAMing on 24.692557844 meters Centerline goodness [0,1] 0.24342375445801356 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.00, Z:0.60 [[ 9.99954998e-01 4.82747693e-03 8.16685075e-03 -2.23828334e-01] [-4.77689025e-03 9.99969356e-01 -6.20235499e-03 -3.81811673e-04] [-8.19654221e-03 6.16306372e-03 9.99947415e-01 6.01644894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722557844 meters Centerline goodness [0,1] 0.24304880419988328 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.00, Z:0.60 [[ 0.99995723 0.00515975 0.00767511 -0.2225787 ] [-0.00510858 0.99996469 -0.00667187 0.00315584] [-0.00770926 0.00663238 0.99994829 0.60178715] [ 0. 0. 0. 1. ]] SLAMing on 24.752557844000002 meters Centerline goodness [0,1] 0.24248323599394328 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.01, Z:0.60 [[ 0.99993144 0.00860549 0.00794108 -0.2241881 ] [-0.00856852 0.99995235 -0.0046777 0.01271777] [-0.00798096 0.00460933 0.99995753 0.60341424] [ 0. 0. 0. 1. ]] SLAMing on 24.782557844 meters Centerline goodness [0,1] 0.24492060039155972 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.02, Z:0.60 [[ 0.99992234 0.00882692 0.00879792 -0.22657332] [-0.00877969 0.99994691 -0.0053931 0.0174093 ] [-0.00884506 0.00531543 0.99994675 0.60414069] [ 0. 0. 0. 1. ]] SLAMing on 24.812557844 meters Centerline goodness [0,1] 0.24509506033509854 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.02, Z:0.61 [[ 0.99991326 0.00890835 0.00970087 -0.22917772] [-0.00884833 0.99994155 -0.00621312 0.02219717] [-0.00975565 0.00612674 0.99993364 0.60506179] [ 0. 0. 0. 1. ]] SLAMing on 24.842557844 meters Centerline goodness [0,1] 0.24405122436618498 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.03, Z:0.61 [[ 0.99990612 0.0087931 0.01050907 -0.23149983] [-0.00871882 0.99993683 -0.00709339 0.0266838 ] [-0.01057078 0.0070011 0.99991962 0.6058061 ] [ 0. 0. 0. 1. ]] SLAMing on 24.872557844 meters Centerline goodness [0,1] 0.24762524398178265 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.03, Z:0.61 [[ 0.9999039 0.00858178 0.01088767 -0.23266699] [-0.00849579 0.99993254 -0.00792026 0.03060709] [-0.01095491 0.007827 0.99990936 0.60630235] [ 0. 0. 0. 1. ]] SLAMing on 24.902557844 meters Centerline goodness [0,1] 0.24772515038981913 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.03, Z:0.61 [[ 0.99990509 0.00834787 0.01095967 -0.23286779] [-0.00825327 0.99992854 -0.00864873 0.03407807] [-0.01103108 0.00855746 0.99990254 0.60641481] [ 0. 0. 0. 1. ]] SLAMing on 24.932557844 meters Centerline goodness [0,1] 0.2472982943448635 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.04, Z:0.61 [[ 0.99990604 0.00808615 0.01106907 -0.23315575] [-0.00797989 0.99992198 -0.00961024 0.03948675] [-0.01114592 0.009521 0.99989255 0.60658796] [ 0. 0. 0. 1. ]] SLAMing on 24.962557844 meters Centerline goodness [0,1] 0.2501093804690234 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.05, Z:0.61 [[ 9.99941115e-01 9.30783061e-05 1.08515950e-02 -2.52318725e-01] [ 8.70312429e-08 9.99963147e-01 -8.58508838e-03 4.69216630e-02] [-1.08519942e-02 8.58458380e-03 9.99904265e-01 6.05046475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992557844 meters Centerline goodness [0,1] 0.24787627967763015 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.05, Z:0.60 [[ 9.99945741e-01 -2.39446635e-04 1.04143378e-02 -2.50676482e-01] [ 3.37097360e-04 9.99955989e-01 -9.37582150e-03 5.02882300e-02] [-1.04116345e-02 9.37882342e-03 9.99901813e-01 6.04040637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022557844 meters Centerline goodness [0,1] 0.24927199877389272 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.05, Z:0.60 [[ 9.99947534e-01 -3.61985988e-04 1.02371346e-02 -2.50073403e-01] [ 4.61590075e-04 9.99952566e-01 -9.72899588e-03 5.19513427e-02] [-1.02331272e-02 9.73321080e-03 9.99900269e-01 6.03734425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052557844 meters Centerline goodness [0,1] 0.24668088625778084 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.05, Z:0.60 [[ 9.99948674e-01 -4.53119707e-04 1.01214741e-02 -2.49816044e-01] [ 5.54927484e-04 9.99949263e-01 -1.00580491e-02 5.36205144e-02] [-1.01164031e-02 1.00631496e-02 9.99898191e-01 6.03819850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082557844 meters Centerline goodness [0,1] 0.24604053965977968 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.06, Z:0.60 [[ 9.99949769e-01 -5.38198026e-04 1.00085291e-02 -2.49717341e-01] [ 6.42293365e-04 9.99945709e-01 -1.04003590e-02 5.53991378e-02] [-1.00023882e-02 1.04062650e-02 9.99895826e-01 6.04207792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112557844 meters Centerline goodness [0,1] 0.24455864570737607 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.06, Z:0.60 [[ 9.99950698e-01 -6.27818593e-04 9.90993924e-03 -2.49674984e-01] [ 7.34397639e-04 9.99941896e-01 -1.07547902e-02 5.71520004e-02] [-9.90261138e-03 1.07615378e-02 9.99893058e-01 6.04651511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142557844 meters Centerline goodness [0,1] 0.2458643193200789 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.06, Z:0.60 [[ 9.99951720e-01 -7.38601625e-04 9.79861248e-03 -2.49490289e-01] [ 8.47490848e-04 9.99937887e-01 -1.11132247e-02 5.87626439e-02] [-9.78979562e-03 1.11209924e-02 9.99890236e-01 6.04845386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172557844 meters Centerline goodness [0,1] 0.24495770982433307 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.06, Z:0.60 [[ 9.99958389e-01 -5.10938294e-04 9.10814742e-03 -2.47357105e-01] [ 6.16433299e-04 9.99932720e-01 -1.15834457e-02 6.19984363e-02] [-9.10161619e-03 1.15885783e-02 9.99891427e-01 6.04076098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202557844 meters Centerline goodness [0,1] 0.24405846127157604 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.06, Z:0.60 [[ 9.99959748e-01 -4.45927300e-04 8.96122427e-03 -2.46845282e-01] [ 5.53316605e-04 9.99928026e-01 -1.19848722e-02 6.45110517e-02] [-8.95523491e-03 1.19893482e-02 9.99888023e-01 6.03840679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232557844 meters Centerline goodness [0,1] 0.24434241448341887 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.07, Z:0.60 [[ 9.99961040e-01 -3.32167248e-04 8.82091723e-03 -2.46549612e-01] [ 4.41274733e-04 9.99923390e-01 -1.23701128e-02 6.69157981e-02] [-8.81613251e-03 1.23735233e-02 9.99884579e-01 6.03958733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262557844 meters Centerline goodness [0,1] 0.24058315334773217 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.07, Z:0.60 [[ 9.99964150e-01 -2.26726338e-04 8.46447979e-03 -2.45710828e-01] [ 3.34466033e-04 9.99918924e-01 -1.27292036e-02 6.91115312e-02] [-8.46090748e-03 1.27315783e-02 9.99883153e-01 6.04026370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292557844 meters Centerline goodness [0,1] 0.24602654789974676 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.07, Z:0.61 [[ 0.99996026 -0.00548601 0.0070273 -0.26858186] [ 0.0055521 0.99994021 -0.00942025 0.07261786] [-0.0069752 0.00945889 0.99993094 0.60528993] [ 0. 0. 0. 1. ]] SLAMing on 25.322557844 meters Centerline goodness [0,1] 0.2478628722118449 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.07, Z:0.61 [[ 0.99997579 -0.00143024 0.00680972 -0.26807344] [ 0.00146895 0.99998277 -0.00568348 0.07466042] [-0.00680147 0.00569335 0.99996066 0.60513156] [ 0. 0. 0. 1. ]] SLAMing on 25.352557844 meters Centerline goodness [0,1] 0.24984011467637002 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.08, Z:0.61 [[ 0.99997722 -0.00143596 0.00659525 -0.26755617] [ 0.00147575 0.99998072 -0.00603216 0.07655226] [-0.00658646 0.00604175 0.99996006 0.60507793] [ 0. 0. 0. 1. ]] SLAMing on 25.382557844 meters Centerline goodness [0,1] 0.24048666839244115 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.08, Z:0.60 [[ 0.99996507 -0.00103902 0.00829298 -0.2220686 ] [ 0.0010861 0.99998331 -0.0056746 0.0791341 ] [-0.00828695 0.00568341 0.99994951 0.60357452] [ 0. 0. 0. 1. ]] SLAMing on 25.412557844000002 meters Centerline goodness [0,1] 0.2421898630255369 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.08, Z:0.60 [[ 0.99996476 -0.00113388 0.00831848 -0.22203506] [ 0.00118387 0.99998126 -0.00600666 0.0805845 ] [-0.00831151 0.00601629 0.99994736 0.60334898] [ 0. 0. 0. 1. ]] SLAMing on 25.442557844 meters Centerline goodness [0,1] 0.2418596590047445 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.08, Z:0.60 [[ 0.99996274 -0.00116639 0.00855286 -0.22284866] [ 0.00121926 0.99998017 -0.00617924 0.08142671] [-0.00854548 0.00618944 0.99994433 0.60369576] [ 0. 0. 0. 1. ]] SLAMing on 25.472557844 meters Centerline goodness [0,1] 0.24689820882481428 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.08, Z:0.60 [[ 0.99995751 -0.00102637 0.00916094 -0.2248148 ] [ 0.00108356 0.99997994 -0.00624076 0.08243237] [-0.00915436 0.00625042 0.99993856 0.60456391] [ 0. 0. 0. 1. ]] SLAMing on 25.502557844000002 meters Centerline goodness [0,1] 0.24773743321339003 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.08, Z:0.60 [[ 9.99958184e-01 -9.81920861e-04 9.09203946e-03 -2.24578988e-01] [ 1.03813179e-03 9.99980366e-01 -6.17977891e-03 8.22185310e-02] [-9.08579289e-03 6.18895923e-03 9.99939571e-01 6.04427353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532557844 meters Centerline goodness [0,1] 0.24773743321339003 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.08, Z:0.60 [[ 9.99958184e-01 -9.81920861e-04 9.09203946e-03 -2.24578988e-01] [ 1.03813179e-03 9.99980366e-01 -6.17977891e-03 8.22185310e-02] [-9.08579289e-03 6.18895923e-03 9.99939571e-01 6.04427353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562557844 meters Centerline goodness [0,1] 0.2452089836975373 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.08, Z:0.60 [[ 9.99958802e-01 -9.57725638e-04 9.02646587e-03 -2.24406593e-01] [ 1.01229692e-03 9.99981228e-01 -6.04306930e-03 8.13695820e-02] [-9.02050882e-03 6.05195780e-03 9.99941000e-01 6.04388065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592557844 meters Centerline goodness [0,1] 0.24997249422378698 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.08, Z:0.60 [[ 0.99991869 -0.01001649 0.0078916 -0.24673159] [ 0.01006283 0.99993223 -0.00585407 0.0831164 ] [-0.00783243 0.00593301 0.99995173 0.60487338] [ 0. 0. 0. 1. ]] SLAMing on 25.622557844 meters Centerline goodness [0,1] 0.24515334241068532 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.08, Z:0.60 [[ 0.99993 -0.0047457 0.01083872 -0.22504319] [ 0.00484255 0.99994843 -0.00892668 0.08013229] [-0.0107958 0.00897854 0.99990141 0.60405437] [ 0. 0. 0. 1. ]] SLAMing on 25.652557844 meters Centerline goodness [0,1] 0.24613544950538102 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.08, Z:0.60 [[ 0.99992733 -0.00463258 0.0111299 -0.22603998] [ 0.00472854 0.99995174 -0.00861135 0.07877877] [-0.01108947 0.00866335 0.99990098 0.60460041] [ 0. 0. 0. 1. ]] SLAMing on 25.682557844 meters Centerline goodness [0,1] 0.2461581628248295 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.08, Z:0.61 [[ 0.9999266 -0.00450344 0.01124746 -0.22655098] [ 0.00459665 0.99995519 -0.00827572 0.07730421] [-0.01120969 0.00832681 0.9999025 0.60504347] [ 0. 0. 0. 1. ]] SLAMing on 25.712557844 meters Centerline goodness [0,1] 0.24356285806939793 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.08, Z:0.61 [[ 0.99992642 -0.00438894 0.01130916 -0.22669679] [ 0.00447918 0.99995824 -0.0079662 0.07585637] [-0.01127372 0.00801627 0.99990432 0.60504139] [ 0. 0. 0. 1. ]] SLAMing on 25.742557844 meters Centerline goodness [0,1] 0.24762589301271998 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.07, Z:0.61 [[ 0.99992705 -0.00418225 0.01133133 -0.226824 ] [ 0.00426694 0.99996308 -0.00745935 0.07351826] [-0.01129972 0.00750716 0.99990798 0.60514071] [ 0. 0. 0. 1. ]] SLAMing on 25.772557844 meters Centerline goodness [0,1] 0.2479726194628532 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.07, Z:0.60 [[ 0.99992767 -0.00407237 0.01131646 -0.22670325] [ 0.00415427 0.99996528 -0.00722294 0.07254619] [-0.01128665 0.00726943 0.99990988 0.60497798] [ 0. 0. 0. 1. ]] SLAMing on 25.802557844 meters Centerline goodness [0,1] 0.24761181068171945 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.07, Z:0.60 [[ 0.99993055 -0.00394964 0.01110388 -0.22592123] [ 0.00402676 0.99996787 -0.00693145 0.07132382] [-0.01107615 0.00697568 0.99991433 0.60451131] [ 0. 0. 0. 1. ]] SLAMing on 25.832557844 meters Centerline goodness [0,1] 0.2422765284457732 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.07, Z:0.60 [[ 0.99993376 -0.00381755 0.01085865 -0.22481302] [ 0.00388973 0.99997043 -0.0066339 0.07001974] [-0.010833 0.0066757 0.99991904 0.60359797] [ 0. 0. 0. 1. ]] SLAMing on 25.862557844 meters Centerline goodness [0,1] 0.2433033785535298 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.07, Z:0.60 [[ 0.99993687 -0.00371784 0.01060387 -0.22378541] [ 0.00378626 0.9999721 -0.00643952 0.06919536] [-0.01057963 0.00647926 0.99992304 0.60287513] [ 0. 0. 0. 1. ]] SLAMing on 25.892557844 meters Centerline goodness [0,1] 0.24394403903450068 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.07, Z:0.60 [[ 0.99994495 -0.00340056 0.00992601 -0.22150275] [ 0.00346124 0.99997539 -0.00610181 0.06822198] [-0.00990501 0.00613583 0.99993212 0.60173048] [ 0. 0. 0. 1. ]] SLAMing on 25.922557844 meters Centerline goodness [0,1] 0.2518444886238127 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.07, Z:0.60 [[ 0.99997584 -0.00194211 0.00667447 -0.26674898] [ 0.00197676 0.99998459 -0.0051878 0.06508297] [-0.00666429 0.00520087 0.99996427 0.60371234] [ 0. 0. 0. 1. ]] SLAMing on 25.952557844 meters Centerline goodness [0,1] 0.24912441992820245 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.06, Z:0.60 [[ 0.99997547 -0.00184882 0.0067554 -0.26708763] [ 0.00188313 0.99998535 -0.00507547 0.06465965] [-0.00674592 0.00508807 0.9999643 0.60394514] [ 0. 0. 0. 1. ]] SLAMing on 25.982557844 meters Centerline goodness [0,1] 0.2482973214091433 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.06, Z:0.60 [[ 0.99997365 -0.00172363 0.00705185 -0.26798436] [ 0.00175785 0.99998669 -0.00485003 0.06345351] [-0.0070434 0.0048623 0.99996337 0.60415447] [ 0. 0. 0. 1. ]] SLAMing on 26.012557844 meters Centerline goodness [0,1] 0.24066193853427897 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.06, Z:0.60 [[ 0.99995067 0.00660345 0.00741967 -0.24741569] [-0.00656249 0.99996317 -0.00553188 0.05888594] [-0.00745593 0.00548292 0.99995717 0.60457386] [ 0. 0. 0. 1. ]] SLAMing on 26.042557844 meters Centerline goodness [0,1] 0.24379505330858553 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.06, Z:0.60 [[ 0.99994958 0.00665812 0.00751661 -0.24732877] [-0.00661728 0.99996328 -0.00544508 0.05862311] [-0.00755259 0.00539506 0.99995692 0.60393991] [ 0. 0. 0. 1. ]] SLAMing on 26.072557844 meters Centerline goodness [0,1] 0.24819587066954452 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.06, Z:0.60 [[ 0.99997889 -0.00149791 0.00632275 -0.26692208] [ 0.00152374 0.99999051 -0.00408172 0.06166133] [-0.00631657 0.00409127 0.99997168 0.6025993 ] [ 0. 0. 0. 1. ]] SLAMing on 26.102557844 meters Centerline goodness [0,1] 0.24250292093989356 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.06, Z:0.60 [[ 0.99998043 -0.00138346 0.00610058 -0.26614142] [ 0.00140683 0.99999169 -0.00382664 0.06044585] [-0.00609524 0.00383515 0.99997407 0.60218531] [ 0. 0. 0. 1. ]] SLAMing on 26.132557844 meters Centerline goodness [0,1] 0.24399196769805453 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.06, Z:0.60 [[ 0.9999809 -0.00128988 0.00604461 -0.26602618] [ 0.00131177 0.99999259 -0.00361946 0.0595441 ] [-0.0060399 0.00362732 0.99997518 0.60224325] [ 0. 0. 0. 1. ]] SLAMing on 26.162557844000002 meters Centerline goodness [0,1] 0.24929389354761022 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.06, Z:0.60 [[ 0.99993774 -0.00969296 0.00552831 -0.28751545] [ 0.00970703 0.9999497 -0.00252389 0.06203454] [-0.00550357 0.0025774 0.99998153 0.60195716] [ 0. 0. 0. 1. ]] SLAMing on 26.192557844 meters Centerline goodness [0,1] 0.24887125761627138 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.06, Z:0.60 [[ 0.99993813 -0.0095518 0.0057012 -0.28817467] [ 0.00956421 0.99995194 -0.00215365 0.06040892] [-0.00568036 0.00220804 0.99998143 0.60243154] [ 0. 0. 0. 1. ]] SLAMing on 26.222557844 meters Centerline goodness [0,1] 0.24757344940152337 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.05, Z:0.60 [[ 0.99997387 -0.00167228 0.00703283 -0.27003255] [ 0.00169581 0.99999298 -0.00334125 0.0548572 ] [-0.00702719 0.00335309 0.99996969 0.60405937] [ 0. 0. 0. 1. ]] SLAMing on 26.252557844000002 meters Centerline goodness [0,1] 0.249537208441318 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.05, Z:0.60 [[ 0.99997282 -0.00155434 0.00720762 -0.27055754] [ 0.00157547 0.99999448 -0.0029261 0.05282498] [-0.00720303 0.00293738 0.99996974 0.60427116] [ 0. 0. 0. 1. ]] SLAMing on 26.282557844 meters Centerline goodness [0,1] 0.24526506961861105 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.05, Z:0.60 [[ 0.99997276 -0.00146947 0.00723288 -0.2704759 ] [ 0.00148528 0.99999652 -0.00218068 0.04885435] [-0.00722965 0.00219136 0.99997146 0.60405812] [ 0. 0. 0. 1. ]] SLAMing on 26.312557844 meters Centerline goodness [0,1] 0.2469545237785581 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.05, Z:0.60 [[ 0.99997394 -0.00130139 0.00710069 -0.26994463] [ 0.00131304 0.9999978 -0.00163678 0.04626971] [-0.00709854 0.00164606 0.99997345 0.60375951] [ 0. 0. 0. 1. ]] SLAMing on 26.342557844 meters Centerline goodness [0,1] 0.25002195486080614 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.05, Z:0.60 [[ 9.99934783e-01 -1.01559808e-02 5.22349440e-03 -2.91546783e-01] [ 1.01600676e-02 9.99948099e-01 -7.56434592e-04 4.54181262e-02] [-5.21554096e-03 8.09456316e-04 9.99986071e-01 6.03821978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372557844 meters Centerline goodness [0,1] 0.24856189347033764 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.04, Z:0.60 [[ 9.99940492e-01 -9.96045146e-03 4.44981939e-03 -2.89380502e-01] [ 9.95822969e-03 9.99950280e-01 5.21172741e-04 3.83171959e-02] [-4.45478926e-03 -4.76829404e-04 9.99989964e-01 6.03465649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402557844 meters Centerline goodness [0,1] 0.24912188843074368 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.03, Z:0.61 [[ 9.99988587e-01 -2.27584350e-03 4.20074741e-03 -2.71207708e-01] [ 2.27677154e-03 9.99997385e-01 -2.16154097e-04 3.03180142e-02] [-4.20024449e-03 2.25715772e-04 9.99991153e-01 6.05901610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432557844 meters Centerline goodness [0,1] 0.24467808367656618 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.03, Z:0.61 [[ 9.99988451e-01 -2.01326509e-03 4.36410770e-03 -2.71869995e-01] [ 2.01089329e-03 9.99997828e-01 5.47796851e-04 2.67536434e-02] [-4.36520109e-03 -5.39014770e-04 9.99990327e-01 6.06457405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462557844 meters Centerline goodness [0,1] 0.24882567849686843 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.02, Z:0.61 [[ 0.99998822 -0.00175792 0.00452376 -0.27243664] [ 0.00175222 0.99999767 0.00126398 0.02336968] [-0.00452597 -0.00125604 0.99998897 0.60681647] [ 0. 0. 0. 1. ]] SLAMing on 26.492557844 meters Centerline goodness [0,1] 0.24531519861830742 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.02, Z:0.61 [[ 0.99998761 -0.00135803 0.00478916 -0.27330575] [ 0.00134694 0.99999641 0.00231655 0.01831288] [-0.00479229 -0.00231007 0.99998585 0.60725519] [ 0. 0. 0. 1. ]] SLAMing on 26.522557844 meters Centerline goodness [0,1] 0.2493038635572572 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.02, Z:0.61 [[ 0.999987 -0.00121505 0.00495209 -0.27384906] [ 0.00120192 0.99999576 0.00265407 0.01681411] [-0.0049553 -0.00264808 0.99998422 0.60749661] [ 0. 0. 0. 1. ]] SLAMing on 26.552557844 meters Centerline goodness [0,1] 0.2505277820097068 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.02, Z:0.61 [[ 0.99998709 -0.00110588 0.0049599 -0.27376117] [ 0.00109153 0.99999522 0.0028942 0.01571625] [-0.00496307 -0.00288875 0.99998351 0.60728953] [ 0. 0. 0. 1. ]] SLAMing on 26.582557844 meters Centerline goodness [0,1] 0.24800695123275773 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.01, Z:0.61 [[ 0.99998833 -0.00101734 0.0047237 -0.27277829] [ 0.00100291 0.99999483 0.00305603 0.01493328] [-0.00472679 -0.00305126 0.99998417 0.60655745] [ 0. 0. 0. 1. ]] SLAMing on 26.612557844 meters Centerline goodness [0,1] 0.24637088089597248 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.01, Z:0.61 [[ 9.99990606e-01 -9.37697275e-04 4.23192926e-03 -2.71001295e-01] [ 9.24228519e-04 9.99994506e-01 3.18348573e-03 1.42992230e-02] [-4.23489115e-03 -3.17954455e-03 9.99985978e-01 6.05541717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642557844 meters Centerline goodness [0,1] 0.24850664922607368 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.01, Z:0.60 [[ 0.99996866 0.00750668 0.00251582 -0.2903215 ] [-0.00751229 0.9999693 0.00222723 0.00817888] [-0.00249903 -0.00224606 0.99999436 0.60441151] [ 0. 0. 0. 1. ]] SLAMing on 26.672557844 meters Centerline goodness [0,1] 0.24805508945498922 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.01, Z:0.60 [[ 0.99996653 0.00774334 0.00264288 -0.29088568] [-0.00775054 0.99996625 0.00272502 0.00620202] [-0.00262169 -0.00274541 0.99999279 0.60485459] [ 0. 0. 0. 1. ]] SLAMing on 26.702557844 meters Centerline goodness [0,1] 0.25202286719437117 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.01, Z:0.60 [[ 0.99999474 -0.00103017 0.00307571 -0.31273065] [ 0.00101922 0.99999315 0.0035596 0.00869359] [-0.00307936 -0.00355644 0.99998893 0.60421212] [ 0. 0. 0. 1. ]] SLAMing on 26.732557844 meters Centerline goodness [0,1] 0.25146878288319885 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.01, Z:0.60 [[ 9.99994292e-01 -9.48617612e-04 3.24276952e-03 -3.13153988e-01] [ 9.35723625e-04 9.99991660e-01 3.97543406e-03 6.50816808e-03] [-3.24651364e-03 -3.97237704e-03 9.99986840e-01 6.04284519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762557844 meters Centerline goodness [0,1] 0.2516083701117625 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:0.60 [[ 9.99994495e-01 -9.03562630e-04 3.19266132e-03 -3.12944322e-01] [ 8.89552868e-04 9.99989982e-01 4.38681263e-03 4.25813690e-03] [-3.19659310e-03 -4.38394844e-03 9.99985281e-01 6.04147635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792557844 meters Centerline goodness [0,1] 0.24801130189089327 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:0.60 [[ 9.99995439e-01 -1.40946900e-03 2.67139536e-03 -3.11124013e-01] [ 1.39679856e-03 9.99987796e-01 4.73894867e-03 7.76601479e-04] [-2.67804216e-03 -4.73519565e-03 9.99985203e-01 6.03248162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822557844000002 meters Centerline goodness [0,1] 0.2476337269885377 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.00, Z:0.60 [[ 0.99999562 -0.00135129 0.00263397 -0.31089694] [ 0.00133751 0.99998544 0.00522825 -0.00168093] [-0.002641 -0.0052247 0.99998286 0.60304207] [ 0. 0. 0. 1. ]] SLAMing on 26.852557844 meters Centerline goodness [0,1] 0.2478487981446561 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.00, Z:0.60 [[ 0.99999601 -0.00128762 0.00251277 -0.31064753] [ 0.00127323 0.99998283 0.0057194 -0.00416153] [-0.00252009 -0.00571618 0.99998049 0.60320654] [ 0. 0. 0. 1. ]] SLAMing on 26.882557844 meters Centerline goodness [0,1] 0.24504114335210048 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:0.60 [[ 0.99999665 -0.00124797 0.00226626 -0.31007169] [ 0.00123384 0.99997985 0.00622692 -0.00688648] [-0.00227398 -0.00622411 0.99997804 0.60333205] [ 0. 0. 0. 1. ]] SLAMing on 26.912557844000002 meters Centerline goodness [0,1] 0.24566180443003782 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:0.60 [[ 0.99999764 -0.00185008 0.00114239 -0.30682244] [ 0.00184256 0.99997685 0.00654962 -0.01103756] [-0.00115448 -0.0065475 0.9999779 0.6026599 ] [ 0. 0. 0. 1. ]] SLAMing on 26.942557844 meters Centerline goodness [0,1] 0.2505639385909201 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.01, Z:0.60 [[ 9.99992688e-01 3.69150105e-03 -9.98837621e-04 -3.29627141e-01] [-3.68818493e-03 9.99987748e-01 3.30169540e-03 -1.44403532e-02] [ 1.01101360e-03 -3.29798736e-03 9.99994051e-01 6.03553349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972557844 meters Centerline goodness [0,1] 0.24598049837486458 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:0.60 [[ 0.99998678 -0.00495842 -0.0013628 -0.30821496] [ 0.00496388 0.99997957 0.00402818 -0.01268679] [ 0.0013428 -0.00403489 0.99999096 0.60391597] [ 0. 0. 0. 1. ]] SLAMing on 27.002557844000002 meters Centerline goodness [0,1] 0.24522120245611756 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:0.60 [[ 0.99998724 -0.00486548 -0.00135822 -0.30811216] [ 0.0048714 0.99997849 0.00439253 -0.01460786] [ 0.00133681 -0.00439909 0.99998943 0.6037383 ] [ 0. 0. 0. 1. ]] SLAMing on 27.032557844 meters Centerline goodness [0,1] 0.24387347511605306 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.02, Z:0.60 [[ 0.99998795 -0.00476093 -0.00119498 -0.30856237] [ 0.00476649 0.99997765 0.00468873 -0.01602948] [ 0.00117263 -0.00469437 0.99998829 0.60385088] [ 0. 0. 0. 1. ]] SLAMing on 27.062557844 meters Centerline goodness [0,1] 0.2521494999122653 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 9.99991145e-01 4.20816319e-03 -2.03292089e-05 -3.32144639e-01] [-4.20802279e-03 9.99980292e-01 4.65927909e-03 -2.11856176e-02] [ 3.99358150e-05 -4.65915229e-03 9.99989145e-01 6.04114849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092557844 meters Centerline goodness [0,1] 0.2502170892671066 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 9.99991101e-01 4.21809938e-03 7.62523080e-05 -3.32643973e-01] [-4.21840188e-03 9.99980814e-01 4.53608121e-03 -2.04609896e-02] [-5.71172037e-05 -4.53636251e-03 9.99989709e-01 6.04606724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122557844 meters Centerline goodness [0,1] 0.2506269489936106 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 9.99991344e-01 4.15929988e-03 1.10055042e-04 -3.32838315e-01] [-4.15974166e-03 9.99981774e-01 4.37586876e-03 -1.98362308e-02] [-9.18524857e-05 -4.37628868e-03 9.99990420e-01 6.04840465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152557844 meters Centerline goodness [0,1] 0.24865944467359924 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 9.99991548e-01 4.10591123e-03 -2.13963443e-04 -3.31793988e-01] [-4.10499381e-03 9.99983067e-01 4.12493859e-03 -1.87231382e-02] [ 2.30896451e-04 -4.12402541e-03 9.99991470e-01 6.04361186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182557844 meters Centerline goodness [0,1] 0.24750054100843977 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 9.99991686e-01 4.05408811e-03 -4.37521509e-04 -3.30888112e-01] [-4.05234454e-03 9.99984125e-01 3.91500818e-03 -1.76618970e-02] [ 4.53386352e-04 -3.91320264e-03 9.99992241e-01 6.03690771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212557844 meters Centerline goodness [0,1] 0.24941304347826088 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 9.99991954e-01 3.97615042e-03 -5.30821271e-04 -3.30311758e-01] [-3.97417130e-03 9.99985336e-01 3.67880348e-03 -1.65324312e-02] [ 5.45440964e-04 -3.67666431e-03 9.99993092e-01 6.03010268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242557844 meters Centerline goodness [0,1] 0.24313691768600731 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:0.60 [[ 9.99990875e-01 -4.26825118e-03 -1.79878842e-04 -3.10068738e-01] [ 4.26900077e-03 9.99981225e-01 4.39616599e-03 -1.10938181e-02] [ 1.61111524e-04 -4.39689377e-03 9.99990321e-01 6.03561740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272557844 meters Centerline goodness [0,1] 0.24855579203405287 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 9.99992531e-01 3.80377180e-03 -6.85490814e-04 -3.29589263e-01] [-3.80164759e-03 9.99988049e-01 3.07392151e-03 -1.60416405e-02] [ 6.97175117e-04 -3.07129256e-03 9.99995041e-01 6.02384542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302557844 meters Centerline goodness [0,1] 0.24982629841931558 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 9.99992355e-01 3.82512703e-03 -8.11655669e-04 -3.29370321e-01] [-3.82250772e-03 9.99987560e-01 3.20450072e-03 -1.67798466e-02] [ 8.23903194e-04 -3.20137367e-03 9.99994536e-01 6.02559832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332557844 meters Centerline goodness [0,1] 0.2436220913933277 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99999135 0.00361793 -0.00204982 -0.32602436] [-0.00361097 0.99998774 0.00338832 -0.01858677] [ 0.00206205 -0.00338089 0.99999216 0.60209846] [ 0. 0. 0. 1. ]] SLAMing on 27.362557844 meters Centerline goodness [0,1] 0.24395528208683592 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99999052 0.00372033 -0.00226358 -0.32531565] [-0.003712 0.99998636 0.00367353 -0.01989334] [ 0.00227721 -0.00366509 0.99999069 0.60178874] [ 0. 0. 0. 1. ]] SLAMing on 27.392557844 meters Centerline goodness [0,1] 0.24678218357237114 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99999014 0.0038384 -0.00223395 -0.32550376] [-0.0038295 0.99998476 0.00397574 -0.02118206] [ 0.00224918 -0.00396714 0.9999896 0.60201171] [ 0. 0. 0. 1. ]] SLAMing on 27.422557844 meters Centerline goodness [0,1] 0.24678218357237114 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99999014 0.0038384 -0.00223395 -0.32550376] [-0.0038295 0.99998476 0.00397574 -0.02118206] [ 0.00224918 -0.00396714 0.9999896 0.60201171] [ 0. 0. 0. 1. ]] SLAMing on 27.452557844 meters Centerline goodness [0,1] 0.2449988079498906 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99999022 0.0039327 -0.00202532 -0.32634247] [-0.00392417 0.99998349 0.00419749 -0.02214286] [ 0.0020418 -0.0041895 0.99998914 0.60259708] [ 0. 0. 0. 1. ]] SLAMing on 27.482557844 meters Centerline goodness [0,1] 0.24827255487499178 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99999006 0.00401977 -0.00192707 -0.32722154] [-0.00401111 0.99998193 0.00447874 -0.02377091] [ 0.00194504 -0.00447097 0.99998811 0.60377802] [ 0. 0. 0. 1. ]] SLAMing on 27.512557844 meters Centerline goodness [0,1] 0.2534266291711875 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.02, Z:0.61 [[ 0.99998054 0.00370113 -0.00502164 -0.37182011] [-0.00367964 0.99998407 0.00428111 -0.0247752 ] [ 0.00503741 -0.00426255 0.99997823 0.60506325] [ 0. 0. 0. 1. ]] SLAMing on 27.542557844 meters Centerline goodness [0,1] 0.2444012105490705 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99998529 0.00427458 -0.00333813 -0.32578628] [-0.0042598 0.99998114 0.00442421 -0.02427221] [ 0.00335698 -0.00440992 0.99998464 0.60378633] [ 0. 0. 0. 1. ]] SLAMing on 27.572557844000002 meters Centerline goodness [0,1] 0.24511813572122132 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99998435 0.00435739 -0.00350756 -0.32517643] [-0.0043419 0.99998084 0.00441284 -0.02397257] [ 0.00352672 -0.00439754 0.99998411 0.60347154] [ 0. 0. 0. 1. ]] SLAMing on 27.602557844 meters Centerline goodness [0,1] 0.24670176122700982 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99998431 0.00437635 -0.00349716 -0.32520552] [-0.00436136 0.99998132 0.00428313 -0.0232654 ] [ 0.00351583 -0.00426781 0.99998471 0.60349306] [ 0. 0. 0. 1. ]] SLAMing on 27.632557844 meters Centerline goodness [0,1] 0.25146288544565953 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.02, Z:0.60 [[ 0.99998423 0.00473403 -0.00302138 -0.32689251] [-0.00472185 0.99998075 0.00402521 -0.02112094] [ 0.00304038 -0.00401088 0.99998733 0.60436378] [ 0. 0. 0. 1. ]] SLAMing on 27.662557844000002 meters Centerline goodness [0,1] 0.24683626592701746 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:0.61 [[ 0.9999936 -0.00263087 -0.00242441 -0.30843476] [ 0.00264339 0.99998311 0.00517559 -0.01429661] [ 0.00241075 -0.00518197 0.99998367 0.60585454] [ 0. 0. 0. 1. ]] SLAMing on 27.692557844 meters Centerline goodness [0,1] 0.25043053648115454 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:0.61 [[ 0.99999423 -0.00256432 -0.00222913 -0.30892724] [ 0.0025752 0.99998471 0.00489276 -0.01245983] [ 0.00221654 -0.00489847 0.99998555 0.60579681] [ 0. 0. 0. 1. ]] SLAMing on 27.722557844 meters Centerline goodness [0,1] 0.2491332126736301 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:0.61 [[ 0.99999431 -0.00255797 -0.00219755 -0.30878842] [ 0.00256789 0.99998647 0.00452417 -0.0103634 ] [ 0.00218595 -0.00452979 0.99998735 0.60528032] [ 0. 0. 0. 1. ]] SLAMing on 27.752557844000002 meters Centerline goodness [0,1] 0.24581562743907726 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.01, Z:0.60 [[ 0.99999565 -0.00243974 -0.00165997 -0.31004415] [ 0.00244614 0.99998956 0.00386017 -0.00655421] [ 0.00165054 -0.00386421 0.99999117 0.60499057] [ 0. 0. 0. 1. ]] SLAMing on 27.782557844 meters Centerline goodness [0,1] 0.24876011485251892 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.00, Z:0.61 [[ 0.99999606 -0.00254643 -0.00117865 -0.31161876] [ 0.00255044 0.99999091 0.00341583 -0.00437831] [ 0.00116994 -0.00341882 0.99999347 0.60561027] [ 0. 0. 0. 1. ]] SLAMing on 27.812557844 meters Centerline goodness [0,1] 0.2462675280340514 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.00, Z:0.61 [[ 9.99996150e-01 -2.63065144e-03 -8.83536117e-04 -3.12822865e-01] [ 2.63333270e-03 9.99991890e-01 3.04735831e-03 -2.39250384e-03] [ 8.75512414e-04 -3.04967322e-03 9.99994966e-01 6.06327527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842557844 meters Centerline goodness [0,1] 0.2462852336690461 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:0.61 [[ 9.99995662e-01 -2.65109319e-03 -1.28371505e-03 -3.11472158e-01] [ 2.65434033e-03 9.99993266e-01 2.53442061e-03 8.17586767e-04] [ 1.27698742e-03 -2.53781703e-03 9.99995964e-01 6.05629440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872557844 meters Centerline goodness [0,1] 0.24830234525849915 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:0.60 [[ 0.99999489 -0.00277634 -0.00158426 -0.31018397] [ 0.00277988 0.99999363 0.00223714 0.00205827] [ 0.00157804 -0.00224154 0.99999624 0.60463348] [ 0. 0. 0. 1. ]] SLAMing on 27.902557844 meters Centerline goodness [0,1] 0.252518380335784 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.00, Z:0.60 [[ 9.99980410e-01 5.13831377e-03 -3.57466379e-03 -3.28848009e-01] [-5.13609112e-03 9.99986611e-01 6.30680066e-04 -1.97588072e-03] [ 3.57785656e-03 -6.12307912e-04 9.99993412e-01 6.03177823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932557844 meters Centerline goodness [0,1] 0.24605365306650562 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:0.60 [[ 0.99998918 -0.00266309 -0.00381358 -0.30898925] [ 0.00266911 0.9999952 0.00157471 0.00430434] [ 0.00380937 -0.00158487 0.99999149 0.60427644] [ 0. 0. 0. 1. ]] SLAMing on 27.962557844 meters Centerline goodness [0,1] 0.24901125646486155 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:0.60 [[ 0.99998935 -0.00268825 -0.00375119 -0.30933577] [ 0.00269383 0.99999527 0.00148388 0.00488633] [ 0.00374718 -0.00149397 0.99999186 0.6045778 ] [ 0. 0. 0. 1. ]] SLAMing on 27.992557844 meters Centerline goodness [0,1] 0.2512230653823574 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:0.61 [[ 0.9999902 -0.00257651 -0.0035995 -0.31015511] [ 0.00258284 0.99999513 0.00175382 0.00385478] [ 0.00359497 -0.0017631 0.99999198 0.60541527] [ 0. 0. 0. 1. ]] SLAMing on 28.022557844 meters Centerline goodness [0,1] 0.25122299001864645 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.00, Z:0.60 [[ 9.99982576e-01 4.70332901e-03 -3.56754011e-03 -3.27744562e-01] [-4.70338335e-03 9.99988939e-01 -6.84385757e-06 -3.47816130e-03] [ 3.56746846e-03 2.36232471e-05 9.99993636e-01 6.02792480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052557844 meters Centerline goodness [0,1] 0.25225641702989476 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.01, Z:0.60 [[ 9.99981888e-01 4.78786454e-03 -3.64694754e-03 -3.27341779e-01] [-4.78671814e-03 9.99988491e-01 3.23009008e-04 -5.31637484e-03] [ 3.64845210e-03 -3.05546248e-04 9.99993298e-01 6.02489915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082557844 meters Centerline goodness [0,1] 0.24662023760753793 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.00, Z:0.60 [[ 9.99990613e-01 3.94058195e-03 -1.80153618e-03 -2.82511698e-01] [-3.94216562e-03 9.99991846e-01 -8.76362230e-04 -4.46671593e-03] [ 1.79806811e-03 8.83455958e-04 9.99997993e-01 6.01457746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112557844 meters Centerline goodness [0,1] 0.24661774574106543 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.01, Z:0.60 [[ 9.99990158e-01 4.02013099e-03 -1.87675204e-03 -2.82199752e-01] [-4.02141338e-03 9.99991683e-01 -6.80029190e-04 -5.44676312e-03] [ 1.87400262e-03 6.87569693e-04 9.99998008e-01 6.01254100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142557844 meters Centerline goodness [0,1] 0.24782873024144525 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.01, Z:0.60 [[ 9.99989751e-01 4.09654253e-03 -1.92765556e-03 -2.81993451e-01] [-4.09759457e-03 9.99991458e-01 -5.42127036e-04 -5.98544597e-03] [ 1.92541825e-03 5.50020231e-04 9.99997995e-01 6.01089810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172557844 meters Centerline goodness [0,1] 0.24948521358159914 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.01, Z:0.60 [[ 9.99988605e-01 4.25349788e-03 -2.16726397e-03 -2.80947470e-01] [-4.25417373e-03 9.99990904e-01 -3.07326856e-04 -6.91081757e-03] [ 2.16593704e-03 3.16543271e-04 9.99997604e-01 6.00217654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202557844 meters Centerline goodness [0,1] 0.24757419157890148 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.01, Z:0.60 [[ 9.99988105e-01 4.30452008e-03 -2.29357273e-03 -2.80359536e-01] [-4.30494813e-03 9.99990717e-01 -1.81724231e-04 -7.51927657e-03] [ 2.29276921e-03 1.91595781e-04 9.99997353e-01 5.99695261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232557844000002 meters Centerline goodness [0,1] 0.24844192634560902 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.01, Z:0.60 [[ 9.99987562e-01 4.50073434e-03 -2.14928142e-03 -2.80942197e-01] [-4.50018752e-03 9.99989841e-01 2.59185889e-04 -9.44445218e-03] [ 2.15042612e-03 -2.49510496e-04 9.99997657e-01 6.00108792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262557844 meters Centerline goodness [0,1] 0.25260026443367123 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.01, Z:0.60 [[ 0.99998792 -0.00435128 -0.00228806 -0.30265001] [ 0.00435409 0.99998977 0.0012252 -0.00767054] [ 0.00228271 -0.00123515 0.99999663 0.59981663] [ 0. 0. 0. 1. ]] SLAMing on 28.292557844 meters Centerline goodness [0,1] 0.24732764962998222 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.01, Z:0.60 [[ 9.99997358e-01 2.07515352e-03 -9.88353929e-04 -2.79816345e-01] [-2.07655628e-03 9.99996835e-01 -1.42038318e-03 -1.02377870e-02] [ 9.85403288e-04 1.42243180e-03 9.99998503e-01 5.99037204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322557844000002 meters Centerline goodness [0,1] 0.24574293370213507 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.01, Z:0.60 [[ 9.99996764e-01 2.22050063e-03 -1.24152643e-03 -2.78966619e-01] [-2.22170687e-03 9.99997061e-01 -9.71045082e-04 -1.24187662e-02] [ 1.23936658e-03 9.73800247e-04 9.99998758e-01 5.98704229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352557844 meters Centerline goodness [0,1] 0.24406289769418266 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.01, Z:0.60 [[ 9.99996166e-01 2.35245784e-03 -1.46047903e-03 -2.78146437e-01] [-2.35330703e-03 9.99997063e-01 -5.80002287e-04 -1.42702661e-02] [ 1.45911031e-03 5.83437019e-04 9.99998765e-01 5.98233963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382557844 meters Centerline goodness [0,1] 0.25009294290025585 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.01, Z:0.60 [[ 9.99975001e-01 -6.51072092e-03 -2.75823252e-03 -2.99267295e-01] [ 6.51205083e-03 9.99978684e-01 4.73456309e-04 -1.25845955e-02] [ 2.75509118e-03 -4.91406223e-04 9.99996084e-01 5.97844797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412557844000002 meters Centerline goodness [0,1] 0.24882281130101147 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.02, Z:0.60 [[ 0.99997778 -0.0062755 -0.00224862 -0.30107186] [ 0.00627822 0.99997957 0.00120456 -0.0159098 ] [ 0.00224101 -0.00121865 0.99999675 0.5989395 ] [ 0. 0. 0. 1. ]] SLAMing on 28.442557844 meters Centerline goodness [0,1] 0.25300648565461137 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.02, Z:0.60 [[ 9.99999762e-01 6.87410625e-04 -6.31753333e-05 -3.19659402e-01] [-6.87379968e-04 9.99999647e-01 4.84009991e-04 -2.35104513e-02] [ 6.35080246e-05 -4.83966450e-04 9.99999881e-01 5.96782126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472557844 meters Centerline goodness [0,1] 0.25245183887915934 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.03, Z:0.60 [[ 9.99999631e-01 8.50668415e-04 -1.22162480e-04 -3.19443006e-01] [-8.50548876e-04 9.99999163e-01 9.75262849e-04 -2.58128116e-02] [ 1.22992003e-04 -9.75158584e-04 9.99999517e-01 5.96676627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502557844000002 meters Centerline goodness [0,1] 0.24800662280510655 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.03, Z:0.60 [[ 9.99999326e-01 9.69748594e-04 -6.38790099e-04 -3.17984575e-01] [-9.68778336e-04 9.99998379e-01 1.51746178e-03 -2.86006811e-02] [ 6.40260620e-04 -1.51684191e-03 9.99998645e-01 5.96405127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532557844 meters Centerline goodness [0,1] 0.25265659032407106 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.03, Z:0.60 [[ 9.99995843e-01 -2.74640148e-03 -8.78432241e-04 -3.17243844e-01] [ 2.74503029e-03 9.99995018e-01 -1.55837044e-03 -3.33163757e-02] [ 8.82707776e-04 1.55595264e-03 9.99998400e-01 5.96141238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562557844 meters Centerline goodness [0,1] 0.2505770151983626 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.60 [[ 0.99998685 0.00497667 -0.00124109 -0.2989347 ] [-0.00497999 0.99998398 -0.00268977 -0.04124856] [ 0.00122768 0.00269591 0.99999561 0.59843142] [ 0. 0. 0. 1. ]] SLAMing on 28.592557844 meters Centerline goodness [0,1] 0.24417122236867694 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.04, Z:0.60 [[ 9.99995418e-01 -2.86146123e-03 -9.87856047e-04 -2.79670542e-01] [ 2.86029945e-03 9.99995218e-01 -1.17548356e-03 -4.01550237e-02] [ 9.91214924e-04 1.17265261e-03 9.99998821e-01 5.99750977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622557844 meters Centerline goodness [0,1] 0.24616584351442683 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.04, Z:0.60 [[ 9.99995989e-01 -2.64967216e-03 -1.00023464e-03 -2.79469865e-01] [ 2.64897272e-03 9.99996247e-01 -6.99949520e-04 -4.22468788e-02] [ 1.00208552e-03 6.97297118e-04 9.99999255e-01 5.99468939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652557844 meters Centerline goodness [0,1] 0.24526472299437585 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.04, Z:0.60 [[ 9.99996471e-01 -2.45851365e-03 -1.00681437e-03 -2.79402727e-01] [ 2.45817460e-03 9.99996922e-01 -3.37861636e-04 -4.37384466e-02] [ 1.00764191e-03 3.35385518e-04 9.99999436e-01 5.99375412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682557844 meters Centerline goodness [0,1] 0.25377389766825065 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.05, Z:0.60 [[ 9.99991368e-01 -2.08168953e-03 -3.59603110e-03 -3.26690732e-01] [ 2.08399605e-03 9.99997625e-01 6.37779694e-04 -4.97259115e-02] [ 3.59469490e-03 -6.45268303e-04 9.99993331e-01 6.01898604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712557844 meters Centerline goodness [0,1] 0.24127380849780233 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.05, Z:0.60 [[ 9.99999122e-01 -1.21945531e-03 -5.18001205e-04 -2.83399631e-01] [ 1.21969648e-03 9.99999148e-01 4.65511963e-04 -5.28942908e-02] [ 5.17433093e-04 -4.66143359e-04 9.99999757e-01 6.01130959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742557844 meters Centerline goodness [0,1] 0.24853092164187252 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.06, Z:0.60 [[ 9.99975132e-01 6.89932376e-03 -1.46074895e-03 -3.03112884e-01] [-6.89988936e-03 9.99976122e-01 -3.82510936e-04 -6.08656895e-02] [ 1.45807500e-03 3.92580431e-04 9.99998860e-01 5.99738460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772557844 meters Centerline goodness [0,1] 0.24897347324512809 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.06, Z:0.60 [[ 9.99973642e-01 7.08571388e-03 -1.58359162e-03 -3.02406281e-01] [-7.08562293e-03 9.99974895e-01 6.30379511e-05 -6.29783242e-02] [ 1.58399853e-03 -5.18155565e-05 9.99998744e-01 5.99026248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802557844 meters Centerline goodness [0,1] 0.24721496953872935 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.07, Z:0.60 [[ 9.99972353e-01 7.24092099e-03 -1.69169723e-03 -3.01880393e-01] [-7.24005741e-03 9.99973657e-01 5.16045793e-04 -6.52981610e-02] [ 1.69538931e-03 -5.03783541e-04 9.99998436e-01 5.98586159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832557844 meters Centerline goodness [0,1] 0.2507765492973043 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.07, Z:0.60 [[ 0.99999119 0.00380884 -0.00176319 -0.30177279] [-0.0038135 0.99998923 -0.00264585 -0.06865117] [ 0.00175309 0.00265255 0.99999495 0.59846988] [ 0. 0. 0. 1. ]] SLAMing on 28.862557844 meters Centerline goodness [0,1] 0.24278794169802342 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.07, Z:0.60 [[ 0.99999015 0.00405604 -0.0018045 -0.30190307] [-0.00405973 0.99998966 -0.00204765 -0.07126224] [ 0.00179617 0.00205496 0.99999628 0.59888499] [ 0. 0. 0. 1. ]] SLAMing on 28.892557844 meters Centerline goodness [0,1] 0.24387186027409102 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.07, Z:0.60 [[ 0.99998906 0.00433377 -0.00176134 -0.30213013] [-0.00433619 0.99998966 -0.00137354 -0.07421519] [ 0.00175537 0.00138116 0.99999751 0.5991167 ] [ 0. 0. 0. 1. ]] SLAMing on 28.922557844 meters Centerline goodness [0,1] 0.24917160795256366 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.08, Z:0.60 [[ 9.99985258e-01 -4.84406748e-03 -2.45336351e-03 -3.23234330e-01] [ 4.84365807e-03 9.99988254e-01 -1.72793493e-04 -7.54701505e-02] [ 2.45417171e-03 1.60907691e-04 9.99996976e-01 5.98549176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952557844 meters Centerline goodness [0,1] 0.24769580221028265 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.08, Z:0.60 [[ 9.99985753e-01 -4.68068731e-03 -2.56612446e-03 -3.22950042e-01] [ 4.68213812e-03 9.99988882e-01 5.59657672e-04 -7.96303741e-02] [ 2.56347635e-03 -5.71664648e-04 9.99996551e-01 5.98680914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982557844000002 meters Centerline goodness [0,1] 0.24586051179126944 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.09, Z:0.60 [[ 0.99998399 -0.00477785 -0.0030324 -0.32164757] [ 0.00478233 0.99998748 0.00147108 -0.08652335] [ 0.00302533 -0.00148556 0.99999432 0.59866845] [ 0. 0. 0. 1. ]] SLAMing on 29.012557844 meters Centerline goodness [0,1] 0.24240657988472247 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.09, Z:0.60 [[ 9.99986928e-01 3.62242283e-03 -3.60868944e-03 -3.01662065e-01] [-3.61934990e-03 9.99993082e-01 8.57702389e-04 -9.31660577e-02] [ 3.61177143e-03 -8.44630067e-04 9.99993121e-01 5.99940691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042557844 meters Centerline goodness [0,1] 0.24458911787531257 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:0.60 [[ 0.99998554 0.00383435 -0.00377065 -0.30112472] [-0.00382912 0.9999917 0.00139203 -0.09560358] [ 0.00377596 -0.00137758 0.99999192 0.59976674] [ 0. 0. 0. 1. ]] SLAMing on 29.072557844000002 meters Centerline goodness [0,1] 0.24566117045479163 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:0.60 [[ 0.99998416 0.00401352 -0.0039459 -0.30057356] [-0.00400597 0.99999013 0.00191962 -0.09825032] [ 0.00395357 -0.00190379 0.99999037 0.59966571] [ 0. 0. 0. 1. ]] SLAMing on 29.102557844 meters Centerline goodness [0,1] 0.24227027027027026 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:0.60 [[ 0.999983 0.00413218 -0.00411387 -0.30013366] [-0.00412252 0.99998873 0.00235422 -0.10067154] [ 0.00412355 -0.00233722 0.99998877 0.59968693] [ 0. 0. 0. 1. ]] SLAMing on 29.132557844 meters Centerline goodness [0,1] 0.2436634071247371 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:0.60 [[ 0.99998188 0.00430068 -0.00421325 -0.29993413] [-0.00428893 0.9999869 0.00279259 -0.10274045] [ 0.0042252 -0.00277447 0.99998722 0.59980231] [ 0. 0. 0. 1. ]] SLAMing on 29.162557844000002 meters Centerline goodness [0,1] 0.2435736269452512 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:0.60 [[ 0.99998045 0.00469056 -0.00413414 -0.30034526] [-0.00467571 0.9999826 0.00359636 -0.10560748] [ 0.00415094 -0.00357696 0.99998499 0.60008104] [ 0. 0. 0. 1. ]] SLAMing on 29.192557844 meters Centerline goodness [0,1] 0.24915391165745981 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:0.60 [[ 0.99997984 0.00485295 -0.00409601 -0.30052334] [-0.00483666 0.99998039 0.00397701 -0.10717452] [ 0.00411523 -0.00395712 0.9999837 0.6002398 ] [ 0. 0. 0. 1. ]] SLAMing on 29.222557844 meters Centerline goodness [0,1] 0.2432543280231404 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.10, Z:0.60 [[ 0.99998708 -0.00344786 -0.00373615 -0.27924553] [ 0.00346449 0.99998407 0.00445635 -0.1049098 ] [ 0.00372072 -0.00446924 0.99998309 0.60050204] [ 0. 0. 0. 1. ]] SLAMing on 29.252557844000002 meters Centerline goodness [0,1] 0.24327525682165696 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.11, Z:0.60 [[ 0.9999863 -0.00332993 -0.00403828 -0.27863517] [ 0.00334992 0.99998211 0.00495483 -0.10781323] [ 0.00402171 -0.00496829 0.99997957 0.60085281] [ 0. 0. 0. 1. ]] SLAMing on 29.282557844 meters Centerline goodness [0,1] 0.24688448023745613 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.60 [[ 0.99998722 0.00438927 -0.00251025 -0.30012219] [-0.00437662 0.99997781 0.00502223 -0.11709709] [ 0.00253224 -0.00501118 0.99998424 0.60071593] [ 0. 0. 0. 1. ]] SLAMing on 29.312557844 meters Centerline goodness [0,1] 0.24688448023745613 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.60 [[ 0.99998722 0.00438927 -0.00251025 -0.30012219] [-0.00437662 0.99997781 0.00502223 -0.11709709] [ 0.00253224 -0.00501118 0.99998424 0.60071593] [ 0. 0. 0. 1. ]] SLAMing on 29.342557844 meters Centerline goodness [0,1] 0.2462218945816439 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.60 [[ 0.99998731 0.00466239 -0.00191044 -0.30191258] [-0.00465244 0.99997575 0.0051828 -0.11683395] [ 0.00193456 -0.00517385 0.99998474 0.60121919] [ 0. 0. 0. 1. ]] SLAMing on 29.372557844 meters Centerline goodness [0,1] 0.2505465675557499 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.60 [[ 0.99998494 0.00529194 -0.00145729 -0.303104 ] [-0.00528401 0.99997151 0.00538978 -0.116375 ] [ 0.00148577 -0.005382 0.99998441 0.60127948] [ 0. 0. 0. 1. ]] SLAMing on 29.402557844 meters Centerline goodness [0,1] 0.24578993897837287 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.60 [[ 0.99998471 0.00524097 -0.00176326 -0.30205635] [-0.00523198 0.99997347 0.00506776 -0.11515431] [ 0.00178978 -0.00505846 0.9999856 0.60073747] [ 0. 0. 0. 1. ]] SLAMing on 29.432557844 meters Centerline goodness [0,1] 0.251881761723979 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.12, Z:0.60 [[ 0.99997535 0.0047682 -0.00515428 -0.34650695] [-0.00474042 0.99997425 0.00538859 -0.11744151] [ 0.00517984 -0.00536402 0.9999722 0.6021395 ] [ 0. 0. 0. 1. ]] SLAMing on 29.462557844 meters Centerline goodness [0,1] 0.24534778291092785 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:0.60 [[ 0.99997007 0.00704053 -0.00320659 -0.30162786] [-0.0070219 0.99995861 0.00578517 -0.11302839] [ 0.00324719 -0.00576248 0.99997812 0.60092516] [ 0. 0. 0. 1. ]] SLAMing on 29.492557844 meters Centerline goodness [0,1] 0.24704732957012587 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:0.60 [[ 0.99997046 0.00706216 -0.00303299 -0.30200942] [-0.00704524 0.99995974 0.00555636 -0.1116453 ] [ 0.00307211 -0.00553483 0.99997996 0.6007468 ] [ 0. 0. 0. 1. ]] SLAMing on 29.522557844 meters Centerline goodness [0,1] 0.24644549763033174 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:0.60 [[ 0.9999714 0.00697257 -0.00292951 -0.30226166] [-0.00695708 0.99996195 0.00526301 -0.11029972] [ 0.0029661 -0.00524248 0.99998186 0.60066794] [ 0. 0. 0. 1. ]] SLAMing on 29.552557844 meters Centerline goodness [0,1] 0.24950595055113955 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:0.60 [[ 0.9999914 -0.00238256 -0.00339359 -0.32251374] [ 0.00240127 0.99998187 0.00552127 -0.10501857] [ 0.00338037 -0.00552937 0.999979 0.60015227] [ 0. 0. 0. 1. ]] SLAMing on 29.582557844 meters Centerline goodness [0,1] 0.24383179575198455 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.10, Z:0.60 [[ 9.99997918e-01 -1.79321246e-03 -9.73910063e-04 -2.77816257e-01] [ 1.79756780e-03 9.99988306e-01 4.48970400e-03 -9.94728346e-02] [ 9.65847681e-04 -4.49144532e-03 9.99989447e-01 5.98785090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612557844 meters Centerline goodness [0,1] 0.2451868875205967 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:0.60 [[ 0.99998193 0.00583243 -0.00145901 -0.29718135] [-0.00582751 0.99997739 0.00335584 -0.10469936] [ 0.00147855 -0.00334727 0.9999933 0.59761127] [ 0. 0. 0. 1. ]] SLAMing on 29.642557844 meters Centerline goodness [0,1] 0.24429748482220293 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:0.60 [[ 0.99998196 0.0058122 -0.00151363 -0.29686416] [-0.00580708 0.99997747 0.00336608 -0.10477183] [ 0.00153316 -0.00335722 0.99999319 0.59726966] [ 0. 0. 0. 1. ]] SLAMing on 29.672557844 meters Centerline goodness [0,1] 0.24848206875464118 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:0.60 [[ 0.99998175 0.00582748 -0.00159168 -0.2967106 ] [-0.00582177 0.9999767 0.00356582 -0.10575224] [ 0.00161242 -0.00355649 0.99999238 0.59730358] [ 0. 0. 0. 1. ]] SLAMing on 29.702557844 meters Centerline goodness [0,1] 0.24522722330941504 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:0.60 [[ 9.99996664e-01 2.30159038e-03 -1.17254409e-03 -2.98780358e-01] [-2.30080333e-03 9.99997127e-01 6.72136703e-04 -1.09307914e-01] [ 1.17408771e-03 -6.69436667e-04 9.99999087e-01 5.98826768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732557844000002 meters Centerline goodness [0,1] 0.24319889455047927 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:0.60 [[ 9.99997558e-01 1.91704882e-03 -1.09964003e-03 -2.99338136e-01] [-1.91604638e-03 9.99997749e-01 9.11939500e-04 -1.11767480e-01] [ 1.10138579e-03 -9.09830312e-04 9.99998980e-01 5.99712486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762557844 meters Centerline goodness [0,1] 0.2437034948044341 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:0.60 [[ 0.99999813 0.00155829 -0.001149 -0.29931344] [-0.00155691 0.99999807 0.00120214 -0.11446166] [ 0.00115087 -0.00120035 0.99999862 0.60009287] [ 0. 0. 0. 1. ]] SLAMing on 29.792557844 meters Centerline goodness [0,1] 0.2517582417582418 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.12, Z:0.60 [[ 9.99992052e-01 -1.11204011e-03 -3.82876244e-03 -3.43390491e-01] [ 1.11454243e-03 9.99999167e-01 6.51485894e-04 -1.21124769e-01] [ 3.82803477e-03 -6.55748034e-04 9.99992458e-01 6.00844398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822557844000002 meters Centerline goodness [0,1] 0.2415094339622641 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.60 [[ 9.99995419e-01 -1.21769452e-03 -2.77122638e-03 -2.96499153e-01] [ 1.21792576e-03 9.99999255e-01 8.17563725e-05 -1.22373960e-01] [ 2.77112476e-03 -8.51311459e-05 9.99996157e-01 5.99020531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852557844 meters Centerline goodness [0,1] 0.24394215737363212 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.60 [[ 9.99994586e-01 -1.02900243e-03 -3.12568164e-03 -2.95289745e-01] [ 1.03118813e-03 9.99999225e-01 6.97739736e-04 -1.25342700e-01] [ 3.12496124e-03 -7.00959124e-04 9.99994872e-01 5.98468040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882557844 meters Centerline goodness [0,1] 0.24929849175727814 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.60 [[ 9.99994239e-01 -6.07516127e-04 -3.33948080e-03 -2.94927123e-01] [ 6.14016627e-04 9.99997918e-01 1.94587957e-03 -1.31215708e-01] [ 3.33829169e-03 -1.94791885e-03 9.99992531e-01 5.98856302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912557844000002 meters Centerline goodness [0,1] 0.24483013293943867 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.60 [[ 9.99993780e-01 -4.01050224e-04 -3.50418388e-03 -2.94789235e-01] [ 4.09920870e-04 9.99996713e-01 2.53109292e-03 -1.33996774e-01] [ 3.50315727e-03 -2.53251361e-03 9.99990657e-01 5.99451658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942557844 meters Centerline goodness [0,1] 0.2459240902569454 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.60 [[ 9.99993512e-01 -1.99577289e-04 -3.59668145e-03 -2.94799859e-01] [ 2.10517608e-04 9.99995352e-01 3.04165978e-03 -1.36489392e-01] [ 3.59605768e-03 -3.04239721e-03 9.99988906e-01 5.99926516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972557844 meters Centerline goodness [0,1] 0.24440351067287902 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.60 [[ 9.99993781e-01 2.29266978e-04 -3.51932794e-03 -2.95386332e-01] [-2.15983983e-04 9.99992854e-01 3.77421505e-03 -1.39840374e-01] [ 3.52016809e-03 -3.77343146e-03 9.99986685e-01 6.00721238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002557844000002 meters Centerline goodness [0,1] 0.24618366324775154 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.60 [[ 9.99994495e-01 4.49032100e-04 -3.28763147e-03 -2.96094288e-01] [-4.35614487e-04 9.99991579e-01 4.08081904e-03 -1.40934591e-01] [ 3.28943620e-03 -4.07936444e-03 9.99986269e-01 6.00975055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032557844 meters Centerline goodness [0,1] 0.24886718578153177 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:0.60 [[ 0.99996131 0.00842091 -0.00254298 -0.31672193] [-0.00841174 0.99995816 0.00359382 -0.14718031] [ 0.00257314 -0.00357229 0.99999031 0.59946157] [ 0. 0. 0. 1. ]] SLAMing on 30.062557844 meters Centerline goodness [0,1] 0.2456594015515331 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.60 [[ 0.99999752 0.00123049 -0.00185705 -0.29758296] [-0.0012218 0.99998833 0.00467391 -0.14331082] [ 0.00186278 -0.00467163 0.99998735 0.59996233] [ 0. 0. 0. 1. ]] SLAMing on 30.092557844 meters Centerline goodness [0,1] 0.24250190031490937 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.60 [[ 0.99999747 0.00133624 -0.0018108 -0.29761763] [-0.00132753 0.99998758 0.00480438 -0.14388694] [ 0.0018172 -0.00480197 0.99998682 0.59981167] [ 0. 0. 0. 1. ]] SLAMing on 30.122557844 meters Centerline goodness [0,1] 0.24532034697915084 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.60 [[ 0.99999661 0.00155207 -0.00209144 -0.29668167] [-0.00154154 0.99998617 0.00502754 -0.1447581 ] [ 0.00209921 -0.00502429 0.99998517 0.59936 ] [ 0. 0. 0. 1. ]] SLAMing on 30.152557844 meters Centerline goodness [0,1] 0.24746667833927904 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.60 [[ 0.99999622 0.00158877 -0.00224351 -0.29611702] [-0.00157736 0.99998587 0.00507622 -0.14494663] [ 0.00225155 -0.00507266 0.9999846 0.59901337] [ 0. 0. 0. 1. ]] SLAMing on 30.182557844 meters Centerline goodness [0,1] 0.24317950715042946 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.60 [[ 0.99994132 0.01067223 -0.00185925 -0.27535868] [-0.01066448 0.99993461 0.00412858 -0.14832848] [ 0.00190319 -0.00410851 0.99998975 0.59951132] [ 0. 0. 0. 1. ]] SLAMing on 30.212557844 meters Centerline goodness [0,1] 0.24475267235037002 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.60 [[ 0.99994074 0.01072198 -0.00188453 -0.27523472] [-0.01071395 0.99993369 0.00422166 -0.14876348] [ 0.00192967 -0.00420122 0.99998931 0.59943188] [ 0. 0. 0. 1. ]] SLAMing on 30.242557844 meters Centerline goodness [0,1] 0.24640755888978805 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.60 [[ 0.9999954 0.00117946 -0.00279578 -0.29625706] [-0.00116564 0.99998712 0.00493969 -0.1480815 ] [ 0.00280157 -0.00493641 0.99998389 0.59927713] [ 0. 0. 0. 1. ]] SLAMing on 30.272557844 meters Centerline goodness [0,1] 0.24882085771683116 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.60 [[ 0.99999495 0.00121352 -0.00293802 -0.29573827] [-0.00119846 0.99998617 0.00512164 -0.14910276] [ 0.00294419 -0.00511809 0.99998257 0.59899365] [ 0. 0. 0. 1. ]] SLAMing on 30.302557844 meters Centerline goodness [0,1] 0.24508085367456944 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.60 [[ 0.99999473 0.00130028 -0.00297335 -0.29562448] [-0.00128422 0.99998462 0.00539559 -0.1503906 ] [ 0.00298032 -0.00539174 0.99998102 0.59895872] [ 0. 0. 0. 1. ]] SLAMing on 30.332557844 meters Centerline goodness [0,1] 0.24356465779633008 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.60 [[ 0.99999503 0.00139337 -0.00282767 -0.29618673] [-0.00137713 0.99998259 0.00573719 -0.1519721 ] [ 0.00283562 -0.00573327 0.99997954 0.59933156] [ 0. 0. 0. 1. ]] SLAMing on 30.362557844 meters Centerline goodness [0,1] 0.24247134252962887 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.60 [[ 0.99999569 0.00151839 -0.0025134 -0.29744548] [-0.00150284 0.99997978 0.00617935 -0.1539398 ] [ 0.00252273 -0.00617554 0.99997775 0.60018074] [ 0. 0. 0. 1. ]] SLAMing on 30.392557844000002 meters Centerline goodness [0,1] 0.24379222697747172 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.60 [[ 0.99999649 0.00164483 -0.00207752 -0.29899793] [-0.00163098 0.99997655 0.00665069 -0.15607432] [ 0.00208841 -0.00664728 0.99997573 0.60107821] [ 0. 0. 0. 1. ]] SLAMing on 30.422557844 meters Centerline goodness [0,1] 0.24238553956055853 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.60 [[ 0.99999613 -0.00216287 -0.00174788 -0.29999459] [ 0.0021686 0.99999226 0.00328354 -0.15886149] [ 0.00174076 -0.00328731 0.99999308 0.60151152] [ 0. 0. 0. 1. ]] SLAMing on 30.452557844 meters Centerline goodness [0,1] 0.24141953042313757 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.60 [[ 0.99999461 -0.00223236 -0.00240713 -0.29835615] [ 0.00224122 0.9999907 0.00368443 -0.16148493] [ 0.00239889 -0.00368981 0.99999032 0.60165041] [ 0. 0. 0. 1. ]] SLAMing on 30.482557844000002 meters Centerline goodness [0,1] 0.24384134521138723 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.60 [[ 0.99999384 -0.00214389 -0.00278092 -0.29757411] [ 0.00215564 0.99998874 0.00422872 -0.16435957] [ 0.00277182 -0.00423469 0.99998719 0.60202771] [ 0. 0. 0. 1. ]] SLAMing on 30.512557844 meters Centerline goodness [0,1] 0.24073592510726827 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.60 [[ 0.99999343 -0.00202543 -0.00300489 -0.29710218] [ 0.00203965 0.99998669 0.00473855 -0.16694216] [ 0.00299525 -0.00474465 0.99998426 0.60223973] [ 0. 0. 0. 1. ]] SLAMing on 30.542557844 meters Centerline goodness [0,1] 0.2436793623832234 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.60 [[ 0.99999479 -0.0017531 -0.0027099 -0.29788504] [ 0.00176846 0.99998232 0.00567709 -0.1715404 ] [ 0.0026999 -0.00568185 0.99998021 0.60244115] [ 0. 0. 0. 1. ]] SLAMing on 30.572557844000002 meters Centerline goodness [0,1] 0.2437114849009847 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.60 [[ 0.99999541 -0.00160217 -0.00257216 -0.29822092] [ 0.00161775 0.99998029 0.00606612 -0.17329485] [ 0.00256239 -0.00607025 0.99997829 0.60245851] [ 0. 0. 0. 1. ]] SLAMing on 30.602557844 meters Centerline goodness [0,1] 0.2445956590232803 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.60 [[ 0.9999953 -0.00154262 -0.00265086 -0.29781809] [ 0.00155907 0.99997948 0.00621327 -0.17395508] [ 0.00264122 -0.00621737 0.99997718 0.60208192] [ 0. 0. 0. 1. ]] SLAMing on 30.632557844 meters Centerline goodness [0,1] 0.24440615867754178 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.60 [[ 0.99999453 -0.00153956 -0.00292817 -0.29672269] [ 0.0015576 0.99997976 0.00616926 -0.17373897] [ 0.00291861 -0.00617379 0.99997668 0.60134106] [ 0. 0. 0. 1. ]] SLAMing on 30.662557844000002 meters Centerline goodness [0,1] 0.24645743445979984 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.60 [[ 0.9999936 -0.00154901 -0.00322446 -0.29571454] [ 0.00156859 0.99998029 0.00607962 -0.17331666] [ 0.00321498 -0.00608464 0.99997632 0.60086351] [ 0. 0. 0. 1. ]] SLAMing on 30.692557844 meters Centerline goodness [0,1] 0.24351484501024545 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:0.60 [[ 0.99999162 -0.00160699 -0.00376578 -0.29447512] [ 0.00162918 0.99998128 0.0058973 -0.17305497] [ 0.00375624 -0.00590338 0.99997552 0.60110634] [ 0. 0. 0. 1. ]] SLAMing on 30.722557844 meters Centerline goodness [0,1] 0.24135692960062305 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.60 [[ 0.99996935 0.00712611 -0.00324426 -0.27488869] [-0.0071126 0.99996607 0.00415657 -0.17664474] [ 0.00327377 -0.00413337 0.9999861 0.60270873] [ 0. 0. 0. 1. ]] SLAMing on 30.752557844000002 meters Centerline goodness [0,1] 0.24943884512125347 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.60 [[ 0.99998878 -0.00199967 -0.00429495 -0.29547898] [ 0.00202286 0.99998337 0.00540083 -0.17386454] [ 0.00428408 -0.00540945 0.99997619 0.60230768] [ 0. 0. 0. 1. ]] SLAMing on 30.782557844 meters Centerline goodness [0,1] 0.24344731817392817 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.60 [[ 0.99997021 0.00734083 -0.00238586 -0.27558832] [-0.00732918 0.99996134 0.00485764 -0.17709745] [ 0.00242143 -0.00484001 0.99998536 0.60247554] [ 0. 0. 0. 1. ]] SLAMing on 30.812557844 meters Centerline goodness [0,1] 0.24412572474824534 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.60 [[ 0.99999031 0.00408063 -0.0016538 -0.27710794] [-0.00407773 0.99999015 0.00175276 -0.17792347] [ 0.00166094 -0.001746 0.9999971 0.6021831 ] [ 0. 0. 0. 1. ]] SLAMing on 30.842557844 meters Centerline goodness [0,1] 0.24492200283626053 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.60 [[ 0.99998951 0.00412967 -0.00198109 -0.27643368] [-0.00412542 0.9999892 0.00214194 -0.1800768 ] [ 0.00198991 -0.00213374 0.99999574 0.6024764 ] [ 0. 0. 0. 1. ]] SLAMing on 30.872557844 meters Centerline goodness [0,1] 0.2443440897930551 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.60 [[ 0.99998845 0.00425075 -0.00224486 -0.27601103] [-0.00424487 0.99998756 0.00262042 -0.18242319] [ 0.00225597 -0.00261086 0.99999405 0.60295234] [ 0. 0. 0. 1. ]] SLAMing on 30.902557844 meters Centerline goodness [0,1] 0.24290837952396482 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998672 0.00436799 -0.00273454 -0.27483711] [-0.0043589 0.99998498 0.00332191 -0.18594163] [ 0.00274901 -0.00330995 0.99999074 0.60305928] [ 0. 0. 0. 1. ]] SLAMing on 30.932557844 meters Centerline goodness [0,1] 0.24276864011168797 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998619 0.00443545 -0.00281751 -0.27444224] [-0.00442552 0.99998401 0.00352151 -0.1869213 ] [ 0.00283308 -0.00350899 0.99998983 0.60272652] [ 0. 0. 0. 1. ]] SLAMing on 30.962557844 meters Centerline goodness [0,1] 0.24201506102311088 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998581 0.00443859 -0.0029451 -0.27384959] [-0.00442803 0.99998378 0.00358341 -0.18730085] [ 0.00296096 -0.00357032 0.99998924 0.60225736] [ 0. 0. 0. 1. ]] SLAMing on 30.992557844 meters Centerline goodness [0,1] 0.24353312302839114 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998564 0.00442526 -0.00302225 -0.27340126] [-0.00441455 0.99998399 0.0035411 -0.1871316 ] [ 0.00303788 -0.00352771 0.99998916 0.60178637] [ 0. 0. 0. 1. ]] SLAMing on 31.022557844 meters Centerline goodness [0,1] 0.2445674770772699 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998562 0.00443811 -0.00301129 -0.27331568] [-0.00442756 0.99998406 0.00350256 -0.18680624] [ 0.00302679 -0.00348918 0.99998933 0.60157158] [ 0. 0. 0. 1. ]] SLAMing on 31.052557844 meters Centerline goodness [0,1] 0.24322974352292226 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998545 0.00445876 -0.00303664 -0.27325668] [-0.00444819 0.99998405 0.00348125 -0.18659949] [ 0.00305211 -0.00346769 0.99998933 0.6016031 ] [ 0. 0. 0. 1. ]] SLAMing on 31.082557844 meters Centerline goodness [0,1] 0.24355263444253417 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998591 0.00439956 -0.0029711 -0.27389602] [-0.00438972 0.99998488 0.00331284 -0.18621416] [ 0.00298563 -0.00329975 0.9999901 0.60246571] [ 0. 0. 0. 1. ]] SLAMing on 31.112557844 meters Centerline goodness [0,1] 0.24525534662784843 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998609 0.0043706 -0.00295123 -0.27399784] [-0.00436106 0.99998527 0.00323095 -0.18584631] [ 0.00296531 -0.00321803 0.99999043 0.60252537] [ 0. 0. 0. 1. ]] SLAMing on 31.142557844000002 meters Centerline goodness [0,1] 0.2424235845779784 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998613 0.0043905 -0.0029105 -0.27387231] [-0.00438122 0.99998533 0.00318628 -0.18544349] [ 0.00292444 -0.00317349 0.99999069 0.60207484] [ 0. 0. 0. 1. ]] SLAMing on 31.172557844 meters Centerline goodness [0,1] 0.24486212278876174 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.60 [[ 0.99998631 0.00445366 -0.0027485 -0.2741337 ] [-0.00444463 0.99998474 0.00328142 -0.18570415] [ 0.00276307 -0.00326915 0.99999084 0.60177391] [ 0. 0. 0. 1. ]] SLAMing on 31.202557844 meters Centerline goodness [0,1] 0.24296830848150242 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.60 [[ 9.99998056e-01 1.41429539e-03 -1.37396481e-03 -2.78925076e-01] [-1.41359595e-03 9.99998871e-01 5.09899725e-04 -1.88962946e-01] [ 1.37468441e-03 -5.07956503e-04 9.99998926e-01 6.03528766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232557844000002 meters Centerline goodness [0,1] 0.239204164956471 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.60 [[ 9.99998090e-01 1.48935965e-03 -1.26585957e-03 -2.79636456e-01] [-1.48823268e-03 9.99998496e-01 8.90759378e-04 -1.90959236e-01] [ 1.26718433e-03 -8.88873783e-04 9.99998802e-01 6.04355190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262557844 meters Centerline goodness [0,1] 0.239204164956471 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.60 [[ 9.99998090e-01 1.48935965e-03 -1.26585957e-03 -2.79636456e-01] [-1.48823268e-03 9.99998496e-01 8.90759378e-04 -1.90959236e-01] [ 1.26718433e-03 -8.88873783e-04 9.99998802e-01 6.04355190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292557844 meters Centerline goodness [0,1] 0.24364554317548748 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.60 [[ 0.99999796 0.00162574 -0.00119748 -0.27999323] [-0.00162424 0.99999789 0.00125677 -0.19256278] [ 0.00119952 -0.00125482 0.99999849 0.60468783] [ 0. 0. 0. 1. ]] SLAMing on 31.322557844000002 meters Centerline goodness [0,1] 0.2536071154057319 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.60 [[ 0.99999778 0.00171526 -0.00122562 -0.27979634] [-0.00171345 0.99999745 0.00147325 -0.19344993] [ 0.00122814 -0.00147115 0.99999816 0.60442046] [ 0. 0. 0. 1. ]] SLAMing on 31.352557844 meters Centerline goodness [0,1] 0.2538160854279038 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.60 [[ 0.99999755 0.00177052 -0.00132656 -0.27923036] [-0.0017684 0.99999716 0.00159876 -0.19394527] [ 0.00132939 -0.00159641 0.99999784 0.60384107] [ 0. 0. 0. 1. ]] SLAMing on 31.382557844 meters Centerline goodness [0,1] 0.2419014926021683 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.60 [[ 0.99999734 0.00181105 -0.00142529 -0.27880229] [-0.00180867 0.99999696 0.00167549 -0.19428989] [ 0.00142832 -0.0016729 0.99999758 0.60350925] [ 0. 0. 0. 1. ]] SLAMing on 31.412557844000002 meters Centerline goodness [0,1] 0.2516505618468803 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.60 [[ 0.99999713 0.00175891 -0.001627 -0.27820356] [-0.0017564 0.99999726 0.00154636 -0.1940239 ] [ 0.00162972 -0.0015435 0.99999748 0.60341038] [ 0. 0. 0. 1. ]] SLAMing on 31.442557844 meters Centerline goodness [0,1] 0.252567724415829 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.60 [[ 0.99999711 0.00169266 -0.00170618 -0.27788905] [-0.0016903 0.99999761 0.00138322 -0.19339755] [ 0.00170851 -0.00138034 0.99999759 0.60318071] [ 0. 0. 0. 1. ]] SLAMing on 31.472557844 meters Centerline goodness [0,1] 0.23973848285417387 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.60 [[ 0.99998486 -0.00507515 -0.00212578 -0.25898065] [ 0.00508019 0.99998428 0.00237247 -0.18730629] [ 0.0021137 -0.00238324 0.99999493 0.60442734] [ 0. 0. 0. 1. ]] SLAMing on 31.502557844000002 meters Centerline goodness [0,1] 0.23967996540166503 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.60 [[ 0.99998524 -0.00504058 -0.0020288 -0.25910053] [ 0.0050455 0.99998432 0.00242794 -0.18753483] [ 0.00201653 -0.00243814 0.99999499 0.6041424 ] [ 0. 0. 0. 1. ]] SLAMing on 31.532557844 meters Centerline goodness [0,1] 0.24185703118214197 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.60 [[ 0.99998588 -0.00496747 -0.00188803 -0.25966982] [ 0.00497236 0.99998427 0.00259498 -0.18823387] [ 0.00187511 -0.00260433 0.99999485 0.60450647] [ 0. 0. 0. 1. ]] SLAMing on 31.562557844 meters Centerline goodness [0,1] 0.24354437016647001 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.60 [[ 0.9999862 -0.00491722 -0.00185154 -0.25997419] [ 0.00492238 0.99998399 0.00279114 -0.18922922] [ 0.00183779 -0.00280021 0.99999439 0.60488915] [ 0. 0. 0. 1. ]] SLAMing on 31.592557844 meters Centerline goodness [0,1] 0.24115894468673083 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.60 [[ 9.99998855e-01 1.16854871e-03 -9.61818365e-04 -2.37860882e-01] [-1.16941704e-03 9.99998909e-01 -9.02731019e-04 -1.90893745e-01] [ 9.60762430e-04 9.03854752e-04 9.99999130e-01 6.04012439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622557844 meters Centerline goodness [0,1] 0.24394022035562346 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.60 [[ 9.99998705e-01 1.20803999e-03 -1.06324958e-03 -2.37579244e-01] [-1.20882693e-03 9.99998996e-01 -7.39793140e-04 -1.91667330e-01] [ 1.06235481e-03 7.41077467e-04 9.99999161e-01 6.03960985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652557844 meters Centerline goodness [0,1] 0.2410221894133484 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.60 [[ 9.99998565e-01 1.24319863e-03 -1.15113864e-03 -2.37451268e-01] [-1.24380955e-03 9.99999086e-01 -5.30146130e-04 -1.92722570e-01] [ 1.15047852e-03 5.31577167e-04 9.99999197e-01 6.04082942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682557844 meters Centerline goodness [0,1] 0.24116766791732636 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.60 [[ 9.99997754e-01 1.03551660e-03 -1.84934447e-03 -2.35751507e-01] [-1.03598600e-03 9.99999431e-01 -2.52881014e-04 -1.95027180e-01] [ 1.84908156e-03 2.54796341e-04 9.99998258e-01 6.04245913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712557844 meters Centerline goodness [0,1] 0.23825721466331573 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.60 [[ 9.99997275e-01 1.11302818e-03 -2.05187485e-03 -2.35189029e-01] [-1.11292763e-03 9.99999379e-01 5.01438669e-05 -1.96513701e-01] [ 2.05192939e-03 -4.78601420e-05 9.99997894e-01 6.04151602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742557844 meters Centerline goodness [0,1] 0.23864619377162632 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:0.60 [[ 9.99996989e-01 1.22416974e-03 -2.12659348e-03 -2.34978899e-01] [-1.22343212e-03 9.99999191e-01 3.48123233e-04 -1.97823441e-01] [ 2.12701792e-03 -3.45520442e-04 9.99997678e-01 6.04099583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772557844 meters Centerline goodness [0,1] 0.23943265482893028 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.60 [[ 9.99997060e-01 1.34332369e-03 -2.01881524e-03 -2.35372889e-01] [-1.34202781e-03 9.99998893e-01 6.43119583e-04 -1.99065634e-01] [ 2.01967692e-03 -6.40408386e-04 9.99997755e-01 6.04301259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802557844000003 meters Centerline goodness [0,1] 0.23581716795487329 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.60 [[ 9.99997170e-01 1.44822654e-03 -1.88731460e-03 -2.35956547e-01] [-1.44645162e-03 9.99998511e-01 9.41472785e-04 -2.00429781e-01] [ 1.88867526e-03 -9.38740212e-04 9.99997776e-01 6.04753449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832557844 meters Centerline goodness [0,1] 0.24141616857903236 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:0.61 [[ 0.99997594 0.00678293 -0.00145197 -0.25985244] [-0.00678546 0.99997546 -0.00174039 -0.20505199] [ 0.00144013 0.0017502 0.99999743 0.60525872] [ 0. 0. 0. 1. ]] SLAMing on 31.862557844 meters Centerline goodness [0,1] 0.23758803958000263 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:0.60 [[ 0.99997481 0.00686915 -0.00178556 -0.25844658] [-0.00687173 0.99997535 -0.00144151 -0.20694314] [ 0.00177561 0.00145374 0.99999737 0.60435062] [ 0. 0. 0. 1. ]] SLAMing on 31.892557844000002 meters Centerline goodness [0,1] 0.24241763513071535 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:0.60 [[ 9.99992326e-01 -2.04107823e-03 -3.34407675e-03 -2.76120018e-01] [ 2.04176638e-03 9.99997895e-01 2.02382928e-04 -2.03491922e-01] [ 3.34365663e-03 -2.09209198e-04 9.99994388e-01 6.02506831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922557844 meters Centerline goodness [0,1] 0.23957179771133263 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:0.60 [[ 9.99992290e-01 -1.99890187e-03 -3.38005333e-03 -2.75729741e-01] [ 1.99940120e-03 9.99997991e-01 1.44355056e-04 -2.03035938e-01] [ 3.37975798e-03 -1.51112026e-04 9.99994277e-01 6.01962978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952557844 meters Centerline goodness [0,1] 0.2414816755069522 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:0.60 [[ 9.99993676e-01 -1.89783261e-03 -3.00781054e-03 -2.76714924e-01] [ 1.89806190e-03 9.99998196e-01 7.33798826e-05 -2.02198592e-01] [ 3.00766585e-03 -7.90884291e-05 9.99995474e-01 6.02019361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982557844000002 meters Centerline goodness [0,1] 0.2524542028223332 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:0.60 [[ 9.99997066e-01 -1.47733486e-03 -1.91996508e-03 -2.79947253e-01] [ 1.47778626e-03 9.99998881e-01 2.33710912e-04 -2.01645224e-01] [ 1.91961767e-03 -2.36547524e-04 9.99998130e-01 6.02885990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01255784400001 meters Centerline goodness [0,1] 0.24246470395096864 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:0.60 [[ 9.99997272e-01 -1.46087141e-03 -1.82280258e-03 -2.80262101e-01] [ 1.46126013e-03 9.99998910e-01 2.11942085e-04 -2.01476282e-01] [ 1.82249097e-03 -2.14605095e-04 9.99998316e-01 6.03030047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042557844 meters Centerline goodness [0,1] 0.2515826958586125 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:0.60 [[ 9.99997573e-01 -1.37009677e-03 -1.72560414e-03 -2.80549084e-01] [ 1.37076695e-03 9.99998986e-01 3.87253668e-04 -2.02141328e-01] [ 1.72507181e-03 -3.89618129e-04 9.99998436e-01 6.03082476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072557844 meters Centerline goodness [0,1] 0.25079669969878204 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:0.60 [[ 9.99997856e-01 -1.26942269e-03 -1.63574977e-03 -2.80768147e-01] [ 1.27049217e-03 9.99998980e-01 6.52941550e-04 -2.03366654e-01] [ 1.63491924e-03 -6.55018357e-04 9.99998449e-01 6.03074968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102557844 meters Centerline goodness [0,1] 0.2526931363496461 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:0.60 [[ 9.99997995e-01 -1.15708811e-03 -1.63466303e-03 -2.80805256e-01] [ 1.15871609e-03 9.99998833e-01 9.95314511e-04 -2.05060739e-01] [ 1.63350946e-03 -9.97206625e-04 9.99998169e-01 6.03140013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132557844000004 meters Centerline goodness [0,1] 0.23991870094488532 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.60 [[ 9.99998509e-01 -1.71803216e-03 1.73739485e-04 -2.35747807e-01] [ 1.71827544e-03 9.99997530e-01 -1.40993537e-03 -2.04667880e-01] [-1.71316741e-04 1.41023181e-03 9.99998991e-01 6.01692378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162557844000006 meters Centerline goodness [0,1] 0.24302858389701065 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:0.60 [[ 9.99998669e-01 -1.63107433e-03 -4.85612351e-05 -2.35230499e-01] [ 1.63102052e-03 9.99998078e-01 -1.08818267e-03 -2.06307010e-01] [ 5.03360486e-05 1.08810201e-03 9.99999407e-01 6.01738062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19255784400001 meters Centerline goodness [0,1] 0.25213515709047796 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:0.60 [[ 9.99998845e-01 -1.51155292e-03 -1.60198306e-04 -2.35217724e-01] [ 1.51144010e-03 9.99998611e-01 -7.02047872e-04 -2.08134218e-01] [ 1.61259266e-04 7.01804931e-04 9.99999741e-01 6.02252499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22255784400001 meters Centerline goodness [0,1] 0.24302858389701065 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:0.60 [[ 9.99999053e-01 -1.37045870e-03 -1.27704182e-04 -2.35579268e-01] [ 1.37041955e-03 9.99999014e-01 -3.06192903e-04 -2.09949374e-01] [ 1.28123681e-04 3.06017604e-04 9.99999945e-01 6.02780836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252557844 meters Centerline goodness [0,1] 0.25160157964019303 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.21, Z:0.60 [[ 9.99999180e-01 -1.23570541e-03 -3.35390206e-04 -2.34943048e-01] [ 1.23572584e-03 9.99999235e-01 6.07067068e-05 -2.11756442e-01] [ 3.35314933e-04 -6.11211074e-05 9.99999942e-01 6.02597294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282557844 meters Centerline goodness [0,1] 0.24983656570058832 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.21, Z:0.60 [[ 9.99999108e-01 -1.23753066e-03 -5.02259351e-04 -2.34132629e-01] [ 1.23757403e-03 9.99999231e-01 8.60495384e-05 -2.12082516e-01] [ 5.02152476e-04 -8.66710448e-05 9.99999870e-01 6.01902343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312557844000004 meters Centerline goodness [0,1] 0.243155738607581 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:0.60 [[ 9.99979530e-01 6.19511720e-03 -1.59988128e-03 -2.53507629e-01] [-6.19665819e-03 9.99980340e-01 -9.60039915e-04 -2.17861324e-01] [ 1.59390227e-03 9.69934181e-04 9.99998259e-01 6.00314299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342557844000005 meters Centerline goodness [0,1] 0.2505655239057387 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:0.60 [[ 9.99979615e-01 6.19028774e-03 -1.56536983e-03 -2.53426140e-01] [-6.19179688e-03 9.99980369e-01 -9.61078472e-04 -2.17889173e-01] [ 1.55938975e-03 9.70751332e-04 9.99998313e-01 5.99979948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372557844000006 meters Centerline goodness [0,1] 0.25227447956823434 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:0.60 [[ 9.99979405e-01 6.22017125e-03 -1.58087384e-03 -2.53306064e-01] [-6.22158817e-03 9.99980247e-01 -8.92951767e-04 -2.18078971e-01] [ 1.57528830e-03 9.02768923e-04 9.99998352e-01 5.99769566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40255784400001 meters Centerline goodness [0,1] 0.23912430909287963 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.21, Z:0.60 [[ 9.99997785e-01 -1.36815911e-03 -1.59952449e-03 -2.32629509e-01] [ 1.36756359e-03 9.99998995e-01 -3.73347637e-04 -2.13676635e-01] [ 1.60003368e-03 3.71159359e-04 9.99998651e-01 6.00454968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432557844 meters Centerline goodness [0,1] 0.24076488483268144 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.21, Z:0.60 [[ 9.99997774e-01 -1.30290448e-03 -1.65946454e-03 -2.32643575e-01] [ 1.30267733e-03 9.99999142e-01 -1.37950656e-04 -2.14919493e-01] [ 1.65964285e-03 1.35788602e-04 9.99998614e-01 6.00786457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462557844 meters Centerline goodness [0,1] 0.24408789368126416 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.60 [[ 0.99999063 0.00389123 -0.00189436 -0.25697249] [-0.00389692 0.99998788 -0.00300923 -0.21909125] [ 0.00188263 0.00301659 0.99999368 0.60172258] [ 0. 0. 0. 1. ]] SLAMing on 32.492557844000004 meters Centerline goodness [0,1] 0.24133619933321637 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.60 [[ 0.99999022 0.00397045 -0.0019494 -0.25697083] [-0.00397579 0.99998833 -0.00274545 -0.22043359] [ 0.00193847 0.00275318 0.99999433 0.60196798] [ 0. 0. 0. 1. ]] SLAMing on 32.522557844000005 meters Centerline goodness [0,1] 0.24176636937132912 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.60 [[ 0.99999397 -0.00268282 -0.00220439 -0.2386545 ] [ 0.00267984 0.99999549 -0.00135471 -0.21608057] [ 0.00220802 0.0013488 0.99999665 0.60407436] [ 0. 0. 0. 1. ]] SLAMing on 32.552557844000006 meters Centerline goodness [0,1] 0.2517757622117801 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.60 [[ 0.99999581 -0.0023446 -0.00169524 -0.24005043] [ 0.00234276 0.99999667 -0.00108567 -0.21616982] [ 0.00169778 0.00108169 0.99999797 0.60422099] [ 0. 0. 0. 1. ]] SLAMing on 32.58255784400001 meters Centerline goodness [0,1] 0.2418913638139898 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.60 [[ 0.99999583 -0.00229617 -0.00175159 -0.23993866] [ 0.00229426 0.99999677 -0.00109232 -0.21599918] [ 0.0017541 0.00108829 0.99999787 0.60427825] [ 0. 0. 0. 1. ]] SLAMing on 32.612557844 meters Centerline goodness [0,1] 0.2415949115139977 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.60 [[ 0.99999579 -0.00230385 -0.00176183 -0.23975661] [ 0.00230172 0.99999662 -0.00120703 -0.21539559] [ 0.00176461 0.00120297 0.99999772 0.60399962] [ 0. 0. 0. 1. ]] SLAMing on 32.642557844 meters Centerline goodness [0,1] 0.2526175435528646 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.60 [[ 9.99987865e-01 4.88004181e-03 -6.73918907e-04 -2.59364750e-01] [-4.88147831e-03 9.99985781e-01 -2.14663705e-03 -2.19768119e-01] [ 6.63433646e-04 2.14990072e-03 9.99997469e-01 6.01822878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672557844 meters Centerline goodness [0,1] 0.2491737693511915 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.60 [[ 9.99987907e-01 4.90539480e-03 -3.50590034e-04 -2.60219012e-01] [-4.90618700e-03 9.99985330e-01 -2.29565833e-03 -2.18843875e-01] [ 3.39323780e-04 2.29735062e-03 9.99997304e-01 6.01888506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702557844000005 meters Centerline goodness [0,1] 0.2542663994891331 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99995537e-01 -2.85353301e-03 -8.85259159e-04 -2.82678522e-01] [ 2.85390451e-03 9.99995840e-01 4.18671027e-04 -2.17133001e-01] [ 8.84060785e-04 -4.21195604e-04 9.99999521e-01 6.02768736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732557844000006 meters Centerline goodness [0,1] 0.2541491260937603 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99996095e-01 -2.75063363e-03 -4.94274208e-04 -2.84047304e-01] [ 2.75088002e-03 9.99996092e-01 4.98491658e-04 -2.17349741e-01] [ 4.92901108e-04 -4.99849400e-04 9.99999754e-01 6.03519487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76255784400001 meters Centerline goodness [0,1] 0.2519170690144845 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99996076e-01 -2.73621936e-03 -6.01673478e-04 -2.83738598e-01] [ 2.73656653e-03 9.99996089e-01 5.76953550e-04 -2.17837519e-01] [ 6.00092454e-04 -5.78597806e-04 9.99999653e-01 6.03410891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792557844 meters Centerline goodness [0,1] 0.25447142012741086 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99996126e-01 -2.68606846e-03 -7.30454783e-04 -2.83273763e-01] [ 2.68663580e-03 9.99996089e-01 7.76822065e-04 -2.18877726e-01] [ 7.28365329e-04 -7.78781521e-04 9.99999431e-01 6.03080875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822557844 meters Centerline goodness [0,1] 0.25389530812324934 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99996386e-01 -2.59148823e-03 -7.15184765e-04 -2.83382224e-01] [ 2.59226396e-03 9.99996051e-01 1.08587849e-03 -2.20266960e-01] [ 7.12367899e-04 -1.08772851e-03 9.99999155e-01 6.03155949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852557844 meters Centerline goodness [0,1] 0.24939840006937364 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99996732e-01 -2.50047193e-03 -5.32206510e-04 -2.84123659e-01] [ 2.50122400e-03 9.99995868e-01 1.41717692e-03 -2.21740935e-01] [ 5.28660700e-04 -1.41850346e-03 9.99998854e-01 6.03637812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882557844000004 meters Centerline goodness [0,1] 0.255273569851575 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:0.60 [[ 9.99996875e-01 -2.47614294e-03 -3.45150210e-04 -2.85110858e-01] [ 2.47678735e-03 9.99995167e-01 1.87929002e-03 -2.23951201e-01] [ 3.40495151e-04 -1.88013902e-03 9.99998175e-01 6.04654765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912557844000006 meters Centerline goodness [0,1] 0.24204191295002686 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.60 [[ 9.99998406e-01 -9.96606818e-04 1.48139609e-03 -2.40904890e-01] [ 9.94975409e-04 9.99998898e-01 1.10159363e-03 -2.21853723e-01] [-1.48249232e-03 -1.10011792e-03 9.99998296e-01 6.03763683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94255784400001 meters Centerline goodness [0,1] 0.25062765128560294 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.60 [[ 9.99998753e-01 -9.71860771e-04 1.24517437e-03 -2.40269487e-01] [ 9.70314956e-04 9.99998759e-01 1.24144791e-03 -2.22674944e-01] [-1.24637934e-03 -1.24023815e-03 9.99998454e-01 6.03721753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97255784400001 meters Centerline goodness [0,1] 0.2527768720791218 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.60 [[ 9.99998942e-01 -9.22189881e-04 1.12454409e-03 -2.39885790e-01] [ 9.20613553e-04 9.99998594e-01 1.40146157e-03 -2.23476748e-01] [-1.12583492e-03 -1.40042482e-03 9.99998386e-01 6.03605249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002557844 meters Centerline goodness [0,1] 0.2487295434969854 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.60 [[ 9.99999003e-01 -9.39303886e-04 1.05390478e-03 -2.39739711e-01] [ 9.37766400e-04 9.99998497e-01 1.45839449e-03 -2.23934954e-01] [-1.05527307e-03 -1.45740472e-03 9.99998381e-01 6.03669030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032557844 meters Centerline goodness [0,1] 0.25272497384025117 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.23, Z:0.60 [[ 0.99999001 0.0043282 0.00112023 -0.26305483] [-0.00432664 0.99998967 -0.00139384 -0.22713949] [-0.00112626 0.00138898 0.9999984 0.60409523] [ 0. 0. 0. 1. ]] SLAMing on 33.062557844000004 meters Centerline goodness [0,1] 0.2535272505924042 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.23, Z:0.60 [[ 0.99998993 0.00435135 0.00110032 -0.26315054] [-0.00434999 0.99998977 -0.00123798 -0.22788754] [-0.00110569 0.00123318 0.99999863 0.60428976] [ 0. 0. 0. 1. ]] SLAMing on 33.092557844000005 meters Centerline goodness [0,1] 0.24422578749156454 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.23, Z:0.60 [[ 9.99990292e-01 4.31215502e-03 9.06071026e-04 -2.62420760e-01] [-4.31104925e-03 9.99989965e-01 -1.21883034e-03 -2.28154685e-01] [-9.11317719e-04 1.21491239e-03 9.99998847e-01 6.03858121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122557844000006 meters Centerline goodness [0,1] 0.24404981050351926 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.23, Z:0.60 [[ 9.99990646e-01 4.26392045e-03 7.25192241e-04 -2.61763231e-01] [-4.26298086e-03 9.99990078e-01 -1.29230169e-03 -2.27933403e-01] [-7.30695318e-04 1.28919812e-03 9.99998902e-01 6.03507618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15255784400001 meters Centerline goodness [0,1] 0.24404981050351926 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.23, Z:0.60 [[ 9.99990646e-01 4.26392045e-03 7.25192241e-04 -2.61763231e-01] [-4.26298086e-03 9.99990078e-01 -1.29230169e-03 -2.27933403e-01] [-7.30695318e-04 1.28919812e-03 9.99998902e-01 6.03507618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182557844 meters Centerline goodness [0,1] 0.24426013520810386 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.23, Z:0.60 [[ 9.99991366e-01 4.12281684e-03 5.20852907e-04 -2.61137193e-01] [-4.12198934e-03 9.99990256e-01 -1.57996439e-03 -2.26798772e-01] [-5.27361736e-04 1.57780380e-03 9.99998616e-01 6.03333987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212557844 meters Centerline goodness [0,1] 0.2441969238801749 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.23, Z:0.60 [[ 9.99991920e-01 4.00112439e-03 3.88670601e-04 -2.60734808e-01] [-4.00039348e-03 9.99990262e-01 -1.86346973e-03 -2.25590490e-01] [-3.96122790e-04 1.86189983e-03 9.99998188e-01 6.03219511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242557844000004 meters Centerline goodness [0,1] 0.2427556756285677 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.60 [[ 9.99992369e-01 3.89185500e-03 3.40983455e-04 -2.60665645e-01] [-3.89111635e-03 9.99990138e-01 -2.14077406e-03 -2.24383486e-01] [-3.49311674e-04 2.13943091e-03 9.99997650e-01 6.03288705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272557844000005 meters Centerline goodness [0,1] 0.2456391192450672 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99992387e-01 -3.89972197e-03 -1.34171326e-04 -2.83305600e-01] [ 3.89979886e-03 9.99992229e-01 5.77627643e-04 -2.20787984e-01] [ 1.31917696e-04 -5.78146487e-04 9.99999824e-01 6.04625752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302557844000006 meters Centerline goodness [0,1] 0.24158291184578984 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.60 [[ 9.99984785e-01 5.13725892e-03 2.00968115e-03 -2.63931161e-01] [-5.13617435e-03 9.99986662e-01 -5.44462157e-04 -2.22004910e-01] [-2.01245139e-03 5.34131800e-04 9.99997832e-01 6.04421064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33255784400001 meters Centerline goodness [0,1] 0.2462522530443575 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99990288e-01 -4.23887840e-03 1.20621145e-03 -2.84357066e-01] [ 4.23801249e-03 9.99990761e-01 7.19532303e-04 -2.18696955e-01] [-1.20925031e-03 -7.14413376e-04 9.99999014e-01 6.04009624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362557844 meters Centerline goodness [0,1] 0.2444819129368485 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99989360e-01 -4.56925746e-03 6.34279950e-04 -2.83032493e-01] [ 4.56880645e-03 9.99989310e-01 7.10697417e-04 -2.20061454e-01] [-6.37520530e-04 -7.07791953e-04 9.99999546e-01 6.04282795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392557844 meters Centerline goodness [0,1] 0.24096125170185634 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.60 [[ 0.99999611 0.0024819 0.0012765 -0.26043529] [-0.00247869 0.99999379 -0.00250617 -0.2213504 ] [-0.00128271 0.00250299 0.99999604 0.60323611] [ 0. 0. 0. 1. ]] SLAMing on 33.422557844 meters Centerline goodness [0,1] 0.24357966457023061 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99976521e-01 -6.83515894e-03 -4.88501852e-04 -2.79730435e-01] [ 6.83457186e-03 9.99975932e-01 -1.19353055e-03 -2.18371927e-01] [ 4.96648066e-04 1.19016383e-03 9.99999168e-01 6.02574480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452557844000005 meters Centerline goodness [0,1] 0.24074677086725282 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99976655e-01 -6.81142240e-03 -5.42334687e-04 -2.79326649e-01] [ 6.81076317e-03 9.99976077e-01 -1.20825166e-03 -2.18091613e-01] [ 5.50551625e-04 1.20452974e-03 9.99999123e-01 6.02059310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482557844000006 meters Centerline goodness [0,1] 0.24128052088985352 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99977045e-01 -6.76432061e-03 -3.92735848e-04 -2.79515653e-01] [ 6.76382567e-03 9.99976346e-01 -1.24816965e-03 -2.17482528e-01] [ 4.01169578e-04 1.24548460e-03 9.99999144e-01 6.01689490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51255784400001 meters Centerline goodness [0,1] 0.24377719756309835 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99977162e-01 -6.75165734e-03 -3.00950793e-04 -2.79577816e-01] [ 6.75124874e-03 9.99976314e-01 -1.33866688e-03 -2.16829122e-01] [ 3.09981885e-04 1.33660452e-03 9.99999059e-01 6.01318266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542557844 meters Centerline goodness [0,1] 0.24266140571478123 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99976326e-01 -6.84054695e-03 -7.44153245e-04 -2.78034919e-01] [ 6.83926946e-03 9.99975157e-01 -1.70591521e-03 -2.15254610e-01] [ 7.55804151e-04 1.70078536e-03 9.99998268e-01 6.00579701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572557844 meters Centerline goodness [0,1] 0.24536260047698966 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.22, Z:0.60 [[ 0.99999655 0.001165 -0.00235224 -0.299079 ] [-0.00117043 0.99999665 -0.00230792 -0.2192047 ] [ 0.00234954 0.00231066 0.99999457 0.60048814] [ 0. 0. 0. 1. ]] SLAMing on 33.602557844 meters Centerline goodness [0,1] 0.24148633879781423 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.60 [[ 9.99989353e-01 -3.26910154e-03 -3.25679379e-03 -2.77132295e-01] [ 3.27168523e-03 9.99994337e-01 7.88310748e-04 -2.15275424e-01] [ 3.25419828e-03 -7.98957559e-04 9.99994386e-01 6.01037910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632557844000004 meters Centerline goodness [0,1] 0.24190674835962278 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:0.60 [[ 9.99990161e-01 -3.29160898e-03 -2.97366529e-03 -2.77855238e-01] [ 3.29307809e-03 9.99994458e-01 4.89279559e-04 -2.13548120e-01] [ 2.97203829e-03 -4.99067257e-04 9.99995459e-01 6.00989160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662557844000006 meters Centerline goodness [0,1] 0.24464945456135367 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:0.60 [[ 9.99991255e-01 -3.32727923e-03 -2.53362294e-03 -2.79109686e-01] [ 3.32789047e-03 9.99994434e-01 2.37073805e-04 -2.12162549e-01] [ 2.53282003e-03 -2.45503351e-04 9.99996762e-01 6.01243779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69255784400001 meters Centerline goodness [0,1] 0.24581674173684098 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:0.60 [[ 9.99992661e-01 -3.37561360e-03 -1.81190095e-03 -2.81085196e-01] [ 3.37536246e-03 9.99994293e-01 -1.41643141e-04 -2.10094189e-01] [ 1.81236875e-03 1.35526279e-04 9.99998348e-01 6.01482073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72255784400001 meters Centerline goodness [0,1] 0.2440474903224411 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:0.60 [[ 9.99992551e-01 -3.45814190e-03 -1.71442422e-03 -2.81205406e-01] [ 3.45730823e-03 9.99993904e-01 -4.88989455e-04 -2.08245910e-01] [ 1.71610476e-03 4.83058520e-04 9.99998411e-01 6.01189016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752557844 meters Centerline goodness [0,1] 0.24395083027819708 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:0.60 [[ 9.99992187e-01 -3.53593888e-03 -1.76697023e-03 -2.80949748e-01] [ 3.53456293e-03 9.99993448e-01 -7.81222509e-04 -2.06748067e-01] [ 1.76972101e-03 7.74970938e-04 9.99998134e-01 6.00926600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782557844 meters Centerline goodness [0,1] 0.24572579409382456 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:0.60 [[ 0.99998564 0.0036005 -0.00396974 -0.2998541 ] [-0.00360956 0.99999089 -0.00227699 -0.21160672] [ 0.00396151 0.00229129 0.99998953 0.60037268] [ 0. 0. 0. 1. ]] SLAMing on 33.812557844000004 meters Centerline goodness [0,1] 0.24477056182236334 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:0.60 [[ 0.99998515 0.00358031 -0.00410752 -0.29960868] [-0.00358945 0.99999109 -0.00222027 -0.21200385] [ 0.00409954 0.00223499 0.9999891 0.60056918] [ 0. 0. 0. 1. ]] SLAMing on 33.842557844000005 meters Centerline goodness [0,1] 0.23898609338841192 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:0.60 [[ 0.99998551 -0.00379224 -0.00382203 -0.27962708] [ 0.0037872 0.99999195 -0.00132336 -0.20716357] [ 0.00382702 0.00130887 0.99999182 0.60160831] [ 0. 0. 0. 1. ]] SLAMing on 33.872557844000006 meters Centerline goodness [0,1] 0.25225764938205864 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.21, Z:0.60 [[ 9.99964972e-01 -4.71261924e-03 -6.91701703e-03 -3.25775424e-01] [ 4.71426522e-03 9.99988863e-01 2.21675185e-04 -2.11940593e-01] [ 6.91589532e-03 -2.54276073e-04 9.99976053e-01 6.04179223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90255784400001 meters Centerline goodness [0,1] 0.24507505204338775 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:0.60 [[ 0.99998218 0.00316404 -0.00506188 -0.30471762] [-0.0031741 0.999993 -0.00197951 -0.21322852] [ 0.00505558 0.00199555 0.99998523 0.60288283] [ 0. 0. 0. 1. ]] SLAMing on 33.932557844 meters Centerline goodness [0,1] 0.24469356275391596 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.60 [[ 0.99997934 -0.00424956 -0.00482209 -0.28527526] [ 0.004244 0.99999032 -0.00116279 -0.20877617] [ 0.00482699 0.00114231 0.9999877 0.60419211] [ 0. 0. 0. 1. ]] SLAMing on 33.962557844 meters Centerline goodness [0,1] 0.24699943671736213 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.60 [[ 0.99998059 -0.00422786 -0.00457628 -0.28628012] [ 0.0042226 0.99999041 -0.00115832 -0.20869516] [ 0.00458114 0.00113897 0.99998886 0.60489401] [ 0. 0. 0. 1. ]] SLAMing on 33.992557844000004 meters Centerline goodness [0,1] 0.2427934556786704 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.61 [[ 0.99998116 -0.00421679 -0.00446172 -0.28686039] [ 0.0042116 0.99999045 -0.00117136 -0.20857477] [ 0.00446661 0.00115255 0.99998936 0.60540112] [ 0. 0. 0. 1. ]] SLAMing on 34.022557844000005 meters Centerline goodness [0,1] 0.2433519263198859 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.61 [[ 0.99998095 -0.0042114 -0.00451232 -0.28684018] [ 0.00420615 0.99999046 -0.00117433 -0.2085941 ] [ 0.00451722 0.00115533 0.99998913 0.60560427] [ 0. 0. 0. 1. ]] SLAMing on 34.052557844000006 meters Centerline goodness [0,1] 0.24523856273316313 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:0.60 [[ 0.99998183 0.00303497 -0.0052086 -0.3056426 ] [-0.00304744 0.99999251 -0.00238747 -0.214247 ] [ 0.00520132 0.0024033 0.99998359 0.60384511] [ 0. 0. 0. 1. ]] SLAMing on 34.08255784400001 meters Centerline goodness [0,1] 0.24168141210996508 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.60 [[ 0.99997082 -0.00365737 -0.00670753 -0.28571004] [ 0.00364658 0.99999204 -0.00162018 -0.20907608] [ 0.0067134 0.00159567 0.99997619 0.60487492] [ 0. 0. 0. 1. ]] SLAMing on 34.112557844 meters Centerline goodness [0,1] 0.2403159163295171 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.60 [[ 0.99997004 -0.00359505 -0.00685557 -0.28504361] [ 0.00358509 0.9999925 -0.00146476 -0.20963946] [ 0.00686079 0.00144014 0.99997543 0.60429799] [ 0. 0. 0. 1. ]] SLAMing on 34.142557844 meters Centerline goodness [0,1] 0.24319753702057545 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:0.60 [[ 0.9999691 -0.00359135 -0.00699331 -0.2849755 ] [ 0.00358418 0.99999304 -0.00103697 -0.21170986] [ 0.00699698 0.00101187 0.99997501 0.604767 ] [ 0. 0. 0. 1. ]] SLAMing on 34.172557844 meters Centerline goodness [0,1] 0.24460774750168002 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.61 [[ 9.99968020e-01 -3.68436803e-03 -7.09817641e-03 -2.85102121e-01] [ 3.67889121e-03 9.99992925e-01 -7.84483920e-04 -2.13459786e-01] [ 7.10101652e-03 7.58345414e-04 9.99974500e-01 6.05514967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202557844000005 meters Centerline goodness [0,1] 0.2456804164297275 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:0.61 [[ 9.99967085e-01 -3.82654752e-03 -7.15441517e-03 -2.85398530e-01] [ 3.82292392e-03 9.99992557e-01 -5.20091580e-04 -2.15342572e-01] [ 7.15635208e-03 4.92723677e-04 9.99974272e-01 6.06364805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232557844000006 meters Centerline goodness [0,1] 0.24696543231594692 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:0.61 [[ 9.99966197e-01 -3.79108647e-03 -7.29608449e-03 -2.85316601e-01] [ 3.79079984e-03 9.99992813e-01 -5.31150134e-05 -2.17679547e-01] [ 7.29623342e-03 2.54552221e-05 9.99973382e-01 6.06814499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26255784400001 meters Centerline goodness [0,1] 0.24025216978280584 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.61 [[ 9.99983552e-01 -2.77155670e-03 -5.02144281e-03 -2.41458538e-01] [ 2.77005117e-03 9.99996116e-01 -3.06750455e-04 -2.17869656e-01] [ 5.02227348e-03 2.92835756e-04 9.99987345e-01 6.05861707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292557844 meters Centerline goodness [0,1] 0.23850747551125628 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.61 [[ 9.99982309e-01 -2.96588805e-03 -5.15601491e-03 -2.41171656e-01] [ 2.96713676e-03 9.99995571e-01 2.34552193e-04 -2.21266035e-01] [ 5.15529641e-03 -2.49846645e-04 9.99986680e-01 6.06063159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322557844 meters Centerline goodness [0,1] 0.23891159389115935 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.61 [[ 9.99982533e-01 -2.92588655e-03 -5.13547071e-03 -2.41446037e-01] [ 2.92866685e-03 9.99995569e-01 5.33955813e-04 -2.22907952e-01] [ 5.13388566e-03 -5.48986569e-04 9.99986671e-01 6.06478253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352557844 meters Centerline goodness [0,1] 0.24231503994442516 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.61 [[ 9.99982960e-01 -2.85773869e-03 -5.09054246e-03 -2.41844734e-01] [ 2.86152730e-03 9.99995634e-01 7.37117580e-04 -2.23818804e-01] [ 5.08841375e-03 -7.51671745e-04 9.99986771e-01 6.06960538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382557844000004 meters Centerline goodness [0,1] 0.23738253446014235 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.23, Z:0.61 [[ 9.99973435e-01 5.99127817e-03 -4.15125330e-03 -2.23573635e-01] [-5.99438731e-03 9.99981762e-01 -7.36925603e-04 -2.27408419e-01] [ 4.14676247e-03 7.61790247e-04 9.99991112e-01 6.08209116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412557844000006 meters Centerline goodness [0,1] 0.24380882161599515 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.61 [[ 9.99983104e-01 -3.00955807e-03 -4.97332082e-03 -2.42036047e-01] [ 3.01366694e-03 9.99995124e-01 8.18895031e-04 -2.22747466e-01] [ 4.97083205e-03 -8.33869128e-04 9.99987298e-01 6.06939124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44255784400001 meters Centerline goodness [0,1] 0.2454491426558958 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.23, Z:0.61 [[ 9.99964482e-01 4.66323857e-03 -7.02061874e-03 -2.61851426e-01] [-4.66421272e-03 9.99989115e-01 -1.22389008e-04 -2.26721653e-01] [ 7.01997159e-03 1.55130321e-04 9.99975348e-01 6.06223153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47255784400001 meters Centerline goodness [0,1] 0.24257683625629445 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.61 [[ 9.99961801e-01 4.42732257e-03 -7.53624962e-03 -2.60049410e-01] [-4.43276275e-03 9.99989927e-01 -7.05318182e-04 -2.24307629e-01] [ 7.53305103e-03 7.38697647e-04 9.99971353e-01 6.05264217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502557844 meters Centerline goodness [0,1] 0.24580808637214935 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.61 [[ 0.9999584 -0.00330605 -0.00850088 -0.2830559 ] [ 0.00332231 0.99999268 0.0018995 -0.22112298] [ 0.00849453 -0.00192766 0.99996206 0.60654029] [ 0. 0. 0. 1. ]] SLAMing on 34.532557844 meters Centerline goodness [0,1] 0.24649951868381903 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.61 [[ 0.99996124 -0.00330761 -0.00815929 -0.28421595] [ 0.00332245 0.99999285 0.00180633 -0.22035727] [ 0.00815326 -0.00183336 0.99996508 0.60701099] [ 0. 0. 0. 1. ]] SLAMing on 34.562557844000004 meters Centerline goodness [0,1] 0.23950996067585673 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.61 [[ 9.99978341e-01 4.00958370e-03 -5.21919423e-03 -2.63612684e-01] [-4.01353173e-03 9.99991667e-01 -7.46189149e-04 -2.20796246e-01] [ 5.21615884e-03 7.67120390e-04 9.99986102e-01 6.05904742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592557844000005 meters Centerline goodness [0,1] 0.24233940972222223 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.61 [[ 9.99978620e-01 3.88379376e-03 -5.26076723e-03 -2.63779926e-01] [-3.88775058e-03 9.99992167e-01 -7.42118442e-04 -2.21152092e-01] [ 5.25784379e-03 7.62555126e-04 9.99985887e-01 6.06394774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622557844000006 meters Centerline goodness [0,1] 0.24573408590668377 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.61 [[ 9.99976927e-01 3.72696927e-03 -5.67942512e-03 -2.62801057e-01] [-3.73128024e-03 9.99992759e-01 -7.48643812e-04 -2.21584640e-01] [ 5.67659382e-03 7.69818065e-04 9.99983592e-01 6.06455829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65255784400001 meters Centerline goodness [0,1] 0.24039674598686211 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.61 [[ 9.99972783e-01 3.17903271e-03 -6.65790125e-03 -2.59770097e-01] [-3.18544949e-03 9.99994472e-01 -9.53401988e-04 -2.21796529e-01] [ 6.65483354e-03 9.74584447e-04 9.99977381e-01 6.05358050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682557844 meters Centerline goodness [0,1] 0.2412551552578175 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.22, Z:0.61 [[ 9.99973239e-01 3.17430476e-03 -6.59122608e-03 -2.59929214e-01] [-3.17972236e-03 9.99994615e-01 -8.11623789e-04 -2.22498109e-01] [ 6.58861424e-03 8.32560338e-04 9.99977948e-01 6.05260486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712557844 meters Centerline goodness [0,1] 0.24298716964579448 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.22, Z:0.61 [[ 0.99998668 0.0014466 -0.00495524 -0.26535296] [-0.00145795 0.99999632 -0.00228712 -0.22112283] [ 0.00495191 0.00229432 0.99998511 0.60737645] [ 0. 0. 0. 1. ]] SLAMing on 34.742557844000004 meters Centerline goodness [0,1] 0.24127439474942414 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:0.61 [[ 0.99996791 -0.00617164 -0.005108 -0.24528336] [ 0.00616466 0.99998004 -0.00138225 -0.21744758] [ 0.00511643 0.00135072 0.999986 0.60907124] [ 0. 0. 0. 1. ]] SLAMing on 34.772557844000005 meters Centerline goodness [0,1] 0.24275711159737423 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.22, Z:0.61 [[ 0.99996669 -0.00619596 -0.00531383 -0.24436413] [ 0.00618826 0.99997978 -0.00146544 -0.21677747] [ 0.00532281 0.00143251 0.99998481 0.60825465] [ 0. 0. 0. 1. ]] SLAMing on 34.802557844000006 meters Centerline goodness [0,1] 0.23448335457668124 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.22, Z:0.61 [[ 0.99998003 0.00326367 -0.00541227 -0.22291721] [-0.00327346 0.99999302 -0.00180107 -0.21976068] [ 0.00540635 0.00181875 0.99998373 0.60747071] [ 0. 0. 0. 1. ]] SLAMing on 34.83255784400001 meters Centerline goodness [0,1] 0.2408784518373559 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.22, Z:0.61 [[ 0.9999793 0.00316262 -0.00560365 -0.22208771] [-0.00317414 0.99999286 -0.00204889 -0.21868976] [ 0.00559713 0.00206664 0.9999822 0.60690504] [ 0. 0. 0. 1. ]] SLAMing on 34.862557844 meters Centerline goodness [0,1] 0.24035446786274173 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.22, Z:0.61 [[ 0.99997915 0.00305383 -0.00568957 -0.22196766] [-0.00306681 0.99999271 -0.00227352 -0.2178885 ] [ 0.00568259 0.00229092 0.99998123 0.60712789] [ 0. 0. 0. 1. ]] SLAMing on 34.892557844 meters Centerline goodness [0,1] 0.24241232382825306 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.22, Z:0.61 [[ 0.99998086 0.00283722 -0.0054983 -0.22292832] [-0.00285281 0.99999193 -0.00283007 -0.21565653] [ 0.00549023 0.0028457 0.99998088 0.60804159] [ 0. 0. 0. 1. ]] SLAMing on 34.922557844 meters Centerline goodness [0,1] 0.2441065303358021 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.21, Z:0.61 [[ 0.99998181 0.00276702 -0.00535886 -0.22330339] [-0.00278373 0.99999128 -0.00311345 -0.21411983] [ 0.0053502 0.00312831 0.99998079 0.60804026] [ 0. 0. 0. 1. ]] SLAMing on 34.952557844000005 meters Centerline goodness [0,1] 0.23282426328242634 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.21, Z:0.61 [[ 9.99982593e-01 -2.47923202e-03 -5.35410181e-03 -2.00358051e-01] [ 2.47755669e-03 9.99996880e-01 -3.19515363e-04 -2.10665595e-01] [ 5.35487726e-03 3.06244710e-04 9.99985616e-01 6.07718254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982557844000006 meters Centerline goodness [0,1] 0.24144199391138654 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:0.61 [[ 9.99956903e-01 -3.69123304e-03 -8.51867698e-03 -2.44120978e-01] [ 3.69290519e-03 9.99993165e-01 1.80571402e-04 -2.10125262e-01] [ 8.51795223e-03 -2.12022286e-04 9.99963699e-01 6.08537964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01255784400001 meters Centerline goodness [0,1] 0.24464905726717356 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:0.61 [[ 9.99954554e-01 -3.82065882e-03 -8.73452586e-03 -2.43477374e-01] [ 3.81999561e-03 9.99992700e-01 -9.26114453e-05 -2.09100412e-01] [ 8.73481593e-03 5.92413860e-05 9.99961849e-01 6.08390707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04255784400001 meters Centerline goodness [0,1] 0.2417316130722379 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:0.61 [[ 9.99952118e-01 -3.97826656e-03 -8.94058926e-03 -2.42921157e-01] [ 3.97442063e-03 9.99992002e-01 -4.47890731e-04 -2.07676133e-01] [ 8.94229957e-03 4.12335623e-04 9.99959932e-01 6.08321650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072557844 meters Centerline goodness [0,1] 0.2417316130722379 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:0.61 [[ 9.99952118e-01 -3.97826656e-03 -8.94058926e-03 -2.42921157e-01] [ 3.97442063e-03 9.99992002e-01 -4.47890731e-04 -2.07676133e-01] [ 8.94229957e-03 4.12335623e-04 9.99959932e-01 6.08321650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102557844 meters Centerline goodness [0,1] 0.24329694323144102 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.61 [[ 0.99995516 -0.00417438 -0.00850014 -0.24408768] [ 0.00416365 0.99999051 -0.00127979 -0.20334952] [ 0.0085054 0.00124435 0.99996305 0.60838072] [ 0. 0. 0. 1. ]] SLAMing on 35.132557844000004 meters Centerline goodness [0,1] 0.24306631461801997 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.61 [[ 0.99995695 -0.00427889 -0.0082339 -0.24478416] [ 0.00426524 0.9999895 -0.00167499 -0.20119045] [ 0.00824098 0.0016398 0.9999647 0.60835119] [ 0. 0. 0. 1. ]] SLAMing on 35.162557844000006 meters Centerline goodness [0,1] 0.23971059700199293 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:0.61 [[ 0.99995842 -0.00440257 -0.00798621 -0.24541354] [ 0.00438648 0.99998832 -0.00203067 -0.19937879] [ 0.00799506 0.00199556 0.99996605 0.60832447] [ 0. 0. 0. 1. ]] SLAMing on 35.19255784400001 meters Centerline goodness [0,1] 0.25025983503239646 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:0.61 [[ 0.99992837 -0.00539478 -0.01068417 -0.29066592] [ 0.00538102 0.99998466 -0.00131584 -0.1983647 ] [ 0.0106911 0.00125826 0.99994206 0.6097458 ] [ 0. 0. 0. 1. ]] SLAMing on 35.22255784400001 meters Centerline goodness [0,1] 0.22936591895334524 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.61 [[ 0.99992837 -0.00502541 -0.01086301 -0.24129924] [ 0.00499596 0.99998377 -0.00273722 -0.19476939] [ 0.01087659 0.00268275 0.99993725 0.60755845] [ 0. 0. 0. 1. ]] SLAMing on 35.252557844 meters Centerline goodness [0,1] 0.2362929667991227 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.61 [[ 0.99992387 -0.00511139 -0.0112311 -0.24021889] [ 0.0050806 0.99998326 -0.00276862 -0.19478792] [ 0.01124506 0.00271135 0.9999331 0.60719315] [ 0. 0. 0. 1. ]] SLAMing on 35.282557844 meters Centerline goodness [0,1] 0.24029211124715755 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.61 [[ 0.9999224 -0.005143 -0.01134652 -0.23999525] [ 0.00511335 0.99998344 -0.00264079 -0.19550838] [ 0.01135991 0.00258257 0.99993214 0.60721637] [ 0. 0. 0. 1. ]] SLAMing on 35.312557844000004 meters Centerline goodness [0,1] 0.24236466116135802 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.61 [[ 0.99992439 -0.0051629 -0.01116098 -0.24061925] [ 0.00513562 0.99998376 -0.002471 -0.19641102] [ 0.01117356 0.0024135 0.99993466 0.60740405] [ 0. 0. 0. 1. ]] SLAMing on 35.342557844000005 meters Centerline goodness [0,1] 0.24006456397504694 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.61 [[ 0.99992626 -0.00519617 -0.01097603 -0.24129253] [ 0.00517076 0.99998389 -0.00234152 -0.19713637] [ 0.01098802 0.00228459 0.99993702 0.6076842 ] [ 0. 0. 0. 1. ]] SLAMing on 35.372557844000006 meters Centerline goodness [0,1] 0.24116524447759224 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.61 [[ 0.99993033 -0.00525486 -0.01057024 -0.24264398] [ 0.00523067 0.99998364 -0.00231487 -0.19717683] [ 0.01058223 0.00225942 0.99994145 0.60819516] [ 0. 0. 0. 1. ]] SLAMing on 35.40255784400001 meters Centerline goodness [0,1] 0.24068306070440637 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.61 [[ 0.99992962 -0.00535377 -0.01058777 -0.24254032] [ 0.00532651 0.99998243 -0.00260167 -0.19577269] [ 0.01060152 0.00254509 0.99994056 0.60811107] [ 0. 0. 0. 1. ]] SLAMing on 35.432557844 meters Centerline goodness [0,1] 0.24081685913746986 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.61 [[ 0.99992751 -0.00548519 -0.01071867 -0.2421591 ] [ 0.00545298 0.99998054 -0.00303212 -0.19361972] [ 0.0107351 0.00297345 0.99993796 0.60805699] [ 0. 0. 0. 1. ]] SLAMing on 35.462557844 meters Centerline goodness [0,1] 0.24093394027835258 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.61 [[ 0.99992663 -0.00562722 -0.01072689 -0.24206754] [ 0.00558926 0.99997802 -0.00356567 -0.19097181] [ 0.01074672 0.00350545 0.99993611 0.60800013] [ 0. 0. 0. 1. ]] SLAMing on 35.492557844000004 meters Centerline goodness [0,1] 0.2472532302012833 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.61 [[ 0.99992771 -0.00578425 -0.01054147 -0.24243804] [ 0.00574069 0.99997488 -0.00415754 -0.18809493] [ 0.01056526 0.00409673 0.99993579 0.60791414] [ 0. 0. 0. 1. ]] SLAMing on 35.522557844000005 meters Centerline goodness [0,1] 0.23847107168482162 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:0.61 [[ 0.99994998 0.00331634 -0.0094365 -0.22281881] [-0.00336821 0.99997928 -0.00548593 -0.18862537] [ 0.00941811 0.00551744 0.99994043 0.60847982] [ 0. 0. 0. 1. ]] SLAMing on 35.552557844000006 meters Centerline goodness [0,1] 0.236265398746488 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.61 [[ 0.99995395 0.0030179 -0.00911034 -0.2236609 ] [-0.00307819 0.9999734 -0.00661169 -0.18295635] [ 0.00909014 0.00663943 0.99993664 0.60858332] [ 0. 0. 0. 1. ]] SLAMing on 35.58255784400001 meters Centerline goodness [0,1] 0.2325299378505381 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.61 [[ 0.99995382 0.00284653 -0.00917946 -0.22342367] [-0.00291097 0.99997116 -0.00701449 -0.18113705] [ 0.00915923 0.00704089 0.99993327 0.60848143] [ 0. 0. 0. 1. ]] SLAMing on 35.612557844 meters Centerline goodness [0,1] 0.23649786297111774 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.61 [[ 0.99995392 0.00271013 -0.00920967 -0.22322367] [-0.0027776 0.99996935 -0.00732053 -0.17974139] [ 0.00918955 0.00734577 0.99993079 0.60824843] [ 0. 0. 0. 1. ]] SLAMing on 35.642557844 meters Centerline goodness [0,1] 0.2427997028101918 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.61 [[ 0.99992914 -0.00637661 -0.01005293 -0.24287432] [ 0.00631371 0.99996037 -0.00627624 -0.17320367] [ 0.01009255 0.00621232 0.99992977 0.60697228] [ 0. 0. 0. 1. ]] SLAMing on 35.672557844 meters Centerline goodness [0,1] 0.24233436559514987 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.61 [[ 0.99992518 -0.0067682 -0.01018909 -0.24219164] [ 0.00669861 0.99995411 -0.0068483 -0.17101186] [ 0.01023497 0.00677954 0.99992464 0.606316 ] [ 0. 0. 0. 1. ]] SLAMing on 35.702557844000005 meters Centerline goodness [0,1] 0.23913137611500823 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.61 [[ 0.9999248 -0.00689217 -0.01014402 -0.2424081 ] [ 0.00682025 0.99995149 -0.00710689 -0.16981502] [ 0.01019251 0.00703717 0.99992329 0.60644366] [ 0. 0. 0. 1. ]] SLAMing on 35.732557844000006 meters Centerline goodness [0,1] 0.24135759576131333 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.61 [[ 0.99992498 -0.00702081 -0.01003719 -0.24281672] [ 0.00694628 0.99994819 -0.00744073 -0.16814812] [ 0.01008891 0.00737045 0.99992194 0.60661861] [ 0. 0. 0. 1. ]] SLAMing on 35.76255784400001 meters Centerline goodness [0,1] 0.23836667461366745 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.61 [[ 0.99992507 -0.00718065 -0.0099147 -0.24330534] [ 0.00710285 0.99994388 -0.00786032 -0.16608371] [ 0.00997058 0.00778931 0.99991995 0.60693535] [ 0. 0. 0. 1. ]] SLAMing on 35.79255784400001 meters Centerline goodness [0,1] 0.24258613170518972 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:0.61 [[ 0.99992486 -0.00732771 -0.00982696 -0.2435124 ] [ 0.007247 0.99993992 -0.00822408 -0.1644004 ] [ 0.00988663 0.00815224 0.99991789 0.60691765] [ 0. 0. 0. 1. ]] SLAMing on 35.822557844 meters Centerline goodness [0,1] 0.23913184321347591 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:0.61 [[ 0.99992309 -0.00754193 -0.00984589 -0.24330422] [ 0.00745705 0.99993496 -0.00862972 -0.16280697] [ 0.00991033 0.00855563 0.99991429 0.60666353] [ 0. 0. 0. 1. ]] SLAMing on 35.852557844 meters Centerline goodness [0,1] 0.2358756449724667 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:0.61 [[ 0.99991722 -0.00792515 -0.01013586 -0.24193076] [ 0.00783066 0.99992583 -0.00932844 -0.16005669] [ 0.01020904 0.00924829 0.99990512 0.60550215] [ 0. 0. 0. 1. ]] SLAMing on 35.882557844000004 meters Centerline goodness [0,1] 0.24081721364920672 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:0.60 [[ 0.99992983 -0.00488977 -0.01078963 -0.2399304 ] [ 0.00482415 0.99996976 -0.00609896 -0.1592957 ] [ 0.01081913 0.00604648 0.99992319 0.60478973] [ 0. 0. 0. 1. ]] SLAMing on 35.912557844000006 meters Centerline goodness [0,1] 0.24384421555192082 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:0.61 [[ 0.99989257 -0.00489714 -0.01381566 -0.28357065] [ 0.00483099 0.99997673 -0.00481706 -0.1568948 ] [ 0.01383893 0.0047498 0.99989296 0.6051483 ] [ 0. 0. 0. 1. ]] SLAMing on 35.94255784400001 meters Centerline goodness [0,1] 0.23567995843616052 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:0.60 [[ 0.99991798 -0.00374937 -0.01224611 -0.23792355] [ 0.00368968 0.99998122 -0.00489296 -0.15592716] [ 0.01226422 0.00484737 0.99991304 0.6039912 ] [ 0. 0. 0. 1. ]] SLAMing on 35.97255784400001 meters Centerline goodness [0,1] 0.2330382206866768 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.60 [[ 0.99991775 -0.00419973 -0.01211868 -0.23866431] [ 0.00412705 0.99997338 -0.00601672 -0.15075787] [ 0.01214362 0.00596621 0.99990846 0.60482538] [ 0. 0. 0. 1. ]] SLAMing on 36.002557844 meters Centerline goodness [0,1] 0.2400502632320125 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.61 [[ 0.99991967 -0.00442676 -0.01187671 -0.23962174] [ 0.00434818 0.99996854 -0.00663381 -0.14782626] [ 0.0119057 0.00658163 0.99990746 0.6054645 ] [ 0. 0. 0. 1. ]] SLAMing on 36.032557844 meters Centerline goodness [0,1] 0.2413785591355685 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.61 [[ 0.99992219 -0.00463008 -0.01158341 -0.24060478] [ 0.00454575 0.99996305 -0.00729583 -0.1445208 ] [ 0.01161677 0.00724261 0.99990629 0.6059391 ] [ 0. 0. 0. 1. ]] SLAMing on 36.062557844000004 meters Centerline goodness [0,1] 0.23515182929463085 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.61 [[ 0.99992505 -0.00484553 -0.01124309 -0.24163851] [ 0.00475614 0.99995698 -0.00796405 -0.14109039] [ 0.0112812 0.00790998 0.99990508 0.60626664] [ 0. 0. 0. 1. ]] SLAMing on 36.092557844000005 meters Centerline goodness [0,1] 0.23889670091941595 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.61 [[ 0.99992658 -0.00506163 -0.0110094 -0.24239172] [ 0.00496715 0.99995075 -0.00859228 -0.13795805] [ 0.01105234 0.00853697 0.99990248 0.60657544] [ 0. 0. 0. 1. ]] SLAMing on 36.122557844000006 meters Centerline goodness [0,1] 0.23973723838414696 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.61 [[ 0.99992471 -0.00553617 -0.01095144 -0.24237119] [ 0.00542991 0.99993812 -0.00970891 -0.1329829 ] [ 0.01100451 0.00964871 0.9998929 0.60639261] [ 0. 0. 0. 1. ]] SLAMing on 36.15255784400001 meters Centerline goodness [0,1] 0.2403137938548704 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.61 [[ 0.99992152 -0.00574863 -0.01113156 -0.24164076] [ 0.00563564 0.99993255 -0.01015527 -0.13108153] [ 0.01118919 0.01009174 0.99988647 0.60589013] [ 0. 0. 0. 1. ]] SLAMing on 36.182557844 meters Centerline goodness [0,1] 0.23974440058447644 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.61 [[ 0.9999188 -0.00591071 -0.01128968 -0.24114989] [ 0.00579198 0.99992788 -0.01052081 -0.12939389] [ 0.01135105 0.01045456 0.99988092 0.60568427] [ 0. 0. 0. 1. ]] SLAMing on 36.212557844 meters Centerline goodness [0,1] 0.2379174084849538 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.61 [[ 0.99993328 -0.0030251 -0.01114785 -0.24214894] [ 0.0029424 0.99996808 -0.00742796 -0.12861657] [ 0.01116996 0.00739466 0.99991027 0.60636451] [ 0. 0. 0. 1. ]] SLAMing on 36.242557844000004 meters Centerline goodness [0,1] 0.23899520497645688 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.61 [[ 0.99993311 -0.00307864 -0.0111493 -0.24229964] [ 0.00299438 0.99996689 -0.00756617 -0.12780384] [ 0.01117222 0.00753228 0.99990922 0.60659061] [ 0. 0. 0. 1. ]] SLAMing on 36.272557844000005 meters Centerline goodness [0,1] 0.23546755622511573 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.61 [[ 0.99993245 -0.00311242 -0.01119834 -0.24219845] [ 0.00302714 0.99996635 -0.007625 -0.12748017] [ 0.01122169 0.00759058 0.99990822 0.6065871 ] [ 0. 0. 0. 1. ]] SLAMing on 36.302557844000006 meters Centerline goodness [0,1] 0.23993094254682135 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.12, Z:0.61 [[ 0.99989903 -0.00364324 -0.01373507 -0.28838965] [ 0.00354163 0.99996624 -0.00741498 -0.12312525] [ 0.01376162 0.00736559 0.99987818 0.6078383 ] [ 0. 0. 0. 1. ]] SLAMing on 36.33255784400001 meters Centerline goodness [0,1] 0.2393321370738326 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.12, Z:0.61 [[ 0.99989949 -0.00379691 -0.01365982 -0.28850575] [ 0.00369004 0.99996246 -0.00784005 -0.12111515] [ 0.01368908 0.00778885 0.99987596 0.60776088] [ 0. 0. 0. 1. ]] SLAMing on 36.362557844 meters Centerline goodness [0,1] 0.23994871126178985 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.12, Z:0.61 [[ 0.99989891 -0.00396263 -0.01365519 -0.28840379] [ 0.00384952 0.99995815 -0.00829915 -0.11891844] [ 0.0136875 0.00824575 0.99987232 0.6075861 ] [ 0. 0. 0. 1. ]] SLAMing on 36.392557844 meters Centerline goodness [0,1] 0.24022395050432432 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.12, Z:0.61 [[ 0.99989708 -0.0041489 -0.01373371 -0.2881882 ] [ 0.00402806 0.99995303 -0.00881507 -0.11649991] [ 0.01376964 0.00875884 0.99986683 0.60765296] [ 0. 0. 0. 1. ]] SLAMing on 36.422557844 meters Centerline goodness [0,1] 0.24032363874917995 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:0.61 [[ 9.99902977e-01 -3.13397031e-04 -1.39261452e-02 -2.87855097e-01] [ 2.36909701e-04 9.99984882e-01 -5.49366513e-03 -1.13196156e-01] [ 1.39276564e-02 5.48983288e-03 9.99887935e-01 6.07803692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452557844000005 meters Centerline goodness [0,1] 0.23898537179124912 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:0.61 [[ 9.99898071e-01 -4.54259811e-04 -1.42702729e-02 -2.86695926e-01] [ 3.68071984e-04 9.99981681e-01 -6.04172205e-03 -1.10405102e-01] [ 1.42727560e-02 6.03585374e-03 9.99879921e-01 6.07345355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482557844000006 meters Centerline goodness [0,1] 0.23918591715201887 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:0.61 [[ 9.99893977e-01 -6.63417260e-04 -1.45463180e-02 -2.85650085e-01] [ 5.67053509e-04 9.99977876e-01 -6.62773864e-03 -1.07670604e-01] [ 1.45503931e-02 6.61878740e-03 9.99872231e-01 6.06788778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51255784400001 meters Centerline goodness [0,1] 0.23724506560932335 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:0.61 [[ 9.99892582e-01 -8.50459970e-04 -1.46321987e-02 -2.85301628e-01] [ 7.47088316e-04 9.99974737e-01 -7.06868608e-03 -1.05767782e-01] [ 1.46378407e-02 7.05699523e-03 9.99867958e-01 6.06588846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54255784400001 meters Centerline goodness [0,1] 0.2372859225730638 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.10, Z:0.61 [[ 0.99989579 -0.0011949 -0.01438678 -0.28616699] [ 0.00108184 0.99996849 -0.0078642 -0.10232246] [ 0.01439572 0.00784782 0.99986558 0.60709298] [ 0. 0. 0. 1. ]] SLAMing on 36.572557844 meters Centerline goodness [0,1] 0.23966413963328637 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.10, Z:0.61 [[ 0.99987369 -0.00826858 -0.01357311 -0.30951279] [ 0.00819331 0.9999508 -0.00559163 -0.09618356] [ 0.01361868 0.00547971 0.99989225 0.60732514] [ 0. 0. 0. 1. ]] SLAMing on 36.602557844 meters Centerline goodness [0,1] 0.23912569735006972 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.10, Z:0.61 [[ 9.99937641e-01 3.26729860e-04 -1.11627464e-02 -2.90432649e-01] [-4.00085603e-04 9.99978338e-01 -6.56987706e-03 -9.83915650e-02] [ 1.11603580e-02 6.57393343e-03 9.99916111e-01 6.07576566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632557844000004 meters Centerline goodness [0,1] 0.23931567764123463 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.10, Z:0.61 [[ 9.99939755e-01 1.73504469e-04 -1.09752399e-02 -2.90959618e-01] [-2.49363033e-04 9.99976089e-01 -6.91080012e-03 -9.69379516e-02] [ 1.09737784e-02 6.91312060e-03 9.99915889e-01 6.07697699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662557844000006 meters Centerline goodness [0,1] 0.23874793639760183 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.61 [[ 0.99990238 -0.00801485 -0.01144541 -0.27068497] [ 0.00794067 0.99994727 -0.00651135 -0.09259536] [ 0.011497 0.00641983 0.9999133 0.60910491] [ 0. 0. 0. 1. ]] SLAMing on 36.69255784400001 meters Centerline goodness [0,1] 0.24001919804528993 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.61 [[ 0.99989934 -0.00816423 -0.01160441 -0.27038871] [ 0.00808632 0.99994456 -0.00674482 -0.09162494] [ 0.01165883 0.00665031 0.99990992 0.60921727] [ 0. 0. 0. 1. ]] SLAMing on 36.72255784400001 meters Centerline goodness [0,1] 0.2376960402044883 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.61 [[ 0.99989742 -0.00819 -0.01175029 -0.27007625] [ 0.00811014 0.9999438 -0.00682819 -0.09111334] [ 0.01180556 0.0067322 0.99990765 0.6093079 ] [ 0. 0. 0. 1. ]] SLAMing on 36.752557844 meters Centerline goodness [0,1] 0.23883351790328533 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.61 [[ 0.99989591 -0.0082164 -0.01186043 -0.26985446] [ 0.00813498 0.99994313 -0.00689689 -0.0907468 ] [ 0.01191642 0.00679969 0.99990588 0.60941176] [ 0. 0. 0. 1. ]] SLAMing on 36.782557844 meters Centerline goodness [0,1] 0.24170605742296913 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.61 [[ 0.99989559 -0.00825673 -0.0118586 -0.26992046] [ 0.00817441 0.99994228 -0.006973 -0.0903682 ] [ 0.01191549 0.00687534 0.99990537 0.60951723] [ 0. 0. 0. 1. ]] SLAMing on 36.812557844000004 meters Centerline goodness [0,1] 0.23993259213866758 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.61 [[ 0.99989655 -0.00829568 -0.01175045 -0.27031101] [ 0.00821306 0.99994134 -0.00706131 -0.08996652] [ 0.01180834 0.00696407 0.99990603 0.60971678] [ 0. 0. 0. 1. ]] SLAMing on 36.842557844000005 meters Centerline goodness [0,1] 0.24175751859082628 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.61 [[ 0.99989921 -0.00833928 -0.01149 -0.27107754] [ 0.00825749 0.99994036 -0.00714779 -0.08962209] [ 0.01154892 0.00705219 0.99990844 0.6098993 ] [ 0. 0. 0. 1. ]] SLAMing on 36.872557844000006 meters Centerline goodness [0,1] 0.2405716382790406 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.09, Z:0.61 [[ 0.99993974 -0.00733548 -0.00816733 -0.23120349] [ 0.00728154 0.99995161 -0.00661506 -0.08971803] [ 0.00821545 0.00655519 0.99994477 0.61142939] [ 0. 0. 0. 1. ]] SLAMing on 36.90255784400001 meters Centerline goodness [0,1] 0.23926486486486487 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.09, Z:0.61 [[ 0.99996377 -0.0037708 -0.00763187 -0.23313936] [ 0.00374854 0.99998869 -0.00292829 -0.08986018] [ 0.00764282 0.00289957 0.99996659 0.6121441 ] [ 0. 0. 0. 1. ]] SLAMing on 36.932557844 meters Centerline goodness [0,1] 0.23706961602311194 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.09, Z:0.61 [[ 0.9999629 -0.003828 -0.00771711 -0.23290275] [ 0.00380322 0.99998757 -0.00322346 -0.08822032] [ 0.00772936 0.00319399 0.99996503 0.61217199] [ 0. 0. 0. 1. ]] SLAMing on 36.962557844 meters Centerline goodness [0,1] 0.23706961602311194 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.09, Z:0.61 [[ 0.9999629 -0.003828 -0.00771711 -0.23290275] [ 0.00380322 0.99998757 -0.00322346 -0.08822032] [ 0.00772936 0.00319399 0.99996503 0.61217199] [ 0. 0. 0. 1. ]] SLAMing on 36.992557844000004 meters Centerline goodness [0,1] 0.24311211608965777 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.08, Z:0.61 [[ 0.9999342 -0.00278396 -0.01112896 -0.27585577] [ 0.00275684 0.99999319 -0.00245225 -0.08286282] [ 0.01113571 0.00242141 0.99993506 0.61194438] [ 0. 0. 0. 1. ]] SLAMing on 37.022557844000005 meters Centerline goodness [0,1] 0.23974147653335642 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.08, Z:0.61 [[ 0.99993236 -0.00289798 -0.0112643 -0.2752006 ] [ 0.00286715 0.9999921 -0.00275214 -0.08148466] [ 0.01127218 0.00271966 0.99993277 0.61135534] [ 0. 0. 0. 1. ]] SLAMing on 37.052557844000006 meters Centerline goodness [0,1] 0.24023619825022258 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.08, Z:0.61 [[ 0.99993096 -0.00296701 -0.01136954 -0.27478073] [ 0.00293367 0.99999135 -0.00294789 -0.08052022] [ 0.01137819 0.00291433 0.99993102 0.61108495] [ 0. 0. 0. 1. ]] SLAMing on 37.08255784400001 meters Centerline goodness [0,1] 0.2389696340513885 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.08, Z:0.61 [[ 0.99992989 -0.00301053 -0.01145237 -0.27453047] [ 0.00297536 0.99999081 -0.00308672 -0.07975944] [ 0.01146155 0.00305243 0.99992966 0.61102167] [ 0. 0. 0. 1. ]] SLAMing on 37.112557844 meters Centerline goodness [0,1] 0.24133245671707215 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.08, Z:0.61 [[ 0.9999027 0.00544662 -0.01284194 -0.2954809 ] [-0.00549749 0.99997717 -0.00392869 -0.08234991] [ 0.01282024 0.0039989 0.99990982 0.61024012] [ 0. 0. 0. 1. ]] SLAMing on 37.142557844 meters Centerline goodness [0,1] 0.2418506834910621 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:0.61 [[ 0.99990036 0.00535854 -0.01305972 -0.29472697] [-0.00541234 0.999977 -0.00408812 -0.08171563] [ 0.01303751 0.0041584 0.99990636 0.60986532] [ 0. 0. 0. 1. ]] SLAMing on 37.172557844 meters Centerline goodness [0,1] 0.23912287564654233 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.08, Z:0.61 [[ 0.99989113 -0.00227001 -0.0145799 -0.27398765] [ 0.00222248 0.99999217 -0.00327528 -0.07676172] [ 0.01458722 0.00324252 0.99988834 0.61182191] [ 0. 0. 0. 1. ]] SLAMing on 37.202557844000005 meters Centerline goodness [0,1] 0.23916218042326887 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 9.99882348e-01 1.46024734e-03 -1.52694959e-02 -2.72027974e-01] [-1.45819768e-03 9.99998926e-01 1.45365019e-04 -7.41084182e-02] [ 1.52696917e-02 -1.23081973e-04 9.99883404e-01 6.11327826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232557844000006 meters Centerline goodness [0,1] 0.24253625248791588 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 9.99879617e-01 1.28870182e-03 -1.54625594e-02 -2.71487538e-01] [-1.29444034e-03 9.99999097e-01 -3.61121355e-04 -7.16762620e-02] [ 1.54620801e-02 3.81093242e-04 9.99880382e-01 6.11295008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26255784400001 meters Centerline goodness [0,1] 0.24051935540374847 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 9.99878457e-01 1.10558821e-03 -1.55514630e-02 -2.71191491e-01] [-1.11801816e-03 9.99999062e-01 -7.90606879e-04 -6.97699208e-02] [ 1.55505743e-02 8.07897605e-04 9.99878756e-01 6.11213590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29255784400001 meters Centerline goodness [0,1] 0.24114235693183061 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 9.99879366e-01 9.56268670e-04 -1.55028896e-02 -2.71376217e-01] [-9.73471745e-04 9.99998919e-01 -1.10216065e-03 -6.84975835e-02] [ 1.55018188e-02 1.11711931e-03 9.99879216e-01 6.11337034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322557844 meters Centerline goodness [0,1] 0.24345187042290695 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 9.99883118e-01 8.24888078e-04 -1.52666352e-02 -2.72157463e-01] [-8.46325370e-04 9.99998665e-01 -1.39778500e-03 -6.72409887e-02] [ 1.52654618e-02 1.41054216e-03 9.99882481e-01 6.11671664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352557844 meters Centerline goodness [0,1] 0.2385432473444613 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.06, Z:0.61 [[ 9.99924703e-01 -5.68432797e-03 -1.08755550e-02 -2.52652197e-01] [ 5.69102444e-03 9.99983635e-01 5.84886768e-04 -6.42483003e-02] [ 1.08720523e-02 -6.46735776e-04 9.99940688e-01 6.11637175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382557844000004 meters Centerline goodness [0,1] 0.24134762633996942 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 9.99939462e-01 2.27777846e-03 -1.07649354e-02 -2.72588332e-01] [-2.28764578e-03 9.99996974e-01 -9.04391723e-04 -6.66509615e-02] [ 1.07628429e-02 9.28963332e-04 9.99941647e-01 6.09649366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412557844000006 meters Centerline goodness [0,1] 0.23966081845980347 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 0.99993672 0.0021201 -0.01104846 -0.27157592] [-0.00213241 0.99999712 -0.00110253 -0.06605748] [ 0.0110461 0.00112602 0.99993836 0.60907934] [ 0. 0. 0. 1. ]] SLAMing on 37.44255784400001 meters Centerline goodness [0,1] 0.240517373001505 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 0.99993254 0.00201654 -0.01143891 -0.2701872 ] [-0.00203088 0.99999717 -0.00124211 -0.06553819] [ 0.01143637 0.00126525 0.9999338 0.60832179] [ 0. 0. 0. 1. ]] SLAMing on 37.47255784400001 meters Centerline goodness [0,1] 0.23489584459971014 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 0.99992877 0.00197596 -0.01177085 -0.26904324] [-0.00199128 0.99999719 -0.00128986 -0.06517767] [ 0.01176827 0.00131321 0.99992989 0.6077642 ] [ 0. 0. 0. 1. ]] SLAMing on 37.502557844 meters Centerline goodness [0,1] 0.23979148566463948 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 0.99992892 0.00201885 -0.01175111 -0.26910371] [-0.00203343 0.99999718 -0.00122845 -0.06514404] [ 0.0117486 0.00125225 0.9999302 0.60775571] [ 0. 0. 0. 1. ]] SLAMing on 37.532557844 meters Centerline goodness [0,1] 0.23441938538348972 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.06, Z:0.61 [[ 9.99942021e-01 -6.51506306e-03 -8.57374050e-03 -2.49124819e-01] [ 6.50989179e-03 9.99978611e-01 -6.30921378e-04 -6.48256419e-02] [ 8.57766761e-03 5.75070675e-04 9.99963046e-01 6.09121952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562557844000004 meters Centerline goodness [0,1] 0.2410885063467223 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 9.99980681e-01 7.17845852e-04 -6.17437878e-03 -2.73184500e-01] [-7.30073740e-04 9.99997776e-01 -1.97839821e-03 -6.95273758e-02] [ 6.17294486e-03 1.98286774e-03 9.99978981e-01 6.08126364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592557844000005 meters Centerline goodness [0,1] 0.23942079100929325 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 9.99982448e-01 7.18183270e-04 -5.88113481e-03 -2.74138578e-01] [-7.29679985e-04 9.99997827e-01 -1.95293400e-03 -6.97041879e-02] [ 5.87971946e-03 1.95719107e-03 9.99980799e-01 6.08487521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622557844000006 meters Centerline goodness [0,1] 0.24215217391304344 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.61 [[ 9.99984010e-01 7.33907951e-04 -5.60726769e-03 -2.74813769e-01] [-7.45195055e-04 9.99997700e-01 -2.01111788e-03 -6.91314169e-02] [ 5.60577882e-03 2.01526423e-03 9.99982257e-01 6.08479206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65255784400001 meters Centerline goodness [0,1] 0.23756727664155008 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.07, Z:0.61 [[ 9.99985277e-01 7.42151415e-04 -5.37542267e-03 -2.75296545e-01] [-7.53551689e-04 9.99997471e-01 -2.11909975e-03 -6.83084682e-02] [ 5.37383638e-03 2.12311921e-03 9.99983307e-01 6.08374585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682557844 meters Centerline goodness [0,1] 0.24253140390080918 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.07, Z:0.61 [[ 9.99986183e-01 7.01407072e-04 -5.20975275e-03 -2.75735677e-01] [-7.13123177e-04 9.99997220e-01 -2.24736226e-03 -6.77664287e-02] [ 5.20816196e-03 2.25104641e-03 9.99983904e-01 6.08421597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712557844 meters Centerline goodness [0,1] 0.2426242320300458 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.07, Z:0.61 [[ 9.99985493e-01 5.52613283e-04 -5.35809247e-03 -2.75585671e-01] [-5.66700115e-04 9.99996386e-01 -2.62791421e-03 -6.64127825e-02] [ 5.35662089e-03 2.63091252e-03 9.99982192e-01 6.08854876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742557844000004 meters Centerline goodness [0,1] 0.23963652098658594 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.61 [[ 9.99983980e-01 5.06329629e-04 -5.63760357e-03 -2.74777220e-01] [-5.22722361e-04 9.99995639e-01 -2.90665465e-03 -6.47533105e-02] [ 5.63610726e-03 2.90955499e-03 9.99979884e-01 6.08708860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772557844000005 meters Centerline goodness [0,1] 0.24041766651533825 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.61 [[ 9.99983032e-01 5.27074841e-04 -5.80155050e-03 -2.74006674e-01] [-5.45435846e-04 9.99994847e-01 -3.16371739e-03 -6.27264238e-02] [ 5.79985309e-03 3.16682808e-03 9.99978166e-01 6.08173005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802557844000006 meters Centerline goodness [0,1] 0.24067200625122098 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.61 [[ 9.99983086e-01 4.29067337e-04 -5.80039162e-03 -2.73858056e-01] [-4.49648291e-04 9.99993607e-01 -3.54736233e-03 -6.05760054e-02] [ 5.79883248e-03 3.54991047e-03 9.99976886e-01 6.08013526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83255784400001 meters Centerline goodness [0,1] 0.2424116967729283 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.61 [[ 9.99983863e-01 2.76258299e-04 -5.67432875e-03 -2.74301072e-01] [-2.98559163e-04 9.99992234e-01 -3.92966154e-03 -5.88894138e-02] [ 5.67319909e-03 3.93129225e-03 9.99976180e-01 6.08281313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862557844 meters Centerline goodness [0,1] 0.2409969305261338 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.61 [[ 9.99983207e-01 -5.07637113e-05 -5.79505411e-03 -2.74238981e-01] [ 2.45860424e-05 9.99989797e-01 -4.51722509e-03 -5.67004596e-02] [ 5.79522430e-03 4.51700676e-03 9.99973006e-01 6.08686649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892557844 meters Centerline goodness [0,1] 0.24280320391104127 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.61 [[ 0.99994279 -0.00826265 -0.00679312 -0.29304065] [ 0.00824183 0.99996127 -0.0030872 -0.04984563] [ 0.00681836 0.00303104 0.99997216 0.60696895] [ 0. 0. 0. 1. ]] SLAMing on 37.922557844 meters Centerline goodness [0,1] 0.2428543482513531 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.61 [[ 0.99994135 -0.00828605 -0.00697467 -0.29205955] [ 0.00826479 0.99996113 -0.00307135 -0.04966721] [ 0.00699985 0.00301352 0.99997096 0.60600005] [ 0. 0. 0. 1. ]] SLAMing on 37.952557844000005 meters Centerline goodness [0,1] 0.24050879778105227 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.60 [[ 0.9999401 -0.00833046 -0.00709961 -0.29121202] [ 0.00830942 0.99996101 -0.00298712 -0.05018628] [ 0.00712422 0.00292794 0.99997034 0.60499189] [ 0. 0. 0. 1. ]] SLAMing on 37.982557844000006 meters Centerline goodness [0,1] 0.23912759281854623 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.60 [[ 0.99993873 -0.00840171 -0.00720804 -0.29047783] [ 0.00838064 0.99996053 -0.00294924 -0.05064098] [ 0.00723254 0.00288866 0.99996967 0.60408141] [ 0. 0. 0. 1. ]] SLAMing on 38.01255784400001 meters Centerline goodness [0,1] 0.24234401200247113 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.60 [[ 9.99961492e-01 -1.98150169e-05 -8.77578590e-03 -3.10241308e-01] [-1.60340630e-05 9.99991657e-01 -4.08491018e-03 -5.35210323e-02] [ 8.77579362e-03 4.08489359e-03 9.99953148e-01 6.02750108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04255784400001 meters Centerline goodness [0,1] 0.2371722765423553 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.60 [[ 9.99951198e-01 7.90107105e-04 -9.84771293e-03 -2.65461993e-01] [-8.22106880e-04 9.99994394e-01 -3.24583834e-03 -5.49129017e-02] [ 9.84509317e-03 3.25377581e-03 9.99946242e-01 6.04252483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072557844 meters Centerline goodness [0,1] 0.2402740023920844 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.60 [[ 9.99949127e-01 7.10171462e-04 -1.00618049e-02 -2.65034628e-01] [-7.45376098e-04 9.99993613e-01 -3.49552119e-03 -5.36834198e-02] [ 1.00592582e-02 3.50284319e-03 9.99943269e-01 6.04553291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102557844 meters Centerline goodness [0,1] 0.23935892981236973 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.05, Z:0.60 [[ 9.99948329e-01 6.16662149e-04 -1.01468751e-02 -2.64890373e-01] [-6.54778270e-04 9.99992741e-01 -3.75354621e-03 -5.25951296e-02] [ 1.01444868e-02 3.75999622e-03 9.99941474e-01 6.04737815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132557844000004 meters Centerline goodness [0,1] 0.23543143697043056 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.05, Z:0.60 [[ 9.99948369e-01 5.26632923e-04 -1.01479590e-02 -2.64896468e-01] [-5.67547058e-04 9.99991721e-01 -4.02930204e-03 -5.14450754e-02] [ 1.01457530e-02 4.03485345e-03 9.99940390e-01 6.04832094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162557844000006 meters Centerline goodness [0,1] 0.24175125512463547 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.61 [[ 0.99992311 0.00127394 -0.01233476 -0.31248904] [-0.00132021 0.99999212 -0.00374366 -0.046821 ] [ 0.01232989 0.00375966 0.99991692 0.60643823] [ 0. 0. 0. 1. ]] SLAMing on 38.19255784400001 meters Centerline goodness [0,1] 0.2336949474867096 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99933416e-01 -3.65688023e-03 -1.09449369e-02 -2.90618794e-01] [ 3.65625309e-03 9.99993313e-01 -7.73079636e-05 -4.36468645e-02] [ 1.09451465e-02 3.72853565e-05 9.99940099e-01 6.06438254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22255784400001 meters Centerline goodness [0,1] 0.24068774168177742 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.61 [[ 0.99992319 0.00499638 -0.01134219 -0.31154448] [-0.00500996 0.99998677 -0.00116968 -0.04514096] [ 0.0113362 0.00122641 0.99993499 0.60545033] [ 0. 0. 0. 1. ]] SLAMing on 38.252557844 meters Centerline goodness [0,1] 0.24012727748234675 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.04, Z:0.61 [[ 0.99992231 0.00491284 -0.01145566 -0.31146877] [-0.00492951 0.99998683 -0.00142752 -0.04397899] [ 0.01144849 0.00148388 0.99993336 0.60586773] [ 0. 0. 0. 1. ]] SLAMing on 38.282557844 meters Centerline goodness [0,1] 0.24405245699975842 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.04, Z:0.61 [[ 0.99992414 0.00482369 -0.01133329 -0.31204774] [-0.00484274 0.9999869 -0.0016546 -0.04309256] [ 0.01132516 0.00170936 0.99993441 0.60638896] [ 0. 0. 0. 1. ]] SLAMing on 38.312557844000004 meters Centerline goodness [0,1] 0.2402190923317684 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99948269e-01 -3.32073191e-03 -9.61411563e-03 -2.92802806e-01] [ 3.31468145e-03 9.99994298e-01 -6.45197351e-04 -3.94787342e-02] [ 9.61620334e-03 6.13296244e-04 9.99953575e-01 6.07587461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342557844000005 meters Centerline goodness [0,1] 0.24327045126274782 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.61 [[ 9.99959588e-01 -3.16120519e-03 -8.41600534e-03 -2.96127491e-01] [ 3.15385935e-03 9.99994634e-01 -8.85970043e-04 -3.74862116e-02] [ 8.41876091e-03 8.59391342e-04 9.99964192e-01 6.08371620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372557844000006 meters Centerline goodness [0,1] 0.24361355739603596 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.61 [[ 0.99996053 -0.00322474 -0.00827885 -0.296593 ] [ 0.00321544 0.99999418 -0.00113632 -0.03618864] [ 0.00828246 0.00110965 0.99996508 0.60865065] [ 0. 0. 0. 1. ]] SLAMing on 38.40255784400001 meters Centerline goodness [0,1] 0.24244400956729728 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.61 [[ 0.99995999 -0.00330173 -0.00831388 -0.29656156] [ 0.00329048 0.99999365 -0.00136616 -0.03509814] [ 0.00831834 0.00133875 0.99996451 0.60876944] [ 0. 0. 0. 1. ]] SLAMing on 38.432557844 meters Centerline goodness [0,1] 0.24422959672502398 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99995859 -0.00335243 -0.008461 -0.29609928] [ 0.00333973 0.99999328 -0.00151411 -0.03439809] [ 0.00846602 0.00148579 0.99996306 0.60863234] [ 0. 0. 0. 1. ]] SLAMing on 38.462557844 meters Centerline goodness [0,1] 0.24393748095258827 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99995718 -0.0033407 -0.00863015 -0.29549665] [ 0.00332788 0.99999334 -0.00149976 -0.03437644] [ 0.0086351 0.00147098 0.99996163 0.60826684] [ 0. 0. 0. 1. ]] SLAMing on 38.492557844000004 meters Centerline goodness [0,1] 0.24112904978162142 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 0.99995526 -0.00326189 -0.00887912 -0.29469777] [ 0.00325126 0.99999398 -0.00121213 -0.03563053] [ 0.00888302 0.00118321 0.99995985 0.60785398] [ 0. 0. 0. 1. ]] SLAMing on 38.522557844000005 meters Centerline goodness [0,1] 0.23906239882584013 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99955288e-01 -3.19078660e-03 -8.90175869e-03 -2.94635492e-01] [ 3.18261643e-03 9.99994501e-01 -9.31830358e-04 -3.69990922e-02] [ 8.90468302e-03 9.03457810e-04 9.99959944e-01 6.07760022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552557844000006 meters Centerline goodness [0,1] 0.24007043631383296 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99955713e-01 -3.11835411e-03 -8.87960347e-03 -2.94597622e-01] [ 3.11295586e-03 9.99994961e-01 -6.21694876e-04 -3.85714991e-02] [ 8.88149740e-03 5.94025530e-04 9.99960382e-01 6.07506154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58255784400001 meters Centerline goodness [0,1] 0.24200544959128067 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99955845e-01 -3.05361682e-03 -8.88725905e-03 -2.94448006e-01] [ 3.05124605e-03 9.99995306e-01 -2.80307910e-04 -4.03273867e-02] [ 8.88807328e-03 2.53178319e-04 9.99960468e-01 6.07195468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61255784400001 meters Centerline goodness [0,1] 0.24230186774356388 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99956124e-01 -2.96571842e-03 -8.88560506e-03 -2.94319261e-01] [ 2.96588394e-03 9.99995602e-01 5.45114150e-06 -4.16940512e-02] [ 8.88554981e-03 -3.18045757e-05 9.99960522e-01 6.06899528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642557844 meters Centerline goodness [0,1] 0.24489616718619656 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99956133e-01 -2.89704524e-03 -8.90721633e-03 -2.94189607e-01] [ 2.89876435e-03 9.99995782e-01 1.80097584e-04 -4.24566711e-02] [ 8.90665701e-03 -2.05909605e-04 9.99960314e-01 6.06733901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672557844 meters Centerline goodness [0,1] 0.24011926525637672 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99953352e-01 -2.76282103e-03 -9.25530351e-03 -2.93048521e-01] [ 2.76609395e-03 9.99996116e-01 3.40844257e-04 -4.27267134e-02] [ 9.25432587e-03 -3.66429397e-04 9.99957111e-01 6.06298150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702557844000005 meters Centerline goodness [0,1] 0.23775616533518584 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99952888e-01 -2.74987935e-03 -9.30908850e-03 -2.92952892e-01] [ 2.75253006e-03 9.99996175e-01 2.71944305e-04 -4.22341439e-02] [ 9.30830507e-03 -2.97555040e-04 9.99956633e-01 6.06367946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732557844000006 meters Centerline goodness [0,1] 0.24367700008781945 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.61 [[ 9.99943022e-01 5.67909342e-03 -9.03880910e-03 -3.14060240e-01] [-5.68621578e-03 9.99983543e-01 -7.62471769e-04 -4.52493426e-02] [ 9.03433020e-03 8.13824944e-04 9.99958858e-01 6.05148504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76255784400001 meters Centerline goodness [0,1] 0.23888298679617548 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.61 [[ 9.99970458e-01 -2.80579951e-03 -7.15616530e-03 -2.93904207e-01] [ 2.80479377e-03 9.99996055e-01 -1.50573385e-04 -4.24408924e-02] [ 7.15655955e-03 1.30497369e-04 9.99974383e-01 6.05967780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79255784400001 meters Centerline goodness [0,1] 0.24099601767975143 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.61 [[ 9.99973313e-01 -2.85632649e-03 -6.72411963e-03 -2.95350415e-01] [ 2.85462505e-03 9.99995891e-01 -2.62618799e-04 -4.20066440e-02] [ 6.72484213e-03 2.43416950e-04 9.99977358e-01 6.06614615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822557844 meters Centerline goodness [0,1] 0.23892655244861272 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.05, Z:0.61 [[ 0.99997004 0.00500625 -0.00590343 -0.27653306] [-0.00501578 0.99998614 -0.00159997 -0.04755771] [ 0.00589534 0.00162953 0.99998129 0.60746627] [ 0. 0. 0. 1. ]] SLAMing on 38.852557844 meters Centerline goodness [0,1] 0.24165687682199888 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.05, Z:0.61 [[ 0.99996931 0.00501122 -0.00602217 -0.2761475 ] [-0.00502035 0.99998627 -0.00150231 -0.04817046] [ 0.00601456 0.0015325 0.99998074 0.60727759] [ 0. 0. 0. 1. ]] SLAMing on 38.882557844000004 meters Centerline goodness [0,1] 0.24165687682199888 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.05, Z:0.61 [[ 0.99996931 0.00501122 -0.00602217 -0.2761475 ] [-0.00502035 0.99998627 -0.00150231 -0.04817046] [ 0.00601456 0.0015325 0.99998074 0.60727759] [ 0. 0. 0. 1. ]] SLAMing on 38.912557844000006 meters Centerline goodness [0,1] 0.2420231933433794 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.05, Z:0.61 [[ 0.99996772 0.00497883 -0.00630638 -0.27519208] [-0.00498797 0.99998653 -0.00143527 -0.04871982] [ 0.00629915 0.00146668 0.99997908 0.60678605] [ 0. 0. 0. 1. ]] SLAMing on 38.94255784400001 meters Centerline goodness [0,1] 0.23753735545064747 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.05, Z:0.61 [[ 9.99963316e-01 -3.00821805e-03 -8.01984487e-03 -2.53408382e-01] [ 3.00360414e-03 9.99995317e-01 -5.87294519e-04 -4.58896107e-02] [ 8.02157402e-03 5.63184535e-04 9.99967668e-01 6.08134384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97255784400001 meters Centerline goodness [0,1] 0.23700147071545985 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.04, Z:0.61 [[ 9.99957205e-01 -2.94230823e-03 -8.77099425e-03 -2.51016005e-01] [ 2.93592419e-03 9.99995416e-01 -7.40645543e-04 -4.42714781e-02] [ 8.77313325e-03 7.14862873e-04 9.99961260e-01 6.07355756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002557844 meters Centerline goodness [0,1] 0.2411216174996732 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.04, Z:0.61 [[ 9.99957440e-01 -3.01472079e-03 -8.71955044e-03 -2.51283621e-01] [ 3.00649289e-03 9.99995023e-01 -9.56569686e-04 -4.32484940e-02] [ 8.72239084e-03 9.30313708e-04 9.99961526e-01 6.07633185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032557844 meters Centerline goodness [0,1] 0.23944638177131838 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.04, Z:0.61 [[ 0.99995857 -0.00310947 -0.00855488 -0.25217224] [ 0.00309937 0.99999448 -0.0011933 -0.04233091] [ 0.00855854 0.00116674 0.99996269 0.6085054 ] [ 0. 0. 0. 1. ]] SLAMing on 39.062557844000004 meters Centerline goodness [0,1] 0.24779502557770328 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.61 [[ 0.99994374 -0.00311744 -0.01013866 -0.30101632] [ 0.00310216 0.99999403 -0.00152259 -0.03864307] [ 0.01014334 0.00149105 0.99994744 0.61111962] [ 0. 0. 0. 1. ]] SLAMing on 39.092557844000005 meters Centerline goodness [0,1] 0.23655890789104794 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.04, Z:0.61 [[ 0.99997184 -0.00289302 -0.0069243 -0.25967862] [ 0.00288492 0.99999514 -0.00117988 -0.04066861] [ 0.00692768 0.00115987 0.99997533 0.61191702] [ 0. 0. 0. 1. ]] SLAMing on 39.122557844000006 meters Centerline goodness [0,1] 0.2383335850359215 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.04, Z:0.61 [[ 0.99997284 -0.00295119 -0.00675388 -0.26032428] [ 0.00294216 0.99999477 -0.00134628 -0.03980566] [ 0.00675782 0.00132637 0.99997629 0.61228987] [ 0. 0. 0. 1. ]] SLAMing on 39.15255784400001 meters Centerline goodness [0,1] 0.24395483941685847 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.61 [[ 9.99950987e-01 -2.42718640e-03 -9.59855590e-03 -3.04179803e-01] [ 2.41758661e-03 9.99996566e-01 -1.01160459e-03 -3.54694978e-02] [ 9.60097829e-03 9.88349664e-04 9.99953421e-01 6.12174913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182557844 meters Centerline goodness [0,1] 0.2442043222003929 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.61 [[ 9.99948608e-01 -2.45674376e-03 -9.83592771e-03 -3.03308759e-01] [ 2.44683487e-03 9.99996487e-01 -1.01932482e-03 -3.55119620e-02] [ 9.83839737e-03 9.95205542e-04 9.99951107e-01 6.11627759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212557844 meters Centerline goodness [0,1] 0.23687909521441086 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.61 [[ 0.99994701 -0.00246588 -0.00999448 -0.30271979] [ 0.00245566 0.99999645 -0.0010344 -0.03543326] [ 0.009997 0.0010098 0.99994952 0.61126807] [ 0. 0. 0. 1. ]] SLAMing on 39.242557844000004 meters Centerline goodness [0,1] 0.23934355430792487 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99994676 -0.00247924 -0.01001623 -0.30266862] [ 0.00246815 0.99999633 -0.00111973 -0.03487389] [ 0.01001897 0.00109494 0.99994921 0.61126696] [ 0. 0. 0. 1. ]] SLAMing on 39.272557844000005 meters Centerline goodness [0,1] 0.24454272145004574 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99994643 -0.00252929 -0.01003701 -0.30279726] [ 0.00251635 0.99999599 -0.00130197 -0.03386905] [ 0.01004026 0.00127664 0.99994878 0.61164623] [ 0. 0. 0. 1. ]] SLAMing on 39.302557844000006 meters Centerline goodness [0,1] 0.2388885273638316 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99994688 -0.00259233 -0.0099762 -0.30318529] [ 0.00257744 0.99999555 -0.00150447 -0.03285736] [ 0.00998005 0.00147867 0.9999491 0.61211836] [ 0. 0. 0. 1. ]] SLAMing on 39.33255784400001 meters Centerline goodness [0,1] 0.23821457892235232 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99994964 -0.00275741 -0.0096496 -0.30457319] [ 0.00273895 0.99999439 -0.00192591 -0.03102164] [ 0.00965485 0.00189939 0.99995159 0.61311845] [ 0. 0. 0. 1. ]] SLAMing on 39.36255784400001 meters Centerline goodness [0,1] 0.24112352239453416 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.9999486 -0.00281641 -0.00973969 -0.30409357] [ 0.0027962 0.99999391 -0.0020883 -0.03017445] [ 0.00974551 0.00206096 0.99995039 0.61268585] [ 0. 0. 0. 1. ]] SLAMing on 39.392557844 meters Centerline goodness [0,1] 0.23972037688333114 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99994708 -0.00282949 -0.00989088 -0.30312551] [ 0.00280808 0.99999369 -0.00217779 -0.02944561] [ 0.00989698 0.0021499 0.99994871 0.61167987] [ 0. 0. 0. 1. ]] SLAMing on 39.422557844 meters Centerline goodness [0,1] 0.23880661831762717 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99994472 -0.00282667 -0.01012704 -0.30202116] [ 0.00280436 0.99999361 -0.00221609 -0.0290373 ] [ 0.01013324 0.00218757 0.99994626 0.61077732] [ 0. 0. 0. 1. ]] SLAMing on 39.452557844000005 meters Centerline goodness [0,1] 0.23669282096981026 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99994383 -0.00287425 -0.01020156 -0.30175614] [ 0.00285081 0.99999327 -0.00231143 -0.02865821] [ 0.01020814 0.00228222 0.99994529 0.61065988] [ 0. 0. 0. 1. ]] SLAMing on 39.482557844000006 meters Centerline goodness [0,1] 0.24564835164835164 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.03, Z:0.61 [[ 0.99993215 0.00543289 -0.01030478 -0.32252304] [-0.00546963 0.99997877 -0.00354069 -0.03208906] [ 0.01028532 0.00359682 0.99994064 0.60974662] [ 0. 0. 0. 1. ]] SLAMing on 39.51255784400001 meters Centerline goodness [0,1] 0.23819185374260965 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99993844 -0.00244864 -0.01082237 -0.30274104] [ 0.00242335 0.99999431 -0.00234885 -0.02753966] [ 0.01082806 0.00232248 0.99993868 0.61236744] [ 0. 0. 0. 1. ]] SLAMing on 39.54255784400001 meters Centerline goodness [0,1] 0.2396267143448968 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.61 [[ 0.99993618 -0.00253317 -0.01100992 -0.30198407] [ 0.00250381 0.99999327 -0.00267998 -0.02581268] [ 0.01101663 0.00265224 0.9999358 0.61190782] [ 0. 0. 0. 1. ]] SLAMing on 39.572557844 meters Centerline goodness [0,1] 0.24467007312131095 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.02, Z:0.61 [[ 0.99993463 -0.00267363 -0.01111661 -0.30146412] [ 0.00263861 0.99999152 -0.0031634 -0.0234533 ] [ 0.01112497 0.00313387 0.9999332 0.61155439] [ 0. 0. 0. 1. ]] SLAMing on 39.602557844 meters Centerline goodness [0,1] 0.24076263024253564 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.02, Z:0.61 [[ 0.99993449 -0.0027968 -0.01109963 -0.30141745] [ 0.00275548 0.99998922 -0.00373633 -0.02057065] [ 0.01110996 0.0037055 0.99993142 0.61152696] [ 0. 0. 0. 1. ]] SLAMing on 39.632557844000004 meters Centerline goodness [0,1] 0.24286901741184708 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.02, Z:0.61 [[ 0.99993691 -0.00278568 -0.01088174 -0.3020705 ] [ 0.00273911 0.99998704 -0.00429213 -0.01746547] [ 0.01089356 0.00426205 0.99993158 0.61192003] [ 0. 0. 0. 1. ]] SLAMing on 39.662557844000006 meters Centerline goodness [0,1] 0.24275669910098174 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.01, Z:0.61 [[ 9.99941299e-01 8.45175231e-04 -1.08020621e-02 -3.02607221e-01] [-8.63077544e-04 9.99998262e-01 -1.65275101e-03 -1.12933534e-02] [ 1.08006464e-02 1.66197700e-03 9.99940290e-01 6.12606617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69255784400001 meters Centerline goodness [0,1] 0.24034568331229045 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.01, Z:0.61 [[ 9.99944232e-01 9.46272730e-04 -1.05184181e-02 -3.03366174e-01] [-9.69152359e-04 9.99997175e-01 -2.17031251e-03 -8.15394019e-03] [ 1.05163346e-02 2.18038543e-03 9.99942325e-01 6.12866524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72255784400001 meters Centerline goodness [0,1] 0.2426243945398503 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.01, Z:0.61 [[ 9.99947175e-01 9.38008716e-04 -1.02355806e-02 -3.04126370e-01] [-9.65525581e-04 9.99995933e-01 -2.68374374e-03 -5.35508468e-03] [ 1.02330216e-02 2.69348469e-03 9.99944014e-01 6.13080776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752557844 meters Centerline goodness [0,1] 0.24509760816039394 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.00, Z:0.61 [[ 9.99948027e-01 8.43103177e-04 -1.01603019e-02 -3.04387340e-01] [-8.75080728e-04 9.99994677e-01 -3.14326862e-03 -3.08986684e-03] [ 1.01575977e-02 3.15199634e-03 9.99943442e-01 6.13284290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782557844 meters Centerline goodness [0,1] 0.24311725828336328 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.00, Z:0.61 [[ 9.99949144e-01 6.02756248e-04 -1.00670527e-02 -3.04826940e-01] [-6.41385941e-04 9.99992443e-01 -3.83445196e-03 -9.48970082e-05] [ 1.00646653e-02 3.84071382e-03 9.99941974e-01 6.13708185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812557844000004 meters Centerline goodness [0,1] 0.23856258820974918 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:0.61 [[ 9.99949585e-01 4.90383507e-04 -1.00292644e-02 -3.05265917e-01] [-5.32161413e-04 9.99991192e-01 -4.16335585e-03 1.40138972e-03] [ 1.00271344e-02 4.16848315e-03 9.99941038e-01 6.14379526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842557844000005 meters Centerline goodness [0,1] 0.24229489536818138 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.00, Z:0.61 [[ 9.99949101e-01 3.88088859e-04 -1.00818884e-02 -3.05239311e-01] [-4.33200945e-04 9.99989903e-01 -4.47276870e-03 2.87266234e-03] [ 1.00800508e-02 4.47690853e-03 9.99939173e-01 6.14618848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872557844000006 meters Centerline goodness [0,1] 0.24106791446188836 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.00, Z:0.61 [[ 9.99947064e-01 3.36268102e-04 -1.02837930e-02 -3.04580376e-01] [-3.85134678e-04 9.99988644e-01 -4.75019359e-03 4.38029205e-03] [ 1.02820789e-02 4.75390278e-03 9.99935838e-01 6.14379805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90255784400001 meters Centerline goodness [0,1] 0.23868733940159403 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.01, Z:0.61 [[ 9.99944655e-01 2.83408188e-04 -1.05170119e-02 -3.03805218e-01] [-3.37356836e-04 9.99986794e-01 -5.12823608e-03 6.42520303e-03] [ 1.05154196e-02 5.13150024e-03 9.99931544e-01 6.14081731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932557844 meters Centerline goodness [0,1] 0.23780871907378842 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.01, Z:0.61 [[ 9.99945104e-01 2.59355876e-04 -1.04748338e-02 -3.03831448e-01] [-3.17861405e-04 9.99984358e-01 -5.58406342e-03 8.87306781e-03] [ 1.04732217e-02 5.58708642e-03 9.99929546e-01 6.14015213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962557844 meters Centerline goodness [0,1] 0.24018219064638446 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.01, Z:0.62 [[ 0.99994671 0.00325704 -0.009796 -0.30730614] [-0.00329088 0.99998867 -0.00344073 0.01476555] [ 0.00978468 0.00347278 0.9999461 0.61634848] [ 0. 0. 0. 1. ]] SLAMing on 39.992557844000004 meters Centerline goodness [0,1] 0.23895403224052036 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.02, Z:0.62 [[ 0.99995146 0.00336924 -0.0092593 -0.30885768] [-0.00340536 0.99998664 -0.00388853 0.01772563] [ 0.00924607 0.00391987 0.99994957 0.61685417] [ 0. 0. 0. 1. ]] SLAMing on 40.022557844000005 meters Centerline goodness [0,1] 0.2470686767169179 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.02, Z:0.62 [[ 9.99947623e-01 -2.46498558e-03 -9.93358186e-03 -3.31811183e-01] [ 2.45568923e-03 9.99996535e-01 -9.47938734e-04 2.26630032e-02] [ 9.93588410e-03 9.23495293e-04 9.99950211e-01 6.17138878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052557844000006 meters Centerline goodness [0,1] 0.24237458486278618 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.02, Z:0.62 [[ 0.99994167 -0.0024726 -0.0105135 -0.33012576] [ 0.00245901 0.99999612 -0.00130538 0.02468699] [ 0.01051669 0.00127946 0.99994388 0.61664003] [ 0. 0. 0. 1. ]] SLAMing on 40.08255784400001 meters Centerline goodness [0,1] 0.2527603635653701 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 0.9999269 -0.00232305 -0.01186604 -0.32600174] [ 0.00230352 0.99999597 -0.00165894 0.02723799] [ 0.01186985 0.00163149 0.99992822 0.61524568] [ 0. 0. 0. 1. ]] SLAMing on 40.11255784400001 meters Centerline goodness [0,1] 0.23576686849327 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.61 [[ 0.99992668 -0.00241608 -0.0118662 -0.32580043] [ 0.00239359 0.99999531 -0.0019087 0.02835814] [ 0.01187075 0.00188015 0.99992777 0.6148906 ] [ 0. 0. 0. 1. ]] SLAMing on 40.142557844 meters Centerline goodness [0,1] 0.24055631114815956 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 0.9999281 -0.00245074 -0.011738 -0.32631035] [ 0.00242699 0.99999498 -0.00203673 0.02900602] [ 0.01174293 0.0020081 0.99992903 0.61524092] [ 0. 0. 0. 1. ]] SLAMing on 40.172557844 meters Centerline goodness [0,1] 0.24177044326395536 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 0.99992946 -0.00244146 -0.01162355 -0.32690882] [ 0.00241706 0.99999485 -0.00211282 0.02964093] [ 0.01162865 0.00208457 0.99993021 0.6157936 ] [ 0. 0. 0. 1. ]] SLAMing on 40.202557844000005 meters Centerline goodness [0,1] 0.23863908286018842 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 0.99992971 -0.00243111 -0.01160436 -0.32713266] [ 0.00240627 0.99999479 -0.00215383 0.0300191 ] [ 0.01160953 0.00212575 0.99993035 0.61611577] [ 0. 0. 0. 1. ]] SLAMing on 40.232557844000006 meters Centerline goodness [0,1] 0.23760357468222637 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 0.99992953 -0.00241179 -0.01162432 -0.32711181] [ 0.00238763 0.99999496 -0.00209188 0.02964558] [ 0.01162931 0.00206398 0.99993025 0.61615292] [ 0. 0. 0. 1. ]] SLAMing on 40.26255784400001 meters Centerline goodness [0,1] 0.24142622051563356 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.02, Z:0.61 [[ 0.99990774 0.00553382 -0.01240522 -0.34596004] [-0.00558011 0.99997759 -0.00369958 0.0234372 ] [ 0.01238447 0.00376846 0.99991621 0.61423754] [ 0. 0. 0. 1. ]] SLAMing on 40.29255784400001 meters Centerline goodness [0,1] 0.23397311200449578 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 0.99992815 -0.00254153 -0.01171468 -0.32588364] [ 0.00251248 0.99999373 -0.00249429 0.02729089] [ 0.01172095 0.00246468 0.99992827 0.61511738] [ 0. 0. 0. 1. ]] SLAMing on 40.322557844 meters Centerline goodness [0,1] 0.23158418196363317 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.61 [[ 0.99992934 -0.00249412 -0.01162333 -0.32596349] [ 0.00246512 0.99999382 -0.00250813 0.02761886] [ 0.01162951 0.0024793 0.9999293 0.61484964] [ 0. 0. 0. 1. ]] SLAMing on 40.352557844 meters Centerline goodness [0,1] 0.24151836591566578 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.02, Z:0.61 [[ 0.99990273 0.00647644 -0.01235226 -0.3475474 ] [-0.00651748 0.99997337 -0.00328481 0.02441077] [ 0.01233066 0.003365 0.99991831 0.61388679] [ 0. 0. 0. 1. ]] SLAMing on 40.382557844000004 meters Centerline goodness [0,1] 0.23839400474914496 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 9.99919363e-01 -8.03762197e-04 -1.26736330e-02 -3.29765401e-01] [ 7.78003571e-04 9.99997622e-01 -2.03725725e-03 2.96353668e-02] [ 1.26752404e-02 2.02723284e-03 9.99917611e-01 6.15682010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412557844000006 meters Centerline goodness [0,1] 0.24425439759568635 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.03, Z:0.62 [[ 0.99986185 0.00942534 -0.01369101 -0.35245745] [-0.00945425 0.99995321 -0.00204853 0.02922699] [ 0.01367106 0.00217769 0.99990418 0.61614725] [ 0. 0. 0. 1. ]] SLAMing on 40.44255784400001 meters Centerline goodness [0,1] 0.23666195805715529 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 9.99918010e-01 3.91511918e-03 -1.21919707e-02 -3.29325417e-01] [-3.90304320e-03 9.99991869e-01 1.01412252e-03 3.20912075e-02] [ 1.21958420e-02 -9.66453585e-04 9.99925161e-01 6.15599607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47255784400001 meters Centerline goodness [0,1] 0.2449964887640449 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 9.99922127e-01 3.93032372e-03 -1.18444845e-02 -3.30388573e-01] [-3.92120663e-03 9.99991998e-01 7.92857912e-04 3.34162650e-02] [ 1.18475059e-02 -7.46351499e-04 9.99929537e-01 6.15941817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502557844 meters Centerline goodness [0,1] 0.2437554585152838 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.03, Z:0.62 [[ 9.99924643e-01 3.89177224e-03 -1.16430966e-02 -3.31197373e-01] [-3.88536875e-03 9.99992288e-01 5.72550633e-04 3.45536415e-02] [ 1.16452350e-02 -5.27269763e-04 9.99932053e-01 6.16481070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532557844 meters Centerline goodness [0,1] 0.2438094823268071 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.04, Z:0.62 [[ 9.99927189e-01 3.83602931e-03 -1.14412137e-02 -3.31815143e-01] [-3.83188267e-03 9.99992584e-01 3.84329125e-04 3.53752473e-02] [ 1.14426032e-02 -3.40459753e-04 9.99934473e-01 6.16652978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562557844000004 meters Centerline goodness [0,1] 0.25230099368439207 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.04, Z:0.62 [[ 0.99993491 -0.00444755 -0.01050651 -0.31259895] [ 0.00446079 0.99998929 0.00123706 0.04015861] [ 0.0105009 -0.00128385 0.99994404 0.61767873] [ 0. 0. 0. 1. ]] SLAMing on 40.592557844000005 meters Centerline goodness [0,1] 0.24210320647808437 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.04, Z:0.62 [[ 9.99932963e-01 -4.57581774e-03 -1.06362977e-02 -3.12402609e-01] [ 4.58523006e-03 9.99989117e-01 8.60707832e-04 4.18542029e-02] [ 1.06322435e-02 -9.09420005e-04 9.99943063e-01 6.17853480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622557844000006 meters Centerline goodness [0,1] 0.24410374790391776 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.04, Z:0.62 [[ 9.99932794e-01 -4.59678690e-03 -1.06431754e-02 -3.12448343e-01] [ 4.60506580e-03 9.99989113e-01 7.53483521e-04 4.24617510e-02] [ 1.06395959e-02 -8.02445405e-04 9.99943076e-01 6.17948283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65255784400001 meters Centerline goodness [0,1] 0.24536123174101854 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.04, Z:0.62 [[ 9.99933999e-01 -4.59503705e-03 -1.05301210e-02 -3.12884428e-01] [ 4.60270901e-03 9.99989159e-01 7.04454051e-04 4.27997061e-02] [ 1.05267699e-02 -7.52874639e-04 9.99944309e-01 6.18197023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682557844 meters Centerline goodness [0,1] 0.24500491320013107 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.04, Z:0.62 [[ 9.99935206e-01 -4.54882020e-03 -1.04351235e-02 -3.13115728e-01] [ 4.55739233e-03 9.99989297e-01 7.97837075e-04 4.23921200e-02] [ 1.04313826e-02 -8.45342332e-04 9.99945234e-01 6.18193097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712557844 meters Centerline goodness [0,1] 0.24598253275109172 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.04, Z:0.62 [[ 0.99993719 -0.00446318 -0.01028082 -0.31352658] [ 0.00447417 0.99998944 0.00104586 0.04120546] [ 0.01027604 -0.00109179 0.9999466 0.61825313] [ 0. 0. 0. 1. ]] SLAMing on 40.742557844000004 meters Centerline goodness [0,1] 0.24715386636307912 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.04, Z:0.62 [[ 0.99993803 -0.00435698 -0.01024463 -0.31350753] [ 0.00437166 0.99998945 0.00141097 0.03938734] [ 0.01023838 -0.00145567 0.99994653 0.61808504] [ 0. 0. 0. 1. ]] SLAMing on 40.772557844000005 meters Centerline goodness [0,1] 0.24715386636307912 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.04, Z:0.62 [[ 0.99993803 -0.00435698 -0.01024463 -0.31350753] [ 0.00437166 0.99998945 0.00141097 0.03938734] [ 0.01023838 -0.00145567 0.99994653 0.61808504] [ 0. 0. 0. 1. ]] SLAMing on 40.802557844000006 meters Centerline goodness [0,1] 0.2448770714923455 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.04, Z:0.62 [[ 0.99993842 -0.00421711 -0.01026514 -0.31347597] [ 0.00424032 0.9999885 0.00224086 0.0350528 ] [ 0.01025557 -0.00228425 0.9999448 0.61820472] [ 0. 0. 0. 1. ]] SLAMing on 40.83255784400001 meters Centerline goodness [0,1] 0.25124641184468954 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.03, Z:0.62 [[ 0.99994208 0.0032608 -0.01025737 -0.29525002] [-0.00324858 0.99999399 0.00120778 0.02823662] [ 0.01026124 -0.00117439 0.99994666 0.62032312] [ 0. 0. 0. 1. ]] SLAMing on 40.86255784400001 meters Centerline goodness [0,1] 0.24344355758266822 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.02, Z:0.62 [[ 0.99991252 0.00293726 -0.01289672 -0.34042968] [-0.0029226 0.99999506 0.00115579 0.02477842] [ 0.01290005 -0.001118 0.99991617 0.6211119 ] [ 0. 0. 0. 1. ]] SLAMing on 40.892557844 meters Centerline goodness [0,1] 0.23793968762168471 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.02, Z:0.62 [[ 0.99990354 -0.00554858 -0.01273281 -0.3182742 ] [ 0.00557572 0.99998226 0.00209695 0.02394358] [ 0.01272095 -0.00216774 0.99991674 0.62123727] [ 0. 0. 0. 1. ]] SLAMing on 40.922557844 meters Centerline goodness [0,1] 0.24308730677117352 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.02, Z:0.62 [[ 0.99990139 -0.00543346 -0.01294944 -0.31742776] [ 0.00546353 0.99998246 0.00228833 0.02314905] [ 0.01293678 -0.00235885 0.99991353 0.62068479] [ 0. 0. 0. 1. ]] SLAMing on 40.952557844000005 meters Centerline goodness [0,1] 0.23586046110007775 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.02, Z:0.62 [[ 0.99990706 0.00331382 -0.01322432 -0.2957371 ] [-0.00329057 0.999993 0.00177947 0.01905382] [ 0.01323012 -0.00173579 0.99991097 0.62140053] [ 0. 0. 0. 1. ]] SLAMing on 40.982557844000006 meters Centerline goodness [0,1] 0.24539135025738046 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.02, Z:0.62 [[ 0.99986371 0.00468572 -0.01583045 -0.34100839] [-0.00464313 0.99998551 0.00272563 0.0185967 ] [ 0.01584299 -0.00265176 0.99987098 0.62185821] [ 0. 0. 0. 1. ]] SLAMing on 41.01255784400001 meters Centerline goodness [0,1] 0.24339932188559554 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.02, Z:0.62 [[ 0.9998623 0.00482493 -0.01587739 -0.34077393] [-0.00478565 0.9999854 0.00251128 0.02003736] [ 0.01588927 -0.00243495 0.99987079 0.62160286] [ 0. 0. 0. 1. ]] SLAMing on 41.04255784400001 meters Centerline goodness [0,1] 0.23839712659843781 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.02, Z:0.62 [[ 0.99985706 0.00496654 -0.01616128 -0.34014119] [-0.00493158 0.99998541 0.00220273 0.02188731] [ 0.01617199 -0.00212271 0.99986697 0.62161386] [ 0. 0. 0. 1. ]] SLAMing on 41.072557844 meters Centerline goodness [0,1] 0.2441873205794053 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.03, Z:0.62 [[ 9.99815954e-01 3.00556847e-04 -1.91824936e-02 -3.60010103e-01] [-1.97776510e-04 9.99985617e-01 5.35970016e-03 2.74538887e-02] [ 1.91838286e-02 -5.35491989e-03 9.99801633e-01 6.22130247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102557844 meters Centerline goodness [0,1] 0.24143817117175514 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.03, Z:0.62 [[ 0.9997854 0.00960887 -0.01835294 -0.33764392] [-0.0095148 0.99994118 0.0052064 0.02658281] [ 0.01840189 -0.00503066 0.99981801 0.62211872] [ 0. 0. 0. 1. ]] SLAMing on 41.132557844000004 meters Centerline goodness [0,1] 0.24279253815715096 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.03, Z:0.62 [[ 0.99979142 0.0095771 -0.01803874 -0.33855098] [-0.00948761 0.99994229 0.00504023 0.02749137] [ 0.01808597 -0.00486803 0.99982458 0.62227393] [ 0. 0. 0. 1. ]] SLAMing on 41.162557844000006 meters Centerline goodness [0,1] 0.24221040060796872 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.03, Z:0.62 [[ 0.99979777 0.00953571 -0.01770587 -0.33958718] [-0.00944842 0.99994282 0.00500756 0.0274041 ] [ 0.0177526 -0.00483926 0.9998307 0.62260492] [ 0. 0. 0. 1. ]] SLAMing on 41.19255784400001 meters Centerline goodness [0,1] 0.24331662032272894 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.03, Z:0.62 [[ 9.99858475e-01 4.34070612e-04 -1.68179167e-02 -3.62186068e-01] [-3.46500460e-04 9.99986370e-01 5.20952008e-03 2.95711156e-02] [ 1.68199488e-02 -5.20295538e-03 9.99844997e-01 6.22028727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22255784400001 meters Centerline goodness [0,1] 0.238022039879625 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.03, Z:0.62 [[ 0.99984762 0.00550727 -0.01656495 -0.34026582] [-0.00547891 0.99998345 0.00175741 0.02531118] [ 0.01657435 -0.00166638 0.99986125 0.62270295] [ 0. 0. 0. 1. ]] SLAMing on 41.252557844 meters Centerline goodness [0,1] 0.23818316100443127 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.02, Z:0.62 [[ 0.99984189 0.00563631 -0.01686522 -0.33929014] [-0.0056016 0.9999821 0.00210413 0.02377537] [ 0.01687678 -0.00200933 0.99985556 0.62234445] [ 0. 0. 0. 1. ]] SLAMing on 41.282557844 meters Centerline goodness [0,1] 0.24152938872326069 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.02, Z:0.62 [[ 0.99983907 0.00571574 -0.01700489 -0.33865528] [-0.00567619 0.99998107 0.00237287 0.02247556] [ 0.01701813 -0.00227596 0.99985259 0.62187885] [ 0. 0. 0. 1. ]] SLAMing on 41.312557844000004 meters Centerline goodness [0,1] 0.24119537415560854 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.02, Z:0.62 [[ 0.99983808 0.00581164 -0.01703076 -0.33853417] [-0.00576761 0.9999799 0.00263316 0.02120967] [ 0.01704572 -0.00253451 0.9998515 0.62181826] [ 0. 0. 0. 1. ]] SLAMing on 41.342557844000005 meters Centerline goodness [0,1] 0.24440400762940395 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.02, Z:0.62 [[ 0.99983977 0.00590694 -0.01689793 -0.33900276] [-0.00585942 0.99997874 0.00286039 0.02015875] [ 0.01691447 -0.00276092 0.99985313 0.62205895] [ 0. 0. 0. 1. ]] SLAMing on 41.372557844000006 meters Centerline goodness [0,1] 0.24150763771690686 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.02, Z:0.62 [[ 9.99887480e-01 7.85951914e-04 -1.49803198e-02 -3.18529849e-01] [-6.80523717e-04 9.99974976e-01 7.04157878e-03 2.06374246e-02] [ 1.49854793e-02 -7.03059199e-03 9.99862994e-01 6.23113634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40255784400001 meters Centerline goodness [0,1] 0.2325851893335631 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.02, Z:0.62 [[ 9.99888231e-01 8.77360373e-04 -1.49250041e-02 -3.18851328e-01] [-7.70623597e-04 9.99974100e-01 7.15578931e-03 2.03176534e-02] [ 1.49308957e-02 -7.14348795e-03 9.99863010e-01 6.23430730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432557844 meters Centerline goodness [0,1] 0.243479775329821 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.02, Z:0.62 [[ 9.99888447e-01 9.50898876e-04 -1.49060174e-02 -3.18744402e-01] [-8.41265191e-04 9.99972564e-01 7.35954072e-03 1.91395580e-02] [ 1.49126066e-02 -7.34617983e-03 9.99861814e-01 6.23177933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462557844 meters Centerline goodness [0,1] 0.23924777614647208 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.02, Z:0.62 [[ 0.99987382 0.00657933 -0.01445862 -0.29665251] [-0.00652691 0.99997197 0.00366978 0.0159764 ] [ 0.01448236 -0.00357495 0.99988873 0.62320424] [ 0. 0. 0. 1. ]] SLAMing on 41.492557844000004 meters Centerline goodness [0,1] 0.24116523400191026 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.01, Z:0.62 [[ 9.99897095e-01 2.98211465e-03 -1.40323044e-02 -2.97583906e-01] [-2.98011167e-03 9.99995546e-01 1.63648053e-04 1.45330479e-02] [ 1.40327299e-02 -1.21813379e-04 9.99901529e-01 6.22887553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522557844000005 meters Centerline goodness [0,1] 0.24560439560439562 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.01, Z:0.62 [[ 0.9998828 -0.0056136 -0.0142437 -0.31885833] [ 0.00563705 0.99998282 0.00160633 0.01424838] [ 0.01423444 -0.00168644 0.99989726 0.62177284] [ 0. 0. 0. 1. ]] SLAMing on 41.552557844000006 meters Centerline goodness [0,1] 0.24321259567786813 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.01, Z:0.62 [[ 0.99992413 0.00316707 -0.0119037 -0.30010946] [-0.00314627 0.99999349 0.00176559 0.00506406] [ 0.01190921 -0.00172801 0.99992759 0.62376745] [ 0. 0. 0. 1. ]] SLAMing on 41.58255784400001 meters Centerline goodness [0,1] 0.2438816723065168 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.00, Z:0.62 [[ 0.99992273 0.0033972 -0.01195795 -0.30028341] [-0.0033694 0.99999158 0.00234403 0.00234065] [ 0.01196582 -0.00230355 0.99992575 0.62437213] [ 0. 0. 0. 1. ]] SLAMing on 41.61255784400001 meters Centerline goodness [0,1] 0.23792625930413713 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.00, Z:0.62 [[ 9.99918132e-01 3.62419075e-03 -1.22717224e-02 -2.99416320e-01] [-3.58847644e-03 9.99989266e-01 2.93106299e-03 -5.33741620e-04] [ 1.22822134e-02 -2.88678624e-03 9.99920404e-01 6.24271102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642557844 meters Centerline goodness [0,1] 0.2402214022140221 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.00, Z:0.62 [[ 0.99990758 0.00412892 -0.01295341 -0.29646306] [-0.00407916 0.99998421 0.00386505 -0.00489343] [ 0.01296917 -0.00381186 0.99990863 0.62223096] [ 0. 0. 0. 1. ]] SLAMing on 41.672557844 meters Centerline goodness [0,1] 0.2435765448053797 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.01, Z:0.62 [[ 0.99990699 0.00432171 -0.01293554 -0.29606106] [-0.00426726 0.99998193 0.00423423 -0.00652945] [ 0.01295361 -0.00417864 0.99990737 0.62143215] [ 0. 0. 0. 1. ]] SLAMing on 41.702557844000005 meters Centerline goodness [0,1] 0.2466567281974832 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.01, Z:0.62 [[ 0.99990947 0.00448082 -0.01268737 -0.29654797] [-0.00442331 0.99997983 0.00455804 -0.00806223] [ 0.01270754 -0.00450151 0.99990912 0.62117019] [ 0. 0. 0. 1. ]] SLAMing on 41.732557844000006 meters Centerline goodness [0,1] 0.24017287952458133 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.01, Z:0.62 [[ 0.99985079 0.01292866 -0.01145604 -0.27676416] [-0.01288936 0.99991081 0.00349701 -0.01290961] [ 0.01150023 -0.00334882 0.99992826 0.62279973] [ 0. 0. 0. 1. ]] SLAMing on 41.76255784400001 meters Centerline goodness [0,1] 0.24054923090292868 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.01, Z:0.62 [[ 0.99992439 0.00451926 -0.01143618 -0.29736647] [-0.00446631 0.99997921 0.00465115 -0.01105973] [ 0.01145697 -0.00459972 0.99992379 0.62207177] [ 0. 0. 0. 1. ]] SLAMing on 41.79255784400001 meters Centerline goodness [0,1] 0.24146230403954982 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.01, Z:0.62 [[ 0.99992533 0.00468455 -0.01128708 -0.29803409] [-0.00462839 0.99997681 0.00499661 -0.01256988] [ 0.01131022 -0.00494399 0.99992382 0.62260408] [ 0. 0. 0. 1. ]] SLAMing on 41.822557844 meters Centerline goodness [0,1] 0.23955401602078374 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.02, Z:0.62 [[ 0.99992816 0.00494349 -0.01091942 -0.2990642 ] [-0.00488287 0.99997256 0.00557161 -0.01522373] [ 0.01094666 -0.00551789 0.99992486 0.6227997 ] [ 0. 0. 0. 1. ]] SLAMing on 41.852557844 meters Centerline goodness [0,1] 0.2414623562594923 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.02, Z:0.62 [[ 0.99992822 0.00511615 -0.01083447 -0.29917152] [-0.00505143 0.99996929 0.00599247 -0.01717372] [ 0.0108648 -0.00593731 0.99992335 0.62264491] [ 0. 0. 0. 1. ]] SLAMing on 41.882557844000004 meters Centerline goodness [0,1] 0.23994131987142153 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.02, Z:0.62 [[ 0.99992688 0.00531699 -0.01086097 -0.2990266 ] [-0.00524592 0.99996471 0.00656131 -0.01992394] [ 0.01089548 -0.00650385 0.99991949 0.62255096] [ 0. 0. 0. 1. ]] SLAMing on 41.912557844000006 meters Centerline goodness [0,1] 0.2373695830988355 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.02, Z:0.62 [[ 0.99993876 0.00203085 -0.0108788 -0.29879929] [-0.00199451 0.9999924 0.0033507 -0.02117036] [ 0.01088552 -0.0033288 0.99993521 0.62219786] [ 0. 0. 0. 1. ]] SLAMing on 41.94255784400001 meters Centerline goodness [0,1] 0.24090712742980558 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.02, Z:0.62 [[ 0.99993422 0.0022217 -0.01125259 -0.29758455] [-0.00217754 0.99998989 0.00393537 -0.0240234 ] [ 0.01126122 -0.00391061 0.99992894 0.62179975] [ 0. 0. 0. 1. ]] SLAMing on 41.97255784400001 meters Centerline goodness [0,1] 0.24124269322364145 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.62 [[ 0.99992659 0.00244468 -0.01186777 -0.29550039] [-0.00238863 0.99998594 0.00473449 -0.02826031] [ 0.01187917 -0.0047058 0.99991837 0.62104086] [ 0. 0. 0. 1. ]] SLAMing on 42.002557844 meters Centerline goodness [0,1] 0.24010605698389587 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.62 [[ 0.99992586 0.00262738 -0.01188979 -0.29552592] [-0.00256582 0.99998324 0.0051895 -0.03043454] [ 0.01190323 -0.00515861 0.99991585 0.62123141] [ 0. 0. 0. 1. ]] SLAMing on 42.032557844 meters Centerline goodness [0,1] 0.2368233387358185 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.03, Z:0.62 [[ 0.99992622 0.00280173 -0.01181979 -0.29613388] [-0.00273522 0.99998036 0.00563895 -0.03257447] [ 0.01183536 -0.00560621 0.99991424 0.62201817] [ 0. 0. 0. 1. ]] SLAMing on 42.062557844000004 meters Centerline goodness [0,1] 0.24284846117115944 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.62 [[ 0.99992785 0.00319153 -0.01158088 -0.29730841] [-0.00311588 0.99997373 0.00654434 -0.03653579] [ 0.01160146 -0.00650778 0.99991152 0.62305295] [ 0. 0. 0. 1. ]] SLAMing on 42.092557844000005 meters Centerline goodness [0,1] 0.24334145704586996 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.62 [[ 0.99992629 0.00339331 -0.01165727 -0.29683175] [-0.00331167 0.9999699 0.00701596 -0.0386599 ] [ 0.01168072 -0.00697684 0.99990744 0.62258981] [ 0. 0. 0. 1. ]] SLAMing on 42.122557844000006 meters Centerline goodness [0,1] 0.2428761418885037 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:0.62 [[ 0.99992294 0.00353088 -0.01190149 -0.29570499] [-0.00344283 0.99996662 0.00741003 -0.04065443] [ 0.01192726 -0.00736848 0.99990172 0.62171302] [ 0. 0. 0. 1. ]] SLAMing on 42.15255784400001 meters Centerline goodness [0,1] 0.2394693416710092 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.62 [[ 0.99991839 0.0036439 -0.01224448 -0.29429552] [-0.00354803 0.99996295 0.00784271 -0.04300392] [ 0.0122726 -0.00779863 0.99989428 0.62080214] [ 0. 0. 0. 1. ]] SLAMing on 42.18255784400001 meters Centerline goodness [0,1] 0.23689181267504722 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.04, Z:0.62 [[ 9.99926333e-01 7.40019689e-05 -1.21376760e-02 -2.94386453e-01] [-2.12806825e-05 9.99990566e-01 4.34367798e-03 -4.38071266e-02] [ 1.21378829e-02 -4.34309970e-03 9.99916901e-01 6.20449381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212557844 meters Centerline goodness [0,1] 0.2445161007282618 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.62 [[ 9.99925838e-01 2.70517217e-04 -1.21756203e-02 -2.94520243e-01] [-2.10498268e-04 9.99987823e-01 4.93044829e-03 -4.65381645e-02] [ 1.21768058e-02 -4.92751969e-03 9.99913719e-01 6.20940398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242557844000004 meters Centerline goodness [0,1] 0.23926473129428028 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.62 [[ 0.99993869 0.00574336 -0.00946741 -0.27126858] [-0.00572029 0.99998061 0.00246174 -0.05072987] [ 0.00948137 -0.00240744 0.99995215 0.62025601] [ 0. 0. 0. 1. ]] SLAMing on 42.272557844000005 meters Centerline goodness [0,1] 0.24898995474114138 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.06, Z:0.62 [[ 0.99992324 0.00476632 -0.01143668 -0.31811862] [-0.00473453 0.99998486 0.00280498 -0.0566302 ] [ 0.01144987 -0.00275062 0.99993066 0.62176393] [ 0. 0. 0. 1. ]] SLAMing on 42.302557844000006 meters Centerline goodness [0,1] 0.2434459371331681 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.05, Z:0.62 [[ 0.9999468 -0.00352949 -0.00969181 -0.29711716] [ 0.00356271 0.99998783 0.00341287 -0.05485338] [ 0.00967964 -0.00344722 0.99994721 0.62145098] [ 0. 0. 0. 1. ]] SLAMing on 42.33255784400001 meters Centerline goodness [0,1] 0.2410524026962383 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.06, Z:0.62 [[ 0.99994871 -0.00334707 -0.00955928 -0.29732705] [ 0.0033846 0.99998662 0.00391232 -0.05736739] [ 0.00954606 -0.00394448 0.99994666 0.62129338] [ 0. 0. 0. 1. ]] SLAMing on 42.36255784400001 meters Centerline goodness [0,1] 0.2439632001048928 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.06, Z:0.62 [[ 0.99994753 -0.00320963 -0.00972835 -0.29667362] [ 0.00325108 0.99998569 0.00424851 -0.05895857] [ 0.00971457 -0.00427992 0.99994365 0.62090768] [ 0. 0. 0. 1. ]] SLAMing on 42.392557844 meters Centerline goodness [0,1] 0.247183083063218 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.06, Z:0.62 [[ 0.99994551 -0.00310779 -0.00996563 -0.29569691] [ 0.00315222 0.99998515 0.00444624 -0.05977168] [ 0.00995167 -0.00447741 0.99994046 0.62018164] [ 0. 0. 0. 1. ]] SLAMing on 42.422557844 meters Centerline goodness [0,1] 0.24376266533022461 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.62 [[ 0.99993552 0.00579399 -0.00976676 -0.27427406] [-0.00575725 0.99997626 0.00378601 -0.06406573] [ 0.00978846 -0.00372954 0.99994514 0.6206614 ] [ 0. 0. 0. 1. ]] SLAMing on 42.452557844000005 meters Centerline goodness [0,1] 0.23975661855136254 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.06, Z:0.62 [[ 0.99995896 -0.00232173 -0.00875698 -0.25471937] [ 0.00236195 0.9999867 0.00458547 -0.06298314] [ 0.00874622 -0.00460597 0.99995114 0.62151143] [ 0. 0. 0. 1. ]] SLAMing on 42.482557844000006 meters Centerline goodness [0,1] 0.24371749486473493 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.62 [[ 0.99995161 0.00530701 -0.00828306 -0.2746313 ] [-0.00527445 0.9999783 0.00394773 -0.07163807] [ 0.00830383 -0.00390385 0.9999579 0.62024497] [ 0. 0. 0. 1. ]] SLAMing on 42.51255784400001 meters Centerline goodness [0,1] 0.24535657963903978 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.62 [[ 0.99995081 0.00551205 -0.00824583 -0.27477846] [-0.00547534 0.99997503 0.00446792 -0.07395562] [ 0.00827026 -0.00442255 0.99995602 0.62036632] [ 0. 0. 0. 1. ]] SLAMing on 42.54255784400001 meters Centerline goodness [0,1] 0.24412737080215763 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.08, Z:0.62 [[ 0.99994851 0.00571217 -0.0083878 -0.27421791] [-0.00567007 0.99997125 0.00503489 -0.07663292] [ 0.00841632 -0.00498707 0.99995215 0.62002639] [ 0. 0. 0. 1. ]] SLAMing on 42.572557844 meters Centerline goodness [0,1] 0.24198829898707652 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.08, Z:0.62 [[ 0.99996012 0.00209481 -0.00868124 -0.27286268] [-0.00207918 0.9999962 0.00180874 -0.08013547] [ 0.008685 -0.00179062 0.99996068 0.61899621] [ 0. 0. 0. 1. ]] SLAMing on 42.602557844 meters Centerline goodness [0,1] 0.24339896462841426 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.08, Z:0.62 [[ 0.99995867 0.00230972 -0.00879362 -0.27264158] [-0.00228836 0.99999441 0.00243833 -0.0832203 ] [ 0.0087992 -0.00241811 0.99995836 0.61917223] [ 0. 0. 0. 1. ]] SLAMing on 42.632557844000004 meters Centerline goodness [0,1] 0.2461747555789381 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.62 [[ 0.99995927 0.00259531 -0.00864426 -0.27327678] [-0.00256828 0.99999178 0.00313709 -0.08632852] [ 0.00865233 -0.00311476 0.99995772 0.6196932 ] [ 0. 0. 0. 1. ]] SLAMing on 42.662557844000006 meters Centerline goodness [0,1] 0.24309175372401914 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.62 [[ 0.99995936 0.00285717 -0.00855116 -0.27376974] [-0.00282457 0.99998871 0.00382189 -0.08943796] [ 0.00856199 -0.00379758 0.99995613 0.6202373 ] [ 0. 0. 0. 1. ]] SLAMing on 42.69255784400001 meters Centerline goodness [0,1] 0.24309175372401914 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.62 [[ 0.99995936 0.00285717 -0.00855116 -0.27376974] [-0.00282457 0.99998871 0.00382189 -0.08943796] [ 0.00856199 -0.00379758 0.99995613 0.6202373 ] [ 0. 0. 0. 1. ]] SLAMing on 42.72255784400001 meters Centerline goodness [0,1] 0.24495142451697416 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:0.62 [[ 0.99995858 0.00310271 -0.00855579 -0.27372483] [-0.00306464 0.99998536 0.00445925 -0.09243499] [ 0.0085695 -0.00443284 0.99995346 0.62026348] [ 0. 0. 0. 1. ]] SLAMing on 42.752557844 meters Centerline goodness [0,1] 0.23988015691684272 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.10, Z:0.62 [[ 0.99991015 0.0094671 -0.00949057 -0.24956509] [-0.00945318 0.99995418 0.0015104 -0.09885584] [ 0.00950444 -0.00142055 0.99995382 0.61959901] [ 0. 0. 0. 1. ]] SLAMing on 42.782557844 meters Centerline goodness [0,1] 0.2438313876388617 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:0.62 [[ 9.99947818e-01 5.53768746e-04 -1.02007542e-02 -2.69304183e-01] [-5.25399864e-04 9.99995988e-01 2.78352721e-03 -9.65618275e-02] [ 1.02022547e-02 -2.77802249e-03 9.99944097e-01 6.18307089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812557844000004 meters Centerline goodness [0,1] 0.2423456710097016 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:0.62 [[ 9.99951287e-01 7.00602447e-04 -9.84541665e-03 -2.70496401e-01] [-6.71570253e-04 9.99995418e-01 2.95179975e-03 -9.69555419e-02] [ 9.84743957e-03 -2.94504408e-03 9.99947176e-01 6.18757435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842557844000005 meters Centerline goodness [0,1] 0.2442792753748808 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:0.62 [[ 0.99996188 0.00129459 -0.00863447 -0.27425307] [-0.00126383 0.99999284 0.0035671 -0.09813585] [ 0.00863903 -0.00355605 0.99995636 0.61994646] [ 0. 0. 0. 1. ]] SLAMing on 42.872557844000006 meters Centerline goodness [0,1] 0.24517888307155322 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:0.62 [[ 0.99996083 0.00130881 -0.00875399 -0.27375387] [-0.00127729 0.99999269 0.00360479 -0.09845025] [ 0.00875864 -0.00359346 0.99995519 0.61960157] [ 0. 0. 0. 1. ]] SLAMing on 42.90255784400001 meters Centerline goodness [0,1] 0.24794785127957508 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:0.62 [[ 0.99995806 0.00129508 -0.0090668 -0.27253058] [-0.00126214 0.99999258 0.00363871 -0.09893954] [ 0.00907145 -0.00362712 0.99995228 0.61884172] [ 0. 0. 0. 1. ]] SLAMing on 42.93255784400001 meters Centerline goodness [0,1] 0.24405812256279547 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:0.62 [[ 0.99995515 0.00129443 -0.00938207 -0.27137844] [-0.00125988 0.99999241 0.00368702 -0.09939375] [ 0.00938677 -0.00367503 0.99994919 0.61816774] [ 0. 0. 0. 1. ]] SLAMing on 42.962557844 meters Centerline goodness [0,1] 0.24385649641674068 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:0.62 [[ 0.99995382 0.00136405 -0.00951311 -0.27082043] [-0.00132764 0.99999178 0.00383238 -0.09994267] [ 0.00951825 -0.00381957 0.99994741 0.61774608] [ 0. 0. 0. 1. ]] SLAMing on 42.992557844000004 meters Centerline goodness [0,1] 0.2454939189780383 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:0.62 [[ 0.99995608 0.00164585 -0.0092269 -0.27214014] [-0.0016042 0.9999885 0.00451946 -0.10269751] [ 0.00923423 -0.00450446 0.99994722 0.61890648] [ 0. 0. 0. 1. ]] SLAMing on 43.022557844000005 meters Centerline goodness [0,1] 0.24655533269381702 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:0.62 [[ 0.99995588 0.00172244 -0.00923474 -0.27237918] [-0.00167687 0.99998639 0.00493951 -0.10492378] [ 0.00924312 -0.0049238 0.99994516 0.61948583] [ 0. 0. 0. 1. ]] SLAMing on 43.052557844000006 meters Centerline goodness [0,1] 0.24688361107466217 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.11, Z:0.62 [[ 0.9999539 0.0018155 -0.00942875 -0.27191131] [-0.00176492 0.99998402 0.00537011 -0.10715868] [ 0.00943835 -0.00535323 0.99994113 0.61958826] [ 0. 0. 0. 1. ]] SLAMing on 43.08255784400001 meters Centerline goodness [0,1] 0.24476878235524424 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.11, Z:0.62 [[ 0.99995167 0.00187518 -0.00965104 -0.27113887] [-0.00182066 0.99998235 0.00565488 -0.10864015] [ 0.00966147 -0.00563703 0.99993744 0.61921756] [ 0. 0. 0. 1. ]] SLAMing on 43.11255784400001 meters Centerline goodness [0,1] 0.24454511631978637 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.11, Z:0.62 [[ 0.99994982 0.00196738 -0.00982293 -0.27043355] [-0.00190913 0.99998056 0.00593608 -0.10996671] [ 0.00983441 -0.00591702 0.99993413 0.61875055] [ 0. 0. 0. 1. ]] SLAMing on 43.142557844 meters Centerline goodness [0,1] 0.24185181983228154 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.11, Z:0.62 [[ 0.99992392 0.00794878 -0.009432 -0.24759394] [-0.0079233 0.99996487 0.00273626 -0.11413301] [ 0.00945341 -0.00266132 0.99995177 0.61812737] [ 0. 0. 0. 1. ]] SLAMing on 43.172557844 meters Centerline goodness [0,1] 0.24328144025047838 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.62 [[ 0.9999214 0.00809385 -0.00957489 -0.24739801] [-0.00806386 0.99996247 0.00316646 -0.1162504 ] [ 0.00960016 -0.003089 0.99994915 0.6184884 ] [ 0. 0. 0. 1. ]] SLAMing on 43.202557844000005 meters Centerline goodness [0,1] 0.2450019600156801 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.62 [[ 0.99992024 0.0082393 -0.00957268 -0.24758394] [-0.00820586 0.99996011 0.0035265 -0.11781871] [ 0.00960135 -0.00344766 0.99994796 0.61883995] [ 0. 0. 0. 1. ]] SLAMing on 43.232557844000006 meters Centerline goodness [0,1] 0.2453600191026114 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.62 [[ 0.99992044 0.00836302 -0.00944292 -0.24811277] [-0.00832784 0.99995826 0.00375829 -0.11864167] [ 0.00947396 -0.00367935 0.99994835 0.61919329] [ 0. 0. 0. 1. ]] SLAMing on 43.26255784400001 meters Centerline goodness [0,1] 0.2444987246552246 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.62 [[ 0.99992398 0.00860198 -0.00883355 -0.25026674] [-0.00856496 0.99995441 0.00422022 -0.12050107] [ 0.00886945 -0.00414425 0.99995208 0.620311 ] [ 0. 0. 0. 1. ]] SLAMing on 43.29255784400001 meters Centerline goodness [0,1] 0.24449941413878407 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.62 [[ 0.99995054 0.00619359 -0.00778213 -0.25499562] [-0.00617876 0.99997905 0.00192815 -0.12252546] [ 0.00779391 -0.00187997 0.99996786 0.62257258] [ 0. 0. 0. 1. ]] SLAMing on 43.322557844 meters Centerline goodness [0,1] 0.2432111043846753 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.12, Z:0.62 [[ 0.99995042 0.00632655 -0.00768956 -0.25558509] [-0.0063086 0.99997732 0.00235632 -0.12463028] [ 0.0077043 -0.00230769 0.99996766 0.62321295] [ 0. 0. 0. 1. ]] SLAMing on 43.352557844 meters Centerline goodness [0,1] 0.24722981094962304 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.12, Z:0.62 [[ 0.99995717 -0.00290797 -0.00878659 -0.27593635] [ 0.00294073 0.99998877 0.00371769 -0.12389812] [ 0.00877568 -0.00374337 0.99995449 0.62238376] [ 0. 0. 0. 1. ]] SLAMing on 43.382557844000004 meters Centerline goodness [0,1] 0.24328076530944276 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.62 [[ 0.99995468 -0.00280201 -0.00909867 -0.27487566] [ 0.00283942 0.99998756 0.0041014 -0.12580985] [ 0.00908706 -0.00412705 0.9999502 0.62194147] [ 0. 0. 0. 1. ]] SLAMing on 43.412557844000006 meters Centerline goodness [0,1] 0.24466370447813213 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.62 [[ 0.99995137 -0.00270094 -0.00948522 -0.27366338] [ 0.00274421 0.99998587 0.00455201 -0.12822358] [ 0.0094728 -0.00457782 0.99994465 0.62156616] [ 0. 0. 0. 1. ]] SLAMing on 43.44255784400001 meters Centerline goodness [0,1] 0.24480764174918934 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.62 [[ 0.99993343 -0.00652105 -0.00951902 -0.27337984] [ 0.00653483 0.99997764 0.00141691 -0.13290178] [ 0.00950957 -0.00147903 0.99995369 0.62138137] [ 0. 0. 0. 1. ]] SLAMing on 43.47255784400001 meters Centerline goodness [0,1] 0.24203697697048332 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.14, Z:0.62 [[ 9.99954401e-01 1.72165592e-05 -9.54964614e-03 -2.49859597e-01] [-2.89166274e-05 9.99999249e-01 -1.22504671e-03 -1.37566658e-01] [ 9.54961788e-03 1.22526699e-03 9.99953651e-01 6.20479771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502557844 meters Centerline goodness [0,1] 0.24082758021796713 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.14, Z:0.62 [[ 9.99946366e-01 1.10435156e-04 -1.03563292e-02 -2.47506819e-01] [-1.16140502e-04 9.99999842e-01 -5.50304542e-04 -1.41340159e-01] [ 1.03562668e-02 5.51477816e-04 9.99946220e-01 6.19966481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532557844 meters Centerline goodness [0,1] 0.24573919936583433 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 9.99907735e-01 -1.90128572e-03 -1.34501408e-02 -2.89957280e-01] [ 1.89494949e-03 9.99998088e-01 -4.83818822e-04 -1.48323126e-01] [ 1.34510349e-02 4.58286845e-04 9.99909426e-01 6.19725848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562557844000004 meters Centerline goodness [0,1] 0.24400034907059953 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 9.99906835e-01 -1.67895632e-03 -1.35462895e-02 -2.89762835e-01] [ 1.68145614e-03 9.99998571e-01 1.73151997e-04 -1.51488929e-01] [ 1.35459794e-02 -1.95913357e-04 9.99908230e-01 6.19865195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592557844000005 meters Centerline goodness [0,1] 0.2486354432608504 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 9.99919946e-01 -9.86256503e-04 -1.26146506e-02 -2.93237770e-01] [ 1.00328207e-03 9.99998594e-01 1.34340885e-03 -1.55566874e-01] [ 1.26133079e-02 -1.35595735e-03 9.99919530e-01 6.21911122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622557844000006 meters Centerline goodness [0,1] 0.2433537832310838 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99915028e-01 8.01032563e-03 -1.02845679e-02 -2.73915960e-01] [-8.00639845e-03 9.99967859e-01 4.22967758e-04 -1.58379919e-01] [ 1.02876255e-02 -3.40589469e-04 9.99947023e-01 6.22609650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65255784400001 meters Centerline goodness [0,1] 0.24222400938987543 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99914967e-01 8.01440944e-03 -1.02872800e-02 -2.73986664e-01] [-8.01061856e-03 9.99967831e-01 4.09654823e-04 -1.58272330e-01] [ 1.02902322e-02 -3.27212513e-04 9.99947001e-01 6.22778079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68255784400001 meters Centerline goodness [0,1] 0.2461352391423859 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 0.99992594 -0.00143134 -0.0120856 -0.29308719] [ 0.00144535 0.99999829 0.00115012 -0.15447725] [ 0.01208394 -0.0011675 0.99992631 0.62173861] [ 0. 0. 0. 1. ]] SLAMing on 43.712557844 meters Centerline goodness [0,1] 0.24414980023708122 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 9.99919541e-01 -1.64355972e-03 -1.25781778e-02 -2.90780891e-01] [ 1.65246158e-03 9.99998392e-01 6.97362242e-04 -1.53043994e-01] [ 1.25770114e-02 -7.18091089e-04 9.99920648e-01 6.19778758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742557844000004 meters Centerline goodness [0,1] 0.2402244318797253 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99906432e-01 7.49700033e-03 -1.14420840e-02 -2.70300707e-01] [-7.49873301e-03 9.99971878e-01 -1.08535114e-04 -1.55360257e-01] [ 1.14409485e-02 1.94326091e-04 9.99934531e-01 6.19862777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.772557844000005 meters Centerline goodness [0,1] 0.24063939780666654 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99907886e-01 7.51429404e-03 -1.13029075e-02 -2.70727928e-01] [-7.51531438e-03 9.99971758e-01 -4.78003161e-05 -1.55553569e-01] [ 1.13022291e-02 1.32740816e-04 9.99936119e-01 6.19962655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802557844000006 meters Centerline goodness [0,1] 0.24013051275956698 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99908387e-01 7.56108455e-03 -1.12270632e-02 -2.71216379e-01] [-7.55958338e-03 9.99971410e-01 1.76141818e-04 -1.56627239e-01] [ 1.12280740e-02 -9.12537613e-05 9.99936959e-01 6.20470439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83255784400001 meters Centerline goodness [0,1] 0.2383814276415709 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99905215e-01 7.48998469e-03 -1.15525232e-02 -2.70628730e-01] [-7.48631394e-03 9.99971912e-01 3.60956127e-04 -1.58020879e-01] [ 1.15549023e-02 -2.74436098e-04 9.99933202e-01 6.20895986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86255784400001 meters Centerline goodness [0,1] 0.2400492142980487 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99898945e-01 7.30907711e-03 -1.21933172e-02 -2.69124889e-01] [-7.30402519e-03 9.99973220e-01 4.58798914e-04 -1.59222161e-01] [ 1.21963441e-02 -3.69692254e-04 9.99925553e-01 6.21085726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.892557844 meters Centerline goodness [0,1] 0.24050908773917967 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 0.99989438 -0.00142403 -0.01446352 -0.28766635] [ 0.00146175 0.99999556 0.00259746 -0.1574202 ] [ 0.01445975 -0.00261832 0.99989202 0.61982956] [ 0. 0. 0. 1. ]] SLAMing on 43.922557844 meters Centerline goodness [0,1] 0.23900353709610922 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 0.99989595 -0.00135229 -0.01436151 -0.28761462] [ 0.00139093 0.99999544 0.00268112 -0.15726554] [ 0.01435782 -0.00270082 0.99989327 0.61934212] [ 0. 0. 0. 1. ]] SLAMing on 43.952557844000005 meters Centerline goodness [0,1] 0.24082678362065224 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 0.99989929 -0.00132154 -0.01413033 -0.28825711] [ 0.00136023 0.99999535 0.00272888 -0.15734861] [ 0.01412666 -0.00274782 0.99989644 0.61944441] [ 0. 0. 0. 1. ]] SLAMing on 43.982557844000006 meters Centerline goodness [0,1] 0.2412339778405388 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 0.99990236 -0.00135055 -0.0139088 -0.28911598] [ 0.00138918 0.99999521 0.00276764 -0.15783454] [ 0.013905 -0.00278669 0.99989944 0.62002398] [ 0. 0. 0. 1. ]] SLAMing on 44.01255784400001 meters Centerline goodness [0,1] 0.24229908045477278 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 0.99990302 -0.00140907 -0.01385515 -0.28963107] [ 0.00144704 0.99999522 0.002731 -0.15809145] [ 0.01385123 -0.00275078 0.99990028 0.62067941] [ 0. 0. 0. 1. ]] SLAMing on 44.04255784400001 meters Centerline goodness [0,1] 0.24312266039871155 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 0.9999023 -0.00145264 -0.01390265 -0.28962844] [ 0.00148952 0.9999954 0.00264302 -0.15775332] [ 0.01389874 -0.00266347 0.99989986 0.62087559] [ 0. 0. 0. 1. ]] SLAMing on 44.072557844 meters Centerline goodness [0,1] 0.23996541662163617 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 0.99989924 -0.00148289 -0.01411785 -0.28851151] [ 0.00151549 0.99999621 0.0022989 -0.15526943] [ 0.01411439 -0.00232006 0.9998977 0.61986682] [ 0. 0. 0. 1. ]] SLAMing on 44.102557844 meters Centerline goodness [0,1] 0.24116342767705756 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 0.99989927 -0.00158924 -0.01410374 -0.28843747] [ 0.00161817 0.99999661 0.00203983 -0.15405871] [ 0.01410045 -0.00206245 0.99989846 0.61965705] [ 0. 0. 0. 1. ]] SLAMing on 44.132557844000004 meters Centerline goodness [0,1] 0.23581800580832524 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99895923e-01 6.86378131e-03 -1.26898022e-02 -2.69074263e-01] [-6.85976778e-03 9.99976407e-01 3.59779760e-04 -1.56531169e-01] [ 1.26919723e-02 -2.72693219e-04 9.99919416e-01 6.20605960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162557844000006 meters Centerline goodness [0,1] 0.24095573528132885 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 9.99920672e-01 -3.03707058e-03 -1.22240197e-02 -2.91739317e-01] [ 3.04552327e-03 9.99995136e-01 6.72926220e-04 -1.51323245e-01] [ 1.22219166e-02 -7.10101374e-04 9.99925057e-01 6.20245927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19255784400001 meters Centerline goodness [0,1] 0.24040965110223922 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 9.99922265e-01 -3.03099745e-03 -1.20944955e-02 -2.92109729e-01] [ 3.04048853e-03 9.99995084e-01 7.66434211e-04 -1.51660729e-01] [ 1.20921130e-02 -8.03147807e-04 9.99926565e-01 6.20286878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22255784400001 meters Centerline goodness [0,1] 0.2437558932526369 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 9.99920849e-01 -3.03026068e-03 -1.22112315e-02 -2.91820027e-01] [ 3.04161539e-03 9.99994959e-01 9.11394097e-04 -1.52413076e-01] [ 1.22084082e-02 -9.48463829e-04 9.99925025e-01 6.20272267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.252557844 meters Centerline goodness [0,1] 0.24096803573752001 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.62 [[ 0.99993351 0.00301358 -0.01113052 -0.26942133] [-0.00304196 0.99999217 -0.00253298 -0.15419856] [ 0.0111228 0.00256667 0.99993485 0.61916402] [ 0. 0. 0. 1. ]] SLAMing on 44.282557844 meters Centerline goodness [0,1] 0.24093658876267576 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 0.99993186 0.00296795 -0.01129002 -0.26904339] [-0.00299417 0.99999286 -0.00230634 -0.15569468] [ 0.0112831 0.00233999 0.99993361 0.61915478] [ 0. 0. 0. 1. ]] SLAMing on 44.312557844000004 meters Centerline goodness [0,1] 0.2384206201617437 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 0.9999325 0.00292327 -0.01124513 -0.26933224] [-0.00294662 0.99999353 -0.0020611 -0.15724561] [ 0.01123903 0.0020941 0.99993465 0.61947411] [ 0. 0. 0. 1. ]] SLAMing on 44.342557844000005 meters Centerline goodness [0,1] 0.2372558361124345 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 0.99994888 0.00262445 -0.00976502 -0.27377858] [-0.00264305 0.99999472 -0.00189269 -0.15873059] [ 0.00976 0.0019184 0.99995053 0.62084414] [ 0. 0. 0. 1. ]] SLAMing on 44.372557844000006 meters Centerline goodness [0,1] 0.23532704646255864 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 0.99995006 0.00264335 -0.00963752 -0.27439316] [-0.0026603 0.99999494 -0.00174637 -0.15935922] [ 0.00963286 0.00177192 0.99995203 0.62133584] [ 0. 0. 0. 1. ]] SLAMing on 44.40255784400001 meters Centerline goodness [0,1] 0.243479023278243 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.16, Z:0.62 [[ 9.99921973e-01 9.10746494e-04 -1.24586808e-02 -3.18988195e-01] [-9.32722604e-04 9.99998019e-01 -1.75822275e-03 -1.60512416e-01] [ 1.24570548e-02 1.76970605e-03 9.99920842e-01 6.22006643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43255784400001 meters Centerline goodness [0,1] 0.23877017008286083 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.16, Z:0.62 [[ 9.99907517e-01 5.37785128e-04 -1.35892950e-02 -3.15748435e-01] [-5.62391645e-04 9.99998209e-01 -1.80697149e-03 -1.61476592e-01] [ 1.35882989e-02 1.81444688e-03 9.99906029e-01 6.21174856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462557844 meters Centerline goodness [0,1] 0.24389764639098732 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.16, Z:0.62 [[ 9.99906056e-01 6.13890912e-04 -1.36931227e-02 -3.15316810e-01] [-6.35275343e-04 9.99998585e-01 -1.55739634e-03 -1.62582727e-01] [ 1.36921472e-02 1.56594894e-03 9.99905032e-01 6.20818205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492557844000004 meters Centerline goodness [0,1] 0.2324281150159745 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 9.99885769e-01 -7.03775086e-03 -1.33760657e-02 -2.94735866e-01] [ 7.03327949e-03 9.99975193e-01 -3.81292953e-04 -1.59551801e-01] [ 1.33784173e-02 2.87171789e-04 9.99910464e-01 6.21975465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522557844000005 meters Centerline goodness [0,1] 0.24411332265355834 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.17, Z:0.62 [[ 9.99900139e-01 9.98719067e-04 -1.40965848e-02 -3.15026174e-01] [-1.01035581e-03 9.99999155e-01 -8.18403695e-04 -1.65692498e-01] [ 1.40957555e-02 8.32564535e-04 9.99900303e-01 6.20851432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552557844000006 meters Centerline goodness [0,1] 0.23708469160855772 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 9.99873363e-01 -6.89791795e-03 -1.43414415e-02 -2.93801798e-01] [ 6.89415791e-03 9.99976186e-01 -3.11603087e-04 -1.62613456e-01] [ 1.43432494e-02 2.12691465e-04 9.99897108e-01 6.21692292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58255784400001 meters Centerline goodness [0,1] 0.23708469160855772 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.62 [[ 9.99873363e-01 -6.89791795e-03 -1.43414415e-02 -2.93801798e-01] [ 6.89415791e-03 9.99976186e-01 -3.11603087e-04 -1.62613456e-01] [ 1.43432494e-02 2.12691465e-04 9.99897108e-01 6.21692292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61255784400001 meters Centerline goodness [0,1] 0.2399302148075455 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:0.62 [[ 9.99888976e-01 5.69408727e-04 -1.48900113e-02 -3.13146085e-01] [-5.96144976e-04 9.99998218e-01 -1.79120595e-03 -1.67441409e-01] [ 1.48889648e-02 1.79988369e-03 9.99887533e-01 6.19743410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642557844 meters Centerline goodness [0,1] 0.241725329019282 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:0.62 [[ 9.99891854e-01 5.35204199e-04 -1.46967261e-02 -3.13688245e-01] [-5.64509975e-04 9.99997861e-01 -1.98995824e-03 -1.66359503e-01] [ 1.46956296e-02 1.99803948e-03 9.99890017e-01 6.19870076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672557844 meters Centerline goodness [0,1] 0.239217642084264 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.62 [[ 9.99895410e-01 4.53903356e-04 -1.44555865e-02 -3.14270184e-01] [-4.87084195e-04 9.99997255e-01 -2.29192644e-03 -1.64741507e-01] [ 1.44545065e-02 2.29872781e-03 9.99892886e-01 6.19845326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702557844000005 meters Centerline goodness [0,1] 0.23835152672584037 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.62 [[ 9.99897480e-01 3.70702215e-04 -1.43140789e-02 -3.14539896e-01] [-4.07705674e-04 9.99996583e-01 -2.58227777e-03 -1.63232581e-01] [ 1.43130727e-02 2.58784897e-03 9.99894214e-01 6.19709588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732557844000006 meters Centerline goodness [0,1] 0.2354770440115752 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.62 [[ 9.99896534e-01 2.58219546e-04 -1.43824286e-02 -3.14198502e-01] [-2.99650378e-04 9.99995812e-01 -2.87857570e-03 -1.61853953e-01] [ 1.43816251e-02 2.88258757e-03 9.99892424e-01 6.19406703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76255784400001 meters Centerline goodness [0,1] 0.23550247294874838 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.62 [[ 9.99894531e-01 2.23702755e-04 -1.45215888e-02 -3.13744625e-01] [-2.65588937e-04 9.99995810e-01 -2.88254321e-03 -1.61942007e-01] [ 1.45208831e-02 2.88609596e-03 9.99890401e-01 6.19171835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79255784400001 meters Centerline goodness [0,1] 0.24136122221493672 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.62 [[ 9.99892785e-01 2.47249931e-04 -1.46409191e-02 -3.13476893e-01] [-2.85593100e-04 9.99996535e-01 -2.61687163e-03 -1.63380226e-01] [ 1.46402214e-02 2.62077241e-03 9.99889392e-01 6.19137549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822557844 meters Centerline goodness [0,1] 0.2431434253370922 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:0.62 [[ 9.99887606e-01 9.23308336e-05 -1.49922238e-02 -3.12631963e-01] [-1.27879347e-04 9.99997183e-01 -2.37018877e-03 -1.65308271e-01] [ 1.49919627e-02 2.37183957e-03 9.99884801e-01 6.19103486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852557844 meters Centerline goodness [0,1] 0.23834748062436228 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:0.62 [[ 9.99878598e-01 -2.31700590e-04 -1.55799468e-02 -3.11073975e-01] [ 1.96485885e-04 9.99997423e-01 -2.26175112e-03 -1.66996355e-01] [ 1.55804307e-02 2.25841530e-03 9.99876067e-01 6.18913869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882557844000004 meters Centerline goodness [0,1] 0.23969850337771792 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:0.62 [[ 9.99871837e-01 -3.10529694e-04 -1.60066772e-02 -3.09842142e-01] [ 2.78339877e-04 9.99997935e-01 -2.01321282e-03 -1.68589972e-01] [ 1.60072693e-02 2.00849950e-03 9.99869858e-01 6.18553992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912557844000006 meters Centerline goodness [0,1] 0.23823644847586234 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:0.62 [[ 9.99869860e-01 -2.32674180e-04 -1.61310203e-02 -3.09345960e-01] [ 2.04499293e-04 9.99998451e-01 -1.74825524e-03 -1.69762264e-01] [ 1.61314021e-02 1.74472894e-03 9.99868358e-01 6.18144242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94255784400001 meters Centerline goodness [0,1] 0.24535627619677913 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:0.62 [[ 9.99875032e-01 -1.88434031e-04 -1.58077399e-02 -3.10586254e-01] [ 1.62732529e-04 9.99998663e-01 -1.62715138e-03 -1.70184652e-01] [ 1.58080254e-02 1.62437561e-03 9.99873726e-01 6.18965430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97255784400001 meters Centerline goodness [0,1] 0.2363738446920618 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.62 [[ 9.99914252e-01 3.95876245e-04 -1.30893803e-02 -2.69508095e-01] [-4.29224627e-04 9.99996669e-01 -2.54503228e-03 -1.69861353e-01] [ 1.30883292e-02 2.55043233e-03 9.99911092e-01 6.20170019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002557844 meters Centerline goodness [0,1] 0.24152857330243538 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.62 [[ 9.99916397e-01 3.32773783e-04 -1.29262531e-02 -2.70189300e-01] [-3.68714073e-04 9.99996073e-01 -2.77812685e-03 -1.68841542e-01] [ 1.29252779e-02 2.78266068e-03 9.99912593e-01 6.20713226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032557844 meters Centerline goodness [0,1] 0.23846469711050122 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.62 [[ 9.99913368e-01 5.62078196e-04 -1.31507021e-02 -2.69187999e-01] [-6.03674671e-04 9.99994827e-01 -3.15930546e-03 -1.65815741e-01] [ 1.31488583e-02 3.16697050e-03 9.99908535e-01 6.19951581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062557844000004 meters Centerline goodness [0,1] 0.23954015967889708 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99909798e-01 4.72047124e-04 -1.34228655e-02 -2.67934135e-01] [-5.20081218e-04 9.99993473e-01 -3.57526208e-03 -1.63624702e-01] [ 1.34210903e-02 3.58192056e-03 9.99903517e-01 6.18965038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092557844000005 meters Centerline goodness [0,1] 0.23181406580138852 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.62 [[ 9.99902908e-01 4.15553987e-04 -1.39284562e-02 -2.66144673e-01] [-4.70902830e-04 9.99992006e-01 -3.97075185e-03 -1.61503646e-01] [ 1.39266948e-02 3.97692527e-03 9.99895110e-01 6.18088983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122557844000006 meters Centerline goodness [0,1] 0.24389653807240574 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.62 [[ 9.99851231e-01 -6.56109732e-05 -1.72485284e-02 -3.10134298e-01] [ 3.55420099e-06 9.99993528e-01 -3.59780700e-03 -1.59395047e-01] [ 1.72486529e-02 3.59721045e-03 9.99844760e-01 6.18745402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15255784400001 meters Centerline goodness [0,1] 0.23794414864718028 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 0.99982371 -0.00737662 -0.01726679 -0.29088016] [ 0.00732835 0.99996907 -0.00285732 -0.15315856] [ 0.01728733 0.00273028 0.99984684 0.62057698] [ 0. 0. 0. 1. ]] SLAMing on 45.18255784400001 meters Centerline goodness [0,1] 0.23752784205177002 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.62 [[ 0.99982395 -0.00751248 -0.01719419 -0.2912679 ] [ 0.00745801 0.99996697 -0.00322992 -0.15139869] [ 0.01721788 0.00310112 0.99984695 0.62090569] [ 0. 0. 0. 1. ]] SLAMing on 45.212557844 meters Centerline goodness [0,1] 0.2396495071193866 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:0.62 [[ 0.99987187 0.00116809 -0.01596478 -0.31564641] [-0.00122503 0.99999292 -0.00355749 -0.15101509] [ 0.01596051 0.00357659 0.99986623 0.62069592] [ 0. 0. 0. 1. ]] SLAMing on 45.242557844000004 meters Centerline goodness [0,1] 0.24479545304342076 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:0.62 [[ 0.99987527 0.00102449 -0.01576056 -0.3160077 ] [-0.00108894 0.99999108 -0.00408171 -0.14836366] [ 0.01575624 0.00409836 0.99986746 0.62049293] [ 0. 0. 0. 1. ]] SLAMing on 45.272557844000005 meters Centerline goodness [0,1] 0.24314850921199638 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:0.62 [[ 9.99872881e-01 8.51585104e-04 -1.59215552e-02 -3.15245378e-01] [-9.25456663e-04 9.99988840e-01 -4.63292807e-03 -1.45737635e-01] [ 1.59174322e-02 4.64707385e-03 9.99862511e-01 6.19847348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302557844000006 meters Centerline goodness [0,1] 0.2371889681572995 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:0.62 [[ 9.99865243e-01 6.94211107e-04 -1.64016737e-02 -3.13640574e-01] [-7.79149115e-04 9.99986317e-01 -5.17279589e-03 -1.43188923e-01] [ 1.63978583e-02 5.18487817e-03 9.99852103e-01 6.19151950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33255784400001 meters Centerline goodness [0,1] 0.23280032978238707 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:0.62 [[ 9.99861748e-01 5.18027380e-04 -1.66197550e-02 -3.12789673e-01] [-6.14059957e-04 9.99983144e-01 -5.77363590e-03 -1.40288786e-01] [ 1.66164839e-02 5.78304321e-03 9.99845212e-01 6.18663591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36255784400001 meters Centerline goodness [0,1] 0.23765746623013373 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.13, Z:0.62 [[ 0.99985725 0.00341102 -0.01654816 -0.31529757] [-0.00347423 0.99998678 -0.00379202 -0.13368508] [ 0.01653501 0.00384897 0.99985588 0.62135711] [ 0. 0. 0. 1. ]] SLAMing on 45.392557844 meters Centerline goodness [0,1] 0.24353495748711396 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.13, Z:0.62 [[ 0.9998644 -0.00340137 -0.01611271 -0.34016235] [ 0.00338229 0.99999355 -0.00121135 -0.12817809] [ 0.01611673 0.00115669 0.99986945 0.62244213] [ 0. 0. 0. 1. ]] SLAMing on 45.422557844 meters Centerline goodness [0,1] 0.24454828660436134 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.13, Z:0.62 [[ 0.99986813 -0.00359176 -0.01583722 -0.34099516] [ 0.0035641 0.99999207 -0.00177434 -0.1255454 ] [ 0.01584347 0.00171766 0.99987301 0.62270161] [ 0. 0. 0. 1. ]] SLAMing on 45.452557844000005 meters Centerline goodness [0,1] 0.24339730610088917 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.12, Z:0.62 [[ 0.99987084 -0.00374628 -0.01562908 -0.34172123] [ 0.00371229 0.99999068 -0.00220351 -0.1236014 ] [ 0.01563718 0.00214521 0.99987543 0.62307208] [ 0. 0. 0. 1. ]] SLAMing on 45.482557844000006 meters Centerline goodness [0,1] 0.2409742802137187 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.63 [[ 0.99990608 -0.00264372 -0.0134481 -0.3017696 ] [ 0.00261101 0.99999359 -0.00244884 -0.11967162] [ 0.01345448 0.0024135 0.99990657 0.6253201 ] [ 0. 0. 0. 1. ]] SLAMing on 45.51255784400001 meters Centerline goodness [0,1] 0.24195398567192605 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.63 [[ 0.99990784 -0.00264239 -0.01331639 -0.30219619] [ 0.00260964 0.99999353 -0.00247617 -0.11934338] [ 0.01332284 0.00244119 0.99990827 0.62540016] [ 0. 0. 0. 1. ]] SLAMing on 45.54255784400001 meters Centerline goodness [0,1] 0.24779692226752603 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:0.62 [[ 0.99989531 0.00510435 -0.01353973 -0.32222127] [-0.00515278 0.99998044 -0.00354491 -0.12389018] [ 0.01352137 0.00361431 0.99990205 0.6235297 ] [ 0. 0. 0. 1. ]] SLAMing on 45.572557844 meters Centerline goodness [0,1] 0.24066982540403714 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.62 [[ 0.99990578 -0.00320504 -0.01334769 -0.30058881] [ 0.00316219 0.99998978 -0.00323002 -0.12041304] [ 0.01335791 0.00318751 0.9999057 0.62382613] [ 0. 0. 0. 1. ]] SLAMing on 45.602557844 meters Centerline goodness [0,1] 0.24565431288947193 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.62 [[ 0.99990392 -0.00320335 -0.01348646 -0.2999883 ] [ 0.00316158 0.99999014 -0.00311771 -0.12116694] [ 0.01349631 0.00307477 0.99990419 0.62333333] [ 0. 0. 0. 1. ]] SLAMing on 45.632557844000004 meters Centerline goodness [0,1] 0.24039024390243902 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.62 [[ 0.99989546 -0.00316314 -0.01410913 -0.29791675] [ 0.00311978 0.99999035 -0.00309465 -0.12082888] [ 0.01411879 0.00305031 0.99989567 0.62240336] [ 0. 0. 0. 1. ]] SLAMing on 45.662557844000006 meters Centerline goodness [0,1] 0.23951022523592547 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.62 [[ 0.99989056 -0.00318107 -0.01444817 -0.29677774] [ 0.00313462 0.99998985 -0.00323647 -0.1200034 ] [ 0.01445832 0.00319083 0.99989038 0.62195967] [ 0. 0. 0. 1. ]] SLAMing on 45.69255784400001 meters Centerline goodness [0,1] 0.24703296703296707 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.12, Z:0.62 [[ 0.99984616 -0.0034562 -0.01719626 -0.34183602] [ 0.00341033 0.99999055 -0.00269639 -0.12000896] [ 0.01720542 0.00263733 0.9998485 0.62275274] [ 0. 0. 0. 1. ]] SLAMing on 45.72255784400001 meters Centerline goodness [0,1] 0.2462988475584421 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.12, Z:0.62 [[ 0.99985058 -0.00348249 -0.01693192 -0.342724 ] [ 0.00343315 0.99998978 -0.00294228 -0.11875083] [ 0.016942 0.00288371 0.99985232 0.62317458] [ 0. 0. 0. 1. ]] SLAMing on 45.75255784400001 meters Centerline goodness [0,1] 0.24529860643085422 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.12, Z:0.62 [[ 0.99986276 -0.00337247 -0.01622006 -0.34479923] [ 0.00332213 0.99998958 -0.0031295 -0.11736278] [ 0.01623045 0.00307518 0.99986355 0.6236983 ] [ 0. 0. 0. 1. ]] SLAMing on 45.782557844 meters Centerline goodness [0,1] 0.243848895844201 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.12, Z:0.62 [[ 0.99987224 -0.00267228 -0.01575927 -0.34593059] [ 0.00262436 0.99999187 -0.00306016 -0.11540186] [ 0.01576731 0.00301841 0.99987113 0.62355519] [ 0. 0. 0. 1. ]] SLAMing on 45.812557844000004 meters Centerline goodness [0,1] 0.2462498916153646 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.11, Z:0.62 [[ 0.99986681 -0.00268537 -0.01609795 -0.34471897] [ 0.00263298 0.99999117 -0.00327423 -0.11436442] [ 0.0161066 0.00323141 0.99986506 0.62288928] [ 0. 0. 0. 1. ]] SLAMing on 45.842557844000005 meters Centerline goodness [0,1] 0.2434712473296421 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.11, Z:0.62 [[ 0.9998606 -0.00277654 -0.01646448 -0.34339701] [ 0.00271915 0.99999015 -0.00350664 -0.11346247] [ 0.01647405 0.00346138 0.9998583 0.62216269] [ 0. 0. 0. 1. ]] SLAMing on 45.872557844000006 meters Centerline goodness [0,1] 0.23941399891481285 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.11, Z:0.62 [[ 0.99985277 -0.00274671 -0.01693796 -0.34181551] [ 0.00268926 0.99999056 -0.00341355 -0.11401764] [ 0.01694718 0.00336749 0.99985072 0.62141265] [ 0. 0. 0. 1. ]] SLAMing on 45.90255784400001 meters Centerline goodness [0,1] 0.2437301847600306 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.12, Z:0.62 [[ 0.99985638 -0.00264796 -0.01673918 -0.34255351] [ 0.00259498 0.99999156 -0.00318591 -0.11500082] [ 0.01674747 0.00314201 0.99985481 0.62183851] [ 0. 0. 0. 1. ]] SLAMing on 45.93255784400001 meters Centerline goodness [0,1] 0.23659640837900486 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:0.62 [[ 0.99988478 0.00571592 -0.01406231 -0.32435348] [-0.00578093 0.99997277 -0.00458705 -0.11951227] [ 0.01403571 0.00466781 0.9998906 0.62301615] [ 0. 0. 0. 1. ]] SLAMing on 45.962557844 meters Centerline goodness [0,1] 0.24224949052595068 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.12, Z:0.62 [[ 0.99988838 0.00577872 -0.01377819 -0.32544911] [-0.00583984 0.99997327 -0.00439948 -0.12050034] [ 0.0137524 0.00447946 0.9998954 0.62367636] [ 0. 0. 0. 1. ]] SLAMing on 45.992557844000004 meters Centerline goodness [0,1] 0.24664732005452228 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.12, Z:0.62 [[ 0.9998855 -0.00344397 -0.01473531 -0.34638271] [ 0.003392 0.99998795 -0.00355008 -0.11731192] [ 0.01474736 0.00349969 0.99988513 0.6234397 ] [ 0. 0. 0. 1. ]] SLAMing on 46.022557844000005 meters Centerline goodness [0,1] 0.24424032850659172 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:0.62 [[ 0.99991483 -0.00249998 -0.01280985 -0.30254157] [ 0.00244993 0.99998931 -0.00392166 -0.11658463] [ 0.01281952 0.00388994 0.99991026 0.62369908] [ 0. 0. 0. 1. ]] SLAMing on 46.052557844000006 meters Centerline goodness [0,1] 0.24464590723952173 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:0.62 [[ 0.99990597 0.00582292 -0.01241554 -0.32449344] [-0.00587635 0.99997361 -0.00427126 -0.12315244] [ 0.01239034 0.00434382 0.9999138 0.62285627] [ 0. 0. 0. 1. ]] SLAMing on 46.08255784400001 meters Centerline goodness [0,1] 0.2452502819467337 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.12, Z:0.62 [[ 0.99993705 -0.00156954 -0.0111099 -0.30593698] [ 0.00153662 0.99999441 -0.00297083 -0.11953092] [ 0.0111145 0.00295357 0.99993387 0.62428254] [ 0. 0. 0. 1. ]] SLAMing on 46.11255784400001 meters Centerline goodness [0,1] 0.24358003591285726 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.12, Z:0.62 [[ 0.99993766 -0.00146046 -0.01107037 -0.30611348] [ 0.0014296 0.99999507 -0.00279563 -0.12022583] [ 0.0110744 0.00277963 0.99993481 0.62440899] [ 0. 0. 0. 1. ]] SLAMing on 46.142557844 meters Centerline goodness [0,1] 0.24419870259915544 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.12, Z:0.62 [[ 0.99993651 -0.00114541 -0.01120988 -0.30559762] [ 0.00112096 0.99999698 -0.00218688 -0.12284759] [ 0.01121235 0.00217417 0.99993478 0.62412281] [ 0. 0. 0. 1. ]] SLAMing on 46.172557844 meters Centerline goodness [0,1] 0.24481534398406724 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.12, Z:0.62 [[ 9.99935131e-01 -1.00918156e-03 -1.13452784e-02 -3.05117421e-01] [ 9.88480951e-04 9.99997837e-01 -1.83006030e-03 -1.24616631e-01] [ 1.13471007e-02 1.81872700e-03 9.99933966e-01 6.23894763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202557844000005 meters Centerline goodness [0,1] 0.2463561017433552 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.13, Z:0.62 [[ 0.99989724 -0.00218782 -0.01416772 -0.34953375] [ 0.00216644 0.99999649 -0.00152388 -0.1294789 ] [ 0.01417101 0.00149303 0.99989847 0.62449136] [ 0. 0. 0. 1. ]] SLAMing on 46.232557844000006 meters Centerline goodness [0,1] 0.24356306892067625 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.14, Z:0.63 [[ 0.99989355 0.00665247 -0.01298603 -0.32978131] [-0.00668324 0.99997496 -0.00232787 -0.1352231 ] [ 0.01297022 0.00241441 0.99991297 0.62519393] [ 0. 0. 0. 1. ]] SLAMing on 46.26255784400001 meters Centerline goodness [0,1] 0.24285467948441608 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.13, Z:0.63 [[ 9.99923951e-01 -5.00903332e-04 -1.23223980e-02 -3.11329982e-01] [ 4.95048992e-04 9.99999763e-01 -4.78143019e-04 -1.32596381e-01] [ 1.23226346e-02 4.72006466e-04 9.99923962e-01 6.27158233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29255784400001 meters Centerline goodness [0,1] 0.24473929944189887 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.13, Z:0.63 [[ 9.99925131e-01 -3.00987456e-04 -1.22328495e-02 -3.11592810e-01] [ 3.00046816e-04 9.99999952e-01 -7.87298188e-05 -1.34137664e-01] [ 1.22328726e-02 7.50534968e-05 9.99925173e-01 6.27235192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322557844 meters Centerline goodness [0,1] 0.24677458217422732 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:0.63 [[ 9.99922384e-01 -9.86250903e-05 -1.24585448e-02 -3.10889536e-01] [ 1.03758438e-04 9.99999910e-01 4.11388572e-04 -1.36497919e-01] [ 1.24585031e-02 -4.12649321e-04 9.99922305e-01 6.27060342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.352557844 meters Centerline goodness [0,1] 0.24214237816089468 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:0.63 [[ 9.99917136e-01 -5.63240410e-05 -1.28731314e-02 -3.09423365e-01] [ 6.30575314e-05 9.99999861e-01 5.22660165e-04 -1.37251655e-01] [ 1.28731001e-02 -5.23428603e-04 9.99917001e-01 6.26318756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382557844000004 meters Centerline goodness [0,1] 0.24376960613454168 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:0.63 [[ 9.99912242e-01 -1.59871148e-05 -1.32479195e-02 -3.07954224e-01] [ 2.34889304e-05 9.99999839e-01 5.66108272e-04 -1.37490539e-01] [ 1.32479083e-02 -5.66369772e-04 9.99912082e-01 6.25358009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412557844000006 meters Centerline goodness [0,1] 0.24996141209675637 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:0.62 [[ 9.99909403e-01 3.99687010e-05 -1.34605011e-02 -3.07088914e-01] [-3.18297644e-05 9.99999817e-01 6.04867007e-04 -1.37558365e-01] [ 1.34605228e-02 -6.04383763e-04 9.99909220e-01 6.24733632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44255784400001 meters Centerline goodness [0,1] 0.24162165679703262 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.63 [[ 9.99943088e-01 1.20796280e-03 -1.06000847e-02 -2.67808292e-01] [-1.20300920e-03 9.99999164e-01 4.73681116e-04 -1.38329472e-01] [ 1.06006480e-02 -4.60902159e-04 9.99943705e-01 6.26664210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47255784400001 meters Centerline goodness [0,1] 0.24536946135218274 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.63 [[ 9.99944978e-01 1.32957095e-03 -1.04054190e-02 -2.68813172e-01] [-1.31991250e-03 9.99998692e-01 9.35025606e-04 -1.40721526e-01] [ 1.04066486e-02 -9.21239916e-04 9.99945425e-01 6.27581451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50255784400001 meters Centerline goodness [0,1] 0.24536946135218274 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.63 [[ 9.99944978e-01 1.32957095e-03 -1.04054190e-02 -2.68813172e-01] [-1.31991250e-03 9.99998692e-01 9.35025606e-04 -1.40721526e-01] [ 1.04066486e-02 -9.21239916e-04 9.99945425e-01 6.27581451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532557844 meters Centerline goodness [0,1] 0.24483383158400074 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.63 [[ 0.99994307 0.00144078 -0.01057277 -0.26850596] [-0.00142603 0.999998 0.00140287 -0.14312896] [ 0.01057477 -0.00138771 0.99994312 0.62785138] [ 0. 0. 0. 1. ]] SLAMing on 46.562557844000004 meters Centerline goodness [0,1] 0.24614982464547885 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.63 [[ 0.99993868 0.00150776 -0.0109707 -0.26721346] [-0.00148783 0.99999723 0.00182448 -0.14539804] [ 0.01097342 -0.00180805 0.99993816 0.62731473] [ 0. 0. 0. 1. ]] SLAMing on 46.592557844000005 meters Centerline goodness [0,1] 0.24429597607039144 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.63 [[ 0.99993477 0.00163718 -0.01130405 -0.26614803] [-0.00161123 0.99999605 0.0023045 -0.14775921] [ 0.01130778 -0.00228614 0.99993345 0.62690625] [ 0. 0. 0. 1. ]] SLAMing on 46.622557844000006 meters Centerline goodness [0,1] 0.24626914732759186 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.63 [[ 0.999932 0.00180668 -0.01152117 -0.26537234] [-0.0017736 0.99999428 0.00288091 -0.15054349] [ 0.01152631 -0.00286028 0.99992948 0.62648887] [ 0. 0. 0. 1. ]] SLAMing on 46.65255784400001 meters Centerline goodness [0,1] 0.24133244158702083 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.63 [[ 9.99958824e-01 8.43185920e-04 -9.03547002e-03 -2.21284319e-01] [-8.33705905e-04 9.99999098e-01 1.05291515e-03 -1.55466101e-01] [ 9.03634968e-03 -1.04533887e-03 9.99958625e-01 6.26211178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68255784400001 meters Centerline goodness [0,1] 0.2424841858139687 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.63 [[ 0.99995751 0.0010938 -0.00915339 -0.22124511] [-0.00107793 0.99999791 0.00173864 -0.15882741] [ 0.00915527 -0.0017287 0.9999566 0.62672842] [ 0. 0. 0. 1. ]] SLAMing on 46.712557844 meters Centerline goodness [0,1] 0.25481246279023617 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.63 [[ 9.99928385e-01 -2.55846217e-04 -1.19648967e-02 -2.66217694e-01] [ 2.83035009e-04 9.99997382e-01 2.27074190e-03 -1.64645268e-01] [ 1.19642844e-02 -2.27396577e-03 9.99925840e-01 6.28390586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742557844000004 meters Centerline goodness [0,1] 0.24363029725279484 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.63 [[ 0.99994709 0.00281572 -0.00989362 -0.22693395] [-0.00278436 0.99999106 0.00318224 -0.16597704] [ 0.00990249 -0.00315453 0.99994599 0.63041448] [ 0. 0. 0. 1. ]] SLAMing on 46.772557844000005 meters Centerline goodness [0,1] 0.25698262590719156 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.63 [[ 0.999923 0.00289031 -0.01206783 -0.27438532] [-0.0028322 0.99998433 0.00482945 -0.1697722 ] [ 0.0120816 -0.0047949 0.99991552 0.63290096] [ 0. 0. 0. 1. ]] SLAMing on 46.802557844000006 meters Centerline goodness [0,1] 0.25306184602667015 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.63 [[ 0.99992462 0.00302328 -0.01190034 -0.27485338] [-0.00296518 0.99998362 0.00489662 -0.16984931] [ 0.01191495 -0.00486096 0.9999172 0.63296309] [ 0. 0. 0. 1. ]] SLAMing on 46.83255784400001 meters Centerline goodness [0,1] 0.2489417412175431 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.63 [[ 0.99992235 0.00303999 -0.01208539 -0.27410424] [-0.00298112 0.99998362 0.00488572 -0.16990289] [ 0.01210004 -0.00484931 0.99991503 0.63246453] [ 0. 0. 0. 1. ]] SLAMing on 46.86255784400001 meters Centerline goodness [0,1] 0.2457761984696213 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.63 [[ 0.99991782 0.0030298 -0.01245663 -0.27270676] [-0.00296964 0.99998385 0.00484506 -0.16990042] [ 0.01247111 -0.00480767 0.99991067 0.63162876] [ 0. 0. 0. 1. ]] SLAMing on 46.892557844 meters Centerline goodness [0,1] 0.24233301568049903 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.63 [[ 0.99991493 0.00303875 -0.01268427 -0.27177052] [-0.00297751 0.99998384 0.00484393 -0.1699546 ] [ 0.01269878 -0.00480575 0.99990782 0.63095958] [ 0. 0. 0. 1. ]] SLAMing on 46.922557844 meters Centerline goodness [0,1] 0.25107426537610145 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.63 [[ 0.99991539 0.00322334 -0.01260214 -0.27204482] [-0.00315713 0.99998113 0.00527027 -0.17171763] [ 0.01261889 -0.00523004 0.9999067 0.63104947] [ 0. 0. 0. 1. ]] SLAMing on 46.952557844000005 meters Centerline goodness [0,1] 0.2544314034052412 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.63 [[ 0.99991549 0.00336746 -0.01255707 -0.27234162] [-0.00329623 0.99997839 0.00568879 -0.17366732] [ 0.01257596 -0.00564692 0.99990497 0.63137527] [ 0. 0. 0. 1. ]] SLAMing on 46.982557844000006 meters Centerline goodness [0,1] 0.24353140033805742 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 0.99991161 0.0034322 -0.01284481 -0.27185181] [-0.00335445 0.99997595 0.00606993 -0.1757041 ] [ 0.01286534 -0.00602631 0.99989908 0.63183026] [ 0. 0. 0. 1. ]] SLAMing on 47.01255784400001 meters Centerline goodness [0,1] 0.2430957177204497 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 9.99916401e-01 -4.45443659e-04 -1.29225736e-02 -2.71229575e-01] [ 4.80736070e-04 9.99996163e-01 2.72808902e-03 -1.79056469e-01] [ 1.29213088e-02 -2.73407331e-03 9.99912779e-01 6.31207541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04255784400001 meters Centerline goodness [0,1] 0.24469103568320283 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 9.99912980e-01 -2.77928425e-04 -1.31892091e-02 -2.70425928e-01] [ 3.22462994e-04 9.99994254e-01 3.37458479e-03 -1.82320228e-01] [ 1.31881954e-02 -3.37854417e-03 9.99907324e-01 6.31001116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072557844 meters Centerline goodness [0,1] 0.24432276782792695 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99912843e-01 -7.18664872e-05 -1.32022883e-02 -2.70444110e-01] [ 1.24507837e-04 9.99992046e-01 3.98651114e-03 -1.85204661e-01] [ 1.32018968e-02 -3.98780747e-03 9.99904899e-01 6.31118696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102557844 meters Centerline goodness [0,1] 0.24370932754880692 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99914167e-01 1.07307318e-04 -1.31014491e-02 -2.70864311e-01] [-4.91211741e-05 9.99990136e-01 4.44144015e-03 -1.87252083e-01] [ 1.31017964e-02 -4.44041537e-03 9.99904308e-01 6.31447641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132557844000004 meters Centerline goodness [0,1] 0.24422420725478688 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99915160e-01 2.42571590e-04 -1.30235810e-02 -2.71300890e-01] [-1.81274110e-04 9.99988903e-01 4.70762748e-03 -1.88332834e-01] [ 1.30245785e-02 -4.70486724e-03 9.99904108e-01 6.31897128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162557844000006 meters Centerline goodness [0,1] 0.2434203389095012 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99916130e-01 5.19592331e-04 -1.29407571e-02 -2.71618839e-01] [-4.56220808e-04 9.99987893e-01 4.89951979e-03 -1.88667890e-01] [ 1.29431462e-02 -4.89320502e-03 9.99904261e-01 6.32136847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19255784400001 meters Centerline goodness [0,1] 0.24192192451121985 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99913648e-01 5.25167656e-04 -1.31309101e-02 -2.70870397e-01] [-4.61406254e-04 9.99988092e-01 4.85838312e-03 -1.88565054e-01] [ 1.31333052e-02 -4.85190490e-03 9.99901983e-01 6.31703876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22255784400001 meters Centerline goodness [0,1] 0.24464418168331947 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.63 [[ 0.99991494 0.00635723 -0.01138888 -0.28724966] [-0.00632198 0.99997512 0.00312803 -0.19331093] [ 0.01140849 -0.00305576 0.99993025 0.6273881 ] [ 0. 0. 0. 1. ]] SLAMing on 47.25255784400001 meters Centerline goodness [0,1] 0.2515154807170016 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.63 [[ 0.99991474 0.00639072 -0.01138719 -0.28723523] [-0.00635481 0.99997473 0.00318731 -0.19367153] [ 0.01140728 -0.00311468 0.99993008 0.62738569] [ 0. 0. 0. 1. ]] SLAMing on 47.282557844 meters Centerline goodness [0,1] 0.24287911278618923 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.63 [[ 0.99991535 0.00645551 -0.01129694 -0.28749569] [-0.0064181 0.99997381 0.00334483 -0.19441824] [ 0.01131824 -0.00327204 0.99993059 0.62744634] [ 0. 0. 0. 1. ]] SLAMing on 47.312557844000004 meters Centerline goodness [0,1] 0.2516472487672906 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:0.63 [[ 0.99991509 0.0065516 -0.01126492 -0.28777961] [-0.00651176 0.99997243 0.00356961 -0.19538256] [ 0.011288 -0.00349596 0.99993018 0.62782928] [ 0. 0. 0. 1. ]] SLAMing on 47.342557844000005 meters Centerline goodness [0,1] 0.24256623982379233 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 0.99993164 -0.00102871 -0.01164688 -0.26699274] [ 0.0010768 0.99999092 0.00412378 -0.19239461] [ 0.01164253 -0.00413604 0.99992367 0.62869989] [ 0. 0. 0. 1. ]] SLAMing on 47.372557844000006 meters Centerline goodness [0,1] 0.2418859123307976 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 0.9999296 -0.00103685 -0.01182031 -0.26625041] [ 0.00108584 0.99999084 0.00413952 -0.19265903] [ 0.01181591 -0.00415206 0.99992157 0.6281866 ] [ 0. 0. 0. 1. ]] SLAMing on 47.40255784400001 meters Centerline goodness [0,1] 0.25246410385296236 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 0.99993456 -0.00105595 -0.01139141 -0.26721831] [ 0.00110092 0.99999163 0.00394178 -0.19147627] [ 0.01138715 -0.00395407 0.99992735 0.62792019] [ 0. 0. 0. 1. ]] SLAMing on 47.43255784400001 meters Centerline goodness [0,1] 0.2507956439844985 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:0.63 [[ 0.99993014 0.00806087 -0.00864497 -0.24781864] [-0.00803595 0.99996346 0.00291415 -0.19199692] [ 0.00866814 -0.00284447 0.99995839 0.62784112] [ 0. 0. 0. 1. ]] SLAMing on 47.462557844 meters Centerline goodness [0,1] 0.24364287872900747 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:0.63 [[ 0.99993259 0.00799104 -0.00842411 -0.24851377] [-0.00796857 0.99996461 0.00269714 -0.19083051] [ 0.00844536 -0.00262983 0.99996088 0.62806432] [ 0. 0. 0. 1. ]] SLAMing on 47.492557844000004 meters Centerline goodness [0,1] 0.25437198436783615 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 0.99995679 -0.0016961 -0.00914002 -0.26860461] [ 0.00172654 0.99999299 0.00332323 -0.18584062] [ 0.00913432 -0.00333887 0.99995271 0.62733036] [ 0. 0. 0. 1. ]] SLAMing on 47.522557844000005 meters Centerline goodness [0,1] 0.24221594949255532 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.18, Z:0.63 [[ 9.99947553e-01 4.97897407e-03 -8.94991924e-03 -2.45296016e-01] [-4.98383750e-03 9.99987445e-01 -5.21183920e-04 -1.84685326e-01] [ 8.94721191e-03 5.65761529e-04 9.99959813e-01 6.26910422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552557844000006 meters Centerline goodness [0,1] 0.2436217565953751 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.18, Z:0.63 [[ 9.99947085e-01 4.93697740e-03 -9.02514266e-03 -2.45158618e-01] [-4.94236193e-03 9.99987621e-01 -5.74407845e-04 -1.84489471e-01] [ 9.02219510e-03 6.18982971e-04 9.99959108e-01 6.27005744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58255784400001 meters Centerline goodness [0,1] 0.24327533353482145 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.18, Z:0.63 [[ 9.99947359e-01 4.91497068e-03 -9.00681984e-03 -2.45326698e-01] [-4.92071717e-03 9.99987703e-01 -6.15966755e-04 -1.84241924e-01] [ 9.00368163e-03 6.60254343e-04 9.99959248e-01 6.27177498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61255784400001 meters Centerline goodness [0,1] 0.2464794872912761 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 9.99948201e-01 -4.28928380e-03 -9.23028689e-03 -2.65304437e-01] [ 4.29653692e-03 9.99990476e-01 7.66109351e-04 -1.80719358e-01] [ 9.22691292e-03 -8.05727936e-04 9.99957107e-01 6.26001314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642557844 meters Centerline goodness [0,1] 0.24935451402564435 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 9.99950621e-01 -4.23189244e-03 -8.99152619e-03 -2.66129856e-01] [ 4.24024446e-03 9.99990596e-01 9.10016595e-04 -1.81360935e-01] [ 8.98759055e-03 -9.48097928e-04 9.99959161e-01 6.26422313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.672557844 meters Centerline goodness [0,1] 0.24358033749082908 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.18, Z:0.63 [[ 0.99997197 0.00317815 -0.00677897 -0.2451237 ] [-0.00319034 0.99999331 -0.00178826 -0.18240428] [ 0.00677324 0.00180983 0.99997542 0.62538012] [ 0. 0. 0. 1. ]] SLAMing on 47.702557844000005 meters Centerline goodness [0,1] 0.2439071943848703 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:0.63 [[ 0.9999711 0.00331214 -0.00684269 -0.24478293] [-0.00332175 0.99999351 -0.00139292 -0.184236 ] [ 0.00683803 0.00141561 0.99997562 0.62503268] [ 0. 0. 0. 1. ]] SLAMing on 47.732557844000006 meters Centerline goodness [0,1] 0.24565908002959225 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.62 [[ 0.99996995 0.00338194 -0.00697584 -0.24433737] [-0.00339026 0.99999356 -0.00118032 -0.18527872] [ 0.0069718 0.00120393 0.99997497 0.62483796] [ 0. 0. 0. 1. ]] SLAMing on 47.76255784400001 meters Centerline goodness [0,1] 0.2531733914940022 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.62 [[ 0.99996802 0.00342452 -0.00722661 -0.24361244] [-0.00343189 0.9999936 -0.00100868 -0.18624036] [ 0.00722311 0.00103344 0.99997338 0.62474161] [ 0. 0. 0. 1. ]] SLAMing on 47.79255784400001 meters Centerline goodness [0,1] 0.24504815356729492 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.62 [[ 9.99965542e-01 3.42236094e-03 -7.56327772e-03 -2.42581072e-01] [-3.42971520e-03 9.99993658e-01 -9.59607744e-04 -1.86637715e-01] [ 7.55994563e-03 9.85514566e-04 9.99970938e-01 6.24409419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822557844 meters Centerline goodness [0,1] 0.25217315526894835 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.62 [[ 0.99995739 0.00354873 -0.00852151 -0.23916368] [-0.00355832 0.99999305 -0.0011101 -0.18540692] [ 0.00851751 0.00114038 0.99996308 0.62251758] [ 0. 0. 0. 1. ]] SLAMing on 47.852557844 meters Centerline goodness [0,1] 0.2403107466551575 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.62 [[ 9.99943007e-01 -4.15251206e-04 -1.06682305e-02 -2.16085540e-01] [ 4.36887836e-04 9.99997852e-01 2.02588632e-03 -1.81756685e-01] [ 1.06673663e-02 -2.03043168e-03 9.99941041e-01 6.22302635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882557844000004 meters Centerline goodness [0,1] 0.24459030740619192 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.62 [[ 0.9998997 -0.00119729 -0.01411195 -0.2591679 ] [ 0.0012412 0.99999441 0.00310352 -0.18490713] [ 0.01410815 -0.00312072 0.99989561 0.62286056] [ 0. 0. 0. 1. ]] SLAMing on 47.912557844000006 meters Centerline goodness [0,1] 0.24460478845523126 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.62 [[ 0.9998981 -0.00125164 -0.01422082 -0.25884566] [ 0.0012938 0.99999479 0.00295621 -0.18430749] [ 0.01421704 -0.00297431 0.99989451 0.62281284] [ 0. 0. 0. 1. ]] SLAMing on 47.94255784400001 meters Centerline goodness [0,1] 0.24362070090713306 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.62 [[ 0.99989889 -0.00127096 -0.01416347 -0.25930666] [ 0.00131136 0.9999951 0.00284359 -0.18375087] [ 0.01415979 -0.00286188 0.99989565 0.62340098] [ 0. 0. 0. 1. ]] SLAMing on 47.97255784400001 meters Centerline goodness [0,1] 0.2473962296971146 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.62 [[ 9.99914134e-01 -9.12784062e-04 -1.30725530e-02 -2.62932344e-01] [ 9.52920186e-04 9.99994851e-01 3.06435941e-03 -1.83716396e-01] [ 1.30696886e-02 -3.07655339e-03 9.99909855e-01 6.24909345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00255784400001 meters Centerline goodness [0,1] 0.24480940706831844 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.62 [[ 9.99916095e-01 -9.04154944e-04 -1.29222980e-02 -2.63315021e-01] [ 9.43704521e-04 9.99994889e-01 3.05479848e-03 -1.83634923e-01] [ 1.29194699e-02 -3.06673699e-03 9.99911837e-01 6.24896217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032557844 meters Centerline goodness [0,1] 0.2444212449432337 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.62 [[ 9.99916426e-01 -8.77739545e-04 -1.28985051e-02 -2.63221367e-01] [ 9.18179599e-04 9.99994681e-01 3.12966396e-03 -1.84034706e-01] [ 1.28956895e-02 -3.14124555e-03 9.99911913e-01 6.24603744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062557844000004 meters Centerline goodness [0,1] 0.24386489767603192 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.62 [[ 9.99914805e-01 -8.70423304e-04 -1.30240342e-02 -2.62833583e-01] [ 9.12423780e-04 9.99994402e-01 3.21924942e-03 -1.84621768e-01] [ 1.30211592e-02 -3.23085859e-03 9.99910001e-01 6.24504572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092557844000005 meters Centerline goodness [0,1] 0.24343893370442038 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.62 [[ 9.99913027e-01 -8.82249068e-04 -1.31590483e-02 -2.62565289e-01] [ 9.24844243e-04 9.99994352e-01 3.23121555e-03 -1.84764495e-01] [ 1.31561232e-02 -3.24310459e-03 9.99908195e-01 6.24641675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122557844000006 meters Centerline goodness [0,1] 0.24393342093736314 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.62 [[ 9.99911336e-01 -9.13732789e-04 -1.32847779e-02 -2.62361995e-01] [ 9.55661672e-04 9.99994582e-01 3.15015433e-03 -1.84321872e-01] [ 1.32818275e-02 -3.16257078e-03 9.99906791e-01 6.24838141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15255784400001 meters Centerline goodness [0,1] 0.25444734475421704 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.63 [[ 9.99910276e-01 -9.68640325e-04 -1.33604630e-02 -2.62468233e-01] [ 1.00735718e-03 9.99995312e-01 2.89144249e-03 -1.82890706e-01] [ 1.33575996e-02 -2.90464182e-03 9.99906564e-01 6.25337637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18255784400001 meters Centerline goodness [0,1] 0.24121516357971262 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:0.63 [[ 0.99989994 0.00786659 -0.01175669 -0.24265091] [-0.0078508 0.99996822 0.0013883 -0.18458908] [ 0.01176724 -0.00129587 0.99992992 0.62586373] [ 0. 0. 0. 1. ]] SLAMing on 48.212557844 meters Centerline goodness [0,1] 0.2512775905186474 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:0.63 [[ 0.99990143 0.00780109 -0.01167382 -0.24288108] [-0.00778702 0.9999689 0.00125076 -0.18406388] [ 0.01168321 -0.00115973 0.99993108 0.62591551] [ 0. 0. 0. 1. ]] SLAMing on 48.242557844000004 meters Centerline goodness [0,1] 0.24553989587644587 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:0.63 [[ 0.99990326 0.00775771 -0.01154521 -0.24330266] [-0.0077453 0.99996938 0.00111915 -0.18342347] [ 0.01155354 -0.00102962 0.99993273 0.62604749] [ 0. 0. 0. 1. ]] SLAMing on 48.272557844000005 meters Centerline goodness [0,1] 0.23713927227101628 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.63 [[ 9.99938521e-01 4.98864308e-04 -1.10772682e-02 -2.24893778e-01] [-4.75356168e-04 9.99997630e-01 2.12472795e-03 -1.77208209e-01] [ 1.10783019e-02 -2.11933167e-03 9.99936388e-01 6.28153098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302557844000006 meters Centerline goodness [0,1] 0.2422131856722617 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99939404e-01 5.27793625e-04 -1.09958950e-02 -2.25514682e-01] [-5.03133972e-04 9.99997353e-01 2.24526910e-03 -1.77691352e-01] [ 1.09970510e-02 -2.23960064e-03 9.99937023e-01 6.28877085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33255784400001 meters Centerline goodness [0,1] 0.24599680607708574 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99940384e-01 5.53767283e-04 -1.09051619e-02 -2.26094718e-01] [-5.26864427e-04 9.99996811e-01 2.46970197e-03 -1.78867233e-01] [ 1.09064947e-02 -2.46380920e-03 9.99937487e-01 6.29518264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36255784400001 meters Centerline goodness [0,1] 0.2401703518884969 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99939836e-01 5.47325461e-04 -1.09555601e-02 -2.26217359e-01] [-5.17967700e-04 9.99996268e-01 2.68237143e-03 -1.80077960e-01] [ 1.09569874e-02 -2.67653543e-03 9.99936388e-01 6.29970850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392557844 meters Centerline goodness [0,1] 0.2401703518884969 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99939836e-01 5.47325461e-04 -1.09555601e-02 -2.26217359e-01] [-5.17967700e-04 9.99996268e-01 2.68237143e-03 -1.80077960e-01] [ 1.09569874e-02 -2.67653543e-03 9.99936388e-01 6.29970850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422557844 meters Centerline goodness [0,1] 0.24348879466989704 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99939481e-01 5.93915826e-04 -1.09855472e-02 -2.26185422e-01] [-5.61764779e-04 9.99995551e-01 2.92952202e-03 -1.81296067e-01] [ 1.09872382e-02 -2.92317343e-03 9.99935366e-01 6.30036241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452557844000005 meters Centerline goodness [0,1] 0.2517117704597326 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99940302e-01 6.21701723e-04 -1.09089901e-02 -2.26305911e-01] [-5.88143521e-04 9.99995086e-01 3.07913544e-03 -1.82061890e-01] [ 1.09108508e-02 -3.07253557e-03 9.99935754e-01 6.29902343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482557844000006 meters Centerline goodness [0,1] 0.24393834430204364 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99938787e-01 6.03594203e-04 -1.10479471e-02 -2.25854145e-01] [-5.67372149e-04 9.99994455e-01 3.28146370e-03 -1.83415471e-01] [ 1.10498665e-02 -3.27499453e-03 9.99933585e-01 6.29802025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51255784400001 meters Centerline goodness [0,1] 0.24497641097326572 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99937457e-01 6.40226115e-04 -1.11656562e-02 -2.25786421e-01] [-6.02672035e-04 9.99994152e-01 3.36639670e-03 -1.83769853e-01] [ 1.11677462e-02 -3.35945692e-03 9.99931995e-01 6.30235296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54255784400001 meters Centerline goodness [0,1] 0.25238198825320857 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99937604e-01 6.63102642e-04 -1.11511228e-02 -2.26001588e-01] [-6.25779993e-04 9.99994192e-01 3.35014189e-03 -1.83547447e-01] [ 1.11532795e-02 -3.34295471e-03 9.99932212e-01 6.30561648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572557844 meters Centerline goodness [0,1] 0.24299709333620412 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99938539e-01 7.76632234e-04 -1.10596283e-02 -2.26235650e-01] [-7.41441782e-04 9.99994651e-01 3.18562848e-03 -1.82280481e-01] [ 1.10620432e-02 -3.17723262e-03 9.99933766e-01 6.30500884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602557844 meters Centerline goodness [0,1] 0.238504512247529 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.63 [[ 9.99937830e-01 7.27067447e-04 -1.11268980e-02 -2.25867407e-01] [-6.93962295e-04 9.99995323e-01 2.97880824e-03 -1.81318519e-01] [ 1.11290117e-02 -2.97090140e-03 9.99933657e-01 6.30165093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632557844000004 meters Centerline goodness [0,1] 0.24449893810347467 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 9.99894796e-01 -3.14979557e-04 -1.45016606e-02 -2.70112880e-01] [ 3.68824181e-04 9.99993048e-01 3.71047243e-03 -1.84283450e-01] [ 1.45003911e-02 -3.71543064e-03 9.99887961e-01 6.31092333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662557844000006 meters Centerline goodness [0,1] 0.24335476025017377 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 9.99892475e-01 -3.75246918e-04 -1.46593860e-02 -2.69395855e-01] [ 4.26465658e-04 9.99993816e-01 3.49095142e-03 -1.83249812e-01] [ 1.46579854e-02 -3.49682778e-03 9.99886451e-01 6.30495161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69255784400001 meters Centerline goodness [0,1] 0.2420530449729118 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 9.99890235e-01 -4.30938993e-04 -1.48098542e-02 -2.68598173e-01] [ 4.79789032e-04 9.99994456e-01 3.29508740e-03 -1.82338921e-01] [ 1.48083521e-02 -3.30183132e-03 9.99884899e-01 6.29740554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72255784400001 meters Centerline goodness [0,1] 0.23917699746868304 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 9.99884992e-01 -4.61997904e-04 -1.51587921e-02 -2.67199608e-01] [ 5.10779953e-04 9.99994703e-01 3.21435584e-03 -1.82149017e-01] [ 1.51572267e-02 -3.22172897e-03 9.99879932e-01 6.28841453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75255784400001 meters Centerline goodness [0,1] 0.2425999522227289 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.63 [[ 9.99883794e-01 -4.14779393e-04 -1.52389589e-02 -2.67081879e-01] [ 4.66791424e-04 9.99994078e-01 3.40969774e-03 -1.83231244e-01] [ 1.52374543e-02 -3.41641493e-03 9.99878067e-01 6.29005189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782557844 meters Centerline goodness [0,1] 0.23923860846135458 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99883883e-01 -3.01089100e-04 -1.52358116e-02 -2.67383836e-01] [ 3.58718939e-04 9.99992792e-01 3.77993355e-03 -1.85035695e-01] [ 1.52345637e-02 -3.78496001e-03 9.99876783e-01 6.29540885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812557844000004 meters Centerline goodness [0,1] 0.24360315592171222 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99885408e-01 -1.72517496e-04 -1.51374273e-02 -2.67872980e-01] [ 2.35776503e-04 9.99991247e-01 4.17729496e-03 -1.86872851e-01] [ 1.51365741e-02 -4.18038532e-03 9.99876697e-01 6.29976336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842557844000005 meters Centerline goodness [0,1] 0.2440421731364092 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99889994e-01 -5.45490867e-05 -1.48323019e-02 -2.69091079e-01] [ 1.26247226e-04 9.99988313e-01 4.83302518e-03 -1.90072072e-01] [ 1.48318649e-02 -4.83436605e-03 9.99878315e-01 6.30884301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872557844000006 meters Centerline goodness [0,1] 0.24346257889990985 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99889115e-01 3.88239582e-05 -1.48915140e-02 -2.69061776e-01] [ 3.76641239e-05 9.99986810e-01 5.13603878e-03 -1.91578636e-01] [ 1.48915170e-02 -5.13603014e-03 9.99875924e-01 6.31151525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90255784400001 meters Centerline goodness [0,1] 0.24166757612135759 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99885475e-01 7.81442375e-05 -1.51337409e-02 -2.68410040e-01] [ 3.39398828e-06 9.99985486e-01 5.38774275e-03 -1.93012740e-01] [ 1.51339423e-02 -5.38717708e-03 9.99870963e-01 6.31088712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93255784400001 meters Centerline goodness [0,1] 0.23800392148413096 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:0.63 [[ 0.99986595 0.007791 -0.01440086 -0.24622838] [-0.00774702 0.99996516 0.00310782 -0.19547533] [ 0.01442457 -0.00299584 0.99989147 0.6301735 ] [ 0. 0. 0. 1. ]] SLAMing on 48.962557844 meters Centerline goodness [0,1] 0.24380002624327513 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.20, Z:0.63 [[ 0.99988571 -0.00165042 -0.01502783 -0.26850984] [ 0.00171924 0.99998809 0.00456777 -0.19574366] [ 0.01502011 -0.00459309 0.99987664 0.63029098] [ 0. 0. 0. 1. ]] SLAMing on 48.992557844000004 meters Centerline goodness [0,1] 0.23947328459552686 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:0.63 [[ 0.99989078 0.0069738 -0.01303041 -0.25012202] [-0.00693384 0.99997113 0.00310967 -0.2007362 ] [ 0.01305172 -0.00301898 0.99991027 0.63182918] [ 0. 0. 0. 1. ]] SLAMing on 49.022557844000005 meters Centerline goodness [0,1] 0.24446494464944646 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.20, Z:0.63 [[ 0.99990233 -0.00312617 -0.01362225 -0.27218773] [ 0.00317733 0.99998798 0.00373546 -0.19974406] [ 0.01361041 -0.00377838 0.99990024 0.63224434] [ 0. 0. 0. 1. ]] SLAMing on 49.052557844000006 meters Centerline goodness [0,1] 0.24278452845829968 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:0.63 [[ 9.99904904e-01 4.07003948e-03 -1.31764327e-02 -2.51521871e-01] [-4.05973020e-03 9.99991432e-01 8.09055927e-04 -2.03643801e-01] [ 1.31796127e-02 -7.55486227e-04 9.99912860e-01 6.32956875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08255784400001 meters Centerline goodness [0,1] 0.23807251908396942 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:0.63 [[ 0.99989992 0.00425814 -0.01349129 -0.25066348] [-0.0042392 0.99998999 0.00143194 -0.20685794] [ 0.01349726 -0.00137461 0.99990796 0.63288987] [ 0. 0. 0. 1. ]] SLAMing on 49.11255784400001 meters Centerline goodness [0,1] 0.24399090988549954 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:0.63 [[ 0.99989976 0.00434045 -0.0134768 -0.2505568 ] [-0.00431914 0.99998938 0.00160991 -0.2076862 ] [ 0.01348365 -0.00155154 0.99990789 0.63264036] [ 0. 0. 0. 1. ]] SLAMing on 49.142557844 meters Centerline goodness [0,1] 0.24164815540746554 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:0.63 [[ 0.99989998 0.00436032 -0.01345408 -0.25038301] [-0.00433882 0.99998926 0.00162667 -0.20778752] [ 0.01346103 -0.00156813 0.99990817 0.63225657] [ 0. 0. 0. 1. ]] SLAMing on 49.172557844 meters Centerline goodness [0,1] 0.24163182182550857 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:0.63 [[ 0.99990063 0.00438404 -0.01339822 -0.25044207] [-0.00436267 0.99998916 0.00162419 -0.20772516] [ 0.01340519 -0.00156558 0.99990892 0.63212423] [ 0. 0. 0. 1. ]] SLAMing on 49.202557844000005 meters Centerline goodness [0,1] 0.24387532693984304 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:0.63 [[ 0.99990164 0.00440778 -0.01331474 -0.25082233] [-0.00438643 0.99998905 0.00163224 -0.20767066] [ 0.01332179 -0.00157367 0.99991002 0.63243753] [ 0. 0. 0. 1. ]] SLAMing on 49.232557844000006 meters Centerline goodness [0,1] 0.23932687270822417 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:0.63 [[ 0.99990658 0.00450844 -0.01290343 -0.25199397] [-0.00449101 0.99998896 0.00137944 -0.20579544] [ 0.01290951 -0.00132136 0.9999158 0.63262363] [ 0. 0. 0. 1. ]] SLAMing on 49.26255784400001 meters Centerline goodness [0,1] 0.2392753560451929 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:0.63 [[ 0.99990572 0.00445603 -0.01298864 -0.25162038] [-0.00444252 0.99998956 0.00106878 -0.20404582] [ 0.01299327 -0.00101098 0.99991507 0.63228484] [ 0. 0. 0. 1. ]] SLAMing on 49.29255784400001 meters Centerline goodness [0,1] 0.23962833510626746 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:0.63 [[ 9.99906323e-01 4.34380055e-03 -1.29798622e-02 -2.51360868e-01] [-4.33466097e-03 9.99990337e-01 7.32185856e-04 -2.02447592e-01] [ 1.29829173e-02 -6.75853965e-04 9.99915490e-01 6.31792340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32255784400001 meters Centerline goodness [0,1] 0.23738204484460224 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:0.63 [[ 9.99907112e-01 4.19403837e-03 -1.29683035e-02 -2.51162630e-01] [-4.18968549e-03 9.99991157e-01 3.62804844e-04 -2.00871072e-01] [ 1.29697104e-02 -3.08438031e-04 9.99915842e-01 6.31395931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352557844 meters Centerline goodness [0,1] 0.23864496184361284 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:0.63 [[ 9.99912591e-01 4.01192889e-03 -1.25981937e-02 -2.52362216e-01] [-4.01458557e-03 9.99991924e-01 -1.85595592e-04 -1.98321814e-01] [ 1.25973473e-02 2.36155896e-04 9.99920622e-01 6.31802149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382557844000004 meters Centerline goodness [0,1] 0.25146083212512627 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:0.63 [[ 9.99882464e-01 2.67265438e-03 -1.50968616e-02 -2.98873403e-01] [-2.66251327e-03 9.99996216e-01 6.91795521e-04 -2.00799346e-01] [ 1.50986534e-02 -6.51518616e-04 9.99885797e-01 6.33911472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412557844000006 meters Centerline goodness [0,1] 0.25066684157593244 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:0.63 [[ 9.99884564e-01 2.55542946e-03 -1.49775742e-02 -2.99010015e-01] [-2.55035498e-03 9.99996684e-01 3.57895371e-04 -1.99074480e-01] [ 1.49784391e-02 -3.19655927e-04 9.99887766e-01 6.33565150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44255784400001 meters Centerline goodness [0,1] 0.23456287373813145 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:0.63 [[ 9.99908774e-01 4.24226596e-03 -1.28236662e-02 -2.53491832e-01] [-4.24881388e-03 9.99990857e-01 -4.83411148e-04 -1.92466164e-01] [ 1.28214982e-02 5.37852420e-04 9.99917657e-01 6.31505976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47255784400001 meters Centerline goodness [0,1] 0.2425797473308835 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99880327e-01 -5.09129912e-03 -1.46085671e-02 -2.73125777e-01] [ 5.10023311e-03 9.99986829e-01 5.74367654e-04 -1.87785259e-01] [ 1.46054504e-02 -6.48806015e-04 9.99893124e-01 6.30700996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50255784400001 meters Centerline goodness [0,1] 0.24254088378566463 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99878695e-01 -5.22492732e-03 -1.46729295e-02 -2.72946995e-01] [ 5.23004404e-03 9.99986275e-01 3.10367568e-04 -1.86653711e-01] [ 1.46711064e-02 -3.87069986e-04 9.99892299e-01 6.30628693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532557844 meters Centerline goodness [0,1] 0.2410026545976761 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99876921e-01 -5.36161709e-03 -1.47443600e-02 -2.73150492e-01] [ 5.36441791e-03 9.99985600e-01 1.50415180e-04 -1.85997101e-01] [ 1.47433412e-02 -2.29491575e-04 9.99891285e-01 6.31267430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562557844000004 meters Centerline goodness [0,1] 0.24068730609853994 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99877730e-01 -5.37387741e-03 -1.46849140e-02 -2.73326990e-01] [ 5.37615106e-03 9.99985542e-01 1.15356364e-04 -1.85684749e-01] [ 1.46840818e-02 -1.94290575e-04 9.99892164e-01 6.31244650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592557844000005 meters Centerline goodness [0,1] 0.2391238670694864 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.63 [[ 9.99879030e-01 -5.36778400e-03 -1.45983565e-02 -2.73600061e-01] [ 5.37023951e-03 9.99985572e-01 1.29009402e-04 -1.85645106e-01] [ 1.45974534e-02 -2.07390466e-04 9.99893430e-01 6.31314268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622557844000006 meters Centerline goodness [0,1] 0.2425862482815807 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.63 [[ 9.99915517e-01 9.29683541e-04 -1.29651375e-02 -2.91684525e-01] [-9.40246838e-04 9.99999231e-01 -8.08674574e-04 -1.91467320e-01] [ 1.29643757e-02 8.20796684e-04 9.99915622e-01 6.29072994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65255784400001 meters Centerline goodness [0,1] 0.2398383646303779 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.63 [[ 9.99913716e-01 7.71799014e-04 -1.31135330e-02 -2.91712849e-01] [-7.82269258e-04 9.99999379e-01 -7.93319863e-04 -1.92557032e-01] [ 1.31129125e-02 8.03509726e-04 9.99913699e-01 6.29805259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68255784400001 meters Centerline goodness [0,1] 0.23909806883158913 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.63 [[ 9.99912197e-01 7.85554988e-04 -1.32280386e-02 -2.91389888e-01] [-7.94744734e-04 9.99999447e-01 -6.89474833e-04 -1.93167476e-01] [ 1.32274897e-02 6.99927209e-04 9.99912268e-01 6.29732177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712557844 meters Centerline goodness [0,1] 0.2530905077262693 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99869616e-01 -4.10527431e-04 -1.61425518e-02 -3.35380011e-01] [ 4.20386262e-04 9.99999727e-01 6.07347061e-04 -1.97475837e-01] [ 1.61422981e-02 -6.14053980e-04 9.99869516e-01 6.30477579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742557844000004 meters Centerline goodness [0,1] 0.23841912159117729 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.63 [[ 9.99906349e-01 9.97018653e-04 -1.36491232e-02 -2.89475964e-01] [-9.95411335e-04 9.99999497e-01 1.24552823e-04 -1.93661372e-01] [ 1.36492405e-02 -1.10954666e-04 9.99906839e-01 6.28260459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772557844000005 meters Centerline goodness [0,1] 0.2435139825575009 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.20, Z:0.63 [[ 9.99865880e-01 -6.03946982e-04 -1.63663659e-02 -3.34551671e-01] [ 6.16010523e-04 9.99999542e-01 7.32062155e-04 -1.97197003e-01] [ 1.63659162e-02 -7.42045825e-04 9.99865794e-01 6.29418931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802557844000006 meters Centerline goodness [0,1] 0.24043147702904677 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.20, Z:0.63 [[ 0.99986667 0.00719361 -0.01465948 -0.31357686] [-0.00722007 0.9999724 -0.0017528 -0.19799358] [ 0.01464646 0.00185841 0.99989101 0.62895641] [ 0. 0. 0. 1. ]] SLAMing on 49.83255784400001 meters Centerline goodness [0,1] 0.2529831359253225 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99873494e-01 -7.18760444e-04 -1.58896062e-02 -3.37016007e-01] [ 7.31221776e-04 9.99999430e-01 7.78448328e-04 -1.96815263e-01] [ 1.58890377e-02 -7.89968676e-04 9.99873449e-01 6.30865195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86255784400001 meters Centerline goodness [0,1] 0.23976201850002177 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:0.63 [[ 9.99855144e-01 8.38878221e-03 -1.48094572e-02 -3.17178094e-01] [-8.39297550e-03 9.99964754e-01 -2.21019997e-04 -1.99838786e-01] [ 1.48070812e-02 3.45283392e-04 9.99890310e-01 6.31731381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892557844 meters Centerline goodness [0,1] 0.24337915586982295 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99873001e-01 -1.29890992e-03 -1.58837618e-02 -3.37070745e-01] [ 1.30960818e-03 9.99998923e-01 6.63151569e-04 -1.96963918e-01] [ 1.58828833e-02 -6.83868854e-04 9.99873625e-01 6.30873543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922557844 meters Centerline goodness [0,1] 0.24192810955563782 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99867417e-01 -1.33085690e-03 -1.62288721e-02 -3.36174558e-01] [ 1.34322867e-03 9.99998816e-01 7.51454636e-04 -1.97748032e-01] [ 1.62278528e-02 -7.73154092e-04 9.99868021e-01 6.30852789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952557844000005 meters Centerline goodness [0,1] 0.24108169062954043 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99864755e-01 -1.32645541e-03 -1.63924332e-02 -3.35623930e-01] [ 1.34128272e-03 9.99998701e-01 8.93560174e-04 -1.98632227e-01] [ 1.63912266e-02 -9.15426212e-04 9.99865236e-01 6.30623024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982557844000006 meters Centerline goodness [0,1] 0.25258721507535475 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.20, Z:0.63 [[ 0.99981662 -0.00247838 -0.018989 -0.38047594] [ 0.00252183 0.99999426 0.00226473 -0.20342149] [ 0.01898328 -0.0023122 0.99981713 0.63163616] [ 0. 0. 0. 1. ]] SLAMing on 50.01255784400001 meters Centerline goodness [0,1] 0.2385783493732485 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.20, Z:0.63 [[ 9.99834788e-01 5.31665910e-03 -1.73818566e-02 -3.59119856e-01] [-5.32086003e-03 9.99985825e-01 -1.95446730e-04 -2.03937462e-01] [ 1.73805711e-02 2.87900865e-04 9.99848905e-01 6.31085823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04255784400001 meters Centerline goodness [0,1] 0.23520034467901763 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99839079e-01 -1.86297881e-03 -1.78422549e-02 -3.40010210e-01] [ 1.86819621e-03 9.99998217e-01 2.75755311e-04 -1.98870237e-01] [ 1.78417094e-02 -3.09043769e-04 9.99840776e-01 6.32764219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07255784400001 meters Centerline goodness [0,1] 0.2413304252998909 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99847165e-01 -1.78796955e-03 -1.73910925e-02 -3.41334004e-01] [ 1.79096830e-03 9.99998384e-01 1.56856985e-04 -1.97642997e-01] [ 1.73907839e-02 -1.87979907e-04 9.99848751e-01 6.32968115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102557844 meters Centerline goodness [0,1] 0.2429071803852889 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99855590e-01 -1.72741165e-03 -1.69060504e-02 -3.42575578e-01] [ 1.72759139e-03 9.99998508e-01 -3.97280061e-06 -1.96176462e-01] [ 1.69060320e-02 -2.52345202e-05 9.99857083e-01 6.32987353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132557844000004 meters Centerline goodness [0,1] 0.24106561292283646 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99861233e-01 -1.70894583e-03 -1.65708783e-02 -3.43662407e-01] [ 1.70664305e-03 9.99998532e-01 -1.53105717e-04 -1.95137323e-01] [ 1.65711156e-02 1.24803896e-04 9.99862682e-01 6.33406694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162557844000006 meters Centerline goodness [0,1] 0.24248544870124233 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.20, Z:0.63 [[ 9.99866042e-01 -1.70074882e-03 -1.62789830e-02 -3.44816670e-01] [ 1.69826057e-03 9.99998544e-01 -1.66673576e-04 -1.95135015e-01] [ 1.62792428e-02 1.39005294e-04 9.99867475e-01 6.34141218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19255784400001 meters Centerline goodness [0,1] 0.2359895956490896 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.20, Z:0.63 [[ 0.99988261 0.00592854 -0.0141289 -0.32512745] [-0.0059721 0.99997754 -0.00304346 -0.19667119] [ 0.01411054 0.00312749 0.99989555 0.63430618] [ 0. 0. 0. 1. ]] SLAMing on 50.22255784400001 meters Centerline goodness [0,1] 0.24007013138812527 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.20, Z:0.63 [[ 0.99988298 0.00596038 -0.01408884 -0.32538184] [-0.00600258 0.99997762 -0.00295512 -0.19714944] [ 0.01407091 0.00303935 0.99989638 0.63454286] [ 0. 0. 0. 1. ]] SLAMing on 50.25255784400001 meters Centerline goodness [0,1] 0.2372812110265342 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.19, Z:0.64 [[ 9.99891552e-01 -9.49239124e-04 -1.46963900e-02 -3.05091244e-01] [ 9.24045250e-04 9.99998092e-01 -1.72098551e-03 -1.92900848e-01] [ 1.46979956e-02 1.70721875e-03 9.99890521e-01 6.35371378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282557844 meters Centerline goodness [0,1] 0.24047251959783722 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99887059e-01 -9.58214623e-04 -1.49984021e-02 -3.04041065e-01] [ 9.34754102e-04 9.99998329e-01 -1.57113352e-03 -1.94061812e-01] [ 1.49998825e-02 1.55693626e-03 9.99886283e-01 6.34968936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312557844000004 meters Centerline goodness [0,1] 0.24047251959783722 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99887059e-01 -9.58214623e-04 -1.49984021e-02 -3.04041065e-01] [ 9.34754102e-04 9.99998329e-01 -1.57113352e-03 -1.94061812e-01] [ 1.49998825e-02 1.55693626e-03 9.99886283e-01 6.34968936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342557844000005 meters Centerline goodness [0,1] 0.2378886010362694 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:0.63 [[ 9.99881763e-01 -9.95949610e-04 -1.53449712e-02 -3.03121075e-01] [ 9.74530048e-04 9.99998541e-01 -1.40328278e-03 -1.95564243e-01] [ 1.53463464e-02 1.38816273e-03 9.99881274e-01 6.34969158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372557844000006 meters Centerline goodness [0,1] 0.23859542514866094 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:0.64 [[ 9.99880335e-01 -9.31649924e-04 -1.54417569e-02 -3.03066517e-01] [ 9.13477714e-04 9.99998882e-01 -1.18383418e-03 -1.96864598e-01] [ 1.54428426e-02 1.16958682e-03 9.99880068e-01 6.35309457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40255784400001 meters Centerline goodness [0,1] 0.23895257215638022 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:0.64 [[ 9.99882758e-01 -8.58195152e-04 -1.52883375e-02 -3.03599555e-01] [ 8.42136075e-04 9.99999087e-01 -1.05682045e-03 -1.97278992e-01] [ 1.52892305e-02 1.04382168e-03 9.99882568e-01 6.35558188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43255784400001 meters Centerline goodness [0,1] 0.2396603137559964 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:0.64 [[ 9.99886959e-01 -7.85842728e-04 -1.50150284e-02 -3.04370911e-01] [ 7.70395223e-04 9.99999168e-01 -1.03455934e-03 -1.96975243e-01] [ 1.50158289e-02 1.02287488e-03 9.99886733e-01 6.35644687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462557844 meters Centerline goodness [0,1] 0.2522088178188878 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:0.63 [[ 9.99891622e-01 -6.91167981e-04 -1.47060323e-02 -3.04546463e-01] [ 6.73710133e-04 9.99999063e-01 -1.19204252e-03 -1.95576009e-01] [ 1.47068424e-02 1.18200573e-03 9.99891150e-01 6.34605660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492557844000004 meters Centerline goodness [0,1] 0.24965568502284508 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99887749e-01 -7.62881014e-04 -1.49635357e-02 -3.03337339e-01] [ 7.42282117e-04 9.99998769e-01 -1.38211186e-03 -1.94821527e-01] [ 1.49645717e-02 1.37084955e-03 9.99887085e-01 6.33623018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522557844000005 meters Centerline goodness [0,1] 0.24045021946025813 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99880827e-01 -8.38549376e-04 -1.54151883e-02 -3.01599102e-01] [ 8.14197363e-04 9.99998411e-01 -1.58594954e-03 -1.93984728e-01] [ 1.54164937e-02 1.57320953e-03 9.99879921e-01 6.32567058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552557844000006 meters Centerline goodness [0,1] 0.24236111111111114 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99874983e-01 -8.53429340e-04 -1.57889170e-02 -3.00175082e-01] [ 8.23830862e-04 9.99997891e-01 -1.88104549e-03 -1.92092459e-01] [ 1.57904891e-02 1.86780293e-03 9.99873578e-01 6.31603720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58255784400001 meters Centerline goodness [0,1] 0.2509226703937455 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99875184e-01 -8.92505013e-04 -1.57740198e-02 -3.00418375e-01] [ 8.61712488e-04 9.99997710e-01 -1.95879282e-03 -1.91745564e-01] [ 1.57757319e-02 1.94495567e-03 9.99873664e-01 6.31963641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61255784400001 meters Centerline goodness [0,1] 0.2408090628933548 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99874562e-01 -9.59583180e-04 -1.58094922e-02 -3.00460247e-01] [ 9.27850242e-04 9.99997541e-01 -2.01442057e-03 -1.91771802e-01] [ 1.58113863e-02 1.99949904e-03 9.99872993e-01 6.32198605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642557844 meters Centerline goodness [0,1] 0.24207783106672798 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99874246e-01 -1.00890246e-03 -1.58264115e-02 -3.00455948e-01] [ 9.76217222e-04 9.99997375e-01 -2.07282312e-03 -1.91672116e-01] [ 1.58284612e-02 2.05711244e-03 9.99872606e-01 6.32271036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672557844 meters Centerline goodness [0,1] 0.23638669733645767 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.63 [[ 9.99908010e-01 6.00639921e-04 -1.35503415e-02 -2.56785021e-01] [-6.34678188e-04 9.99996654e-01 -2.50782554e-03 -1.87644470e-01] [ 1.35487898e-02 2.51619495e-03 9.99905045e-01 6.31642027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702557844000005 meters Centerline goodness [0,1] 0.24499260208025087 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99870207e-01 1.29876159e-05 -1.61111189e-02 -3.03682559e-01] [-2.43963633e-05 9.99999749e-01 -7.07932469e-04 -1.90957788e-01] [ 1.61111056e-02 7.08233638e-04 9.99869957e-01 6.33606772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.732557844000006 meters Centerline goodness [0,1] 0.24153385365427082 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99867455e-01 -1.61018012e-04 -1.62802348e-02 -3.02928200e-01] [ 1.44676117e-04 9.99999485e-01 -1.00496018e-03 -1.89887696e-01] [ 1.62803882e-02 1.00247161e-03 9.99866963e-01 6.33089083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76255784400001 meters Centerline goodness [0,1] 0.2409693844103057 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99864518e-01 -2.87489162e-04 -1.64579454e-02 -3.02321436e-01] [ 2.68346486e-04 9.99999285e-01 -1.16532327e-03 -1.89710673e-01] [ 1.64582687e-02 1.16074896e-03 9.99863880e-01 6.32838144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79255784400001 meters Centerline goodness [0,1] 0.2396665508857242 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99864235e-01 -3.94268165e-04 -1.64728833e-02 -3.02233054e-01] [ 3.71478711e-04 9.99998970e-01 -1.38648963e-03 -1.88768524e-01] [ 1.64734129e-02 1.38018207e-03 9.99863352e-01 6.32708023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82255784400001 meters Centerline goodness [0,1] 0.23943478260869566 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99869185e-01 -3.64924120e-04 -1.61703198e-02 -3.03135825e-01] [ 3.41120444e-04 9.99998854e-01 -1.47479340e-03 -1.87716394e-01] [ 1.61708395e-02 1.46908445e-03 9.99868164e-01 6.32821762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852557844 meters Centerline goodness [0,1] 0.24002072494117144 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99876526e-01 -2.00099380e-04 -1.57128474e-02 -3.04947033e-01] [ 1.77790422e-04 9.99998974e-01 -1.42117494e-03 -1.86372493e-01] [ 1.57131156e-02 1.41820587e-03 9.99875536e-01 6.33791892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882557844000004 meters Centerline goodness [0,1] 0.24265251757718675 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99873430e-01 -2.68827744e-04 -1.59075778e-02 -3.04534650e-01] [ 2.45368337e-04 9.99998880e-01 -1.47666493e-03 -1.86485297e-01] [ 1.59079569e-02 1.47257481e-03 9.99872376e-01 6.33965685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912557844000006 meters Centerline goodness [0,1] 0.24157902758725802 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99868441e-01 -4.06749626e-04 -1.62152706e-02 -3.03635846e-01] [ 3.80329809e-04 9.99998595e-01 -1.63236755e-03 -1.86330426e-01] [ 1.62159118e-02 1.62598564e-03 9.99867191e-01 6.33804869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94255784400001 meters Centerline goodness [0,1] 0.2440430522370065 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:0.63 [[ 9.99866039e-01 -5.11033183e-04 -1.63597708e-02 -3.02929836e-01] [ 4.80261760e-04 9.99998108e-01 -1.88479364e-03 -1.85260912e-01] [ 1.63607030e-02 1.87668418e-03 9.99864394e-01 6.33196646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97255784400001 meters Centerline goodness [0,1] 0.24296240734204022 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:0.63 [[ 9.99867205e-01 -6.19467400e-04 -1.62846403e-02 -3.02697918e-01] [ 5.83049791e-04 9.99997319e-01 -2.24096899e-03 -1.83373419e-01] [ 1.62859849e-02 2.23117664e-03 9.99864885e-01 6.32419714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00255784400001 meters Centerline goodness [0,1] 0.23927887961029926 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.63 [[ 9.99857509e-01 -5.34343886e-03 -1.60127634e-02 -2.79698365e-01] [ 5.35753884e-03 9.99985297e-01 8.37777951e-04 -1.78635091e-01] [ 1.60080513e-02 -9.23447577e-04 9.99871437e-01 6.31755484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032557844 meters Centerline goodness [0,1] 0.24326695324151237 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.63 [[ 9.99866622e-01 -5.44327842e-03 -1.53983627e-02 -2.81617218e-01] [ 5.44903471e-03 9.99985099e-01 3.31893785e-04 -1.75871808e-01] [ 1.53963267e-02 -4.15755731e-04 9.99881383e-01 6.32395349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062557844000004 meters Centerline goodness [0,1] 0.2423504338559903 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.63 [[ 0.99990142 0.00338628 -0.01362659 -0.26278699] [-0.00340444 0.99999335 -0.00130959 -0.17664428] [ 0.01362207 0.00135585 0.9999063 0.63367873] [ 0. 0. 0. 1. ]] SLAMing on 51.092557844000005 meters Centerline goodness [0,1] 0.2426878852795873 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.63 [[ 0.9999041 0.00332162 -0.01344478 -0.2632873 ] [-0.00334258 0.99999323 -0.00153722 -0.1753397 ] [ 0.01343958 0.00158201 0.99990843 0.63369371] [ 0. 0. 0. 1. ]] SLAMing on 51.122557844000006 meters Centerline goodness [0,1] 0.23981606004077916 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.64 [[ 9.99895094e-01 -3.32724688e-03 -1.40971749e-02 -2.44947642e-01] [ 3.31842796e-03 9.99994283e-01 -6.48926331e-04 -1.67770340e-01] [ 1.40992535e-02 6.02077795e-04 9.99900419e-01 6.35456254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15255784400001 meters Centerline goodness [0,1] 0.24444201312910285 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.64 [[ 9.99897990e-01 -3.30483017e-03 -1.38956261e-02 -2.45821650e-01] [ 3.29728479e-03 9.99994404e-01 -5.65879051e-04 -1.68183777e-01] [ 1.38974185e-02 5.20003489e-04 9.99903291e-01 6.36081450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18255784400001 meters Centerline goodness [0,1] 0.242383356545961 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.64 [[ 9.99901775e-01 -3.28152041e-03 -1.36261846e-02 -2.47057686e-01] [ 3.27518895e-03 9.99994518e-01 -4.86943633e-04 -1.68444176e-01] [ 1.36277078e-02 4.42267473e-04 9.99907041e-01 6.37071462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212557844 meters Centerline goodness [0,1] 0.24106795697066574 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.64 [[ 9.99906350e-01 -3.21192460e-03 -1.33031659e-02 -2.48464252e-01] [ 3.20672391e-03 9.99994773e-01 -4.12249024e-04 -1.68357361e-01] [ 1.33044205e-02 3.69550837e-04 9.99911424e-01 6.38043696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242557844000004 meters Centerline goodness [0,1] 0.24686486012452868 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.64 [[ 9.99905420e-01 4.69578742e-03 -1.29267726e-02 -2.70021040e-01] [-4.70453644e-03 9.99988725e-01 -6.46488313e-04 -1.73269440e-01] [ 1.29235911e-02 7.07241640e-04 9.99916237e-01 6.37683026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272557844000005 meters Centerline goodness [0,1] 0.2444734836110204 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.64 [[ 9.99907065e-01 4.64648425e-03 -1.28168422e-02 -2.70191970e-01] [-4.65721408e-03 9.99988829e-01 -8.07446124e-04 -1.72404374e-01] [ 1.28129472e-02 8.67061862e-04 9.99917535e-01 6.37493831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302557844000006 meters Centerline goodness [0,1] 0.24676974289343434 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.64 [[ 0.99990735 0.00451993 -0.01283965 -0.26979093] [-0.00453396 0.99998916 -0.00106322 -0.17154282] [ 0.0128347 0.00112134 0.999917 0.63694249] [ 0. 0. 0. 1. ]] SLAMing on 51.33255784400001 meters Centerline goodness [0,1] 0.2449871688921752 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.64 [[ 0.99990709 0.00447951 -0.0128741 -0.26949286] [-0.00449445 0.99998926 -0.00113187 -0.17135873] [ 0.01286889 0.00118962 0.99991648 0.63656444] [ 0. 0. 0. 1. ]] SLAMing on 51.36255784400001 meters Centerline goodness [0,1] 0.24429825516805714 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.64 [[ 0.99990833 0.00442488 -0.01279673 -0.26950218] [-0.00444198 0.99998928 -0.00130809 -0.17039676] [ 0.0127908 0.00136481 0.99991726 0.63620075] [ 0. 0. 0. 1. ]] SLAMing on 51.392557844 meters Centerline goodness [0,1] 0.24540092529655533 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.64 [[ 0.99991012 0.00438075 -0.01267156 -0.26966808] [-0.00440025 0.99998918 -0.00151128 -0.16920034] [ 0.0126648 0.0015669 0.99991857 0.63588104] [ 0. 0. 0. 1. ]] SLAMing on 51.422557844 meters Centerline goodness [0,1] 0.24247072548934878 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.64 [[ 9.99920933e-01 -7.16182868e-04 -1.25544448e-02 -2.46794447e-01] [ 7.32330345e-04 9.99998911e-01 1.28164604e-03 -1.64798822e-01] [ 1.25535132e-02 -1.29073870e-03 9.99920368e-01 6.35651607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.452557844000005 meters Centerline goodness [0,1] 0.24208501718064535 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.64 [[ 9.99919788e-01 -8.66044480e-04 -1.26359447e-02 -2.46512145e-01] [ 8.77379965e-04 9.99999218e-01 8.91566642e-04 -1.63026460e-01] [ 1.26351627e-02 -9.02581652e-04 9.99919766e-01 6.35524846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482557844000006 meters Centerline goodness [0,1] 0.24708410067526088 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.64 [[ 9.99875302e-01 7.19570072e-03 -1.40571282e-02 -2.68195686e-01] [-7.20234950e-03 9.99973974e-01 -4.22414415e-04 -1.62656333e-01] [ 1.40537227e-02 5.23606091e-04 9.99901104e-01 6.35040151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51255784400001 meters Centerline goodness [0,1] 0.242062720179818 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.64 [[ 0.99988418 0.00265056 -0.01498656 -0.24608052] [-0.00261657 0.99999396 0.00228696 -0.15606605] [ 0.01499254 -0.00224749 0.99988508 0.63525166] [ 0. 0. 0. 1. ]] SLAMing on 51.54255784400001 meters Centerline goodness [0,1] 0.23952828972805773 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.15, Z:0.63 [[ 0.99988519 0.00245515 -0.01495285 -0.24568795] [-0.00243223 0.99999584 0.00155106 -0.15221845] [ 0.0149566 -0.00151451 0.999887 0.63434607] [ 0. 0. 0. 1. ]] SLAMing on 51.57255784400001 meters Centerline goodness [0,1] 0.24570420541411675 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.63 [[ 0.99982447 0.0025485 -0.01856159 -0.28864435] [-0.0025007 0.9999935 0.00259837 -0.14799383] [ 0.01856809 -0.00255149 0.99982434 0.63382853] [ 0. 0. 0. 1. ]] SLAMing on 51.602557844 meters Centerline goodness [0,1] 0.2504291939956861 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 0.99982245 0.00225415 -0.01870805 -0.28811454] [-0.0022189 0.99999572 0.00190464 -0.14489053] [ 0.01871226 -0.00186279 0.99982318 0.63348595] [ 0. 0. 0. 1. ]] SLAMing on 51.632557844000004 meters Centerline goodness [0,1] 0.24573767262699442 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 0.9998199 0.00202569 -0.01886993 -0.28780621] [-0.00199943 0.99999701 0.00141015 -0.14270873] [ 0.01887273 -0.00137217 0.99982095 0.63359653] [ 0. 0. 0. 1. ]] SLAMing on 51.662557844000006 meters Centerline goodness [0,1] 0.24624912770411722 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 0.99981895 0.00192729 -0.01893028 -0.28799499] [-0.00190429 0.99999743 0.0012331 -0.14188033] [ 0.01893261 -0.00119683 0.99982005 0.63415607] [ 0. 0. 0. 1. ]] SLAMing on 51.69255784400001 meters Centerline goodness [0,1] 0.2442185569691584 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 0.99982029 0.00184115 -0.01886813 -0.28857439] [-0.00181922 0.99999765 0.00117928 -0.14170514] [ 0.01887026 -0.00114474 0.99982129 0.6348796 ] [ 0. 0. 0. 1. ]] SLAMing on 51.72255784400001 meters Centerline goodness [0,1] 0.24608136859016105 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.64 [[ 0.99982103 0.00182156 -0.01883079 -0.28896908] [-0.00179772 0.99999756 0.00128291 -0.14232982] [ 0.01883308 -0.00124882 0.99982186 0.63540108] [ 0. 0. 0. 1. ]] SLAMing on 51.75255784400001 meters Centerline goodness [0,1] 0.24382447595024792 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.64 [[ 0.99981881 0.00146926 -0.01897883 -0.28853199] [-0.00144459 0.99999809 0.00131342 -0.14379452] [ 0.01898072 -0.00128577 0.99981902 0.63543924] [ 0. 0. 0. 1. ]] SLAMing on 51.782557844 meters Centerline goodness [0,1] 0.23755558433708934 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.64 [[ 0.99981941 0.001496 -0.0189451 -0.28870885] [-0.00146774 0.99999779 0.00150564 -0.14478445] [ 0.01894731 -0.00147756 0.99981939 0.63556204] [ 0. 0. 0. 1. ]] SLAMing on 51.812557844000004 meters Centerline goodness [0,1] 0.2415706175812833 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.64 [[ 0.99982307 0.00158823 -0.01874329 -0.2893897 ] [-0.00155656 0.99999734 0.00170399 -0.14543855] [ 0.01874595 -0.00167451 0.99982288 0.63583316] [ 0. 0. 0. 1. ]] SLAMing on 51.842557844000005 meters Centerline goodness [0,1] 0.243735270588744 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.64 [[ 0.99982749 0.00164994 -0.0185004 -0.29033413] [-0.00161647 0.99999703 0.00182385 -0.14581355] [ 0.01850336 -0.00179363 0.99982719 0.6363693 ] [ 0. 0. 0. 1. ]] SLAMing on 51.872557844000006 meters Centerline goodness [0,1] 0.2433519263198859 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.64 [[ 0.99982896 0.0017198 -0.01841442 -0.29093299] [-0.00168374 0.99999663 0.00197378 -0.14645091] [ 0.01841775 -0.00194244 0.99982849 0.63703622] [ 0. 0. 0. 1. ]] SLAMing on 51.90255784400001 meters Centerline goodness [0,1] 0.24267628759073623 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.64 [[ 0.99982458 0.00172012 -0.01865059 -0.29006396] [-0.00168299 0.99999657 0.00200629 -0.14674534] [ 0.01865397 -0.00197455 0.99982405 0.63664626] [ 0. 0. 0. 1. ]] SLAMing on 51.93255784400001 meters Centerline goodness [0,1] 0.24398542979911442 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.64 [[ 0.99981846 0.0017167 -0.01897619 -0.28869708] [-0.00167887 0.99999657 0.00200918 -0.14693371] [ 0.01897957 -0.00197696 0.99981792 0.63574092] [ 0. 0. 0. 1. ]] SLAMing on 51.962557844 meters Centerline goodness [0,1] 0.24734982332155475 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.63 [[ 0.99981407 0.00171492 -0.01920637 -0.28768216] [-0.00167722 0.99999664 0.00197875 -0.14691206] [ 0.01920969 -0.00194617 0.99981358 0.63496167] [ 0. 0. 0. 1. ]] SLAMing on 51.992557844000004 meters Centerline goodness [0,1] 0.24271168740753635 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.63 [[ 0.9998131 0.00173119 -0.01925534 -0.28740738] [-0.00169399 0.99999667 0.00194798 -0.1467561 ] [ 0.01925865 -0.001915 0.9998127 0.63469006] [ 0. 0. 0. 1. ]] SLAMing on 52.022557844000005 meters Centerline goodness [0,1] 0.24322048536143015 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.63 [[ 0.99981722 0.00171947 -0.0190411 -0.28797588] [-0.00168564 0.99999697 0.00179263 -0.14586472] [ 0.01904413 -0.00176021 0.99981709 0.63467973] [ 0. 0. 0. 1. ]] SLAMing on 52.052557844000006 meters Centerline goodness [0,1] 0.24355083459787552 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 0.99983942 0.00212873 -0.01779306 -0.29131987] [-0.00209618 0.9999961 0.00184784 -0.1444363 ] [ 0.01779693 -0.00181025 0.99983998 0.63493124] [ 0. 0. 0. 1. ]] SLAMing on 52.08255784400001 meters Centerline goodness [0,1] 0.24519010785488615 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 0.99984291 0.00207344 -0.01760298 -0.29158986] [-0.00204527 0.9999966 0.00161817 -0.14328945] [ 0.01760628 -0.00158191 0.99984375 0.63452245] [ 0. 0. 0. 1. ]] SLAMing on 52.11255784400001 meters Centerline goodness [0,1] 0.24376683547031575 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 0.99984282 0.00194276 -0.01762292 -0.2912284 ] [-0.00192025 0.99999732 0.00129412 -0.14190308] [ 0.01762539 -0.00126008 0.99984387 0.6339904 ] [ 0. 0. 0. 1. ]] SLAMing on 52.142557844 meters Centerline goodness [0,1] 0.23905723905723908 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99841209e-01 1.82837458e-03 -1.77260744e-02 -2.90624301e-01] [-1.81312306e-03 9.99997972e-01 8.76433536e-04 -1.39716429e-01] [ 1.77276409e-02 -8.44154812e-04 9.99842497e-01 6.33301897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172557844 meters Centerline goodness [0,1] 0.24242293690627492 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99841965e-01 1.80816829e-03 -1.76854871e-02 -2.90769675e-01] [-1.79430819e-03 9.99998071e-01 7.99535871e-04 -1.39187913e-01] [ 1.76868986e-02 -7.67676302e-04 9.99843280e-01 6.33296049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202557844000005 meters Centerline goodness [0,1] 0.24242293690627492 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99841965e-01 1.80816829e-03 -1.76854871e-02 -2.90769675e-01] [-1.79430819e-03 9.99998071e-01 7.99535871e-04 -1.39187913e-01] [ 1.76868986e-02 -7.67676302e-04 9.99843280e-01 6.33296049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232557844000006 meters Centerline goodness [0,1] 0.24616991643454034 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99841294e-01 1.83561482e-03 -1.77205093e-02 -2.90862164e-01] [-1.82037777e-03 9.99997959e-01 8.75945989e-04 -1.39577958e-01] [ 1.77220811e-02 -8.43548950e-04 9.99842596e-01 6.33628857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26255784400001 meters Centerline goodness [0,1] 0.24385718908424114 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99837141e-01 1.77695042e-03 -1.79592048e-02 -2.90348463e-01] [-1.76017299e-03 9.99998000e-01 9.49960119e-04 -1.40448638e-01] [ 1.79608569e-02 -9.18194102e-04 9.99838269e-01 6.33813566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29255784400001 meters Centerline goodness [0,1] 0.24244771494965145 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99834607e-01 1.74246728e-03 -1.81031331e-02 -2.89920700e-01] [-1.72427276e-03 9.99997993e-01 1.02060790e-03 -1.41199529e-01] [ 1.81048752e-02 -9.89224355e-04 9.99835604e-01 6.33758262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32255784400001 meters Centerline goodness [0,1] 0.24421793681300885 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99834311e-01 1.68113422e-03 -1.81252453e-02 -2.89665925e-01] [-1.66519515e-03 9.99998214e-01 8.94441138e-04 -1.40640153e-01] [ 1.81267166e-02 -8.64110869e-04 9.99835324e-01 6.33394831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352557844 meters Centerline goodness [0,1] 0.24368515282900838 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99838743e-01 1.68199324e-03 -1.78790022e-02 -2.89541535e-01] [-1.67258131e-03 9.99998455e-01 5.41364004e-04 -1.37559560e-01] [ 1.78798852e-02 -5.11372620e-04 9.99840011e-01 6.32232617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382557844000004 meters Centerline goodness [0,1] 0.24495184503841572 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99839273e-01 1.58478700e-03 -1.78582184e-02 -2.89430005e-01] [-1.57996374e-03 9.99998711e-01 2.84191814e-04 -1.36314185e-01] [ 1.78586458e-02 -2.55930799e-04 9.99840489e-01 6.31931126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412557844000006 meters Centerline goodness [0,1] 0.23939588688946012 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.63 [[ 9.99837964e-01 1.47711942e-03 -1.79405850e-02 -2.89195618e-01] [-1.47552912e-03 9.99998906e-01 1.01879216e-04 -1.35701812e-01] [ 1.79407159e-02 -7.53908518e-05 9.99839050e-01 6.31895518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44255784400001 meters Centerline goodness [0,1] 0.2440481381355193 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.14, Z:0.63 [[ 9.99790998e-01 -4.21856948e-04 -2.04397368e-02 -3.37558181e-01] [ 4.21116070e-04 9.99999911e-01 -4.05511167e-05 -1.38973439e-01] [ 2.04397521e-02 3.19351398e-05 9.99791086e-01 6.34748822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47255784400001 meters Centerline goodness [0,1] 0.24103383499233477 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.14, Z:0.64 [[ 9.99792410e-01 -4.13722199e-04 -2.03707185e-02 -3.38076690e-01] [ 4.13055369e-04 9.99999914e-01 -3.69422992e-05 -1.38748481e-01] [ 2.03707320e-02 2.85203957e-05 9.99792495e-01 6.35287147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50255784400001 meters Centerline goodness [0,1] 0.24011384708266847 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.14, Z:0.64 [[ 9.99793304e-01 -4.08611683e-04 -2.03268993e-02 -3.38264966e-01] [ 4.08833640e-04 9.99999916e-01 6.76376403e-06 -1.38850481e-01] [ 2.03268949e-02 -1.50726862e-05 9.99793387e-01 6.35399897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532557844 meters Centerline goodness [0,1] 0.2437128486511203 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.14, Z:0.63 [[ 9.99787963e-01 -4.65786546e-04 -2.05866823e-02 -3.37345084e-01] [ 4.66253230e-04 9.99999891e-01 1.78694138e-05 -1.39196051e-01] [ 2.05866718e-02 -2.74642320e-05 9.99788072e-01 6.34944227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562557844000004 meters Centerline goodness [0,1] 0.24048386747744044 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.14, Z:0.63 [[ 9.99778415e-01 -5.98987008e-04 -2.10418919e-02 -3.35677634e-01] [ 5.98313449e-04 9.99999820e-01 -3.83059076e-05 -1.39546586e-01] [ 2.10419111e-02 2.57077726e-05 9.99778594e-01 6.34139355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592557844000005 meters Centerline goodness [0,1] 0.2407696307852314 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.14, Z:0.63 [[ 9.99774882e-01 -6.44350030e-04 -2.12078039e-02 -3.34928707e-01] [ 6.44447434e-04 9.99999792e-01 -2.24160647e-06 -1.40032487e-01] [ 2.12078009e-02 -1.14262129e-05 9.99775089e-01 6.33581596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622557844000006 meters Centerline goodness [0,1] 0.23826161975628168 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.14, Z:0.63 [[ 9.99779562e-01 -5.84217659e-04 -2.09877613e-02 -3.35469076e-01] [ 5.88159275e-04 9.99999811e-01 1.81633175e-04 -1.40755846e-01] [ 2.09876512e-02 -1.93937283e-04 9.99779716e-01 6.33553693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65255784400001 meters Centerline goodness [0,1] 0.24432588446232562 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.15, Z:0.63 [[ 9.99759482e-01 6.99084110e-03 -2.07871792e-02 -3.55554434e-01] [-7.00650766e-03 9.99975222e-01 -6.80928847e-04 -1.45867847e-01] [ 2.07819039e-02 8.26410602e-04 9.99783691e-01 6.32138090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68255784400001 meters Centerline goodness [0,1] 0.240340366414865 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.14, Z:0.63 [[ 9.99779027e-01 -1.77639242e-04 -2.10206217e-02 -3.36718308e-01] [ 1.82966294e-04 9.99999952e-01 2.51497311e-04 -1.40419480e-01] [ 2.10205760e-02 -2.55287802e-04 9.99779011e-01 6.34141967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.712557844 meters Centerline goodness [0,1] 0.24195200627710822 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.14, Z:0.63 [[ 9.99776674e-01 -2.61313954e-04 -2.11313441e-02 -3.36447877e-01] [ 2.61872865e-04 9.99999965e-01 2.36822122e-05 -1.39375811e-01] [ 2.11313371e-02 -2.92106490e-05 9.99776708e-01 6.34164874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742557844000004 meters Centerline goodness [0,1] 0.2461622807017544 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.14, Z:0.63 [[ 9.99786107e-01 -2.35546473e-04 -2.06805549e-02 -3.37751591e-01] [ 2.28829692e-04 9.99999920e-01 -3.27153085e-04 -1.37064535e-01] [ 2.06806303e-02 3.22350784e-04 9.99786081e-01 6.34405483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772557844000005 meters Centerline goodness [0,1] 0.2389296504100129 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.63 [[ 9.99836356e-01 1.60393893e-03 -1.80191106e-02 -2.95633206e-01] [-1.61331895e-03 9.99998571e-01 -5.06034985e-04 -1.31933565e-01] [ 1.80182732e-02 5.35022748e-04 9.99837515e-01 6.34944016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802557844000006 meters Centerline goodness [0,1] 0.2436351777367105 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.64 [[ 9.99841720e-01 1.53650061e-03 -1.77249359e-02 -2.96523839e-01] [-1.54920964e-03 9.99998553e-01 -7.03305878e-04 -1.30950528e-01] [ 1.77238296e-02 7.30654200e-04 9.99842654e-01 6.35153241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83255784400001 meters Centerline goodness [0,1] 0.24389079387126178 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.64 [[ 9.99842510e-01 1.49241860e-03 -1.76841105e-02 -2.96712266e-01] [-1.50574164e-03 9.99998592e-01 -7.40099221e-04 -1.30878493e-01] [ 1.76829811e-02 7.66610364e-04 9.99843350e-01 6.35290016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86255784400001 meters Centerline goodness [0,1] 0.2457119012584279 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.64 [[ 9.99839291e-01 1.45460406e-03 -1.78682981e-02 -2.96104479e-01] [-1.46700017e-03 9.99998692e-01 -6.80661047e-04 -1.31396493e-01] [ 1.78672847e-02 7.06764455e-04 9.99840118e-01 6.35050353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89255784400001 meters Centerline goodness [0,1] 0.24374619994788504 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.64 [[ 9.99809803e-01 -6.16563586e-03 -1.85025180e-02 -2.74929192e-01] [ 6.16767993e-03 9.99980978e-01 5.34129598e-05 -1.26884815e-01] [ 1.85018367e-02 -1.67520410e-04 9.99828812e-01 6.35964224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922557844 meters Centerline goodness [0,1] 0.24322381035384344 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.64 [[ 9.99799880e-01 -6.13685216e-03 -1.90404613e-02 -2.73233380e-01] [ 6.14548462e-03 9.99981038e-01 3.94895439e-04 -1.28690545e-01] [ 1.90376769e-02 -5.11829274e-04 9.99818636e-01 6.35376337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952557844000005 meters Centerline goodness [0,1] 0.24735525218383736 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.64 [[ 9.99802707e-01 -6.09286281e-03 -1.89056662e-02 -2.73846162e-01] [ 6.10438531e-03 9.99981216e-01 5.51823536e-04 -1.29521295e-01] [ 1.89019489e-02 -6.67122136e-04 9.99821120e-01 6.35911214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982557844000006 meters Centerline goodness [0,1] 0.24221543829044923 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 0.99985702 0.00222021 -0.01676309 -0.25605629] [-0.00224249 0.99999663 -0.00131042 -0.13313151] [ 0.01676012 0.00134783 0.99985863 0.63771041] [ 0. 0. 0. 1. ]] SLAMing on 53.01255784400001 meters Centerline goodness [0,1] 0.24365834109568274 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 0.99986018 0.00223956 -0.01657114 -0.25686075] [-0.00226058 0.99999666 -0.00125016 -0.13349275] [ 0.01656828 0.00128745 0.99986191 0.63827407] [ 0. 0. 0. 1. ]] SLAMing on 53.04255784400001 meters Centerline goodness [0,1] 0.24783133853080053 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.64 [[ 0.99985503 -0.00442547 -0.01644168 -0.2811129 ] [ 0.00446155 0.99998772 0.00215895 -0.13218663] [ 0.01643193 -0.00223199 0.9998625 0.63869694] [ 0. 0. 0. 1. ]] SLAMing on 53.07255784400001 meters Centerline goodness [0,1] 0.24603727573593448 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 0.99985633 0.00491405 -0.0162228 -0.26033119] [-0.00489371 0.99998719 0.00129295 -0.13453769] [ 0.01622894 -0.00121337 0.99986757 0.63950947] [ 0. 0. 0. 1. ]] SLAMing on 53.102557844 meters Centerline goodness [0,1] 0.2458560511506711 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 0.99985447 0.00485848 -0.01635324 -0.25958192] [-0.00484027 0.99998762 0.00115254 -0.13406857] [ 0.01635864 -0.00107322 0.99986561 0.6387988 ] [ 0. 0. 0. 1. ]] SLAMing on 53.132557844000004 meters Centerline goodness [0,1] 0.24037631624374245 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.64 [[ 0.99984647 -0.00232184 -0.01736808 -0.24005284] [ 0.00234523 0.99999637 0.00132661 -0.12848265] [ 0.01736493 -0.00136713 0.99984828 0.63977292] [ 0. 0. 0. 1. ]] SLAMing on 53.162557844000006 meters Centerline goodness [0,1] 0.24330361984080506 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.64 [[ 0.99984406 -0.00237924 -0.01749859 -0.23944175] [ 0.00240068 0.99999639 0.00120458 -0.12811834] [ 0.01749567 -0.0012464 0.99984616 0.63931275] [ 0. 0. 0. 1. ]] SLAMing on 53.19255784400001 meters Centerline goodness [0,1] 0.24663521123698118 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.64 [[ 0.99984504 -0.00236198 -0.01744492 -0.2393436 ] [ 0.0023811 0.99999659 0.00107514 -0.12722606] [ 0.01744233 -0.00111651 0.99984725 0.63884031] [ 0. 0. 0. 1. ]] SLAMing on 53.22255784400001 meters Centerline goodness [0,1] 0.2456833829246574 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.64 [[ 9.99845379e-01 -2.36506960e-03 -1.74248447e-02 -2.39194610e-01] [ 2.38282297e-03 9.99996663e-01 9.98162092e-04 -1.26699101e-01] [ 1.74224259e-02 -1.03952808e-03 9.99847678e-01 6.38465281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25255784400001 meters Centerline goodness [0,1] 0.24128559102674718 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.64 [[ 0.99984327 -0.00235567 -0.01754657 -0.23871618] [ 0.00237368 0.99999668 0.00100579 -0.12672086] [ 0.01754414 -0.00104728 0.99984554 0.63815416] [ 0. 0. 0. 1. ]] SLAMing on 53.282557844 meters Centerline goodness [0,1] 0.24475539741098906 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 9.99823175e-01 5.03620873e-03 -1.81177946e-02 -2.57539230e-01] [-5.04083232e-03 9.99987273e-01 -2.09536757e-04 -1.32564063e-01] [ 1.81165087e-02 3.00828471e-04 9.99835837e-01 6.36288883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312557844000004 meters Centerline goodness [0,1] 0.24367680989073182 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 9.99818487e-01 5.03815249e-03 -1.83741802e-02 -2.56832587e-01] [-5.04211339e-03 9.99987274e-01 -1.69248666e-04 -1.32798962e-01] [ 1.83730937e-02 2.61862645e-04 9.99831166e-01 6.36193092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342557844000005 meters Centerline goodness [0,1] 0.24749912249912254 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 9.99815213e-01 5.05663216e-03 -1.85464336e-02 -2.56151551e-01] [-5.05939812e-03 9.99987196e-01 -1.02218877e-04 -1.33153927e-01] [ 1.85456792e-02 1.96033779e-04 9.99827995e-01 6.35732230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372557844000006 meters Centerline goodness [0,1] 0.2448453608247423 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 9.99812678e-01 5.07660924e-03 -1.86772029e-02 -2.55607978e-01] [-5.07860187e-03 9.99987102e-01 -5.92581857e-05 -1.33303932e-01] [ 1.86766612e-02 1.54101163e-04 9.99825564e-01 6.35346538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40255784400001 meters Centerline goodness [0,1] 0.24646296255675715 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 9.99813102e-01 5.09508864e-03 -1.86494019e-02 -2.55587608e-01] [-5.09645106e-03 9.99987013e-01 -2.55279963e-05 -1.33421095e-01] [ 1.86490296e-02 1.20568989e-04 9.99826084e-01 6.35198421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43255784400001 meters Centerline goodness [0,1] 0.24428668463375625 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 9.99813640e-01 5.05434840e-03 -1.86316803e-02 -2.55685680e-01] [-5.05702240e-03 9.99987209e-01 -9.64071900e-05 -1.33226218e-01] [ 1.86309547e-02 1.90610048e-04 9.99826411e-01 6.35311937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462557844 meters Centerline goodness [0,1] 0.24548427452099286 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.64 [[ 9.99818089e-01 4.97090396e-03 -1.84141107e-02 -2.56404991e-01] [-4.97941324e-03 9.99987516e-01 -4.16285119e-04 -1.31613511e-01] [ 1.84118115e-02 5.07900858e-04 9.99830359e-01 6.35611339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.492557844000004 meters Centerline goodness [0,1] 0.24423056126311238 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.13, Z:0.64 [[ 9.99842070e-01 -3.17003622e-05 -1.77716998e-02 -2.34061169e-01] [ 7.99180464e-05 9.99996318e-01 2.71246870e-03 -1.26709164e-01] [ 1.77715484e-02 -2.71346060e-03 9.99838392e-01 6.35546421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522557844000005 meters Centerline goodness [0,1] 0.2412542109354755 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99850768e-01 -1.24925721e-05 -1.72754725e-02 -2.35462113e-01] [ 5.38439892e-05 9.99997135e-01 2.39318594e-03 -1.24402826e-01] [ 1.72753931e-02 -2.39375898e-03 9.99847904e-01 6.35713377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552557844000006 meters Centerline goodness [0,1] 0.2435941753445966 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99862616e-01 3.29762759e-06 -1.65755505e-02 -2.37531349e-01] [ 3.16003530e-05 9.99997784e-01 2.10512658e-03 -1.22381459e-01] [ 1.65755207e-02 -2.10536116e-03 9.99860400e-01 6.36114927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58255784400001 meters Centerline goodness [0,1] 0.24288248528902734 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99868842e-01 -9.63418030e-05 -1.61953783e-02 -2.38895402e-01] [ 1.24736874e-04 9.99998457e-01 1.75228136e-03 -1.20527423e-01] [ 1.61951845e-02 -1.75407170e-03 9.99867311e-01 6.36767644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61255784400001 meters Centerline goodness [0,1] 0.24220000865463676 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99867968e-01 -4.43100180e-04 -1.62434961e-02 -2.38702723e-01] [ 4.57699155e-04 9.99999495e-01 8.95051644e-04 -1.16614496e-01] [ 1.62430912e-02 -9.02368103e-04 9.99867665e-01 6.36540417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64255784400001 meters Centerline goodness [0,1] 0.2463330928804075 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99866018e-01 -6.06322078e-04 -1.63578112e-02 -2.38250536e-01] [ 6.15199505e-04 9.99999666e-01 5.37676070e-04 -1.15021033e-01] [ 1.63574798e-02 -5.47667349e-04 9.99866057e-01 6.36192126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672557844 meters Centerline goodness [0,1] 0.24402224482288537 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.11, Z:0.64 [[ 9.99858923e-01 -8.66851681e-04 -1.67744627e-02 -2.37295115e-01] [ 8.71584775e-04 9.99999582e-01 2.74852064e-04 -1.13911043e-01] [ 1.67742174e-02 -2.89433655e-04 9.99859261e-01 6.36219786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702557844000005 meters Centerline goodness [0,1] 0.24307771931337874 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.11, Z:0.64 [[ 9.99859654e-01 -8.92530553e-04 -1.67294809e-02 -2.37655829e-01] [ 8.98844871e-04 9.99999528e-01 3.69921255e-04 -1.14362875e-01] [ 1.67291428e-02 -3.84906546e-04 9.99859984e-01 6.36660434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732557844000006 meters Centerline goodness [0,1] 0.24198773324118872 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99860507e-01 -9.67117867e-04 -1.66742948e-02 -2.38086000e-01] [ 9.74912990e-04 9.99999419e-01 4.59371172e-04 -1.15029319e-01] [ 1.66738409e-02 -4.75563080e-04 9.99860869e-01 6.37210366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76255784400001 meters Centerline goodness [0,1] 0.24001548486999158 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99858842e-01 -1.08511615e-03 -1.67666022e-02 -2.38087997e-01] [ 1.09409721e-03 9.99999263e-01 5.26488413e-04 -1.15813171e-01] [ 1.67660186e-02 -5.44758388e-04 9.99859292e-01 6.37680496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79255784400001 meters Centerline goodness [0,1] 0.24373383187322017 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99858034e-01 -1.16250339e-03 -1.68095583e-02 -2.38074464e-01] [ 1.17295081e-03 9.99999125e-01 6.11670897e-04 -1.16653850e-01] [ 1.68088325e-02 -6.31300845e-04 9.99858522e-01 6.37906161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82255784400001 meters Centerline goodness [0,1] 0.2443631931748934 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99858656e-01 -1.16964194e-03 -1.67720091e-02 -2.38148068e-01] [ 1.18263871e-03 9.99999008e-01 7.65010970e-04 -1.17612901e-01] [ 1.67710977e-02 -7.84738067e-04 9.99859047e-01 6.37909524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852557844 meters Centerline goodness [0,1] 0.24274600732441975 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 9.99864128e-01 -1.26792190e-03 -1.64352704e-02 -2.38875836e-01] [ 1.28348724e-03 9.99998738e-01 9.36556132e-04 -1.18908870e-01] [ 1.64340621e-02 -9.57523340e-04 9.99864493e-01 6.37776312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882557844000004 meters Centerline goodness [0,1] 0.24221670087501346 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.64 [[ 0.99986282 -0.00127122 -0.01651447 -0.23872288] [ 0.00128796 0.99999867 0.00100291 -0.11932704] [ 0.01651318 -0.00102405 0.99986312 0.63787012] [ 0. 0. 0. 1. ]] SLAMing on 53.912557844000006 meters Centerline goodness [0,1] 0.2450935245488235 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.12, Z:0.64 [[ 0.99980362 -0.00259729 -0.0196463 -0.28273501] [ 0.00262091 0.99999587 0.0011764 -0.12200594] [ 0.01964317 -0.00122766 0.9998063 0.63823265] [ 0. 0. 0. 1. ]] SLAMing on 53.94255784400001 meters Centerline goodness [0,1] 0.24323323824663023 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.12, Z:0.64 [[ 0.99979864 -0.00265601 -0.01989039 -0.28188488] [ 0.00267727 0.99999587 0.00104213 -0.12136868] [ 0.01988754 -0.00109517 0.99980162 0.63778606] [ 0. 0. 0. 1. ]] SLAMing on 53.97255784400001 meters Centerline goodness [0,1] 0.23743209450720015 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.12, Z:0.63 [[ 9.99765261e-01 -8.08659498e-04 -2.16510592e-02 -2.74407175e-01] [ 8.67274720e-04 9.99995984e-01 2.69801521e-03 -1.21116063e-01] [ 2.16487904e-02 -2.71615930e-03 9.99761948e-01 6.34141811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00255784400001 meters Centerline goodness [0,1] 0.24238148984198649 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.12, Z:0.63 [[ 9.99761005e-01 -9.72604571e-04 -2.18400502e-02 -2.73572084e-01] [ 1.02323264e-03 9.99996815e-01 2.30707425e-03 -1.19362774e-01] [ 2.18377368e-02 -2.32887033e-03 9.99758816e-01 6.33546669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032557844 meters Centerline goodness [0,1] 0.2435933971984129 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.12, Z:0.63 [[ 0.99976238 -0.00111037 -0.0217702 -0.27375637] [ 0.00115162 0.99999757 0.00188248 -0.117306 ] [ 0.02176805 -0.0019071 0.99976123 0.63352231] [ 0. 0. 0. 1. ]] SLAMing on 54.062557844000004 meters Centerline goodness [0,1] 0.23952550312283138 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.63 [[ 9.99765297e-01 7.95610452e-03 -2.01507099e-02 -2.53080766e-01] [-7.94384306e-03 9.99968210e-01 6.88460946e-04 -1.16859753e-01] [ 2.01555468e-02 -5.28225285e-04 9.99796717e-01 6.34300183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092557844000005 meters Centerline goodness [0,1] 0.2423985568668362 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.11, Z:0.63 [[ 9.99769793e-01 7.81760263e-03 -1.99811583e-02 -2.53612997e-01] [-7.81531696e-03 9.99969441e-01 1.92477199e-04 -1.14300389e-01] [ 1.99820525e-02 -3.62738034e-05 9.99800338e-01 6.34440547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122557844000006 meters Centerline goodness [0,1] 0.2423985568668362 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.11, Z:0.63 [[ 9.99769793e-01 7.81760263e-03 -1.99811583e-02 -2.53612997e-01] [-7.81531696e-03 9.99969441e-01 1.92477199e-04 -1.14300389e-01] [ 1.99820525e-02 -3.62738034e-05 9.99800338e-01 6.34440547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15255784400001 meters Centerline goodness [0,1] 0.2387430252173537 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.11, Z:0.63 [[ 9.99763960e-01 7.58566268e-03 -2.03588277e-02 -2.51999291e-01] [-7.60335648e-03 9.99970781e-01 -7.91831129e-04 -1.09202713e-01] [ 2.03522262e-02 9.46439649e-04 9.99792424e-01 6.33193476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18255784400001 meters Centerline goodness [0,1] 0.24035137309473598 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.11, Z:0.63 [[ 0.99976592 0.00741536 -0.02032524 -0.25184047] [-0.00744191 0.99997155 -0.00123095 -0.10706598] [ 0.02031553 0.00138192 0.99979266 0.63272537] [ 0. 0. 0. 1. ]] SLAMing on 54.212557844 meters Centerline goodness [0,1] 0.24337643646830498 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.11, Z:0.63 [[ 0.99976851 0.0073111 -0.0202354 -0.25218337] [-0.00734338 0.99997188 -0.00152118 -0.10552031] [ 0.0202237 0.00166942 0.99979409 0.63291887] [ 0. 0. 0. 1. ]] SLAMing on 54.242557844000004 meters Centerline goodness [0,1] 0.2399495849450215 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.10, Z:0.63 [[ 0.99977139 0.00722967 -0.02012232 -0.25267947] [-0.0072654 0.99997216 -0.00170294 -0.10462561] [ 0.02010944 0.00184875 0.99979608 0.63330168] [ 0. 0. 0. 1. ]] SLAMing on 54.272557844000005 meters Centerline goodness [0,1] 0.24312688491629875 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.10, Z:0.63 [[ 0.99977182 0.00710598 -0.02014467 -0.25314947] [-0.00714411 0.99997282 -0.00182161 -0.10452154] [ 0.02013118 0.00196511 0.99979542 0.63421697] [ 0. 0. 0. 1. ]] SLAMing on 54.302557844000006 meters Centerline goodness [0,1] 0.24216946199085165 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.10, Z:0.63 [[ 0.99977163 0.00704064 -0.0201772 -0.25312209] [-0.00708037 0.99997313 -0.00189824 -0.10427138] [ 0.02016329 0.00204067 0.99979462 0.63431724] [ 0. 0. 0. 1. ]] SLAMing on 54.33255784400001 meters Centerline goodness [0,1] 0.24193654338829407 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.10, Z:0.63 [[ 0.99977443 0.00704362 -0.02003666 -0.25365977] [-0.00708337 0.99997308 -0.00191349 -0.10401942] [ 0.02002265 0.00205498 0.99979741 0.63459897] [ 0. 0. 0. 1. ]] SLAMing on 54.36255784400001 meters Centerline goodness [0,1] 0.24030452889120246 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.64 [[ 9.99842962e-01 -3.36864395e-04 -1.77182790e-02 -2.35349995e-01] [ 3.27527264e-04 9.99999806e-01 -5.29876455e-04 -9.86837624e-02] [ 1.77184541e-02 5.23990025e-04 9.99842879e-01 6.35983033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39255784400001 meters Centerline goodness [0,1] 0.24394328215388628 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.64 [[ 9.99852447e-01 -3.06090977e-04 -1.71753102e-02 -2.37308560e-01] [ 2.97453270e-04 9.99999828e-01 -5.05466533e-04 -9.86073854e-02] [ 1.71754619e-02 5.00283097e-04 9.99852366e-01 6.37015327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422557844 meters Centerline goodness [0,1] 0.24511911742350212 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.64 [[ 9.99861026e-01 -2.98202421e-04 -1.66685154e-02 -2.39167837e-01] [ 2.89899465e-04 9.99999833e-01 -5.00536138e-04 -9.85858087e-02] [ 1.66686619e-02 4.95634383e-04 9.99860945e-01 6.38045357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452557844000005 meters Centerline goodness [0,1] 0.24354594594594592 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.64 [[ 9.99861562e-01 -3.84873840e-04 -1.66345507e-02 -2.39206037e-01] [ 3.72632295e-04 9.99999658e-01 -7.39004001e-04 -9.73745330e-02] [ 1.66348294e-02 7.32703125e-04 9.99861363e-01 6.37934635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482557844000006 meters Centerline goodness [0,1] 0.24620772682499725 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.64 [[ 9.99856648e-01 -4.44742412e-04 -1.69258832e-02 -2.37991264e-01] [ 4.28652334e-04 9.99999453e-01 -9.54235791e-04 -9.62205665e-02] [ 1.69262983e-02 9.46843680e-04 9.99856292e-01 6.37050998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51255784400001 meters Centerline goodness [0,1] 0.2416556849359459 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.64 [[ 9.99849216e-01 -4.71252549e-04 -1.73586394e-02 -2.36569925e-01] [ 4.50853148e-04 9.99999203e-01 -1.17906741e-03 -9.49972580e-02] [ 1.73591812e-02 1.17106343e-03 9.99848632e-01 6.36469158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54255784400001 meters Centerline goodness [0,1] 0.23770032741685332 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.64 [[ 9.99846717e-01 -5.37153869e-04 -1.75001402e-02 -2.36141540e-01] [ 5.13147142e-04 9.99998921e-01 -1.37626350e-03 -9.40853483e-02] [ 1.75008606e-02 1.36707239e-03 9.99845914e-01 6.36346053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57255784400001 meters Centerline goodness [0,1] 0.24222943722943724 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.64 [[ 9.99852211e-01 -4.70371940e-04 -1.71853224e-02 -2.37399161e-01] [ 4.45596725e-04 9.99998856e-01 -1.44545041e-03 -9.33743351e-02] [ 1.71859827e-02 1.43757907e-03 9.99851277e-01 6.37076668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602557844 meters Centerline goodness [0,1] 0.24124806468260795 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.64 [[ 9.99856027e-01 -4.35741285e-04 -1.69627743e-02 -2.38181016e-01] [ 4.12187120e-04 9.99998946e-01 -1.39205114e-03 -9.34542819e-02] [ 1.69633630e-02 1.38485889e-03 9.99855153e-01 6.37417955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632557844000004 meters Centerline goodness [0,1] 0.24461924107528743 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.64 [[ 9.99859099e-01 -3.80529717e-04 -1.67820595e-02 -2.38781582e-01] [ 3.59253345e-04 9.99999128e-01 -1.27080110e-03 -9.40147468e-02] [ 1.67825284e-02 1.26459303e-03 9.99858364e-01 6.37651289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662557844000006 meters Centerline goodness [0,1] 0.244231312933603 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.64 [[ 9.99859471e-01 -3.70419613e-04 -1.67601043e-02 -2.38821782e-01] [ 3.50961109e-04 9.99999261e-01 -1.16392773e-03 -9.47461130e-02] [ 1.67605231e-02 1.15788202e-03 9.99858862e-01 6.37657703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69255784400001 meters Centerline goodness [0,1] 0.24583568912277654 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.64 [[ 9.99856330e-01 -3.58409229e-04 -1.69467230e-02 -2.38248755e-01] [ 3.40892958e-04 9.99999405e-01 -1.03648554e-03 -9.56423294e-02] [ 1.69470844e-02 1.03055961e-03 9.99855857e-01 6.37512786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72255784400001 meters Centerline goodness [0,1] 0.24407439446366785 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.64 [[ 9.99850463e-01 -3.44826475e-04 -1.72896738e-02 -2.37150484e-01] [ 3.28937325e-04 9.99999521e-01 -9.21831950e-04 -9.63290434e-02] [ 1.72899834e-02 9.16006883e-04 9.99850097e-01 6.37123377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75255784400001 meters Centerline goodness [0,1] 0.2437612082190005 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.64 [[ 9.99840309e-01 -3.29113565e-04 -1.78675109e-02 -2.34999181e-01] [ 3.15024381e-04 9.99999637e-01 -7.91345370e-04 -9.71013492e-02] [ 1.78677649e-02 7.85590298e-04 9.99840050e-01 6.35991398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782557844 meters Centerline goodness [0,1] 0.24066246873113084 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.64 [[ 9.99838517e-01 -2.99553087e-04 -1.79680107e-02 -2.34505936e-01] [ 2.87831479e-04 9.99999744e-01 -6.54942345e-04 -9.79806526e-02] [ 1.79682022e-02 6.49664824e-04 9.99838348e-01 6.35633788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812557844000004 meters Centerline goodness [0,1] 0.24494470257182122 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.64 [[ 9.99839745e-01 -2.29137526e-04 -1.79005854e-02 -2.34607424e-01] [ 2.21214737e-04 9.99999877e-01 -4.44578291e-04 -9.91247805e-02] [ 1.79006850e-02 4.40547172e-04 9.99839673e-01 6.35546097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842557844000005 meters Centerline goodness [0,1] 0.24596756471674064 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.64 [[ 9.99842104e-01 -2.06600023e-05 -1.77698233e-02 -2.35221821e-01] [ 2.08212355e-05 1.00000000e+00 8.88841698e-06 -1.01029183e-01] [ 1.77698231e-02 -9.25700321e-06 9.99842104e-01 6.36026431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872557844000006 meters Centerline goodness [0,1] 0.24389872867543194 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.64 [[ 9.99839168e-01 7.32981898e-05 -1.79341438e-02 -2.34817926e-01] [-6.93411962e-05 9.99999973e-01 2.21261967e-04 -1.01975012e-01] [ 1.79341596e-02 -2.19982806e-04 9.99839146e-01 6.36062055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90255784400001 meters Centerline goodness [0,1] 0.24246236605787164 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.64 [[ 9.99836800e-01 1.50510691e-04 -1.80651941e-02 -2.34354392e-01] [-1.42191490e-04 9.99999883e-01 4.61793458e-04 -1.03280589e-01] [ 1.80652615e-02 -4.59149376e-04 9.99836704e-01 6.35902956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93255784400001 meters Centerline goodness [0,1] 0.24073914355944626 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.64 [[ 9.99835864e-01 1.96776703e-04 -1.81164477e-02 -2.34165292e-01] [-1.85419421e-04 9.99999785e-01 6.28582027e-04 -1.04321487e-01] [ 1.81165675e-02 -6.25119713e-04 9.99835686e-01 6.35842119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962557844 meters Centerline goodness [0,1] 0.24219173331599364 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.64 [[ 9.99840444e-01 2.80693699e-04 -1.78608101e-02 -2.34616551e-01] [-2.67682617e-04 9.99999697e-01 7.30857540e-04 -1.04625061e-01] [ 1.78610098e-02 -7.25959899e-04 9.99840216e-01 6.35491323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992557844000004 meters Centerline goodness [0,1] 0.24428891255678487 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 9.99839063e-01 2.48870978e-04 -1.79384225e-02 -2.34122594e-01] [-2.38076209e-04 9.99999789e-01 6.03901048e-04 -1.03979279e-01] [ 1.79385690e-02 -5.99533146e-04 9.99838911e-01 6.34958595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022557844000005 meters Centerline goodness [0,1] 0.24463220243020778 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 9.99835893e-01 2.17202755e-04 -1.81146518e-02 -2.33269135e-01] [-2.08501396e-04 9.99999862e-01 4.82236453e-04 -1.03396655e-01] [ 1.81147541e-02 -4.78380384e-04 9.99835800e-01 6.34247820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052557844000006 meters Centerline goodness [0,1] 0.24266684023257834 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 9.99830862e-01 1.82585122e-04 -1.83905950e-02 -2.32228955e-01] [-1.76030875e-04 9.99999920e-01 3.58009369e-04 -1.02778969e-01] [ 1.83906589e-02 -3.54711504e-04 9.99830815e-01 6.33650360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08255784400001 meters Centerline goodness [0,1] 0.24108463077324516 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 9.99827429e-01 1.88891668e-04 -1.85762530e-02 -2.31615445e-01] [-1.82552619e-04 9.99999925e-01 3.42939852e-04 -1.02670084e-01] [ 1.85763163e-02 -3.39489527e-04 9.99827388e-01 6.33399965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11255784400001 meters Centerline goodness [0,1] 0.24405660171029897 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 9.99825146e-01 2.49703157e-04 -1.86979842e-02 -2.31263624e-01] [-2.40741604e-04 9.99999855e-01 4.81528452e-04 -1.03310880e-01] [ 1.86981017e-02 -4.76942872e-04 9.99825061e-01 6.33352768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14255784400001 meters Centerline goodness [0,1] 0.24591458465857996 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 9.99827200e-01 3.49197501e-04 -1.85862378e-02 -2.31810453e-01] [-3.35977807e-04 9.99999688e-01 7.14380303e-04 -1.04393343e-01] [ 1.85864815e-02 -7.08012295e-04 9.99827006e-01 6.33821780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172557844 meters Centerline goodness [0,1] 0.24712076340901612 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 9.99830051e-01 3.96645634e-04 -1.84312965e-02 -2.32441052e-01] [-3.81680060e-04 9.99999595e-01 8.15475953e-04 -1.04806283e-01] [ 1.84316125e-02 -8.08302505e-04 9.99829797e-01 6.34204401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202557844000005 meters Centerline goodness [0,1] 0.24648072046865432 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.63 [[ 9.99834491e-01 4.27196202e-04 -1.81881390e-02 -2.33227612e-01] [-4.10891035e-04 9.99999510e-01 9.00200093e-04 -1.05125647e-01] [ 1.81885146e-02 -8.92577759e-04 9.99834177e-01 6.34501519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232557844000006 meters Centerline goodness [0,1] 0.24036574583252468 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 9.99881649e-01 1.18450841e-03 -1.53390233e-02 -1.89882274e-01] [-1.17985955e-03 9.99999255e-01 3.12120254e-04 -1.01660270e-01] [ 1.53393816e-02 -2.93985421e-04 9.99882302e-01 6.34276188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26255784400001 meters Centerline goodness [0,1] 0.24403924031444224 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 9.99879368e-01 1.16148589e-03 -1.54887137e-02 -1.89504182e-01] [-1.15730260e-03 9.99999291e-01 2.79046700e-04 -1.01546580e-01] [ 1.54890268e-02 -2.61087910e-04 9.99880004e-01 6.34273356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29255784400001 meters Centerline goodness [0,1] 0.2428333080539966 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 9.99876625e-01 1.17277809e-03 -1.56639822e-02 -1.88931442e-01] [-1.16766791e-03 9.99999262e-01 3.35378944e-04 -1.01799539e-01] [ 1.56643640e-02 -3.17047237e-04 9.99877256e-01 6.34035377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32255784400001 meters Centerline goodness [0,1] 0.2411209286209286 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 9.99873159e-01 1.24305943e-03 -1.58783141e-02 -1.88543445e-01] [-1.23442190e-03 9.99999085e-01 5.53772253e-04 -1.02768761e-01] [ 1.58789880e-02 -5.34101474e-04 9.99873778e-01 6.34295092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352557844 meters Centerline goodness [0,1] 0.24285714285714288 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 9.99870698e-01 1.37490623e-03 -1.60217463e-02 -1.88437649e-01] [-1.36055660e-03 9.99998664e-01 9.06500552e-04 -1.04342895e-01] [ 1.60229712e-02 -8.84584847e-04 9.99871233e-01 6.34716589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382557844000004 meters Centerline goodness [0,1] 0.24513322457857534 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99987537 0.0012015 -0.01574196 -0.18951173] [-0.0011788 0.99999825 0.00145169 -0.10836392] [ 0.01574368 -0.00143295 0.99987503 0.63556771] [ 0. 0. 0. 1. ]] SLAMing on 55.412557844000006 meters Centerline goodness [0,1] 0.2400267679820396 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99987368 0.00126273 -0.01584389 -0.18933534] [-0.00123263 0.99999742 0.00190959 -0.11118155] [ 0.01584626 -0.00188982 0.99987265 0.63579828] [ 0. 0. 0. 1. ]] SLAMing on 55.44255784400001 meters Centerline goodness [0,1] 0.24264546126102637 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99987447 0.00138933 -0.01578316 -0.18947557] [-0.00135285 0.99999639 0.00232203 -0.11332994] [ 0.01578633 -0.00230039 0.99987274 0.63581778] [ 0. 0. 0. 1. ]] SLAMing on 55.47255784400001 meters Centerline goodness [0,1] 0.24597386812518995 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99987487 0.00153929 -0.01574373 -0.18966146] [-0.00149733 0.9999953 0.00267669 -0.11489603] [ 0.01574777 -0.00265278 0.99987248 0.63597014] [ 0. 0. 0. 1. ]] SLAMing on 55.50255784400001 meters Centerline goodness [0,1] 0.24262763608019744 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.64 [[ 0.99987685 0.00163579 -0.0156077 -0.19010133] [-0.0015917 0.99999471 0.00283684 -0.11544264] [ 0.01561225 -0.00281164 0.99987417 0.63613947] [ 0. 0. 0. 1. ]] SLAMing on 55.532557844 meters Centerline goodness [0,1] 0.24437995408671542 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.64 [[ 0.99987838 0.0016804 -0.01550511 -0.1904784 ] [-0.00163623 0.99999457 0.00286076 -0.1154217 ] [ 0.01550983 -0.00283505 0.9998757 0.63637456] [ 0. 0. 0. 1. ]] SLAMing on 55.562557844000004 meters Centerline goodness [0,1] 0.24481887843956807 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99988014 0.00169016 -0.01539001 -0.19070672] [-0.00164812 0.99999488 0.00274346 -0.11478306] [ 0.01539457 -0.00271776 0.9998778 0.63631507] [ 0. 0. 0. 1. ]] SLAMing on 55.592557844000005 meters Centerline goodness [0,1] 0.24567549337452943 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99988071 0.00210907 -0.01530079 -0.19046979] [-0.00206938 0.99999445 0.00260963 -0.11297044] [ 0.01530621 -0.00257766 0.99987953 0.63541191] [ 0. 0. 0. 1. ]] SLAMing on 55.622557844000006 meters Centerline goodness [0,1] 0.2445057331480195 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99988735 0.00217595 -0.01485085 -0.19152131] [-0.00214031 0.99999479 0.00241572 -0.11161562] [ 0.01485603 -0.00238366 0.9998868 0.63520696] [ 0. 0. 0. 1. ]] SLAMing on 55.65255784400001 meters Centerline goodness [0,1] 0.24850417085207666 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99989493 0.00222838 -0.01432321 -0.19290171] [-0.00219619 0.99999503 0.00226326 -0.11050959] [ 0.01432819 -0.00223157 0.99989486 0.63529246] [ 0. 0. 0. 1. ]] SLAMing on 55.68255784400001 meters Centerline goodness [0,1] 0.24163464444540395 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99989742 0.00231717 -0.01413404 -0.19346566] [-0.0022882 0.99999525 0.00206535 -0.10917896] [ 0.01413876 -0.00203279 0.99989798 0.63528984] [ 0. 0. 0. 1. ]] SLAMing on 55.712557844 meters Centerline goodness [0,1] 0.2456986444212722 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99989592 0.00230153 -0.01424242 -0.19321882] [-0.0022722 0.99999526 0.0020758 -0.1093997 ] [ 0.01424713 -0.00204322 0.99989642 0.63533522] [ 0. 0. 0. 1. ]] SLAMing on 55.742557844000004 meters Centerline goodness [0,1] 0.2467008161139087 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99989577 0.0023332 -0.01424779 -0.19340853] [-0.00230131 0.99999481 0.00225396 -0.11040108] [ 0.01425297 -0.00222094 0.99989595 0.63569243] [ 0. 0. 0. 1. ]] SLAMing on 55.772557844000005 meters Centerline goodness [0,1] 0.24935918501478804 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99989871 0.00240721 -0.01402746 -0.19433772] [-0.00236985 0.9999936 0.00267964 -0.11263602] [ 0.01403382 -0.00264612 0.99989802 0.63644181] [ 0. 0. 0. 1. ]] SLAMing on 55.802557844000006 meters Centerline goodness [0,1] 0.2453492910107975 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.64 [[ 0.99990404 -0.00595724 -0.01250716 -0.17356704] [ 0.00600004 0.99997626 0.00338699 -0.1112343 ] [ 0.01248669 -0.00346171 0.99991605 0.63726097] [ 0. 0. 0. 1. ]] SLAMing on 55.83255784400001 meters Centerline goodness [0,1] 0.24757430069930075 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.64 [[ 0.99990453 -0.00603431 -0.01243024 -0.17393762] [ 0.00608424 0.99997356 0.00398339 -0.11501407] [ 0.01240587 -0.00405864 0.99991481 0.63780142] [ 0. 0. 0. 1. ]] SLAMing on 55.86255784400001 meters Centerline goodness [0,1] 0.246418711823142 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.64 [[ 0.99988 -0.00882515 -0.01273225 -0.17062875] [ 0.00885471 0.99995823 0.00226736 -0.12276568] [ 0.01271171 -0.00237983 0.99991637 0.63504067] [ 0. 0. 0. 1. ]] SLAMing on 55.89255784400001 meters Centerline goodness [0,1] 0.2457993696337355 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.63 [[ 0.99987224 -0.00876364 -0.01336812 -0.16839947] [ 0.00880055 0.99995762 0.00270428 -0.12550818] [ 0.01334385 -0.00282158 0.99990699 0.63407886] [ 0. 0. 0. 1. ]] SLAMing on 55.922557844 meters Centerline goodness [0,1] 0.2442643608238464 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.63 [[ 0.99986808 -0.00867045 -0.01373458 -0.16697699] [ 0.00871168 0.99995772 0.00294486 -0.12680218] [ 0.01370847 -0.00306412 0.99990134 0.63327716] [ 0. 0. 0. 1. ]] SLAMing on 55.952557844000005 meters Centerline goodness [0,1] 0.2476532242182884 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.13, Z:0.63 [[ 9.99870735e-01 7.99044299e-04 -1.60584655e-02 -1.86621546e-01] [-7.47422485e-04 9.99994535e-01 3.22036145e-03 -1.30855494e-01] [ 1.60609510e-02 -3.20794272e-03 9.99865868e-01 6.32685340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982557844000006 meters Centerline goodness [0,1] 0.25125195790774113 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.13, Z:0.63 [[ 0.99987502 0.00108747 -0.01577228 -0.18721448] [-0.00104026 0.99999496 0.0030008 -0.1286992 ] [ 0.01577546 -0.00298401 0.99987111 0.6323015 ] [ 0. 0. 0. 1. ]] SLAMing on 56.01255784400001 meters Centerline goodness [0,1] 0.25125195790774113 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.13, Z:0.63 [[ 0.99987502 0.00108747 -0.01577228 -0.18721448] [-0.00104026 0.99999496 0.0030008 -0.1286992 ] [ 0.01577546 -0.00298401 0.99987111 0.6323015 ] [ 0. 0. 0. 1. ]] SLAMing on 56.04255784400001 meters Centerline goodness [0,1] 0.24526220145379019 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:0.63 [[ 0.99989567 0.00387359 -0.01391591 -0.14457111] [-0.00383359 0.99998845 0.00289956 -0.12114547] [ 0.01392698 -0.00284591 0.99989896 0.63238995] [ 0. 0. 0. 1. ]] SLAMing on 56.07255784400001 meters Centerline goodness [0,1] 0.24981394737994134 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.63 [[ 0.99990328 -0.00291068 -0.01360028 -0.16741904] [ 0.00298831 0.99997934 0.00569087 -0.11609813] [ 0.01358343 -0.00573097 0.99989132 0.63200051] [ 0. 0. 0. 1. ]] SLAMing on 56.102557844 meters Centerline goodness [0,1] 0.2451452640673939 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.63 [[ 0.99990191 0.00693884 -0.01216658 -0.14530396] [-0.00687727 0.99996337 0.00509534 -0.11396732] [ 0.01220149 -0.00501117 0.999913 0.63152114] [ 0. 0. 0. 1. ]] SLAMing on 56.132557844000004 meters Centerline goodness [0,1] 0.24964467671047164 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.63 [[ 0.99992318 -0.00181734 -0.01226088 -0.16624557] [ 0.00189377 0.99997883 0.00622508 -0.10728269] [ 0.01224931 -0.00624782 0.99990546 0.62998396] [ 0. 0. 0. 1. ]] SLAMing on 56.162557844000006 meters Centerline goodness [0,1] 0.2458429986775641 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.63 [[ 0.99993332 0.00535684 -0.01023071 -0.14563596] [-0.00532757 0.99998164 0.00288572 -0.10452342] [ 0.01024599 -0.00283102 0.9999435 0.63000572] [ 0. 0. 0. 1. ]] SLAMing on 56.19255784400001 meters Centerline goodness [0,1] 0.24528138715326575 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.63 [[ 0.99993547 0.00524876 -0.010075 -0.14646165] [-0.00521966 0.99998214 0.00291286 -0.10509558] [ 0.01009011 -0.00286009 0.999945 0.63077815] [ 0. 0. 0. 1. ]] SLAMing on 56.22255784400001 meters Centerline goodness [0,1] 0.24297431469889919 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.63 [[ 0.99994093 0.00517859 -0.00955652 -0.14820218] [-0.00514875 0.9999818 0.0031445 -0.10646327] [ 0.00957263 -0.00309511 0.99994939 0.63160819] [ 0. 0. 0. 1. ]] SLAMing on 56.25255784400001 meters Centerline goodness [0,1] 0.2502406370318516 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.63 [[ 0.99994573 -0.00440026 -0.0094437 -0.17148096] [ 0.0044402 0.99998127 0.00421345 -0.10523081] [ 0.00942499 -0.00425515 0.99994653 0.6313337 ] [ 0. 0. 0. 1. ]] SLAMing on 56.282557844 meters Centerline goodness [0,1] 0.24864853082221638 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.63 [[ 0.9999418 -0.0051812 -0.00946318 -0.17124289] [ 0.00522169 0.9999773 0.00425851 -0.10810817] [ 0.0094409 -0.00430767 0.99994616 0.63147294] [ 0. 0. 0. 1. ]] SLAMing on 56.312557844000004 meters Centerline goodness [0,1] 0.24440242382569088 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.63 [[ 9.99958067e-01 6.60626818e-04 -9.13391572e-03 -1.48398567e-01] [-6.53572476e-04 9.99999486e-01 7.75287312e-04 -1.10567541e-01] [ 9.13442320e-03 -7.69285126e-04 9.99957984e-01 6.30796392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342557844000005 meters Centerline goodness [0,1] 0.2495691817725716 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.63 [[ 9.99919645e-01 -1.49110877e-03 -1.25888926e-02 -1.91525851e-01] [ 1.49864597e-03 9.99998703e-01 5.89306197e-04 -1.15627093e-01] [ 1.25879976e-02 -6.08125137e-04 9.99920583e-01 6.31098036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372557844000006 meters Centerline goodness [0,1] 0.24463732981233355 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.63 [[ 9.99914484e-01 -1.48296036e-03 -1.29932997e-02 -1.90269162e-01] [ 1.49297659e-03 9.99998596e-01 7.61211320e-04 -1.16629243e-01] [ 1.29921526e-02 -7.80544917e-04 9.99915294e-01 6.30703079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40255784400001 meters Centerline goodness [0,1] 0.24690093897736431 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.63 [[ 9.99911736e-01 -1.44226171e-03 -1.32075888e-02 -1.89456868e-01] [ 1.45374631e-03 9.99998574e-01 8.59986145e-04 -1.17020278e-01] [ 1.32063296e-02 -8.79110723e-04 9.99912406e-01 6.30233647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43255784400001 meters Centerline goodness [0,1] 0.24855756622082348 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.63 [[ 9.99911123e-01 -1.39438804e-03 -1.32590451e-02 -1.89154650e-01] [ 1.40704266e-03 9.99998563e-01 9.45134040e-04 -1.17340439e-01] [ 1.32577082e-02 -9.63706081e-04 9.99911648e-01 6.29940481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46255784400001 meters Centerline goodness [0,1] 0.2454774743433641 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.63 [[ 0.99991267 -0.0013539 -0.01314634 -0.18949371] [ 0.00136742 0.99999855 0.00101937 -0.11778514] [ 0.01314494 -0.00103726 0.99991306 0.63004924] [ 0. 0. 0. 1. ]] SLAMing on 56.492557844000004 meters Centerline goodness [0,1] 0.2476512999781516 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.63 [[ 0.99991656 -0.00128567 -0.01285343 -0.19042529] [ 0.0012994 0.99999859 0.0010603 -0.11765894] [ 0.01285205 -0.00107691 0.99991683 0.63037348] [ 0. 0. 0. 1. ]] SLAMing on 56.522557844000005 meters Centerline goodness [0,1] 0.24853839441535774 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.63 [[ 9.99921066e-01 -1.23543634e-03 -1.25033828e-02 -1.91562244e-01] [ 1.24783611e-03 9.99998737e-01 9.83960341e-04 -1.16853222e-01] [ 1.25021514e-02 -9.99484846e-04 9.99921346e-01 6.30820300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552557844000006 meters Centerline goodness [0,1] 0.2464497105565553 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.63 [[ 9.99921300e-01 -1.37125533e-03 -1.24705056e-02 -1.91571876e-01] [ 1.37806469e-03 9.99998906e-01 5.37460989e-04 -1.14882119e-01] [ 1.24697549e-02 -5.54603854e-04 9.99922096e-01 6.30669893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58255784400001 meters Centerline goodness [0,1] 0.24881903476500422 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.63 [[ 9.99917636e-01 -1.50222738e-03 -1.27461404e-02 -1.90469044e-01] [ 1.50563000e-03 9.99998833e-01 2.57361883e-04 -1.13864293e-01] [ 1.27457389e-02 -2.76531657e-04 9.99918732e-01 6.29957724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61255784400001 meters Centerline goodness [0,1] 0.25136911281489593 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.63 [[ 9.99915235e-01 -1.59557832e-03 -1.29219249e-02 -1.89610713e-01] [ 1.59503275e-03 9.99998727e-01 -5.25262411e-05 -1.12417195e-01] [ 1.29219922e-02 3.19108954e-05 9.99916507e-01 6.29161514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64255784400001 meters Centerline goodness [0,1] 0.2484436898698359 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.63 [[ 9.99914919e-01 -1.63319253e-03 -1.29416780e-02 -1.89268669e-01] [ 1.62851392e-03 9.99998605e-01 -3.72045156e-04 -1.10466881e-01] [ 1.29422676e-02 3.50937799e-04 9.99916184e-01 6.28573535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672557844 meters Centerline goodness [0,1] 0.24958634503178612 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.63 [[ 9.99922736e-01 -1.53465905e-03 -1.23355792e-02 -1.90764803e-01] [ 1.52421743e-03 9.99998472e-01 -8.55820257e-04 -1.06943880e-01] [ 1.23368737e-02 8.36952028e-04 9.99923548e-01 6.28387169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702557844000005 meters Centerline goodness [0,1] 0.24593038358299424 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.63 [[ 0.99992348 -0.00162204 -0.01226378 -0.19110338] [ 0.00160858 0.99999809 -0.00110691 -0.10575526] [ 0.01226555 0.0010871 0.99992418 0.62864988] [ 0. 0. 0. 1. ]] SLAMing on 56.732557844000006 meters Centerline goodness [0,1] 0.24533719022536915 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.99992391 -0.00168639 -0.01222034 -0.19132281] [ 0.00167084 0.99999778 -0.00128269 -0.10492974] [ 0.01222248 0.00126217 0.99992451 0.62882955] [ 0. 0. 0. 1. ]] SLAMing on 56.76255784400001 meters Centerline goodness [0,1] 0.2511851447296559 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.11, Z:0.63 [[ 0.99990521 0.00585224 -0.01246292 -0.21069267] [-0.00588405 0.99997952 -0.00251787 -0.10968295] [ 0.01244793 0.00259097 0.99991916 0.62716786] [ 0. 0. 0. 1. ]] SLAMing on 56.79255784400001 meters Centerline goodness [0,1] 0.24546749546749547 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.99991546 -0.00123743 -0.01294373 -0.19110578] [ 0.00121635 0.99999792 -0.00163688 -0.10321456] [ 0.01294573 0.001621 0.99991489 0.62842599] [ 0. 0. 0. 1. ]] SLAMing on 56.82255784400001 meters Centerline goodness [0,1] 0.24913630141451015 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.99991347 -0.00130906 -0.01309003 -0.19003828] [ 0.00128417 0.99999735 -0.00191 -0.10178923] [ 0.01309249 0.00189303 0.9999125 0.62714393] [ 0. 0. 0. 1. ]] SLAMing on 56.852557844 meters Centerline goodness [0,1] 0.24581669005721685 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.99991483 -0.00135951 -0.01297999 -0.19006862] [ 0.00133259 0.99999694 -0.00208231 -0.10093451] [ 0.01298278 0.00206483 0.99991359 0.62668443] [ 0. 0. 0. 1. ]] SLAMing on 56.882557844000004 meters Centerline goodness [0,1] 0.245398773006135 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.99991812 -0.00137302 -0.0127231 -0.19082618] [ 0.00134572 0.99999677 -0.00215397 -0.10046586] [ 0.01272602 0.00213668 0.99991674 0.62682897] [ 0. 0. 0. 1. ]] SLAMing on 56.912557844000006 meters Centerline goodness [0,1] 0.24788255223037836 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.99992016 -0.00138805 -0.01255978 -0.19144934] [ 0.00136019 0.9999966 -0.00222581 -0.10004576] [ 0.01256283 0.00220855 0.99991865 0.62713968] [ 0. 0. 0. 1. ]] SLAMing on 56.94255784400001 meters Centerline goodness [0,1] 0.24814557758209344 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.99991639 -0.00146845 -0.01284714 -0.19070123] [ 0.00143761 0.99999606 -0.00240986 -0.09915403] [ 0.01285063 0.00239119 0.99991457 0.62708374] [ 0. 0. 0. 1. ]] SLAMing on 56.97255784400001 meters Centerline goodness [0,1] 0.2510462987182841 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.99991281 -0.00151872 -0.01311716 -0.18969888] [ 0.00148543 0.99999565 -0.00254665 -0.09855373] [ 0.01312097 0.00252695 0.99991072 0.62651739] [ 0. 0. 0. 1. ]] SLAMing on 57.00255784400001 meters Centerline goodness [0,1] 0.24522865622495182 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.999909 -0.00159019 -0.01339625 -0.1886471 ] [ 0.00155363 0.99999504 -0.00273921 -0.09774872] [ 0.01340054 0.00271815 0.99990651 0.62587736] [ 0. 0. 0. 1. ]] SLAMing on 57.032557844 meters Centerline goodness [0,1] 0.2453723726321253 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.63 [[ 0.99990758 -0.00167485 -0.01349175 -0.18823625] [ 0.00163526 0.99999433 -0.00294492 -0.09681805] [ 0.0134966 0.00292258 0.99990465 0.6255486 ] [ 0. 0. 0. 1. ]] SLAMing on 57.062557844000004 meters Centerline goodness [0,1] 0.24958819265994592 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 0.99986768 -0.00275 -0.01603295 -0.23453976] [ 0.00271016 0.99999319 -0.00250623 -0.10006262] [ 0.01603973 0.00246245 0.99986832 0.62692314] [ 0. 0. 0. 1. ]] SLAMing on 57.092557844000005 meters Centerline goodness [0,1] 0.24916719284112432 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.63 [[ 0.99989019 0.00578371 -0.01364365 -0.21589282] [-0.00583854 0.99997503 -0.00398176 -0.10142669] [ 0.01362027 0.00406099 0.99989899 0.62753028] [ 0. 0. 0. 1. ]] SLAMing on 57.122557844000006 meters Centerline goodness [0,1] 0.24709676013682813 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.63 [[ 0.99989395 0.00572745 -0.01338998 -0.21703371] [-0.00578043 0.99997561 -0.00392086 -0.10184934] [ 0.0133672 0.00399784 0.99990266 0.62839801] [ 0. 0. 0. 1. ]] SLAMing on 57.15255784400001 meters Centerline goodness [0,1] 0.24617746923592643 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.63 [[ 0.99990691 -0.00171068 -0.01353645 -0.19740068] [ 0.00167443 0.99999498 -0.0026892 -0.09728908] [ 0.01354099 0.00266628 0.99990476 0.63029454] [ 0. 0. 0. 1. ]] SLAMing on 57.18255784400001 meters Centerline goodness [0,1] 0.24676394700895465 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.63 [[ 0.99990587 -0.00159886 -0.01362668 -0.1972133 ] [ 0.00156659 0.99999594 -0.00237883 -0.09866772] [ 0.01363043 0.00235726 0.99990432 0.63041165] [ 0. 0. 0. 1. ]] SLAMing on 57.21255784400001 meters Centerline goodness [0,1] 0.25146904051920715 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.63 [[ 0.99990673 -0.00148487 -0.01357661 -0.19754877] [ 0.00145808 0.99999697 -0.00198247 -0.10053988] [ 0.01357952 0.00196249 0.99990587 0.63082715] [ 0. 0. 0. 1. ]] SLAMing on 57.242557844000004 meters Centerline goodness [0,1] 0.24547379337164588 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.10, Z:0.63 [[ 0.99994293 -0.0018178 -0.01052753 -0.15578147] [ 0.00178232 0.9999927 -0.00337938 -0.09920503] [ 0.0105336 0.00336042 0.99993887 0.63126634] [ 0. 0. 0. 1. ]] SLAMing on 57.272557844000005 meters Centerline goodness [0,1] 0.24795229670401675 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.10, Z:0.63 [[ 0.99994666 -0.0018196 -0.01016644 -0.15705016] [ 0.00178969 0.99999404 -0.00295089 -0.10181084] [ 0.01017175 0.00293254 0.99994397 0.6319935 ] [ 0. 0. 0. 1. ]] SLAMing on 57.302557844000006 meters Centerline goodness [0,1] 0.24400720220404803 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.63 [[ 0.99994834 -0.00195607 -0.0099748 -0.15795701] [ 0.00193336 0.99999552 -0.00228532 -0.10582358] [ 0.00997922 0.00226592 0.99994764 0.63288968] [ 0. 0. 0. 1. ]] SLAMing on 57.33255784400001 meters Centerline goodness [0,1] 0.24484125274630597 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.63 [[ 0.99994755 -0.00180959 -0.01008119 -0.15782208] [ 0.00179117 0.99999671 -0.00183647 -0.10779982] [ 0.01008448 0.00181831 0.9999475 0.63314288] [ 0. 0. 0. 1. ]] SLAMing on 57.36255784400001 meters Centerline goodness [0,1] 0.2478600751157306 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:0.63 [[ 0.99993161 0.00550239 -0.01031966 -0.176742 ] [-0.0055318 0.99998071 -0.00282344 -0.11535319] [ 0.01030393 0.00288034 0.99994276 0.63132029] [ 0. 0. 0. 1. ]] SLAMing on 57.39255784400001 meters Centerline goodness [0,1] 0.24691411777511696 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:0.63 [[ 0.99993323 0.00551854 -0.0101533 -0.17733868] [-0.0055421 0.99998201 -0.00229361 -0.11910466] [ 0.01014046 0.00234973 0.99994582 0.63173267] [ 0. 0. 0. 1. ]] SLAMing on 57.422557844 meters Centerline goodness [0,1] 0.24644714038128246 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:0.63 [[ 0.99993287 0.00561337 -0.01013616 -0.177547 ] [-0.00563407 0.9999821 -0.00201461 -0.12047343] [ 0.01012467 0.00207159 0.9999466 0.632017 ] [ 0. 0. 0. 1. ]] SLAMing on 57.452557844000005 meters Centerline goodness [0,1] 0.2481104460657958 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:0.63 [[ 0.99993168 0.00569472 -0.01020841 -0.17733659] [-0.00571363 0.99998201 -0.00182409 -0.12131804] [ 0.01019784 0.00188229 0.99994623 0.63198498] [ 0. 0. 0. 1. ]] SLAMing on 57.482557844000006 meters Centerline goodness [0,1] 0.24199365106787307 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.12, Z:0.63 [[ 0.99993881 -0.00163262 -0.01094133 -0.1567125 ] [ 0.0016209 0.9999981 -0.00107989 -0.11688455] [ 0.01094307 0.00106209 0.99993956 0.63311824] [ 0. 0. 0. 1. ]] SLAMing on 57.51255784400001 meters Centerline goodness [0,1] 0.2475629305489363 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.12, Z:0.63 [[ 9.99935669e-01 -1.61360091e-03 -1.12273791e-02 -1.55726159e-01] [ 1.60243592e-03 9.99998213e-01 -1.00336795e-03 -1.17492093e-01] [ 1.12289781e-02 9.85312247e-04 9.99936468e-01 6.32706672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54255784400001 meters Centerline goodness [0,1] 0.24553435612151764 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.12, Z:0.63 [[ 9.99934166e-01 -1.56608064e-03 -1.13671417e-02 -1.55381464e-01] [ 1.55654717e-03 9.99998429e-01 -8.47485382e-04 -1.18486641e-01] [ 1.13684510e-02 8.29736096e-04 9.99935033e-01 6.32694977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57255784400001 meters Centerline goodness [0,1] 0.2446338930240609 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.12, Z:0.63 [[ 9.99939023e-01 -1.26895980e-03 -1.09699347e-02 -1.56552426e-01] [ 1.26645699e-03 9.99999170e-01 -2.35095134e-04 -1.21035542e-01] [ 1.09702239e-02 2.21187848e-04 9.99939801e-01 6.32991542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602557844 meters Centerline goodness [0,1] 0.24796668193018034 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.12, Z:0.63 [[ 9.99940566e-01 -1.12086695e-03 -1.08447078e-02 -1.56980984e-01] [ 1.12183843e-03 9.99999367e-01 8.34981782e-05 -1.22370776e-01] [ 1.08446073e-02 -9.56592256e-05 9.99941191e-01 6.33226973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632557844000004 meters Centerline goodness [0,1] 0.24572995616592175 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.12, Z:0.63 [[ 9.99939009e-01 -1.01643358e-03 -1.09974829e-02 -1.56553397e-01] [ 1.02005761e-03 9.99999427e-01 3.23928360e-04 -1.23611974e-01] [ 1.09971474e-02 -3.35126670e-04 9.99939473e-01 6.33194749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662557844000006 meters Centerline goodness [0,1] 0.24900289867706993 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99929566e-01 -8.53700603e-04 -1.18378115e-02 -1.53854188e-01] [ 8.59737260e-04 9.99999503e-01 5.04867487e-04 -1.24562442e-01] [ 1.18373746e-02 -5.15009335e-04 9.99929803e-01 6.32158974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69255784400001 meters Centerline goodness [0,1] 0.2424020347458723 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99925161e-01 -7.10572587e-04 -1.22133832e-02 -1.52450177e-01] [ 7.15527136e-04 9.99999663e-01 4.01300721e-04 -1.23424528e-01] [ 1.22130939e-02 -4.10009696e-04 9.99925333e-01 6.31323395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72255784400001 meters Centerline goodness [0,1] 0.2455911736599774 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99926425e-01 -5.92771343e-04 -1.21158048e-02 -1.52307801e-01] [ 5.95349132e-04 9.99999801e-01 2.09156900e-04 -1.21948281e-01] [ 1.21156784e-02 -2.16354645e-04 9.99926579e-01 6.30584725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75255784400001 meters Centerline goodness [0,1] 0.24551712232699652 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99928304e-01 -6.37703255e-04 -1.19574534e-02 -1.52326888e-01] [ 6.35966524e-04 9.99999787e-01 -1.49044378e-04 -1.20193716e-01] [ 1.19575459e-02 1.41429152e-04 9.99928496e-01 6.29912269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782557844 meters Centerline goodness [0,1] 0.24821860495521997 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99930680e-01 -7.27601745e-04 -1.17518522e-02 -1.52768522e-01] [ 7.21726145e-04 9.99999612e-01 -5.04205401e-04 -1.18530018e-01] [ 1.17522145e-02 4.95688830e-04 9.99930817e-01 6.29717008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812557844000004 meters Centerline goodness [0,1] 0.2474123466474908 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99933065e-01 -7.69078465e-04 -1.15444800e-02 -1.53410627e-01] [ 7.60735170e-04 9.99999446e-01 -7.27082510e-04 -1.17340788e-01] [ 1.15450328e-02 7.18251551e-04 9.99933096e-01 6.29865009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842557844000005 meters Centerline goodness [0,1] 0.2479637614878697 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99935718e-01 -7.23636886e-04 -1.13153441e-02 -1.54522180e-01] [ 7.15375863e-04 9.99999475e-01 -7.34103111e-04 -1.16751213e-01] [ 1.13158694e-02 7.25961197e-04 9.99935710e-01 6.30633165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872557844000006 meters Centerline goodness [0,1] 0.24863281250000002 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99934594e-01 -6.69816541e-04 -1.14174776e-02 -1.54545134e-01] [ 6.64748062e-04 9.99999679e-01 -4.47712048e-04 -1.18203808e-01] [ 1.14177738e-02 4.40093019e-04 9.99934718e-01 6.31129026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90255784400001 meters Centerline goodness [0,1] 0.24653967978478764 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99931605e-01 -7.42409388e-04 -1.16719754e-02 -1.53997108e-01] [ 7.40802875e-04 9.99999716e-01 -1.41961333e-04 -1.20295813e-01] [ 1.16720774e-02 1.33304991e-04 9.99931870e-01 6.31359127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93255784400001 meters Centerline goodness [0,1] 0.24653967978478764 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.63 [[ 9.99931605e-01 -7.42409388e-04 -1.16719754e-02 -1.53997108e-01] [ 7.40802875e-04 9.99999716e-01 -1.41961333e-04 -1.20295813e-01] [ 1.16720774e-02 1.33304991e-04 9.99931870e-01 6.31359127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96255784400001 meters Centerline goodness [0,1] 0.24845417537682912 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.63 [[ 9.99889242e-01 -3.30683461e-03 -1.45110052e-02 -1.97643861e-01] [ 3.30283800e-03 9.99994501e-01 -2.99375778e-04 -1.26213829e-01] [ 1.45119153e-02 2.51415121e-04 9.99894665e-01 6.31719685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992557844000004 meters Centerline goodness [0,1] 0.24690846437373226 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.63 [[ 9.99882318e-01 -3.35647326e-03 -1.49694122e-02 -1.96232735e-01] [ 3.35752291e-03 9.99994362e-01 4.49884720e-05 -1.28350707e-01] [ 1.49691768e-02 -9.52433221e-05 9.99887951e-01 6.31295912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022557844000005 meters Centerline goodness [0,1] 0.24159305414569876 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.63 [[ 0.99990984 0.00295943 -0.01309802 -0.17511592] [-0.00299901 0.99999099 -0.00300326 -0.1311786 ] [ 0.01308901 0.00304227 0.99990971 0.63039882] [ 0. 0. 0. 1. ]] SLAMing on 58.052557844000006 meters Centerline goodness [0,1] 0.2441377520117678 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.63 [[ 0.99990905 0.00299942 -0.01314877 -0.1753831 ] [-0.00303796 0.99999114 -0.00291257 -0.13165227] [ 0.01313992 0.00295225 0.99990931 0.63107658] [ 0. 0. 0. 1. ]] SLAMing on 58.08255784400001 meters Centerline goodness [0,1] 0.24744456847680962 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.63 [[ 0.99988542 -0.00607805 -0.01386391 -0.19506504] [ 0.00605456 0.99998016 -0.00173587 -0.12759281] [ 0.01387418 0.00165173 0.99990238 0.63025961] [ 0. 0. 0. 1. ]] SLAMing on 58.11255784400001 meters Centerline goodness [0,1] 0.24484932515869062 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.63 [[ 0.99991352 0.00314761 -0.01276863 -0.17482997] [-0.0031829 0.99999117 -0.00274448 -0.12954383] [ 0.01275987 0.00278489 0.99991471 0.63104216] [ 0. 0. 0. 1. ]] SLAMing on 58.14255784400001 meters Centerline goodness [0,1] 0.24905188855032112 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.13, Z:0.63 [[ 9.99902817e-01 -5.24895610e-03 -1.29153237e-02 -1.94653673e-01] [ 5.23705418e-03 9.99985830e-01 -9.55183341e-04 -1.25165712e-01] [ 1.29201544e-02 8.87452263e-04 9.99916138e-01 6.29469772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172557844 meters Centerline goodness [0,1] 0.2407271787360531 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.63 [[ 0.99995117 0.00273898 -0.00949479 -0.17394008] [-0.00276694 0.99999187 -0.002933 -0.12461645] [ 0.00948668 0.00295913 0.99995062 0.62835297] [ 0. 0. 0. 1. ]] SLAMing on 58.202557844000005 meters Centerline goodness [0,1] 0.24612706701479548 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.63 [[ 0.99995176 0.00269914 -0.00944443 -0.1741538 ] [-0.00272772 0.99999174 -0.00301479 -0.12436559] [ 0.00943622 0.0030404 0.99995086 0.62850533] [ 0. 0. 0. 1. ]] SLAMing on 58.232557844000006 meters Centerline goodness [0,1] 0.24761883956658515 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.63 [[ 0.99995137 0.00265011 -0.00949926 -0.17399371] [-0.00268023 0.99999142 -0.00315976 -0.12372714] [ 0.00949081 0.00318507 0.99994989 0.62844786] [ 0. 0. 0. 1. ]] SLAMing on 58.26255784400001 meters Centerline goodness [0,1] 0.24394205158188786 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.63 [[ 0.99994485 0.00254099 -0.01019015 -0.17163017] [-0.00257625 0.99999074 -0.00344836 -0.12253315] [ 0.01018129 0.00347442 0.99994213 0.62731036] [ 0. 0. 0. 1. ]] SLAMing on 58.29255784400001 meters Centerline goodness [0,1] 0.24394205158188786 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.63 [[ 0.99994485 0.00254099 -0.01019015 -0.17163017] [-0.00257625 0.99999074 -0.00344836 -0.12253315] [ 0.01018129 0.00347442 0.99994213 0.62731036] [ 0. 0. 0. 1. ]] SLAMing on 58.32255784400001 meters Centerline goodness [0,1] 0.24479268690825984 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.63 [[ 0.99994199 0.00249799 -0.01047729 -0.17074129] [-0.00253387 0.99999097 -0.00341289 -0.12304924] [ 0.01046867 0.00343924 0.99993929 0.62700254] [ 0. 0. 0. 1. ]] SLAMing on 58.352557844 meters Centerline goodness [0,1] 0.24543936140213873 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.63 [[ 0.99994344 0.00256406 -0.01032146 -0.17145627] [-0.00259738 0.99999145 -0.00321647 -0.12385313] [ 0.01031312 0.00324309 0.99994156 0.62758186] [ 0. 0. 0. 1. ]] SLAMing on 58.382557844000004 meters Centerline goodness [0,1] 0.2485608823658655 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.63 [[ 0.99992342 -0.00680481 -0.01033633 -0.19406981] [ 0.00678321 0.99997474 -0.00212293 -0.12160421] [ 0.01035052 0.00205265 0.99994433 0.62760695] [ 0. 0. 0. 1. ]] SLAMing on 58.412557844000006 meters Centerline goodness [0,1] 0.24642182307842664 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.63 [[ 0.99996512 0.00164651 -0.00818856 -0.17496503] [-0.00167425 0.99999288 -0.0033822 -0.12512998] [ 0.00818294 0.0033958 0.99996075 0.62822965] [ 0. 0. 0. 1. ]] SLAMing on 58.44255784400001 meters Centerline goodness [0,1] 0.24713598600787057 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.63 [[ 0.99996449 0.00173779 -0.0082458 -0.17492825] [-0.00176296 0.9999938 -0.00304686 -0.12677829] [ 0.00824045 0.00306129 0.99996136 0.62842433] [ 0. 0. 0. 1. ]] SLAMing on 58.47255784400001 meters Centerline goodness [0,1] 0.24786810687890848 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.63 [[ 0.99996256 0.00180374 -0.00846281 -0.17436237] [-0.00182686 0.99999462 -0.00272581 -0.12847497] [ 0.00845785 0.00274117 0.99996047 0.62838038] [ 0. 0. 0. 1. ]] SLAMing on 58.50255784400001 meters Centerline goodness [0,1] 0.24707369705952875 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.63 [[ 0.99996041 0.00184102 -0.00870555 -0.17363431] [-0.00186241 0.99999526 -0.00244989 -0.13009716] [ 0.008701 0.00246601 0.9999591 0.62821233] [ 0. 0. 0. 1. ]] SLAMing on 58.532557844 meters Centerline goodness [0,1] 0.2439261839344049 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.63 [[ 0.99995597 0.00181501 -0.00920643 -0.17211556] [-0.00183438 0.99999612 -0.00209649 -0.13270279] [ 0.00920259 0.00211329 0.99995542 0.62785563] [ 0. 0. 0. 1. ]] SLAMing on 58.562557844000004 meters Centerline goodness [0,1] 0.2474778624609013 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:0.63 [[ 9.99927720e-01 4.52929251e-04 -1.20145453e-02 -2.16457848e-01] [-4.70113599e-04 9.99998871e-01 -1.42750967e-03 -1.37219259e-01] [ 1.20138851e-02 1.43305469e-03 9.99926804e-01 6.28788818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592557844000005 meters Centerline goodness [0,1] 0.2441771793363401 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.63 [[ 9.99905917e-01 -6.86376448e-03 -1.18763009e-02 -1.96598137e-01] [ 6.86082929e-03 9.99976423e-01 -2.87871882e-04 -1.33197567e-01] [ 1.18779967e-02 2.06363526e-04 9.99929433e-01 6.30120153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622557844000006 meters Centerline goodness [0,1] 0.24769635805177714 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.63 [[ 9.99905573e-01 -6.74445854e-03 -1.19732278e-02 -1.96280069e-01] [ 6.74440178e-03 9.99977255e-01 -4.51183624e-05 -1.34234795e-01] [ 1.19732598e-02 -3.56381569e-05 9.99928317e-01 6.30013263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65255784400001 meters Centerline goodness [0,1] 0.2454457873533018 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.63 [[ 9.99904392e-01 -6.65051601e-03 -1.21234280e-02 -1.95782903e-01] [ 6.65248574e-03 9.99977865e-01 1.22153087e-04 -1.34954687e-01] [ 1.21223473e-02 -2.02792340e-04 9.99926501e-01 6.29829972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68255784400001 meters Centerline goodness [0,1] 0.24281281867690774 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.63 [[ 9.99927005e-01 2.90757571e-03 -1.17273296e-02 -1.73996886e-01] [-2.91866165e-03 9.99995310e-01 -9.28304224e-04 -1.37314814e-01] [ 1.17245755e-02 9.62464570e-04 9.99930802e-01 6.30132342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71255784400001 meters Centerline goodness [0,1] 0.24883270196458462 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:0.63 [[ 9.99887722e-01 2.41406045e-03 -1.47890510e-02 -2.18759797e-01] [-2.41585066e-03 9.99997077e-01 -1.03185873e-04 -1.39386426e-01] [ 1.47887587e-02 1.38902426e-04 9.99890631e-01 6.31243208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742557844000004 meters Centerline goodness [0,1] 0.24581592246603512 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:0.63 [[ 9.99887068e-01 2.38005400e-03 -1.48386832e-02 -2.18437996e-01] [-2.38802890e-03 9.99997014e-01 -5.19744423e-04 -1.37219568e-01] [ 1.48374019e-02 5.55120932e-04 9.99889766e-01 6.30822508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772557844000005 meters Centerline goodness [0,1] 0.24291875257352147 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.13, Z:0.63 [[ 9.99886015e-01 2.41326373e-03 -1.49041258e-02 -2.18059247e-01] [-2.42700212e-03 9.99996646e-01 -9.03765964e-04 -1.34991198e-01] [ 1.49018948e-02 9.39835293e-04 9.99888519e-01 6.30348293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802557844000006 meters Centerline goodness [0,1] 0.24640864560910247 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.63 [[ 0.99985867 -0.00449597 -0.01619979 -0.24120427] [ 0.00452959 0.99998766 0.00203921 -0.13252083] [ 0.01619042 -0.0021123 0.9998667 0.631258 ] [ 0. 0. 0. 1. ]] SLAMing on 58.83255784400001 meters Centerline goodness [0,1] 0.24783634933123522 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.63 [[ 0.99986144 -0.00449405 -0.01602806 -0.24162764] [ 0.00452149 0.99998837 0.00167582 -0.13032831] [ 0.01602035 -0.00174806 0.99987014 0.63112459] [ 0. 0. 0. 1. ]] SLAMing on 58.86255784400001 meters Centerline goodness [0,1] 0.2505925210674157 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.63 [[ 0.99986072 -0.00455333 -0.01605649 -0.24129883] [ 0.00457345 0.9999888 0.00121698 -0.12763768] [ 0.01605077 -0.00129025 0.99987035 0.63049765] [ 0. 0. 0. 1. ]] SLAMing on 58.89255784400001 meters Centerline goodness [0,1] 0.2427060579189826 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.13, Z:0.63 [[ 9.99865962e-01 4.18744317e-03 -1.58279117e-02 -2.20107033e-01] [-4.18839548e-03 9.99991228e-01 -2.70178518e-05 -1.29508100e-01] [ 1.58276597e-02 9.33077842e-05 9.99874730e-01 6.30934725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922557844 meters Centerline goodness [0,1] 0.2478109157943248 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.63 [[ 9.99844307e-01 -5.40258666e-03 -1.67980289e-02 -2.41663290e-01] [ 5.41742896e-03 9.99984974e-01 8.38194641e-04 -1.26900539e-01] [ 1.67932481e-02 -9.29066268e-04 9.99858552e-01 6.30532168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952557844000005 meters Centerline goodness [0,1] 0.23909444671382196 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.63 [[ 9.99897220e-01 -4.30559412e-03 -1.36752045e-02 -2.01586799e-01] [ 4.31165892e-03 9.99990619e-01 4.14036435e-04 -1.23316053e-01] [ 1.36732936e-02 -4.72956698e-04 9.99906404e-01 6.31577603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982557844000006 meters Centerline goodness [0,1] 0.23929378835181392 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.63 [[ 9.99904073e-01 -4.24424072e-03 -1.31845183e-02 -2.03554843e-01] [ 4.25224007e-03 9.99990792e-01 5.78748843e-04 -1.23779703e-01] [ 1.31819405e-02 -6.34757062e-04 9.99912913e-01 6.32794918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01255784400001 meters Centerline goodness [0,1] 0.24627660730980805 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.63 [[ 9.99908797e-01 -4.19004810e-03 -1.28390305e-02 -2.04884792e-01] [ 4.19894851e-03 9.99990962e-01 6.66352967e-04 -1.23956506e-01] [ 1.28361225e-02 -7.20202622e-04 9.99917354e-01 6.33570855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04255784400001 meters Centerline goodness [0,1] 0.24248124364878598 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.63 [[ 9.99905986e-01 -4.34075266e-03 -1.30068202e-02 -2.04253343e-01] [ 4.34457705e-03 9.99990527e-01 2.65788159e-04 -1.22132154e-01] [ 1.30055433e-02 -3.22272303e-04 9.99915372e-01 6.33235261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07255784400001 meters Centerline goodness [0,1] 0.2437387038471469 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.63 [[ 9.99900854e-01 -4.46577683e-03 -1.33543435e-02 -2.02826177e-01] [ 4.46398921e-03 9.99990023e-01 -1.63665647e-04 -1.20116665e-01] [ 1.33549412e-02 1.04035775e-04 9.99910813e-01 6.32288515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102557844 meters Centerline goodness [0,1] 0.24105656788362195 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.63 [[ 9.99895558e-01 -4.57619725e-03 -1.37087916e-02 -2.01410085e-01] [ 4.56688520e-03 9.99989319e-01 -7.10503380e-04 -1.17332079e-01] [ 1.37118965e-02 6.47822697e-04 9.99905778e-01 6.31287120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132557844000004 meters Centerline goodness [0,1] 0.2470901085487598 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.11, Z:0.63 [[ 0.99989541 -0.00470799 -0.0136752 -0.20118832] [ 0.00469028 0.99998812 -0.00132675 -0.11416067] [ 0.01368128 0.00126247 0.99990561 0.63063101] [ 0. 0. 0. 1. ]] SLAMing on 59.162557844000006 meters Centerline goodness [0,1] 0.24528057087252675 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.11, Z:0.63 [[ 0.99991484 0.00458944 -0.01221694 -0.18080151] [-0.00462356 0.99998549 -0.00276626 -0.11225613] [ 0.01220407 0.00282251 0.99992154 0.63124427] [ 0. 0. 0. 1. ]] SLAMing on 59.19255784400001 meters Centerline goodness [0,1] 0.24141262344353798 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.11, Z:0.63 [[ 0.99991822 0.00441662 -0.01200192 -0.18167755] [-0.00445719 0.99998444 -0.00335533 -0.10932064] [ 0.01198691 0.00340855 0.99992234 0.63171871] [ 0. 0. 0. 1. ]] SLAMing on 59.22255784400001 meters Centerline goodness [0,1] 0.2480421752635954 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.63 [[ 0.99988162 0.00356933 -0.01496685 -0.22848393] [-0.00361425 0.99998904 -0.00297569 -0.10811508] [ 0.01495607 0.00302943 0.99988356 0.63400936] [ 0. 0. 0. 1. ]] SLAMing on 59.25255784400001 meters Centerline goodness [0,1] 0.24056997368364752 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.10, Z:0.63 [[ 0.99991241 0.00460569 -0.01240794 -0.18387318] [-0.00465296 0.99998202 -0.00378343 -0.10105425] [ 0.0123903 0.00384083 0.99991586 0.63270823] [ 0. 0. 0. 1. ]] SLAMing on 59.282557844 meters Centerline goodness [0,1] 0.2435265637833398 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.63 [[ 0.99991379 -0.00453611 -0.0123218 -0.20410034] [ 0.00450205 0.99998597 -0.00279095 -0.09644954] [ 0.01233429 0.00273523 0.99992019 0.63104482] [ 0. 0. 0. 1. ]] SLAMing on 59.312557844000004 meters Centerline goodness [0,1] 0.24547719640342325 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.63 [[ 0.99991603 -0.00463293 -0.01210224 -0.20488346] [ 0.00459724 0.99998501 -0.00297487 -0.09570037] [ 0.01211584 0.00291898 0.99992234 0.63143532] [ 0. 0. 0. 1. ]] SLAMing on 59.342557844000005 meters Centerline goodness [0,1] 0.2467193314617745 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.63 [[ 0.99991791 -0.00471464 -0.0119137 -0.20567791] [ 0.00467826 0.99998431 -0.00307967 -0.09536543] [ 0.01192803 0.00302368 0.99992429 0.63200086] [ 0. 0. 0. 1. ]] SLAMing on 59.372557844000006 meters Centerline goodness [0,1] 0.24629448253346398 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.63 [[ 0.99991825 -0.00478617 -0.01185694 -0.20599865] [ 0.00474794 0.99998345 -0.00325043 -0.09449831] [ 0.0118723 0.00319387 0.99992442 0.63227735] [ 0. 0. 0. 1. ]] SLAMing on 59.40255784400001 meters Centerline goodness [0,1] 0.24195831188883166 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.09, Z:0.63 [[ 0.99991907 0.00410582 -0.01204167 -0.18336352] [-0.00415163 0.99998423 -0.00378188 -0.09357696] [ 0.01202595 0.00383156 0.99992034 0.63155424] [ 0. 0. 0. 1. ]] SLAMing on 59.43255784400001 meters Centerline goodness [0,1] 0.24179117256731886 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.09, Z:0.63 [[ 0.9999177 0.00398874 -0.01219353 -0.18265368] [-0.00403786 0.99998382 -0.00400578 -0.0926244 ] [ 0.01217735 0.00405469 0.99991763 0.63105386] [ 0. 0. 0. 1. ]] SLAMing on 59.46255784400001 meters Centerline goodness [0,1] 0.24682050609676154 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 0.99988328 0.00219014 -0.01512081 -0.22828356] [-0.00225305 0.99998887 -0.00414451 -0.09591115] [ 0.01511157 0.0041781 0.99987708 0.63245431] [ 0. 0. 0. 1. ]] SLAMing on 59.492557844000004 meters Centerline goodness [0,1] 0.24645432301929282 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.63 [[ 0.99987757 -0.00563207 -0.01459911 -0.20854344] [ 0.00558289 0.99997861 -0.00340733 -0.09066477] [ 0.01461799 0.00332541 0.99988762 0.63395604] [ 0. 0. 0. 1. ]] SLAMing on 59.522557844000005 meters Centerline goodness [0,1] 0.24600229989802336 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.63 [[ 0.99987889 -0.005625 -0.01451108 -0.20899809] [ 0.00557691 0.99997883 -0.00335292 -0.09086037] [ 0.01452964 0.00327158 0.99988909 0.63433862] [ 0. 0. 0. 1. ]] SLAMing on 59.552557844000006 meters Centerline goodness [0,1] 0.25147317502198774 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.63 [[ 0.99989271 0.00220884 -0.01448054 -0.22909342] [-0.00226491 0.99999 -0.00385685 -0.09661973] [ 0.01447187 0.00388924 0.99988771 0.6333453 ] [ 0. 0. 0. 1. ]] SLAMing on 59.58255784400001 meters Centerline goodness [0,1] 0.2478178533336236 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.63 [[ 0.99987347 -0.0059528 -0.01475159 -0.20688304] [ 0.00590711 0.99997763 -0.00313882 -0.09231972] [ 0.01476994 0.00305128 0.99988626 0.63394614] [ 0. 0. 0. 1. ]] SLAMing on 59.61255784400001 meters Centerline goodness [0,1] 0.23947731585302745 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.64 [[ 0.99989118 0.00168362 -0.01465553 -0.18685326] [-0.00175747 0.99998582 -0.00502749 -0.09707349] [ 0.01464686 0.0050527 0.99987996 0.63562566] [ 0. 0. 0. 1. ]] SLAMing on 59.64255784400001 meters Centerline goodness [0,1] 0.24658192460577466 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.64 [[ 0.99984049 -0.0082455 -0.01584334 -0.20830837] [ 0.00817681 0.99995691 -0.0043959 -0.0967966 ] [ 0.01587891 0.00426565 0.99986482 0.63558441] [ 0. 0. 0. 1. ]] SLAMing on 59.672557844 meters Centerline goodness [0,1] 0.24171076790150126 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.64 [[ 9.99879365e-01 -1.17497336e-04 -1.55319872e-02 -1.88230125e-01] [ 3.02080685e-05 9.99984207e-01 -5.62008289e-03 -1.02305261e-01] [ 1.55324022e-02 5.61893572e-03 9.99863577e-01 6.36874015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702557844000005 meters Centerline goodness [0,1] 0.24465506794771918 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.64 [[ 9.99875302e-01 -1.32462122e-05 -1.57917904e-02 -1.87584159e-01] [-6.91638895e-05 9.99986384e-01 -5.21798317e-03 -1.04268822e-01] [ 1.57916445e-02 5.21842472e-03 9.99861686e-01 6.36923442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732557844000006 meters Centerline goodness [0,1] 0.24541702867072113 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 9.99872466e-01 1.13964253e-04 -1.59699593e-02 -1.87213103e-01] [-1.91846180e-04 9.99988097e-01 -4.87532969e-03 -1.05840471e-01] [ 1.59692136e-02 4.87777169e-03 9.99860586e-01 6.37133778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76255784400001 meters Centerline goodness [0,1] 0.24375514091519113 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 9.99873303e-01 3.57309821e-04 -1.59138305e-02 -1.87608838e-01] [-4.25045277e-04 9.99990865e-01 -4.25321038e-03 -1.08881808e-01] [ 1.59121654e-02 4.25943561e-03 9.99864321e-01 6.37631937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79255784400001 meters Centerline goodness [0,1] 0.24237643448380197 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 9.99875247e-01 4.82026449e-04 -1.57879051e-02 -1.87859427e-01] [-5.45230298e-04 9.99991854e-01 -3.99924854e-03 -1.10024958e-01] [ 1.57858487e-02 4.00735767e-03 9.99867365e-01 6.37503486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82255784400001 meters Centerline goodness [0,1] 0.24237643448380197 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 9.99875247e-01 4.82026449e-04 -1.57879051e-02 -1.87859427e-01] [-5.45230298e-04 9.99991854e-01 -3.99924854e-03 -1.10024958e-01] [ 1.57858487e-02 4.00735767e-03 9.99867365e-01 6.37503486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852557844 meters Centerline goodness [0,1] 0.24677426409482572 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 9.99876239e-01 5.42864119e-04 -1.57229848e-02 -1.87902106e-01] [-6.03970877e-04 9.99992283e-01 -3.88197282e-03 -1.10526584e-01] [ 1.57207561e-02 3.89098861e-03 9.99868850e-01 6.37281435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882557844000004 meters Centerline goodness [0,1] 0.24295128011234746 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.64 [[ 9.99866575e-01 -4.66499913e-03 -1.56547262e-02 -1.64885774e-01] [ 4.65169649e-03 9.99988788e-01 -8.86057452e-04 -1.07998687e-01] [ 1.56586842e-02 8.13118195e-04 9.99877065e-01 6.36720428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912557844000006 meters Centerline goodness [0,1] 0.245502808002808 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.64 [[ 0.99985017 0.00350018 -0.01695269 -0.18562748] [-0.00352314 0.99999292 -0.00132482 -0.11353607] [ 0.01694794 0.00138434 0.99985542 0.63592749] [ 0. 0. 0. 1. ]] SLAMing on 59.94255784400001 meters Centerline goodness [0,1] 0.24263371640888276 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.64 [[ 9.99842199e-01 -3.65264062e-03 -1.73849369e-02 -1.65778938e-01] [ 3.64638469e-03 9.99993275e-01 -3.91532726e-04 -1.08207782e-01] [ 1.73862501e-02 3.28078774e-04 9.99848794e-01 6.37295914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97255784400001 meters Centerline goodness [0,1] 0.24458595947920525 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.64 [[ 9.99842309e-01 -3.66788994e-03 -1.73754045e-02 -1.66343368e-01] [ 3.66290208e-03 9.99993241e-01 -3.18880028e-04 -1.08913071e-01] [ 1.73764566e-02 2.55185338e-04 9.99848985e-01 6.38262382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00255784400001 meters Centerline goodness [0,1] 0.24314489928525018 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.64 [[ 0.99985758 0.00481888 -0.01617385 -0.14808149] [-0.00485244 0.99998615 -0.00203619 -0.11217902] [ 0.01616381 0.00211438 0.99986712 0.64020135] [ 0. 0. 0. 1. ]] SLAMing on 60.03255784400001 meters Centerline goodness [0,1] 0.24540010887316277 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.64 [[ 0.99985814 0.00482012 -0.01613883 -0.14817658] [-0.00485421 0.99998607 -0.00207398 -0.11186657] [ 0.01612861 0.00215203 0.99986761 0.64017074] [ 0. 0. 0. 1. ]] SLAMing on 60.062557844000004 meters Centerline goodness [0,1] 0.24044827138592018 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:0.64 [[ 9.99862193e-01 -1.51306556e-03 -1.65319300e-02 -1.30814260e-01] [ 1.50612896e-03 9.99998772e-01 -4.32030259e-04 -1.05654469e-01] [ 1.65325634e-02 4.07071504e-04 9.99863245e-01 6.42636993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092557844000005 meters Centerline goodness [0,1] 0.24373561471316285 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:0.64 [[ 9.99863216e-01 -1.52920910e-03 -1.64684725e-02 -1.30794682e-01] [ 1.52078618e-03 9.99998706e-01 -5.23968722e-04 -1.05141203e-01] [ 1.64692524e-02 4.98852026e-04 9.99864248e-01 6.42363022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122557844000006 meters Centerline goodness [0,1] 0.24821081463156036 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.64 [[ 0.99982333 0.00443719 -0.01826528 -0.15279679] [-0.00450095 0.99998392 -0.00345087 -0.1084114 ] [ 0.01824967 0.00353248 0.99982722 0.64298576] [ 0. 0. 0. 1. ]] SLAMing on 60.15255784400001 meters Centerline goodness [0,1] 0.2460721591156374 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.64 [[ 0.99983285 -0.00291097 -0.01805005 -0.1333387 ] [ 0.00286617 0.99999275 -0.00250696 -0.10358738] [ 0.01805722 0.0024548 0.99983394 0.64443444] [ 0. 0. 0. 1. ]] SLAMing on 60.18255784400001 meters Centerline goodness [0,1] 0.24763131467493338 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.64 [[ 0.99983369 -0.00284629 -0.01801387 -0.1335136 ] [ 0.00280313 0.99999314 -0.00242066 -0.10378679] [ 0.01802064 0.00236976 0.99983481 0.64457882] [ 0. 0. 0. 1. ]] SLAMing on 60.21255784400001 meters Centerline goodness [0,1] 0.24940979193786816 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.64 [[ 0.99983527 -0.00277673 -0.01793686 -0.13378628] [ 0.00273552 0.99999356 -0.00232162 -0.10401803] [ 0.01794319 0.00227217 0.99983643 0.64468367] [ 0. 0. 0. 1. ]] SLAMing on 60.242557844000004 meters Centerline goodness [0,1] 0.2461852358316512 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.10, Z:0.64 [[ 0.99987671 -0.00138437 -0.01564135 -0.08988094] [ 0.00134306 0.99999558 -0.00265139 -0.10098438] [ 0.01564495 0.00263005 0.99987415 0.64448 ] [ 0. 0. 0. 1. ]] SLAMing on 60.272557844000005 meters Centerline goodness [0,1] 0.24630778641964524 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.10, Z:0.64 [[ 0.99987603 -0.00135371 -0.01568715 -0.08974453] [ 0.00131355 0.99999583 -0.00257014 -0.10147266] [ 0.01569056 0.00254922 0.99987365 0.64447322] [ 0. 0. 0. 1. ]] SLAMing on 60.302557844000006 meters Centerline goodness [0,1] 0.24398484028153766 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.10, Z:0.64 [[ 0.99987547 -0.00127543 -0.01572928 -0.08962036] [ 0.00123639 0.99999613 -0.00249174 -0.10189499] [ 0.0157324 0.00247198 0.99987318 0.64446623] [ 0. 0. 0. 1. ]] SLAMing on 60.33255784400001 meters Centerline goodness [0,1] 0.24495484205522666 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.10, Z:0.64 [[ 0.99987643 -0.00119989 -0.01567415 -0.08968594] [ 0.00116069 0.99999618 -0.00250955 -0.10144204] [ 0.0156771 0.00249105 0.999874 0.64428666] [ 0. 0. 0. 1. ]] SLAMing on 60.36255784400001 meters Centerline goodness [0,1] 0.24787075248046364 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.65 [[ 9.99821147e-01 -1.04158869e-03 -1.88835622e-02 -1.34589564e-01] [ 1.02434533e-03 9.99999050e-01 -9.22790382e-04 -1.04957482e-01] [ 1.88845054e-02 9.03282050e-04 9.99821264e-01 6.45360620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39255784400001 meters Centerline goodness [0,1] 0.24925340360122972 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.64 [[ 0.9998199 -0.00105517 -0.01894883 -0.13413307] [ 0.00103149 0.99999868 -0.00125925 -0.10312055] [ 0.01895013 0.00123947 0.99981966 0.64479099] [ 0. 0. 0. 1. ]] SLAMing on 60.422557844 meters Centerline goodness [0,1] 0.24666623016652478 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.64 [[ 0.99981574 -0.00110937 -0.01916404 -0.13323384] [ 0.00107709 0.99999798 -0.00169439 -0.10090826] [ 0.01916588 0.00167343 0.99981492 0.64406109] [ 0. 0. 0. 1. ]] SLAMing on 60.452557844000005 meters Centerline goodness [0,1] 0.24338521400778212 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.64 [[ 0.99981391 -0.00114963 -0.01925691 -0.13283306] [ 0.00110919 0.99999716 -0.00211076 -0.09864671] [ 0.01925928 0.00208901 0.99981234 0.64366017] [ 0. 0. 0. 1. ]] SLAMing on 60.482557844000006 meters Centerline goodness [0,1] 0.246874591627826 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.64 [[ 0.99982455 -0.00120279 -0.0186927 -0.13420811] [ 0.00115196 0.99999561 -0.0027293 -0.09515822] [ 0.0186959 0.00270728 0.99982155 0.64338377] [ 0. 0. 0. 1. ]] SLAMing on 60.51255784400001 meters Centerline goodness [0,1] 0.24063468825353085 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:0.64 [[ 0.99982003 0.00752596 -0.01741478 -0.114085 ] [-0.00759928 0.99996252 -0.00414787 -0.09590309] [ 0.01738291 0.00427946 0.99983975 0.64406684] [ 0. 0. 0. 1. ]] SLAMing on 60.54255784400001 meters Centerline goodness [0,1] 0.24328597418348785 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.64 [[ 0.99981947 0.00741047 -0.01749582 -0.11390666] [-0.00748844 0.9999623 -0.00439495 -0.09479095] [ 0.01746259 0.00452517 0.99983728 0.64410788] [ 0. 0. 0. 1. ]] SLAMing on 60.57255784400001 meters Centerline goodness [0,1] 0.23656771080184413 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.65 [[ 9.99833420e-01 5.34438367e-04 -1.82440671e-02 -9.56347601e-02] [-5.95204687e-04 9.99994293e-01 -3.32547678e-03 -8.83576621e-02] [ 1.82421857e-02 3.33578178e-03 9.99828033e-01 6.46665680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602557844 meters Centerline goodness [0,1] 0.23701235894680284 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.65 [[ 9.99835535e-01 4.36840535e-04 -1.81304179e-02 -9.60366976e-02] [-5.00539507e-04 9.99993718e-01 -3.50898667e-03 -8.75269609e-02] [ 1.81287711e-02 3.51748455e-03 9.99829473e-01 6.46819195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632557844000004 meters Centerline goodness [0,1] 0.245317863816104 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.65 [[ 9.99846072e-01 2.21304136e-04 -1.75437729e-02 -9.82162644e-02] [-2.89733346e-04 9.99992361e-01 -3.89803852e-03 -8.57452834e-02] [ 1.75427762e-02 3.90252152e-03 9.99838498e-01 6.47991374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662557844000006 meters Centerline goodness [0,1] 0.24637366455311382 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:0.65 [[ 9.99849721e-01 1.21616959e-04 -1.73355566e-02 -9.90922664e-02] [-1.93596583e-04 9.99991368e-01 -4.15052031e-03 -8.44321144e-02] [ 1.73349022e-02 4.15325267e-03 9.99841113e-01 6.48536863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69255784400001 meters Centerline goodness [0,1] 0.2502302530590763 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:0.65 [[ 9.99849718e-01 -1.10012278e-05 -1.73361172e-02 -9.90710183e-02] [-6.64022117e-05 9.99990033e-01 -4.46428402e-03 -8.29160010e-02] [ 1.73359935e-02 4.46476427e-03 9.99839752e-01 6.48469894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72255784400001 meters Centerline goodness [0,1] 0.24019957234497502 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:0.65 [[ 0.99982938 -0.00575198 -0.01755367 -0.07624736] [ 0.00571926 0.99998181 -0.00191347 -0.0782763 ] [ 0.01756435 0.00181275 0.99984409 0.64824127] [ 0. 0. 0. 1. ]] SLAMing on 60.75255784400001 meters Centerline goodness [0,1] 0.2413101604278075 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:0.65 [[ 0.99982082 -0.00584367 -0.01800473 -0.07482416] [ 0.00580945 0.99998122 -0.00195265 -0.07823961] [ 0.01801581 0.0018477 0.99983599 0.64776994] [ 0. 0. 0. 1. ]] SLAMing on 60.78255784400001 meters Centerline goodness [0,1] 0.2440534164448196 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:0.65 [[ 0.99981162 -0.00589064 -0.01849407 -0.07351993] [ 0.0058586 0.99998124 -0.00178623 -0.07933408] [ 0.01850425 0.00167754 0.99982737 0.64770116] [ 0. 0. 0. 1. ]] SLAMing on 60.812557844000004 meters Centerline goodness [0,1] 0.24488063891367262 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:0.65 [[ 0.99979903 -0.00689819 -0.0188233 -0.07277257] [ 0.00686053 0.99997433 -0.00206464 -0.08172824] [ 0.01883705 0.00193509 0.99982069 0.64809922] [ 0. 0. 0. 1. ]] SLAMing on 60.842557844000005 meters Centerline goodness [0,1] 0.24395451178597882 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:0.65 [[ 0.99980011 -0.00689783 -0.01876602 -0.07319247] [ 0.00686809 0.99997505 -0.00164916 -0.08392574] [ 0.01877693 0.00151994 0.99982254 0.64866964] [ 0. 0. 0. 1. ]] SLAMing on 60.872557844000006 meters Centerline goodness [0,1] 0.24348673524634545 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.65 [[ 0.9998521 0.0012845 -0.01715028 -0.05617487] [-0.00133362 0.99999504 -0.00285292 -0.08882301] [ 0.01714653 0.00287537 0.99984885 0.65026903] [ 0. 0. 0. 1. ]] SLAMing on 60.90255784400001 meters Centerline goodness [0,1] 0.24077091888838187 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.65 [[ 0.99985596 0.00140935 -0.01691392 -0.05728228] [-0.00144974 0.99999613 -0.00237553 -0.09099311] [ 0.01691051 0.00239971 0.99985413 0.6511947 ] [ 0. 0. 0. 1. ]] SLAMing on 60.93255784400001 meters Centerline goodness [0,1] 0.2462368398155399 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.65 [[ 0.99985827 0.00149774 -0.01676903 -0.05806446] [-0.00153032 0.99999697 -0.00192967 -0.0932659 ] [ 0.01676609 0.00195506 0.99985753 0.65197938] [ 0. 0. 0. 1. ]] SLAMing on 60.96255784400001 meters Centerline goodness [0,1] 0.24394605308514306 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.09, Z:0.65 [[ 0.9998557 -0.0066779 -0.01561991 -0.03736879] [ 0.00665954 0.99997707 -0.00122748 -0.09164514] [ 0.01562775 0.00112328 0.99987725 0.65293949] [ 0. 0. 0. 1. ]] SLAMing on 60.992557844000004 meters Centerline goodness [0,1] 0.24594635881544202 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.10, Z:0.65 [[ 9.99885218e-01 2.98345990e-04 -1.51479670e-02 -5.70669462e-02] [-3.30804018e-04 9.99997655e-01 -2.14027118e-03 -1.00679722e-01] [ 1.51472929e-02 2.14503652e-03 9.99882972e-01 6.51320459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022557844000005 meters Centerline goodness [0,1] 0.24785870792112075 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.65 [[ 0.99984034 -0.00128488 -0.01782233 -0.10171969] [ 0.00125401 0.99999769 -0.00174305 -0.10587746] [ 0.01782453 0.00172043 0.99983965 0.65195034] [ 0. 0. 0. 1. ]] SLAMing on 61.052557844000006 meters Centerline goodness [0,1] 0.24491315679961456 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.65 [[ 0.99982643 -0.0011638 -0.01859433 -0.09919466] [ 0.00114373 0.99999875 -0.00108988 -0.10915538] [ 0.01859558 0.00106843 0.99982652 0.65088952] [ 0. 0. 0. 1. ]] SLAMing on 61.08255784400001 meters Centerline goodness [0,1] 0.2438806230638335 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.65 [[ 9.99821487e-01 -1.05954897e-03 -1.88645416e-02 -9.84683004e-02] [ 1.04632667e-03 9.99999200e-01 -7.10763685e-04 -1.11175302e-01] [ 1.88652796e-02 6.90898331e-04 9.99821796e-01 6.50840823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11255784400001 meters Centerline goodness [0,1] 0.24186845941300616 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.65 [[ 9.99820784e-01 -9.09502148e-04 -1.89095910e-02 -9.87273093e-02] [ 9.06019659e-04 9.99999571e-01 -1.92731380e-04 -1.13952998e-01] [ 1.89097582e-02 1.75564378e-04 9.99821179e-01 6.51471286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14255784400001 meters Centerline goodness [0,1] 0.24354187138333883 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.65 [[ 9.99822772e-01 -7.40509663e-04 -1.88115901e-02 -9.95354513e-02] [ 7.47775333e-04 9.99999649e-01 3.79202607e-04 -1.16882586e-01] [ 1.88113027e-02 -3.93202245e-04 9.99822974e-01 6.52465843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172557844 meters Centerline goodness [0,1] 0.24656690140845072 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.65 [[ 9.99822931e-01 -5.69166616e-04 -1.88091284e-02 -9.98245506e-02] [ 5.86150831e-04 9.99999425e-01 8.97476621e-04 -1.19427749e-01] [ 1.88086068e-02 -9.08342692e-04 9.99822690e-01 6.53000486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202557844000005 meters Centerline goodness [0,1] 0.24343341637166205 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.65 [[ 9.99821519e-01 -4.18172644e-04 -1.88879684e-02 -9.97119340e-02] [ 4.43717636e-04 9.99998993e-01 1.34827726e-03 -1.21624648e-01] [ 1.88873856e-02 -1.35641754e-03 9.99820697e-01 6.53148310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232557844000006 meters Centerline goodness [0,1] 0.23980815347721818 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.65 [[ 9.99818473e-01 -2.83725515e-04 -1.90509904e-02 -9.93546597e-02] [ 3.24820194e-04 9.99997627e-01 2.15402914e-03 -1.26046230e-01] [ 1.90503341e-02 -2.15982628e-03 9.99816193e-01 6.53253436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26255784400001 meters Centerline goodness [0,1] 0.2382211900307507 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.65 [[ 9.99817181e-01 -1.36859797e-04 -1.91203132e-02 -9.92957556e-02] [ 1.87296243e-04 9.99996508e-01 2.63608041e-03 -1.28500921e-01] [ 1.91198856e-02 -2.63917965e-03 9.99813715e-01 6.53476615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29255784400001 meters Centerline goodness [0,1] 0.2435480704203844 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.65 [[ 9.99796873e-01 5.10373684e-03 -1.94978253e-02 -1.22972008e-01] [-5.10921801e-03 9.99986921e-01 -2.31313032e-04 -1.33042621e-01] [ 1.94963897e-02 3.30884686e-04 9.99809873e-01 6.53634327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32255784400001 meters Centerline goodness [0,1] 0.24211625933099745 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.65 [[ 9.99793855e-01 5.20953766e-03 -1.96241887e-02 -1.22821184e-01] [-5.20564526e-03 9.99986419e-01 2.49425208e-04 -1.35619668e-01] [ 1.96252216e-02 -1.47217225e-04 9.99807396e-01 6.53911263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.352557844 meters Centerline goodness [0,1] 0.24440825190010862 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.65 [[ 9.99794967e-01 5.34785973e-03 -1.95300802e-02 -1.23386027e-01] [-5.33249231e-03 9.99985430e-01 8.38851439e-04 -1.38649822e-01] [ 1.95342817e-02 -7.34535444e-04 9.99808918e-01 6.54481606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382557844000004 meters Centerline goodness [0,1] 0.243593079224665 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.66 [[ 0.99979726 0.00551726 -0.01936496 -0.12418472] [-0.00548921 0.99998381 0.00150129 -0.14198092] [ 0.01937293 -0.00139469 0.99981135 0.65509415] [ 0. 0. 0. 1. ]] SLAMing on 61.412557844000006 meters Centerline goodness [0,1] 0.24667869083230687 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.66 [[ 0.99977538 -0.0047184 -0.02066198 -0.14606017] [ 0.00476926 0.99998572 0.0024129 -0.14608457] [ 0.0206503 -0.0025109 0.99978361 0.65516142] [ 0. 0. 0. 1. ]] SLAMing on 61.44255784400001 meters Centerline goodness [0,1] 0.2490379329301814 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.66 [[ 0.99977252 -0.00457834 -0.02083135 -0.14566062] [ 0.00464283 0.99998458 0.00304853 -0.14938551] [ 0.02081707 -0.00314455 0.99977836 0.65520673] [ 0. 0. 0. 1. ]] SLAMing on 61.47255784400001 meters Centerline goodness [0,1] 0.23783445807550507 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.66 [[ 0.99981247 -0.00448096 -0.01884003 -0.1014435 ] [ 0.00452045 0.99998767 0.00205413 -0.15150607] [ 0.01883059 -0.00213891 0.9998204 0.65516673] [ 0. 0. 0. 1. ]] SLAMing on 61.50255784400001 meters Centerline goodness [0,1] 0.24657354866870362 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.66 [[ 0.99981231 -0.00427914 -0.01889536 -0.10137414] [ 0.00433127 0.99998692 0.00271887 -0.15485914] [ 0.01888348 -0.0028002 0.99981777 0.65526809] [ 0. 0. 0. 1. ]] SLAMing on 61.53255784400001 meters Centerline goodness [0,1] 0.24104425702112864 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.66 [[ 0.99981136 -0.00409508 -0.01898616 -0.10126541] [ 0.0041589 0.99998583 0.00332319 -0.15792054] [ 0.01897228 -0.00340153 0.99981422 0.6554535 ] [ 0. 0. 0. 1. ]] SLAMing on 61.562557844000004 meters Centerline goodness [0,1] 0.2438538496902296 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.66 [[ 0.9998113 -0.00388955 -0.0190324 -0.10138468] [ 0.00396454 0.99998452 0.003904 -0.16066695] [ 0.01901692 -0.00397872 0.99981125 0.6558443 ] [ 0. 0. 0. 1. ]] SLAMing on 61.592557844000005 meters Centerline goodness [0,1] 0.24184947541836466 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.17, Z:0.66 [[ 9.99830107e-01 2.53040950e-03 -1.82580075e-02 -7.98818187e-02] [-2.51409505e-03 9.99996420e-01 9.16448082e-04 -1.65906016e-01] [ 1.82602611e-02 -8.70390018e-04 9.99832889e-01 6.55826365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622557844000006 meters Centerline goodness [0,1] 0.24752803036991256 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.66 [[ 0.99978014 0.00113807 -0.0209374 -0.1238129 ] [-0.00110632 0.99999822 0.00152781 -0.16772978] [ 0.02093911 -0.00150431 0.99977962 0.65589723] [ 0. 0. 0. 1. ]] SLAMing on 61.65255784400001 meters Centerline goodness [0,1] 0.24251666594048193 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.66 [[ 0.99976424 -0.00654666 -0.02070288 -0.1028963 ] [ 0.00659557 0.99997561 0.00229527 -0.16445904] [ 0.02068735 -0.00243128 0.99978304 0.65674564] [ 0. 0. 0. 1. ]] SLAMing on 61.68255784400001 meters Centerline goodness [0,1] 0.24377955539841778 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.66 [[ 0.99977389 0.00114356 -0.02123346 -0.12310897] [-0.001111 0.99999819 0.00154534 -0.17017781] [ 0.02123519 -0.0015214 0.99977335 0.65504867] [ 0. 0. 0. 1. ]] SLAMing on 61.71255784400001 meters Centerline goodness [0,1] 0.24457863187588147 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 0.99977089 0.00113769 -0.02137457 -0.1225399 ] [-0.00110243 0.99999801 0.00166138 -0.17096733] [ 0.02137642 -0.00163744 0.99977016 0.65463116] [ 0. 0. 0. 1. ]] SLAMing on 61.742557844000004 meters Centerline goodness [0,1] 0.24457863187588147 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 0.99977089 0.00113769 -0.02137457 -0.1225399 ] [-0.00110243 0.99999801 0.00166138 -0.17096733] [ 0.02137642 -0.00163744 0.99977016 0.65463116] [ 0. 0. 0. 1. ]] SLAMing on 61.772557844000005 meters Centerline goodness [0,1] 0.24154346734217025 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 0.99976737 0.00108808 -0.02154115 -0.1220561 ] [-0.00105183 0.99999801 0.00169416 -0.17133158] [ 0.02154295 -0.00167111 0.99976653 0.65446633] [ 0. 0. 0. 1. ]] SLAMing on 61.802557844000006 meters Centerline goodness [0,1] 0.2390337073774228 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99752916e-01 8.43407664e-04 -2.22124982e-02 -1.20171837e-01] [-8.06736850e-04 9.99998297e-01 1.65981821e-03 -1.71708647e-01] [ 2.22138603e-02 -1.64148845e-03 9.99751894e-01 6.54017257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83255784400001 meters Centerline goodness [0,1] 0.23918901299491502 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99752804e-01 7.93290243e-04 -2.22193902e-02 -1.20107660e-01] [-7.55826120e-04 9.99998279e-01 1.69444774e-03 -1.71977504e-01] [ 2.22206962e-02 -1.67723489e-03 9.99751683e-01 6.53892922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86255784400001 meters Centerline goodness [0,1] 0.23979458612585947 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99753216e-01 7.28469036e-04 -2.22030783e-02 -1.20172087e-01] [-6.91430952e-04 9.99998357e-01 1.67578208e-03 -1.72068351e-01] [ 2.22042625e-02 -1.66001663e-03 9.99752077e-01 6.53899627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89255784400001 meters Centerline goodness [0,1] 0.2407427611337799 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99755823e-01 6.66093805e-04 -2.20873430e-02 -1.20553926e-01] [-6.31040877e-04 9.99998531e-01 1.59394616e-03 -1.71785593e-01] [ 2.20883722e-02 -1.57961894e-03 9.99754774e-01 6.54031982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922557844 meters Centerline goodness [0,1] 0.2447633401044056 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99759054e-01 5.90096976e-04 -2.19428033e-02 -1.20931505e-01] [-5.58276986e-04 9.99998784e-01 1.45623089e-03 -1.71159629e-01] [ 2.19436360e-02 -1.44362985e-03 9.99758167e-01 6.54017250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952557844000005 meters Centerline goodness [0,1] 0.23930951600568118 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99763334e-01 4.33140330e-04 -2.17506156e-02 -1.21424238e-01] [-4.10409902e-04 9.99999365e-01 1.04950059e-03 -1.69020500e-01] [ 2.17510564e-02 -1.04032554e-03 9.99762877e-01 6.53991709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982557844000006 meters Centerline goodness [0,1] 0.24082042768834233 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99762849e-01 3.34067155e-04 -2.17746246e-02 -1.21357377e-01] [-3.15597449e-04 9.99999588e-01 8.51652484e-04 -1.68176930e-01] [ 2.17749002e-02 -8.44578498e-04 9.99762542e-01 6.53980016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01255784400001 meters Centerline goodness [0,1] 0.24914343818386786 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99761976e-01 2.32665422e-04 -2.18160013e-02 -1.21188587e-01] [-2.18557716e-04 9.99999765e-01 6.49049919e-04 -1.67383042e-01] [ 2.18161472e-02 -6.44127373e-04 9.99761792e-01 6.53866631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04255784400001 meters Centerline goodness [0,1] 0.2402012248468941 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99758656e-01 1.07336162e-04 -2.19685681e-02 -1.20635709e-01] [-9.82047893e-05 9.99999908e-01 4.16734680e-04 -1.66500878e-01] [ 2.19686108e-02 -4.14476685e-04 9.99758575e-01 6.53578846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07255784400001 meters Centerline goodness [0,1] 0.23911048975490412 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.17, Z:0.65 [[ 9.99754752e-01 -1.78019062e-05 -2.21457908e-02 -1.19978084e-01] [ 2.01326970e-05 9.99999994e-01 1.05024628e-04 -1.65058175e-01] [ 2.21457888e-02 -1.05444725e-04 9.99754746e-01 6.53218623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102557844 meters Centerline goodness [0,1] 0.23823355974403215 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.65 [[ 9.99752663e-01 -1.16397092e-04 -2.22395839e-02 -1.19571721e-01] [ 1.10714419e-04 9.99999961e-01 -2.56751775e-04 -1.63155927e-01] [ 2.22396129e-02 2.54226029e-04 9.99752637e-01 6.52981880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132557844000004 meters Centerline goodness [0,1] 0.24110568538542032 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.65 [[ 9.99758704e-01 -2.75116168e-05 -2.19666507e-02 -1.20351319e-01] [ 9.16575651e-06 9.99999651e-01 -8.35269001e-04 -1.59398204e-01] [ 2.19666660e-02 8.34866113e-04 9.99758355e-01 6.53248131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162557844000006 meters Centerline goodness [0,1] 0.24062198014583147 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.65 [[ 9.99760416e-01 -1.16529343e-04 -2.18882682e-02 -1.20530248e-01] [ 8.84222518e-05 9.99999170e-01 -1.28508016e-03 -1.57195858e-01] [ 2.18883998e-02 1.28283687e-03 9.99759597e-01 6.53321484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19255784400001 meters Centerline goodness [0,1] 0.24587646955606246 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.65 [[ 9.99761217e-01 -1.66863581e-04 -2.18513448e-02 -1.20551251e-01] [ 1.29346733e-04 9.99998515e-01 -1.71831467e-03 -1.54955400e-01] [ 2.18515991e-02 1.71507796e-03 9.99759754e-01 6.53282987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22255784400001 meters Centerline goodness [0,1] 0.24146346778235384 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.65 [[ 9.99763030e-01 -1.82278381e-04 -2.17681130e-02 -1.20633803e-01] [ 1.35581679e-04 9.99997687e-01 -2.14664492e-03 -1.52560626e-01] [ 2.17684540e-02 2.14318487e-03 9.99760742e-01 6.53106423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25255784400001 meters Centerline goodness [0,1] 0.23803504489582428 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.65 [[ 9.99767155e-01 -1.39906797e-04 -2.15781471e-02 -1.21101515e-01] [ 8.78444077e-05 9.99997083e-01 -2.41366577e-03 -1.50784115e-01] [ 2.15784218e-02 2.41120824e-03 9.99764251e-01 6.53158623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28255784400001 meters Centerline goodness [0,1] 0.2391365780492577 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.65 [[ 9.99774320e-01 4.37566505e-04 -2.12395242e-02 -1.22124380e-01] [-4.90314726e-04 9.99996809e-01 -2.47834948e-03 -1.48355569e-01] [ 2.12383720e-02 2.48820422e-03 9.99771344e-01 6.53432506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312557844000004 meters Centerline goodness [0,1] 0.2419565217391304 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.65 [[ 9.99773299e-01 3.85376126e-04 -2.12885604e-02 -1.21984721e-01] [-4.46769840e-04 9.99995755e-01 -2.87920206e-03 -1.46317707e-01] [ 2.12873605e-02 2.88806042e-03 9.99769227e-01 6.53489710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342557844000005 meters Centerline goodness [0,1] 0.23503867260078637 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.65 [[ 9.99771063e-01 3.18825189e-04 -2.13943972e-02 -1.21708212e-01] [-3.90617119e-04 9.99994307e-01 -3.35154658e-03 -1.43964437e-01] [ 2.13932068e-02 3.35913630e-03 9.99765496e-01 6.53552943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372557844000006 meters Centerline goodness [0,1] 0.24460906073461852 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.65 [[ 9.99712730e-01 3.05319027e-04 -2.39658792e-02 -1.67935086e-01] [-3.64059624e-04 9.99996941e-01 -2.44668461e-03 -1.42375116e-01] [ 2.39650589e-02 2.45470676e-03 9.99709783e-01 6.54716037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40255784400001 meters Centerline goodness [0,1] 0.2454749143309024 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.66 [[ 9.99707776e-01 4.39563323e-03 -2.37705813e-02 -1.68661539e-01] [-4.37094859e-03 9.99989853e-01 1.09031105e-03 -1.39208664e-01] [ 2.37751327e-02 -9.86092448e-04 9.99716845e-01 6.55159716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43255784400001 meters Centerline goodness [0,1] 0.2400971842596208 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.66 [[ 9.99737337e-01 -8.45746548e-04 -2.29028837e-02 -1.46592872e-01] [ 9.39268098e-04 9.99991264e-01 4.07294679e-03 -1.35378143e-01] [ 2.28992389e-02 -4.09338893e-03 9.99729398e-01 6.55292763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46255784400001 meters Centerline goodness [0,1] 0.2467905517378527 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.14, Z:0.66 [[ 0.99967976 -0.00201875 -0.02522491 -0.19202701] [ 0.00213086 0.99998797 0.00441818 -0.13648724] [ 0.02521569 -0.00447052 0.99967204 0.65592463] [ 0. 0. 0. 1. ]] SLAMing on 62.492557844000004 meters Centerline goodness [0,1] 0.2455106930127261 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.66 [[ 0.99968051 0.00625658 -0.02448942 -0.17341539] [-0.00619728 0.99997768 0.00249681 -0.14083351] [ 0.0245045 -0.00234424 0.99969697 0.65785173] [ 0. 0. 0. 1. ]] SLAMing on 62.522557844000005 meters Centerline goodness [0,1] 0.24496703296703293 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.66 [[ 0.99968009 0.00624684 -0.02450927 -0.17353842] [-0.0061857 0.99997757 0.00256959 -0.14142366] [ 0.02452478 -0.00241717 0.9996963 0.65809657] [ 0. 0. 0. 1. ]] SLAMing on 62.552557844000006 meters Centerline goodness [0,1] 0.244973695125412 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.66 [[ 0.99971005 -0.00117395 -0.02405074 -0.15440304] [ 0.00126539 0.99999203 0.00378701 -0.13730113] [ 0.0240461 -0.00381634 0.99970357 0.65999587] [ 0. 0. 0. 1. ]] SLAMing on 62.58255784400001 meters Centerline goodness [0,1] 0.24070509354385206 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.66 [[ 0.99973588 0.00780392 -0.02161643 -0.13509554] [-0.0077371 0.99996503 0.00317306 -0.14064601] [ 0.02164043 -0.00300497 0.9997613 0.66018774] [ 0. 0. 0. 1. ]] SLAMing on 62.61255784400001 meters Centerline goodness [0,1] 0.23953508506125276 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.66 [[ 0.99973746 0.00776072 -0.02155872 -0.13547821] [-0.00769521 0.99996552 0.00311994 -0.14062743] [ 0.02158219 -0.00295322 0.99976272 0.66059176] [ 0. 0. 0. 1. ]] SLAMing on 62.64255784400001 meters Centerline goodness [0,1] 0.24214895790320123 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.66 [[ 0.99973793 0.00772175 -0.02155118 -0.13574353] [-0.00765753 0.999966 0.00306088 -0.14057567] [ 0.02157408 -0.00289505 0.99976306 0.66101269] [ 0. 0. 0. 1. ]] SLAMing on 62.672557844 meters Centerline goodness [0,1] 0.24164278892072588 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.66 [[ 0.99973762 0.0077088 -0.02157001 -0.13569783] [-0.00764561 0.99996624 0.00301079 -0.14033711] [ 0.02159249 -0.00284509 0.99976281 0.66105092] [ 0. 0. 0. 1. ]] SLAMing on 62.702557844000005 meters Centerline goodness [0,1] 0.24224898899856506 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.66 [[ 0.99974134 0.00792175 -0.02131883 -0.13592557] [-0.00786234 0.99996498 0.00286879 -0.13883874] [ 0.02134081 -0.00270043 0.99976861 0.6604526 ] [ 0. 0. 0. 1. ]] SLAMing on 62.732557844000006 meters Centerline goodness [0,1] 0.24566309809919162 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.66 [[ 0.99974346 0.00784644 -0.02124722 -0.13598066] [-0.00779395 0.99996637 0.00255229 -0.13738405] [ 0.02126653 -0.00238603 0.99977099 0.66028776] [ 0. 0. 0. 1. ]] SLAMing on 62.76255784400001 meters Centerline goodness [0,1] 0.24030605628323176 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 9.99770386e-01 6.61422475e-04 -2.14181881e-02 -1.16680888e-01] [-5.96522627e-04 9.99995212e-01 3.03637503e-03 -1.30970850e-01] [ 2.14200938e-02 -3.02290140e-03 9.99765993e-01 6.61604026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79255784400001 meters Centerline goodness [0,1] 0.24411489296835875 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 9.99769035e-01 6.00400835e-04 -2.14829078e-02 -1.16365659e-01] [-5.42280562e-04 9.99996178e-01 2.71114259e-03 -1.29211618e-01] [ 2.14844534e-02 -2.69886665e-03 9.99765540e-01 6.61331830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82255784400001 meters Centerline goodness [0,1] 0.2418207373770137 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 9.99766406e-01 5.48246728e-04 -2.16063023e-02 -1.15766756e-01] [-4.96917041e-04 9.99997042e-01 2.38097855e-03 -1.27333029e-01] [ 2.16075437e-02 -2.36968583e-03 9.99763721e-01 6.60831593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852557844 meters Centerline goodness [0,1] 0.24791031350782122 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:0.66 [[ 9.99701530e-01 4.03876661e-04 -2.44271767e-02 -1.61000034e-01] [-3.14868751e-04 9.99993298e-01 3.64754319e-03 -1.28683605e-01] [ 2.44284861e-02 -3.63876316e-03 9.99694958e-01 6.61310447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882557844000004 meters Centerline goodness [0,1] 0.23640585693091665 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.99974193 0.00171183 -0.02265256 -0.11577175] [-0.00164982 0.99999484 0.00275579 -0.12618153] [ 0.02265716 -0.00271771 0.9997396 0.66105975] [ 0. 0. 0. 1. ]] SLAMing on 62.912557844000006 meters Centerline goodness [0,1] 0.23920043219881149 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.99974131 0.00173668 -0.0226781 -0.11568704] [-0.00167373 0.99999469 0.00279441 -0.12640126] [ 0.02268283 -0.00275573 0.99973891 0.66104691] [ 0. 0. 0. 1. ]] SLAMing on 62.94255784400001 meters Centerline goodness [0,1] 0.2439029682346815 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.9997459 0.00180977 -0.0224689 -0.11634079] [-0.00174653 0.99999446 0.00283392 -0.12636164] [ 0.02247391 -0.00279395 0.99974353 0.66128062] [ 0. 0. 0. 1. ]] SLAMing on 62.97255784400001 meters Centerline goodness [0,1] 0.2455426145640579 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.99976332 0.00206269 -0.02165746 -0.11891816] [-0.00199755 0.99999342 0.00302891 -0.12671123] [ 0.02166357 -0.00298493 0.99976086 0.66221525] [ 0. 0. 0. 1. ]] SLAMing on 63.00255784400001 meters Centerline goodness [0,1] 0.2461403892411983 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.99976399 0.00207999 -0.0216249 -0.11892794] [-0.00201368 0.99999321 0.00308761 -0.12713714] [ 0.02163117 -0.00304334 0.99976139 0.66208916] [ 0. 0. 0. 1. ]] SLAMing on 63.03255784400001 meters Centerline goodness [0,1] 0.24345589677644341 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.99976166 0.00210507 -0.02173011 -0.1182513 ] [-0.00203663 0.9999929 0.00317112 -0.12764714] [ 0.02173663 -0.00312611 0.99975884 0.66140101] [ 0. 0. 0. 1. ]] SLAMing on 63.062557844000004 meters Centerline goodness [0,1] 0.2435045185957595 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.99975852 0.00217238 -0.02186719 -0.11739783] [-0.00210074 0.99999235 0.00329835 -0.1281498 ] [ 0.02187419 -0.00325161 0.99975544 0.66055427] [ 0. 0. 0. 1. ]] SLAMing on 63.092557844000005 meters Centerline goodness [0,1] 0.24360617978748833 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.99975413 0.0022283 -0.02206172 -0.11640444] [-0.0021541 0.99999195 0.0033865 -0.1284607 ] [ 0.02206909 -0.00333815 0.99975087 0.6597599 ] [ 0. 0. 0. 1. ]] SLAMing on 63.122557844000006 meters Centerline goodness [0,1] 0.24454652327252147 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.99974819 0.00223917 -0.02232818 -0.11525458] [-0.00216427 0.99999195 0.0033778 -0.1284953 ] [ 0.02233557 -0.00332863 0.99974499 0.65898105] [ 0. 0. 0. 1. ]] SLAMing on 63.15255784400001 meters Centerline goodness [0,1] 0.2420908735841687 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.13, Z:0.66 [[ 0.99973145 0.00218605 -0.02307073 -0.11277048] [-0.00211055 0.99999234 0.00329645 -0.12878878] [ 0.02307776 -0.00324687 0.9997284 0.65797278] [ 0. 0. 0. 1. ]] SLAMing on 63.18255784400001 meters Centerline goodness [0,1] 0.2443205605623251 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:0.66 [[ 9.99657329e-01 1.01482958e-03 -2.61571000e-02 -1.56732442e-01] [-9.14058466e-04 9.99992116e-01 3.86420270e-03 -1.32187547e-01] [ 2.61608152e-02 -3.83896944e-03 9.99650376e-01 6.57998026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21255784400001 meters Centerline goodness [0,1] 0.23929514655582973 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.13, Z:0.66 [[ 0.99970175 0.00259524 -0.02428328 -0.11200793] [-0.00250881 0.99999041 0.00358908 -0.12962954] [ 0.02429236 -0.00352709 0.99969868 0.65768152] [ 0. 0. 0. 1. ]] SLAMing on 63.242557844000004 meters Centerline goodness [0,1] 0.24355848434925864 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:0.66 [[ 0.99963846 0.00155096 -0.02684304 -0.15802518] [-0.00142777 0.99998837 0.00460765 -0.13386527] [ 0.02684987 -0.00456766 0.99962904 0.65857727] [ 0. 0. 0. 1. ]] SLAMing on 63.272557844000005 meters Centerline goodness [0,1] 0.24521731464339236 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:0.66 [[ 0.99964376 0.00166713 -0.02663786 -0.15887561] [-0.00153711 0.99998681 0.00490074 -0.13516564] [ 0.02664568 -0.00485805 0.99963314 0.65916523] [ 0. 0. 0. 1. ]] SLAMing on 63.302557844000006 meters Centerline goodness [0,1] 0.23899044902545485 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.66 [[ 0.99971411 0.00190983 -0.02383382 -0.11766068] [-0.00182626 0.99999211 0.00352763 -0.13310071] [ 0.02384037 -0.00348309 0.99970971 0.6605252 ] [ 0. 0. 0. 1. ]] SLAMing on 63.33255784400001 meters Centerline goodness [0,1] 0.24133526724828436 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.66 [[ 0.99971695 0.00210721 -0.02369757 -0.11848466] [-0.00200867 0.99998924 0.00418137 -0.1363903 ] [ 0.02370613 -0.00413259 0.99971043 0.66133868] [ 0. 0. 0. 1. ]] SLAMing on 63.36255784400001 meters Centerline goodness [0,1] 0.2477413952668459 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:0.66 [[ 9.99670796e-01 2.78655863e-04 -2.56558462e-02 -1.64525932e-01] [-1.60510022e-04 9.99989375e-01 4.60697028e-03 -1.41364830e-01] [ 2.56568574e-02 -4.60133563e-03 9.99660219e-01 6.61775822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39255784400001 meters Centerline goodness [0,1] 0.24177588750976475 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.66 [[ 0.99971529 0.00693327 -0.02283143 -0.1426587 ] [-0.00689508 0.9999747 0.00175087 -0.14256841] [ 0.022843 -0.00159294 0.9997378 0.66067657] [ 0. 0. 0. 1. ]] SLAMing on 63.422557844 meters Centerline goodness [0,1] 0.23642434033387183 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.66 [[ 9.99786002e-01 -8.39723193e-04 -2.06699259e-02 -1.23494229e-01] [ 8.95902760e-04 9.99995930e-01 2.70882745e-03 -1.41281076e-01] [ 2.06675671e-02 -2.72676601e-03 9.99782685e-01 6.62167146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452557844000005 meters Centerline goodness [0,1] 0.24399991264658993 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:0.66 [[ 0.99981656 0.00476503 -0.0185512 -0.13950249] [-0.00474308 0.999988 0.00122676 -0.14536312] [ 0.01855682 -0.00113854 0.99982716 0.65812113] [ 0. 0. 0. 1. ]] SLAMing on 63.482557844000006 meters Centerline goodness [0,1] 0.23987902354720247 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.66 [[ 0.99980025 -0.0019204 -0.01989379 -0.12002059] [ 0.00195928 0.99999621 0.0019348 -0.13938998] [ 0.01989 -0.00197339 0.99980023 0.65964159] [ 0. 0. 0. 1. ]] SLAMing on 63.51255784400001 meters Centerline goodness [0,1] 0.24269082062643899 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.66 [[ 0.99979541 -0.00196414 -0.02013179 -0.11890927] [ 0.00200005 0.99999644 0.00176351 -0.1384927 ] [ 0.02012825 -0.00180341 0.99979578 0.65875914] [ 0. 0. 0. 1. ]] SLAMing on 63.54255784400001 meters Centerline goodness [0,1] 0.24152102439868495 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.66 [[ 0.99979062 -0.00200983 -0.02036364 -0.11786143] [ 0.00204282 0.99999663 0.00159933 -0.13761075] [ 0.02036035 -0.00164059 0.99979136 0.65796501] [ 0. 0. 0. 1. ]] SLAMing on 63.57255784400001 meters Centerline goodness [0,1] 0.24047294814430542 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.66 [[ 0.99978903 -0.00201795 -0.02044083 -0.11743115] [ 0.00205007 0.9999967 0.00155047 -0.13729509] [ 0.02043764 -0.00159205 0.99978986 0.65755396] [ 0. 0. 0. 1. ]] SLAMing on 63.60255784400001 meters Centerline goodness [0,1] 0.24490466078504347 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.66 [[ 0.99979131 -0.00199901 -0.02033091 -0.11779426] [ 0.00203073 0.99999675 0.0015397 -0.13721121] [ 0.02032776 -0.00158067 0.99979212 0.65771951] [ 0. 0. 0. 1. ]] SLAMing on 63.632557844000004 meters Centerline goodness [0,1] 0.24490466078504347 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.66 [[ 0.99979131 -0.00199901 -0.02033091 -0.11779426] [ 0.00203073 0.99999675 0.0015397 -0.13721121] [ 0.02032776 -0.00158067 0.99979212 0.65771951] [ 0. 0. 0. 1. ]] SLAMing on 63.662557844000006 meters Centerline goodness [0,1] 0.24131933120257432 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.66 [[ 9.99795449e-01 6.68125185e-03 -1.90898333e-02 -9.91719547e-02] [-6.68553813e-03 9.99977639e-01 -1.60721609e-04 -1.40402354e-01] [ 1.90883326e-02 2.88314542e-04 9.99817760e-01 6.59368921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69255784400001 meters Centerline goodness [0,1] 0.24205650159848635 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.66 [[ 9.99798234e-01 6.70823408e-03 -1.89338569e-02 -9.97132833e-02] [-6.71111264e-03 9.99977476e-01 -8.84962682e-05 -1.40791433e-01] [ 1.89328368e-02 2.15545659e-04 9.99820735e-01 6.59634577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72255784400001 meters Centerline goodness [0,1] 0.24355075159179917 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.66 [[ 9.99800814e-01 6.75783951e-03 -1.87793444e-02 -1.00266967e-01] [-6.75886421e-03 9.99977159e-01 8.90365547e-06 -1.41178157e-01] [ 1.87789756e-02 1.18025157e-04 9.99823653e-01 6.59891655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75255784400001 meters Centerline goodness [0,1] 0.23804564783476523 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 9.99841208e-01 -4.45531740e-04 -1.78145982e-02 -8.12440925e-02] [ 4.67361090e-04 9.99999145e-01 1.22121856e-03 -1.36587450e-01] [ 1.78140388e-02 -1.22935049e-03 9.99840562e-01 6.61003161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78255784400001 meters Centerline goodness [0,1] 0.24262352198244885 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 9.99838502e-01 -4.54236390e-04 -1.79656139e-02 -8.05984320e-02] [ 4.75664195e-04 9.99999181e-01 1.18845691e-03 -1.36502807e-01] [ 1.79650593e-02 -1.19681058e-03 9.99837899e-01 6.60558469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812557844000004 meters Centerline goodness [0,1] 0.244809101848813 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 9.99833697e-01 -4.72109934e-04 -1.82306284e-02 -7.94868342e-02] [ 4.93442574e-04 9.99999199e-01 1.16567333e-03 -1.36578370e-01] [ 1.82300634e-02 -1.17447524e-03 9.99833129e-01 6.59804182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842557844000005 meters Centerline goodness [0,1] 0.24359619380947173 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 9.99829722e-01 -4.98910041e-04 -1.84466492e-02 -7.85302331e-02] [ 5.19756864e-04 9.99999232e-01 1.12533734e-03 -1.36583808e-01] [ 1.84460736e-02 -1.13473349e-03 9.99829213e-01 6.59084128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872557844000006 meters Centerline goodness [0,1] 0.24122014413551351 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 9.99828464e-01 -4.55031807e-04 -1.85158141e-02 -7.82248928e-02] [ 4.77648518e-04 9.99999145e-01 1.21707671e-03 -1.37043528e-01] [ 1.85152444e-02 -1.22571199e-03 9.99827827e-01 6.58845756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90255784400001 meters Centerline goodness [0,1] 0.24018705752451885 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 9.99830459e-01 -3.97121742e-04 -1.84091039e-02 -7.85775972e-02] [ 4.21477447e-04 9.99999041e-01 1.31916406e-03 -1.37436498e-01] [ 1.84085624e-02 -1.32669943e-03 9.99829668e-01 6.58976793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93255784400001 meters Centerline goodness [0,1] 0.24212300643990148 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 9.99846973e-01 2.59203052e-05 -1.74936869e-02 -8.17832387e-02] [ 7.09449476e-06 9.99998219e-01 1.88717612e-03 -1.38935028e-01] [ 1.74937047e-02 -1.88701144e-03 9.99845193e-01 6.60388864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96255784400001 meters Centerline goodness [0,1] 0.244805761676124 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 9.99850868e-01 1.62328270e-04 -1.72688973e-02 -8.26444731e-02] [-1.25314234e-04 9.99997693e-01 2.14445359e-03 -1.40007743e-01] [ 1.72692056e-02 -2.14196975e-03 9.99848582e-01 6.60909326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992557844000004 meters Centerline goodness [0,1] 0.24131390637123895 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.66 [[ 9.99847947e-01 7.98185918e-03 -1.55039810e-02 -6.16287020e-02] [-7.98619296e-03 9.99968086e-01 -2.17633208e-04 -1.41800332e-01] [ 1.55017491e-02 3.41417900e-04 9.99879782e-01 6.60558221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.022557844 meters Centerline goodness [0,1] 0.24343265066272013 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 0.9998475 -0.0010115 -0.01743439 -0.08000422] [ 0.00103583 0.9999985 0.00138662 -0.14129645] [ 0.01743296 -0.00140447 0.99984705 0.6591665 ] [ 0. 0. 0. 1. ]] SLAMing on 64.052557844 meters Centerline goodness [0,1] 0.24253658536585365 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 9.99845380e-01 -9.34876819e-04 -1.75596730e-02 -7.95028206e-02] [ 9.62253420e-04 9.99998335e-01 1.55067660e-03 -1.42081765e-01] [ 1.75581941e-02 -1.56733369e-03 9.99844615e-01 6.58903100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082557844 meters Centerline goodness [0,1] 0.23583333333333334 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 9.99835703e-01 7.94264812e-03 -1.62935711e-02 -5.96505502e-02] [-7.93984655e-03 9.99968451e-01 2.36625929e-04 -1.45319790e-01] [ 1.62949365e-02 -1.07218598e-04 9.99867223e-01 6.59531177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112557844 meters Centerline goodness [0,1] 0.24342062512184026 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.66 [[ 0.99985954 -0.00134522 -0.01670605 -0.08062158] [ 0.00136738 0.9999982 0.00131526 -0.14270474] [ 0.01670425 -0.00133792 0.99985958 0.65863136] [ 0. 0. 0. 1. ]] SLAMing on 64.142557844 meters Centerline goodness [0,1] 0.24013928594458656 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 9.99853860e-01 7.48689030e-03 -1.53689555e-02 -6.18569244e-02] [-7.49151606e-03 9.99971909e-01 -2.43430671e-04 -1.46072448e-01] [ 1.53667013e-02 3.58531873e-04 9.99881861e-01 6.60058406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.172557844 meters Centerline goodness [0,1] 0.2438580527752502 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.66 [[ 0.99988044 -0.00148008 -0.01539223 -0.08217684] [ 0.00150233 0.99999784 0.00143403 -0.14553596] [ 0.01539007 -0.00145699 0.9998805 0.65894655] [ 0. 0. 0. 1. ]] SLAMing on 64.202557844 meters Centerline goodness [0,1] 0.24473342002600784 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.66 [[ 0.9998781 -0.00140783 -0.01555011 -0.08189746] [ 0.0014342 0.99999755 0.00168478 -0.1469401 ] [ 0.0155477 -0.00170687 0.99987767 0.65918569] [ 0. 0. 0. 1. ]] SLAMing on 64.232557844 meters Centerline goodness [0,1] 0.2427098419835283 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.66 [[ 0.99987519 -0.00133918 -0.015742 -0.08160637] [ 0.00137079 0.99999707 0.0019972 -0.14877984] [ 0.01573928 -0.00201853 0.99987409 0.6595266 ] [ 0. 0. 0. 1. ]] SLAMing on 64.262557844 meters Centerline goodness [0,1] 0.23767650834403076 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 9.99883089e-01 5.76274680e-03 -1.41633314e-02 -6.07617534e-02] [-5.77685825e-03 9.99982857e-01 -9.55626588e-04 -1.50891007e-01] [ 1.41575815e-02 1.03733442e-03 9.99899238e-01 6.59538259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.292557844 meters Centerline goodness [0,1] 0.24112349914236708 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 9.99884488e-01 5.90425073e-03 -1.40053593e-02 -6.13282155e-02] [-5.91313595e-03 9.99982341e-01 -5.93090810e-04 -1.52503723e-01] [ 1.40016102e-02 6.75837895e-04 9.99901744e-01 6.59797830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.322557844 meters Centerline goodness [0,1] 0.23739203120646424 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.66 [[ 9.99884225e-01 6.08439936e-03 -1.39469433e-02 -6.11878809e-02] [-6.08288343e-03 9.99981488e-01 1.51110926e-04 -1.56124218e-01] [ 1.39476046e-02 -6.62558010e-05 9.99902725e-01 6.59401754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.352557844 meters Centerline goodness [0,1] 0.2415825821303328 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.66 [[ 9.99877533e-01 6.07418175e-03 -1.44230320e-02 -5.99088068e-02] [-6.06726027e-03 9.99981457e-01 5.23598992e-04 -1.58656811e-01] [ 1.44259450e-02 -4.36026579e-04 9.99895846e-01 6.59341918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382557844 meters Centerline goodness [0,1] 0.24078353454419799 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.66 [[ 9.99867694e-01 5.96885285e-03 -1.51316680e-02 -5.79158497e-02] [-5.95661945e-03 9.99981895e-01 8.53404316e-04 -1.61494496e-01] [ 1.51364879e-02 -7.63157818e-04 9.99885146e-01 6.59118833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.412557844 meters Centerline goodness [0,1] 0.24037902444276948 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.66 [[ 0.99986132 0.00606296 -0.01551075 -0.0569058 ] [-0.00604294 0.99998085 0.00133743 -0.16424938] [ 0.01551856 -0.00124352 0.99987881 0.65908094] [ 0. 0. 0. 1. ]] SLAMing on 64.442557844 meters Centerline goodness [0,1] 0.24072246771633277 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.17, Z:0.66 [[ 0.99986005 0.00631547 -0.01549207 -0.05677398] [-0.00628611 0.99997835 0.00194329 -0.16682788] [ 0.015504 -0.00184563 0.9998781 0.6588092 ] [ 0. 0. 0. 1. ]] SLAMing on 64.472557844 meters Centerline goodness [0,1] 0.236929779600205 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.17, Z:0.66 [[ 0.9998574 0.00630338 -0.01566668 -0.05584671] [-0.00627369 0.99997843 0.00194339 -0.16696403] [ 0.01567859 -0.00184483 0.99987538 0.65806054] [ 0. 0. 0. 1. ]] SLAMing on 64.502557844 meters Centerline goodness [0,1] 0.23913416570129142 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.66 [[ 0.99985275 0.00621314 -0.01599591 -0.05442021] [-0.00618517 0.99997926 0.00179744 -0.16665532] [ 0.01600674 -0.00169824 0.99987044 0.65715255] [ 0. 0. 0. 1. ]] SLAMing on 64.532557844 meters Centerline goodness [0,1] 0.2345969536197159 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.66 [[ 0.99984981 0.00611641 -0.01621563 -0.05349299] [-0.00609174 0.99998021 0.00157029 -0.16576405] [ 0.01622491 -0.00147127 0.99986729 0.65651973] [ 0. 0. 0. 1. ]] SLAMing on 64.562557844 meters Centerline goodness [0,1] 0.2385680746117561 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.66 [[ 0.99984902 0.00610999 -0.0162664 -0.05327195] [-0.00608616 0.99998033 0.00151403 -0.16537648] [ 0.01627534 -0.0014148 0.99986655 0.65636661] [ 0. 0. 0. 1. ]] SLAMing on 64.592557844 meters Centerline goodness [0,1] 0.2380084091299125 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.66 [[ 0.99984718 0.00624339 -0.0163293 -0.05335089] [-0.00621428 0.99997901 0.00183282 -0.16667034] [ 0.0163404 -0.00173107 0.99986499 0.65676162] [ 0. 0. 0. 1. ]] SLAMing on 64.622557844 meters Centerline goodness [0,1] 0.24123470667070168 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.66 [[ 0.99984402 0.00626229 -0.01651422 -0.05294483] [-0.00622989 0.99997857 0.00201223 -0.16785917] [ 0.01652646 -0.00190903 0.99986161 0.6568478 ] [ 0. 0. 0. 1. ]] SLAMing on 64.652557844 meters Centerline goodness [0,1] 0.24054387598241933 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.66 [[ 0.99984198 0.00625411 -0.01664055 -0.052677 ] [-0.00621896 0.99997832 0.0021628 -0.16894513] [ 0.01665372 -0.00205897 0.9998592 0.65693387] [ 0. 0. 0. 1. ]] SLAMing on 64.682557844 meters Centerline goodness [0,1] 0.23564373369820846 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.66 [[ 0.99987205 -0.0011497 -0.01595513 -0.03277311] [ 0.00119745 0.99999483 0.00298381 -0.16326373] [ 0.01595162 -0.00300254 0.99986826 0.65783295] [ 0. 0. 0. 1. ]] SLAMing on 64.712557844 meters Centerline goodness [0,1] 0.2452784768574242 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.17, Z:0.66 [[ 0.99982261 -0.00242519 -0.0186778 -0.07892748] [ 0.00250085 0.99998876 0.00402807 -0.16639062] [ 0.01866782 -0.00407407 0.99981744 0.65958583] [ 0. 0. 0. 1. ]] SLAMing on 64.742557844 meters Centerline goodness [0,1] 0.24478892976002797 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.17, Z:0.66 [[ 0.99982255 -0.0024382 -0.01867943 -0.07897235] [ 0.00251349 0.99998881 0.0040079 -0.16631468] [ 0.01866945 -0.00405414 0.99981749 0.65964618] [ 0. 0. 0. 1. ]] SLAMing on 64.772557844 meters Centerline goodness [0,1] 0.23910055409990982 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.66 [[ 0.99986146 -0.00164288 -0.01656408 -0.03455716] [ 0.00168383 0.99999556 0.00245894 -0.16267547] [ 0.01655996 -0.00248649 0.99985978 0.65905886] [ 0. 0. 0. 1. ]] SLAMing on 64.802557844 meters Centerline goodness [0,1] 0.24087448760491903 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.66 [[ 0.99985985 -0.00164598 -0.01666061 -0.03421532] [ 0.00168819 0.9999954 0.00251982 -0.16323077] [ 0.01665638 -0.00254759 0.99985803 0.65891998] [ 0. 0. 0. 1. ]] SLAMing on 64.832557844 meters Centerline goodness [0,1] 0.2410631056385354 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.66 [[ 0.99985783 -0.00163761 -0.01678181 -0.033608 ] [ 0.00168205 0.99999512 0.00263421 -0.16394792] [ 0.01677742 -0.00266207 0.99985571 0.65841258] [ 0. 0. 0. 1. ]] SLAMing on 64.862557844 meters Centerline goodness [0,1] 0.23609209174940093 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.66 [[ 0.99981526 0.00707639 -0.01787067 -0.01077908] [-0.0070407 0.99997309 0.00205927 -0.16843404] [ 0.01788476 -0.00193307 0.99983819 0.65790286] [ 0. 0. 0. 1. ]] SLAMing on 64.892557844 meters Centerline goodness [0,1] 0.23951849040234252 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.66 [[ 0.99982109 -0.0021867 -0.0187887 -0.0305276 ] [ 0.0022496 0.99999193 0.00332721 -0.16452011] [ 0.01878127 -0.00336889 0.99981794 0.65676255] [ 0. 0. 0. 1. ]] SLAMing on 64.922557844 meters Centerline goodness [0,1] 0.2402836757129616 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.66 [[ 0.99982725 0.00672821 -0.01732632 -0.01206064] [-0.00670074 0.9999762 0.00164314 -0.16742169] [ 0.01733696 -0.00152676 0.99984854 0.65874531] [ 0. 0. 0. 1. ]] SLAMing on 64.952557844 meters Centerline goodness [0,1] 0.24459030740619192 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.66 [[ 0.99986039 -0.0018706 -0.0166041 -0.03717673] [ 0.001922 0.99999341 0.00308049 -0.16449095] [ 0.01659823 -0.00311198 0.9998574 0.66017682] [ 0. 0. 0. 1. ]] SLAMing on 64.982557844 meters Centerline goodness [0,1] 0.24207386916211016 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.66 [[ 0.99987963 0.00690163 -0.01389571 -0.01835414] [-0.00688127 0.99997518 0.00151266 -0.16532185] [ 0.01390581 -0.00141686 0.99990231 0.66133987] [ 0. 0. 0. 1. ]] SLAMing on 65.012557844 meters Centerline goodness [0,1] 0.24743031358885015 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:0.66 [[ 0.99988614 0.00694168 -0.01339866 -0.01973713] [-0.00692414 0.99997511 0.00135505 -0.1641304 ] [ 0.01340773 -0.00126212 0.99990932 0.66157353] [ 0. 0. 0. 1. ]] SLAMing on 65.042557844 meters Centerline goodness [0,1] 0.24074946466809422 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:0.66 [[ 0.999851 0.01088053 -0.01340114 -0.01919483] [-0.01081285 0.99992847 0.00511233 -0.16349989] [ 0.01345581 -0.00496666 0.99989713 0.66098876] [ 0. 0. 0. 1. ]] SLAMing on 65.072557844 meters Centerline goodness [0,1] 0.23741637634385615 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:0.66 [[ 0.99985012 0.01078251 -0.0135455 -0.01861574] [-0.01071895 0.99993124 0.00475635 -0.16174986] [ 0.01359586 -0.00461044 0.99989694 0.66064079] [ 0. 0. 0. 1. ]] SLAMing on 65.102557844 meters Centerline goodness [0,1] 0.24183429273656298 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.66 [[ 0.9998875 0.00154393 -0.01491983 -0.03685857] [-0.00145706 0.99998194 0.00583144 -0.15628195] [ 0.01492857 -0.00580905 0.99987169 0.65912895] [ 0. 0. 0. 1. ]] SLAMing on 65.132557844 meters Centerline goodness [0,1] 0.24086460909775242 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 0.99988536 0.00135747 -0.01508057 -0.03661362] [-0.0012791 0.99998564 0.00520462 -0.15323254] [ 0.01508741 -0.00518473 0.99987274 0.65928575] [ 0. 0. 0. 1. ]] SLAMing on 65.162557844 meters Centerline goodness [0,1] 0.24035046175704478 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 0.99988804 0.00130263 -0.01490665 -0.03737071] [-0.00122804 0.99998669 0.00501194 -0.15213943] [ 0.01491299 -0.00499307 0.99987633 0.65972806] [ 0. 0. 0. 1. ]] SLAMing on 65.192557844 meters Centerline goodness [0,1] 0.24419812954624176 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 0.99989064 0.00129635 -0.01473207 -0.03811049] [-0.00122354 0.999987 0.00494987 -0.15151983] [ 0.0147383 -0.0049313 0.99987923 0.66016253] [ 0. 0. 0. 1. ]] SLAMing on 65.222557844 meters Centerline goodness [0,1] 0.24400512141663588 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 0.99989164 0.0013173 -0.01466226 -0.03834259] [-0.00124387 0.99998665 0.00501617 -0.15163347] [ 0.01466867 -0.00499739 0.99987992 0.66020615] [ 0. 0. 0. 1. ]] SLAMing on 65.252557844 meters Centerline goodness [0,1] 0.24275440334180265 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 0.99988929 0.00130581 -0.01482233 -0.03791123] [-0.00122873 0.99998568 0.00520792 -0.15268744] [ 0.01482892 -0.00518913 0.99987658 0.66020626] [ 0. 0. 0. 1. ]] SLAMing on 65.282557844 meters Centerline goodness [0,1] 0.24427547251792314 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 0.99988454 0.00123681 -0.0151451 -0.03716754] [-0.00115467 0.99998458 0.00543136 -0.15436348] [ 0.01515159 -0.00541324 0.99987055 0.66039273] [ 0. 0. 0. 1. ]] SLAMing on 65.312557844 meters Centerline goodness [0,1] 0.2443458594293667 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.66 [[ 0.99988474 -0.00275242 -0.01493098 -0.03816308] [ 0.00278097 0.99999434 0.00189192 -0.15680325] [ 0.01492569 -0.00193323 0.99988674 0.66106614] [ 0. 0. 0. 1. ]] SLAMing on 65.342557844 meters Centerline goodness [0,1] 0.2394810885113512 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:0.66 [[ 0.99992668 0.00320038 -0.01167897 -0.01563394] [-0.0032151 0.99999406 -0.00124187 -0.15693609] [ 0.01167493 0.00127933 0.99993103 0.65897571] [ 0. 0. 0. 1. ]] SLAMing on 65.372557844 meters Centerline goodness [0,1] 0.24486152238286008 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.66 [[ 9.99901058e-01 -6.02940468e-03 -1.27091039e-02 -3.64417980e-02] [ 6.03514665e-03 9.99981703e-01 4.13495203e-04 -1.56255727e-01] [ 1.27063783e-02 -4.90155597e-04 9.99919151e-01 6.58459891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402557844 meters Centerline goodness [0,1] 0.24514320483289143 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.66 [[ 9.99894464e-01 -6.02154165e-03 -1.32212435e-02 -3.51122217e-02] [ 6.03211485e-03 9.99981518e-01 7.59980176e-04 -1.58377967e-01] [ 1.32164229e-02 -8.39652031e-04 9.99912307e-01 6.58407140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.432557844 meters Centerline goodness [0,1] 0.2409719367332367 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.66 [[ 9.99859838e-01 -8.28022948e-03 -1.45513450e-02 -2.91922162e-02] [ 8.26842080e-03 9.99965436e-01 -8.71493647e-04 -1.64424072e-01] [ 1.45580583e-02 7.51054853e-04 9.99893744e-01 6.55453872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462557844 meters Centerline goodness [0,1] 0.23843762145355618 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.66 [[ 9.99853071e-01 -8.15387145e-03 -1.50781720e-02 -2.76870111e-02] [ 8.14917038e-03 9.99966725e-01 -3.73195186e-04 -1.67113201e-01] [ 1.50807133e-02 2.50265760e-04 9.99886248e-01 6.55183156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.492557844 meters Centerline goodness [0,1] 0.24405646359583955 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.65 [[ 9.99890321e-01 -6.60906233e-04 -1.47955573e-02 -4.72161495e-02] [ 6.51195312e-04 9.99999569e-01 -6.61148348e-04 -1.74895130e-01] [ 1.47959879e-02 6.51441037e-04 9.99890321e-01 6.53709877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522557844 meters Centerline goodness [0,1] 0.2416427476962255 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.66 [[ 9.99872292e-01 -7.73244056e-03 -1.39860527e-02 -2.81837906e-02] [ 7.74195020e-03 9.99969835e-01 6.25922071e-04 -1.71295307e-01] [ 1.39807909e-02 -7.34121459e-04 9.99901994e-01 6.55245258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.552557844 meters Centerline goodness [0,1] 0.2416427476962255 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.66 [[ 9.99872292e-01 -7.73244056e-03 -1.39860527e-02 -2.81837906e-02] [ 7.74195020e-03 9.99969835e-01 6.25922071e-04 -1.71295307e-01] [ 1.39807909e-02 -7.34121459e-04 9.99901994e-01 6.55245258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582557844 meters Centerline goodness [0,1] 0.24178981937602628 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.66 [[ 9.99875767e-01 -7.60104490e-03 -1.38085082e-02 -2.89144832e-02] [ 7.61326485e-03 9.99970672e-01 8.32606642e-04 -1.72027804e-01] [ 1.38017745e-02 -9.37631034e-04 9.99904311e-01 6.55742680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.612557844 meters Centerline goodness [0,1] 0.24070521800978506 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.66 [[ 9.99880189e-01 -7.48493770e-03 -1.35492968e-02 -2.97022913e-02] [ 7.49832266e-03 9.99971448e-01 9.37339339e-04 -1.72107593e-01] [ 1.35418940e-02 -1.03882403e-03 9.99907765e-01 6.55980171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642557844 meters Centerline goodness [0,1] 0.24017119752236749 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.66 [[ 0.99989697 -0.00331409 -0.01396652 -0.02877065] [ 0.00338738 0.9999806 0.00522752 -0.17425159] [ 0.01394892 -0.00527429 0.9998888 0.65618587] [ 0. 0. 0. 1. ]] SLAMing on 65.672557844 meters Centerline goodness [0,1] 0.2464262295081967 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.65 [[ 0.99987673 0.00446354 -0.01505301 -0.04912735] [-0.0043978 0.99998066 0.00439696 -0.1795177 ] [ 0.01507234 -0.00433022 0.99987703 0.65495898] [ 0. 0. 0. 1. ]] SLAMing on 65.702557844 meters Centerline goodness [0,1] 0.2451790033338418 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.65 [[ 0.99987576 0.00446129 -0.01511829 -0.04877035] [-0.00439684 0.99998112 0.00429342 -0.17919754] [ 0.01513716 -0.00422641 0.99987649 0.65463936] [ 0. 0. 0. 1. ]] SLAMing on 65.732557844 meters Centerline goodness [0,1] 0.24556542229398037 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.65 [[ 0.99988139 0.00459367 -0.01470043 -0.04964966] [-0.00453369 0.99998127 0.00411121 -0.17786546] [ 0.01471904 -0.00404408 0.99988349 0.65434221] [ 0. 0. 0. 1. ]] SLAMing on 65.762557844 meters Centerline goodness [0,1] 0.2365699174681709 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.65 [[ 0.99990668 0.00671249 -0.01189828 -0.00592986] [-0.0066686 0.99997083 0.00372485 -0.1730822 ] [ 0.01192293 -0.00364515 0.99992228 0.65349169] [ 0. 0. 0. 1. ]] SLAMing on 65.792557844 meters Centerline goodness [0,1] 0.2429820029277534 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.65 [[ 0.99992863 -0.00213636 -0.01175465 -0.02602779] [ 0.00219787 0.99998395 0.00522235 -0.16818463] [ 0.0117433 -0.00524781 0.99991727 0.6521479 ] [ 0. 0. 0. 1. ]] SLAMing on 65.822557844 meters Centerline goodness [0,1] 0.24652316799791063 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.65 [[ 0.99992988 -0.00213819 -0.01164709 -0.02659454] [ 0.00219865 0.99998416 0.00518074 -0.16789962] [ 0.01163583 -0.00520599 0.99991875 0.65262029] [ 0. 0. 0. 1. ]] SLAMing on 65.852557844 meters Centerline goodness [0,1] 0.24552468466906507 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.65 [[ 0.99993002 -0.00215139 -0.01163312 -0.0268512 ] [ 0.00221207 0.999984 0.00520611 -0.168143 ] [ 0.01162173 -0.00523148 0.99991878 0.65300215] [ 0. 0. 0. 1. ]] SLAMing on 65.882557844 meters Centerline goodness [0,1] 0.24452467948024992 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.65 [[ 0.99993017 -0.00215349 -0.01161957 -0.02688693] [ 0.00221457 0.99998378 0.00524651 -0.16833386] [ 0.01160808 -0.00527188 0.99991873 0.65299697] [ 0. 0. 0. 1. ]] SLAMing on 65.912557844 meters Centerline goodness [0,1] 0.24572876291115398 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.65 [[ 0.9999304 -0.00215955 -0.01159865 -0.02680922] [ 0.00222149 0.99998333 0.00533013 -0.16879566] [ 0.01158694 -0.00535552 0.99991853 0.65275987] [ 0. 0. 0. 1. ]] SLAMing on 65.942557844 meters Centerline goodness [0,1] 0.24439021229725932 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.65 [[ 0.99993256 -0.00214336 -0.01141396 -0.02749492] [ 0.00220571 0.9999827 0.0054529 -0.1694599 ] [ 0.01140207 -0.0054777 0.99991999 0.65315118] [ 0. 0. 0. 1. ]] SLAMing on 65.972557844 meters Centerline goodness [0,1] 0.24424131627056678 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.65 [[ 0.99993369 -0.00212524 -0.01131775 -0.02791314] [ 0.00218888 0.99998185 0.005614 -0.17041707] [ 0.01130561 -0.0056384 0.99992019 0.65345142] [ 0. 0. 0. 1. ]] SLAMing on 66.002557844 meters Centerline goodness [0,1] 0.2488859764089122 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.65 [[ 0.99992785 0.00316139 -0.01158839 -0.05094853] [-0.00312923 0.99999121 0.00279223 -0.17409533] [ 0.01159711 -0.00275576 0.99992895 0.65354414] [ 0. 0. 0. 1. ]] SLAMing on 66.032557844 meters Centerline goodness [0,1] 0.2446503609524836 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.65 [[ 0.99992 -0.00408733 -0.01197058 -0.03052947] [ 0.00412686 0.99998611 0.00327935 -0.1685388 ] [ 0.01195701 -0.00332849 0.99992297 0.65411375] [ 0. 0. 0. 1. ]] SLAMing on 66.062557844 meters Centerline goodness [0,1] 0.23647607635025247 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.65 [[ 0.99992982 0.00442399 -0.01098973 -0.0103835 ] [-0.00441163 0.99998961 0.00114827 -0.17015613] [ 0.0109947 -0.00109971 0.99993895 0.65466459] [ 0. 0. 0. 1. ]] SLAMing on 66.092557844 meters Centerline goodness [0,1] 0.24578229969973864 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.65 [[ 9.99929094e-01 4.32134124e-03 -1.10965530e-02 -9.99570096e-03] [-4.31158322e-03 9.99990297e-01 9.03146435e-04 -1.69196894e-01] [ 1.11003481e-02 -8.55238684e-04 9.99938023e-01 6.54479733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.122557844 meters Centerline goodness [0,1] 0.24575921461306227 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.65 [[ 9.99929599e-01 4.24037116e-03 -1.10822509e-02 -9.89091683e-03] [-4.23365344e-03 9.99990840e-01 6.29558806e-04 -1.67803796e-01] [ 1.10848189e-02 -5.82596075e-04 9.99938392e-01 6.54217803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.152557844 meters Centerline goodness [0,1] 0.24482178303270907 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.65 [[ 9.99930270e-01 4.21429366e-03 -1.10315460e-02 -9.74137472e-03] [-4.20987811e-03 9.99991049e-01 4.23456209e-04 -1.66500046e-01] [ 1.10332318e-02 -3.76985217e-04 9.99939061e-01 6.53748203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182557844 meters Centerline goodness [0,1] 0.24829286384361982 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.65 [[ 0.99991644 -0.0043779 -0.01216364 -0.02823558] [ 0.0044074 0.99998741 0.00239931 -0.16215291] [ 0.01215298 -0.00245272 0.99992314 0.65181387] [ 0. 0. 0. 1. ]] SLAMing on 66.212557844 meters Centerline goodness [0,1] 0.2404699626945671 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:0.65 [[ 9.99913346e-01 4.06995539e-03 -1.25194072e-02 -2.84069580e-03] [-4.06601436e-03 9.99991676e-01 3.40231185e-04 -1.60570536e-01] [ 1.25206877e-02 -2.89297613e-04 9.99921571e-01 6.49520000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.242557844 meters Centerline goodness [0,1] 0.24647044747547264 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.65 [[ 9.99857402e-01 2.09762133e-03 -1.67563904e-02 -4.44717449e-02] [-2.09280411e-03 9.99997764e-01 3.05015968e-04 -1.62501285e-01] [ 1.67569927e-02 -2.69904630e-04 9.99859555e-01 6.49489555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.272557844 meters Centerline goodness [0,1] 0.23230733232647682 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.16, Z:0.65 [[ 0.99988091 0.00308872 -0.0151205 0.00328667] [-0.00311104 0.99999411 -0.00145262 -0.15627738] [ 0.01511593 0.00149949 0.99988462 0.646837 ] [ 0. 0. 0. 1. ]] SLAMing on 66.302557844 meters Centerline goodness [0,1] 0.24260265700483097 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.65 [[ 9.99829543e-01 1.69883786e-03 -1.83847558e-02 -4.26143655e-02] [-1.70828435e-03 9.99998417e-01 -4.98129798e-04 -1.59065546e-01] [ 1.83838804e-02 5.29451279e-04 9.99830862e-01 6.48791276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332557844 meters Centerline goodness [0,1] 0.23846037865896996 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.65 [[ 9.99833690e-01 1.67756480e-03 -1.81597864e-02 -4.35338026e-02] [-1.68880204e-03 9.99998392e-01 -6.03480172e-04 -1.58248703e-01] [ 1.81587448e-02 6.34048092e-04 9.99834915e-01 6.49359010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362557844 meters Centerline goodness [0,1] 0.24444396120558431 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.65 [[ 9.99842118e-01 1.70693363e-03 -1.76868905e-02 -4.57671107e-02] [-1.71709740e-03 9.99998369e-01 -5.59479381e-04 -1.58018276e-01] [ 1.76859066e-02 5.89761162e-04 9.99843418e-01 6.51031105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.392557844 meters Centerline goodness [0,1] 0.24475111538798 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.65 [[ 9.99842728e-01 1.75057889e-03 -1.76480881e-02 -4.59698903e-02] [-1.75802570e-03 9.99998372e-01 -4.06456205e-04 -1.58696127e-01] [ 1.76473479e-02 4.37418073e-04 9.99844178e-01 6.51207511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422557844 meters Centerline goodness [0,1] 0.23408729988411525 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:0.65 [[ 0.99988302 0.00271224 -0.01505303 -0.00239293] [-0.00273303 0.99999534 -0.00136104 -0.15602765] [ 0.01504927 0.00140202 0.99988577 0.65046326] [ 0. 0. 0. 1. ]] SLAMing on 66.452557844 meters Centerline goodness [0,1] 0.24423160644318676 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.65 [[ 9.99840923e-01 7.60592967e-04 -1.78199173e-02 -4.76595967e-02] [-7.75005793e-04 9.99999378e-01 -8.01912415e-04 -1.60494909e-01] [ 1.78192963e-02 8.15595388e-04 9.99840891e-01 6.51627999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.482557844 meters Centerline goodness [0,1] 0.24152596984147445 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:0.65 [[ 0.99987951 0.00197366 -0.01539722 -0.00414335] [-0.00200465 0.99999599 -0.00199785 -0.15762647] [ 0.01539322 0.00202848 0.99987946 0.65149319] [ 0. 0. 0. 1. ]] SLAMing on 66.512557844 meters Centerline goodness [0,1] 0.24697278241257747 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.65 [[ 9.99830484e-01 7.34081216e-04 -1.83973787e-02 -4.95207389e-02] [-7.57569368e-04 9.99998907e-01 -1.26977516e-03 -1.59939235e-01] [ 1.83964265e-02 1.28349720e-03 9.99829948e-01 6.52916954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.542557844 meters Centerline goodness [0,1] 0.2403493337338798 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.65 [[ 0.99985771 0.00305135 -0.01659052 -0.00542312] [-0.00308112 0.99999369 -0.00176919 -0.15428208] [ 0.01658501 0.00182005 0.9998608 0.65253281] [ 0. 0. 0. 1. ]] SLAMing on 66.572557844 meters Centerline goodness [0,1] 0.2454993941492124 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.65 [[ 0.99985795 0.00305757 -0.01657523 -0.00510904] [-0.00309302 0.99999298 -0.00211375 -0.15201688] [ 0.01656865 0.00216472 0.99986039 0.65190714] [ 0. 0. 0. 1. ]] SLAMing on 66.602557844 meters Centerline goodness [0,1] 0.24111522244213057 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.15, Z:0.65 [[ 0.99985563 0.00296654 -0.01673056 -0.00425541] [-0.00301029 0.99999211 -0.0025905 -0.149429 ] [ 0.01672275 0.00264049 0.99985668 0.65109541] [ 0. 0. 0. 1. ]] SLAMing on 66.632557844 meters Centerline goodness [0,1] 0.2348235996757817 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.15, Z:0.65 [[ 0.99985366 0.0028127 -0.01687469 -0.00359877] [-0.00286462 0.99999124 -0.00305342 -0.14718874] [ 0.01686595 0.00310131 0.99985295 0.65057327] [ 0. 0. 0. 1. ]] SLAMing on 66.662557844 meters Centerline goodness [0,1] 0.24233168423316842 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.65 [[ 0.99985202 0.00253056 -0.01701563 -0.00327863] [-0.00259403 0.99998976 -0.00370893 -0.14422384] [ 0.01700607 0.00375252 0.99984834 0.65056893] [ 0. 0. 0. 1. ]] SLAMing on 66.692557844 meters Centerline goodness [0,1] 0.24764243188040502 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.65 [[ 0.99985441 0.00250527 -0.01687857 -0.00405688] [-0.00256925 0.99998959 -0.00376996 -0.14376844] [ 0.01686895 0.00381277 0.99985044 0.65123135] [ 0. 0. 0. 1. ]] SLAMing on 66.722557844 meters Centerline goodness [0,1] 0.2447076722451641 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.65 [[ 0.99986044 0.00250767 -0.01651715 -0.00568448] [-0.00256905 0.99998987 -0.003696 -0.14402497] [ 0.01650771 0.00373791 0.99985675 0.65243881] [ 0. 0. 0. 1. ]] SLAMing on 66.752557844 meters Centerline goodness [0,1] 0.240070193460024 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:0.65 [[ 0.99988986 -0.00512082 -0.01393019 0.01382746] [ 0.0050801 0.99998272 -0.00295695 -0.13985352] [ 0.0139451 0.00288585 0.9998986 0.65354022] [ 0. 0. 0. 1. ]] SLAMing on 66.782557844 meters Centerline goodness [0,1] 0.24542045134297297 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.65 [[ 0.99994259 -0.0017778 -0.0105671 -0.00985779] [ 0.00171325 0.99997983 -0.00611533 -0.14552966] [ 0.01057776 0.00609687 0.99992547 0.65350267] [ 0. 0. 0. 1. ]] SLAMing on 66.812557844 meters Centerline goodness [0,1] 0.2461375798377352 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.65 [[ 0.99994298 -0.00167945 -0.01054561 -0.01011393] [ 0.00161778 0.99998155 -0.00585457 -0.14658214] [ 0.01055524 0.00583717 0.99992725 0.65381305] [ 0. 0. 0. 1. ]] SLAMing on 66.842557844 meters Centerline goodness [0,1] 0.24528219939629525 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.65 [[ 0.99994343 -0.00157804 -0.01051867 -0.01026636] [ 0.00151959 0.99998337 -0.00556262 -0.14780516] [ 0.01052727 0.00554632 0.9999292 0.65392081] [ 0. 0. 0. 1. ]] SLAMing on 66.872557844 meters Centerline goodness [0,1] 0.24390085787756333 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.65 [[ 0.99993456 -0.0017262 -0.01130915 -0.00828883] [ 0.00166863 0.99998561 -0.00509801 -0.15120151] [ 0.01131779 0.0050788 0.99992305 0.65401093] [ 0. 0. 0. 1. ]] SLAMing on 66.902557844 meters Centerline goodness [0,1] 0.2483877314561791 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.65 [[ 0.99992035 0.00489492 -0.01163324 -0.02598145] [-0.00496853 0.99996776 -0.00630739 -0.15984995] [ 0.01160199 0.00636469 0.99991244 0.65172932] [ 0. 0. 0. 1. ]] SLAMing on 66.932557844 meters Centerline goodness [0,1] 0.24334971104521552 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.16, Z:0.65 [[ 0.9999209 -0.00237165 -0.01235191 -0.00516807] [ 0.00230396 0.99998227 -0.00549166 -0.15723661] [ 0.01236472 0.00546276 0.99990863 0.65273954] [ 0. 0. 0. 1. ]] SLAMing on 66.962557844 meters Centerline goodness [0,1] 0.23631574438924108 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:0.65 [[ 0.99992004 -0.00226449 -0.0124414 -0.00472897] [ 0.00219904 0.99998369 -0.00527113 -0.15817776] [ 0.01245313 0.00524335 0.99990871 0.65239556] [ 0. 0. 0. 1. ]] SLAMing on 66.992557844 meters Centerline goodness [0,1] 0.24262111694346444 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:0.65 [[ 0.99992138 -0.00216648 -0.01235032 -0.00463978] [ 0.00210266 0.99998438 -0.00517842 -0.1581743 ] [ 0.01236135 0.00515205 0.99991032 0.65190908] [ 0. 0. 0. 1. ]] SLAMing on 67.022557844 meters Centerline goodness [0,1] 0.24717261254967027 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.65 [[ 0.99989256 0.00632413 -0.0132242 -0.02676546] [-0.00639685 0.99996461 -0.00546434 -0.16206009] [ 0.01318917 0.00554835 0.99989763 0.65119946] [ 0. 0. 0. 1. ]] SLAMing on 67.052557844 meters Centerline goodness [0,1] 0.2427027725159291 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.65 [[ 0.99989008 0.00629326 -0.01342449 -0.02595707] [-0.00637057 0.99996332 -0.00572407 -0.16093598] [ 0.01338798 0.00580896 0.9998935 0.65067482] [ 0. 0. 0. 1. ]] SLAMing on 67.082557844 meters Centerline goodness [0,1] 0.23415657036346693 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:0.65 [[ 0.99988374 0.00627156 -0.01389904 -0.02426861] [-0.00635703 0.9999611 -0.00611401 -0.15887044] [ 0.01386016 0.00620166 0.99988471 0.6498795 ] [ 0. 0. 0. 1. ]] SLAMing on 67.112557844 meters Centerline goodness [0,1] 0.24392134904055307 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.65 [[ 0.99981231 0.00647569 -0.01825956 -0.06706118] [-0.00655472 0.99996939 -0.00427159 -0.16070456] [ 0.01823133 0.00439047 0.99982416 0.65070953] [ 0. 0. 0. 1. ]] SLAMing on 67.142557844 meters Centerline goodness [0,1] 0.2404153525991719 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.65 [[ 0.99979976 0.00657926 -0.0188983 -0.06472293] [-0.00667112 0.99996622 -0.00480158 -0.15723118] [ 0.01886607 0.0049267 0.99980988 0.64940984] [ 0. 0. 0. 1. ]] SLAMing on 67.172557844 meters Centerline goodness [0,1] 0.23985383467750654 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.65 [[ 0.99980027 0.00647811 -0.01890658 -0.06467617] [-0.00657414 0.99996578 -0.00502139 -0.15640913] [ 0.01887341 0.00514468 0.99980865 0.64932544] [ 0. 0. 0. 1. ]] SLAMing on 67.202557844 meters Centerline goodness [0,1] 0.24035000754326596 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.65 [[ 0.99979812 0.00637719 -0.01905387 -0.06416543] [-0.0064774 0.99996549 -0.00520216 -0.15574326] [ 0.01902003 0.00532453 0.99980492 0.64905847] [ 0. 0. 0. 1. ]] SLAMing on 67.232557844 meters Centerline goodness [0,1] 0.24209108291326265 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.65 [[ 0.99979728 0.00629806 -0.0191242 -0.06377655] [-0.00640176 0.99996511 -0.00536585 -0.15494925] [ 0.01908974 0.00548719 0.99980272 0.64867178] [ 0. 0. 0. 1. ]] SLAMing on 67.262557844 meters Centerline goodness [0,1] 0.23946942736978327 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.65 [[ 9.99801860e-01 -3.96723644e-04 -1.99018423e-02 -4.48202165e-02] [ 3.11368733e-04 9.99990742e-01 -4.29170985e-03 -1.48785485e-01] [ 1.99033607e-02 4.28466268e-03 9.99792727e-01 6.50732187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.292557844 meters Centerline goodness [0,1] 0.2404580974318128 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.65 [[ 9.99801803e-01 -4.50224281e-04 -1.99035770e-02 -4.47761439e-02] [ 3.63228661e-04 9.99990367e-01 -4.37425260e-03 -1.48407662e-01] [ 1.99053546e-02 4.36615609e-03 9.99792335e-01 6.50653394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.322557844 meters Centerline goodness [0,1] 0.24789181631493862 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.65 [[ 0.99974501 -0.00308057 -0.02237014 -0.09243125] [ 0.00297498 0.99998428 -0.00475191 -0.14974673] [ 0.02238443 0.00468415 0.99973846 0.65319257] [ 0. 0. 0. 1. ]] SLAMing on 67.352557844 meters Centerline goodness [0,1] 0.24298116793365587 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.65 [[ 0.99977768 0.00559908 -0.02032838 -0.07339417] [-0.00572789 0.99996385 -0.00628354 -0.15078225] [ 0.02029247 0.00639858 0.99977361 0.65386807] [ 0. 0. 0. 1. ]] SLAMing on 67.382557844 meters Centerline goodness [0,1] 0.24344253432803542 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.65 [[ 0.99978008 0.00556603 -0.02021899 -0.07384038] [-0.00569662 0.99996325 -0.00640678 -0.14994079] [ 0.02018259 0.00652056 0.99977505 0.65413173] [ 0. 0. 0. 1. ]] SLAMing on 67.412557844 meters Centerline goodness [0,1] 0.240359206823211 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.66 [[ 9.99790371e-01 -9.85551945e-04 -2.04509769e-02 -5.60479599e-02] [ 8.84684949e-04 9.99987404e-01 -4.94059709e-03 -1.44218937e-01] [ 2.04555885e-02 4.92146873e-03 9.99778650e-01 6.57048736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442557844 meters Centerline goodness [0,1] 0.240359206823211 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.66 [[ 9.99790371e-01 -9.85551945e-04 -2.04509769e-02 -5.60479599e-02] [ 8.84684949e-04 9.99987404e-01 -4.94059709e-03 -1.44218937e-01] [ 2.04555885e-02 4.92146873e-03 9.99778650e-01 6.57048736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472557844 meters Centerline goodness [0,1] 0.23881396994189907 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.66 [[ 9.99788081e-01 -9.84822474e-04 -2.05626884e-02 -5.57781359e-02] [ 8.83961856e-04 9.99987538e-01 -4.91354401e-03 -1.44228676e-01] [ 2.05672711e-02 4.89432610e-03 9.99776491e-01 6.57084403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502557844 meters Centerline goodness [0,1] 0.2373767810253541 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.66 [[ 9.99787821e-01 -9.69644221e-04 -2.05760211e-02 -5.58459548e-02] [ 8.69862727e-04 9.99987822e-01 -4.85780278e-03 -1.44543593e-01] [ 2.05804809e-02 4.83887374e-03 9.99776490e-01 6.57247031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.532557844 meters Centerline goodness [0,1] 0.24601356804746632 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.66 [[ 0.9997756 0.00630248 -0.02022461 -0.07594499] [-0.00641786 0.99996347 -0.00564511 -0.15053702] [ 0.02018829 0.00577364 0.99977952 0.65569681] [ 0. 0. 0. 1. ]] SLAMing on 67.562557844 meters Centerline goodness [0,1] 0.246125421149875 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.66 [[ 0.99977824 0.00632054 -0.02008784 -0.07647324] [-0.00643404 0.99996367 -0.00559087 -0.15069293] [ 0.02005177 0.00571887 0.99978259 0.65600389] [ 0. 0. 0. 1. ]] SLAMing on 67.592557844 meters Centerline goodness [0,1] 0.23818146956688468 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.66 [[ 0.99985628 0.00125019 -0.01690743 -0.05443959] [-0.00129835 0.99999513 -0.00283778 -0.14853192] [ 0.0169038 0.00285933 0.99985303 0.65523119] [ 0. 0. 0. 1. ]] SLAMing on 67.622557844 meters Centerline goodness [0,1] 0.24665495630299483 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.66 [[ 9.99803183e-01 -2.16126093e-04 -1.98380457e-02 -1.01307302e-01] [ 1.69742039e-04 9.99997248e-01 -2.33979033e-03 -1.51838048e-01] [ 1.98384968e-02 2.33596247e-03 9.99800469e-01 6.57359731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.652557844 meters Centerline goodness [0,1] 0.2396697750021387 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.66 [[ 0.99979638 0.00855177 -0.01827765 -0.08156173] [-0.0086259 0.99995487 -0.00398114 -0.15320763] [ 0.01824278 0.00413799 0.99982502 0.65817054] [ 0. 0. 0. 1. ]] SLAMing on 67.682557844 meters Centerline goodness [0,1] 0.25007108020033686 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.66 [[ 0.9997422 0.00788072 -0.02129389 -0.1274118 ] [-0.00794093 0.9999647 -0.00274433 -0.15497535] [ 0.02127151 0.00291271 0.99976949 0.65932733] [ 0. 0. 0. 1. ]] SLAMing on 67.712557844 meters Centerline goodness [0,1] 0.24447812906019917 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.66 [[ 0.99976593 0.00154535 -0.02158005 -0.10903553] [-0.0015802 0.99999747 -0.00159807 -0.14749444] [ 0.02157753 0.00163179 0.99976585 0.66120275] [ 0. 0. 0. 1. ]] SLAMing on 67.742557844 meters Centerline goodness [0,1] 0.244498514275871 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.66 [[ 0.99976728 0.00143118 -0.02152538 -0.10884441] [-0.00148188 0.99999617 -0.00233948 -0.14354356] [ 0.02152195 0.00237083 0.99976556 0.6605629 ] [ 0. 0. 0. 1. ]] SLAMing on 67.772557844 meters Centerline goodness [0,1] 0.24658601510593636 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.66 [[ 0.99976798 0.00128869 -0.02150191 -0.10893365] [-0.0013472 0.99999543 -0.00270679 -0.14183563] [ 0.02149833 0.00273513 0.99976514 0.6605735 ] [ 0. 0. 0. 1. ]] SLAMing on 67.802557844 meters Centerline goodness [0,1] 0.24300867888138866 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.66 [[ 0.99975545 -0.00558083 -0.02139846 -0.09053363] [ 0.00554656 0.99998324 -0.00166062 -0.13489951] [ 0.02140737 0.00154153 0.99976965 0.66280913] [ 0. 0. 0. 1. ]] SLAMing on 67.832557844 meters Centerline goodness [0,1] 0.2425741514080737 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.66 [[ 0.99975748 -0.00563918 -0.02128819 -0.09092695] [ 0.00560182 0.99998266 -0.00181427 -0.13405378] [ 0.02129805 0.00169458 0.99977173 0.66293231] [ 0. 0. 0. 1. ]] SLAMing on 67.862557844 meters Centerline goodness [0,1] 0.2442374452853785 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.66 [[ 0.99976209 -0.00571724 -0.02104924 -0.09193804] [ 0.00567998 0.9999822 -0.00182956 -0.13418637] [ 0.02105933 0.00170957 0.99977677 0.66358401] [ 0. 0. 0. 1. ]] SLAMing on 67.892557844 meters Centerline goodness [0,1] 0.2505133470225873 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.66 [[ 0.99978516 0.00131301 -0.02068587 -0.11176094] [-0.00137149 0.9999951 -0.00281323 -0.14046454] [ 0.02068208 0.002841 0.99978207 0.66199384] [ 0. 0. 0. 1. ]] SLAMing on 67.922557844 meters Centerline goodness [0,1] 0.24844625684192168 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.66 [[ 0.99978385 0.00127833 -0.02075138 -0.11155781] [-0.00133649 0.99999522 -0.00278908 -0.14073443] [ 0.02074772 0.00281621 0.99978078 0.66192769] [ 0. 0. 0. 1. ]] SLAMing on 67.952557844 meters Centerline goodness [0,1] 0.2390353217372746 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.66 [[ 0.99982651 0.00205733 -0.01851274 -0.06597694] [-0.00212733 0.99999066 -0.00376256 -0.13676548] [ 0.01850483 0.00380129 0.99982154 0.66078748] [ 0. 0. 0. 1. ]] SLAMing on 67.982557844 meters Centerline goodness [0,1] 0.24974761883860774 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.66 [[ 9.99748626e-01 4.38743917e-04 -2.24163204e-02 -1.10571864e-01] [-5.12630669e-04 9.99994455e-01 -3.29047416e-03 -1.40307819e-01] [ 2.24147524e-02 3.30113832e-03 9.99743308e-01 6.61554197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.012557844 meters Centerline goodness [0,1] 0.24352600406381042 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.66 [[ 0.99969631 -0.00714497 -0.02358471 -0.08847751] [ 0.00707966 0.99997087 -0.00285145 -0.13552829] [ 0.02360439 0.00268361 0.99971778 0.66230799] [ 0. 0. 0. 1. ]] SLAMing on 68.042557844 meters Centerline goodness [0,1] 0.2463409831761797 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.66 [[ 9.99734112e-01 7.21933401e-05 -2.30586238e-02 -1.07474509e-01] [-1.57409318e-04 9.99993165e-01 -3.69382919e-03 -1.41411834e-01] [ 2.30581996e-02 3.69647668e-03 9.99727291e-01 6.60126737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.072557844 meters Centerline goodness [0,1] 0.24231340232803322 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.66 [[ 0.99978523 0.00175068 -0.02065032 -0.06400968] [-0.00183191 0.99999066 -0.00391531 -0.13926021] [ 0.02064327 0.0039523 0.99977909 0.6601632 ] [ 0. 0. 0. 1. ]] SLAMing on 68.102557844 meters Centerline goodness [0,1] 0.24528138715326575 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.66 [[ 0.99978591 0.00182348 -0.02061077 -0.06414886] [-0.00190097 0.9999912 -0.00374064 -0.13999272] [ 0.02060377 0.00377902 0.99978058 0.6602208 ] [ 0. 0. 0. 1. ]] SLAMing on 68.132557844 meters Centerline goodness [0,1] 0.24425250032471746 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.66 [[ 0.99977592 0.00184666 -0.02108768 -0.0629817 ] [-0.00191689 0.99999268 -0.00331075 -0.14276724] [ 0.02108141 0.00335043 0.99977215 0.66030246] [ 0. 0. 0. 1. ]] SLAMing on 68.162557844 meters Centerline goodness [0,1] 0.24247833286737352 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.66 [[ 0.99977204 0.00193156 -0.02126355 -0.06261699] [-0.00199423 0.99999373 -0.00292616 -0.14492021] [ 0.02125777 0.00296789 0.99976962 0.66043967] [ 0. 0. 0. 1. ]] SLAMing on 68.192557844 meters Centerline goodness [0,1] 0.24466883821932683 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 0.99977125 0.00209488 -0.02128507 -0.06265477] [-0.0021481 0.99999462 -0.00247785 -0.14705633] [ 0.02127976 0.002523 0.99977038 0.66061803] [ 0. 0. 0. 1. ]] SLAMing on 68.222557844 meters Centerline goodness [0,1] 0.24782371550125448 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 0.99977259 0.00225576 -0.02120561 -0.06287019] [-0.00230034 0.9999952 -0.00207802 -0.14884744] [ 0.02120082 0.00212633 0.99977298 0.66062744] [ 0. 0. 0. 1. ]] SLAMing on 68.252557844 meters Centerline goodness [0,1] 0.2424914418584624 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 9.99781960e-01 -4.91439995e-03 -2.02948527e-02 -4.31367513e-02] [ 4.90237871e-03 9.99987777e-01 -6.42038870e-04 -1.47027860e-01] [ 2.02977599e-02 5.42405826e-04 9.99793832e-01 6.62225002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282557844 meters Centerline goodness [0,1] 0.24427958334231925 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 9.99777859e-01 -4.84442174e-03 -2.05125620e-02 -4.26600654e-02] [ 4.83561477e-03 9.99988194e-01 -4.78924506e-04 -1.47886193e-01] [ 2.05146399e-02 3.79627269e-04 9.99789481e-01 6.62378652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.312557844 meters Centerline goodness [0,1] 0.2491195064861199 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 0.99976397 0.002927 -0.02152774 -0.06250411] [-0.00295429 0.99999487 -0.00123627 -0.15372544] [ 0.02152401 0.00129958 0.99976749 0.66104107] [ 0. 0. 0. 1. ]] SLAMing on 68.342557844 meters Centerline goodness [0,1] 0.24701707019682984 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 0.99975918 0.00292533 -0.02174916 -0.06169537] [-0.00295543 0.99999472 -0.00135214 -0.15310182] [ 0.02174509 0.00141609 0.99976254 0.6606138 ] [ 0. 0. 0. 1. ]] SLAMing on 68.372557844 meters Centerline goodness [0,1] 0.24077840337393763 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.66 [[ 0.99979838 0.00519056 -0.0193976 -0.01762637] [-0.00522191 0.99998514 -0.00156559 -0.14955586] [ 0.01938918 0.00166657 0.99981062 0.65997999] [ 0. 0. 0. 1. ]] SLAMing on 68.402557844 meters Centerline goodness [0,1] 0.24580460517757252 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 9.99864480e-01 -2.06286052e-03 -1.63329701e-02 -4.41593246e-02] [ 2.06779003e-03 9.99997822e-01 2.84931255e-04 -1.46056694e-01] [ 1.63323468e-02 -3.18665794e-04 9.99866568e-01 6.60527033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.432557844 meters Centerline goodness [0,1] 0.24711136161633684 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.66 [[ 9.99869471e-01 -2.01575980e-03 -1.60305274e-02 -4.54444209e-02] [ 2.02105297e-03 9.99997908e-01 3.14000221e-04 -1.46116700e-01] [ 1.60298610e-02 -3.46357780e-04 9.99871454e-01 6.61390047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.462557844 meters Centerline goodness [0,1] 0.2495910667161022 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.66 [[ 9.99869300e-01 -2.01056299e-03 -1.60418336e-02 -4.55296275e-02] [ 2.01572331e-03 9.99997922e-01 3.05516075e-04 -1.46084865e-01] [ 1.60411860e-02 -3.37812042e-04 9.99871275e-01 6.61599973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.492557844 meters Centerline goodness [0,1] 0.24689161332320708 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 9.99866040e-01 -2.01616783e-03 -1.62430714e-02 -4.46746250e-02] [ 2.02070096e-03 9.99997924e-01 2.62673353e-04 -1.45872920e-01] [ 1.62425081e-02 -2.95460555e-04 9.99868038e-01 6.61024227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.522557844 meters Centerline goodness [0,1] 0.24819298092832887 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 9.99862162e-01 -1.96394714e-03 -1.64863369e-02 -4.36492775e-02] [ 1.97083261e-03 9.99997977e-01 4.01410443e-04 -1.46522982e-01] [ 1.64855152e-02 -4.33846924e-04 9.99864011e-01 6.60319088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.552557844 meters Centerline goodness [0,1] 0.245857668180835 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.66 [[ 9.99864443e-01 -1.87797673e-03 -1.63575471e-02 -4.42452404e-02] [ 1.88869234e-03 9.99998012e-01 6.39662848e-04 -1.47632636e-01] [ 1.63563133e-02 -6.70470511e-04 9.99866002e-01 6.60806035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582557844 meters Centerline goodness [0,1] 0.2399367913045335 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.66 [[ 0.99990571 0.00460079 -0.01293843 -0.02285504] [-0.00463309 0.99998622 -0.00246769 -0.14803943] [ 0.0129269 0.00252741 0.99991325 0.65932775] [ 0. 0. 0. 1. ]] SLAMing on 68.612557844 meters Centerline goodness [0,1] 0.2466712928828555 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.66 [[ 0.99989691 -0.00498334 -0.01346634 -0.04575485] [ 0.0049652 0.99998672 -0.00138012 -0.14729873] [ 0.01347304 0.00131311 0.99990837 0.65992418] [ 0. 0. 0. 1. ]] SLAMing on 68.642557844 meters Centerline goodness [0,1] 0.24510947013861895 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.66 [[ 9.99897717e-01 -4.81215953e-03 -1.34684649e-02 -4.60056308e-02] [ 4.80196259e-03 9.99988159e-01 -7.89334249e-04 -1.50092835e-01] [ 1.34721038e-02 7.24578448e-04 9.99908985e-01 6.60377687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.672557844 meters Centerline goodness [0,1] 0.24794049601072454 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.66 [[ 9.99898467e-01 -4.72690636e-03 -1.34428839e-02 -4.59532337e-02] [ 4.71928699e-03 9.99988685e-01 -5.98461406e-04 -1.50931985e-01] [ 1.34455607e-02 5.34959816e-04 9.99909461e-01 6.60184788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702557844 meters Centerline goodness [0,1] 0.24668354649527147 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.66 [[ 9.99899935e-01 -4.64424706e-03 -1.33622734e-02 -4.62000283e-02] [ 4.63923067e-03 9.99989156e-01 -4.06386831e-04 -1.51838387e-01] [ 1.33640159e-02 3.44355497e-04 9.99910638e-01 6.60289259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.732557844 meters Centerline goodness [0,1] 0.24446391928864564 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.66 [[ 0.99993115 0.00309908 -0.01131807 -0.02532464] [-0.00313372 0.99999046 -0.00304369 -0.15290972] [ 0.01130853 0.00307895 0.99993132 0.65954259] [ 0. 0. 0. 1. ]] SLAMing on 68.762557844 meters Centerline goodness [0,1] 0.25084945112388923 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.66 [[ 0.99988781 0.00148752 -0.01490494 -0.06967779] [-0.00152987 0.99999482 -0.00283042 -0.15595466] [ 0.01490065 0.0028529 0.99988491 0.66067083] [ 0. 0. 0. 1. ]] SLAMing on 68.792557844 meters Centerline goodness [0,1] 0.24958493533729464 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.66 [[ 0.99988317 0.00142257 -0.01521901 -0.06841235] [-0.0014687 0.99999436 -0.00302007 -0.15523476] [ 0.01521463 0.00304207 0.99987962 0.65979948] [ 0. 0. 0. 1. ]] SLAMing on 68.822557844 meters Centerline goodness [0,1] 0.24510844835431522 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 0.9998463 0.00356815 -0.01716551 -0.06038177] [-0.00358809 0.99999292 -0.00113083 -0.15441024] [ 0.01716135 0.00119225 0.99985202 0.65600827] [ 0. 0. 0. 1. ]] SLAMing on 68.852557844 meters Centerline goodness [0,1] 0.23898887679070857 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 0.99984045 0.00350005 -0.0175164 -0.05909722] [-0.00352589 0.99999274 -0.00144437 -0.15278474] [ 0.01751122 0.0015059 0.99984553 0.65533413] [ 0. 0. 0. 1. ]] SLAMing on 68.882557844 meters Centerline goodness [0,1] 0.24368250424029025 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 0.99984962 0.00371209 -0.01693992 -0.0607503 ] [-0.00374284 0.99999141 -0.00178345 -0.149761 ] [ 0.01693316 0.00184659 0.99985492 0.6554899 ] [ 0. 0. 0. 1. ]] SLAMing on 68.912557844 meters Centerline goodness [0,1] 0.24135058944131216 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.66 [[ 0.99985409 0.00359558 -0.01669912 -0.0612641 ] [-0.00363292 0.99999097 -0.00220623 -0.14746508] [ 0.01669103 0.00226658 0.99985813 0.65531038] [ 0. 0. 0. 1. ]] SLAMing on 68.942557844 meters Centerline goodness [0,1] 0.24152596708698437 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.65 [[ 0.99985651 0.00345489 -0.01658363 -0.06135969] [-0.00349972 0.9999903 -0.00267535 -0.1450412 ] [ 0.01657422 0.002733 0.9998589 0.65495678] [ 0. 0. 0. 1. ]] SLAMing on 68.972557844 meters Centerline goodness [0,1] 0.24534788774764704 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.65 [[ 0.99985832 0.00325154 -0.0165154 -0.06126884] [-0.00330531 0.99998932 -0.00322965 -0.14244682] [ 0.01650472 0.00328378 0.9998584 0.65449032] [ 0. 0. 0. 1. ]] SLAMing on 69.002557844 meters Centerline goodness [0,1] 0.244356024565349 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.65 [[ 0.99985851 0.00301565 -0.01654897 -0.06104284] [-0.00307895 0.99998804 -0.003801 -0.13992951] [ 0.01653731 0.00385142 0.99985583 0.65418871] [ 0. 0. 0. 1. ]] SLAMing on 69.032557844 meters Centerline goodness [0,1] 0.24660545713177295 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.65 [[ 0.99985912 0.00282767 -0.01654535 -0.06108238] [-0.00289861 0.9999867 -0.00426526 -0.13772495] [ 0.01653306 0.00431261 0.99985402 0.65419545] [ 0. 0. 0. 1. ]] SLAMing on 69.062557844 meters Centerline goodness [0,1] 0.23820085734393992 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.65 [[ 0.99985412 -0.00225387 -0.01693125 -0.03876231] [ 0.00222747 0.99999627 -0.00157801 -0.13004714] [ 0.01693474 0.00154006 0.99985541 0.65460725] [ 0. 0. 0. 1. ]] SLAMing on 69.092557844 meters Centerline goodness [0,1] 0.24683722847904865 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.66 [[ 9.99785725e-01 -3.59450194e-03 -2.03858695e-02 -8.35686725e-02] [ 3.57991702e-03 9.99993309e-01 -7.51891112e-04 -1.31925068e-01] [ 2.03884358e-02 6.78750279e-04 9.99791904e-01 6.55873930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.122557844 meters Centerline goodness [0,1] 0.24760168424708073 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.66 [[ 0.99978259 -0.00377386 -0.02050677 -0.0832758 ] [ 0.00375076 0.99999229 -0.00116442 -0.12983846] [ 0.02051101 0.00108725 0.99978904 0.65584127] [ 0. 0. 0. 1. ]] SLAMing on 69.152557844 meters Centerline goodness [0,1] 0.2457028389264636 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.66 [[ 0.99980274 0.0046152 -0.01931771 -0.06469613] [-0.00467441 0.99998451 -0.00302126 -0.13002684] [ 0.01930346 0.00311096 0.99980883 0.65686703] [ 0. 0. 0. 1. ]] SLAMing on 69.182557844 meters Centerline goodness [0,1] 0.25043855802122617 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.13, Z:0.66 [[ 0.99976007 0.00240287 -0.02177199 -0.11252222] [-0.00247341 0.99999178 -0.00321368 -0.12890717] [ 0.02176408 0.00326676 0.9997578 0.65957296] [ 0. 0. 0. 1. ]] SLAMing on 69.212557844 meters Centerline goodness [0,1] 0.24966758942389433 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.66 [[ 0.99977544 -0.00475227 -0.02065129 -0.09471268] [ 0.00471372 0.99998706 -0.00191514 -0.12241891] [ 0.02066013 0.00181736 0.99978491 0.66235028] [ 0. 0. 0. 1. ]] SLAMing on 69.242557844 meters Centerline goodness [0,1] 0.24574984820886459 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.66 [[ 0.99978141 -0.00479411 -0.02035073 -0.09594123] [ 0.00475351 0.99998662 -0.00204262 -0.12154421] [ 0.02036025 0.00194544 0.99979082 0.6630628 ] [ 0. 0. 0. 1. ]] SLAMing on 69.272557844 meters Centerline goodness [0,1] 0.2466090712742981 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.66 [[ 0.99978396 -0.00483543 -0.0202152 -0.09659658] [ 0.00479333 0.99998624 -0.0021305 -0.12094524] [ 0.02022523 0.00203314 0.99979338 0.66358349] [ 0. 0. 0. 1. ]] SLAMing on 69.302557844 meters Centerline goodness [0,1] 0.24512099921935993 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.66 [[ 0.99978303 -0.00493138 -0.02023819 -0.09648105] [ 0.00488674 0.99998552 -0.00225446 -0.12058769] [ 0.02024901 0.00215507 0.99979265 0.66347911] [ 0. 0. 0. 1. ]] SLAMing on 69.33255784400001 meters Centerline goodness [0,1] 0.2437548621315585 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.66 [[ 0.99977668 -0.00520882 -0.02048086 -0.09581652] [ 0.00515893 0.9999836 -0.00248776 -0.12024161] [ 0.02049348 0.00238154 0.99978715 0.66339167] [ 0. 0. 0. 1. ]] SLAMing on 69.362557844 meters Centerline goodness [0,1] 0.2437548621315585 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.66 [[ 0.99977668 -0.00520882 -0.02048086 -0.09581652] [ 0.00515893 0.9999836 -0.00248776 -0.12024161] [ 0.02049348 0.00238154 0.99978715 0.66339167] [ 0. 0. 0. 1. ]] SLAMing on 69.392557844 meters Centerline goodness [0,1] 0.24250365151645326 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.66 [[ 0.99981669 0.00311001 -0.01889237 -0.07807762] [-0.00319148 0.99998573 -0.00428338 -0.12342165] [ 0.01887878 0.00434289 0.99981235 0.66499082] [ 0. 0. 0. 1. ]] SLAMing on 69.422557844 meters Centerline goodness [0,1] 0.24692052908449336 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.67 [[ 0.99981702 0.0031511 -0.01886815 -0.07854887] [-0.00323034 0.99998609 -0.00417059 -0.12386578] [ 0.01885474 0.00423077 0.99981328 0.66568053] [ 0. 0. 0. 1. ]] SLAMing on 69.452557844 meters Centerline goodness [0,1] 0.25281637662736156 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.67 [[ 0.99981772 0.00319029 -0.01882432 -0.07897981] [-0.00326764 0.99998634 -0.00408 -0.12416132] [ 0.01881104 0.00414077 0.99981448 0.66621545] [ 0. 0. 0. 1. ]] SLAMing on 69.482557844 meters Centerline goodness [0,1] 0.2409778312424815 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.67 [[ 0.99985349 0.00413388 -0.01661033 -0.03563977] [-0.00422208 0.99997716 -0.00527854 -0.12100509] [ 0.01658813 0.0053479 0.99984811 0.66639845] [ 0. 0. 0. 1. ]] SLAMing on 69.512557844 meters Centerline goodness [0,1] 0.24856755456414292 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.67 [[ 0.99980653 0.00265319 -0.01948992 -0.08072101] [-0.00275377 0.99998302 -0.00513587 -0.1235854 ] [ 0.01947597 0.00518855 0.99979686 0.66722659] [ 0. 0. 0. 1. ]] SLAMing on 69.542557844 meters Centerline goodness [0,1] 0.245704912371579 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.67 [[ 0.9997991 -0.00430755 -0.01957563 -0.06201203] [ 0.00422366 0.99998173 -0.00432493 -0.11779424] [ 0.0195939 0.00424138 0.99979902 0.66879275] [ 0. 0. 0. 1. ]] SLAMing on 69.572557844 meters Centerline goodness [0,1] 0.24551414768806068 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.67 [[ 0.99980124 -0.00431736 -0.01946408 -0.06219855] [ 0.00423024 0.99998086 -0.00451503 -0.11668792] [ 0.0194832 0.00443179 0.99980036 0.66862276] [ 0. 0. 0. 1. ]] SLAMing on 69.602557844 meters Centerline goodness [0,1] 0.24490765741440756 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.67 [[ 0.99980721 -0.00390295 -0.01924332 -0.06250126] [ 0.00381555 0.99998225 -0.00457651 -0.11479771] [ 0.01926084 0.0045022 0.99980436 0.66808236] [ 0. 0. 0. 1. ]] SLAMing on 69.632557844 meters Centerline goodness [0,1] 0.24752068794157678 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.67 [[ 0.99980293 -0.00395899 -0.01945341 -0.06162556] [ 0.00386415 0.99998048 -0.00491013 -0.11302607] [ 0.01947247 0.00483399 0.99979871 0.66748849] [ 0. 0. 0. 1. ]] SLAMing on 69.662557844 meters Centerline goodness [0,1] 0.2454537619581143 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.67 [[ 0.99979435 -0.00400032 -0.01988095 -0.06013105] [ 0.00389594 0.99997844 -0.00528593 -0.11109694] [ 0.01990167 0.00520739 0.99978838 0.66675477] [ 0. 0. 0. 1. ]] SLAMing on 69.692557844 meters Centerline goodness [0,1] 0.24413659793814435 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.66 [[ 0.99977986 -0.00158544 -0.02092193 -0.05551414] [ 0.00151672 0.9999934 -0.0033003 -0.10869832] [ 0.02092702 0.00326784 0.99977567 0.66452816] [ 0. 0. 0. 1. ]] SLAMing on 69.722557844 meters Centerline goodness [0,1] 0.24518577620598192 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.66 [[ 0.99978122 -0.00162945 -0.02085321 -0.05554039] [ 0.00155661 0.99999263 -0.00350857 -0.1074487 ] [ 0.02085877 0.00347535 0.99977639 0.66424648] [ 0. 0. 0. 1. ]] SLAMing on 69.752557844 meters Centerline goodness [0,1] 0.2482424926228085 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.66 [[ 0.99978991 -0.00159132 -0.02043545 -0.05693713] [ 0.00151848 0.99999244 -0.00357955 -0.10659805] [ 0.02044099 0.00354776 0.99978477 0.66473447] [ 0. 0. 0. 1. ]] SLAMing on 69.782557844 meters Centerline goodness [0,1] 0.24893742235009486 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.67 [[ 0.99979177 -0.00157394 -0.02034545 -0.05734011] [ 0.00150233 0.99999262 -0.00353467 -0.10677884] [ 0.02035087 0.00350337 0.99978676 0.66500167] [ 0. 0. 0. 1. ]] SLAMing on 69.812557844 meters Centerline goodness [0,1] 0.24653018736988208 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.66 [[ 0.99978239 -0.00169464 -0.02079195 -0.05607625] [ 0.00162108 0.99999237 -0.00355464 -0.10738166] [ 0.02079782 0.00352016 0.9997775 0.66477495] [ 0. 0. 0. 1. ]] SLAMing on 69.842557844 meters Centerline goodness [0,1] 0.24638524360549052 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.66 [[ 0.99977706 -0.00168681 -0.02104708 -0.05539835] [ 0.00161417 0.99999268 -0.00346823 -0.10785546] [ 0.02105277 0.00343348 0.99977247 0.66475132] [ 0. 0. 0. 1. ]] SLAMing on 69.872557844 meters Centerline goodness [0,1] 0.247169236129257 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.67 [[ 0.99977708 -0.0016248 -0.021051 -0.05566627] [ 0.0015556 0.99999333 -0.00330332 -0.1085066 ] [ 0.02105623 0.00326983 0.99977295 0.66521029] [ 0. 0. 0. 1. ]] SLAMing on 69.902557844 meters Centerline goodness [0,1] 0.24564324324324327 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.67 [[ 0.99977615 -0.00160376 -0.02109688 -0.05586899] [ 0.00153714 0.99999378 -0.00317379 -0.10918198] [ 0.02110184 0.00314065 0.9997724 0.66579793] [ 0. 0. 0. 1. ]] SLAMing on 69.932557844 meters Centerline goodness [0,1] 0.2431816716456403 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.67 [[ 0.99977243 -0.00169788 -0.02126506 -0.05518053] [ 0.00162648 0.99999298 -0.00337432 -0.10841012] [ 0.02127064 0.00333897 0.99976818 0.66538424] [ 0. 0. 0. 1. ]] SLAMing on 69.962557844 meters Centerline goodness [0,1] 0.24772727272727268 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:0.66 [[ 0.9997659 -0.00185976 -0.02155668 -0.05386894] [ 0.00177421 0.99999048 -0.00398738 -0.10526455] [ 0.02156389 0.0039482 0.99975968 0.66434886] [ 0. 0. 0. 1. ]] SLAMing on 69.992557844 meters Centerline goodness [0,1] 0.24749923557419296 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.10, Z:0.66 [[ 0.99976643 -0.00197386 -0.02152182 -0.05384457] [ 0.00188009 0.99998866 -0.00437629 -0.10314992] [ 0.02153021 0.00433481 0.9997588 0.66414022] [ 0. 0. 0. 1. ]] SLAMing on 70.022557844 meters Centerline goodness [0,1] 0.24389825050982072 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:0.66 [[ 9.99810371e-01 -6.77458467e-05 -1.94734828e-02 -1.08055698e-02] [-2.41121386e-05 9.99988876e-01 -4.71680697e-03 -9.71501398e-02] [ 1.94735857e-02 4.71638208e-03 9.99799247e-01 6.64744976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.052557844 meters Centerline goodness [0,1] 0.24382097528390112 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:0.67 [[ 9.99811814e-01 -2.08287102e-04 -1.93982755e-02 -1.13231545e-02] [ 1.09068901e-04 9.99986909e-01 -5.11571242e-03 -9.50705848e-02] [ 1.93990871e-02 5.11263397e-03 9.99798748e-01 6.65232551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08255784400001 meters Centerline goodness [0,1] 0.24285591508744786 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:0.67 [[ 9.99812178e-01 -2.16107872e-04 -1.93794332e-02 -1.13791927e-02] [ 1.17271178e-04 9.99986983e-01 -5.10107320e-03 -9.51493159e-02] [ 1.93802833e-02 5.09784246e-03 9.99799188e-01 6.65228150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112557844 meters Centerline goodness [0,1] 0.23921786753380114 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:0.67 [[ 9.99819446e-01 -3.43855893e-04 -1.89988486e-02 -1.26291223e-02] [ 2.49944775e-04 9.99987741e-01 -4.94514341e-03 -9.61074712e-02] [ 1.90003161e-02 4.93950188e-03 9.99807276e-01 6.65698448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142557844 meters Centerline goodness [0,1] 0.24472154388088085 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:0.67 [[ 9.99820861e-01 -3.61284148e-04 -1.89239553e-02 -1.31420032e-02] [ 2.70582988e-04 9.99988466e-01 -4.79526946e-03 -9.70332879e-02] [ 1.89254695e-02 4.78928993e-03 9.99809426e-01 6.66266169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.172557844 meters Centerline goodness [0,1] 0.2421276778800654 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:0.67 [[ 9.99821655e-01 -3.85831738e-04 -1.88814555e-02 -1.35502202e-02] [ 2.98920622e-04 9.99989350e-01 -4.60559398e-03 -9.82440111e-02] [ 1.88830314e-02 4.59912854e-03 9.99811122e-01 6.66766075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202557844 meters Centerline goodness [0,1] 0.2438406186231339 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:0.67 [[ 9.99823325e-01 -5.06817488e-04 -1.87899575e-02 -1.41679060e-02] [ 4.21855870e-04 9.99989672e-01 -4.52533831e-03 -9.88900830e-02] [ 1.87920569e-02 4.51661214e-03 9.99813212e-01 6.67442192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.232557844 meters Centerline goodness [0,1] 0.24930179787048345 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.10, Z:0.67 [[ 0.99976358 -0.00166429 -0.02167962 -0.05959057] [ 0.00158236 0.99999154 -0.00379582 -0.1016894 ] [ 0.02168575 0.00376062 0.99975776 0.66826315] [ 0. 0. 0. 1. ]] SLAMing on 70.262557844 meters Centerline goodness [0,1] 0.24737826900483006 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.10, Z:0.67 [[ 0.99976328 -0.00170529 -0.02169064 -0.05946669] [ 0.00162066 0.99999101 -0.00391897 -0.10088069] [ 0.02169713 0.00388289 0.99975705 0.66813692] [ 0. 0. 0. 1. ]] SLAMing on 70.292557844 meters Centerline goodness [0,1] 0.24476973897273135 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.10, Z:0.67 [[ 0.99976713 -0.00180244 -0.02150422 -0.05991994] [ 0.00171271 0.99998975 -0.00419071 -0.09950975] [ 0.02151155 0.00415291 0.99975997 0.66809286] [ 0. 0. 0. 1. ]] SLAMing on 70.322557844 meters Centerline goodness [0,1] 0.24067004118050794 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.10, Z:0.67 [[ 0.99976696 -0.00183059 -0.02150972 -0.060164 ] [ 0.00174016 0.99998957 -0.00422195 -0.0995696 ] [ 0.02151722 0.00418354 0.99975972 0.66847 ] [ 0. 0. 0. 1. ]] SLAMing on 70.352557844 meters Centerline goodness [0,1] 0.24449920027666106 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.10, Z:0.67 [[ 0.99976533 -0.00184219 -0.02158468 -0.06013701] [ 0.00175248 0.99998975 -0.00417423 -0.10009777] [ 0.02159215 0.00413543 0.99975831 0.66873773] [ 0. 0. 0. 1. ]] SLAMing on 70.382557844 meters Centerline goodness [0,1] 0.23905925656444604 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.10, Z:0.67 [[ 0.99975973 -0.00189243 -0.02183789 -0.05961023] [ 0.00180629 0.99999051 -0.00396395 -0.10155199] [ 0.02184519 0.00392356 0.99975367 0.6688986 ] [ 0. 0. 0. 1. ]] SLAMing on 70.412557844 meters Centerline goodness [0,1] 0.25184418558562527 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.67 [[ 0.99967977 -0.00322498 -0.02509905 -0.10566415] [ 0.00314309 0.99998961 -0.0033013 -0.1063704 ] [ 0.02510944 0.00322136 0.99967952 0.67007126] [ 0. 0. 0. 1. ]] SLAMing on 70.442557844 meters Centerline goodness [0,1] 0.23938762802482128 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.67 [[ 0.99973389 -0.00254084 -0.02292812 -0.05974863] [ 0.00245894 0.9999905 -0.00359979 -0.10653429] [ 0.02293705 0.00354246 0.99973064 0.66916513] [ 0. 0. 0. 1. ]] SLAMing on 70.472557844 meters Centerline goodness [0,1] 0.24875567586447778 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.67 [[ 0.99964865 -0.0039106 -0.02621624 -0.10432688] [ 0.00383394 0.99998823 -0.00297369 -0.11128759] [ 0.02622756 0.00287214 0.99965187 0.66988618] [ 0. 0. 0. 1. ]] SLAMing on 70.502557844 meters Centerline goodness [0,1] 0.24368312979574192 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.67 [[ 0.99964009 -0.00383921 -0.02655095 -0.10314859] [ 0.00376745 0.99998912 -0.00275232 -0.11239431] [ 0.02656123 0.0026513 0.99964367 0.66937204] [ 0. 0. 0. 1. ]] SLAMing on 70.532557844 meters Centerline goodness [0,1] 0.24565406345067364 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.67 [[ 0.99962305 -0.00383035 -0.02718621 -0.10076483] [ 0.00375952 0.99998941 -0.00265625 -0.11322406] [ 0.0271961 0.00255304 0.99962686 0.6681393 ] [ 0. 0. 0. 1. ]] SLAMing on 70.562557844 meters Centerline goodness [0,1] 0.2433056923209812 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.67 [[ 0.99961925 -0.00382181 -0.02732665 -0.10038713] [ 0.00375135 0.99998951 -0.00262908 -0.11348948] [ 0.02733641 0.00252556 0.9996231 0.66811269] [ 0. 0. 0. 1. ]] SLAMing on 70.592557844 meters Centerline goodness [0,1] 0.2428411488610429 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.67 [[ 0.99962531 -0.00365704 -0.02712692 -0.10153462] [ 0.00359465 0.99999078 -0.00234802 -0.11479863] [ 0.02713526 0.00224963 0.99962924 0.66907433] [ 0. 0. 0. 1. ]] SLAMing on 70.622557844 meters Centerline goodness [0,1] 0.24234336999332806 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 0.99962658 -0.00356152 -0.02709288 -0.10178499] [ 0.00350383 0.99999149 -0.00217653 -0.11550744] [ 0.0271004 0.00208079 0.99963055 0.66937548] [ 0. 0. 0. 1. ]] SLAMing on 70.652557844 meters Centerline goodness [0,1] 0.24289894990531935 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 0.99962873 -0.00346605 -0.02702558 -0.101961 ] [ 0.00341269 0.99999214 -0.0020203 -0.11608422] [ 0.02703237 0.00192732 0.9996327 0.66938363] [ 0. 0. 0. 1. ]] SLAMing on 70.682557844 meters Centerline goodness [0,1] 0.2464132460664904 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 0.99963316 -0.00322149 -0.02689167 -0.10225733] [ 0.00318166 0.99999378 -0.00152368 -0.11835972] [ 0.02689641 0.00143756 0.99963719 0.66936827] [ 0. 0. 0. 1. ]] SLAMing on 70.712557844 meters Centerline goodness [0,1] 0.24271278663039253 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 0.99963383 -0.00311112 -0.02687998 -0.1023459 ] [ 0.00307808 0.99999446 -0.00127046 -0.11971473] [ 0.02688378 0.00118725 0.99963786 0.66946116] [ 0. 0. 0. 1. ]] SLAMing on 70.742557844 meters Centerline goodness [0,1] 0.24152934841141627 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 0.99963432 -0.00304082 -0.02686971 -0.10247665] [ 0.00301171 0.99999483 -0.0011237 -0.12049903] [ 0.02687298 0.00104237 0.99963831 0.66964312] [ 0. 0. 0. 1. ]] SLAMing on 70.772557844 meters Centerline goodness [0,1] 0.24223282196725537 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 9.99643181e-01 -2.83162033e-03 -2.65610968e-02 -1.03415840e-01] [ 2.80539150e-03 9.99995540e-01 -1.02470230e-03 -1.20310265e-01] [ 2.65638799e-02 9.49822394e-04 9.99646667e-01 6.69846271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.802557844 meters Centerline goodness [0,1] 0.24358726268034148 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 9.99644424e-01 -2.81456686e-03 -2.65161025e-02 -1.03432564e-01] [ 2.78731035e-03 9.99995549e-01 -1.06482783e-03 -1.19971662e-01] [ 2.65189815e-02 9.90540594e-04 9.99647819e-01 6.69681505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83255784400001 meters Centerline goodness [0,1] 0.23728486615084554 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 9.99649713e-01 -2.71926762e-03 -2.63259673e-02 -1.04225569e-01] [ 2.69545017e-03 9.99995925e-01 -9.40157296e-04 -1.20604121e-01] [ 2.63284165e-02 8.68867639e-04 9.99652970e-01 6.70156407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862557844 meters Centerline goodness [0,1] 0.24494911298861255 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.67 [[ 9.99654805e-01 -2.60860834e-03 -2.61431763e-02 -1.05050067e-01] [ 2.59073498e-03 9.99996387e-01 -7.17519827e-04 -1.21627050e-01] [ 2.61449536e-02 6.49542101e-04 9.99657951e-01 6.70719553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.892557844 meters Centerline goodness [0,1] 0.24616878912151952 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.67 [[ 9.99661631e-01 -2.44944874e-03 -2.58964218e-02 -1.06057352e-01] [ 2.43983545e-03 9.99996942e-01 -4.02811068e-04 -1.22957276e-01] [ 2.58973293e-02 3.39491761e-04 9.99664550e-01 6.71336686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922557844 meters Centerline goodness [0,1] 0.24551105720288502 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.67 [[ 9.99661994e-01 -2.39936652e-03 -2.58870862e-02 -1.06004495e-01] [ 2.39218853e-03 9.99997091e-01 -3.08245645e-04 -1.23351778e-01] [ 2.58877505e-02 2.46214665e-04 9.99664826e-01 6.71182042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.952557844 meters Centerline goodness [0,1] 0.24480952072957762 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.67 [[ 9.99660016e-01 -2.37169447e-03 -2.59659006e-02 -1.05678913e-01] [ 2.36641636e-03 9.99997173e-01 -2.33997243e-04 -1.23655841e-01] [ 2.59663822e-02 1.72471555e-04 9.99662802e-01 6.70969790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.982557844 meters Centerline goodness [0,1] 0.24400396859632478 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 9.99655054e-01 -2.39671371e-03 -2.61539451e-02 -1.04585211e-01] [ 2.39050306e-03 9.99997107e-01 -2.68728362e-04 -1.23599510e-01] [ 2.61545135e-02 2.06114580e-04 9.99657891e-01 6.69986522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.012557844 meters Centerline goodness [0,1] 0.24409957969608798 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.67 [[ 9.99656609e-01 -2.39990200e-03 -2.60941589e-02 -1.04816494e-01] [ 2.39332332e-03 9.99997096e-01 -2.83341454e-04 -1.23538610e-01] [ 2.60947631e-02 2.20792398e-04 9.99659449e-01 6.70102995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.042557844 meters Centerline goodness [0,1] 0.24207011686143576 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.67 [[ 0.99967608 0.00629084 -0.02466107 -0.08604851] [-0.0063394 0.99997812 -0.00189145 -0.12622415] [ 0.02464863 0.00204718 0.99969408 0.67173637] [ 0. 0. 0. 1. ]] SLAMing on 71.072557844 meters Centerline goodness [0,1] 0.24875621890547261 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.67 [[ 9.99665367e-01 -2.76486236e-03 -2.57198223e-02 -1.06813823e-01] [ 2.75098659e-03 9.99996051e-01 -5.74864787e-04 -1.22702302e-01] [ 2.57213102e-02 5.03917532e-04 9.99669025e-01 6.70854819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.102557844 meters Centerline goodness [0,1] 0.24744283015180146 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.67 [[ 9.99671069e-01 -2.76147390e-03 -2.54976173e-02 -1.07280002e-01] [ 2.74905269e-03 9.99996085e-01 -5.22191856e-04 -1.22720680e-01] [ 2.54989595e-02 4.51925798e-04 9.99674747e-01 6.70658147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.132557844 meters Centerline goodness [0,1] 0.24714043404514419 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.67 [[ 9.99674944e-01 -2.74994165e-03 -2.53464820e-02 -1.07823778e-01] [ 2.73862101e-03 9.99996134e-01 -4.81337543e-04 -1.22864122e-01] [ 2.53477076e-02 4.11766674e-04 9.99678610e-01 6.70933410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.162557844 meters Centerline goodness [0,1] 0.24252335449667584 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.67 [[ 0.99974649 -0.00152664 -0.02246381 -0.06601345] [ 0.00149958 0.99999813 -0.00122117 -0.11890716] [ 0.02246563 0.00118718 0.99974691 0.67193803] [ 0. 0. 0. 1. ]] SLAMing on 71.192557844 meters Centerline goodness [0,1] 0.24479054779806664 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.67 [[ 0.99974771 -0.00171119 -0.02239636 -0.06609736] [ 0.00167416 0.9999972 -0.00167178 -0.11688931] [ 0.02239916 0.00163386 0.99974777 0.67177176] [ 0. 0. 0. 1. ]] SLAMing on 71.222557844 meters Centerline goodness [0,1] 0.24479054779806664 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.67 [[ 0.99974771 -0.00171119 -0.02239636 -0.06609736] [ 0.00167416 0.9999972 -0.00167178 -0.11688931] [ 0.02239916 0.00163386 0.99974777 0.67177176] [ 0. 0. 0. 1. ]] SLAMing on 71.252557844 meters Centerline goodness [0,1] 0.24612639275766013 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.67 [[ 0.99971081 0.00569457 -0.02336376 -0.08506737] [-0.00576795 0.99997864 -0.00307465 -0.12097628] [ 0.02334575 0.00320853 0.9997223 0.66946428] [ 0. 0. 0. 1. ]] SLAMing on 71.282557844 meters Centerline goodness [0,1] 0.2460437892911338 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.67 [[ 0.99970559 0.00556736 -0.02361666 -0.08432113] [-0.00564682 0.99997861 -0.00329938 -0.12017889] [ 0.02359778 0.00343176 0.99971564 0.6692906 ] [ 0. 0. 0. 1. ]] SLAMing on 71.312557844 meters Centerline goodness [0,1] 0.2466468120258255 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.67 [[ 0.99970443 0.00558945 -0.02366022 -0.08421555] [-0.00566774 0.99997868 -0.00324327 -0.12044478] [ 0.02364159 0.00337641 0.9997148 0.66925161] [ 0. 0. 0. 1. ]] SLAMing on 71.342557844 meters Centerline goodness [0,1] 0.24870024902791732 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.67 [[ 0.99970156 0.00561731 -0.02377491 -0.08380902] [-0.00569436 0.99997875 -0.00317428 -0.12068538] [ 0.02375657 0.00330872 0.9997123 0.66903749] [ 0. 0. 0. 1. ]] SLAMing on 71.372557844 meters Centerline goodness [0,1] 0.2440853012985329 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.67 [[ 0.99971643 -0.00169228 -0.0237526 -0.06372726] [ 0.00164216 0.99999638 -0.00212938 -0.1161711 ] [ 0.02375612 0.00208977 0.9997156 0.67051076] [ 0. 0. 0. 1. ]] SLAMing on 71.402557844 meters Centerline goodness [0,1] 0.24493033971614253 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.67 [[ 0.99971917 -0.00159935 -0.02364365 -0.06428212] [ 0.00155808 0.99999723 -0.00176416 -0.11827428] [ 0.0236464 0.00172682 0.99971889 0.67100892] [ 0. 0. 0. 1. ]] SLAMing on 71.432557844 meters Centerline goodness [0,1] 0.2448798441221044 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.67 [[ 0.99971817 -0.00155291 -0.02368912 -0.06433755] [ 0.00151535 0.99999757 -0.00160361 -0.11913242] [ 0.02369155 0.00156726 0.99971809 0.67130518] [ 0. 0. 0. 1. ]] SLAMing on 71.462557844 meters Centerline goodness [0,1] 0.24211044309891094 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.67 [[ 0.99970735 -0.00156419 -0.0241404 -0.0624905 ] [ 0.00152336 0.99999738 -0.00170976 -0.11842483] [ 0.02414301 0.00167249 0.99970712 0.67019966] [ 0. 0. 0. 1. ]] SLAMing on 71.492557844 meters Centerline goodness [0,1] 0.2447696476964769 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.67 [[ 0.99968502 0.00594835 -0.02438198 -0.08168745] [-0.00601777 0.99997804 -0.00277457 -0.12274012] [ 0.02436494 0.00292042 0.99969887 0.66779704] [ 0. 0. 0. 1. ]] SLAMing on 71.522557844 meters Centerline goodness [0,1] 0.24024256499580676 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.67 [[ 0.99971556 -0.0011957 -0.02381955 -0.06291501] [ 0.00115352 0.99999774 -0.00178478 -0.11721858] [ 0.02382163 0.0017568 0.99971468 0.66933277] [ 0. 0. 0. 1. ]] SLAMing on 71.552557844 meters Centerline goodness [0,1] 0.2363184612418875 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.67 [[ 0.9997223 -0.00112917 -0.02353843 -0.0643715 ] [ 0.00108908 0.99999793 -0.00171606 -0.11725458] [ 0.02354032 0.00168995 0.99972146 0.67045949] [ 0. 0. 0. 1. ]] SLAMing on 71.58255784400001 meters Centerline goodness [0,1] 0.2483505403213433 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.67 [[ 9.99658547e-01 -2.30018277e-03 -2.60287842e-02 -1.10306499e-01] [ 2.28310194e-03 9.99997158e-01 -6.85927869e-04 -1.21981954e-01] [ 2.60302880e-02 6.26267289e-04 9.99660958e-01 6.71622537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612557844 meters Centerline goodness [0,1] 0.24260533753317082 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.67 [[ 0.99971542 -0.00142948 -0.02381241 -0.06526697] [ 0.00140124 0.9999983 -0.00120257 -0.12164076] [ 0.02381409 0.00116886 0.99971572 0.6714374 ] [ 0. 0. 0. 1. ]] SLAMing on 71.642557844 meters Centerline goodness [0,1] 0.24792049732948074 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.67 [[ 0.99969677 0.00361238 -0.02435815 -0.08891267] [-0.00371752 0.99998396 -0.00427259 -0.12653412] [ 0.02434232 0.00436184 0.99969417 0.67141986] [ 0. 0. 0. 1. ]] SLAMing on 71.672557844 meters Centerline goodness [0,1] 0.23833963236557287 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.67 [[ 0.99974618 0.00362584 -0.02223563 -0.04458031] [-0.00375926 0.99997517 -0.00596125 -0.12620597] [ 0.02221346 0.00604332 0.99973499 0.67118714] [ 0. 0. 0. 1. ]] SLAMing on 71.702557844 meters Centerline goodness [0,1] 0.241040191142589 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.67 [[ 0.99974769 0.00363707 -0.02216587 -0.04472525] [-0.00377067 0.99997496 -0.00598841 -0.12591143] [ 0.02214353 0.00607048 0.99973637 0.67111837] [ 0. 0. 0. 1. ]] SLAMing on 71.732557844 meters Centerline goodness [0,1] 0.242862687597033 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:0.67 [[ 0.99975093 0.00359505 -0.02202636 -0.04501572] [-0.00373272 0.99997374 -0.00621213 -0.12459627] [ 0.02200344 0.0062928 0.99973809 0.67101118] [ 0. 0. 0. 1. ]] SLAMing on 71.762557844 meters Centerline goodness [0,1] 0.24460882919127025 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.67 [[ 0.99975064 0.00378228 -0.0220079 -0.04482756] [-0.00392787 0.99997066 -0.00657592 -0.12190204] [ 0.02198238 0.00666072 0.99973617 0.67050066] [ 0. 0. 0. 1. ]] SLAMing on 71.792557844 meters Centerline goodness [0,1] 0.24698637316561844 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.67 [[ 0.99974738 0.00369912 -0.02216981 -0.04412645] [-0.00385305 0.99996874 -0.00690445 -0.12024442] [ 0.02214358 0.00698812 0.99973038 0.66998589] [ 0. 0. 0. 1. ]] SLAMing on 71.822557844 meters Centerline goodness [0,1] 0.2477180140731543 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.67 [[ 0.99974221 0.00356478 -0.02242333 -0.04329604] [-0.00373065 0.99996596 -0.00735959 -0.11804801] [ 0.02239633 0.00744135 0.99972148 0.66957102] [ 0. 0. 0. 1. ]] SLAMing on 71.852557844 meters Centerline goodness [0,1] 0.24960647135986003 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.67 [[ 0.99974243 0.00354188 -0.0224173 -0.04337552] [-0.00370961 0.99996541 -0.00744494 -0.11759249] [ 0.02239015 0.00752618 0.99972098 0.66967125] [ 0. 0. 0. 1. ]] SLAMing on 71.882557844 meters Centerline goodness [0,1] 0.24266689689408816 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.67 [[ 0.99975396 -0.00394008 -0.02182856 -0.0238858 ] [ 0.00379441 0.99997028 -0.00671069 -0.11185272] [ 0.02185435 0.00662621 0.99973921 0.67122974] [ 0. 0. 0. 1. ]] SLAMing on 71.912557844 meters Centerline goodness [0,1] 0.2427031347894657 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.67 [[ 0.99975589 -0.0039595 -0.02173665 -0.02426852] [ 0.00381408 0.9999701 -0.00672753 -0.11181812] [ 0.02176263 0.00664298 0.9997411 0.67146737] [ 0. 0. 0. 1. ]] SLAMing on 71.942557844 meters Centerline goodness [0,1] 0.24119790431426658 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.67 [[ 0.99975638 -0.0040474 -0.02169768 -0.02454423] [ 0.00390151 0.99996953 -0.00676171 -0.11179047] [ 0.02172439 0.00667541 0.99974171 0.67168388] [ 0. 0. 0. 1. ]] SLAMing on 71.972557844 meters Centerline goodness [0,1] 0.24688121299512789 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.67 [[ 0.99975369 0.00346898 -0.02192092 -0.04426657] [-0.00363192 0.99996604 -0.00739741 -0.11791902] [ 0.02189451 0.0074752 0.99973234 0.67039064] [ 0. 0. 0. 1. ]] SLAMing on 72.002557844 meters Centerline goodness [0,1] 0.24091625466871047 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.67 [[ 0.99974922 -0.00414318 -0.02200747 -0.02331831] [ 0.00400375 0.99997166 -0.0063756 -0.11324267] [ 0.02203326 0.00628589 0.99973748 0.67216003] [ 0. 0. 0. 1. ]] SLAMing on 72.032557844 meters Centerline goodness [0,1] 0.2469143864690132 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.67 [[ 0.99974551 -0.0041356 -0.02217661 -0.02284655] [ 0.00399644 0.99997207 -0.00631567 -0.11357261] [ 0.02220211 0.00622543 0.99973412 0.67208949] [ 0. 0. 0. 1. ]] SLAMing on 72.062557844 meters Centerline goodness [0,1] 0.24067349673626426 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.67 [[ 0.99974328 -0.00415856 -0.02227306 -0.02264991] [ 0.00401767 0.99997166 -0.00636683 -0.11325628] [ 0.02229891 0.00627571 0.99973165 0.67217219] [ 0. 0. 0. 1. ]] SLAMing on 72.092557844 meters Centerline goodness [0,1] 0.24338532765073662 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.67 [[ 0.99974943 -0.00430711 -0.02196639 -0.02381506] [ 0.00415929 0.99996843 -0.00677022 -0.11130334] [ 0.02199486 0.00667716 0.99973579 0.67280709] [ 0. 0. 0. 1. ]] SLAMing on 72.122557844 meters Centerline goodness [0,1] 0.2456838148520477 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.67 [[ 0.99975167 -0.00440049 -0.02184569 -0.02429695] [ 0.00424763 0.99996621 -0.00703871 -0.10996549] [ 0.02187592 0.00694417 0.99973658 0.67311883] [ 0. 0. 0. 1. ]] SLAMing on 72.152557844 meters Centerline goodness [0,1] 0.2388519924098672 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.11, Z:0.67 [[ 0.99978973 0.00437352 -0.02003438 -0.0045616 ] [-0.00454403 0.99995377 -0.00847356 -0.11062312] [ 0.01999639 0.00856282 0.99976338 0.67370278] [ 0. 0. 0. 1. ]] SLAMing on 72.182557844 meters Centerline goodness [0,1] 0.24528466073487498 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.11, Z:0.67 [[ 0.99979156 0.00421116 -0.01997762 -0.0046491 ] [-0.00439093 0.99995019 -0.00896346 -0.10805165] [ 0.01993888 0.00904931 0.99976025 0.673595 ] [ 0. 0. 0. 1. ]] SLAMing on 72.212557844 meters Centerline goodness [0,1] 0.24387009825232586 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.11, Z:0.67 [[ 0.99979234 0.00411947 -0.01995748 -0.00451733] [-0.00430418 0.99994822 -0.00922143 -0.10676596] [ 0.01991846 0.00930541 0.9997583 0.67329721] [ 0. 0. 0. 1. ]] SLAMing on 72.242557844 meters Centerline goodness [0,1] 0.24267411158723973 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:0.67 [[ 0.99979371 0.00398397 -0.01991636 -0.00420921] [-0.00417569 0.99994526 -0.00959422 -0.1048812 ] [ 0.01987705 0.0096754 0.99975561 0.67262048] [ 0. 0. 0. 1. ]] SLAMing on 72.272557844 meters Centerline goodness [0,1] 0.24356444232395735 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:0.67 [[ 0.99979342 0.00392232 -0.01994344 -0.00406011] [-0.00411764 0.99994387 -0.0097618 -0.10415014] [ 0.01990404 0.0098419 0.99975345 0.6724882 ] [ 0. 0. 0. 1. ]] SLAMing on 72.302557844 meters Centerline goodness [0,1] 0.2412351584890211 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:0.67 [[ 0.99979226 0.0037986 -0.02002541 -0.00379138] [-0.00400039 0.99994153 -0.01004619 -0.10294894] [ 0.01998608 0.01012422 0.999749 0.67242012] [ 0. 0. 0. 1. ]] SLAMing on 72.33255784400001 meters Centerline goodness [0,1] 0.2431290098838217 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:0.67 [[ 0.99979215 0.0037492 -0.02003994 -0.00347055] [-0.00396305 0.99993551 -0.01064245 -0.0995328 ] [ 0.01999875 0.01071966 0.99974254 0.6718792 ] [ 0. 0. 0. 1. ]] SLAMing on 72.362557844 meters Centerline goodness [0,1] 0.24642140176311422 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:0.67 [[ 0.99979367 0.00364051 -0.01998418 -0.00353215] [-0.00386222 0.9999313 -0.01106685 -0.09724399] [ 0.01994252 0.01114175 0.99973904 0.67173301] [ 0. 0. 0. 1. ]] SLAMing on 72.392557844 meters Centerline goodness [0,1] 0.2439688127686227 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:0.67 [[ 9.99812664e-01 -9.43320788e-04 -1.93325461e-02 1.86914143e-02] [ 7.90131912e-04 9.99968245e-01 -7.92999230e-03 -9.12623298e-02] [ 1.93394127e-02 7.91323146e-03 9.99781660e-01 6.72356008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422557844 meters Centerline goodness [0,1] 0.24366584935690627 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:0.67 [[ 9.99817639e-01 -9.98797307e-04 -1.90706696e-02 1.76923889e-02] [ 8.44028816e-04 9.99966661e-01 -8.12184956e-03 -9.02395712e-02] [ 1.90781459e-02 8.10427226e-03 9.99785149e-01 6.72866608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.452557844 meters Centerline goodness [0,1] 0.24103773584905663 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:0.67 [[ 9.99823710e-01 -1.04199955e-03 -1.87473251e-02 1.64900124e-02] [ 8.87141548e-04 9.99965437e-01 -8.26669319e-03 -8.94261087e-02] [ 1.87552910e-02 8.24860433e-03 9.99790078e-01 6.73461953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.482557844 meters Centerline goodness [0,1] 0.2478495918054674 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:0.67 [[ 0.99976909 -0.00188588 -0.02140563 -0.02999969] [ 0.00172236 0.99996922 -0.00765507 -0.09073551] [ 0.0214194 0.00761643 0.99974157 0.67466572] [ 0. 0. 0. 1. ]] SLAMing on 72.512557844 meters Centerline goodness [0,1] 0.24162746235311805 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:0.67 [[ 9.99793328e-01 -1.67929569e-04 -2.03291332e-02 1.53871366e-02] [ 4.27895741e-06 9.99967600e-01 -8.04982945e-03 -8.55795593e-02] [ 2.03298263e-02 8.04807878e-03 9.99760935e-01 6.74362702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.542557844 meters Centerline goodness [0,1] 0.24604956299993463 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.09, Z:0.67 [[ 9.99714908e-01 -7.08612334e-04 -2.38662859e-02 -2.88999553e-02] [ 5.36084068e-04 9.99973686e-01 -7.23457573e-03 -8.57807318e-02] [ 2.38707844e-02 7.21971888e-03 9.99688982e-01 6.74867309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.572557844 meters Centerline goodness [0,1] 0.24524097949294799 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:0.68 [[ 9.99717711e-01 -8.02752093e-04 -2.37456171e-02 -2.93396911e-02] [ 6.24306979e-04 9.99971520e-01 -7.52132431e-03 -8.42012823e-02] [ 2.37509786e-02 7.50437657e-03 9.99689740e-01 6.75058567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.602557844 meters Centerline goodness [0,1] 0.24340321122637854 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:0.68 [[ 9.99719943e-01 -8.98688233e-04 -2.36479943e-02 -2.97648342e-02] [ 7.14492706e-04 9.99969353e-01 -7.79635180e-03 -8.27800495e-02] [ 2.36542761e-02 7.77727206e-03 9.99689947e-01 6.75321957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.632557844 meters Centerline goodness [0,1] 0.24338384492509602 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:0.68 [[ 9.99718139e-01 -1.08508678e-03 -2.37163266e-02 -2.95353845e-02] [ 8.89565842e-04 9.99965547e-01 -8.25314504e-03 -8.06121767e-02] [ 2.37244648e-02 8.22972157e-03 9.99684661e-01 6.75201818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.662557844 meters Centerline goodness [0,1] 0.24465722110802013 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:0.67 [[ 9.99714174e-01 -1.16838122e-03 -2.38789654e-02 -2.88321266e-02] [ 9.67599667e-04 9.99964099e-01 -8.41812720e-03 -7.99538897e-02] [ 2.38879437e-02 8.39261580e-03 9.99679414e-01 6.74713818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.692557844 meters Centerline goodness [0,1] 0.24486438513323372 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:0.67 [[ 0.99970928 -0.00128082 -0.02407734 -0.02778732] [ 0.00107434 0.99996256 -0.00858631 -0.07933814] [ 0.02408743 0.00855795 0.99967323 0.67378929] [ 0. 0. 0. 1. ]] SLAMing on 72.722557844 meters Centerline goodness [0,1] 0.2451938706950736 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:0.67 [[ 0.99970803 -0.00130953 -0.02412751 -0.02752424] [ 0.00110179 0.99996223 -0.00862133 -0.07919311] [ 0.02413789 0.00859223 0.99967171 0.67355303] [ 0. 0. 0. 1. ]] SLAMing on 72.752557844 meters Centerline goodness [0,1] 0.24480048630107243 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:0.67 [[ 0.99970736 -0.00137194 -0.02415167 -0.02760399] [ 0.00116184 0.99996138 -0.00871112 -0.07880744] [ 0.02416269 0.00868051 0.99967035 0.67377784] [ 0. 0. 0. 1. ]] SLAMing on 72.782557844 meters Centerline goodness [0,1] 0.24594028287061287 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.08, Z:0.67 [[ 0.99970366 -0.00144045 -0.02430047 -0.02722126] [ 0.00122504 0.99995985 -0.00887693 -0.0779923 ] [ 0.02431228 0.00884453 0.99966529 0.67377842] [ 0. 0. 0. 1. ]] SLAMing on 72.812557844 meters Centerline goodness [0,1] 0.2451639397410681 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.07, Z:0.67 [[ 0.999675 -0.00638509 -0.02468032 -0.00481589] [ 0.00624455 0.99996387 -0.00576759 -0.07406978] [ 0.02471626 0.0056116 0.99967876 0.67438568] [ 0. 0. 0. 1. ]] SLAMing on 72.842557844 meters Centerline goodness [0,1] 0.2428300340708155 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.07, Z:0.67 [[ 0.99967477 -0.00645924 -0.02467034 -0.00483919] [ 0.006312 0.99996183 -0.0060414 -0.07256912] [ 0.02470842 0.00588372 0.99967739 0.67436189] [ 0. 0. 0. 1. ]] SLAMing on 72.872557844 meters Centerline goodness [0,1] 0.24643983041634965 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.68 [[ 0.99969108 -0.00650288 -0.02398872 -0.00706653] [ 0.00635003 0.99995909 -0.00644224 -0.07016776] [ 0.02402963 0.00628792 0.99969147 0.67510875] [ 0. 0. 0. 1. ]] SLAMing on 72.902557844 meters Centerline goodness [0,1] 0.24297445453166644 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.68 [[ 0.99969462 -0.00657012 -0.02382223 -0.00762346] [ 0.00641297 0.99995721 -0.00666737 -0.06888812] [ 0.02386502 0.00651256 0.99969398 0.67527512] [ 0. 0. 0. 1. ]] SLAMing on 72.932557844 meters Centerline goodness [0,1] 0.24592894558046774 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.67 [[ 0.99969423 -0.00678667 -0.02377802 -0.00746675] [ 0.00661832 0.99995252 -0.0071517 -0.06661066] [ 0.02382543 0.00699214 0.99969168 0.67474714] [ 0. 0. 0. 1. ]] SLAMing on 72.962557844 meters Centerline goodness [0,1] 0.2434528322322106 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:0.68 [[ 0.99976085 0.00170788 -0.02180184 0.01175404] [-0.00189276 0.9999624 -0.00846224 -0.06859881] [ 0.02178657 0.00850148 0.9997265 0.67545566] [ 0. 0. 0. 1. ]] SLAMing on 72.992557844 meters Centerline goodness [0,1] 0.24394057857701335 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:0.68 [[ 0.99976349 0.00171336 -0.02168004 0.01109649] [-0.00189574 0.99996297 -0.0083946 -0.06892686] [ 0.02166486 0.00843372 0.99972972 0.67604112] [ 0. 0. 0. 1. ]] SLAMing on 73.022557844 meters Centerline goodness [0,1] 0.24653673032382117 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:0.68 [[ 0.99975895 0.00167327 -0.02189171 0.01147068] [-0.00184973 0.99996594 -0.00804317 -0.07108155] [ 0.0218775 0.00808173 0.99972799 0.67634906] [ 0. 0. 0. 1. ]] SLAMing on 73.052557844 meters Centerline goodness [0,1] 0.24249684192185395 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:0.68 [[ 0.99975425 0.00173336 -0.02210036 0.01211 ] [-0.00190498 0.99996818 -0.00774665 -0.07275519] [ 0.02208623 0.00778685 0.99972574 0.67616805] [ 0. 0. 0. 1. ]] SLAMing on 73.08255784400001 meters Centerline goodness [0,1] 0.2417128267266747 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.68 [[ 0.99973098 -0.00583724 -0.02244764 0.0319591 ] [ 0.005689 0.99996163 -0.00666204 -0.06993504] [ 0.02248567 0.00653254 0.99972582 0.67786476] [ 0. 0. 0. 1. ]] SLAMing on 73.112557844 meters Centerline goodness [0,1] 0.24672070423148995 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.68 [[ 0.99973202 -0.00565459 -0.0224481 0.03173916] [ 0.00551691 0.99996562 -0.00619039 -0.07214992] [ 0.02248233 0.00606488 0.99972884 0.67825278] [ 0. 0. 0. 1. ]] SLAMing on 73.142557844 meters Centerline goodness [0,1] 0.24672070423148995 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.68 [[ 0.99973202 -0.00565459 -0.0224481 0.03173916] [ 0.00551691 0.99996562 -0.00619039 -0.07214992] [ 0.02248233 0.00606488 0.99972884 0.67825278] [ 0. 0. 0. 1. ]] SLAMing on 73.172557844 meters Centerline goodness [0,1] 0.2467881489250131 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.68 [[ 0.99973241 -0.00562887 -0.02243713 0.03161899] [ 0.0054914 0.9999658 -0.00618413 -0.07208261] [ 0.02247117 0.00605926 0.99972913 0.67840782] [ 0. 0. 0. 1. ]] SLAMing on 73.202557844 meters Centerline goodness [0,1] 0.24393261841705383 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.68 [[ 0.99973384 -0.00553611 -0.02239649 0.03174362] [ 0.00539457 0.99996513 -0.00637506 -0.07090138] [ 0.02243101 0.00625254 0.99972884 0.67801025] [ 0. 0. 0. 1. ]] SLAMing on 73.232557844 meters Centerline goodness [0,1] 0.24473558006714047 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.68 [[ 0.99973233 -0.00563257 -0.02243991 0.032076 ] [ 0.00548194 0.99996207 -0.0067682 -0.06896583] [ 0.02247718 0.00664338 0.99972528 0.67759116] [ 0. 0. 0. 1. ]] SLAMing on 73.262557844 meters Centerline goodness [0,1] 0.23912338714906312 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:0.68 [[ 0.99974694 0.00369055 -0.02219102 0.05338426] [-0.00386849 0.99996067 -0.00798084 -0.06861287] [ 0.02216069 0.00806466 0.99972189 0.67845555] [ 0. 0. 0. 1. ]] SLAMing on 73.292557844 meters Centerline goodness [0,1] 0.24668994137408606 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.68 [[ 0.99970049 -0.00191259 -0.02439823 0.03173237] [ 0.00180794 0.99998908 -0.00431031 -0.06272418] [ 0.0244062 0.00426491 0.99969303 0.67890735] [ 0. 0. 0. 1. ]] SLAMing on 73.322557844 meters Centerline goodness [0,1] 0.2418835727400367 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:0.68 [[ 9.99752599e-01 -5.44648032e-04 -2.22360893e-02 7.51790866e-02] [ 4.36140539e-04 9.99987976e-01 -4.88435013e-03 -5.69674053e-02] [ 2.22384822e-02 4.87344368e-03 9.99740816e-01 6.79459007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.352557844 meters Centerline goodness [0,1] 0.24599070498134445 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:0.68 [[ 9.99754821e-01 -6.20126028e-04 -2.21340063e-02 7.46718530e-02] [ 5.08814592e-04 9.99987199e-01 -5.03425573e-03 -5.64204670e-02] [ 2.21368448e-02 5.02175933e-03 9.99742338e-01 6.79871252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.382557844 meters Centerline goodness [0,1] 0.24384086358492207 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:0.68 [[ 9.99756945e-01 -7.31183489e-04 -2.20344239e-02 7.42166461e-02] [ 6.19240226e-04 9.99986871e-01 -5.08677566e-03 -5.65781818e-02] [ 2.20378540e-02 5.07189469e-03 9.99744272e-01 6.80171444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.412557844 meters Centerline goodness [0,1] 0.24627028441807708 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:0.68 [[ 9.99758829e-01 -7.10582669e-04 -2.19494597e-02 7.39558694e-02] [ 5.99694445e-04 9.99987028e-01 -5.05814883e-03 -5.63986462e-02] [ 2.19527692e-02 5.04376599e-03 9.99746286e-01 6.80194198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.442557844 meters Centerline goodness [0,1] 0.237584528578197 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:0.68 [[ 0.99975811 -0.00630424 -0.02107085 0.09614331] [ 0.00626359 0.99997839 -0.00199495 -0.05292185] [ 0.02108298 0.00186249 0.99977599 0.67990706] [ 0. 0. 0. 1. ]] SLAMing on 73.472557844 meters Centerline goodness [0,1] 0.2462894350294872 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:0.68 [[ 0.9996757 -0.00779543 -0.02424318 0.0538219 ] [ 0.00775156 0.99996815 -0.00190294 -0.05589725] [ 0.02425724 0.0017144 0.99970428 0.67890708] [ 0. 0. 0. 1. ]] SLAMing on 73.502557844 meters Centerline goodness [0,1] 0.24689137919691218 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:0.68 [[ 0.99967158 -0.00786196 -0.0243912 0.0542651 ] [ 0.00781526 0.99996744 -0.00200915 -0.05562282] [ 0.0244062 0.00181786 0.99970047 0.67878838] [ 0. 0. 0. 1. ]] SLAMing on 73.532557844 meters Centerline goodness [0,1] 0.24264849497601948 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:0.68 [[ 9.99737281e-01 8.17018681e-04 -2.29063449e-02 7.39667119e-02] [-8.94568990e-04 9.99993903e-01 -3.37549575e-03 -5.68251020e-02] [ 2.29034474e-02 3.39510025e-03 9.99731917e-01 6.79999046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562557844 meters Centerline goodness [0,1] 0.24358113232075917 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:0.68 [[ 9.99742639e-01 7.35549684e-04 -2.26741037e-02 7.31003626e-02] [-8.21224083e-04 9.99992558e-01 -3.76943328e-03 -5.44055329e-02] [ 2.26711624e-02 3.78708369e-03 9.99735803e-01 6.80417530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.592557844 meters Centerline goodness [0,1] 0.24678820774331922 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:0.68 [[ 9.99739002e-01 6.29144231e-04 -2.28370840e-02 7.34752537e-02] [-7.20451948e-04 9.99991780e-01 -3.99021401e-03 -5.35773781e-02] [ 2.28343859e-02 4.00562559e-03 9.99731237e-01 6.80495911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.622557844 meters Centerline goodness [0,1] 0.24217128027681656 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:0.68 [[ 0.99970481 -0.00685362 -0.0233093 0.09318124] [ 0.00677422 0.99997099 -0.00348388 -0.04732432] [ 0.0233325 0.00332495 0.99972223 0.68211519] [ 0. 0. 0. 1. ]] SLAMing on 73.652557844 meters Centerline goodness [0,1] 0.2441490398146745 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:0.68 [[ 0.99970541 -0.00692816 -0.02326134 0.09284154] [ 0.00684112 0.9999693 -0.00381955 -0.04523203] [ 0.02328709 0.00365929 0.99972212 0.68233286] [ 0. 0. 0. 1. ]] SLAMing on 73.682557844 meters Centerline goodness [0,1] 0.2421146061091507 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:0.68 [[ 0.9997114 -0.00692479 -0.02300345 0.09184073] [ 0.00683577 0.99996885 -0.00394642 -0.0440706 ] [ 0.02303006 0.00378804 0.9997276 0.68285781] [ 0. 0. 0. 1. ]] SLAMing on 73.712557844 meters Centerline goodness [0,1] 0.24426817342171037 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:0.68 [[ 0.99971946 -0.00695406 -0.0226416 0.09033727] [ 0.0068643 0.99996828 -0.00403981 -0.04359335] [ 0.02266898 0.00388326 0.99973548 0.68385984] [ 0. 0. 0. 1. ]] SLAMing on 73.742557844 meters Centerline goodness [0,1] 0.2425336041837749 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:0.69 [[ 0.99976792 0.001528 -0.02148865 0.10935984] [-0.00165381 0.99998159 -0.00583775 -0.04584812] [ 0.02147933 0.00587193 0.99975205 0.68567245] [ 0. 0. 0. 1. ]] SLAMing on 73.772557844 meters Centerline goodness [0,1] 0.2469092656502555 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:0.69 [[ 0.99976864 0.00144817 -0.02146071 0.10940686] [-0.00157955 0.99998011 -0.00610622 -0.04449505] [ 0.02145144 0.00613871 0.99975105 0.68545884] [ 0. 0. 0. 1. ]] SLAMing on 73.802557844 meters Centerline goodness [0,1] 0.24773904644832734 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:0.68 [[ 0.99974708 0.00547866 -0.02181207 0.11062675] [-0.00553527 0.99998147 -0.00253578 -0.04168361] [ 0.02179777 0.00265588 0.99975887 0.68493307] [ 0. 0. 0. 1. ]] SLAMing on 73.83255784400001 meters Centerline goodness [0,1] 0.24199479581084282 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:0.68 [[ 0.9997735 0.0074082 -0.01995185 0.15564213] [-0.00746658 0.99996805 -0.00285318 -0.03410032] [ 0.01993008 0.00300151 0.99979687 0.68459455] [ 0. 0. 0. 1. ]] SLAMing on 73.862557844 meters Centerline goodness [0,1] 0.2428904328313123 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:0.68 [[ 0.99977362 0.007184 -0.02002725 0.15601755] [-0.00725659 0.99996735 -0.0035543 -0.0307623 ] [ 0.02000106 0.00369882 0.99979312 0.68423298] [ 0. 0. 0. 1. ]] SLAMing on 73.892557844 meters Centerline goodness [0,1] 0.24213721395819432 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:0.68 [[ 0.99977571 0.00702015 -0.01998132 0.15621914] [-0.00711451 0.99996386 -0.00465522 -0.02444777] [ 0.01994792 0.00479633 0.99978952 0.68348939] [ 0. 0. 0. 1. ]] SLAMing on 73.922557844 meters Centerline goodness [0,1] 0.24597626048132415 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.68 [[ 0.9998023 -0.00152618 -0.01982514 0.13560621] [ 0.00145592 0.99999261 -0.00355771 -0.01754982] [ 0.01983042 0.00352814 0.99979713 0.68157499] [ 0. 0. 0. 1. ]] SLAMing on 73.952557844 meters Centerline goodness [0,1] 0.24503282371158752 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.68 [[ 0.99980588 -0.00171565 -0.01962806 0.13487078] [ 0.00163631 0.99999043 -0.00405778 -0.01495257] [ 0.01963483 0.00402488 0.99979912 0.68186542] [ 0. 0. 0. 1. ]] SLAMing on 73.982557844 meters Centerline goodness [0,1] 0.24362063772107234 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.68 [[ 0.99978641 -0.00985704 -0.01816512 0.15427088] [ 0.00979659 0.99994619 -0.00341368 -0.00711654] [ 0.01819779 0.003235 0.99982917 0.68399581] [ 0. 0. 0. 1. ]] SLAMing on 74.012557844 meters Centerline goodness [0,1] 0.2441938777727085 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.68 [[ 0.9998348 -0.00256846 -0.01799374 0.13577218] [ 0.00248743 0.99998667 -0.00452456 -0.01260143] [ 0.01800512 0.00447906 0.99982786 0.68201747] [ 0. 0. 0. 1. ]] SLAMing on 74.042557844 meters Centerline goodness [0,1] 0.24349233757824307 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.68 [[ 0.99981211 -0.00331906 -0.01909768 0.13927677] [ 0.00322278 0.99998195 -0.00507022 -0.01190665] [ 0.01911417 0.00500772 0.99980477 0.68096685] [ 0. 0. 0. 1. ]] SLAMing on 74.072557844 meters Centerline goodness [0,1] 0.24489127587110293 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.68 [[ 0.99980299 -0.00345055 -0.01954677 0.14059901] [ 0.00335224 0.99998158 -0.00505964 -0.01249217] [ 0.01956387 0.00499312 0.99979614 0.68068329] [ 0. 0. 0. 1. ]] SLAMing on 74.102557844 meters Centerline goodness [0,1] 0.24286678129148798 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.68 [[ 0.99979383 -0.00354561 -0.01999301 0.14183285] [ 0.00344738 0.99998183 -0.0049458 -0.0135604 ] [ 0.02001019 0.00487585 0.99978789 0.68048583] [ 0. 0. 0. 1. ]] SLAMing on 74.132557844 meters Centerline goodness [0,1] 0.24463022788788968 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.68 [[ 0.99979332 -0.00379496 -0.01997282 0.14146324] [ 0.00369925 0.99998151 -0.00482694 -0.01490903] [ 0.01999077 0.00475206 0.99978887 0.6811412 ] [ 0. 0. 0. 1. ]] SLAMing on 74.162557844 meters Centerline goodness [0,1] 0.2453157224976963 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.68 [[ 0.99979706 -0.00372577 -0.01979792 0.1405911 ] [ 0.00363591 0.99998294 -0.00457245 -0.01609376] [ 0.01981462 0.00449954 0.99979355 0.68192998] [ 0. 0. 0. 1. ]] SLAMing on 74.192557844 meters Centerline goodness [0,1] 0.245671136570759 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:0.68 [[ 0.99983595 0.00451863 -0.01754022 0.15940372] [-0.00462218 0.9999721 -0.00586754 -0.01976102] [ 0.01751322 0.00594765 0.99982894 0.68303291] [ 0. 0. 0. 1. ]] SLAMing on 74.222557844 meters Centerline goodness [0,1] 0.24377947985633308 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:0.68 [[ 0.99983713 0.00459162 -0.01745366 0.15916126] [-0.00469116 0.99997294 -0.00566609 -0.02070826] [ 0.01742717 0.00574705 0.99983162 0.68308624] [ 0. 0. 0. 1. ]] SLAMing on 74.252557844 meters Centerline goodness [0,1] 0.24721230072305955 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:0.68 [[ 0.99982976 0.00464919 -0.01785571 0.16096228] [-0.00475141 0.99997254 -0.00568692 -0.02038694] [ 0.01782878 0.00577079 0.9998244 0.68176217] [ 0. 0. 0. 1. ]] SLAMing on 74.282557844 meters Centerline goodness [0,1] 0.2422886539999568 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.68 [[ 9.99801711e-01 -2.45993658e-05 -1.99132388e-02 1.82865335e-01] [-3.18980784e-05 9.99995976e-01 -2.83685746e-03 -1.63405149e-02] [ 1.99132285e-02 2.83693014e-03 9.99797687e-01 6.82995760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.312557844 meters Centerline goodness [0,1] 0.24615049073064343 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.68 [[ 9.99798945e-01 -2.35709467e-05 -2.00516825e-02 1.83339281e-01] [-3.89476522e-05 9.99995140e-01 -3.11747674e-03 -1.47961118e-02] [ 2.00516585e-02 3.11763092e-03 9.99794084e-01 6.82739680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342557844 meters Centerline goodness [0,1] 0.24479132791327918 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.68 [[ 9.99808951e-01 5.35385514e-04 -1.95390517e-02 1.81567205e-01] [-5.97004907e-04 9.99994867e-01 -3.14795645e-03 -1.30017979e-02] [ 1.95372661e-02 3.15901995e-03 9.99804139e-01 6.83326048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.372557844 meters Centerline goodness [0,1] 0.24493418773813647 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.68 [[ 9.99815703e-01 5.31402644e-04 -1.91905602e-02 1.80531571e-01] [-5.95395993e-04 9.99994281e-01 -3.32906688e-03 -1.19651470e-02] [ 1.91886814e-02 3.33987933e-03 9.99810302e-01 6.83520432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402557844 meters Centerline goodness [0,1] 0.24693619433904668 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.68 [[ 9.99818271e-01 5.29910954e-04 -1.90563571e-02 1.80211234e-01] [-5.94658377e-04 9.99994070e-01 -3.39217506e-03 -1.15398855e-02] [ 1.90544465e-02 3.40289063e-03 9.99812657e-01 6.83432429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.432557844 meters Centerline goodness [0,1] 0.24605794709178574 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.68 [[ 9.99814402e-01 6.21591377e-04 -1.92555092e-02 1.80903608e-01] [-6.82440863e-04 9.99994794e-01 -3.15369810e-03 -1.26183330e-02] [ 1.92534486e-02 3.16625353e-03 9.99809622e-01 6.83101771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.462557844 meters Centerline goodness [0,1] 0.24364140560682868 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.68 [[ 9.99811986e-01 7.13395497e-04 -1.93773971e-02 1.81139559e-01] [-7.68905931e-04 9.99995622e-01 -2.85740090e-03 -1.41030207e-02] [ 1.93752738e-02 2.87176307e-03 9.99808157e-01 6.83268853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.492557844 meters Centerline goodness [0,1] 0.24684759369955056 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.68 [[ 9.99825324e-01 5.24433233e-04 -1.86827599e-02 1.78827898e-01] [-5.70605291e-04 9.99996796e-01 -2.46612746e-03 -1.71737782e-02] [ 1.86814067e-02 2.47635717e-03 9.99822421e-01 6.84382207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.522557844 meters Centerline goodness [0,1] 0.24294357009064094 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.69 [[ 0.9998263 -0.00731182 -0.0171436 0.19882528] [ 0.00729145 0.99997264 -0.00125055 -0.014187 ] [ 0.01715228 0.00112533 0.99985226 0.6855475 ] [ 0. 0. 0. 1. ]] SLAMing on 74.552557844 meters Centerline goodness [0,1] 0.24508850418206574 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.69 [[ 9.99827681e-01 -7.21004456e-03 -1.71062596e-02 1.98799807e-01] [ 7.19582359e-03 9.99973711e-01 -8.92737502e-04 -1.60320923e-02] [ 1.71122465e-02 7.69490040e-04 9.99853279e-01 6.85488588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58255784400001 meters Centerline goodness [0,1] 0.24397107849504263 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.68 [[ 9.99810505e-01 -7.37841277e-03 -1.80142557e-02 2.01801405e-01] [ 7.37097096e-03 9.99972719e-01 -4.79469460e-04 -1.99751412e-02] [ 1.80173020e-02 3.46596047e-04 9.99837615e-01 6.84572354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612557844 meters Centerline goodness [0,1] 0.24998899405679065 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 9.99816726e-01 3.68227666e-04 -1.91410295e-02 1.82676269e-01] [-3.94844138e-04 9.99998960e-01 -1.38678489e-03 -2.82474050e-02] [ 1.91404989e-02 1.39408846e-03 9.99815832e-01 6.83254888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642557844 meters Centerline goodness [0,1] 0.24638091298952913 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:0.68 [[ 0.9998323 -0.00481334 -0.01766939 0.20443257] [ 0.00485627 0.99998536 0.0023874 -0.02783138] [ 0.01765764 -0.00247281 0.99984103 0.68331945] [ 0. 0. 0. 1. ]] SLAMing on 74.672557844 meters Centerline goodness [0,1] 0.24618213281418988 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.68 [[ 0.99986204 0.00423885 -0.01606023 0.2240542 ] [-0.0042143 0.9999899 0.00156197 -0.03109136] [ 0.01606669 -0.00149407 0.99986981 0.68418381] [ 0. 0. 0. 1. ]] SLAMing on 74.702557844 meters Centerline goodness [0,1] 0.24704799877319428 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:0.68 [[ 0.99985202 -0.00483105 -0.01651073 0.20272095] [ 0.00487458 0.99998475 0.00259737 -0.0284616 ] [ 0.01649794 -0.00267747 0.99986031 0.68336596] [ 0. 0. 0. 1. ]] SLAMing on 74.732557844 meters Centerline goodness [0,1] 0.244940668824164 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 9.99888381e-01 1.88381320e-03 -1.48214800e-02 2.25277705e-01] [-1.89123477e-03 9.99998093e-01 -4.86730334e-04 -2.92203386e-02] [ 1.48205348e-02 5.14706904e-04 9.99890037e-01 6.82445767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.762557844 meters Centerline goodness [0,1] 0.2467393675027263 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 9.99886122e-01 1.89863275e-03 -1.49712462e-02 2.25649694e-01] [-1.90463913e-03 9.99998111e-01 -3.86945820e-04 -3.01597481e-02] [ 1.49704833e-02 4.15416577e-04 9.99887850e-01 6.82453384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.792557844 meters Centerline goodness [0,1] 0.24636607317976766 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 9.99886212e-01 1.89824723e-03 -1.49652951e-02 2.25715954e-01] [-1.90544919e-03 9.99998076e-01 -4.67000432e-04 -2.96305624e-02] [ 1.49643798e-02 4.95462903e-04 9.99887905e-01 6.82300844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.822557844 meters Centerline goodness [0,1] 0.24646600843808442 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 9.99884545e-01 1.78209169e-03 -1.50904246e-02 2.26211077e-01] [-1.79385084e-03 9.99998098e-01 -7.65745662e-04 -2.86251237e-02] [ 1.50890313e-02 7.92727223e-04 9.99885840e-01 6.82019906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.852557844 meters Centerline goodness [0,1] 0.2461367933754972 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 9.99884182e-01 1.73631013e-03 -1.51197732e-02 2.26311054e-01] [-1.74904887e-03 9.99998127e-01 -8.29338991e-04 -2.86148229e-02] [ 1.51183049e-02 8.55688161e-04 9.99885346e-01 6.81984726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.882557844 meters Centerline goodness [0,1] 0.2484971249346576 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 9.99884988e-01 1.84245230e-03 -1.50537529e-02 2.26304637e-01] [-1.85478564e-03 9.99997956e-01 -8.05366006e-04 -2.76805906e-02] [ 1.50522382e-02 8.33194864e-04 9.99886361e-01 6.81593850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.912557844 meters Centerline goodness [0,1] 0.24398923704539532 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 9.99884548e-01 1.88712951e-03 -1.50774323e-02 2.26686568e-01] [-1.89839076e-03 9.99997930e-01 -7.32617022e-04 -2.77532020e-02] [ 1.50760186e-02 7.61155298e-04 9.99886061e-01 6.81076961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.942557844 meters Centerline goodness [0,1] 0.24065682720524773 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 9.99880585e-01 1.86500373e-03 -1.53407288e-02 2.27602607e-01] [-1.87412358e-03 9.99998076e-01 -5.80131621e-04 -2.89881917e-02] [ 1.53396173e-02 6.08812766e-04 9.99882156e-01 6.80753589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972557844 meters Centerline goodness [0,1] 0.24542036462204342 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 0.99988095 -0.00213602 -0.01528162 0.22767765] [ 0.00206399 0.99998669 -0.00472809 -0.02809707] [ 0.01529152 0.00469599 0.99987205 0.68032031] [ 0. 0. 0. 1. ]] SLAMing on 75.002557844 meters Centerline goodness [0,1] 0.24348562494571357 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 0.99988005 -0.00202365 -0.01535568 0.22751423] [ 0.00195732 0.9999887 -0.00433316 -0.02990641] [ 0.01536427 0.00430258 0.99987271 0.68085627] [ 0. 0. 0. 1. ]] SLAMing on 75.032557844 meters Centerline goodness [0,1] 0.24348562494571357 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 0.99988005 -0.00202365 -0.01535568 0.22751423] [ 0.00195732 0.9999887 -0.00433316 -0.02990641] [ 0.01536427 0.00430258 0.99987271 0.68085627] [ 0. 0. 0. 1. ]] SLAMing on 75.062557844 meters Centerline goodness [0,1] 0.24058595433003016 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:0.68 [[ 0.9998845 -0.00190127 -0.01507886 0.22643424] [ 0.0018376 0.99998934 -0.00423577 -0.02948026] [ 0.01508675 0.00420758 0.99987734 0.68149417] [ 0. 0. 0. 1. ]] SLAMing on 75.092557844 meters Centerline goodness [0,1] 0.2484017864961906 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99985344 -0.00264843 -0.01691399 0.17831578] [ 0.00258328 0.99998916 -0.00387255 -0.03254985] [ 0.01692406 0.00382829 0.99984945 0.68342419] [ 0. 0. 0. 1. ]] SLAMing on 75.122557844 meters Centerline goodness [0,1] 0.24555981194497645 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99984892 -0.0027587 -0.01716172 0.17930526] [ 0.00268975 0.99998822 -0.00403953 -0.03251033] [ 0.01717266 0.00399276 0.99984457 0.6828478 ] [ 0. 0. 0. 1. ]] SLAMing on 75.152557844 meters Centerline goodness [0,1] 0.24518803029316671 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99984393 -0.00280581 -0.01744231 0.18047018] [ 0.00273319 0.9999875 -0.00418573 -0.0320912 ] [ 0.01745384 0.0041374 0.99983911 0.68203554] [ 0. 0. 0. 1. ]] SLAMing on 75.182557844 meters Centerline goodness [0,1] 0.24172121055019113 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99984283 -0.00267881 -0.01752517 0.18083132] [ 0.00260255 0.99998705 -0.00437303 -0.03001512] [ 0.01753666 0.00432674 0.99983686 0.68158593] [ 0. 0. 0. 1. ]] SLAMing on 75.212557844 meters Centerline goodness [0,1] 0.24493773687060094 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99984524 -0.00265315 -0.01739103 0.18029454] [ 0.00257581 0.9999867 -0.00446798 -0.02893656] [ 0.01740266 0.00442249 0.99983878 0.68186447] [ 0. 0. 0. 1. ]] SLAMing on 75.242557844 meters Centerline goodness [0,1] 0.24323798824749399 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99984651 -0.00264028 -0.01732027 0.17981601] [ 0.0025625 0.99998654 -0.00451115 -0.0284978 ] [ 0.01733195 0.00446608 0.99983982 0.68233723] [ 0. 0. 0. 1. ]] SLAMing on 75.272557844 meters Centerline goodness [0,1] 0.24571043829546935 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99984576 -0.00263509 -0.01736439 0.17977191] [ 0.00255783 0.99998674 -0.00446976 -0.0288526 ] [ 0.01737594 0.00442465 0.99983924 0.68260924] [ 0. 0. 0. 1. ]] SLAMing on 75.302557844 meters Centerline goodness [0,1] 0.2448820432832911 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99984657 -0.00259257 -0.01732371 0.1796532 ] [ 0.00251732 0.99998731 -0.00436398 -0.0294777 ] [ 0.0173348 0.0043197 0.99984041 0.68261918] [ 0. 0. 0. 1. ]] SLAMing on 75.33255784400001 meters Centerline goodness [0,1] 0.2466370627098451 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.9998511 -0.0025824 -0.01706182 0.1788166 ] [ 0.00250734 0.99998709 -0.00441921 -0.02895334] [ 0.01707301 0.00437577 0.99984467 0.68289287] [ 0. 0. 0. 1. ]] SLAMing on 75.362557844 meters Centerline goodness [0,1] 0.24811523670888824 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99985647 -0.00257531 -0.01674516 0.17791721] [ 0.00249733 0.99998595 -0.00467633 -0.02724305] [ 0.01675696 0.00463384 0.99984885 0.68298422] [ 0. 0. 0. 1. ]] SLAMing on 75.392557844 meters Centerline goodness [0,1] 0.24620653776120693 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.9998548 -0.00262431 -0.01683717 0.17817571] [ 0.00254215 0.99998477 -0.00489923 -0.02612114] [ 0.01684977 0.00485572 0.99984624 0.68289323] [ 0. 0. 0. 1. ]] SLAMing on 75.422557844 meters Centerline goodness [0,1] 0.2506705359890955 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:0.68 [[ 0.99982601 0.00563053 -0.0177835 0.15688844] [-0.00573162 0.99996768 -0.00563887 -0.0303351 ] [ 0.01775117 0.00573982 0.99982596 0.68220351] [ 0. 0. 0. 1. ]] SLAMing on 75.452557844 meters Centerline goodness [0,1] 0.24632949164270113 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.68 [[ 0.9998431 0.00111662 -0.0176783 0.1788549 ] [-0.00116004 0.99999633 -0.00244637 -0.02395699] [ 0.0176755 0.00246649 0.99984073 0.68213303] [ 0. 0. 0. 1. ]] SLAMing on 75.482557844 meters Centerline goodness [0,1] 0.24762382281130102 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.68 [[ 0.99984645 0.00103189 -0.01749333 0.17819067] [-0.00108014 0.99999564 -0.00274884 -0.02237451] [ 0.01749041 0.00276731 0.9998432 0.68243111] [ 0. 0. 0. 1. ]] SLAMing on 75.512557844 meters Centerline goodness [0,1] 0.2480050582130554 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.68 [[ 9.99845743e-01 8.40607250e-04 -1.75437759e-02 1.78018206e-01] [-8.98276926e-04 9.99994219e-01 -3.27956591e-03 -1.99170783e-02] [ 1.75409177e-02 3.29481918e-03 9.99840718e-01 6.82848266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.542557844 meters Centerline goodness [0,1] 0.2477354483595544 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.68 [[ 9.99843550e-01 7.43969270e-04 -1.76726477e-02 1.78562892e-01] [-8.07422725e-04 9.99993253e-01 -3.58362563e-03 -1.83012884e-02] [ 1.76698623e-02 3.59733427e-03 9.99837404e-01 6.82424627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.572557844 meters Centerline goodness [0,1] 0.24758577287819272 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.68 [[ 9.99844035e-01 6.37145329e-04 -1.76493435e-02 1.78810181e-01] [-7.06475538e-04 9.99992058e-01 -3.92224700e-03 -1.65056858e-02] [ 1.76467043e-02 3.93410410e-03 9.99836545e-01 6.81863208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.602557844 meters Centerline goodness [0,1] 0.24517416388322566 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.68 [[ 9.99847317e-01 5.40815852e-04 -1.74656980e-02 1.78398621e-01] [-6.14460926e-04 9.99990943e-01 -4.21146375e-03 -1.50738226e-02] [ 1.74632622e-02 4.22155272e-03 9.99838593e-01 6.81710621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.632557844 meters Centerline goodness [0,1] 0.24673524634542499 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.68 [[ 9.99850545e-01 3.76716028e-04 -1.72842469e-02 1.77627490e-01] [-4.54454785e-04 9.99989799e-01 -4.49395802e-03 -1.39278597e-02] [ 1.72823776e-02 4.50114128e-03 9.99840517e-01 6.82191704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.662557844 meters Centerline goodness [0,1] 0.24712007809957692 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.68 [[ 9.99848369e-01 3.36817985e-04 -1.74104788e-02 1.77815223e-01] [-4.14849964e-04 9.99989886e-01 -4.47848000e-03 -1.40779978e-02] [ 1.74087942e-02 4.48502366e-03 9.99838396e-01 6.82419087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.692557844 meters Centerline goodness [0,1] 0.24551142838712448 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.68 [[ 0.99982569 -0.00792656 -0.0169042 0.19882359] [ 0.00786797 0.99996282 -0.00352987 -0.00948117] [ 0.01693155 0.00339625 0.99985088 0.68392073] [ 0. 0. 0. 1. ]] SLAMing on 75.722557844 meters Centerline goodness [0,1] 0.25192286501377414 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.69 [[ 0.99976557 -0.00936467 -0.01952199 0.15276388] [ 0.00930118 0.99995116 -0.00334054 -0.01462083] [ 0.01955232 0.00315818 0.99980385 0.68519348] [ 0. 0. 0. 1. ]] SLAMing on 75.752557844 meters Centerline goodness [0,1] 0.25025787336771643 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.69 [[ 0.99976321 -0.00934553 -0.01965164 0.15300761] [ 0.00928578 0.99995199 -0.00312939 -0.01588467] [ 0.01967994 0.00294617 0.99980199 0.68538094] [ 0. 0. 0. 1. ]] SLAMing on 75.782557844 meters Centerline goodness [0,1] 0.24709428397952993 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.69 [[ 0.99981304 -0.00111688 -0.01930378 0.17411423] [ 0.00103119 0.99998957 -0.00444832 -0.01982112] [ 0.01930855 0.00442758 0.99980377 0.68644201] [ 0. 0. 0. 1. ]] SLAMing on 75.812557844 meters Centerline goodness [0,1] 0.2472451193058568 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.69 [[ 9.99802633e-01 -1.07513421e-03 -1.98378458e-02 1.75545847e-01] [ 9.94804080e-04 9.99991268e-01 -4.05876130e-03 -2.20625042e-02] [ 1.98420363e-02 4.03822546e-03 9.99794972e-01 6.86298596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.842557844 meters Centerline goodness [0,1] 0.24553609937030962 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.69 [[ 9.99800919e-01 -9.56818966e-04 -1.99300677e-02 1.75777016e-01] [ 8.82002784e-04 9.99992533e-01 -3.76238700e-03 -2.33627951e-02] [ 1.99335188e-02 3.74405961e-03 9.99794297e-01 6.86324390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.872557844 meters Centerline goodness [0,1] 0.24446859378396002 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.69 [[ 9.99802747e-01 -8.42369678e-04 -1.98433029e-02 1.75595654e-01] [ 7.72474164e-04 9.99993472e-01 -3.52977464e-03 -2.42993772e-02] [ 1.98461467e-02 3.51374994e-03 9.99796871e-01 6.86274939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.902557844 meters Centerline goodness [0,1] 0.24896518670210444 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99801532e-01 -7.29487822e-04 -1.99088975e-02 1.76235960e-01] [ 6.66907685e-04 9.99994817e-01 -3.14978346e-03 -2.65014496e-02] [ 1.99110920e-02 3.13588093e-03 9.99796837e-01 6.85565826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.932557844 meters Centerline goodness [0,1] 0.24528261057733924 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99796322e-01 -6.72429976e-04 -2.01708275e-02 1.76906251e-01] [ 6.12269561e-04 9.99995347e-01 -2.98857307e-03 -2.74731039e-02] [ 2.01727432e-02 2.97561438e-03 9.99792081e-01 6.85566336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.962557844 meters Centerline goodness [0,1] 0.24417875597258554 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99785350e-01 -4.89690440e-04 -2.07126504e-02 1.78246205e-01] [ 4.31997912e-04 9.99996015e-01 -2.78975909e-03 -2.81344229e-02] [ 2.07139340e-02 2.78021245e-03 9.99781578e-01 6.85590814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.992557844 meters Centerline goodness [0,1] 0.24540807485704386 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99783565e-01 -3.77311166e-04 -2.08009743e-02 1.78513238e-01] [ 3.21800771e-04 9.99996379e-01 -2.67192663e-03 -2.84426790e-02] [ 2.08019071e-02 2.66465456e-03 9.99780066e-01 6.85526267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.022557844 meters Centerline goodness [0,1] 0.2480361351139042 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99783984e-01 -3.31238763e-04 -2.07816249e-02 1.78614322e-01] [ 2.76732240e-04 9.99996515e-01 -2.62564392e-03 -2.87323178e-02] [ 2.07824221e-02 2.61932579e-03 9.99780591e-01 6.85265015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.052557844 meters Centerline goodness [0,1] 0.2508603953406283 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 9.99785468e-01 -2.59983537e-04 -2.07110987e-02 1.78796620e-01] [ 2.09787746e-04 9.99997036e-01 -2.42575377e-03 -3.01790176e-02] [ 2.07116679e-02 2.42088844e-03 9.99782559e-01 6.84629641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08255784400001 meters Centerline goodness [0,1] 0.2487003625879166 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 9.99783430e-01 -2.01737113e-04 -2.08099014e-02 1.79083401e-01] [ 1.53905716e-04 9.99997343e-01 -2.30006820e-03 -3.06826079e-02] [ 2.08103102e-02 2.29636731e-03 9.99780805e-01 6.84534731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.112557844 meters Centerline goodness [0,1] 0.24730178722664986 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 9.99781266e-01 -1.43974019e-04 -2.09140768e-02 1.79449276e-01] [ 9.86421795e-05 9.99997644e-01 -2.16854308e-03 -3.11932159e-02] [ 2.09143397e-02 2.16600573e-03 9.99778925e-01 6.84379356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.142557844 meters Centerline goodness [0,1] 0.24400993842497565 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 9.99778339e-01 -1.06303956e-04 -2.10537749e-02 1.79647217e-01] [ 6.38854825e-05 9.99997967e-01 -2.01543044e-03 -3.19886248e-02] [ 2.10539463e-02 2.01363866e-03 9.99776313e-01 6.84668920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.172557844 meters Centerline goodness [0,1] 0.2458887848228094 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99770754e-01 -9.07675780e-05 -2.14110087e-02 1.80142455e-01] [ 5.27257724e-05 9.99998419e-01 -1.77729830e-03 -3.35513614e-02] [ 2.14111361e-02 1.77576195e-03 9.99769178e-01 6.85346883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202557844 meters Centerline goodness [0,1] 0.24867597496389027 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99770227e-01 -8.28824469e-05 -2.14356326e-02 1.80083730e-01] [ 4.54114246e-05 9.99998470e-01 -1.74855254e-03 -3.36616794e-02] [ 2.14357448e-02 1.74717735e-03 9.99768701e-01 6.85568122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.232557844 meters Centerline goodness [0,1] 0.24583966978057792 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99772615e-01 -7.79122806e-05 -2.13239982e-02 1.79596478e-01] [ 3.95700891e-05 9.99998382e-01 -1.79849308e-03 -3.32842495e-02] [ 2.13241038e-02 1.79724033e-03 9.99771000e-01 6.85920328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.262557844 meters Centerline goodness [0,1] 0.2452006226219301 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99787642e-01 -8.03481073e-05 -2.06073644e-02 1.77274729e-01] [ 3.86203203e-05 9.99997948e-01 -2.02528681e-03 -3.18973116e-02] [ 2.06074849e-02 2.02406086e-03 9.99785594e-01 6.86750701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.292557844 meters Centerline goodness [0,1] 0.24961094184950572 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99790591e-01 -1.01575494e-04 -2.04637281e-02 1.76716127e-01] [ 5.77583919e-05 9.99997705e-01 -2.14178784e-03 -3.11561760e-02] [ 2.04638987e-02 2.14015738e-03 9.99788302e-01 6.87072251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.322557844 meters Centerline goodness [0,1] 0.25025260290822826 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99791327e-01 -9.84619722e-05 -2.04277432e-02 1.76517968e-01] [ 5.32077453e-05 9.99997544e-01 -2.21586339e-03 -3.04901750e-02] [ 2.04279112e-02 2.21431408e-03 9.99788876e-01 6.87191190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.352557844 meters Centerline goodness [0,1] 0.24888470958712383 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99791128e-01 -4.78657411e-05 -2.04376437e-02 1.76512625e-01] [ 3.92778711e-06 9.99997689e-01 -2.14988892e-03 -3.05093171e-02] [ 2.04376994e-02 2.14935960e-03 9.99788818e-01 6.87264107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.382557844 meters Centerline goodness [0,1] 0.2477036196626885 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99792395e-01 -5.05774375e-05 -2.03755990e-02 1.76121355e-01] [ 1.09348220e-05 9.99998107e-01 -1.94569936e-03 -3.19288090e-02] [ 2.03756588e-02 1.94507262e-03 9.99790503e-01 6.87696152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.412557844 meters Centerline goodness [0,1] 0.2473216420018689 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99792582e-01 7.60864472e-06 -2.03664830e-02 1.75947016e-01] [-4.28857570e-05 9.99998500e-01 -1.73167986e-03 -3.30505723e-02] [ 2.03664392e-02 1.73219411e-03 9.99791082e-01 6.87967555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.442557844 meters Centerline goodness [0,1] 0.2473506691328473 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99793801e-01 6.14301050e-05 -2.03064678e-02 1.75757189e-01] [-9.37523622e-05 9.99998730e-01 -1.59077413e-03 -3.36976037e-02] [ 2.03063443e-02 1.59234989e-03 9.99792537e-01 6.88050221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47255784400001 meters Centerline goodness [0,1] 0.24844529413057337 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99794296e-01 1.01721094e-04 -2.02818908e-02 1.75762955e-01] [-1.32093135e-04 9.99998872e-01 -1.49616145e-03 -3.41223398e-02] [ 2.02817157e-02 1.49853279e-03 9.99793182e-01 6.87951519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502557844 meters Centerline goodness [0,1] 0.24508723004085864 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.69 [[ 0.99983052 0.00112632 -0.01837565 0.22042261] [-0.00116735 0.99999685 -0.00222227 -0.03094983] [ 0.01837309 0.00224334 0.99982868 0.68770385] [ 0. 0. 0. 1. ]] SLAMing on 76.532557844 meters Centerline goodness [0,1] 0.2496380467687448 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99763213e-01 6.60778895e-04 -2.17504487e-02 1.75821766e-01] [-6.96100517e-04 9.99998451e-01 -1.61641801e-03 -3.36523816e-02] [ 2.17493469e-02 1.63117576e-03 9.99762124e-01 6.88307088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562557844 meters Centerline goodness [0,1] 0.24985743738211164 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99759937e-01 6.76853476e-04 -2.19000053e-02 1.76713126e-01] [-7.17596586e-04 9.99998026e-01 -1.85261040e-03 -3.21468112e-02] [ 2.18987082e-02 1.86788103e-03 9.99758450e-01 6.87322771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.592557844 meters Centerline goodness [0,1] 0.24780935400404425 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.69 [[ 9.99750282e-01 7.50280019e-04 -2.23340490e-02 1.78407034e-01] [-7.98156606e-04 9.99997403e-01 -2.13482211e-03 -3.02485092e-02] [ 2.23323892e-02 2.15211508e-03 9.99748285e-01 6.86230103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.622557844 meters Centerline goodness [0,1] 0.25006587036711747 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.68 [[ 0.99973197 0.00123974 -0.02311833 0.18099148] [-0.00129918 0.99999589 -0.0025563 -0.02622882] [ 0.02311507 0.00258565 0.99972947 0.68483957] [ 0. 0. 0. 1. ]] SLAMing on 76.652557844 meters Centerline goodness [0,1] 0.24168795209169547 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:0.69 [[ 0.99978015 0.00290833 -0.02076517 0.22472941] [-0.00297028 0.99999123 -0.00295287 -0.0190383 ] [ 0.0207564 0.00301389 0.99978002 0.68523934] [ 0. 0. 0. 1. ]] SLAMing on 76.682557844 meters Centerline goodness [0,1] 0.24655157456406696 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:0.69 [[ 0.99978928 0.00285273 -0.02032884 0.22328049] [-0.00292119 0.99999016 -0.00333841 -0.01672673] [ 0.02031911 0.00339709 0.99978777 0.68572228] [ 0. 0. 0. 1. ]] SLAMing on 76.712557844 meters Centerline goodness [0,1] 0.24561479492398974 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.69 [[ 0.99979467 0.00276981 -0.02007336 0.2223865 ] [-0.00284497 0.99998905 -0.00371679 -0.01458246] [ 0.02006284 0.00377314 0.9997916 0.68604085] [ 0. 0. 0. 1. ]] SLAMing on 76.742557844 meters Centerline goodness [0,1] 0.24450662675430035 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.69 [[ 0.99980202 0.00254114 -0.01973507 0.22144274] [-0.00262651 0.9999873 -0.00430124 -0.01176093] [ 0.01972389 0.00435222 0.99979599 0.6861182 ] [ 0. 0. 0. 1. ]] SLAMing on 76.772557844 meters Centerline goodness [0,1] 0.24639832358334057 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.69 [[ 0.99980301 0.00247721 -0.0196928 0.22118585] [-0.0025645 0.99998699 -0.00440851 -0.01133067] [ 0.01968162 0.00445815 0.99979636 0.6863596 ] [ 0. 0. 0. 1. ]] SLAMing on 76.802557844 meters Centerline goodness [0,1] 0.2452145573058121 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.69 [[ 0.99980023 0.00242079 -0.01984041 0.22139404] [-0.00250917 0.99998704 -0.00443067 -0.01134418] [ 0.01982943 0.00447956 0.99979334 0.68666602] [ 0. 0. 0. 1. ]] SLAMing on 76.83255784400001 meters Centerline goodness [0,1] 0.24635533570136636 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.69 [[ 0.99979667 0.00240328 -0.02002084 0.22176815] [-0.00249074 0.99998746 -0.00434482 -0.01194889] [ 0.02001015 0.00439381 0.99979012 0.68683752] [ 0. 0. 0. 1. ]] SLAMing on 76.862557844 meters Centerline goodness [0,1] 0.24897397834439394 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.69 [[ 0.99977844 0.00209472 -0.02094496 0.22432678] [-0.00218943 0.99998748 -0.00449993 -0.01220331] [ 0.02093527 0.00454479 0.9997705 0.68643528] [ 0. 0. 0. 1. ]] SLAMing on 76.892557844 meters Centerline goodness [0,1] 0.2452278924814959 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.69 [[ 0.99974999 -0.00535357 -0.02170921 0.24422521] [ 0.00527799 0.99997982 -0.00353723 -0.00677279] [ 0.0217277 0.00342177 0.99975807 0.68824845] [ 0. 0. 0. 1. ]] SLAMing on 76.922557844 meters Centerline goodness [0,1] 0.24438773303343575 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.69 [[ 0.99974884 -0.00533732 -0.02176614 0.24417436] [ 0.00526445 0.99998035 -0.00340404 -0.00739662] [ 0.02178388 0.00328859 0.99975729 0.6885923 ] [ 0. 0. 0. 1. ]] SLAMing on 76.952557844 meters Centerline goodness [0,1] 0.24438773303343575 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.69 [[ 0.99974884 -0.00533732 -0.02176614 0.24417436] [ 0.00526445 0.99998035 -0.00340404 -0.00739662] [ 0.02178388 0.00328859 0.99975729 0.6885923 ] [ 0. 0. 0. 1. ]] SLAMing on 76.982557844 meters Centerline goodness [0,1] 0.24835035606176092 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.69 [[ 0.99976915 -0.00552448 -0.02076369 0.24074267] [ 0.00546186 0.99998037 -0.00307154 -0.00936947] [ 0.02078025 0.00295742 0.99977969 0.69029677] [ 0. 0. 0. 1. ]] SLAMing on 77.012557844 meters Centerline goodness [0,1] 0.24405187157671404 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.69 [[ 0.99976902 -0.0054562 -0.02078806 0.24034029] [ 0.00540166 0.99998182 -0.00267924 -0.01141964] [ 0.0208023 0.00256633 0.99978032 0.69116852] [ 0. 0. 0. 1. ]] SLAMing on 77.042557844 meters Centerline goodness [0,1] 0.24569714881780247 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:0.69 [[ 0.99976219 -0.00540344 -0.02112749 0.24105457] [ 0.00535474 0.99998288 -0.00236063 -0.01330782] [ 0.02113989 0.00224694 0.999774 0.69149253] [ 0. 0. 0. 1. ]] SLAMing on 77.072557844 meters Centerline goodness [0,1] 0.25032542746828457 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:0.69 [[ 0.99973173 0.00212532 -0.02306391 0.22259124] [-0.00220773 0.99999127 -0.00354821 -0.02087996] [ 0.02305616 0.00359818 0.9997277 0.68988564] [ 0. 0. 0. 1. ]] SLAMing on 77.102557844 meters Centerline goodness [0,1] 0.2443467336683417 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:0.69 [[ 9.99708111e-01 -3.43422459e-03 -2.39144147e-02 2.47687844e-01] [ 3.41752060e-03 9.99993887e-01 -7.39325105e-04 -1.87637776e-02] [ 2.39168075e-02 6.57381299e-04 9.99713736e-01 6.88472138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.132557844 meters Centerline goodness [0,1] 0.2450903888672129 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:0.69 [[ 9.99713992e-01 -3.39963619e-03 -2.36722637e-02 2.46995972e-01] [ 3.38246685e-03 9.99993987e-01 -7.65296972e-04 -1.82866966e-02] [ 2.36747230e-02 6.85007445e-04 9.99719480e-01 6.88567362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162557844 meters Centerline goodness [0,1] 0.2450300910335238 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:0.69 [[ 9.99722973e-01 -3.38857017e-03 -2.32915096e-02 2.45641388e-01] [ 3.36890617e-03 9.99993935e-01 -8.83443208e-04 -1.73515041e-02] [ 2.32943619e-02 8.04731560e-04 9.99728326e-01 6.89186788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.192557844 meters Centerline goodness [0,1] 0.2451672822307177 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:0.69 [[ 0.99974668 0.00525651 -0.02188498 0.26496987] [-0.00531316 0.99998268 -0.00253103 -0.01835244] [ 0.02187129 0.00264667 0.99975729 0.69103819] [ 0. 0. 0. 1. ]] SLAMing on 77.22255784400001 meters Centerline goodness [0,1] 0.24610097230983408 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:0.69 [[ 0.99974927 0.00522519 -0.02177362 0.26465642] [-0.00529281 0.99998134 -0.00304898 -0.01556223] [ 0.02175728 0.00316345 0.99975828 0.69103167] [ 0. 0. 0. 1. ]] SLAMing on 77.252557844 meters Centerline goodness [0,1] 0.24773256193314053 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:0.69 [[ 0.9997488 0.00510374 -0.02182382 0.26515912] [-0.00518023 0.99998063 -0.00344984 -0.01360359] [ 0.02180579 0.00356203 0.99975588 0.69029431] [ 0. 0. 0. 1. ]] SLAMing on 77.282557844 meters Centerline goodness [0,1] 0.24454472129575133 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:0.69 [[ 0.99974975 0.00498859 -0.02180703 0.26553121] [-0.00507336 0.99997978 -0.00383378 -0.01168368] [ 0.02178746 0.00394346 0.99975485 0.68951042] [ 0. 0. 0. 1. ]] SLAMing on 77.312557844 meters Centerline goodness [0,1] 0.24614141943371104 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:0.69 [[ 0.99975314 0.00483942 -0.02168499 0.26513019] [-0.00493425 0.99997849 -0.00432129 -0.00913033] [ 0.02166361 0.00442723 0.99975551 0.68957139] [ 0. 0. 0. 1. ]] SLAMing on 77.342557844 meters Centerline goodness [0,1] 0.24430129915197263 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:0.69 [[ 0.99975983 -0.00223551 -0.02180117 0.28286266] [ 0.00217122 0.99999323 -0.00297186 -0.00279506] [ 0.02180767 0.00292381 0.99975791 0.69249452] [ 0. 0. 0. 1. ]] SLAMing on 77.372557844 meters Centerline goodness [0,1] 0.24918684101377464 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:0.69 [[ 0.99975915 -0.0022891 -0.02182671 0.28267611] [ 0.00222206 0.99999274 -0.00309499 -0.0022235 ] [ 0.02183364 0.00304574 0.99975698 0.69290623] [ 0. 0. 0. 1. ]] SLAMing on 77.402557844 meters Centerline goodness [0,1] 0.2418849750556119 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.00, Z:0.69 [[ 9.99790228e-01 4.44527534e-03 -1.99934633e-02 3.05091370e-01] [-4.56327583e-03 9.99972417e-01 -5.86020821e-03 -4.74694787e-04] [ 1.99668616e-02 5.95021460e-03 9.99782936e-01 6.91871719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.432557844 meters Centerline goodness [0,1] 0.24874816871843086 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:0.69 [[ 0.9997797 -0.00427959 -0.02054841 0.28496507] [ 0.00418999 0.99998154 -0.00440149 0.00325752] [ 0.02056687 0.00431442 0.99977917 0.68993867] [ 0. 0. 0. 1. ]] SLAMing on 77.462557844 meters Centerline goodness [0,1] 0.24511402421791773 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:0.69 [[ 0.99977932 -0.00425679 -0.0205717 0.28510611] [ 0.00416728 0.99998167 -0.00439229 0.00343413] [ 0.02059002 0.0043056 0.99977873 0.68979744] [ 0. 0. 0. 1. ]] SLAMing on 77.492557844 meters Centerline goodness [0,1] 0.25288465757030665 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:0.69 [[ 0.99977931 -0.00427995 -0.0205672 0.2849237 ] [ 0.00418962 0.9999814 -0.00443268 0.00368005] [ 0.02058578 0.00434553 0.99977865 0.6900976 ] [ 0. 0. 0. 1. ]] SLAMing on 77.522557844 meters Centerline goodness [0,1] 0.24798136983916252 Centerline is valid? [False, False] Translation: X:0.30, Y:0.00, Z:0.69 [[ 9.99798443e-01 3.59669063e-03 -1.97518826e-02 3.03519480e-01] [-3.72647826e-03 9.99971683e-01 -6.53802890e-03 9.26702595e-04] [ 1.97278081e-02 6.61031607e-03 9.99783535e-01 6.92707072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.552557844 meters Centerline goodness [0,1] 0.2518252990851513 Centerline is valid? [False, False] Translation: X:0.30, Y:0.00, Z:0.69 [[ 0.99979647 0.0035509 -0.01985975 0.30362257] [-0.0036826 0.99997145 -0.00659898 0.00105533] [ 0.01983575 0.00667077 0.999781 0.69300914] [ 0. 0. 0. 1. ]] SLAMing on 77.58255784400001 meters Centerline goodness [0,1] 0.24623913043478263 Centerline is valid? [False, False] Translation: X:0.32, Y:0.01, Z:0.69 [[ 0.99980126 -0.00405774 -0.01951847 0.32326365] [ 0.00394609 0.99997565 -0.00575499 0.00690476] [ 0.01954135 0.00567683 0.99979293 0.69416107] [ 0. 0. 0. 1. ]] SLAMing on 77.612557844 meters Centerline goodness [0,1] 0.24350291043645722 Centerline is valid? [False, False] Translation: X:0.32, Y:0.01, Z:0.69 [[ 0.99980242 -0.00411141 -0.01944763 0.32322887] [ 0.00399754 0.99997466 -0.00589013 0.00739426] [ 0.01947136 0.00581123 0.99979353 0.6938964 ] [ 0. 0. 0. 1. ]] SLAMing on 77.642557844 meters Centerline goodness [0,1] 0.24843862993886 Centerline is valid? [False, False] Translation: X:0.30, Y:0.00, Z:0.69 [[ 0.99980546 0.003574 -0.0193979 0.30406321] [-0.00370804 0.99996947 -0.00687888 0.00147189] [ 0.01937273 0.00694947 0.99978818 0.69213847] [ 0. 0. 0. 1. ]] SLAMing on 77.672557844 meters Centerline goodness [0,1] 0.2449961719348135 Centerline is valid? [False, False] Translation: X:0.30, Y:0.00, Z:0.69 [[ 9.99803600e-01 3.63261524e-03 -1.94824491e-02 3.04191471e-01] [-3.76464545e-03 9.99970169e-01 -6.74449076e-03 9.24690763e-04] [ 1.94573678e-02 6.81651065e-03 9.99787450e-01 6.92286790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702557844 meters Centerline goodness [0,1] 0.24596305952980868 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.00, Z:0.69 [[ 0.99979559 0.00376685 -0.01986447 0.30501341] [-0.00389146 0.99997297 -0.00623814 -0.00175495] [ 0.01984043 0.00631417 0.99978322 0.69252792] [ 0. 0. 0. 1. ]] SLAMing on 77.732557844 meters Centerline goodness [0,1] 0.2399309675331679 Centerline is valid? [False, False] Translation: X:0.33, Y:0.00, Z:0.69 [[ 0.99980552 -0.00428179 -0.01925058 0.32579506] [ 0.00417692 0.99997624 -0.00548454 0.0015017 ] [ 0.0192736 0.00540306 0.99979965 0.69307413] [ 0. 0. 0. 1. ]] SLAMing on 77.762557844 meters Centerline goodness [0,1] 0.24665848634909504 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99981756 0.00313342 -0.01884198 0.3062676 ] [-0.00325544 0.99997391 -0.00644841 -0.00645416] [ 0.01882128 0.00650857 0.99980168 0.69100563] [ 0. 0. 0. 1. ]] SLAMing on 77.792557844 meters Centerline goodness [0,1] 0.24898683432276725 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99982239 0.00326743 -0.01856097 0.30537542] [-0.00338164 0.99997553 -0.00612475 -0.00794061] [ 0.01854051 0.00618643 0.99980897 0.69133835] [ 0. 0. 0. 1. ]] SLAMing on 77.822557844 meters Centerline goodness [0,1] 0.2482837277652271 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99982255 0.00340408 -0.0185281 0.30501684] [-0.00351274 0.99997681 -0.00583474 -0.00926865] [ 0.0185078 0.00589879 0.99981131 0.69181746] [ 0. 0. 0. 1. ]] SLAMing on 77.852557844 meters Centerline goodness [0,1] 0.24615518858663643 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.9998169 0.00340497 -0.01883006 0.30605427] [-0.003517 0.99997629 -0.00591977 -0.00872903] [ 0.01880946 0.00598491 0.99980517 0.69131505] [ 0. 0. 0. 1. ]] SLAMing on 77.882557844 meters Centerline goodness [0,1] 0.2473859211620073 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99981331 0.00345039 -0.0190114 0.30672349] [-0.00356491 0.99997569 -0.00599338 -0.00799462] [ 0.01899026 0.00606004 0.9998013 0.69090251] [ 0. 0. 0. 1. ]] SLAMing on 77.912557844 meters Centerline goodness [0,1] 0.24674615653389242 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99980733 0.0036744 -0.01928235 0.30766968] [-0.00379303 0.99997408 -0.00611949 -0.00654922] [ 0.01925937 0.00619145 0.99979535 0.69030998] [ 0. 0. 0. 1. ]] SLAMing on 77.942557844 meters Centerline goodness [0,1] 0.2454628343174713 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99980678 0.00361326 -0.01932194 0.30783905] [-0.00373487 0.99997342 -0.00626162 -0.00607725] [ 0.0192988 0.00633258 0.99979371 0.69017628] [ 0. 0. 0. 1. ]] SLAMing on 77.97255784400001 meters Centerline goodness [0,1] 0.2476924416579589 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99980568 0.00358735 -0.01938377 0.30788048] [-0.00370988 0.99997334 -0.00628903 -0.0061418 ] [ 0.01936069 0.00635972 0.99979234 0.69035639] [ 0. 0. 0. 1. ]] SLAMing on 78.002557844 meters Centerline goodness [0,1] 0.24599430397634625 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99980554 0.00360005 -0.01938845 0.30769466] [-0.00372147 0.99997367 -0.00623023 -0.0064546 ] [ 0.01936551 0.00630117 0.99979261 0.69063868] [ 0. 0. 0. 1. ]] SLAMing on 78.032557844 meters Centerline goodness [0,1] 0.24779918068508677 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99980524 0.00351889 -0.01941887 0.30732205] [-0.0036343 0.99997592 -0.00591127 -0.00818276] [ 0.0193976 0.0059807 0.99979396 0.69145065] [ 0. 0. 0. 1. ]] SLAMing on 78.062557844 meters Centerline goodness [0,1] 0.2452932618184187 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99980511 0.00355972 -0.01941816 0.30704477] [-0.00366907 0.99997759 -0.00559892 -0.00977172] [ 0.01939779 0.00566908 0.99979577 0.69197739] [ 0. 0. 0. 1. ]] SLAMing on 78.092557844 meters Centerline goodness [0,1] 0.24467740192370047 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99980865 0.00351532 -0.01924352 0.30616769] [-0.00361906 0.99997909 -0.00535895 -0.0113218 ] [ 0.01922428 0.00542756 0.99980046 0.69279424] [ 0. 0. 0. 1. ]] SLAMing on 78.122557844 meters Centerline goodness [0,1] 0.2478394994202201 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99981258 0.00350078 -0.01904084 0.30521543] [-0.00360014 0.99998007 -0.00518621 -0.01239335] [ 0.01902231 0.00525379 0.99980526 0.693624 ] [ 0. 0. 0. 1. ]] SLAMing on 78.152557844 meters Centerline goodness [0,1] 0.24482059996078687 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.01, Z:0.69 [[ 0.99981241 0.00349245 -0.01905095 0.30498489] [-0.00359171 0.99998014 -0.00517836 -0.01224999] [ 0.01903249 0.00524581 0.9998051 0.69408355] [ 0. 0. 0. 1. ]] SLAMing on 78.182557844 meters Centerline goodness [0,1] 0.24751366660080354 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.69 [[ 0.99980999 0.0034426 -0.01918664 0.30563253] [-0.00354589 0.99997939 -0.00535183 -0.01124803] [ 0.01916782 0.00541885 0.9998016 0.69353786] [ 0. 0. 0. 1. ]] SLAMing on 78.212557844 meters Centerline goodness [0,1] 0.2446530135593954 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.69 [[ 0.99979358 -0.00184828 -0.02023305 0.32988868] [ 0.00179352 0.99999468 -0.00272446 -0.00697398] [ 0.02023798 0.00268761 0.99979158 0.69288271] [ 0. 0. 0. 1. ]] SLAMing on 78.242557844 meters Centerline goodness [0,1] 0.24204456776207406 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.69 [[ 0.99979223 -0.00207617 -0.02027783 0.33006313] [ 0.00201102 0.99999275 -0.00323259 -0.00496334] [ 0.0202844 0.00319114 0.99978916 0.6927569 ] [ 0. 0. 0. 1. ]] SLAMing on 78.272557844 meters Centerline goodness [0,1] 0.24731629462821658 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.69 [[ 0.9997947 -0.00213211 -0.02014978 0.32933808] [ 0.00206451 0.99999217 -0.00337534 -0.00424897] [ 0.02015682 0.00333305 0.99979127 0.6934174 ] [ 0. 0. 0. 1. ]] SLAMing on 78.302557844 meters Centerline goodness [0,1] 0.24376007318029358 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.69 [[ 0.99979741 -0.00210292 -0.02001801 0.32847901] [ 0.00203578 0.99999224 -0.00337378 -0.00387087] [ 0.02002495 0.00333234 0.99979393 0.69430319] [ 0. 0. 0. 1. ]] SLAMing on 78.33255784400001 meters Centerline goodness [0,1] 0.24360248984179134 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.99979972 -0.00207378 -0.01990531 0.32772926] [ 0.00200716 0.99999232 -0.0033666 -0.00356866] [ 0.01991213 0.00332597 0.9997962 0.69508314] [ 0. 0. 0. 1. ]] SLAMing on 78.362557844 meters Centerline goodness [0,1] 0.24209277238403448 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.9998024 -0.0020897 -0.01976832 0.32704764] [ 0.00202506 0.99999254 -0.00328935 -0.00438384] [ 0.01977504 0.00324866 0.99979918 0.69568404] [ 0. 0. 0. 1. ]] SLAMing on 78.392557844 meters Centerline goodness [0,1] 0.24343985450766437 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.99980099 -0.00211344 -0.01983701 0.32735184] [ 0.0020493 0.99999261 -0.00325336 -0.00498346] [ 0.01984374 0.00321206 0.99979793 0.69549459] [ 0. 0. 0. 1. ]] SLAMing on 78.422557844 meters Centerline goodness [0,1] 0.2458776827778747 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.9998006 -0.00215283 -0.01985246 0.32761279] [ 0.00208702 0.99999226 -0.00333512 -0.00470133] [ 0.01985948 0.00329302 0.99979736 0.69508971] [ 0. 0. 0. 1. ]] SLAMing on 78.452557844 meters Centerline goodness [0,1] 0.24715284280208172 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.69 [[ 0.99980143 -0.0021519 -0.01981078 0.32764734] [ 0.00208319 0.99999175 -0.00348827 -0.00360916] [ 0.01981812 0.00344631 0.99979766 0.69475596] [ 0. 0. 0. 1. ]] SLAMing on 78.482557844 meters Centerline goodness [0,1] 0.2472977684797768 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.69 [[ 0.99979983 -0.00199606 -0.01990772 0.3278205 ] [ 0.00192379 0.99999149 -0.00364849 -0.00176539] [ 0.01991483 0.00360946 0.99979516 0.69480629] [ 0. 0. 0. 1. ]] SLAMing on 78.512557844 meters Centerline goodness [0,1] 0.24609561926306178 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.69 [[ 0.99979639 -0.00200938 -0.02007849 0.32817296] [ 0.00193482 0.99999116 -0.00373197 -0.00135597] [ 0.02008581 0.00369237 0.99979144 0.69493607] [ 0. 0. 0. 1. ]] SLAMing on 78.542557844 meters Centerline goodness [0,1] 0.2421459746769803 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.9997946 -0.00200148 -0.02016794 0.32831498] [ 0.00192632 0.99999113 -0.00374526 -0.0013544 ] [ 0.02017526 0.00370564 0.99978959 0.69505546] [ 0. 0. 0. 1. ]] SLAMing on 78.572557844 meters Centerline goodness [0,1] 0.2445478147987884 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.9998022 -0.00185207 -0.01980216 0.3271349 ] [ 0.00178284 0.99999224 -0.00351359 -0.00217071] [ 0.01980852 0.00347759 0.99979774 0.69545418] [ 0. 0. 0. 1. ]] SLAMing on 78.602557844 meters Centerline goodness [0,1] 0.24519522119297033 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.99980602 -0.0017659 -0.0196166 0.32662854] [ 0.00170067 0.99999297 -0.00334112 -0.00289091] [ 0.01962236 0.00330711 0.99980199 0.69551591] [ 0. 0. 0. 1. ]] SLAMing on 78.632557844 meters Centerline goodness [0,1] 0.24524253326975598 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.99980769 -0.00171184 -0.01953574 0.32645823] [ 0.00164949 0.9999935 -0.00320725 -0.00357521] [ 0.01954111 0.00317441 0.99980401 0.69546782] [ 0. 0. 0. 1. ]] SLAMing on 78.662557844 meters Centerline goodness [0,1] 0.2463542005243884 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.99980589 -0.00169195 -0.01962936 0.32666888] [ 0.00163034 0.9999937 -0.00315424 -0.003884 ] [ 0.01963457 0.00312163 0.99980235 0.69549259] [ 0. 0. 0. 1. ]] SLAMing on 78.692557844 meters Centerline goodness [0,1] 0.24516576081072305 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.99980277 -0.00160417 -0.01979521 0.32707182] [ 0.00154292 0.99999398 -0.00310873 -0.0035632 ] [ 0.01980008 0.00307758 0.99979922 0.69546796] [ 0. 0. 0. 1. ]] SLAMing on 78.72255784400001 meters Centerline goodness [0,1] 0.2457748309932397 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.9998036 -0.00160024 -0.01975373 0.32704871] [ 0.0015382 0.99999384 -0.00315518 -0.00314393] [ 0.01975866 0.00312418 0.9997999 0.69530911] [ 0. 0. 0. 1. ]] SLAMing on 78.752557844 meters Centerline goodness [0,1] 0.24895938307847343 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.99980526 -0.00155637 -0.01967286 0.32684904] [ 0.00149653 0.99999421 -0.00305578 -0.00361771] [ 0.0196775 0.00302574 0.9998018 0.69529436] [ 0. 0. 0. 1. ]] SLAMing on 78.782557844 meters Centerline goodness [0,1] 0.24686392590821138 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.70 [[ 0.99980431 -0.0015046 -0.01972516 0.32686657] [ 0.00145175 0.99999532 -0.0026933 -0.0061554 ] [ 0.01972912 0.00266413 0.99980181 0.69552918] [ 0. 0. 0. 1. ]] SLAMing on 78.812557844 meters Centerline goodness [0,1] 0.245167455801225 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.70 [[ 0.99980323 -0.00141298 -0.01978629 0.32694177] [ 0.00136449 0.99999603 -0.00246423 -0.00718817] [ 0.0197897 0.00243675 0.9998012 0.69565459] [ 0. 0. 0. 1. ]] SLAMing on 78.842557844 meters Centerline goodness [0,1] 0.245167455801225 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.70 [[ 0.99980323 -0.00141298 -0.01978629 0.32694177] [ 0.00136449 0.99999603 -0.00246423 -0.00718817] [ 0.0197897 0.00243675 0.9998012 0.69565459] [ 0. 0. 0. 1. ]] SLAMing on 78.872557844 meters Centerline goodness [0,1] 0.2504047254430103 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.70 [[ 0.99980085 -0.00131305 -0.01991302 0.32718742] [ 0.00126819 0.99999663 -0.00226542 -0.00784966] [ 0.01991593 0.00223972 0.99979915 0.69576716] [ 0. 0. 0. 1. ]] SLAMing on 78.902557844 meters Centerline goodness [0,1] 0.2457667696861533 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.70 [[ 0.99979181 -0.00127065 -0.02036455 0.32852473] [ 0.00122965 0.99999719 -0.00202546 -0.00915541] [ 0.02036707 0.002 0.99979057 0.69547819] [ 0. 0. 0. 1. ]] SLAMing on 78.932557844 meters Centerline goodness [0,1] 0.24789188952405983 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.70 [[ 0.999792 -0.00128086 -0.02035477 0.32847687] [ 0.00124122 0.99999731 -0.00196027 -0.00988257] [ 0.02035722 0.00193459 0.9997909 0.69556142] [ 0. 0. 0. 1. ]] SLAMing on 78.962557844 meters Centerline goodness [0,1] 0.24668718754775476 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.70 [[ 0.99979541 -0.00132735 -0.02018333 0.32782207] [ 0.00128632 0.99999708 -0.00204539 -0.00969154] [ 0.02018598 0.00201901 0.9997942 0.69593752] [ 0. 0. 0. 1. ]] SLAMing on 78.992557844 meters Centerline goodness [0,1] 0.24683764399043684 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.70 [[ 0.99979868 -0.00140206 -0.02001576 0.32733404] [ 0.00135523 0.99999631 -0.00235288 -0.00812519] [ 0.02001899 0.00232528 0.9997969 0.69601073] [ 0. 0. 0. 1. ]] SLAMing on 79.022557844 meters Centerline goodness [0,1] 0.24754026031325838 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.01, Z:0.69 [[ 9.99719254e-01 2.11302394e-04 -2.36932041e-02 2.85621258e-01] [-2.21969257e-04 9.99999875e-01 -4.47578657e-04 -6.33614740e-03] [ 2.36931066e-02 4.52712164e-04 9.99719176e-01 6.94984267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.052557844 meters Centerline goodness [0,1] 0.24560253468808046 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:0.69 [[ 9.99714197e-01 1.29002431e-04 -2.39062258e-02 2.86343360e-01] [-1.51113490e-04 9.99999563e-01 -9.23103752e-04 -3.72487142e-03] [ 2.39060963e-02 9.26452479e-04 9.99713779e-01 6.94535178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08255784400001 meters Centerline goodness [0,1] 0.24532192607217285 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:0.69 [[ 9.99718339e-01 4.61398561e-05 -2.37326692e-02 2.85905279e-01] [-7.56143522e-05 9.99999227e-01 -1.24104179e-03 -1.94189038e-03] [ 2.37325936e-02 1.24248677e-03 9.99717570e-01 6.94450202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112557844 meters Centerline goodness [0,1] 0.24677115712972286 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:0.69 [[ 9.99724385e-01 -3.51680868e-05 -2.34766503e-02 2.85084680e-01] [-6.95247579e-07 9.99998833e-01 -1.52760727e-03 -6.08934034e-05] [ 2.34766766e-02 1.52720256e-03 9.99723218e-01 6.94643406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142557844 meters Centerline goodness [0,1] 0.24571777695345742 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:0.69 [[ 9.99720294e-01 -1.40468640e-04 -2.36498099e-02 2.85539832e-01] [ 1.03516811e-04 9.99998772e-01 -1.56367474e-03 -2.79714518e-04] [ 2.36500005e-02 1.56078922e-03 9.99719081e-01 6.94615200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.172557844 meters Centerline goodness [0,1] 0.2413234563635186 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:0.70 [[ 9.99711251e-01 -3.90238717e-04 -2.40262699e-02 2.86274540e-01] [ 3.50770526e-04 9.99998582e-01 -1.64690245e-03 -8.00863727e-04] [ 2.40268786e-02 1.63799920e-03 9.99709971e-01 6.95040919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202557844 meters Centerline goodness [0,1] 0.24589627171920025 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:0.70 [[ 0.99971768 -0.00128449 -0.0237259 0.28479227] [ 0.00123764 0.99999726 -0.00198935 -0.00157787] [ 0.02372839 0.00195943 0.99971652 0.69633411] [ 0. 0. 0. 1. ]] SLAMing on 79.232557844 meters Centerline goodness [0,1] 0.2511718404528168 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:0.70 [[ 0.9997244 -0.00124472 -0.02344296 0.28374973] [ 0.00120718 0.99999797 -0.00161533 -0.00314906] [ 0.02344492 0.00158659 0.99972387 0.69699453] [ 0. 0. 0. 1. ]] SLAMing on 79.262557844 meters Centerline goodness [0,1] 0.24218529379819698 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:0.70 [[ 0.99978956 -0.00129873 -0.02047326 0.3253424 ] [ 0.00126227 0.99999759 -0.0017936 -0.00215973] [ 0.02047554 0.00176738 0.99978879 0.69755325] [ 0. 0. 0. 1. ]] SLAMing on 79.292557844 meters Centerline goodness [0,1] 0.24335584597842297 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.00, Z:0.70 [[ 0.9997928 -0.00227635 -0.02022798 0.3248577 ] [ 0.00223459 0.99999533 -0.00208721 -0.00441635] [ 0.02023264 0.00204157 0.99979321 0.69763217] [ 0. 0. 0. 1. ]] SLAMing on 79.322557844 meters Centerline goodness [0,1] 0.23642690412380052 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.00, Z:0.70 [[ 0.99982547 -0.00266702 -0.01849072 0.37092458] [ 0.00260992 0.99999175 -0.00311134 -0.00386135] [ 0.01849886 0.00306254 0.99982419 0.6969765 ] [ 0. 0. 0. 1. ]] SLAMing on 79.352557844 meters Centerline goodness [0,1] 0.24140495144781737 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:0.70 [[ 0.9998195 -0.00259981 -0.01882042 0.37193203] [ 0.00254736 0.99999281 -0.00281008 -0.0052909 ] [ 0.01882759 0.00276163 0.99981893 0.69662477] [ 0. 0. 0. 1. ]] SLAMing on 79.382557844 meters Centerline goodness [0,1] 0.24106055333217336 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:0.70 [[ 0.99981464 -0.00247682 -0.01909317 0.37267256] [ 0.00243123 0.99999414 -0.00241061 -0.00711313] [ 0.01909903 0.00236374 0.9998148 0.69654203] [ 0. 0. 0. 1. ]] SLAMing on 79.412557844 meters Centerline goodness [0,1] 0.2405426558831203 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:0.70 [[ 0.99981492 -0.00318896 -0.01897228 0.37179722] [ 0.00314529 0.99999234 -0.002331 -0.01115954] [ 0.01897957 0.00227089 0.99981729 0.69754053] [ 0. 0. 0. 1. ]] SLAMing on 79.442557844 meters Centerline goodness [0,1] 0.23842281150991707 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:0.70 [[ 0.99981744 -0.00315405 -0.0188449 0.37097474] [ 0.00312076 0.99999352 -0.00179568 -0.01448277] [ 0.01885044 0.00173655 0.99982081 0.69838092] [ 0. 0. 0. 1. ]] SLAMing on 79.47255784400001 meters Centerline goodness [0,1] 0.2432118770254883 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:0.70 [[ 0.99981808 -0.00299479 -0.01883716 0.37062355] [ 0.00297135 0.99999478 -0.00127217 -0.01702705] [ 0.01884087 0.00121597 0.99982176 0.69895962] [ 0. 0. 0. 1. ]] SLAMing on 79.502557844 meters Centerline goodness [0,1] 0.24560360955210736 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:0.70 [[ 9.99818012e-01 -2.84167320e-03 -1.88644554e-02 3.70706637e-01] [ 2.82560982e-03 9.99995622e-01 -8.78115604e-04 -1.87606011e-02] [ 1.88668681e-02 8.24652207e-04 9.99821665e-01 6.98947303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.532557844 meters Centerline goodness [0,1] 0.23582805645004434 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.70 [[ 0.99985759 -0.00235444 -0.01671079 0.41648351] [ 0.00233244 0.99999639 -0.00133554 -0.0197851 ] [ 0.01671387 0.00129637 0.99985947 0.69773089] [ 0. 0. 0. 1. ]] SLAMing on 79.562557844 meters Centerline goodness [0,1] 0.23961033350613448 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.70 [[ 0.99986121 -0.00230274 -0.01649999 0.41577937] [ 0.00228257 0.99999662 -0.00124099 -0.02029871] [ 0.01650279 0.00120316 0.9998631 0.698006 ] [ 0. 0. 0. 1. ]] SLAMing on 79.592557844 meters Centerline goodness [0,1] 0.2465646707493887 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:0.70 [[ 0.99986707 -0.00221353 -0.01615381 0.41460089] [ 0.00219468 0.99999689 -0.00118443 -0.02026529] [ 0.01615639 0.00114882 0.99986882 0.69853256] [ 0. 0. 0. 1. ]] SLAMing on 79.622557844 meters Centerline goodness [0,1] 0.2428646014618865 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:0.70 [[ 9.99885272e-01 -1.68812557e-03 -1.50530154e-02 4.11373886e-01] [ 1.67489435e-03 9.99998200e-01 -8.91538196e-04 -1.98412409e-02] [ 1.50544933e-02 8.66223701e-04 9.99886299e-01 6.99290721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.652557844 meters Centerline goodness [0,1] 0.2380583360241093 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:0.70 [[ 0.99986804 0.00691453 -0.01470024 0.43218049] [-0.0069473 0.99997349 -0.00217938 -0.02337542] [ 0.01468478 0.00228122 0.99988957 0.70031043] [ 0. 0. 0. 1. ]] SLAMing on 79.682557844 meters Centerline goodness [0,1] 0.24265345157363938 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:0.70 [[ 0.9998654 -0.0020644 -0.01627639 0.41326703] [ 0.00204601 0.99999725 -0.00114657 -0.02053697] [ 0.01627872 0.00111311 0.99986687 0.6989494 ] [ 0. 0. 0. 1. ]] SLAMing on 79.712557844 meters Centerline goodness [0,1] 0.24132756258291832 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:0.70 [[ 9.99862103e-01 -2.03973201e-03 -1.64807259e-02 4.13974396e-01] [ 2.02347431e-03 9.99997450e-01 -1.00308252e-03 -2.15512512e-02] [ 1.64827299e-02 9.69595869e-04 9.99863680e-01 6.98590876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.742557844 meters Centerline goodness [0,1] 0.24194108958206617 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:0.70 [[ 9.99865790e-01 -1.82765333e-03 -1.62806988e-02 4.13244591e-01] [ 1.82049132e-03 9.99998240e-01 -4.54717377e-04 -2.40468428e-02] [ 1.62815012e-02 4.25017479e-04 9.99867357e-01 6.98979320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.772557844 meters Centerline goodness [0,1] 0.2449568353185444 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:0.70 [[ 9.99866702e-01 -1.71087711e-03 -1.62373182e-02 4.12984491e-01] [ 1.70842097e-03 9.99998527e-01 -1.65134735e-04 -2.52808386e-02] [ 1.62375768e-02 1.37372548e-04 9.99868152e-01 6.99246610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.802557844 meters Centerline goodness [0,1] 0.2387348540382045 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.03, Z:0.70 [[ 0.99986161 0.0067943 -0.01518565 0.43277843] [-0.00681425 0.99997599 -0.00126263 -0.03009046] [ 0.0151767 0.00136593 0.99988389 0.70030118] [ 0. 0. 0. 1. ]] SLAMing on 79.83255784400001 meters Centerline goodness [0,1] 0.2440239260467646 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.70 [[ 9.99929645e-01 1.60448635e-04 -1.18608347e-02 4.16320800e-01] [-1.61638349e-04 9.99999982e-01 -9.93475632e-05 -2.78422131e-02] [ 1.18608186e-02 1.01257739e-04 9.99929653e-01 6.96060375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862557844 meters Centerline goodness [0,1] 0.23659572623640068 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 9.99925783e-01 2.31252489e-04 -1.21809027e-02 4.17856943e-01] [-2.31333091e-04 9.99999973e-01 -5.20812000e-06 -2.81667372e-02] [ 1.21809011e-02 8.02557934e-06 9.99925810e-01 6.94826839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.892557844 meters Centerline goodness [0,1] 0.2446346309193721 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 9.99923668e-01 2.43957319e-04 -1.23530734e-02 4.18596118e-01] [-2.44530279e-04 9.99999969e-01 -4.48716315e-05 -2.78710072e-02] [ 1.23530621e-02 4.78889068e-05 9.99923697e-01 6.94284419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922557844 meters Centerline goodness [0,1] 0.2435202587525679 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 9.99922955e-01 2.62829187e-04 -1.24102824e-02 4.18815975e-01] [-2.64254172e-04 9.99999959e-01 -1.13183251e-04 -2.73861635e-02] [ 1.24102522e-02 1.16454000e-04 9.99922983e-01 6.94136764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.952557844 meters Centerline goodness [0,1] 0.2440704569236135 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 9.99922515e-01 2.80783593e-04 -1.24452515e-02 4.18776938e-01] [-2.83102819e-04 9.99999943e-01 -1.84592971e-04 -2.68540356e-02] [ 1.24451989e-02 1.88101954e-04 9.99922538e-01 6.94365705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.982557844 meters Centerline goodness [0,1] 0.24296059684512217 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 9.99921695e-01 3.52187152e-04 -1.25091707e-02 4.18998134e-01] [-3.54664596e-04 9.99999918e-01 -1.95832442e-04 -2.66516376e-02] [ 1.25091007e-02 2.00253667e-04 9.99921738e-01 6.94238800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.012557844 meters Centerline goodness [0,1] 0.237455525606469 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:0.69 [[ 9.99941977e-01 1.37159327e-03 -1.06845979e-02 4.64962393e-01] [-1.38116137e-03 9.99998652e-01 -8.88176949e-04 -2.37507566e-02] [ 1.06833652e-02 9.02882568e-04 9.99942524e-01 6.92902868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.042557844 meters Centerline goodness [0,1] 0.24525908265710095 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 9.99904915e-01 5.82127194e-04 -1.37776135e-02 4.19596957e-01] [-5.92695750e-04 9.99999533e-01 -7.63011100e-04 -2.54952766e-02] [ 1.37771629e-02 7.71104482e-04 9.99904793e-01 6.93936269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.072557844 meters Centerline goodness [0,1] 0.2420398823144818 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.69 [[ 9.99905141e-01 5.43882641e-04 -1.37627233e-02 4.19708058e-01] [-5.57552635e-04 9.99999355e-01 -9.89444903e-04 -2.42950647e-02] [ 1.37621763e-02 9.97024489e-04 9.99904800e-01 6.93690583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.102557844 meters Centerline goodness [0,1] 0.24514216708749592 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.69 [[ 9.99916440e-01 8.18133844e-04 -1.29013438e-02 4.17372602e-01] [-8.32728270e-04 9.99999019e-01 -1.12590175e-03 -2.23489874e-02] [ 1.29004101e-02 1.13655098e-03 9.99916140e-01 6.94002690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.132557844 meters Centerline goodness [0,1] 0.2429437229437229 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:0.69 [[ 0.99992365 -0.00478326 -0.01139388 0.43955218] [ 0.00480134 0.99998726 0.00155942 -0.01921968] [ 0.01138627 -0.00161401 0.99993387 0.69358652] [ 0. 0. 0. 1. ]] SLAMing on 80.162557844 meters Centerline goodness [0,1] 0.2460538126409353 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.69 [[ 9.99933189e-01 2.83083146e-03 -1.12073370e-02 4.19696841e-01] [-2.82580013e-03 9.99995899e-01 4.64741729e-04 -2.46159998e-02] [ 1.12086067e-02 -4.33040985e-04 9.99937088e-01 6.91827882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.192557844 meters Centerline goodness [0,1] 0.24422348896914847 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.69 [[ 9.99931162e-01 2.81373420e-03 -1.13910014e-02 4.20351426e-01] [-2.80955042e-03 9.99995980e-01 3.83273398e-04 -2.42704007e-02] [ 1.13920340e-02 -3.51243421e-04 9.99935047e-01 6.91435756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22255784400001 meters Centerline goodness [0,1] 0.24045801526717558 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:0.69 [[ 0.99992331 -0.00421946 -0.01164387 0.43908653] [ 0.0042389 0.99998966 0.0016449 -0.01895435] [ 0.01163681 -0.00169413 0.99993085 0.6934723 ] [ 0. 0. 0. 1. ]] SLAMing on 80.252557844 meters Centerline goodness [0,1] 0.2422785358457873 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:0.69 [[ 0.99992281 -0.00417115 -0.01170333 0.43904856] [ 0.00419184 0.99998969 0.00174379 -0.01937072] [ 0.01169594 -0.00179271 0.99992999 0.69379546] [ 0. 0. 0. 1. ]] SLAMing on 80.282557844 meters Centerline goodness [0,1] 0.24261575883937103 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:0.69 [[ 0.99992306 -0.00408015 -0.01171431 0.43880537] [ 0.00410346 0.99998965 0.00196631 -0.02035153] [ 0.01170616 -0.00201423 0.99992945 0.69426928] [ 0. 0. 0. 1. ]] SLAMing on 80.312557844 meters Centerline goodness [0,1] 0.23645129353019667 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.70 [[ 9.99949882e-01 4.14786923e-03 -9.11203918e-03 4.57191608e-01] [-4.14101590e-03 9.99991129e-01 7.70856586e-04 -2.54618740e-02] [ 9.11515576e-03 -7.33084852e-04 9.99958187e-01 6.95399076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342557844 meters Centerline goodness [0,1] 0.23838775730143336 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.70 [[ 0.99995248 0.00424901 -0.00877449 0.4559345 ] [-0.00423926 0.99999038 0.00112928 -0.02724267] [ 0.00877921 -0.00109203 0.99996087 0.69610502] [ 0. 0. 0. 1. ]] SLAMing on 80.372557844 meters Centerline goodness [0,1] 0.24417488437036394 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.03, Z:0.70 [[ 0.99994706 -0.00499931 -0.00899406 0.43393827] [ 0.00501943 0.99998495 0.00221574 -0.02589682] [ 0.00898285 -0.00226076 0.9999571 0.69566462] [ 0. 0. 0. 1. ]] SLAMing on 80.402557844 meters Centerline goodness [0,1] 0.24435358681155306 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.03, Z:0.70 [[ 0.99994286 -0.00489977 -0.00950076 0.43536557] [ 0.00492658 0.99998394 0.00280041 -0.0292584 ] [ 0.00948689 -0.00284706 0.99995095 0.69545145] [ 0. 0. 0. 1. ]] SLAMing on 80.432557844 meters Centerline goodness [0,1] 0.2425397516880854 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.03, Z:0.70 [[ 0.99994034 -0.00481977 -0.00980273 0.43628243] [ 0.00485027 0.99998347 0.00308928 -0.03074047] [ 0.00978768 -0.00313664 0.99994718 0.69517537] [ 0. 0. 0. 1. ]] SLAMing on 80.462557844 meters Centerline goodness [0,1] 0.24141072358146798 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.03, Z:0.69 [[ 0.99993973 -0.00469282 -0.00992545 0.43670853] [ 0.00472656 0.99998312 0.00337832 -0.03195166] [ 0.00990942 -0.00342503 0.99994503 0.69497124] [ 0. 0. 0. 1. ]] SLAMing on 80.492557844 meters Centerline goodness [0,1] 0.24160679294578702 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.04, Z:0.70 [[ 0.99994228 -0.00440092 -0.009801 0.43617832] [ 0.00444153 0.99998163 0.0041255 -0.03544413] [ 0.00978266 -0.00416879 0.99994346 0.6954646 ] [ 0. 0. 0. 1. ]] SLAMing on 80.522557844 meters Centerline goodness [0,1] 0.24186247969680563 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:0.70 [[ 0.99995112 0.0037567 -0.00914625 0.45479551] [-0.00373659 0.99999057 0.00221487 -0.04108846] [ 0.00915448 -0.00218059 0.99995572 0.69768423] [ 0. 0. 0. 1. ]] SLAMing on 80.552557844 meters Centerline goodness [0,1] 0.24067899363443468 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.70 [[ 0.99994985 0.00380089 -0.00926594 0.45508625] [-0.00377895 0.99999002 0.00238382 -0.04223214] [ 0.00927491 -0.00234868 0.99995423 0.6977363 ] [ 0. 0. 0. 1. ]] SLAMing on 80.58255784400001 meters Centerline goodness [0,1] 0.2383007041044135 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.70 [[ 0.99994759 0.00406285 -0.00939763 0.45594534] [-0.00403919 0.99998863 0.00253532 -0.04215244] [ 0.00940782 -0.00249723 0.99995263 0.69679589] [ 0. 0. 0. 1. ]] SLAMing on 80.612557844 meters Centerline goodness [0,1] 0.24267891745955716 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:0.70 [[ 0.99991819 0.00425987 -0.01206117 0.40956303] [-0.00420984 0.99998245 0.00416976 -0.04563144] [ 0.01207872 -0.00411864 0.99991857 0.69815128] [ 0. 0. 0. 1. ]] SLAMing on 80.642557844 meters Centerline goodness [0,1] 0.23694253859348202 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:0.70 [[ 0.9999368 0.005731 -0.00967216 0.45334495] [-0.00569512 0.99997682 0.00373269 -0.0427226 ] [ 0.00969332 -0.00367737 0.99994626 0.69780183] [ 0. 0. 0. 1. ]] SLAMing on 80.672557844 meters Centerline goodness [0,1] 0.24080469694353301 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:0.70 [[ 0.99993663 0.00571389 -0.00970025 0.45328735] [-0.00567817 0.99997701 0.00370568 -0.04291286] [ 0.0097212 -0.00365036 0.99994609 0.69807371] [ 0. 0. 0. 1. ]] SLAMing on 80.702557844 meters Centerline goodness [0,1] 0.24504119621605125 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:0.70 [[ 0.9999331 0.00574974 -0.0100371 0.45401259] [-0.00571311 0.99997693 0.00367413 -0.04298484] [ 0.01005799 -0.00361654 0.99994288 0.6981752 ] [ 0. 0. 0. 1. ]] SLAMing on 80.732557844 meters Centerline goodness [0,1] 0.24449420614387896 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:0.70 [[ 0.99993125 0.0058007 -0.01019084 0.45453446] [-0.00576325 0.99997654 0.00370069 -0.04288543] [ 0.01021206 -0.0036417 0.99994122 0.69791709] [ 0. 0. 0. 1. ]] SLAMing on 80.762557844 meters Centerline goodness [0,1] 0.24449420614387896 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:0.70 [[ 0.99993125 0.0058007 -0.01019084 0.45453446] [-0.00576325 0.99997654 0.00370069 -0.04288543] [ 0.01021206 -0.0036417 0.99994122 0.69791709] [ 0. 0. 0. 1. ]] SLAMing on 80.792557844 meters Centerline goodness [0,1] 0.24258977149075078 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:0.70 [[ 0.99993089 0.00587013 -0.01018652 0.45469978] [-0.00583132 0.99997564 0.00383569 -0.04341667] [ 0.01020879 -0.00377603 0.99994076 0.69763128] [ 0. 0. 0. 1. ]] SLAMing on 80.822557844 meters Centerline goodness [0,1] 0.2401885858216185 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.04, Z:0.70 [[ 0.99994965 -0.00196506 -0.00984012 0.47520708] [ 0.00200853 0.99998826 0.00440978 -0.03942858] [ 0.00983134 -0.00442932 0.99994186 0.69799702] [ 0. 0. 0. 1. ]] SLAMing on 80.852557844 meters Centerline goodness [0,1] 0.24188304651263604 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.04, Z:0.70 [[ 0.99994997 -0.0018684 -0.0098269 0.47518333] [ 0.00191478 0.99998707 0.00471186 -0.04107373] [ 0.00981797 -0.00473044 0.99994061 0.69803675] [ 0. 0. 0. 1. ]] SLAMing on 80.882557844 meters Centerline goodness [0,1] 0.24525292253905828 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:0.70 [[ 0.99995241 -0.00166592 -0.00961219 0.47426009] [ 0.00171712 0.99998437 0.00532107 -0.04397932] [ 0.00960318 -0.00533732 0.99993964 0.69878358] [ 0. 0. 0. 1. ]] SLAMing on 80.912557844 meters Centerline goodness [0,1] 0.2502038926973351 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:0.70 [[ 0.99995367 -0.00157201 -0.00949624 0.47381332] [ 0.00162428 0.99998356 0.00549948 -0.04453216] [ 0.00948744 -0.00551465 0.99993979 0.69906521] [ 0. 0. 0. 1. ]] SLAMing on 80.942557844 meters Centerline goodness [0,1] 0.23987034035656407 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.70 [[ 9.99973839e-01 -1.89793388e-04 -7.23086472e-03 5.17201686e-01] [ 2.28409971e-04 9.99985716e-01 5.34006929e-03 -4.17568537e-02] [ 7.22974792e-03 -5.34158119e-03 9.99959598e-01 6.98858612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97255784400001 meters Centerline goodness [0,1] 0.2442249929770729 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.70 [[ 9.99972282e-01 -2.48873756e-04 -7.44131337e-03 5.18011931e-01] [ 2.87860370e-04 9.99986237e-01 5.23859954e-03 -4.16519962e-02] [ 7.43990721e-03 -5.24059639e-03 9.99958591e-01 6.98453588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002557844 meters Centerline goodness [0,1] 0.24497476505395055 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.70 [[ 9.99971485e-01 -3.21519286e-04 -7.54486039e-03 5.18602685e-01] [ 3.59622020e-04 9.99987187e-01 5.04934458e-03 -4.08788878e-02] [ 7.54314026e-03 -5.05191389e-03 9.99958789e-01 6.97845706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.032557844 meters Centerline goodness [0,1] 0.2412359138997221 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.04, Z:0.70 [[ 0.99993713 0.00869754 -0.0070769 0.53958963] [-0.00867013 0.99995483 0.00389454 -0.04281001] [ 0.00711045 -0.00383294 0.99996737 0.69825792] [ 0. 0. 0. 1. ]] SLAMing on 81.062557844 meters Centerline goodness [0,1] 0.24804212202999865 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.70 [[ 0.99991707 0.00770361 -0.01032037 0.4930926 ] [-0.0076578 0.99996068 0.00447131 -0.04524936] [ 0.01035441 -0.00439191 0.99993675 0.70034577] [ 0. 0. 0. 1. ]] SLAMing on 81.092557844 meters Centerline goodness [0,1] 0.2431841786394322 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.04, Z:0.70 [[ 0.99991947 0.00958895 -0.00831347 0.53802414] [-0.00955279 0.99994479 0.00437827 -0.04044053] [ 0.00835499 -0.0042985 0.99995586 0.69979287] [ 0. 0. 0. 1. ]] SLAMing on 81.122557844 meters Centerline goodness [0,1] 0.24608545211659327 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.70 [[ 9.99958054e-01 2.01509594e-04 -9.15693978e-03 5.17291135e-01] [-1.54426325e-04 9.99986767e-01 5.14222892e-03 -3.60569575e-02] [ 9.15785481e-03 -5.14059915e-03 9.99944852e-01 6.98913348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.152557844 meters Centerline goodness [0,1] 0.24310852981969489 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.04, Z:0.70 [[ 0.99993031 0.00896337 -0.00768298 0.53736367] [-0.00893426 0.99995281 0.00381488 -0.03756842] [ 0.00771681 -0.00374597 0.99996321 0.69920734] [ 0. 0. 0. 1. ]] SLAMing on 81.182557844 meters Centerline goodness [0,1] 0.24304938565887269 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.04, Z:0.70 [[ 0.99993276 0.00891427 -0.00741639 0.53667448] [-0.00888709 0.9999537 0.00368951 -0.03692077] [ 0.00744893 -0.00362335 0.99996569 0.6992032 ] [ 0. 0. 0. 1. ]] SLAMing on 81.212557844 meters Centerline goodness [0,1] 0.2457304256437205 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.70 [[ 9.99985056e-01 -1.29315937e-05 -5.46691034e-03 5.14459137e-01] [ 3.57429982e-05 9.99991294e-01 4.17255479e-03 -3.06392506e-02] [ 5.46680879e-03 -4.17268784e-03 9.99976351e-01 6.97754640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242557844 meters Centerline goodness [0,1] 0.2480129978483292 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.70 [[ 9.99985501e-01 -1.40317734e-04 -5.38319513e-03 5.14259705e-01] [ 1.60933641e-04 9.99992655e-01 3.82943656e-03 -2.90347635e-02] [ 5.38261825e-03 -3.83024737e-03 9.99978178e-01 6.97692887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.272557844 meters Centerline goodness [0,1] 0.2437188638961375 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.70 [[ 0.99999023 0.00184201 -0.00401854 0.55919195] [-0.00182841 0.9999926 0.0033855 -0.02078388] [ 0.00402475 -0.00337812 0.99998619 0.69664837] [ 0. 0. 0. 1. ]] SLAMing on 81.302557844 meters Centerline goodness [0,1] 0.24519786329445115 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:0.70 [[ 0.9999449 0.00958015 -0.00429111 0.53947061] [-0.00957077 0.99995177 0.00220247 -0.02354187] [ 0.00431201 -0.00216128 0.99998837 0.6950243 ] [ 0. 0. 0. 1. ]] SLAMing on 81.33255784400001 meters Centerline goodness [0,1] 0.2503122876991519 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:0.69 [[ 9.99987403e-01 6.99561899e-04 -4.97038976e-03 5.20211767e-01] [-6.82772084e-04 9.99994059e-01 3.37886163e-03 -1.77369481e-02] [ 4.97272395e-03 -3.37542542e-03 9.99981939e-01 6.93154446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362557844 meters Centerline goodness [0,1] 0.2469618814478055 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:0.69 [[ 9.99987016e-01 5.31433097e-04 -5.06810573e-03 5.20585554e-01] [-5.16263908e-04 9.99995385e-01 2.99390762e-03 -1.60922483e-02] [ 5.06967340e-03 -2.99125227e-03 9.99982675e-01 6.92885947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.392557844 meters Centerline goodness [0,1] 0.2456216592064665 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.69 [[ 9.99986538e-01 3.65042732e-04 -5.17587643e-03 5.20890376e-01] [-3.51290290e-04 9.99996407e-01 2.65768679e-03 -1.47073779e-02] [ 5.17682800e-03 -2.65583278e-03 9.99983073e-01 6.92797037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422557844 meters Centerline goodness [0,1] 0.24752909206460516 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.69 [[ 9.99987117e-01 1.92470872e-04 -5.07242402e-03 5.20139332e-01] [-1.80867240e-04 9.99997366e-01 2.28795042e-03 -1.29568492e-02] [ 5.07285102e-03 -2.28700351e-03 9.99984518e-01 6.93606511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.452557844 meters Centerline goodness [0,1] 0.24635819270549808 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.69 [[ 9.99988184e-01 1.51565836e-04 -4.85897538e-03 5.19260036e-01] [-1.40868622e-04 9.99997566e-01 2.20180365e-03 -1.23992015e-02] [ 4.85929727e-03 -2.20109316e-03 9.99985771e-01 6.94188411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.482557844 meters Centerline goodness [0,1] 0.24674956369982548 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.69 [[ 9.99988704e-01 1.04832630e-04 -4.75189508e-03 5.18757261e-01] [-9.46608768e-05 9.99997704e-01 2.14074210e-03 -1.21169964e-02] [ 4.75210859e-03 -2.14026810e-03 9.99986418e-01 6.94612931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.512557844 meters Centerline goodness [0,1] 0.24805424142667165 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.69 [[ 9.99987434e-01 -5.23538966e-05 -5.01298642e-03 5.19716374e-01] [ 6.26854459e-05 9.99997875e-01 2.06082203e-03 -1.24088418e-02] [ 5.01286788e-03 -2.06111038e-03 9.99985311e-01 6.94097858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542557844 meters Centerline goodness [0,1] 0.251571633395831 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.69 [[ 9.99951714e-01 7.60919688e-03 -6.21848396e-03 5.00524082e-01] [-7.60373584e-03 9.99970685e-01 9.01365143e-04 -1.76145608e-02] [ 6.22516033e-03 -8.54037910e-04 9.99980259e-01 6.92623448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.572557844 meters Centerline goodness [0,1] 0.24544667964525202 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.69 [[ 9.99979690e-01 4.12663945e-04 -6.35994058e-03 5.20090300e-01] [-4.00557871e-04 9.99998106e-01 1.90464472e-03 -1.11605067e-02] [ 6.36071451e-03 -1.90205851e-03 9.99977961e-01 6.93760135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.602557844 meters Centerline goodness [0,1] 0.2485520075186327 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.69 [[ 9.99979498e-01 3.63265476e-04 -6.39314434e-03 5.20131027e-01] [-3.52180316e-04 9.99998433e-01 1.73495394e-03 -1.02574771e-02] [ 6.39376457e-03 -1.73266683e-03 9.99978059e-01 6.93807679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.632557844 meters Centerline goodness [0,1] 0.24661129063740272 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.69 [[ 9.99979137e-01 2.97491345e-04 -6.45264535e-03 5.20183503e-01] [-2.87823873e-04 9.99998835e-01 1.49909529e-03 -9.10601112e-03] [ 6.45308380e-03 -1.49720679e-03 9.99978058e-01 6.93967539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662557844 meters Centerline goodness [0,1] 0.2521280105575717 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.70 [[ 9.99953267e-01 -6.18344604e-04 -9.64785385e-03 4.75423158e-01] [ 6.33322860e-04 9.99998599e-01 1.54951817e-03 -1.08384688e-02] [ 9.64688219e-03 -1.55555596e-03 9.99952258e-01 6.95161356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.692557844 meters Centerline goodness [0,1] 0.25121859767529053 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.69 [[ 9.99946378e-01 -5.47395655e-04 -1.03412814e-02 4.77732209e-01] [ 5.56560015e-04 9.99999455e-01 8.83334862e-04 -6.96642995e-03] [ 1.03407922e-02 -8.89043040e-04 9.99946137e-01 6.93776873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72255784400001 meters Centerline goodness [0,1] 0.2432064630405668 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.00, Z:0.69 [[ 9.99962814e-01 1.36394760e-03 -8.51524821e-03 5.22679711e-01] [-1.35699525e-03 9.99998741e-01 8.22183174e-04 -5.13071697e-04] [ 8.51635891e-03 -8.10597449e-04 9.99963407e-01 6.92644970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752557844 meters Centerline goodness [0,1] 0.24689444383800896 Centerline is valid? [False, False] Translation: X:0.52, Y:0.00, Z:0.69 [[ 9.99964135e-01 1.26230217e-03 -8.37468272e-03 5.22449661e-01] [-1.25845997e-03 9.99999100e-01 4.64041452e-04 1.33194846e-03] [ 8.37526094e-03 -4.53485606e-04 9.99964824e-01 6.92363044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782557844 meters Centerline goodness [0,1] 0.24624774647581393 Centerline is valid? [False, False] Translation: X:0.52, Y:0.00, Z:0.69 [[ 9.99965904e-01 1.13400763e-03 -8.17954056e-03 5.21869660e-01] [-1.13310056e-03 9.99999351e-01 1.15527910e-04 3.02280446e-03] [ 8.17966627e-03 -1.06255729e-04 9.99966540e-01 6.92452422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.812557844 meters Centerline goodness [0,1] 0.24578376258334422 Centerline is valid? [False, False] Translation: X:0.52, Y:0.00, Z:0.69 [[ 9.99968040e-01 1.05370864e-03 -7.92523928e-03 5.20983784e-01] [-1.05465544e-03 9.99999437e-01 -1.15287914e-04 4.16379426e-03] [ 7.92511334e-03 1.23642626e-04 9.99968588e-01 6.92856282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842557844 meters Centerline goodness [0,1] 0.24806235304362967 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:0.69 [[ 9.99969625e-01 9.36793935e-04 -7.73769662e-03 5.20191332e-01] [-9.39995342e-04 9.99999474e-01 -4.10115256e-04 5.59398577e-03] [ 7.73730836e-03 4.17376197e-04 9.99969979e-01 6.93407359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.872557844 meters Centerline goodness [0,1] 0.2489191667758417 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:0.69 [[ 9.99970193e-01 7.33033610e-04 -7.68612639e-03 5.19759927e-01] [-7.40530341e-04 9.99999253e-01 -9.72558283e-04 8.59134699e-03] [ 7.68540773e-03 9.78221104e-04 9.99969988e-01 6.93787640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.902557844 meters Centerline goodness [0,1] 0.2419618645891619 Centerline is valid? [False, False] Translation: X:0.54, Y:0.01, Z:0.69 [[ 0.99995612 -0.00483738 -0.00802204 0.54288712] [ 0.00485189 0.99998663 0.00179037 0.01349222] [ 0.00801327 -0.00182921 0.99996622 0.69323593] [ 0. 0. 0. 1. ]] SLAMing on 81.932557844 meters Centerline goodness [0,1] 0.24823113207547165 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:0.69 [[ 9.99947048e-01 2.91141206e-03 -9.87044856e-03 5.23633697e-01] [-2.90560507e-03 9.99995597e-01 6.02610359e-04 9.37986122e-03] [ 9.87215955e-03 -5.73898824e-04 9.99951104e-01 6.92386584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.962557844 meters Centerline goodness [0,1] 0.2456548693741707 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:0.69 [[ 9.99944477e-01 2.74995399e-03 -1.01725004e-02 5.24713713e-01] [-2.74653459e-03 9.99996167e-01 3.50096295e-04 1.02325649e-02] [ 1.01734241e-02 -3.22137732e-04 9.99948197e-01 6.91840655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.992557844 meters Centerline goodness [0,1] 0.2434009326537252 Centerline is valid? [False, False] Translation: X:0.53, Y:0.01, Z:0.69 [[ 9.99942628e-01 2.61327565e-03 -1.03880566e-02 5.25273698e-01] [-2.61130825e-03 9.99996570e-01 2.02949676e-04 1.05433190e-02] [ 1.03885513e-02 -1.75811615e-04 9.99946022e-01 6.91796357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.022557844 meters Centerline goodness [0,1] 0.24794502674727092 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:0.69 [[ 9.99957072e-01 2.08605163e-03 -9.02783041e-03 5.20973026e-01] [-2.08497187e-03 9.99997818e-01 1.29013146e-04 9.81256088e-03] [ 9.02807984e-03 -1.10184835e-04 9.99959240e-01 6.93560166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.052557844 meters Centerline goodness [0,1] 0.24345967881194963 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:0.69 [[ 9.99959550e-01 2.11688806e-03 -8.74171029e-03 5.19793403e-01] [-2.11271384e-03 9.99997650e-01 4.86714161e-04 8.12268502e-03] [ 8.74272007e-03 -4.68225741e-04 9.99961672e-01 6.94440864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08255784400001 meters Centerline goodness [0,1] 0.2479801389403079 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:0.69 [[ 9.99957395e-01 2.11843994e-03 -8.98440039e-03 5.20338124e-01] [-2.11103322e-03 9.99997424e-01 8.33801118e-04 6.06412439e-03] [ 8.98614361e-03 -8.14799226e-04 9.99959292e-01 6.94658006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112557844 meters Centerline goodness [0,1] 0.24381930361996806 Centerline is valid? [False, False] Translation: X:0.52, Y:0.00, Z:0.69 [[ 9.99950308e-01 1.90809308e-03 -9.78472974e-03 5.22645654e-01] [-1.89850158e-03 9.99997708e-01 9.89446590e-04 4.14200490e-03] [ 9.78659527e-03 -9.70821097e-04 9.99951639e-01 6.94241634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142557844 meters Centerline goodness [0,1] 0.2465795340298116 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.69 [[ 9.99910636e-01 -1.61993416e-04 -1.33676519e-02 4.79298050e-01] [ 1.67396083e-04 9.99999905e-01 4.03041888e-04 -8.16021661e-04] [ 1.33675853e-02 -4.05243563e-04 9.99910568e-01 6.94778138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.172557844 meters Centerline goodness [0,1] 0.24627270557086745 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.69 [[ 9.99908556e-01 -4.33250907e-05 -1.35231976e-02 4.79803029e-01] [ 5.37809607e-05 9.99999700e-01 7.72817598e-04 -2.66827450e-03] [ 1.35231601e-02 -7.73474219e-04 9.99908259e-01 6.94607864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202557844 meters Centerline goodness [0,1] 0.24762654766592296 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.70 [[ 9.99912710e-01 1.80717142e-04 -1.32113104e-02 4.78235592e-01] [-1.63574090e-04 9.99999143e-01 1.29867321e-03 -4.92184353e-03] [ 1.32115338e-02 -1.29639882e-03 9.99911883e-01 6.96054660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.232557844 meters Centerline goodness [0,1] 0.24752151650506593 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.70 [[ 9.99915192e-01 2.83853793e-04 -1.30202777e-02 4.77326852e-01] [-2.64069483e-04 9.99998808e-01 1.52119389e-03 -5.98959422e-03] [ 1.30206939e-02 -1.51762662e-03 9.99914075e-01 6.96838761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262557844 meters Centerline goodness [0,1] 0.2454272572181312 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.70 [[ 9.99916784e-01 4.05455602e-04 -1.28942020e-02 4.76796547e-01] [-3.83379509e-04 9.99998457e-01 1.71452025e-03 -6.84942822e-03] [ 1.28948772e-02 -1.70943420e-03 9.99915396e-01 6.97220782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.292557844 meters Centerline goodness [0,1] 0.24677963171090167 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.70 [[ 9.99916399e-01 5.00904989e-04 -1.29206742e-02 4.76940410e-01] [-4.77185310e-04 9.99998196e-01 1.83881023e-03 -7.34931593e-03] [ 1.29215719e-02 -1.83249095e-03 9.99914834e-01 6.97093239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.322557844 meters Centerline goodness [0,1] 0.251346499102334 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:0.70 [[ 9.99865871e-01 8.61124543e-03 -1.39315208e-02 4.56660212e-01] [-8.59770305e-03 9.99962507e-01 1.03166940e-03 -1.31332684e-02] [ 1.39398824e-02 -9.11751942e-04 9.99902419e-01 6.95796321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.352557844 meters Centerline goodness [0,1] 0.2491831844913962 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:0.70 [[ 9.99860557e-01 8.72448634e-03 -1.42390609e-02 4.57679129e-01] [-8.71001784e-03 9.99961486e-01 1.07781230e-03 -1.31251795e-02] [ 1.42479159e-02 -9.53639534e-04 9.99898039e-01 6.95311137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.382557844 meters Centerline goodness [0,1] 0.24918995324562354 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:0.69 [[ 9.99857599e-01 8.72475025e-03 -1.44450872e-02 4.58415182e-01] [-8.71142564e-03 9.99961570e-01 9.85098324e-04 -1.26945926e-02] [ 1.44531268e-02 -8.59120742e-04 9.99895179e-01 6.94943282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.412557844 meters Centerline goodness [0,1] 0.2505377760217744 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.69 [[ 9.99875019e-01 8.18310959e-05 -1.58094855e-02 4.39752829e-01] [-4.46153424e-05 9.99997228e-01 2.35435257e-03 -9.13766905e-03] [ 1.58096343e-02 -2.35335297e-03 9.99872250e-01 6.93718437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.442557844 meters Centerline goodness [0,1] 0.24883995797583613 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.69 [[ 9.99876568e-01 1.43551442e-04 -1.57107725e-02 4.39545377e-01] [-1.07039949e-04 9.99997292e-01 2.32479444e-03 -8.78373680e-03] [ 1.57110637e-02 -2.32282580e-03 9.99873876e-01 6.93619315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47255784400001 meters Centerline goodness [0,1] 0.25106791038270426 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.69 [[ 9.99888731e-01 5.81038454e-04 -1.49059754e-02 4.37218682e-01] [-5.42638579e-04 9.99996524e-01 2.58005485e-03 -8.74555710e-03] [ 1.49074227e-02 -2.57167921e-03 9.99885571e-01 6.94105061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502557844 meters Centerline goodness [0,1] 0.24887931409670538 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.69 [[ 9.99890629e-01 6.25058759e-04 -1.47762915e-02 4.36795389e-01] [-5.86503065e-04 9.99996413e-01 2.61348381e-03 -8.81988728e-03] [ 1.47778721e-02 -2.60453164e-03 9.99887409e-01 6.94250120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.532557844 meters Centerline goodness [0,1] 0.24912653805255958 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.69 [[ 9.99889952e-01 6.26440919e-04 -1.48220217e-02 4.36868835e-01] [-5.87164962e-04 9.99996306e-01 2.65404144e-03 -9.24377484e-03] [ 1.48236296e-02 -2.64504640e-03 9.99886625e-01 6.94310562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562557844 meters Centerline goodness [0,1] 0.24708962652010213 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.69 [[ 9.99888183e-01 6.53602940e-04 -1.49396878e-02 4.37218293e-01] [-6.12161067e-04 9.99995953e-01 2.77834973e-03 -1.00571530e-02] [ 1.49414433e-02 -2.76889357e-03 9.99884537e-01 6.94262165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.592557844 meters Centerline goodness [0,1] 0.2502516521510788 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.69 [[ 9.99888210e-01 6.99011121e-04 -1.49358089e-02 4.37225006e-01] [-6.55582361e-04 9.99995544e-01 2.91239219e-03 -1.07761568e-02] [ 1.49377782e-02 -2.90227496e-03 9.99884213e-01 6.94249746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622557844 meters Centerline goodness [0,1] 0.24670335599438864 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:0.69 [[ 0.99986835 0.00948068 -0.01316829 0.45698834] [-0.00945461 0.99995322 0.00204012 -0.01362796] [ 0.01318701 -0.00191535 0.99991121 0.69455572] [ 0. 0. 0. 1. ]] SLAMing on 82.652557844 meters Centerline goodness [0,1] 0.24670335599438864 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:0.69 [[ 0.99986835 0.00948068 -0.01316829 0.45698834] [-0.00945461 0.99995322 0.00204012 -0.01362796] [ 0.01318701 -0.00191535 0.99991121 0.69455572] [ 0. 0. 0. 1. ]] SLAMing on 82.682557844 meters Centerline goodness [0,1] 0.24944538692418117 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:0.69 [[ 9.99928876e-01 7.14777499e-04 -1.19051475e-02 4.34350354e-01] [-6.74622422e-04 9.99994072e-01 3.37659163e-03 -1.05808738e-02] [ 1.19074905e-02 -3.36831999e-03 9.99923430e-01 6.93783444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.712557844 meters Centerline goodness [0,1] 0.24989652092455827 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:0.69 [[ 9.99928513e-01 7.38069562e-04 -1.19341853e-02 4.34236425e-01] [-6.96274065e-04 9.99993612e-01 3.50594160e-03 -1.13066320e-02] [ 1.19366967e-02 -3.49738151e-03 9.99922639e-01 6.94141245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742557844 meters Centerline goodness [0,1] 0.24912732350117817 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:0.69 [[ 9.99927486e-01 7.45827635e-04 -1.20194603e-02 4.34460411e-01] [-7.02442108e-04 9.99993225e-01 3.61342441e-03 -1.20234448e-02] [ 1.20220739e-02 -3.60471941e-03 9.99921235e-01 6.94137143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.772557844 meters Centerline goodness [0,1] 0.24693433331178205 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:0.69 [[ 0.99989375 0.00926882 -0.01125042 0.45495897] [-0.00924173 0.99995427 0.00245772 -0.01569632] [ 0.01127269 -0.00235349 0.99993369 0.69469491] [ 0. 0. 0. 1. ]] SLAMing on 82.802557844 meters Centerline goodness [0,1] 0.2507480289165047 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:0.69 [[ 9.99928741e-01 -1.27543421e-04 -1.19372111e-02 4.33692155e-01] [ 1.67551257e-04 9.99994373e-01 3.35058281e-03 -1.34926564e-02] [ 1.19367166e-02 -3.35234414e-03 9.99923135e-01 6.93922360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83255784400001 meters Centerline goodness [0,1] 0.24861068568678069 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:0.69 [[ 9.99928901e-01 1.80261311e-06 -1.19244806e-02 4.33334824e-01] [ 4.43379357e-05 9.99992514e-01 3.86913145e-03 -1.61104754e-02] [ 1.19243983e-02 -3.86938506e-03 9.99921415e-01 6.94578878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862557844 meters Centerline goodness [0,1] 0.2462718731143867 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:0.69 [[ 9.99915743e-01 6.51162483e-03 -1.12296759e-02 4.56323138e-01] [-6.50249607e-03 9.99978498e-01 8.49233641e-04 -1.74616116e-02] [ 1.12349643e-02 -7.76141164e-04 9.99936585e-01 6.93910944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.892557844 meters Centerline goodness [0,1] 0.25373659996918263 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:0.69 [[ 9.99886281e-01 4.47669449e-03 -1.44008469e-02 4.13199756e-01] [-4.46909365e-03 9.99989857e-01 5.59942865e-04 -2.20465172e-02] [ 1.44032076e-02 -4.95520455e-04 9.99896146e-01 6.94127206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922557844 meters Centerline goodness [0,1] 0.25146045290449626 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:0.69 [[ 9.99881702e-01 4.51581545e-03 -1.47033572e-02 4.13992167e-01] [-4.50432279e-03 9.99989524e-01 8.14657606e-04 -2.36408817e-02] [ 1.47068820e-02 -7.48332567e-04 9.99891568e-01 6.94095191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.952557844 meters Centerline goodness [0,1] 0.24970409013195383 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:0.69 [[ 9.99880313e-01 4.58269856e-03 -1.47769908e-02 4.14189532e-01] [-4.56767195e-03 9.99989016e-01 1.05048231e-03 -2.49263791e-02] [ 1.47816426e-02 -9.82860133e-04 9.99890262e-01 6.94114037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.982557844 meters Centerline goodness [0,1] 0.24974876567483728 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:0.69 [[ 0.99987926 0.00463548 -0.01483197 0.41435395] [-0.00461839 0.99998863 0.00118625 -0.02566461] [ 0.0148373 -0.00111761 0.9998893 0.69405512] [ 0. 0. 0. 1. ]] SLAMing on 83.012557844 meters Centerline goodness [0,1] 0.24483737459099875 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 0.99987735 0.00468564 -0.0149444 0.41505563] [-0.00466942 0.99998847 0.00111969 -0.0250795 ] [ 0.01494948 -0.00104977 0.9998877 0.69332107] [ 0. 0. 0. 1. ]] SLAMing on 83.042557844 meters Centerline goodness [0,1] 0.2477926022345157 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.69 [[ 9.99876007e-01 4.63265089e-03 -1.50501905e-02 4.15454974e-01] [-4.61897132e-03 9.99988887e-01 9.43563004e-04 -2.41303680e-02] [ 1.50543944e-02 -8.73929612e-04 9.99886294e-01 6.93095230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.072557844 meters Centerline goodness [0,1] 0.24551143720328006 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.69 [[ 9.99874452e-01 4.62225447e-03 -1.51563772e-02 4.15740071e-01] [-4.60951502e-03 9.99988993e-01 8.75360309e-04 -2.37501115e-02] [ 1.51602565e-02 -8.05386860e-04 9.99884752e-01 6.93040765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102557844 meters Centerline goodness [0,1] 0.24586651662049863 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.69 [[ 9.99872951e-01 4.64230162e-03 -1.52489332e-02 4.15839570e-01] [-4.62874725e-03 9.99988860e-01 9.24047020e-04 -2.40152432e-02] [ 1.52530530e-02 -8.53346164e-04 9.99883301e-01 6.93283623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.132557844 meters Centerline goodness [0,1] 0.24332959157240308 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 0.99987255 0.00470918 -0.01525497 0.41560851] [-0.00469248 0.99998835 0.0011306 -0.02514654] [ 0.01526012 -0.00105888 0.999883 0.69373554] [ 0. 0. 0. 1. ]] SLAMing on 83.162557844 meters Centerline goodness [0,1] 0.24735656092910385 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 0.99987319 0.0047836 -0.01518932 0.41523194] [-0.00476367 0.99998774 0.00134811 -0.02625762] [ 0.01519558 -0.00127558 0.99988373 0.69409072] [ 0. 0. 0. 1. ]] SLAMing on 83.192557844 meters Centerline goodness [0,1] 0.24781891575155168 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:0.69 [[ 0.99987365 0.00494102 -0.01510842 0.41494513] [-0.0049146 0.99998633 0.00178561 -0.02841043] [ 0.01511704 -0.00171113 0.99988427 0.69427347] [ 0. 0. 0. 1. ]] SLAMing on 83.22255784400001 meters Centerline goodness [0,1] 0.24890422254046785 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 0.9998709 0.00494665 -0.01528752 0.41555485] [-0.00491879 0.99998617 0.00185953 -0.02900065] [ 0.01529651 -0.00178409 0.99988141 0.69402511] [ 0. 0. 0. 1. ]] SLAMing on 83.252557844 meters Centerline goodness [0,1] 0.24808629088378564 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 0.99986633 0.00499158 -0.01556914 0.41638342] [-0.00496069 0.99998565 0.00202186 -0.0299392 ] [ 0.015579 -0.00194436 0.99987675 0.69384907] [ 0. 0. 0. 1. ]] SLAMing on 83.282557844 meters Centerline goodness [0,1] 0.24708762266955175 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.69 [[ 0.9998626 0.00503849 -0.01579197 0.4171663 ] [-0.00500461 0.99998509 0.00218429 -0.03086786] [ 0.01580274 -0.00210496 0.99987291 0.69346656] [ 0. 0. 0. 1. ]] SLAMing on 83.312557844 meters Centerline goodness [0,1] 0.2432321308779295 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.03, Z:0.69 [[ 0.99986718 -0.00226963 -0.0161392 0.43709772] [ 0.00232116 0.99999227 0.00317476 -0.02617493] [ 0.01613187 -0.0032118 0.99986471 0.69462914] [ 0. 0. 0. 1. ]] SLAMing on 83.342557844 meters Centerline goodness [0,1] 0.24853845985417444 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.03, Z:0.69 [[ 0.99986709 -0.00216007 -0.01615973 0.43720859] [ 0.00221546 0.99999173 0.00341073 -0.02718872] [ 0.01615223 -0.00344608 0.99986361 0.69451265] [ 0. 0. 0. 1. ]] SLAMing on 83.372557844 meters Centerline goodness [0,1] 0.24804985401141766 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.03, Z:0.69 [[ 0.99986959 -0.00211102 -0.01601106 0.43696701] [ 0.00216778 0.99999143 0.00352842 -0.02779043] [ 0.01600347 -0.00356267 0.99986559 0.69431283] [ 0. 0. 0. 1. ]] SLAMing on 83.402557844 meters Centerline goodness [0,1] 0.25150754874774417 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.03, Z:0.69 [[ 0.99987003 -0.00210178 -0.01598463 0.43685306] [ 0.00215832 0.99999147 0.00352087 -0.02773485] [ 0.01597709 -0.00355491 0.99986604 0.69439737] [ 0. 0. 0. 1. ]] SLAMing on 83.432557844 meters Centerline goodness [0,1] 0.24565983553060955 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.70 [[ 0.99986859 0.00673352 -0.01474633 0.45681959] [-0.00670071 0.99997497 0.00227334 -0.02990855] [ 0.01476127 -0.00217423 0.99988868 0.69548657] [ 0. 0. 0. 1. ]] SLAMing on 83.462557844 meters Centerline goodness [0,1] 0.2470560170024506 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.70 [[ 0.99986869 0.00672207 -0.01474503 0.4567295 ] [-0.00669007 0.99997516 0.00221867 -0.02956959] [ 0.01475958 -0.00211973 0.99988882 0.69562318] [ 0. 0. 0. 1. ]] SLAMing on 83.492557844 meters Centerline goodness [0,1] 0.24461661652996303 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.70 [[ 0.99986985 0.0066887 -0.0146814 0.45668215] [-0.00665846 0.99997561 0.00210817 -0.02903223] [ 0.01469514 -0.00201014 0.99989 0.69542413] [ 0. 0. 0. 1. ]] SLAMing on 83.522557844 meters Centerline goodness [0,1] 0.2424988659192534 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.70 [[ 0.99987063 0.0066199 -0.01465927 0.45664335] [-0.00659219 0.99997639 0.00193725 -0.02827354] [ 0.01467175 -0.00184036 0.99989067 0.69539376] [ 0. 0. 0. 1. ]] SLAMing on 83.552557844 meters Centerline goodness [0,1] 0.24434897126449184 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.70 [[ 0.99986908 0.00646905 -0.01483158 0.45723215] [-0.00644694 0.99997804 0.00153794 -0.02640935] [ 0.0148412 -0.00144212 0.99988882 0.6951034 ] [ 0. 0. 0. 1. ]] SLAMing on 83.58255784400001 meters Centerline goodness [0,1] 0.24554142197759332 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.70 [[ 0.99986795 0.0063962 -0.01493912 0.45755224] [-0.00637631 0.99997872 0.00137889 -0.02561975] [ 0.01494762 -0.00128345 0.99988745 0.69500119] [ 0. 0. 0. 1. ]] SLAMing on 83.61255784400001 meters Centerline goodness [0,1] 0.24082800766036194 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.70 [[ 9.99870796e-01 -7.88868755e-04 -1.60551587e-02 4.77244953e-01] [ 8.18646136e-04 9.99997957e-01 1.84820478e-03 -1.88097524e-02] [ 1.60536679e-02 -1.86110948e-03 9.99869399e-01 6.96214798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642557844 meters Centerline goodness [0,1] 0.24277069375405225 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.70 [[ 9.99868328e-01 -8.75788983e-04 -1.62037219e-02 4.77753865e-01] [ 9.03412990e-04 9.99998151e-01 1.69755264e-03 -1.82038100e-02] [ 1.62022052e-02 -1.71196778e-03 9.99867270e-01 6.96003730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.672557844 meters Centerline goodness [0,1] 0.24301205339784848 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.70 [[ 9.99869751e-01 -9.68784456e-04 -1.61103221e-02 4.77372302e-01] [ 9.93276167e-04 9.99998363e-01 1.51231763e-03 -1.73066337e-02] [ 1.61088306e-02 -1.52812265e-03 9.99869077e-01 6.96238066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702557844 meters Centerline goodness [0,1] 0.2444871186294394 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.70 [[ 0.99987383 -0.00104171 -0.01585063 0.47632336] [ 0.00106218 0.99999861 0.00128342 -0.01595663] [ 0.01584928 -0.0013001 0.99987355 0.69684058] [ 0. 0. 0. 1. ]] SLAMing on 83.732557844 meters Centerline goodness [0,1] 0.25480292035203034 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:0.70 [[ 0.99984889 -0.00154997 -0.01731477 0.42708553] [ 0.00158401 0.99999684 0.00195231 -0.01515904] [ 0.01731169 -0.00197945 0.99984818 0.69985285] [ 0. 0. 0. 1. ]] SLAMing on 83.762557844 meters Centerline goodness [0,1] 0.24697683506654222 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:0.70 [[ 9.99847430e-01 6.88746156e-03 -1.60523807e-02 4.47072023e-01] [-6.88428119e-03 9.99976271e-01 2.53374917e-04 -1.51802368e-02] [ 1.60537449e-02 -1.42827157e-04 9.99871120e-01 7.00880117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.792557844 meters Centerline goodness [0,1] 0.24840320013951567 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:0.70 [[ 9.99847904e-01 6.72799469e-03 -1.60904564e-02 4.47107204e-01] [-6.73027798e-03 9.99977348e-01 -8.77567085e-05 -1.37280626e-02] [ 1.60895015e-02 1.96036605e-04 9.99870536e-01 7.00963564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822557844 meters Centerline goodness [0,1] 0.24664960749447018 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.01, Z:0.70 [[ 9.99867008e-01 -5.06647496e-04 -1.63006142e-02 4.65363189e-01] [ 5.21417911e-04 9.99999457e-01 9.01889051e-04 -6.82364766e-03] [ 1.63001484e-02 -9.10268539e-04 9.99866729e-01 7.03171834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.852557844 meters Centerline goodness [0,1] 0.24963237714812458 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:0.70 [[ 9.99871819e-01 -5.81020919e-04 -1.60002195e-02 4.64392806e-01] [ 5.92748027e-04 9.99999559e-01 7.28201583e-04 -5.86570955e-03] [ 1.59997893e-02 -7.37592340e-04 9.99871723e-01 7.03519297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.882557844 meters Centerline goodness [0,1] 0.24856875421754931 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.00, Z:0.70 [[ 9.99874004e-01 -6.70582832e-04 -1.58595891e-02 4.63770131e-01] [ 6.79529546e-04 9.99999613e-01 5.58738074e-04 -4.92382816e-03] [ 1.58592083e-02 -5.69444735e-04 9.99874073e-01 7.03987812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.912557844 meters Centerline goodness [0,1] 0.24657206805884524 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.00, Z:0.70 [[ 9.99870381e-01 -1.00415736e-03 -1.60690328e-02 4.64231418e-01] [ 1.00660887e-03 9.99999483e-01 1.44473550e-04 -3.30528653e-03] [ 1.60688794e-02 -1.60630054e-04 9.99870874e-01 7.04088938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.942557844 meters Centerline goodness [0,1] 0.24132085997511055 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.70 [[ 0.99984607 0.00715262 -0.01602118 0.48506504] [-0.00717368 0.99997348 -0.00125714 -0.00553383] [ 0.01601176 0.00137188 0.99987086 0.70488147] [ 0. 0. 0. 1. ]] SLAMing on 83.97255784400001 meters Centerline goodness [0,1] 0.24413694536477615 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.00, Z:0.70 [[ 9.99856160e-01 -1.90963216e-03 -1.68526532e-02 4.65453710e-01] [ 1.90728887e-03 9.99998169e-01 -1.55117239e-04 -1.53122226e-03] [ 1.68529185e-02 1.22952049e-04 9.99857972e-01 7.03419065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002557844 meters Centerline goodness [0,1] 0.24017139796464915 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.70 [[ 0.99985687 0.00657573 -0.01558847 0.48495339] [-0.00660058 0.99997703 -0.00154316 -0.00416444] [ 0.01557796 0.00164583 0.9998773 0.70463132] [ 0. 0. 0. 1. ]] SLAMing on 84.032557844 meters Centerline goodness [0,1] 0.2433473992421633 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.99985924 0.00652314 -0.01545791 0.48433096] [-0.00654933 0.9999772 -0.00164449 -0.00372471] [ 0.01544683 0.00174549 0.99987917 0.7051263 ] [ 0. 0. 0. 1. ]] SLAMing on 84.062557844 meters Centerline goodness [0,1] 0.2436399852772425 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.99986613 0.00662153 -0.01496228 0.48275031] [-0.00665114 0.99997602 -0.00192975 -0.00141268] [ 0.01494914 0.00202901 0.9998862 0.70566946] [ 0. 0. 0. 1. ]] SLAMing on 84.092557844 meters Centerline goodness [0,1] 0.2436399852772425 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.99986613 0.00662153 -0.01496228 0.48275031] [-0.00665114 0.99997602 -0.00192975 -0.00141268] [ 0.01494914 0.00202901 0.9998862 0.70566946] [ 0. 0. 0. 1. ]] SLAMing on 84.122557844 meters Centerline goodness [0,1] 0.24328245101223345 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.70 [[ 0.99985331 0.00715829 -0.01556017 0.48486779] [-0.00719219 0.99997188 -0.00212344 0.00170036] [ 0.01554454 0.00223504 0.99987668 0.70444524] [ 0. 0. 0. 1. ]] SLAMing on 84.152557844 meters Centerline goodness [0,1] 0.25375441696113077 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.70 [[ 9.99808598e-01 6.51490047e-03 -1.84478333e-02 4.40496489e-01] [-6.55191066e-03 9.99976642e-01 -1.94647921e-03 3.24058026e-04] [ 1.84347213e-02 2.06697521e-03 9.99827930e-01 7.04639515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.182557844 meters Centerline goodness [0,1] 0.24604260308774673 Centerline is valid? [False, False] Translation: X:0.46, Y:0.01, Z:0.71 [[ 9.99840996e-01 -7.76636739e-04 -1.78151322e-02 4.59273503e-01] [ 7.56983716e-04 9.99999098e-01 -1.10988148e-03 6.64510456e-03] [ 1.78159781e-02 1.09621924e-03 9.99840682e-01 7.05899715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.212557844 meters Centerline goodness [0,1] 0.2540495211193009 Centerline is valid? [False, False] Translation: X:0.41, Y:0.00, Z:0.71 [[ 9.99796005e-01 -1.44265006e-03 -2.01461616e-02 4.12101361e-01] [ 1.43351644e-03 9.99998863e-01 -4.67801747e-04 2.56528969e-03] [ 2.01468136e-02 4.38826464e-04 9.99796936e-01 7.07693447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.242557844 meters Centerline goodness [0,1] 0.2496821430137226 Centerline is valid? [False, False] Translation: X:0.41, Y:0.00, Z:0.71 [[ 9.99797535e-01 -1.34079600e-03 -2.00771541e-02 4.11732922e-01] [ 1.33555537e-03 9.99999070e-01 -2.74430899e-04 1.90680240e-03] [ 2.00775034e-02 2.47561186e-04 9.99798396e-01 7.08010635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.272557844 meters Centerline goodness [0,1] 0.25417920611559 Centerline is valid? [False, False] Translation: X:0.41, Y:0.00, Z:0.71 [[ 9.99796929e-01 -1.22927226e-03 -2.01143937e-02 4.11835405e-01] [ 1.22887444e-03 9.99999244e-01 -3.21383140e-05 9.42179525e-04] [ 2.01144180e-02 7.41372333e-06 9.99797685e-01 7.07992939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.302557844 meters Centerline goodness [0,1] 0.24842903575297937 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.71 [[ 0.99982259 0.00572588 -0.0179444 0.4343542 ] [-0.00576936 0.99998054 -0.00237216 -0.00185105] [ 0.01793047 0.00247527 0.99983617 0.70685188] [ 0. 0. 0. 1. ]] SLAMing on 84.33255784400001 meters Centerline goodness [0,1] 0.24894056285993693 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.71 [[ 0.99982285 0.00582616 -0.01789745 0.43415584] [-0.00586394 0.99998069 -0.0020595 -0.00362654] [ 0.0178851 0.00216408 0.99983771 0.70704284] [ 0. 0. 0. 1. ]] SLAMing on 84.36255784400001 meters Centerline goodness [0,1] 0.25241567111735774 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.71 [[ 0.99982241 0.00590833 -0.01789521 0.43403816] [-0.00594177 0.9999807 -0.00181602 -0.00498808] [ 0.01788414 0.00192202 0.99983822 0.707276 ] [ 0. 0. 0. 1. ]] SLAMing on 84.392557844 meters Centerline goodness [0,1] 0.24449609400219507 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.99985169 0.00692014 -0.01577053 0.477255 ] [-0.00695976 0.99997276 -0.0024588 -0.00243055] [ 0.01575309 0.0025682 0.99987261 0.70767225] [ 0. 0. 0. 1. ]] SLAMing on 84.422557844 meters Centerline goodness [0,1] 0.25039325351743424 Centerline is valid? [False, False] Translation: X:0.46, Y:0.00, Z:0.71 [[ 9.99857400e-01 -1.88345030e-03 -1.67819089e-02 4.56637038e-01] [ 1.86297654e-03 9.99997501e-01 -1.23553947e-03 3.38486142e-04] [ 1.67841941e-02 1.20409898e-03 9.99858410e-01 7.06906324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.452557844 meters Centerline goodness [0,1] 0.24859468258274553 Centerline is valid? [False, False] Translation: X:0.46, Y:0.00, Z:0.71 [[ 9.99856937e-01 -1.83323097e-03 -1.68149967e-02 4.56767538e-01] [ 1.81288854e-03 9.99997606e-01 -1.22494238e-03 4.63230400e-04] [ 1.68172021e-02 1.19428342e-03 9.99857868e-01 7.06811856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.482557844 meters Centerline goodness [0,1] 0.24585694659110424 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.9998395 0.00698709 -0.01649685 0.47772887] [-0.0070298 0.99997208 -0.00253267 -0.00215205] [ 0.01647869 0.00264824 0.99986071 0.7079288 ] [ 0. 0. 0. 1. ]] SLAMing on 84.512557844 meters Centerline goodness [0,1] 0.24693281402142164 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.9998383 0.00694304 -0.01658838 0.47818022] [-0.00698753 0.99997214 -0.00262584 -0.00186524] [ 0.01656969 0.00274133 0.99985896 0.70754386] [ 0. 0. 0. 1. ]] SLAMing on 84.542557844 meters Centerline goodness [0,1] 0.24601953945800747 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.99983589 0.00691709 -0.01674354 0.47887325] [-0.00696221 0.99997228 -0.00263767 -0.00203483] [ 0.01672483 0.00275381 0.99985634 0.70704502] [ 0. 0. 0. 1. ]] SLAMing on 84.572557844 meters Centerline goodness [0,1] 0.24601953945800747 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.99983589 0.00691709 -0.01674354 0.47887325] [-0.00696221 0.99997228 -0.00263767 -0.00203483] [ 0.01672483 0.00275381 0.99985634 0.70704502] [ 0. 0. 0. 1. ]] SLAMing on 84.602557844 meters Centerline goodness [0,1] 0.2446047856040684 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.9998322 0.00689083 -0.01697288 0.47970341] [-0.00693618 0.99997253 -0.00261467 -0.00245551] [ 0.0169544 0.00273195 0.99985253 0.70659883] [ 0. 0. 0. 1. ]] SLAMing on 84.632557844 meters Centerline goodness [0,1] 0.2456311521616582 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.71 [[ 0.99982869 0.00689514 -0.01717683 0.48012096] [-0.00693853 0.99997288 -0.00246762 -0.00341872] [ 0.01715935 0.00258638 0.99984942 0.70680488] [ 0. 0. 0. 1. ]] SLAMing on 84.662557844 meters Centerline goodness [0,1] 0.24516591071854854 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.71 [[ 0.99982781 0.00695926 -0.01720243 0.47992249] [-0.00699707 0.99997323 -0.00213855 -0.00518364] [ 0.01718709 0.00225855 0.99984974 0.70728012] [ 0. 0. 0. 1. ]] SLAMing on 84.692557844 meters Centerline goodness [0,1] 0.24754326463170706 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.71 [[ 0.99983105 0.00705969 -0.01697151 0.47893599] [-0.00708938 0.99997344 -0.0016899 -0.00738382] [ 0.01695913 0.00180994 0.99985455 0.70803829] [ 0. 0. 0. 1. ]] SLAMing on 84.72255784400001 meters Centerline goodness [0,1] 0.24551328068916012 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.71 [[ 0.99983395 0.00718463 -0.0167465 0.4779879 ] [-0.00720448 0.99997341 -0.00112503 -0.01019004] [ 0.01673797 0.0012455 0.99985913 0.70878195] [ 0. 0. 0. 1. ]] SLAMing on 84.752557844 meters Centerline goodness [0,1] 0.24760293288212065 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.71 [[ 9.99829786e-01 7.28501725e-03 -1.69507545e-02 4.78501919e-01] [-7.29597007e-03 9.99973213e-01 -5.84404037e-04 -1.31161551e-02] [ 1.69460431e-02 7.07976761e-04 9.99856155e-01 7.08867351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782557844 meters Centerline goodness [0,1] 0.24758575486126289 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.71 [[ 0.99982012 0.00528882 -0.0182143 0.48453915] [-0.00532647 0.99998378 -0.00201878 -0.01827975] [ 0.01820333 0.00211544 0.99983207 0.70552106] [ 0. 0. 0. 1. ]] SLAMing on 84.812557844 meters Centerline goodness [0,1] 0.24545098380637298 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:0.71 [[ 0.9998127 0.00536384 -0.01859576 0.48581872] [-0.00539684 0.99998395 -0.00172506 -0.01984493] [ 0.0185862 0.00182509 0.9998256 0.70502379] [ 0. 0. 0. 1. ]] SLAMing on 84.842557844 meters Centerline goodness [0,1] 0.2473429316503407 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:0.71 [[ 0.99980943 0.00547751 -0.01873744 0.48615299] [-0.00550589 0.99998377 -0.00146347 -0.02102463] [ 0.01872912 0.00156636 0.99982337 0.70505436] [ 0. 0. 0. 1. ]] SLAMing on 84.872557844 meters Centerline goodness [0,1] 0.24609273248241725 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.71 [[ 9.99844635e-01 -1.84675554e-03 -1.75298339e-02 5.05047183e-01] [ 1.84421938e-03 9.99998286e-01 -1.60841172e-04 -1.66581095e-02] [ 1.75301009e-02 1.28487324e-04 9.99846328e-01 7.06502149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.902557844 meters Centerline goodness [0,1] 0.24501069915716844 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.71 [[ 9.99863180e-01 -1.46855116e-03 -1.64761906e-02 5.01712105e-01] [ 1.47347018e-03 9.99998873e-01 2.86417845e-04 -1.79427625e-02] [ 1.64757514e-02 -3.10655833e-04 9.99864217e-01 7.07727933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.932557844 meters Centerline goodness [0,1] 0.2462815710499222 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.71 [[ 9.99863998e-01 -1.46981064e-03 -1.64263398e-02 5.01659111e-01] [ 1.47374838e-03 9.99998888e-01 2.27618932e-04 -1.76610016e-02] [ 1.64259870e-02 -2.51796268e-04 9.99865053e-01 7.07616456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.962557844 meters Centerline goodness [0,1] 0.24444540409820137 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:0.71 [[ 0.99985237 0.00649527 -0.01590775 0.52439733] [-0.00652695 0.99997682 -0.00194081 -0.01795993] [ 0.01589477 0.00204436 0.99987158 0.7067311 ] [ 0. 0. 0. 1. ]] SLAMing on 84.992557844 meters Centerline goodness [0,1] 0.2480632064084275 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.71 [[ 0.99979289 0.00547215 -0.01960176 0.48216935] [-0.00550719 0.99998333 -0.00173379 -0.01949482] [ 0.01959194 0.00184138 0.99980636 0.70614296] [ 0. 0. 0. 1. ]] SLAMing on 85.022557844 meters Centerline goodness [0,1] 0.24432965077160163 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:0.70 [[ 9.99747887e-01 7.71230443e-03 -2.10874826e-02 4.88385951e-01] [-7.71365811e-03 9.99970249e-01 1.71465301e-05 -1.54518690e-02] [ 2.10869874e-02 1.45519424e-04 9.99777634e-01 7.03204338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.052557844 meters Centerline goodness [0,1] 0.24523726295551862 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.70 [[ 9.99752034e-01 7.60086057e-03 -2.09307586e-02 4.87787961e-01] [-7.60965927e-03 9.99970988e-01 -3.40756241e-04 -1.34190125e-02] [ 2.09275613e-02 4.99947687e-04 9.99780870e-01 7.03502909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08255784400001 meters Centerline goodness [0,1] 0.24418326779778843 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.71 [[ 9.99810100e-01 2.84554047e-04 -1.94854373e-02 5.05451259e-01] [-2.66759317e-04 9.99999545e-01 9.15825407e-04 -6.46279482e-03] [ 1.94856891e-02 -9.10453570e-04 9.99809721e-01 7.05816630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11255784400001 meters Centerline goodness [0,1] 0.2436686313880433 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.71 [[ 9.99816041e-01 2.12858888e-04 -1.91791104e-02 5.04149201e-01] [-1.96866307e-04 9.99999631e-01 8.35738307e-04 -6.06051159e-03] [ 1.91792812e-02 -8.31808845e-04 9.99815715e-01 7.06691478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142557844 meters Centerline goodness [0,1] 0.2505224258155342 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:0.71 [[ 9.99770465e-01 -2.00324456e-03 -2.13308427e-02 4.57458983e-01] [ 2.01445747e-03 9.99997844e-01 5.04191853e-04 -9.89097007e-03] [ 2.13297867e-02 -5.47046199e-04 9.99772345e-01 7.07864972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.172557844 meters Centerline goodness [0,1] 0.24683072334079048 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:0.71 [[ 9.99763870e-01 -2.20541487e-03 -2.16180656e-02 4.58194880e-01] [ 2.21767826e-03 9.99997393e-01 5.43318069e-04 -1.07323859e-02] [ 2.16168110e-02 -5.91131690e-04 9.99766155e-01 7.07880546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202557844 meters Centerline goodness [0,1] 0.24669197515964103 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:0.71 [[ 9.99745772e-01 -3.02026550e-03 -2.23443284e-02 4.60640635e-01] [ 3.03026934e-03 9.99995323e-01 4.13867417e-04 -1.25071271e-02] [ 2.23429739e-02 -4.81471534e-04 9.99750249e-01 7.07009715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.232557844 meters Centerline goodness [0,1] 0.24416310780636907 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:0.71 [[ 0.99978135 0.0027034 -0.02073508 0.48266209] [-0.00276384 0.99999201 -0.00288677 -0.01455736] [ 0.02072712 0.00294345 0.99978084 0.70617501] [ 0. 0. 0. 1. ]] SLAMing on 85.262557844 meters Centerline goodness [0,1] 0.24275772074815138 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.71 [[ 0.99978777 0.00249995 -0.02044915 0.48154684] [-0.00255357 0.99999337 -0.00259684 -0.01710022] [ 0.02044252 0.00264851 0.99978752 0.70699969] [ 0. 0. 0. 1. ]] SLAMing on 85.292557844 meters Centerline goodness [0,1] 0.2474441665569742 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.71 [[ 0.9997944 0.00232386 -0.0201435 0.48034895] [-0.00237035 0.99999458 -0.00228421 -0.0198283 ] [ 0.02013808 0.00233148 0.99979449 0.70785915] [ 0. 0. 0. 1. ]] SLAMing on 85.322557844 meters Centerline goodness [0,1] 0.24338083324268467 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.71 [[ 0.99979987 -0.00575528 -0.01915996 0.50091872] [ 0.00572958 0.99998261 -0.00139554 -0.01836513] [ 0.01916766 0.00128549 0.99981546 0.70906193] [ 0. 0. 0. 1. ]] SLAMing on 85.352557844 meters Centerline goodness [0,1] 0.24580356751544896 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.71 [[ 9.99800216e-01 -5.63277693e-03 -1.91780871e-02 5.00918699e-01] [ 5.61261016e-03 9.99983638e-01 -1.10521552e-03 -1.96762836e-02] [ 1.91839988e-02 9.97355586e-04 9.99815473e-01 7.09154782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.382557844 meters Centerline goodness [0,1] 0.24430714145361654 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.71 [[ 9.99802862e-01 -5.38506499e-03 -1.91111938e-02 5.01007323e-01] [ 5.36654129e-03 9.99985079e-01 -1.02041249e-03 -1.92856037e-02] [ 1.91164037e-02 9.17650321e-04 9.99816844e-01 7.08730442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.412557844 meters Centerline goodness [0,1] 0.24358334598945564 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:0.71 [[ 0.9998199 0.00356805 -0.01863986 0.52137772] [-0.00361625 0.9999902 -0.00255263 -0.02132823] [ 0.01863056 0.00261958 0.999823 0.71018822] [ 0. 0. 0. 1. ]] SLAMing on 85.442557844 meters Centerline goodness [0,1] 0.24430781263578694 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:0.71 [[ 0.99982077 0.00363021 -0.01858069 0.52123523] [-0.0036824 0.99998937 -0.00277495 -0.02008496] [ 0.01857042 0.00284288 0.99982351 0.71017254] [ 0. 0. 0. 1. ]] SLAMing on 85.47255784400001 meters Centerline goodness [0,1] 0.2429311204038741 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:0.71 [[ 0.99981997 0.00370034 -0.0186102 0.52147425] [-0.00375706 0.9999884 -0.0030134 -0.01871504] [ 0.01859883 0.00308278 0.99982227 0.70988534] [ 0. 0. 0. 1. ]] SLAMing on 85.502557844 meters Centerline goodness [0,1] 0.24684376643871642 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:0.71 [[ 0.9998165 0.0037867 -0.01877838 0.52210673] [-0.00384766 0.99998744 -0.00321114 -0.01732782] [ 0.01876599 0.0032828 0.99981851 0.70941002] [ 0. 0. 0. 1. ]] SLAMing on 85.532557844 meters Centerline goodness [0,1] 0.2451308581862447 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:0.71 [[ 0.99980795 0.00392457 -0.01920038 0.5234168 ] [-0.00398913 0.99998652 -0.00332505 -0.01627402] [ 0.01918707 0.003401 0.99981013 0.70885591] [ 0. 0. 0. 1. ]] SLAMing on 85.562557844 meters Centerline goodness [0,1] 0.24207224745836042 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.71 [[ 0.99980653 0.00407407 -0.01924308 0.52367358] [-0.00414313 0.99998511 -0.00355033 -0.01459863] [ 0.01922833 0.00362937 0.99980853 0.70844673] [ 0. 0. 0. 1. ]] SLAMing on 85.592557844 meters Centerline goodness [0,1] 0.2433969225427003 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:0.71 [[ 0.99981489 0.00409494 -0.01879921 0.52227828] [-0.00416495 0.99998453 -0.00368626 -0.01360335] [ 0.01878382 0.00376387 0.99981648 0.70885493] [ 0. 0. 0. 1. ]] SLAMing on 85.622557844 meters Centerline goodness [0,1] 0.24278727025920577 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:0.71 [[ 0.99984176 -0.00249454 -0.01761355 0.53857594] [ 0.0024615 0.99999517 -0.00189717 -0.00666661] [ 0.01761819 0.00185351 0.99984307 0.71132083] [ 0. 0. 0. 1. ]] SLAMing on 85.652557844 meters Centerline goodness [0,1] 0.24505680339953173 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:0.71 [[ 0.99984476 -0.00255449 -0.01743353 0.53811635] [ 0.00251746 0.99999453 -0.00214562 -0.0052398 ] [ 0.01743892 0.0021014 0.99984572 0.71126283] [ 0. 0. 0. 1. ]] SLAMing on 85.682557844 meters Centerline goodness [0,1] 0.2459823461797046 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.00, Z:0.71 [[ 0.99984591 -0.00261577 -0.01735858 0.53793211] [ 0.00257491 0.99999386 -0.00237584 -0.00399839] [ 0.01736469 0.00233078 0.99984651 0.71118883] [ 0. 0. 0. 1. ]] SLAMing on 85.712557844 meters Centerline goodness [0,1] 0.24803620775942725 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.00, Z:0.71 [[ 0.999847 -0.00265344 -0.01728969 0.53748036] [ 0.00261111 0.99999354 -0.00247069 -0.00357269] [ 0.01729614 0.00242517 0.99984747 0.71166681] [ 0. 0. 0. 1. ]] SLAMing on 85.742557844 meters Centerline goodness [0,1] 0.25032975729862816 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:0.71 [[ 0.99985043 -0.00267567 -0.01708663 0.53637509] [ 0.00263771 0.999994 -0.00224374 -0.00504246] [ 0.01709253 0.00219833 0.9998515 0.71276059] [ 0. 0. 0. 1. ]] SLAMing on 85.772557844 meters Centerline goodness [0,1] 0.2476016445865692 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99988064 0.0040847 -0.01490028 0.55823213] [-0.00415843 0.99997925 -0.0049202 -0.00577057] [ 0.01487987 0.00498157 0.99987688 0.7120133 ] [ 0. 0. 0. 1. ]] SLAMing on 85.802557844 meters Centerline goodness [0,1] 0.24753184195109246 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99987938 0.004115 -0.01497618 0.55841736] [-0.00418494 0.99998047 -0.00464124 -0.00720563] [ 0.01495679 0.00470336 0.99987708 0.71201945] [ 0. 0. 0. 1. ]] SLAMing on 85.83255784400001 meters Centerline goodness [0,1] 0.24680451947825333 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99987577 0.00413308 -0.01521045 0.55906158] [-0.00419944 0.99998179 -0.00433367 -0.0088631 ] [ 0.01519227 0.004397 0.99987492 0.71192809] [ 0. 0. 0. 1. ]] SLAMing on 85.86255784400001 meters Centerline goodness [0,1] 0.24738334060183165 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99986873 0.00412614 -0.01566868 0.56032482] [-0.00418954 0.99998316 -0.00401521 -0.01074803] [ 0.01565185 0.00408033 0.99986918 0.71176336] [ 0. 0. 0. 1. ]] SLAMing on 85.892557844 meters Centerline goodness [0,1] 0.2485361659519819 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99986551 0.00419874 -0.01585377 0.56074831] [-0.0042575 0.99998419 -0.0036745 -0.01254919] [ 0.01583809 0.0037415 0.99986757 0.71186686] [ 0. 0. 0. 1. ]] SLAMing on 85.922557844 meters Centerline goodness [0,1] 0.2468604701690349 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99986759 0.00436054 -0.01567784 0.55981156] [-0.00441192 0.99998501 -0.00324377 -0.0145775 ] [ 0.01566347 0.00331251 0.99987183 0.712755 ] [ 0. 0. 0. 1. ]] SLAMing on 85.952557844 meters Centerline goodness [0,1] 0.24696874389952927 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99987021 0.00444492 -0.01548598 0.5591743 ] [-0.00449334 0.99998512 -0.0030933 -0.01518418] [ 0.015472 0.00316248 0.9998753 0.7130304 ] [ 0. 0. 0. 1. ]] SLAMing on 85.982557844 meters Centerline goodness [0,1] 0.24878611709887433 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99987029 0.00449511 -0.01546594 0.55926216] [-0.00454161 0.99998527 -0.00297279 -0.01582336] [ 0.01545235 0.00304265 0.99987598 0.71277567] [ 0. 0. 0. 1. ]] SLAMing on 86.012557844 meters Centerline goodness [0,1] 0.2466995628273384 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99986796 0.00446993 -0.01562297 0.56001203] [-0.00451783 0.9999852 -0.00303221 -0.01575392] [ 0.01560918 0.0031024 0.99987336 0.71218846] [ 0. 0. 0. 1. ]] SLAMing on 86.042557844 meters Centerline goodness [0,1] 0.2477581403447675 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99986809 0.00447361 -0.01561386 0.56029884] [-0.00452296 0.99998488 -0.0031268 -0.01530573] [ 0.01559964 0.00319701 0.99987321 0.7116387 ] [ 0. 0. 0. 1. ]] SLAMing on 86.072557844 meters Centerline goodness [0,1] 0.24754497262535846 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99986963 0.0045294 -0.01549848 0.56005551] [-0.0045803 0.99998423 -0.00325008 -0.01447251] [ 0.01548351 0.00332065 0.99987461 0.71153541] [ 0. 0. 0. 1. ]] SLAMing on 86.102557844 meters Centerline goodness [0,1] 0.24733447699289912 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99987201 0.0046178 -0.01531818 0.55964589] [-0.00466946 0.99998353 -0.00333849 -0.01370025] [ 0.01530251 0.00340959 0.9998771 0.71140574] [ 0. 0. 0. 1. ]] SLAMing on 86.132557844 meters Centerline goodness [0,1] 0.2478937629258735 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.9998717 0.00465842 -0.01532588 0.55971572] [-0.00471082 0.99998318 -0.00338483 -0.0133623 ] [ 0.01530985 0.00345659 0.99987682 0.71130077] [ 0. 0. 0. 1. ]] SLAMing on 86.162557844 meters Centerline goodness [0,1] 0.2488722296075141 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99987112 0.00465328 -0.01536556 0.56016972] [-0.00470608 0.99998314 -0.00340166 -0.01361675] [ 0.01534947 0.00347354 0.99987616 0.710643 ] [ 0. 0. 0. 1. ]] SLAMing on 86.192557844 meters Centerline goodness [0,1] 0.24879300595885345 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99987317 0.00468693 -0.01522084 0.55991563] [-0.00473777 0.99998331 -0.00330557 -0.01414166] [ 0.01520509 0.00337727 0.99987869 0.71041628] [ 0. 0. 0. 1. ]] SLAMing on 86.22255784400001 meters Centerline goodness [0,1] 0.24963519546989 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99987423 0.00472419 -0.01513959 0.55982982] [-0.00477308 0.99998351 -0.00319454 -0.01470089] [ 0.01512425 0.0032664 0.99988029 0.71020855] [ 0. 0. 0. 1. ]] SLAMing on 86.252557844 meters Centerline goodness [0,1] 0.24732047742244057 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99987384 0.00475166 -0.01515694 0.55989835] [-0.00479907 0.9999837 -0.00309344 -0.01523167] [ 0.015142 0.00316579 0.99988034 0.71012636] [ 0. 0. 0. 1. ]] SLAMing on 86.282557844 meters Centerline goodness [0,1] 0.2443583118001723 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:0.71 [[ 0.99987344 -0.00239951 -0.01572709 0.57937283] [ 0.00236488 0.99999474 -0.0022201 -0.00981847] [ 0.01573233 0.00218262 0.99987386 0.71173016] [ 0. 0. 0. 1. ]] SLAMing on 86.312557844 meters Centerline goodness [0,1] 0.24758898443452704 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99989536 0.00330647 -0.01408307 0.56415302] [-0.0033556 0.99998836 -0.00346597 -0.01476122] [ 0.01407145 0.00351287 0.99989482 0.70823844] [ 0. 0. 0. 1. ]] SLAMing on 86.342557844 meters Centerline goodness [0,1] 0.2481828302010346 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:0.71 [[ 0.99989147 0.00330375 -0.01435715 0.56505659] [-0.00335261 0.99998867 -0.00338021 -0.01525551] [ 0.01434582 0.00342798 0.99989122 0.70783816] [ 0. 0. 0. 1. ]] SLAMing on 86.372557844 meters Centerline goodness [0,1] 0.24871845210828258 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99989358 0.00331692 -0.01420628 0.56457514] [-0.00336431 0.99998885 -0.0033128 -0.0155914 ] [ 0.01419513 0.00336024 0.9998936 0.7079935 ] [ 0. 0. 0. 1. ]] SLAMing on 86.402557844 meters Centerline goodness [0,1] 0.24729500716986053 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99989541 0.00330996 -0.01407917 0.564171 ] [-0.0033561 0.99998907 -0.00325509 -0.01588638] [ 0.01406824 0.003302 0.99989559 0.70814691] [ 0. 0. 0. 1. ]] SLAMing on 86.432557844 meters Centerline goodness [0,1] 0.2466342395552853 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99989345 0.00321468 -0.01423885 0.56466752] [-0.0032637 0.99998882 -0.00342067 -0.01499526] [ 0.0142277 0.00346678 0.99989277 0.70792126] [ 0. 0. 0. 1. ]] SLAMing on 86.462557844 meters Centerline goodness [0,1] 0.2466342395552853 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99989345 0.00321468 -0.01423885 0.56466752] [-0.0032637 0.99998882 -0.00342067 -0.01499526] [ 0.0142277 0.00346678 0.99989277 0.70792126] [ 0. 0. 0. 1. ]] SLAMing on 86.492557844 meters Centerline goodness [0,1] 0.2461651471287214 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:0.71 [[ 0.99989071 0.00311047 -0.01445331 0.56531478] [-0.00316296 0.99998848 -0.00361044 -0.01419929] [ 0.01444192 0.00365576 0.99988903 0.70773236] [ 0. 0. 0. 1. ]] SLAMing on 86.522557844 meters Centerline goodness [0,1] 0.24758533280888073 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.01, Z:0.70 [[ 0.99993139 -0.00376731 -0.01109149 0.54835731] [ 0.0037395 0.99998981 -0.00252748 -0.01067515] [ 0.01110089 0.00248583 0.99993529 0.70372924] [ 0. 0. 0. 1. ]] SLAMing on 86.552557844 meters Centerline goodness [0,1] 0.24887671232876707 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.01, Z:0.70 [[ 0.99993218 -0.00381798 -0.0110023 0.54791919] [ 0.00378965 0.99998945 -0.00259496 -0.01043255] [ 0.01101209 0.00255309 0.99993611 0.70407135] [ 0. 0. 0. 1. ]] SLAMing on 86.58255784400001 meters Centerline goodness [0,1] 0.2454850948509485 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:0.71 [[ 0.99994959 0.0044948 -0.00897902 0.56625983] [-0.00453282 0.99998083 -0.00421878 -0.0131306 ] [ 0.00895988 0.00425926 0.99995079 0.7050935 ] [ 0. 0. 0. 1. ]] SLAMing on 86.61255784400001 meters Centerline goodness [0,1] 0.24763986013986017 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.71 [[ 0.99995344 0.00438617 -0.00859491 0.56491784] [-0.00442177 0.9999817 -0.00412809 -0.01375192] [ 0.00857665 0.0041659 0.99995454 0.70583461] [ 0. 0. 0. 1. ]] SLAMing on 86.642557844 meters Centerline goodness [0,1] 0.24183695418369544 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:0.71 [[ 0.99996029 -0.00316295 -0.00833202 0.58497557] [ 0.0031377 0.99999045 -0.00304197 -0.0085185 ] [ 0.00834156 0.00301571 0.99996066 0.7070601 ] [ 0. 0. 0. 1. ]] SLAMing on 86.672557844 meters Centerline goodness [0,1] 0.2434733748271093 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.71 [[ 0.99995814 -0.00315289 -0.00858902 0.58575826] [ 0.00312822 0.99999095 -0.0028839 -0.00926643] [ 0.00859804 0.00285691 0.99995896 0.70680166] [ 0. 0. 0. 1. ]] SLAMing on 86.702557844 meters Centerline goodness [0,1] 0.24467415144737126 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.71 [[ 0.99995437 -0.00318757 -0.00900547 0.58693543] [ 0.0031634 0.99999136 -0.00269696 -0.01046278] [ 0.00901399 0.00266835 0.99995581 0.70656055] [ 0. 0. 0. 1. ]] SLAMing on 86.732557844 meters Centerline goodness [0,1] 0.2431019522776573 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.71 [[ 0.9999521 -0.00322391 -0.00924153 0.5873967 ] [ 0.00320172 0.99999196 -0.00241424 -0.01232225] [ 0.00924924 0.00238454 0.99995438 0.70682469] [ 0. 0. 0. 1. ]] SLAMing on 86.762557844 meters Centerline goodness [0,1] 0.24478804725503822 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.71 [[ 0.99995434 -0.00319586 -0.00900619 0.58642432] [ 0.00317775 0.9999929 -0.00202495 -0.01452802] [ 0.0090126 0.00199624 0.99995739 0.70756114] [ 0. 0. 0. 1. ]] SLAMing on 86.792557844 meters Centerline goodness [0,1] 0.24689583061037768 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 0.99995947 -0.00295685 -0.00850415 0.58435483] [ 0.00294604 0.99999484 -0.00128322 -0.01766206] [ 0.0085079 0.00125812 0.99996302 0.70902342] [ 0. 0. 0. 1. ]] SLAMing on 86.822557844 meters Centerline goodness [0,1] 0.24610191637630663 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 0.99995982 -0.0028735 -0.00849076 0.58429337] [ 0.00286392 0.99999525 -0.00113993 -0.0181448 ] [ 0.00849399 0.00111556 0.9999633 0.70908247] [ 0. 0. 0. 1. ]] SLAMing on 86.852557844 meters Centerline goodness [0,1] 0.24518812053649186 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 0.99995922 -0.0028553 -0.00856763 0.58453487] [ 0.0028456 0.9999953 -0.00114361 -0.0181213 ] [ 0.00857086 0.00111919 0.99996264 0.70903781] [ 0. 0. 0. 1. ]] SLAMing on 86.882557844 meters Centerline goodness [0,1] 0.24424193653624482 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 0.99995884 -0.00288877 -0.00860022 0.5846474 ] [ 0.00287792 0.99999505 -0.00127461 -0.01760335] [ 0.00860385 0.00124981 0.99996221 0.70898799] [ 0. 0. 0. 1. ]] SLAMing on 86.912557844 meters Centerline goodness [0,1] 0.24558465286236297 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 0.99995966 -0.00289795 -0.00850144 0.58440244] [ 0.00288615 0.99999485 -0.00140069 -0.01697556] [ 0.00850546 0.00137609 0.99996288 0.70896699] [ 0. 0. 0. 1. ]] SLAMing on 86.942557844 meters Centerline goodness [0,1] 0.24883277438021967 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 0.99996164 -0.00284852 -0.00828237 0.58384192] [ 0.00283693 0.99999498 -0.0014115 -0.01673357] [ 0.00828635 0.00138795 0.9999647 0.70899525] [ 0. 0. 0. 1. ]] SLAMing on 86.97255784400001 meters Centerline goodness [0,1] 0.24393159049916335 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 0.99996276 -0.00275657 -0.00817831 0.58335728] [ 0.00274535 0.99999528 -0.00138285 -0.01678823] [ 0.00818209 0.00136035 0.9999656 0.70938555] [ 0. 0. 0. 1. ]] SLAMing on 87.002557844 meters Centerline goodness [0,1] 0.24618461672246617 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 0.99996128 -0.0027587 -0.00835594 0.58380076] [ 0.00274728 0.99999528 -0.00137736 -0.01701476] [ 0.0083597 0.00135435 0.99996414 0.70941566] [ 0. 0. 0. 1. ]] SLAMing on 87.032557844 meters Centerline goodness [0,1] 0.24299894038016567 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 0.99995907 -0.00277207 -0.0086124 0.58457131] [ 0.0027599 0.99999518 -0.00142456 -0.01694424] [ 0.0086163 0.00140073 0.9999619 0.70919585] [ 0. 0. 0. 1. ]] SLAMing on 87.062557844 meters Centerline goodness [0,1] 0.24777811829604657 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99994283 0.0050681 -0.00941528 0.56459224] [-0.00508989 0.99998442 -0.002291 -0.02255016] [ 0.00940352 0.00233879 0.99995305 0.70763931] [ 0. 0. 0. 1. ]] SLAMing on 87.092557844 meters Centerline goodness [0,1] 0.247675180091683 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99994303 0.00511196 -0.00937077 0.56471362] [-0.00513366 0.99998419 -0.0022932 -0.02235433] [ 0.0093589 0.00234117 0.99995346 0.70722221] [ 0. 0. 0. 1. ]] SLAMing on 87.122557844 meters Centerline goodness [0,1] 0.24705907934506077 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.9999447 0.00516459 -0.00916069 0.56419377] [-0.00518556 0.99998399 -0.00226652 -0.02230566] [ 0.00914884 0.0023139 0.99995547 0.70720361] [ 0. 0. 0. 1. ]] SLAMing on 87.152557844 meters Centerline goodness [0,1] 0.24800979791794242 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:0.71 [[ 0.99994396 0.00523228 -0.0092028 0.56432265] [-0.00525107 0.99998418 -0.00201885 -0.02384348] [ 0.00919209 0.00206706 0.99995562 0.70716979] [ 0. 0. 0. 1. ]] SLAMing on 87.182557844 meters Centerline goodness [0,1] 0.24483133841131666 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:0.71 [[ 0.9999417 0.00525624 -0.00943263 0.56502385] [-0.00527428 0.99998431 -0.00188822 -0.02463567] [ 0.00942256 0.00193786 0.99995373 0.7069437 ] [ 0. 0. 0. 1. ]] SLAMing on 87.212557844 meters Centerline goodness [0,1] 0.24507164567954842 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:0.71 [[ 0.99993999 0.00533044 -0.00957059 0.56532623] [-0.00534714 0.99998423 -0.00171967 -0.02532011] [ 0.00956127 0.00177074 0.99995272 0.70699764] [ 0. 0. 0. 1. ]] SLAMing on 87.242557844 meters Centerline goodness [0,1] 0.24300413294299983 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 9.99959791e-01 -1.78881756e-03 -8.78731349e-03 5.84147156e-01] [ 1.78702436e-03 9.99998381e-01 -2.11914514e-04 -2.05771155e-02] [ 8.78767834e-03 1.96202849e-04 9.99961368e-01 7.08702995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.272557844 meters Centerline goodness [0,1] 0.24430108457991473 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 9.99960242e-01 -1.65986758e-03 -8.76121354e-03 5.83755627e-01] [ 1.66056512e-03 9.99998619e-01 7.23427584e-05 -2.17872083e-02] [ 8.76108136e-03 -8.68884478e-05 9.99961617e-01 7.09291229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.302557844 meters Centerline goodness [0,1] 0.24456356612700203 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:0.71 [[ 9.99960556e-01 -1.54124564e-03 -8.74708621e-03 5.83503220e-01] [ 1.54499237e-03 9.99998718e-01 4.21598958e-04 -2.35606402e-02] [ 8.74642520e-03 -4.35096509e-04 9.99961655e-01 7.09679228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33255784400001 meters Centerline goodness [0,1] 0.243741651945366 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.03, Z:0.71 [[ 9.99959617e-01 -1.42041397e-03 -8.87392674e-03 5.83866739e-01] [ 1.42817099e-03 9.99998604e-01 8.67860320e-04 -2.59819354e-02] [ 8.87268163e-03 -8.80498758e-04 9.99960249e-01 7.09661336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36255784400001 meters Centerline goodness [0,1] 0.25067254685777285 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:0.71 [[ 0.9999298 -0.0027568 -0.01152342 0.53969606] [ 0.00277958 0.99999421 0.0019613 -0.03394226] [ 0.01151795 -0.00199319 0.99993168 0.7100993 ] [ 0. 0. 0. 1. ]] SLAMing on 87.392557844 meters Centerline goodness [0,1] 0.2460809253582067 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.71 [[ 0.9999188 0.00657581 -0.01091602 0.56077136] [-0.00655855 0.99997719 0.00161658 -0.03799714] [ 0.0109264 -0.00154486 0.99993911 0.71023372] [ 0. 0. 0. 1. ]] SLAMing on 87.422557844 meters Centerline goodness [0,1] 0.24388453483602135 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.03, Z:0.71 [[ 9.99921368e-01 2.55626245e-04 -1.25376144e-02 5.79035664e-01] [-2.21334027e-04 9.99996231e-01 2.73645824e-03 -3.35518398e-02] [ 1.25382666e-02 -2.73346807e-03 9.99917657e-01 7.12333321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.452557844 meters Centerline goodness [0,1] 0.24369583631980196 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.03, Z:0.71 [[ 9.99919203e-01 3.19421520e-04 -1.27076596e-02 5.79437770e-01] [-2.82554419e-04 9.99995747e-01 2.90286117e-03 -3.44903830e-02] [ 1.27085328e-02 -2.89903602e-03 9.99915041e-01 7.12433192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482557844 meters Centerline goodness [0,1] 0.24211297026078338 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:0.71 [[ 9.99892348e-01 8.67886123e-03 -1.18309009e-02 5.98042626e-01] [-8.66769266e-03 9.99961940e-01 9.94966583e-04 -3.91644339e-02] [ 1.18390858e-02 -8.92312859e-04 9.99929517e-01 7.14586096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.512557844 meters Centerline goodness [0,1] 0.24884087131484556 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:0.72 [[ 9.99924701e-01 -7.12940535e-04 -1.22508909e-02 5.74983196e-01] [ 7.34485669e-04 9.99998192e-01 1.75424932e-03 -3.68800188e-02] [ 1.22496181e-02 -1.76311533e-03 9.99923416e-01 7.15651874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542557844 meters Centerline goodness [0,1] 0.2476846819426931 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:0.72 [[ 9.99925540e-01 -6.62470649e-04 -1.21850915e-02 5.74761002e-01] [ 6.85089323e-04 9.99998050e-01 1.85217764e-03 -3.71955971e-02] [ 1.21838407e-02 -1.86038760e-03 9.99924044e-01 7.15735016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.572557844 meters Centerline goodness [0,1] 0.25053078556263275 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:0.72 [[ 9.99925388e-01 -6.45531684e-04 -1.21983913e-02 5.74852975e-01] [ 6.68499945e-04 9.99998011e-01 1.87890899e-03 -3.72037623e-02] [ 1.21971541e-02 -1.88692342e-03 9.99923832e-01 7.15612329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602557844 meters Centerline goodness [0,1] 0.24832993845412532 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.72 [[ 9.99923965e-01 -7.44037668e-04 -1.23089419e-02 5.75075548e-01] [ 7.65049649e-04 9.99998258e-01 1.70242952e-03 -3.66241244e-02] [ 1.23076538e-02 -1.71171703e-03 9.99922793e-01 7.15689749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.632557844 meters Centerline goodness [0,1] 0.24693886443853763 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:0.72 [[ 9.99925145e-01 -7.52708790e-04 -1.22121979e-02 5.74574042e-01] [ 7.74434486e-04 9.99998126e-01 1.77438461e-03 -3.71650202e-02] [ 1.22108395e-02 -1.78370933e-03 9.99923854e-01 7.16133669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662557844 meters Centerline goodness [0,1] 0.2434786348680673 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:0.71 [[ 0.9999395 0.00570064 -0.00940765 0.59664244] [-0.00571159 0.99998304 -0.00113781 -0.03721258] [ 0.00940101 0.00119147 0.9999551 0.71474616] [ 0. 0. 0. 1. ]] SLAMing on 87.692557844 meters Centerline goodness [0,1] 0.2460217391304348 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.71 [[ 9.99945147e-01 -3.67113416e-03 -9.80944192e-03 5.75308341e-01] [ 3.67386955e-03 9.99993217e-01 2.60847631e-04 -3.58209842e-02] [ 9.80841778e-03 -2.96871933e-04 9.99951852e-01 7.14250942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72255784400001 meters Centerline goodness [0,1] 0.24566555722334615 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.71 [[ 9.99941801e-01 -3.73322667e-03 -1.01221259e-02 5.76056001e-01] [ 3.74002931e-03 9.99992793e-01 6.53210442e-04 -3.81581518e-02] [ 1.01196144e-02 -6.91029473e-04 9.99948557e-01 7.14330047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752557844 meters Centerline goodness [0,1] 0.2428158734985556 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.71 [[ 0.99991297 -0.00684362 -0.01127875 0.5809094 ] [ 0.00682723 0.99997558 -0.00149046 -0.04452809] [ 0.01128867 0.00141333 0.99993528 0.71203272] [ 0. 0. 0. 1. ]] SLAMing on 87.782557844 meters Centerline goodness [0,1] 0.24575413586765227 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.71 [[ 9.99931944e-01 -5.13425069e-05 -1.16663975e-02 5.62017233e-01] [ 2.29447332e-05 9.99997037e-01 -2.43427184e-03 -5.41096073e-02] [ 1.16664879e-02 2.43383850e-03 9.99928982e-01 7.10546246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812557844 meters Centerline goodness [0,1] 0.24098918485446152 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.71 [[ 0.99991486 -0.00814088 -0.01019763 0.58310851] [ 0.00812473 0.99996567 -0.0016242 -0.05309815] [ 0.0102105 0.00154121 0.99994668 0.71120993] [ 0. 0. 0. 1. ]] SLAMing on 87.842557844 meters Centerline goodness [0,1] 0.2477164459595298 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.06, Z:0.71 [[ 9.99919493e-01 -7.92851123e-03 -9.90685656e-03 5.81861378e-01] [ 7.91890377e-03 9.99968136e-01 -1.00862988e-03 -5.59510633e-02] [ 9.91453782e-03 9.30097231e-04 9.99950417e-01 7.12159338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.872557844 meters Centerline goodness [0,1] 0.24235803136830725 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.06, Z:0.71 [[ 9.99972551e-01 6.94289729e-04 -7.37670299e-03 5.99398899e-01] [-7.09853465e-04 9.99997527e-01 -2.10744129e-03 -6.19257956e-02] [ 7.37522158e-03 2.11261982e-03 9.99970571e-01 7.13263708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.902557844 meters Centerline goodness [0,1] 0.24276530811021402 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.06, Z:0.71 [[ 9.99973613e-01 8.71458767e-04 -7.21205650e-03 5.98777784e-01] [-8.83175371e-04 9.99998295e-01 -1.62156043e-03 -6.42735876e-02] [ 7.21063108e-03 1.62788715e-03 9.99972678e-01 7.13600166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.932557844 meters Centerline goodness [0,1] 0.2422168487413101 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.71 [[ 0.99997283 0.00103114 -0.00729958 0.59908624] [-0.00103968 0.99999878 -0.00116669 -0.06657988] [ 0.00729837 0.00117425 0.99997268 0.71344651] [ 0. 0. 0. 1. ]] SLAMing on 87.962557844 meters Centerline goodness [0,1] 0.24460901764321497 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.71 [[ 9.99967543e-01 1.22137094e-03 -7.96378178e-03 6.01418336e-01] [-1.22547547e-03 9.99999119e-01 -5.10540240e-04 -7.01684729e-02] [ 7.96315120e-03 5.20283089e-04 9.99968158e-01 7.12314815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.992557844 meters Centerline goodness [0,1] 0.24310967910480252 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.71 [[ 9.99965435e-01 1.29921365e-03 -8.21222391e-03 6.02120121e-01] [-1.30195576e-03 9.99999098e-01 -3.28568430e-04 -7.10797169e-02] [ 8.21178963e-03 3.39249025e-04 9.99966225e-01 7.12203784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022557844 meters Centerline goodness [0,1] 0.24199450061705674 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.71 [[ 9.99963329e-01 1.32915844e-03 -8.46016554e-03 6.02630812e-01] [-1.33181034e-03 9.99999066e-01 -3.07831172e-04 -7.11754131e-02] [ 8.45974848e-03 3.19087219e-04 9.99964165e-01 7.12447465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.052557844 meters Centerline goodness [0,1] 0.24118143825382732 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.71 [[ 9.99962007e-01 1.35248622e-03 -8.61140706e-03 6.02997534e-01] [-1.35532326e-03 9.99999029e-01 -3.23625174e-04 -7.09925449e-02] [ 8.61096100e-03 3.35284118e-04 9.99962869e-01 7.12486714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08255784400001 meters Centerline goodness [0,1] 0.23989920744314264 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.71 [[ 9.99964614e-01 1.58825238e-03 -8.26123687e-03 6.02040032e-01] [-1.59006298e-03 9.99998713e-01 -2.12604299e-04 -7.07676873e-02] [ 8.26088857e-03 2.25732663e-04 9.99965853e-01 7.12563243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11255784400001 meters Centerline goodness [0,1] 0.23868984934127102 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.71 [[ 9.99966926e-01 1.68673150e-03 -7.95621619e-03 6.01020601e-01] [-1.68728341e-03 9.99998575e-01 -6.26561268e-05 -7.12405884e-02] [ 7.95609916e-03 7.60784460e-05 9.99968347e-01 7.12989305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142557844 meters Centerline goodness [0,1] 0.24098671726755216 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.71 [[ 9.99967983e-01 1.77962422e-03 -7.80171778e-03 6.00356065e-01] [-1.77852566e-03 9.99998408e-01 1.47745565e-04 -7.22008946e-02] [ 7.80196829e-03 -1.33865279e-04 9.99969555e-01 7.13455071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.172557844 meters Centerline goodness [0,1] 0.24262915289615583 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.71 [[ 9.99967231e-01 1.88392027e-03 -7.87327798e-03 6.00423650e-01] [-1.88048672e-03 9.99998134e-01 4.43481174e-04 -7.37008650e-02] [ 7.87409877e-03 -4.28661047e-04 9.99968907e-01 7.13635780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202557844 meters Centerline goodness [0,1] 0.2439455812023672 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:0.71 [[ 9.99964229e-01 1.98659065e-03 -8.22158328e-03 6.01328072e-01] [-1.97995518e-03 9.99997708e-01 8.15139577e-04 -7.56892001e-02] [ 8.22318378e-03 -7.98832052e-04 9.99965870e-01 7.13570000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.232557844 meters Centerline goodness [0,1] 0.24500534946177865 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:0.71 [[ 0.99996075 0.00210164 -0.00860739 0.60243085] [-0.00209085 0.99999702 0.0012617 -0.07802709] [ 0.00861001 -0.00124365 0.99996216 0.71330486] [ 0. 0. 0. 1. ]] SLAMing on 88.262557844 meters Centerline goodness [0,1] 0.2388727886154245 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:0.71 [[ 0.99995562 0.00227252 -0.00914275 0.60366389] [-0.00225368 0.99999532 0.00207045 -0.08221939] [ 0.00914741 -0.00204976 0.99995606 0.71350841] [ 0. 0. 0. 1. ]] SLAMing on 88.292557844 meters Centerline goodness [0,1] 0.24294454312216307 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99931334e-01 2.26655210e-04 -1.17165034e-02 5.58612576e-01] [-1.98797487e-04 9.99997151e-01 2.37875823e-03 -8.65227769e-02] [ 1.17170091e-02 -2.37626568e-03 9.99928530e-01 7.14972729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322557844 meters Centerline goodness [0,1] 0.24259733438382247 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99929906e-01 3.02398724e-04 -1.18360368e-02 5.58809960e-01] [-2.71164907e-04 9.99996477e-01 2.64039047e-03 -8.79356947e-02] [ 1.18367935e-02 -2.63699588e-03 9.99926466e-01 7.15157753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.352557844 meters Centerline goodness [0,1] 0.24595292264613233 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99928645e-01 3.92266745e-04 -1.19394994e-02 5.59050890e-01] [-3.57839721e-04 9.99995773e-01 2.88545596e-03 -8.91242447e-02] [ 1.19405808e-02 -2.88097764e-03 9.99924558e-01 7.15204707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.382557844 meters Centerline goodness [0,1] 0.23643586588077814 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.72 [[ 0.99989368 0.00941501 -0.01113505 0.57888324] [-0.00939524 0.9999542 0.00182648 -0.09366708] [ 0.01115174 -0.00172167 0.99993634 0.7159711 ] [ 0. 0. 0. 1. ]] SLAMing on 88.412557844 meters Centerline goodness [0,1] 0.23643586588077814 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.72 [[ 0.99989368 0.00941501 -0.01113505 0.57888324] [-0.00939524 0.9999542 0.00182648 -0.09366708] [ 0.01115174 -0.00172167 0.99993634 0.7159711 ] [ 0. 0. 0. 1. ]] SLAMing on 88.442557844 meters Centerline goodness [0,1] 0.24295728654155968 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99934467e-01 3.54246569e-04 -1.14427610e-02 5.59159887e-01] [-3.17713051e-04 9.99994847e-01 3.19437883e-03 -9.00521909e-02] [ 1.14438337e-02 -3.19053398e-03 9.99929427e-01 7.15248118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47255784400001 meters Centerline goodness [0,1] 0.24015049950265965 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99940185e-01 5.71755726e-04 -1.09224407e-02 5.57036739e-01] [-5.34117749e-04 9.99993911e-01 3.44853729e-03 -9.11727180e-02] [ 1.09243459e-02 -3.44249715e-03 9.99934402e-01 7.16690331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502557844 meters Centerline goodness [0,1] 0.24382132376915555 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99941129e-01 6.17233481e-04 -1.08332146e-02 5.56570338e-01] [-5.79197891e-04 9.99993659e-01 3.51380231e-03 -9.14991666e-02] [ 1.08353148e-02 -3.50732087e-03 9.99935145e-01 7.17157850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.532557844 meters Centerline goodness [0,1] 0.2451756880934669 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99941174e-01 6.63450352e-04 -1.08262555e-02 5.56569919e-01] [-6.24647541e-04 9.99993371e-01 3.58712743e-03 -9.18130606e-02] [ 1.08285636e-02 -3.58015382e-03 9.99934960e-01 7.17153495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562557844 meters Centerline goodness [0,1] 0.24358500814774575 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99940246e-01 6.94206309e-04 -1.09097297e-02 5.56893582e-01] [-6.54393437e-04 9.99993116e-01 3.65244568e-03 -9.21564693e-02] [ 1.09121901e-02 -3.64508818e-03 9.99933817e-01 7.16940713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.592557844 meters Centerline goodness [0,1] 0.2449024050191705 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99940244e-01 7.00788884e-04 -1.09095390e-02 5.56979215e-01] [-6.60670577e-04 9.99993009e-01 3.68053008e-03 -9.23511920e-02] [ 1.09120420e-02 -3.67310253e-03 9.99933716e-01 7.16809359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.622557844 meters Centerline goodness [0,1] 0.23808388425273652 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99939948e-01 7.20663616e-04 -1.09353224e-02 5.56979405e-01] [-6.79805226e-04 9.99992777e-01 3.73962521e-03 -9.27400285e-02] [ 1.09379384e-02 -3.73196674e-03 9.99933215e-01 7.16966202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.652557844 meters Centerline goodness [0,1] 0.24491360241781823 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99940746e-01 8.42363433e-04 -1.08532972e-02 5.56543721e-01] [-7.98612834e-04 9.99991541e-01 4.03479177e-03 -9.41034131e-02] [ 1.08566042e-02 -4.02588511e-03 9.99932961e-01 7.17360551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682557844 meters Centerline goodness [0,1] 0.2429231909975138 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 9.99940932e-01 9.09665518e-04 -1.08307655e-02 5.56515954e-01] [-8.64339933e-04 9.99990853e-01 4.18883773e-03 -9.47647191e-02] [ 1.08344769e-02 -4.17922884e-03 9.99932572e-01 7.17309958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.712557844 meters Centerline goodness [0,1] 0.2432320951740008 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.10, Z:0.72 [[ 9.99941659e-01 9.26889815e-04 -1.07619752e-02 5.56417515e-01] [-8.81079511e-04 9.99990535e-01 4.26064307e-03 -9.51160055e-02] [ 1.07658224e-02 -4.25091234e-03 9.99933011e-01 7.17172321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742557844 meters Centerline goodness [0,1] 0.24255550718328256 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.10, Z:0.72 [[ 9.99941644e-01 9.54170809e-04 -1.07609924e-02 5.56458406e-01] [-9.07655800e-04 9.99990228e-01 4.32661328e-03 -9.54622004e-02] [ 1.07650156e-02 -4.31659352e-03 9.99932738e-01 7.17114541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.772557844 meters Centerline goodness [0,1] 0.24349804230373817 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.10, Z:0.72 [[ 9.99941305e-01 9.22938169e-04 -1.07951006e-02 5.56617638e-01] [-8.76656252e-04 9.99990408e-01 4.29125406e-03 -9.54587232e-02] [ 1.07989576e-02 -4.28153859e-03 9.99932523e-01 7.17021474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802557844 meters Centerline goodness [0,1] 0.2397693653227374 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:0.72 [[ 0.99988777 0.01038404 -0.01079876 0.57856246] [-0.0103484 0.99994084 0.00335106 -0.09714594] [ 0.01083292 -0.00323893 0.99993608 0.71694483] [ 0. 0. 0. 1. ]] SLAMing on 88.83255784400001 meters Centerline goodness [0,1] 0.23816191994484903 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:0.72 [[ 0.99988823 0.01032692 -0.01081097 0.57871538] [-0.01029406 0.99994224 0.00309046 -0.09568 ] [ 0.01084226 -0.00297883 0.99993678 0.71671075] [ 0. 0. 0. 1. ]] SLAMing on 88.86255784400001 meters Centerline goodness [0,1] 0.24244004171011468 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 0.99994365 0.00142718 -0.01051905 0.5587681 ] [-0.00138159 0.99998963 0.00433994 -0.08987731] [ 0.01052513 -0.00432517 0.99993526 0.71536735] [ 0. 0. 0. 1. ]] SLAMing on 88.892557844 meters Centerline goodness [0,1] 0.24011829976469568 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 0.99994556 0.00135839 -0.01034575 0.55812858] [-0.00131616 0.99999078 0.00408807 -0.08850133] [ 0.01035121 -0.00407423 0.99993812 0.71568438] [ 0. 0. 0. 1. ]] SLAMing on 88.922557844 meters Centerline goodness [0,1] 0.24488147727768805 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 0.99994648 0.00128706 -0.01026509 0.55787657] [-0.00124714 0.99999164 0.00389501 -0.08755161] [ 0.01027002 -0.003882 0.99993973 0.71574457] [ 0. 0. 0. 1. ]] SLAMing on 88.952557844 meters Centerline goodness [0,1] 0.24163182182550857 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.72 [[ 0.99994535 0.00120172 -0.01038535 0.558326 ] [-0.00116254 0.99999219 0.00377787 -0.08723206] [ 0.01038981 -0.00376559 0.99993893 0.71547052] [ 0. 0. 0. 1. ]] SLAMing on 88.982557844 meters Centerline goodness [0,1] 0.23624427744666143 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99937622e-01 8.60984861e-04 -1.11359910e-02 5.60884348e-01] [-8.22905794e-04 9.99993801e-01 3.42358936e-03 -8.65115882e-02] [ 1.11388696e-02 -3.41421193e-03 9.99932132e-01 7.14326838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.012557844 meters Centerline goodness [0,1] 0.24102909834282982 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99936430e-01 8.09680910e-04 -1.12463546e-02 5.61268534e-01] [-7.71827435e-04 9.99994024e-01 3.36977652e-03 -8.63634198e-02] [ 1.12490158e-02 -3.36088205e-03 9.99931080e-01 7.14116044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.042557844 meters Centerline goodness [0,1] 0.24324383465721355 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99936312e-01 7.61862211e-04 -1.12601771e-02 5.61166890e-01] [-7.25129722e-04 9.99994404e-01 3.26588178e-03 -8.58271403e-02] [ 1.12626022e-02 -3.25750869e-03 9.99931269e-01 7.14338133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.072557844 meters Centerline goodness [0,1] 0.2353995680345572 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.72 [[ 0.9999038 0.00948624 -0.01011915 0.5801526 ] [-0.00946861 0.99995357 0.00178841 -0.08828382] [ 0.01013565 -0.00169242 0.9999472 0.71563261] [ 0. 0. 0. 1. ]] SLAMing on 89.102557844 meters Centerline goodness [0,1] 0.2411613409477309 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.72 [[ 9.99937455e-01 -5.79109861e-05 -1.11840733e-02 5.60531961e-01] [ 8.92023553e-05 9.99996083e-01 2.79737230e-03 -8.47621138e-02] [ 1.11838675e-02 -2.79819498e-03 9.99933543e-01 7.15069054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.132557844 meters Centerline goodness [0,1] 0.24388531818281523 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.71 [[ 9.99937869e-01 -7.32432989e-05 -1.11468636e-02 5.60537148e-01] [ 1.04339353e-04 9.99996105e-01 2.78911247e-03 -8.48261275e-02] [ 1.11466159e-02 -2.79010223e-03 9.99933982e-01 7.14892108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.162557844 meters Centerline goodness [0,1] 0.2430458667596791 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.72 [[ 9.99938290e-01 -7.18580823e-05 -1.11090341e-02 5.60380327e-01] [ 1.02757184e-04 9.99996128e-01 2.78089330e-03 -8.47856710e-02] [ 1.11087913e-02 -2.78186322e-03 9.99934426e-01 7.15018491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.192557844 meters Centerline goodness [0,1] 0.24212090746164272 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.72 [[ 9.99940343e-01 -6.56220845e-05 -1.09227064e-02 5.59911603e-01] [ 9.56827984e-05 9.99996210e-01 2.75163073e-03 -8.45723310e-02] [ 1.09224844e-02 -2.75251169e-03 9.99936559e-01 7.15024617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22255784400001 meters Centerline goodness [0,1] 0.2418474155605913 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.72 [[ 0.99991766 0.00894755 -0.00919859 0.57927288] [-0.00893366 0.99995889 0.00154974 -0.08727999] [ 0.00921208 -0.00146744 0.99995649 0.7154731 ] [ 0. 0. 0. 1. ]] SLAMing on 89.252557844 meters Centerline goodness [0,1] 0.24513043478260865 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.71 [[ 9.99958001e-01 -5.36605020e-05 -9.16482945e-03 5.59996484e-01] [ 8.08394440e-05 9.99995600e-01 2.96522517e-03 -8.38207062e-02] [ 9.16463001e-03 -2.96584151e-03 9.99953606e-01 7.14001823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282557844 meters Centerline goodness [0,1] 0.24253389719666918 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.71 [[ 9.99957215e-01 2.03489080e-05 -9.25033411e-03 5.60374196e-01] [ 9.00640037e-06 9.99994965e-01 3.17337950e-03 -8.49883583e-02] [ 9.25035211e-03 -3.17332703e-03 9.99952179e-01 7.13780736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.312557844 meters Centerline goodness [0,1] 0.24469788353986188 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99955120e-01 2.12322258e-05 -9.47409165e-03 5.61213576e-01] [ 9.57814213e-06 9.99994712e-01 3.25200841e-03 -8.56001144e-02] [ 9.47411060e-03 -3.25195321e-03 9.99949832e-01 7.13295695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342557844 meters Centerline goodness [0,1] 0.24178138706735575 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99953081e-01 5.16924010e-05 -9.68675087e-03 5.61913383e-01] [-1.84794346e-05 9.99994122e-01 3.42875852e-03 -8.67154010e-02] [ 9.68687116e-03 -3.42841864e-03 9.99947204e-01 7.13016482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.372557844 meters Centerline goodness [0,1] 0.24112503262855656 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99953230e-01 1.51641052e-04 -9.67029696e-03 5.61783666e-01] [-1.15673960e-04 9.99993075e-01 3.71978770e-03 -8.82061633e-02] [ 9.67079407e-03 -3.71849513e-03 9.99946323e-01 7.13196215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402557844 meters Centerline goodness [0,1] 0.24334459827755373 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99956027e-01 3.88564796e-04 -9.36982996e-03 5.60391406e-01] [-3.48324846e-04 9.99990712e-01 4.29587924e-03 -9.06332737e-02] [ 9.37141216e-03 -4.29242659e-03 9.99946874e-01 7.14322442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.432557844 meters Centerline goodness [0,1] 0.24254243566556988 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99956390e-01 4.75788501e-04 -9.32692389e-03 5.60101667e-01] [-4.33950655e-04 9.99989838e-01 4.48721743e-03 -9.13115953e-02] [ 9.32896407e-03 -4.48297432e-03 9.99946435e-01 7.14642189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462557844 meters Centerline goodness [0,1] 0.24504678645169797 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99956096e-01 5.07316282e-04 -9.35677582e-03 5.60188865e-01] [-4.64772348e-04 9.99989548e-01 4.54847245e-03 -9.15532848e-02] [ 9.35898554e-03 -4.54392398e-03 9.99945880e-01 7.14614575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.492557844 meters Centerline goodness [0,1] 0.24281157140360077 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99955132e-01 5.14619315e-04 -9.45882624e-03 5.60489992e-01] [-4.71178747e-04 9.99989335e-01 4.59425090e-03 -9.18282912e-02] [ 9.46108966e-03 -4.58958797e-03 9.99944710e-01 7.14545273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.522557844 meters Centerline goodness [0,1] 0.24042677263989976 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.71 [[ 0.99992845 0.00911069 -0.00775233 0.58055657] [-0.00908976 0.99995496 0.00273083 -0.09347783] [ 0.00777686 -0.00266017 0.99996622 0.71476826] [ 0. 0. 0. 1. ]] SLAMing on 89.552557844 meters Centerline goodness [0,1] 0.24352546215556325 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99965021e-01 -3.11198241e-04 -8.35827893e-03 5.61394092e-01] [ 3.41690273e-04 9.99993292e-01 3.64694302e-03 -8.85217954e-02] [ 8.35708793e-03 -3.64967139e-03 9.99958419e-01 7.13547525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58255784400001 meters Centerline goodness [0,1] 0.24731633125399521 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.71 [[ 9.99963803e-01 -3.75122110e-04 -8.50012256e-03 5.61913871e-01] [ 4.04309338e-04 9.99994028e-01 3.43228386e-03 -8.74648405e-02] [ 8.49878427e-03 -3.43559630e-03 9.99957983e-01 7.13233743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61255784400001 meters Centerline goodness [0,1] 0.23382276507276512 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:0.71 [[ 0.99997224 0.00180284 -0.00722956 0.60645236] [-0.00178162 0.99999409 0.00293983 -0.08318271] [ 0.00723482 -0.00292687 0.99996954 0.71259661] [ 0. 0. 0. 1. ]] SLAMing on 89.642557844 meters Centerline goodness [0,1] 0.23894631688672685 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:0.71 [[ 0.99997288 0.0017345 -0.00715808 0.60638692] [-0.00171533 0.99999493 0.00268335 -0.08176787] [ 0.0071627 -0.002671 0.99997078 0.71238631] [ 0. 0. 0. 1. ]] SLAMing on 89.672557844 meters Centerline goodness [0,1] 0.23743251091656092 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:0.71 [[ 0.99997416 0.00172281 -0.00697969 0.60587896] [-0.0017053 0.99999539 0.00251386 -0.08067061] [ 0.00698399 -0.00250189 0.99997248 0.71246749] [ 0. 0. 0. 1. ]] SLAMing on 89.702557844 meters Centerline goodness [0,1] 0.2453383524468178 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.72 [[ 9.99959133e-01 -3.43714242e-04 -9.03400431e-03 5.58251346e-01] [ 3.65519437e-04 9.99997024e-01 2.41213967e-03 -8.25644187e-02] [ 9.03314834e-03 -2.41534320e-03 9.99956283e-01 7.15070616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.732557844 meters Centerline goodness [0,1] 0.23307297285634143 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.72 [[ 9.99932459e-01 8.44310361e-03 -7.98698437e-03 5.78277014e-01] [-8.43668242e-03 9.99964060e-01 8.37308614e-04 -8.38717654e-02] [ 7.99376681e-03 -7.69868411e-04 9.99967753e-01 7.15458604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762557844 meters Centerline goodness [0,1] 0.23871966293342506 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.71 [[ 9.99932768e-01 8.30701853e-03 -8.09027073e-03 5.78905694e-01] [-8.30342986e-03 9.99965412e-01 4.77067920e-04 -8.20573133e-02] [ 8.09395391e-03 -4.09858850e-04 9.99967159e-01 7.14786832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.792557844 meters Centerline goodness [0,1] 0.24221974710083205 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.71 [[ 9.99955473e-01 -5.13607293e-04 -9.42278565e-03 5.59693502e-01] [ 5.33129995e-04 9.99997717e-01 2.06946613e-03 -7.67640571e-02] [ 9.42170124e-03 -2.07439755e-03 9.99953463e-01 7.13593092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.822557844 meters Centerline goodness [0,1] 0.2421517862946032 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.71 [[ 9.99956285e-01 -6.43651067e-04 -9.32813611e-03 5.59124045e-01] [ 6.60383741e-04 9.99998178e-01 1.79081622e-03 -7.54316740e-02] [ 9.32696646e-03 -1.79689808e-03 9.99954888e-01 7.14145824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.852557844 meters Centerline goodness [0,1] 0.23783538952635663 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.71 [[ 9.99956064e-01 -7.36449454e-04 -9.34490597e-03 5.58922620e-01] [ 7.52969046e-04 9.99998160e-01 1.76436932e-03 -7.56824821e-02] [ 9.34358940e-03 -1.77132822e-03 9.99954779e-01 7.14567590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882557844 meters Centerline goodness [0,1] 0.24478215927335112 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:0.72 [[ 0.99992497 -0.00268924 -0.01195075 0.51296643] [ 0.00271684 0.99999368 0.00229388 -0.07941801] [ 0.0119445 -0.00232617 0.99992596 0.71657897] [ 0. 0. 0. 1. ]] SLAMing on 89.912557844 meters Centerline goodness [0,1] 0.23893137994182911 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.72 [[ 0.99995391 -0.00123947 -0.00952066 0.55669148] [ 0.00125819 0.99999729 0.00195975 -0.07635669] [ 0.0095182 -0.00197164 0.99995276 0.71566873] [ 0. 0. 0. 1. ]] SLAMing on 89.942557844 meters Centerline goodness [0,1] 0.24041985643338903 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.72 [[ 0.99995474 -0.00119754 -0.00943811 0.55655336] [ 0.00121706 0.99999713 0.00206293 -0.07666642] [ 0.00943561 -0.00207433 0.99995333 0.71552105] [ 0. 0. 0. 1. ]] SLAMing on 89.97255784400001 meters Centerline goodness [0,1] 0.23866794025703364 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.72 [[ 0.9999536 -0.00122626 -0.0095546 0.55690247] [ 0.00124689 0.9999969 0.00215302 -0.0773192 ] [ 0.00955194 -0.00216483 0.99995204 0.71546577] [ 0. 0. 0. 1. ]] SLAMing on 90.002557844 meters Centerline goodness [0,1] 0.24477093276442252 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:0.72 [[ 0.99994596 0.00324889 -0.00987566 0.53379437] [-0.00326411 0.99999351 -0.00152461 -0.08206207] [ 0.00987064 0.00155676 0.99995007 0.71575355] [ 0. 0. 0. 1. ]] SLAMing on 90.032557844 meters Centerline goodness [0,1] 0.24146809810596137 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.08, Z:0.72 [[ 9.99943758e-01 -3.69093523e-03 -9.94272104e-03 5.52105011e-01] [ 3.68878628e-03 9.99993169e-01 -2.34463376e-04 -7.79260291e-02] [ 9.94351851e-03 1.97773617e-04 9.99950542e-01 7.18324488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062557844 meters Centerline goodness [0,1] 0.24130750710365922 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.08, Z:0.72 [[ 9.99945035e-01 -3.62072348e-03 -9.83953206e-03 5.51765610e-01] [ 3.61884161e-03 9.99993430e-01 -2.09053940e-04 -7.76323001e-02] [ 9.84022434e-03 1.73434742e-04 9.99951569e-01 7.18459648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.092557844 meters Centerline goodness [0,1] 0.24216046830457205 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.08, Z:0.72 [[ 9.99946370e-01 -3.60915551e-03 -9.70723306e-03 5.51538431e-01] [ 3.60608547e-03 9.99993442e-01 -3.33747472e-04 -7.67283146e-02] [ 9.70837395e-03 2.98724462e-04 9.99952828e-01 7.18286407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.122557844 meters Centerline goodness [0,1] 0.24037815217155623 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.08, Z:0.72 [[ 9.99945811e-01 -3.65502029e-03 -9.74758412e-03 5.51895149e-01] [ 3.65005107e-03 9.99993199e-01 -5.27530847e-04 -7.57951379e-02] [ 9.74944597e-03 4.91923081e-04 9.99952352e-01 7.17842305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.152557844 meters Centerline goodness [0,1] 0.24287271142109856 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:0.72 [[ 9.99944770e-01 -3.77804980e-03 -9.80728889e-03 5.52239493e-01] [ 3.76995725e-03 9.99992538e-01 -8.43512436e-04 -7.45027472e-02] [ 9.81040254e-03 8.06492789e-04 9.99951552e-01 7.17506019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182557844 meters Centerline goodness [0,1] 0.23929645414620426 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:0.72 [[ 0.99994456 -0.00386501 -0.00979443 0.55244414] [ 0.0038505 0.99999146 -0.00150054 -0.07097483] [ 0.00980015 0.00146275 0.99995091 0.71698827] [ 0. 0. 0. 1. ]] SLAMing on 90.212557844 meters Centerline goodness [0,1] 0.24043490527138178 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:0.72 [[ 0.99994651 -0.0039043 -0.00957781 0.55195214] [ 0.00388663 0.99999071 -0.00186333 -0.06870291] [ 0.00958499 0.001826 0.9999524 0.71685151] [ 0. 0. 0. 1. ]] SLAMing on 90.242557844 meters Centerline goodness [0,1] 0.24050715214564367 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:0.72 [[ 0.99994991 -0.00392897 -0.00920559 0.55089504] [ 0.00390862 0.99998988 -0.00222799 -0.06641074] [ 0.00921425 0.0021919 0.99995515 0.71702622] [ 0. 0. 0. 1. ]] SLAMing on 90.272557844 meters Centerline goodness [0,1] 0.24494662233111653 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:0.72 [[ 0.99995114 -0.00406327 -0.00901136 0.55020055] [ 0.0040394 0.99998829 -0.00266509 -0.06425184] [ 0.00902208 0.00262855 0.99995585 0.71739767] [ 0. 0. 0. 1. ]] SLAMing on 90.302557844 meters Centerline goodness [0,1] 0.24494662233111653 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:0.72 [[ 0.99995114 -0.00406327 -0.00901136 0.55020055] [ 0.0040394 0.99998829 -0.00266509 -0.06425184] [ 0.00902208 0.00262855 0.99995585 0.71739767] [ 0. 0. 0. 1. ]] SLAMing on 90.33255784400001 meters Centerline goodness [0,1] 0.24456712232737465 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:0.72 [[ 0.99995102 -0.00425766 -0.00893425 0.54993332] [ 0.00422926 0.99998595 -0.00319529 -0.0618401 ] [ 0.00894773 0.00315735 0.99995498 0.71753146] [ 0. 0. 0. 1. ]] SLAMing on 90.36255784400001 meters Centerline goodness [0,1] 0.2425982532751092 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:0.72 [[ 0.99994653 -0.00182298 -0.01017911 0.55374186] [ 0.00181009 0.99999755 -0.00127519 -0.056764 ] [ 0.01018141 0.0012567 0.99994738 0.71644702] [ 0. 0. 0. 1. ]] SLAMing on 90.392557844 meters Centerline goodness [0,1] 0.24294385432473442 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.72 [[ 0.9999481 -0.00199955 -0.00999028 0.55334232] [ 0.00198243 0.99999655 -0.001724 -0.05450893] [ 0.00999369 0.00170411 0.99994861 0.71625803] [ 0. 0. 0. 1. ]] SLAMing on 90.422557844 meters Centerline goodness [0,1] 0.24534446581570202 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.72 [[ 0.99995043 -0.00208601 -0.0097362 0.55252483] [ 0.00206751 0.99999604 -0.00191 -0.05354439] [ 0.00974014 0.00188978 0.99995078 0.716528 ] [ 0. 0. 0. 1. ]] SLAMing on 90.452557844 meters Centerline goodness [0,1] 0.24075767472240361 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.72 [[ 0.99995261 -0.00215198 -0.0094946 0.55159343] [ 0.00213287 0.99999568 -0.00202284 -0.05285506] [ 0.00949892 0.0020025 0.99995288 0.71705188] [ 0. 0. 0. 1. ]] SLAMing on 90.482557844 meters Centerline goodness [0,1] 0.23989784213146337 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.72 [[ 0.99995162 -0.00224434 -0.00957716 0.55160716] [ 0.00222452 0.99999536 -0.00207953 -0.05261903] [ 0.00958179 0.00205813 0.99995198 0.71733101] [ 0. 0. 0. 1. ]] SLAMing on 90.512557844 meters Centerline goodness [0,1] 0.24302788844621515 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.72 [[ 0.99994305 0.00435827 -0.00974144 0.53449842] [-0.00439223 0.99998434 -0.00346708 -0.05747024] [ 0.00972618 0.00350967 0.99994654 0.71528423] [ 0. 0. 0. 1. ]] SLAMing on 90.542557844 meters Centerline goodness [0,1] 0.24648277390052065 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.71 [[ 0.9999264 -0.00542182 -0.01085387 0.51399583] [ 0.00539364 0.99998201 -0.00262445 -0.05428192] [ 0.0108679 0.00256572 0.99993765 0.71456009] [ 0. 0. 0. 1. ]] SLAMing on 90.572557844 meters Centerline goodness [0,1] 0.24163625636431174 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.72 [[ 0.99995833 0.00314005 -0.00857183 0.5329067 ] [-0.00317342 0.99998743 -0.00388251 -0.05687416] [ 0.00855953 0.00390956 0.99995572 0.71509661] [ 0. 0. 0. 1. ]] SLAMing on 90.602557844 meters Centerline goodness [0,1] 0.2398881803092513 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.72 [[ 0.99996012 0.00317023 -0.00834885 0.53195668] [-0.00320268 0.99998736 -0.00387632 -0.0566837 ] [ 0.00833646 0.0039029 0.99995763 0.71580907] [ 0. 0. 0. 1. ]] SLAMing on 90.632557844 meters Centerline goodness [0,1] 0.2435173017958826 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.72 [[ 0.99996077 0.00312826 -0.00828682 0.53168917] [-0.00316178 0.99998686 -0.00403556 -0.05585384] [ 0.00827409 0.0040616 0.99995752 0.71605213] [ 0. 0. 0. 1. ]] SLAMing on 90.662557844 meters Centerline goodness [0,1] 0.241707295838412 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:0.72 [[ 0.99995865 0.00295223 -0.00860168 0.53287249] [-0.0029919 0.99998493 -0.00460289 -0.0532201 ] [ 0.00858796 0.00462844 0.99995241 0.71533797] [ 0. 0. 0. 1. ]] SLAMing on 90.692557844 meters Centerline goodness [0,1] 0.23561318206374937 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:0.72 [[ 0.9999566 0.00285783 -0.0088678 0.53373016] [-0.00290118 0.99998389 -0.00487921 -0.05186851] [ 0.00885371 0.00490472 0.99994878 0.71502707] [ 0. 0. 0. 1. ]] SLAMing on 90.72255784400001 meters Centerline goodness [0,1] 0.24093746577592812 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.71 [[ 0.99992667 -0.00605489 -0.01048758 0.51465379] [ 0.00601763 0.99997548 -0.00358024 -0.0475988 ] [ 0.010509 0.00351687 0.99993859 0.71391021] [ 0. 0. 0. 1. ]] SLAMing on 90.75255784400001 meters Centerline goodness [0,1] 0.23594706440210367 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.71 [[ 0.99994568 0.00293624 -0.01000128 0.53567049] [-0.00298267 0.99998483 -0.00463091 -0.05007352] [ 0.00998753 0.00466049 0.99993926 0.71433035] [ 0. 0. 0. 1. ]] SLAMing on 90.782557844 meters Centerline goodness [0,1] 0.2374049119756575 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.71 [[ 0.99994372 0.00295267 -0.01019033 0.5362882 ] [-0.00299996 0.99998479 -0.00462872 -0.05010506] [ 0.0101765 0.00465903 0.99993736 0.71407615] [ 0. 0. 0. 1. ]] SLAMing on 90.812557844 meters Centerline goodness [0,1] 0.23631583484182395 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.72 [[ 0.9999282 -0.00394346 -0.01131571 0.55570983] [ 0.0038999 0.99998491 -0.00386841 -0.04549625] [ 0.0113308 0.00382401 0.99992849 0.71563918] [ 0. 0. 0. 1. ]] SLAMing on 90.842557844 meters Centerline goodness [0,1] 0.23912618618488202 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.72 [[ 0.99992633 -0.00392024 -0.01148803 0.55621085] [ 0.0038771 0.99998536 -0.00377499 -0.0460747 ] [ 0.01150266 0.00373017 0.99992688 0.71551706] [ 0. 0. 0. 1. ]] SLAMing on 90.872557844 meters Centerline goodness [0,1] 0.24240618101545253 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99988527 -0.00529231 -0.01419288 0.51095875] [ 0.00524855 0.99998136 -0.00311851 -0.05037351] [ 0.01420912 0.00304366 0.99989441 0.71686749] [ 0. 0. 0. 1. ]] SLAMing on 90.902557844 meters Centerline goodness [0,1] 0.23963643462981843 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:0.72 [[ 0.99991352 0.00327032 -0.01273832 0.53027179] [-0.00332779 0.99998437 -0.00449307 -0.05399429] [ 0.01272343 0.00453508 0.99990877 0.71769519] [ 0. 0. 0. 1. ]] SLAMing on 90.932557844 meters Centerline goodness [0,1] 0.24268332785268 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99991178 -0.00570957 -0.01199285 0.50894943] [ 0.00567147 0.99997877 -0.00320818 -0.0510985 ] [ 0.01201091 0.00313988 0.99992294 0.71686261] [ 0. 0. 0. 1. ]] SLAMing on 90.962557844 meters Centerline goodness [0,1] 0.23712386133057028 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:0.72 [[ 0.99993978 0.00339049 -0.01043752 0.528865 ] [-0.00343353 0.99998566 -0.00410874 -0.05362509] [ 0.01042344 0.00414433 0.99993709 0.71726648] [ 0. 0. 0. 1. ]] SLAMing on 90.992557844 meters Centerline goodness [0,1] 0.24274538938903945 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99992162 -0.00537338 -0.01130875 0.50903852] [ 0.00534519 0.99998254 -0.00252086 -0.0497895 ] [ 0.01132209 0.00246022 0.99993288 0.71639851] [ 0. 0. 0. 1. ]] SLAMing on 91.022557844 meters Centerline goodness [0,1] 0.24229401627364155 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99992046 -0.00534686 -0.01142292 0.50937596] [ 0.00531887 0.99998278 -0.0024798 -0.05013119] [ 0.01143598 0.00241884 0.99993168 0.7163388 ] [ 0. 0. 0. 1. ]] SLAMing on 91.052557844 meters Centerline goodness [0,1] 0.24356192605255655 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99992043 -0.00530271 -0.01144574 0.50934538] [ 0.0052761 0.99998331 -0.00235365 -0.05086549] [ 0.01145803 0.00229308 0.99993173 0.71646946] [ 0. 0. 0. 1. ]] SLAMing on 91.08255784400001 meters Centerline goodness [0,1] 0.24283878275644233 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99992405 -0.00520807 -0.01117028 0.50839149] [ 0.00518385 0.99998415 -0.00219633 -0.05140158] [ 0.01118155 0.00213826 0.9999352 0.71688927] [ 0. 0. 0. 1. ]] SLAMing on 91.11255784400001 meters Centerline goodness [0,1] 0.24541836154485408 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99992959 -0.00506949 -0.0107292 0.50673843] [ 0.00504843 0.99998528 -0.0019887 -0.05190929] [ 0.01073913 0.0019344 0.99994046 0.71780634] [ 0. 0. 0. 1. ]] SLAMing on 91.142557844 meters Centerline goodness [0,1] 0.2451165721487083 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99993399 -0.00495237 -0.01036804 0.50537393] [ 0.00493467 0.99998632 -0.00173232 -0.05282617] [ 0.01037648 0.00168104 0.99994475 0.71861431] [ 0. 0. 0. 1. ]] SLAMing on 91.172557844 meters Centerline goodness [0,1] 0.24259191216201614 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:0.72 [[ 0.99993528 -0.00486529 -0.01028382 0.50485942] [ 0.00485058 0.99998718 -0.00145532 -0.05415164] [ 0.01029077 0.00140534 0.99994606 0.71914177] [ 0. 0. 0. 1. ]] SLAMing on 91.202557844 meters Centerline goodness [0,1] 0.2403761133515927 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.72 [[ 0.99992991 -0.00490713 -0.01077463 0.50619497] [ 0.00489444 0.9999873 -0.00120374 -0.05632995] [ 0.0107804 0.00115092 0.99994123 0.71905393] [ 0. 0. 0. 1. ]] SLAMing on 91.232557844 meters Centerline goodness [0,1] 0.24320373521839678 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.99992538 0.00280277 -0.01189029 0.48672409] [-0.00282834 0.99999372 -0.00213476 -0.06163844] [ 0.01188424 0.00216823 0.99992703 0.71750936] [ 0. 0. 0. 1. ]] SLAMing on 91.262557844 meters Centerline goodness [0,1] 0.24404238480478369 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.99992491 0.00277011 -0.01193718 0.48716808] [-0.00279757 0.99999348 -0.00228415 -0.06083538] [ 0.01193078 0.00231737 0.99992614 0.71690697] [ 0. 0. 0. 1. ]] SLAMing on 91.292557844 meters Centerline goodness [0,1] 0.24325623047856193 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.99992545 0.00277727 -0.01189035 0.48722103] [-0.00280676 0.99999302 -0.00246474 -0.05966447] [ 0.01188342 0.00249793 0.99992627 0.71659358] [ 0. 0. 0. 1. ]] SLAMing on 91.322557844 meters Centerline goodness [0,1] 0.24134041860969524 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.99992667 0.00276424 -0.01179041 0.48709236] [-0.00279741 0.99999217 -0.00279764 -0.05782759] [ 0.01178258 0.00283042 0.99992658 0.71636324] [ 0. 0. 0. 1. ]] SLAMing on 91.352557844 meters Centerline goodness [0,1] 0.24278630873069618 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.99992635 0.0026996 -0.01183217 0.48722282] [-0.00273505 0.99999182 -0.00298124 -0.05699564] [ 0.01182402 0.00301339 0.99992555 0.71631669] [ 0. 0. 0. 1. ]] SLAMing on 91.382557844 meters Centerline goodness [0,1] 0.2422787296736877 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.99992514 0.00264496 -0.01194672 0.4875711 ] [-0.00268253 0.9999915 -0.00312976 -0.05632913] [ 0.01193834 0.00316158 0.99992374 0.71622476] [ 0. 0. 0. 1. ]] SLAMing on 91.412557844 meters Centerline goodness [0,1] 0.23914732027271945 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99991845 -0.00443825 -0.01197482 0.50690949] [ 0.00441055 0.99998754 -0.00233808 -0.05022705] [ 0.01198505 0.00228507 0.99992557 0.71745226] [ 0. 0. 0. 1. ]] SLAMing on 91.442557844 meters Centerline goodness [0,1] 0.2428580810402574 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.99990878 0.00338282 -0.01307657 0.48641128] [-0.00342349 0.99998937 -0.00308884 -0.05552923] [ 0.01306598 0.00313332 0.99990973 0.71661345] [ 0. 0. 0. 1. ]] SLAMing on 91.47255784400001 meters Centerline goodness [0,1] 0.2435503886094964 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.72 [[ 0.99990688 0.00331521 -0.01323799 0.48703344] [-0.00335822 0.99998915 -0.00322766 -0.05499848] [ 0.01322715 0.00327181 0.99990716 0.71623409] [ 0. 0. 0. 1. ]] SLAMing on 91.50255784400001 meters Centerline goodness [0,1] 0.24121582126388252 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.72 [[ 0.99990673 0.00327604 -0.01325882 0.48727951] [-0.00332148 0.99998868 -0.00340635 -0.05410662] [ 0.01324751 0.00345007 0.9999063 0.71586024] [ 0. 0. 0. 1. ]] SLAMing on 91.532557844 meters Centerline goodness [0,1] 0.23963924807128112 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.72 [[ 0.99990752 0.00326263 -0.0132029 0.48730294] [-0.003309 0.99998843 -0.00349212 -0.05354763] [ 0.01319136 0.00353548 0.99990674 0.7155417 ] [ 0. 0. 0. 1. ]] SLAMing on 91.562557844 meters Centerline goodness [0,1] 0.24115159968616506 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.72 [[ 0.99990809 0.00331662 -0.01314586 0.48726733] [-0.00336217 0.99998841 -0.00344473 -0.0535674 ] [ 0.01313428 0.00348861 0.99990766 0.71531413] [ 0. 0. 0. 1. ]] SLAMing on 91.592557844 meters Centerline goodness [0,1] 0.24065922151143881 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.72 [[ 0.99990881 0.00336508 -0.01307834 0.48705529] [-0.00340839 0.99998878 -0.00329049 -0.05434452] [ 0.01306712 0.00333477 0.99990906 0.7153959 ] [ 0. 0. 0. 1. ]] SLAMing on 91.622557844 meters Centerline goodness [0,1] 0.24315046028032272 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.99990921 0.00343695 -0.01302949 0.48673363] [-0.0034773 0.99998922 -0.00307564 -0.05550005] [ 0.01301878 0.00312067 0.99991038 0.71578715] [ 0. 0. 0. 1. ]] SLAMing on 91.652557844 meters Centerline goodness [0,1] 0.23721249570889114 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.99991661 -0.0040829 -0.01225204 0.50676498] [ 0.00405538 0.9999892 -0.00227014 -0.05131467] [ 0.01226118 0.00222027 0.99992236 0.71679547] [ 0. 0. 0. 1. ]] SLAMing on 91.682557844 meters Centerline goodness [0,1] 0.2379506396175216 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.72 [[ 0.9999204 -0.0040101 -0.0119631 0.50592473] [ 0.00398358 0.99998956 -0.00223992 -0.05100513] [ 0.01197196 0.00219208 0.99992593 0.71687786] [ 0. 0. 0. 1. ]] SLAMing on 91.712557844 meters Centerline goodness [0,1] 0.24122080864412687 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.999934 0.00339961 -0.01097473 0.48579354] [-0.00343193 0.99998983 -0.00292756 -0.05579629] [ 0.01096466 0.00296504 0.99993549 0.71509856] [ 0. 0. 0. 1. ]] SLAMing on 91.742557844 meters Centerline goodness [0,1] 0.24479006712587192 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.72 [[ 0.99993496 0.00338148 -0.01089265 0.48550813] [-0.00341458 0.9999896 -0.00302196 -0.05524571] [ 0.01088232 0.00305896 0.99993611 0.71526011] [ 0. 0. 0. 1. ]] SLAMing on 91.772557844 meters Centerline goodness [0,1] 0.24296948177837807 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.72 [[ 0.99993559 0.0033122 -0.01085564 0.48549114] [-0.00334724 0.99998924 -0.00321131 -0.05435544] [ 0.01084488 0.00324744 0.99993592 0.71508294] [ 0. 0. 0. 1. ]] SLAMing on 91.802557844 meters Centerline goodness [0,1] 0.23548804137039436 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:0.72 [[ 0.99993357 -0.00347693 -0.01098922 0.50421924] [ 0.00345322 0.99999167 -0.00217574 -0.04747045] [ 0.01099669 0.00213765 0.99993725 0.71677207] [ 0. 0. 0. 1. ]] SLAMing on 91.83255784400001 meters Centerline goodness [0,1] 0.2422064426740561 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99993377 -0.00365008 -0.01091447 0.50415039] [ 0.00362066 0.99998976 -0.00271431 -0.04464378] [ 0.01092427 0.00267461 0.99993675 0.71647966] [ 0. 0. 0. 1. ]] SLAMing on 91.86255784400001 meters Centerline goodness [0,1] 0.24167894599982664 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99993343 -0.0037292 -0.01091874 0.5041346 ] [ 0.00369743 0.99998888 -0.00292801 -0.04366133] [ 0.01092954 0.00288744 0.9999361 0.71650312] [ 0. 0. 0. 1. ]] SLAMing on 91.892557844 meters Centerline goodness [0,1] 0.2423979148566464 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.9999333 -0.0038098 -0.01090362 0.50394495] [ 0.00377591 0.99998798 -0.00312712 -0.04276679] [ 0.0109154 0.00308574 0.99993566 0.71674667] [ 0. 0. 0. 1. ]] SLAMing on 91.922557844 meters Centerline goodness [0,1] 0.24294117647058822 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99993314 -0.00393323 -0.01087361 0.50396534] [ 0.0038962 0.99998654 -0.00342503 -0.0413941 ] [ 0.01088694 0.00338243 0.99993501 0.71655478] [ 0. 0. 0. 1. ]] SLAMing on 91.952557844 meters Centerline goodness [0,1] 0.24100999610541352 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:0.72 [[ 0.99992868 -0.0041135 -0.01121189 0.50517489] [ 0.00406983 0.99998406 -0.00391452 -0.03897754] [ 0.01122782 0.00386861 0.99992948 0.71583259] [ 0. 0. 0. 1. ]] SLAMing on 91.982557844 meters Centerline goodness [0,1] 0.24255282111539045 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:0.72 [[ 0.99992848 -0.00414486 -0.01121854 0.50506962] [ 0.0041002 0.99998359 -0.00400138 -0.03846713] [ 0.01123494 0.00395509 0.99992906 0.71602011] [ 0. 0. 0. 1. ]] SLAMing on 92.012557844 meters Centerline goodness [0,1] 0.24349454521699365 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99993068 -0.00410893 -0.01103412 0.50417449] [ 0.0040654 0.99998388 -0.00396431 -0.03838958] [ 0.01105023 0.00391917 0.99993126 0.71672245] [ 0. 0. 0. 1. ]] SLAMing on 92.042557844 meters Centerline goodness [0,1] 0.24391568883094306 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99993332 -0.00404991 -0.01081453 0.50320843] [ 0.00400844 0.99998454 -0.00385317 -0.03867091] [ 0.01082996 0.00380956 0.9999341 0.71742785] [ 0. 0. 0. 1. ]] SLAMing on 92.072557844 meters Centerline goodness [0,1] 0.240718303764604 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99993522 -0.00399505 -0.01065768 0.50252449] [ 0.00395601 0.9999854 -0.00368115 -0.03946553] [ 0.01067223 0.00363875 0.99993643 0.71795573] [ 0. 0. 0. 1. ]] SLAMing on 92.102557844 meters Centerline goodness [0,1] 0.2469900617310976 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.05, Z:0.72 [[ 0.99994101 0.00325308 -0.01036267 0.48252445] [-0.00330048 0.99998416 -0.00456027 -0.04617534] [ 0.01034767 0.00459421 0.99993591 0.71678138] [ 0. 0. 0. 1. ]] SLAMing on 92.132557844 meters Centerline goodness [0,1] 0.24128176891019415 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.9999423 -0.0045239 -0.00974367 0.50319764] [ 0.00448546 0.99998209 -0.00396327 -0.04168454] [ 0.00976143 0.00391933 0.99994468 0.71703143] [ 0. 0. 0. 1. ]] SLAMing on 92.162557844 meters Centerline goodness [0,1] 0.24444444444444446 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99994328 -0.00451513 -0.00964615 0.50300163] [ 0.00447692 0.99998206 -0.00397863 -0.04150671] [ 0.00966394 0.00393522 0.99994556 0.71692205] [ 0. 0. 0. 1. ]] SLAMing on 92.192557844 meters Centerline goodness [0,1] 0.24319411382817568 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99994387 -0.00451549 -0.00958497 0.50294262] [ 0.00447701 0.99998185 -0.00403213 -0.04114767] [ 0.009603 0.003989 0.99994593 0.71674747] [ 0. 0. 0. 1. ]] SLAMing on 92.22255784400001 meters Centerline goodness [0,1] 0.24319411382817568 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99994387 -0.00451549 -0.00958497 0.50294262] [ 0.00447701 0.99998185 -0.00403213 -0.04114767] [ 0.009603 0.003989 0.99994593 0.71674747] [ 0. 0. 0. 1. ]] SLAMing on 92.25255784400001 meters Centerline goodness [0,1] 0.24202467957754115 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.72 [[ 0.99993766 -0.00461928 -0.01016568 0.5047776 ] [ 0.00457539 0.99998013 -0.0043362 -0.03990648] [ 0.01018551 0.00428942 0.99993893 0.71609983] [ 0. 0. 0. 1. ]] SLAMing on 92.282557844 meters Centerline goodness [0,1] 0.24266817509355143 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:0.72 [[ 0.99993406 -0.0046813 -0.01048601 0.50607662] [ 0.0046337 0.99997887 -0.00455877 -0.03882174] [ 0.01050713 0.00450989 0.99993463 0.71516296] [ 0. 0. 0. 1. ]] SLAMing on 92.312557844 meters Centerline goodness [0,1] 0.2404425907116461 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:0.71 [[ 0.99993244 -0.00473286 -0.0106172 0.50678431] [ 0.00468205 0.99997749 -0.00480525 -0.03748888] [ 0.01063971 0.00475521 0.99993209 0.71442421] [ 0. 0. 0. 1. ]] SLAMing on 92.342557844 meters Centerline goodness [0,1] 0.24343670209283552 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:0.71 [[ 0.99994322 0.00301941 -0.01021916 0.48656213] [-0.00307612 0.99997993 -0.00553898 -0.04141161] [ 0.01020223 0.0055701 0.99993244 0.71270413] [ 0. 0. 0. 1. ]] SLAMing on 92.372557844 meters Centerline goodness [0,1] 0.2466535001097213 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:0.71 [[ 0.9999462 0.00300628 -0.00992728 0.48570566] [-0.00306293 0.99997909 -0.00569585 -0.04050583] [ 0.00990995 0.00572595 0.9999345 0.71295946] [ 0. 0. 0. 1. ]] SLAMing on 92.402557844 meters Centerline goodness [0,1] 0.23825808406562488 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.71 [[ 0.99995597 -0.00448638 -0.00824252 0.50430279] [ 0.00444366 0.99997663 -0.00519496 -0.033424 ] [ 0.00826564 0.0051581 0.99995254 0.71402581] [ 0. 0. 0. 1. ]] SLAMing on 92.432557844 meters Centerline goodness [0,1] 0.24358020910800993 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.04, Z:0.71 [[ 0.99996331 0.00318635 -0.00795208 0.48419748] [-0.00323354 0.9999772 -0.00592888 -0.03772092] [ 0.00793301 0.00595438 0.99995081 0.71268104] [ 0. 0. 0. 1. ]] SLAMing on 92.462557844 meters Centerline goodness [0,1] 0.24013662796982083 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 0.99996731 -0.00176174 -0.00789165 0.50710035] [ 0.00174076 0.99999494 -0.00266415 -0.03383064] [ 0.00789631 0.00265032 0.99996531 0.71204771] [ 0. 0. 0. 1. ]] SLAMing on 92.492557844 meters Centerline goodness [0,1] 0.23648532692637725 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 0.99996688 -0.00179778 -0.00793728 0.50762128] [ 0.00177546 0.99999445 -0.00281828 -0.03286582] [ 0.0079423 0.0028041 0.99996453 0.71128681] [ 0. 0. 0. 1. ]] SLAMing on 92.522557844 meters Centerline goodness [0,1] 0.23636992520212718 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 0.99996636 -0.00186959 -0.00798625 0.50801346] [ 0.00184616 0.99999397 -0.00293992 -0.03246629] [ 0.0079917 0.00292508 0.99996379 0.71080129] [ 0. 0. 0. 1. ]] SLAMing on 92.552557844 meters Centerline goodness [0,1] 0.23993928881179527 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 0.9999651 -0.00209707 -0.00808697 0.50792725] [ 0.00207076 0.99999254 -0.00326105 -0.03190474] [ 0.00809375 0.00324419 0.99996198 0.71136997] [ 0. 0. 0. 1. ]] SLAMing on 92.58255784400001 meters Centerline goodness [0,1] 0.24283496928491788 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 0.99996465 -0.00217272 -0.00812221 0.5078055 ] [ 0.00214461 0.99999169 -0.00346806 -0.03087858] [ 0.00812968 0.00345052 0.999961 0.71172803] [ 0. 0. 0. 1. ]] SLAMing on 92.61255784400001 meters Centerline goodness [0,1] 0.2463434602703959 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:0.71 [[ 0.99994649 0.00586341 -0.00852268 0.48735186] [-0.00589795 0.99997447 -0.00403356 -0.03448491] [ 0.00849881 0.00408361 0.99995555 0.71107608] [ 0. 0. 0. 1. ]] SLAMing on 92.642557844 meters Centerline goodness [0,1] 0.24203877150947506 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 9.99970592e-01 7.60755360e-04 -7.63124855e-03 5.10044087e-01] [-7.67961662e-04 9.99999262e-01 -9.41429089e-04 -2.98213908e-02] [ 7.63052672e-03 9.47261910e-04 9.99970438e-01 7.10786539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.672557844 meters Centerline goodness [0,1] 0.243511400223405 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 9.99971530e-01 7.25932906e-04 -7.51079302e-03 5.09646420e-01] [-7.33797980e-04 9.99999185e-01 -1.04446676e-03 -2.93127152e-02] [ 7.51002869e-03 1.04994842e-03 9.99971248e-01 7.10928228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702557844 meters Centerline goodness [0,1] 0.2445669943544696 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 9.99972646e-01 6.59633880e-04 -7.36690644e-03 5.09248039e-01] [-6.68491257e-04 9.99999057e-01 -1.19992206e-03 -2.85979717e-02] [ 7.36610799e-03 1.20481395e-03 9.99972144e-01 7.11001572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.732557844 meters Centerline goodness [0,1] 0.24350719972158175 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 9.99973847e-01 6.20945989e-04 -7.20552199e-03 5.08856944e-01] [-6.30622969e-04 9.99998902e-01 -1.34080069e-03 -2.78538393e-02] [ 7.20468152e-03 1.34530959e-03 9.99973141e-01 7.10970035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.762557844 meters Centerline goodness [0,1] 0.2422018745806005 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 9.99974175e-01 5.49746158e-04 -7.16567283e-03 5.08882618e-01] [-5.60594163e-04 9.99998700e-01 -1.51196437e-03 -2.70657766e-02] [ 7.16483232e-03 1.51594235e-03 9.99973183e-01 7.10707539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.792557844 meters Centerline goodness [0,1] 0.2411814200340877 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 9.99973624e-01 4.99899744e-04 -7.24580087e-03 5.09339822e-01] [-5.11777318e-04 9.99998528e-01 -1.63747402e-03 -2.65887281e-02] [ 7.24497164e-03 1.64113906e-03 9.99972408e-01 7.10244786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.822557844 meters Centerline goodness [0,1] 0.2455219001961212 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 9.99972880e-01 4.29280859e-04 -7.35222032e-03 5.09669290e-01] [-4.42281977e-04 9.99998341e-01 -1.76679080e-03 -2.61586365e-02] [ 7.35144968e-03 1.76999464e-03 9.99971411e-01 7.10137318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.852557844 meters Centerline goodness [0,1] 0.24100703890832142 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.71 [[ 9.99974042e-01 4.33161067e-04 -7.19214054e-03 5.09033630e-01] [-4.45980543e-04 9.99998315e-01 -1.78092033e-03 -2.59231822e-02] [ 7.19135699e-03 1.78408165e-03 9.99972550e-01 7.10510370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.882557844 meters Centerline goodness [0,1] 0.248256224615928 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99957850e-01 -4.81379703e-04 -9.16879254e-03 4.61947779e-01] [ 4.75146342e-04 9.99999655e-01 -6.82011582e-04 -2.99748623e-02] [ 9.16911768e-03 6.77626317e-04 9.99957733e-01 7.12742007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.912557844 meters Centerline goodness [0,1] 0.24838951641369578 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99958785e-01 -4.39514867e-04 -9.06832909e-03 4.61430563e-01] [ 4.34418104e-04 9.99999747e-01 -5.64001946e-04 -3.04796009e-02] [ 9.06857468e-03 5.60039254e-04 9.99958723e-01 7.13209589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.942557844 meters Centerline goodness [0,1] 0.2429435919602334 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.71 [[ 9.99976723e-01 1.58983185e-04 -6.82119234e-03 5.04354776e-01] [-1.69745223e-04 9.99998742e-01 -1.57718566e-03 -2.74836425e-02] [ 6.82093301e-03 1.57830681e-03 9.99975492e-01 7.13075275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97255784400001 meters Centerline goodness [0,1] 0.2476870673552357 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99952460e-01 -6.87822969e-04 -9.72648103e-03 4.61178812e-01] [ 6.83347664e-04 9.99999659e-01 -4.63431376e-04 -3.21977301e-02] [ 9.72679647e-03 4.56762777e-04 9.99952589e-01 7.13053491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00255784400001 meters Centerline goodness [0,1] 0.24723473090543435 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99951075e-01 -6.61416339e-04 -9.86963013e-03 4.61832797e-01] [ 6.56888086e-04 9.99999678e-01 -4.62041366e-04 -3.20085988e-02] [ 9.86993255e-03 4.55535518e-04 9.99951187e-01 7.12497841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.032557844 meters Centerline goodness [0,1] 0.245660063841882 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99949976e-01 -6.56866412e-04 -9.98071088e-03 4.62271633e-01] [ 6.51863812e-04 9.99999660e-01 -5.04471688e-04 -3.17184919e-02] [ 9.98103886e-03 4.97940388e-04 9.99950064e-01 7.12192332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062557844 meters Centerline goodness [0,1] 0.2438403273550409 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99949496e-01 -7.15364210e-04 -1.00246527e-02 4.62337535e-01] [ 7.08774930e-04 9.99999530e-01 -6.60844915e-04 -3.10658928e-02] [ 1.00251208e-02 6.53706317e-04 9.99949534e-01 7.12287718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.092557844 meters Centerline goodness [0,1] 0.24578307988113968 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99950320e-01 -7.82759134e-04 -9.93708903e-03 4.61990850e-01] [ 7.74477364e-04 9.99999350e-01 -8.37240967e-04 -3.03431280e-02] [ 9.93773793e-03 8.29503322e-04 9.99950275e-01 7.12485512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.122557844 meters Centerline goodness [0,1] 0.24391143111188218 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99950469e-01 -8.46233682e-04 -9.91678338e-03 4.61961480e-01] [ 8.35938844e-04 9.99999107e-01 -1.04222182e-03 -2.93203576e-02] [ 9.91765649e-03 1.03388037e-03 9.99950284e-01 7.12425569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.152557844 meters Centerline goodness [0,1] 0.24582093471030986 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99951184e-01 -9.34455695e-04 -9.83651378e-03 4.62233510e-01] [ 9.22047274e-04 9.99998774e-01 -1.26592467e-03 -2.81414492e-02] [ 9.83768466e-03 1.25679314e-03 9.99950819e-01 7.11500701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.182557844 meters Centerline goodness [0,1] 0.24261952451449964 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99949814e-01 -9.76872303e-04 -9.97074515e-03 4.62650711e-01] [ 9.63751968e-04 9.99998664e-01 -1.32060307e-03 -2.79626290e-02] [ 9.97202188e-03 1.31092747e-03 9.99949419e-01 7.11347663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.212557844 meters Centerline goodness [0,1] 0.2438411261940674 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 0.99994781 -0.00103779 -0.01016409 0.46315753] [ 0.00102399 0.99999855 -0.00136241 -0.02805279] [ 0.01016549 0.00135193 0.99994742 0.7113279 ] [ 0. 0. 0. 1. ]] SLAMing on 93.242557844 meters Centerline goodness [0,1] 0.24158036724393006 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 0.99994581 -0.00109346 -0.01035254 0.46362298] [ 0.00107995 0.99999856 -0.0013105 -0.02856932] [ 0.01035396 0.00129925 0.99994555 0.71132907] [ 0. 0. 0. 1. ]] SLAMing on 93.272557844 meters Centerline goodness [0,1] 0.24112657677250982 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.03, Z:0.71 [[ 0.99993955 -0.00129315 -0.01091859 0.46534544] [ 0.00128065 0.99999852 -0.00115226 -0.02992628] [ 0.01092007 0.00113821 0.99993973 0.71075093] [ 0. 0. 0. 1. ]] SLAMing on 93.302557844 meters Centerline goodness [0,1] 0.24832199947010514 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.71 [[ 9.99901347e-01 -2.82574164e-03 -1.37590225e-02 4.21579683e-01] [ 2.81733413e-03 9.99995833e-01 -6.30398740e-04 -3.36727101e-02] [ 1.37607465e-02 5.91572786e-04 9.99905141e-01 7.10969199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33255784400001 meters Centerline goodness [0,1] 0.24670019546263144 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.71 [[ 9.99898041e-01 -2.84665726e-03 -1.39929704e-02 4.22352876e-01] [ 2.83873727e-03 9.99995799e-01 -5.85827686e-04 -3.39842234e-02] [ 1.39945793e-02 5.46045589e-04 9.99901922e-01 7.10611510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36255784400001 meters Centerline goodness [0,1] 0.23938073245300207 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.04, Z:0.71 [[ 0.99989926 0.00562495 -0.01303219 0.44219731] [-0.00565119 0.99998208 -0.00197769 -0.03664567] [ 0.01302083 0.00205114 0.99991312 0.71135808] [ 0. 0. 0. 1. ]] SLAMing on 93.392557844 meters Centerline goodness [0,1] 0.24300699300699302 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.04, Z:0.71 [[ 0.99990093 0.00559138 -0.01291802 0.44171359] [-0.00561853 0.99998208 -0.00206589 -0.03614501] [ 0.01290624 0.00213827 0.99991442 0.71168584] [ 0. 0. 0. 1. ]] SLAMing on 93.422557844 meters Centerline goodness [0,1] 0.2438194352961841 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.04, Z:0.71 [[ 0.99990497 0.00557741 -0.0126069 0.44064857] [-0.00560529 0.99998192 -0.00217701 -0.03539647] [ 0.01259453 0.00224747 0.99991816 0.71221685] [ 0. 0. 0. 1. ]] SLAMing on 93.452557844 meters Centerline goodness [0,1] 0.24567846932043103 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.03, Z:0.71 [[ 0.99991567 0.00564322 -0.01169651 0.43781836] [-0.0056713 0.99998111 -0.00236891 -0.03381861] [ 0.01168292 0.00243504 0.99992879 0.7132801 ] [ 0. 0. 0. 1. ]] SLAMing on 93.482557844 meters Centerline goodness [0,1] 0.24496527019352587 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.72 [[ 0.99992668 -0.00122761 -0.01204682 0.45542739] [ 0.00121227 0.99999845 -0.00128032 -0.02809929] [ 0.01204837 0.00126562 0.99992661 0.71564871] [ 0. 0. 0. 1. ]] SLAMing on 93.512557844 meters Centerline goodness [0,1] 0.24793406449643507 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.72 [[ 0.99992515 -0.0013227 -0.01216359 0.45588346] [ 0.00130426 0.99999799 -0.00152367 -0.02707083] [ 0.01216558 0.00150769 0.99992486 0.71533196] [ 0. 0. 0. 1. ]] SLAMing on 93.542557844 meters Centerline goodness [0,1] 0.24443468715697036 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 0.99992247 -0.00143425 -0.0123694 0.45676274] [ 0.00141216 0.99999739 -0.00179364 -0.02591403] [ 0.01237194 0.00177603 0.99992189 0.71466384] [ 0. 0. 0. 1. ]] SLAMing on 93.572557844 meters Centerline goodness [0,1] 0.24450165823005765 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:0.71 [[ 0.99992007 -0.00150753 -0.01255323 0.4575846 ] [ 0.00148237 0.99999688 -0.00201263 -0.02478281] [ 0.01255623 0.00199387 0.99991918 0.71393784] [ 0. 0. 0. 1. ]] SLAMing on 93.602557844 meters Centerline goodness [0,1] 0.2437302700806735 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 0.99992021 -0.00146388 -0.01254698 0.45740223] [ 0.00144068 0.99999724 -0.00185813 -0.02545621] [ 0.01254966 0.0018399 0.99991956 0.71421326] [ 0. 0. 0. 1. ]] SLAMing on 93.632557844 meters Centerline goodness [0,1] 0.24202801290238785 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.72 [[ 9.99886242e-01 -9.24028401e-03 -1.19214519e-02 4.77577697e-01] [ 9.23063322e-03 9.99957023e-01 -8.64301869e-04 -2.18256424e-02] [ 1.19289259e-02 7.54160998e-04 9.99928563e-01 7.15436705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.662557844 meters Centerline goodness [0,1] 0.23996888571984187 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.72 [[ 9.99884223e-01 -9.17418744e-03 -1.21398367e-02 4.78102531e-01] [ 9.16836237e-03 9.99957826e-01 -5.35398857e-04 -2.35207073e-02] [ 1.21442365e-02 4.24034448e-04 9.99926166e-01 7.15462705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.692557844 meters Centerline goodness [0,1] 0.24072908755560374 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:0.72 [[ 9.99877637e-01 -9.17751456e-03 -1.26682216e-02 4.79522137e-01] [ 9.17911146e-03 9.99957869e-01 6.79162011e-05 -2.73143140e-02] [ 1.26670646e-02 -1.84190909e-04 9.99919753e-01 7.15448344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72255784400001 meters Centerline goodness [0,1] 0.24197145888823923 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:0.72 [[ 9.99877925e-01 -9.04687349e-03 -1.27392459e-02 4.79481015e-01] [ 9.05418188e-03 9.99958877e-01 5.16132864e-04 -2.97638356e-02] [ 1.27340527e-02 -6.31413307e-04 9.99918719e-01 7.15894534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75255784400001 meters Centerline goodness [0,1] 0.2474767508484288 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.72 [[ 9.99916369e-01 -1.29990915e-03 -1.28672390e-02 4.59009919e-01] [ 1.30092206e-03 9.99999151e-01 7.03498520e-05 -3.81739015e-02] [ 1.28671366e-02 -8.70832436e-05 9.99917211e-01 7.15002057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782557844 meters Centerline goodness [0,1] 0.24603920368873056 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.72 [[ 9.99917478e-01 -1.14036806e-03 -1.27959379e-02 4.58820471e-01] [ 1.14533228e-03 9.99999272e-01 3.80631151e-04 -3.93717663e-02] [ 1.27954945e-02 -3.95255341e-04 9.99918056e-01 7.15000774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.812557844 meters Centerline goodness [0,1] 0.24235703413785603 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99917039e-01 -9.60511658e-04 -1.28449772e-02 4.59068405e-01] [ 9.68546989e-04 9.99999339e-01 6.19355987e-04 -4.00204948e-02] [ 1.28443738e-02 -6.31745568e-04 9.99917308e-01 7.14837819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842557844 meters Centerline goodness [0,1] 0.2437362589520886 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99920276e-01 -4.30129017e-04 -1.26196928e-02 4.58915335e-01] [ 4.42487691e-04 9.99999425e-01 9.76540786e-04 -4.07866819e-02] [ 1.26192656e-02 -9.82046991e-04 9.99919892e-01 7.14174456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.872557844 meters Centerline goodness [0,1] 0.24797944302907848 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99923016e-01 -3.37769224e-04 -1.24035403e-02 4.58547704e-01] [ 3.49069393e-04 9.99999526e-01 9.08890250e-04 -4.03415305e-02] [ 1.24032275e-02 -9.13149976e-04 9.99922660e-01 7.13891963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.902557844 meters Centerline goodness [0,1] 0.24603174603174605 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99928850e-01 -1.21990622e-04 -1.19281423e-02 4.57532869e-01] [ 1.31985119e-04 9.99999641e-01 8.37108521e-04 -3.92882578e-02] [ 1.19280359e-02 -8.38623298e-04 9.99928507e-01 7.13569952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.932557844 meters Centerline goodness [0,1] 0.2493080876861573 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99936637e-01 3.26925922e-04 -1.12523383e-02 4.55881091e-01] [-3.16474801e-04 9.99999517e-01 9.30563601e-04 -3.81098449e-02] [ 1.12526371e-02 -9.26943556e-04 9.99936257e-01 7.13433606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.962557844 meters Centerline goodness [0,1] 0.2474195174333238 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:0.71 [[ 9.99940966e-01 5.28092649e-04 -1.08529099e-02 4.54923369e-01] [-5.20072331e-04 9.99999590e-01 7.41810553e-04 -3.62227310e-02] [ 1.08532972e-02 -7.36122462e-04 9.99940830e-01 7.13275776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.992557844 meters Centerline goodness [0,1] 0.24375911376150783 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99939808e-01 4.34017244e-04 -1.09632036e-02 4.55131800e-01] [-4.33748708e-04 9.99999906e-01 2.68719840e-05 -3.26541259e-02] [ 1.09632142e-02 -2.21150911e-05 9.99939902e-01 7.13183011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022557844 meters Centerline goodness [0,1] 0.24504699146591769 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99938503e-01 2.94560040e-04 -1.10862260e-02 4.55567635e-01] [-2.97403190e-04 9.99999923e-01 -2.54810156e-04 -3.15445136e-02] [ 1.10861501e-02 2.58091564e-04 9.99938513e-01 7.12882940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.052557844 meters Centerline goodness [0,1] 0.24513635668901068 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99938119e-01 2.63135594e-04 -1.11215451e-02 4.55868677e-01] [-2.66186173e-04 9.99999927e-01 -2.72815167e-04 -3.15118171e-02] [ 1.11214725e-02 2.75758687e-04 9.99938116e-01 7.12472001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08255784400001 meters Centerline goodness [0,1] 0.24633475870494803 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99940424e-01 2.79067264e-04 -1.09119752e-02 4.55217128e-01] [-2.79629975e-04 9.99999960e-01 -5.00424962e-05 -3.25800908e-02] [ 1.09119608e-02 5.30908302e-05 9.99940461e-01 7.12680540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11255784400001 meters Centerline goodness [0,1] 0.24633475870494803 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:0.71 [[ 9.99940424e-01 2.79067264e-04 -1.09119752e-02 4.55217128e-01] [-2.79629975e-04 9.99999960e-01 -5.00424962e-05 -3.25800908e-02] [ 1.09119608e-02 5.30908302e-05 9.99940461e-01 7.12680540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142557844 meters Centerline goodness [0,1] 0.24532958112349823 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.03, Z:0.71 [[ 9.99927846e-01 -9.31701395e-03 -7.58262078e-03 4.72918595e-01] [ 9.31563316e-03 9.99956585e-01 -2.17398689e-04 -3.17121300e-02] [ 7.58431709e-03 1.46746089e-04 9.99971228e-01 7.14275874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.172557844 meters Centerline goodness [0,1] 0.24305585554451592 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.03, Z:0.71 [[ 9.99926367e-01 -9.46996783e-03 -7.58813124e-03 4.72594758e-01] [ 9.47063428e-03 9.99955151e-01 5.18990362e-05 -3.36253295e-02] [ 7.58729944e-03 -1.23759631e-04 9.99971208e-01 7.14956240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202557844 meters Centerline goodness [0,1] 0.24286269597892285 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:0.71 [[ 9.99923736e-01 -9.49201586e-03 -7.90088194e-03 4.73407227e-01] [ 9.49491426e-03 9.99954868e-01 3.29416198e-04 -3.52519040e-02] [ 7.89739854e-03 -4.04409272e-04 9.99968733e-01 7.14952592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.232557844 meters Centerline goodness [0,1] 0.2460018712330555 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99963912e-01 -2.35031705e-03 -8.16397177e-03 4.56098820e-01] [ 2.34380987e-03 9.99996928e-01 -8.06536638e-04 -4.15681004e-02] [ 8.16584230e-03 7.87372734e-04 9.99966349e-01 7.12382481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262557844 meters Centerline goodness [0,1] 0.24611404595752084 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99961924e-01 -2.33248009e-03 -8.40892792e-03 4.56905011e-01] [ 2.32696602e-03 9.99997071e-01 -6.65463745e-04 -4.24010599e-02] [ 8.41045548e-03 6.45871118e-04 9.99964423e-01 7.12051474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.292557844 meters Centerline goodness [0,1] 0.24387969729167114 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99959968e-01 -2.36553091e-03 -8.62945649e-03 4.57782988e-01] [ 2.35988294e-03 9.99996995e-01 -6.64623405e-04 -4.25784845e-02] [ 8.63100274e-03 6.44232291e-04 9.99962545e-01 7.11485356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322557844 meters Centerline goodness [0,1] 0.24560524538741368 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99957770e-01 -2.42925071e-03 -8.86327019e-03 4.58499411e-01] [ 2.42169516e-03 9.99996695e-01 -8.63089009e-04 -4.15644911e-02] [ 8.86533756e-03 8.41588422e-04 9.99960348e-01 7.11238282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.352557844 meters Centerline goodness [0,1] 0.24328027139874742 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99959114e-01 -2.44960209e-03 -8.70461831e-03 4.57739587e-01] [ 2.44109471e-03 9.99996533e-01 -9.87831739e-04 -4.08351065e-02] [ 8.70700792e-03 9.66542553e-04 9.99961626e-01 7.11846770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382557844 meters Centerline goodness [0,1] 0.24453919317809114 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99996151 -0.00242939 -0.00843078 0.45652902] [ 0.00242071 0.99999653 -0.00103995 -0.0404173 ] [ 0.00843328 0.0010195 0.99996392 0.71278378] [ 0. 0. 0. 1. ]] SLAMing on 94.412557844 meters Centerline goodness [0,1] 0.24509272313198138 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99996341 -0.00245597 -0.00819464 0.45546274] [ 0.00244644 0.99999632 -0.00117247 -0.03967871] [ 0.00819749 0.00115238 0.99996574 0.71356466] [ 0. 0. 0. 1. ]] SLAMing on 94.442557844 meters Centerline goodness [0,1] 0.24599934504966703 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99996434 -0.00249527 -0.00806843 0.45510919] [ 0.00248474 0.99999605 -0.00131401 -0.03894671] [ 0.00807167 0.00129391 0.99996659 0.71362015] [ 0. 0. 0. 1. ]] SLAMing on 94.47255784400001 meters Centerline goodness [0,1] 0.24449798150800883 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99996434 -0.00254497 -0.00805256 0.45534424] [ 0.00253314 0.9999957 -0.00147936 -0.03810833] [ 0.00805629 0.00145891 0.99996648 0.71313286] [ 0. 0. 0. 1. ]] SLAMing on 94.50255784400001 meters Centerline goodness [0,1] 0.24544762319155877 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99996436 -0.00260016 -0.00803221 0.45595621] [ 0.00258706 0.99999531 -0.00164098 -0.03733664] [ 0.00803644 0.00162014 0.99996639 0.71197937] [ 0. 0. 0. 1. ]] SLAMing on 94.532557844 meters Centerline goodness [0,1] 0.2431492047026279 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99996397 -0.00260809 -0.00807798 0.45611377] [ 0.00259482 0.99999527 -0.00165227 -0.03735666] [ 0.00808226 0.00163124 0.99996601 0.71190659] [ 0. 0. 0. 1. ]] SLAMing on 94.562557844 meters Centerline goodness [0,1] 0.2414127274685044 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99996456 -0.00255048 -0.00802341 0.45572048] [ 0.00253832 0.99999561 -0.00152545 -0.0379216 ] [ 0.00802726 0.00150503 0.99996665 0.7123258 ] [ 0. 0. 0. 1. ]] SLAMing on 94.592557844 meters Centerline goodness [0,1] 0.2432736639321197 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99996557 -0.00245991 -0.00792502 0.45515533] [ 0.00244935 0.9999961 -0.00134314 -0.03864976] [ 0.00792829 0.00132369 0.99996769 0.7128536 ] [ 0. 0. 0. 1. ]] SLAMing on 94.622557844 meters Centerline goodness [0,1] 0.2466217684119053 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:0.71 [[ 9.99966764e-01 -2.31664524e-03 -7.81690236e-03 4.54868405e-01] [ 2.30882520e-03 9.99996825e-01 -1.00927695e-03 -4.01699489e-02] [ 7.81921568e-03 9.91195541e-04 9.99968938e-01 7.12897319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.652557844 meters Centerline goodness [0,1] 0.24752345910169604 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99966359e-01 -2.29027525e-03 -7.87630632e-03 4.55282078e-01] [ 2.28288775e-03 9.99996946e-01 -9.46801764e-04 -4.05213826e-02] [ 7.87845070e-03 9.28789189e-04 9.99968533e-01 7.12424425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682557844 meters Centerline goodness [0,1] 0.24545730517368491 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99965268e-01 -2.28880152e-03 -8.01404586e-03 4.56055497e-01] [ 2.28100807e-03 9.99996917e-01 -9.81478917e-04 -4.03369066e-02] [ 8.01626756e-03 9.63164724e-04 9.99967405e-01 7.11708864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.712557844 meters Centerline goodness [0,1] 0.24407067322337783 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.9999634 -0.00233384 -0.00823151 0.45700692] [ 0.00232425 0.99999661 -0.00117389 -0.03933545] [ 0.00823422 0.00115472 0.99996543 0.7109721 ] [ 0. 0. 0. 1. ]] SLAMing on 94.742557844 meters Centerline goodness [0,1] 0.2426995035445617 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99996067 -0.00236041 -0.00854874 0.45840207] [ 0.00234854 0.99999626 -0.00139853 -0.03805919] [ 0.00855201 0.0013784 0.99996248 0.70988972] [ 0. 0. 0. 1. ]] SLAMing on 94.772557844 meters Centerline goodness [0,1] 0.24441676500152965 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99995897 -0.00238388 -0.00873915 0.45936085] [ 0.00237042 0.99999599 -0.00154974 -0.03729431] [ 0.00874281 0.00152896 0.99996061 0.70899033] [ 0. 0. 0. 1. ]] SLAMing on 94.802557844 meters Centerline goodness [0,1] 0.24085734000345005 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.04, Z:0.71 [[ 0.99993759 0.00669075 -0.00894723 0.48129137] [-0.00671445 0.99997402 -0.00262136 -0.03948736] [ 0.00892946 0.00268127 0.99995654 0.70940246] [ 0. 0. 0. 1. ]] SLAMing on 94.83255784400001 meters Centerline goodness [0,1] 0.24241633505121007 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99994556 -0.00235506 -0.01016542 0.4620522 ] [ 0.00234282 0.99999652 -0.00121581 -0.03673707] [ 0.01016825 0.00119193 0.99994759 0.70819519] [ 0. 0. 0. 1. ]] SLAMing on 94.86255784400001 meters Centerline goodness [0,1] 0.24396723975144374 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99939874e-01 -2.37679481e-03 -1.07050571e-02 4.63438855e-01] [ 2.36640661e-03 9.99996717e-01 -9.82962739e-04 -3.83629911e-02] [ 1.07073583e-02 9.57571120e-04 9.99942216e-01 7.08079228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.892557844 meters Centerline goodness [0,1] 0.24149267379329864 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99937854e-01 -2.33758425e-03 -1.09006130e-02 4.63884649e-01] [ 2.32965813e-03 9.99997013e-01 -7.39766888e-04 -3.97542474e-02] [ 1.09023097e-02 7.14326213e-04 9.99940313e-01 7.08141999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922557844 meters Centerline goodness [0,1] 0.24457248011917543 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99938614e-01 -2.28870575e-03 -1.08411242e-02 4.63680180e-01] [ 2.28327169e-03 9.99997261e-01 -5.13596054e-04 -4.09736510e-02] [ 1.08422700e-02 4.88811295e-04 9.99941101e-01 7.08263534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.952557844 meters Centerline goodness [0,1] 0.23894286148964383 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99940063e-01 -2.22356270e-03 -1.07203668e-02 4.63199522e-01] [ 2.22080377e-03 9.99997498e-01 -2.69250873e-04 -4.21893527e-02] [ 1.07209387e-02 2.45426904e-04 9.99942499e-01 7.08565082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982557844 meters Centerline goodness [0,1] 0.2384943581746909 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99942432e-01 -2.07070651e-03 -1.05282908e-02 4.62276677e-01] [ 2.07271671e-03 9.99997836e-01 1.80025809e-04 -4.42258227e-02] [ 1.05278952e-02 -2.01837610e-04 9.99944560e-01 7.09351879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.012557844 meters Centerline goodness [0,1] 0.23667708221096861 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 9.99942017e-01 -1.96964149e-03 -1.05869564e-02 4.62282816e-01] [ 1.97403335e-03 9.99997970e-01 4.04402523e-04 -4.50793612e-02] [ 1.05861384e-02 -4.25278079e-04 9.99943875e-01 7.09604834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042557844 meters Centerline goodness [0,1] 0.23619915336184116 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 9.99941420e-01 -1.86716423e-03 -1.06615910e-02 4.62310457e-01] [ 1.87389161e-03 9.99998051e-01 6.21037612e-04 -4.59380356e-02] [ 1.06604106e-02 -6.40979898e-04 9.99942971e-01 7.09932400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.072557844 meters Centerline goodness [0,1] 0.2398141917558445 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 9.99942397e-01 -1.76805608e-03 -1.05865935e-02 4.61854686e-01] [ 1.77681030e-03 9.99998087e-01 8.17567266e-04 -4.67636071e-02] [ 1.05851277e-02 -8.36330540e-04 9.99943626e-01 7.10390228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102557844 meters Centerline goodness [0,1] 0.24540948887578873 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.99994608 -0.00162716 -0.01025627 0.46043071] [ 0.00163928 0.99999797 0.0011742 -0.04865159] [ 0.01025434 -0.00119095 0.99994671 0.71142124] [ 0. 0. 0. 1. ]] SLAMing on 95.132557844 meters Centerline goodness [0,1] 0.24617800362026476 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.99994736 -0.00154752 -0.01014325 0.46003824] [ 0.00156068 0.99999795 0.00128931 -0.04905379] [ 0.01014123 -0.00130507 0.99994772 0.71161257] [ 0. 0. 0. 1. ]] SLAMing on 95.162557844 meters Centerline goodness [0,1] 0.24508330610911466 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.99994894 -0.0014436 -0.01000129 0.45963119] [ 0.00145808 0.9999979 0.00144054 -0.04952719] [ 0.00999919 -0.00145504 0.99994895 0.71170494] [ 0. 0. 0. 1. ]] SLAMing on 95.192557844 meters Centerline goodness [0,1] 0.24577265811780047 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.99995069 -0.00133765 -0.00984018 0.45902281] [ 0.00135356 0.99999779 0.00161096 -0.05022023] [ 0.009838 -0.0016242 0.99995029 0.71209264] [ 0. 0. 0. 1. ]] SLAMing on 95.22255784400001 meters Centerline goodness [0,1] 0.24877526025719532 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.99995538 -0.00105138 -0.00938754 0.45760093] [ 0.00106888 0.9999977 0.00186004 -0.05118574] [ 0.00938557 -0.00186999 0.99995421 0.71267861] [ 0. 0. 0. 1. ]] SLAMing on 95.25255784400001 meters Centerline goodness [0,1] 0.24257415048281528 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.05, Z:0.71 [[ 9.99927680e-01 8.17844271e-03 -8.81742896e-03 4.78289730e-01] [-8.17246121e-03 9.99966350e-01 7.14190665e-04 -5.36160896e-02] [ 8.82297322e-03 -6.42078918e-04 9.99960871e-01 7.13410053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282557844 meters Centerline goodness [0,1] 0.24576418455122073 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.05, Z:0.71 [[ 9.99927772e-01 8.22227706e-03 -8.76616368e-03 4.78591345e-01] [-8.21694654e-03 9.99966033e-01 6.43922195e-04 -5.30454075e-02] [ 8.77116043e-03 -5.71844587e-04 9.99961369e-01 7.12665211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.312557844 meters Centerline goodness [0,1] 0.24873620818497522 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 9.99949726e-01 -2.81362764e-04 -1.00232501e-02 4.59542438e-01] [ 3.04515840e-04 9.99997289e-01 2.30848577e-03 -4.96285923e-02] [ 1.00225734e-02 -2.31142195e-03 9.99947101e-01 7.10835312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342557844 meters Centerline goodness [0,1] 0.24423035289023598 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.05, Z:0.71 [[ 9.99920783e-01 8.36064460e-03 -9.40888662e-03 4.79662156e-01] [-8.35411323e-03 9.99964835e-01 7.33259532e-04 -5.24917347e-02] [ 9.41468628e-03 -6.54598541e-04 9.99955467e-01 7.12016996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.372557844 meters Centerline goodness [0,1] 0.24345339946717492 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.05, Z:0.71 [[ 9.99919353e-01 8.37309692e-03 -9.54873315e-03 4.79955372e-01] [-8.36563160e-03 9.99964670e-01 8.21487017e-04 -5.30708801e-02] [ 9.55527418e-03 -7.41539583e-04 9.99954072e-01 7.12099539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402557844 meters Centerline goodness [0,1] 0.24665734510180892 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 9.99946801e-01 -6.64794182e-04 -1.02933676e-02 4.60478132e-01] [ 6.89529518e-04 9.99996883e-01 2.39967398e-03 -5.06484873e-02] [ 1.02917402e-02 -2.40664390e-03 9.99944143e-01 7.10687521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.432557844 meters Centerline goodness [0,1] 0.24871097574241274 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 9.99949729e-01 -5.70357133e-04 -1.00106993e-02 4.59917768e-01] [ 5.94909171e-04 9.99996822e-01 2.44977330e-03 -5.00242901e-02] [ 1.00092702e-02 -2.45560561e-03 9.99946891e-01 7.10535242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462557844 meters Centerline goodness [0,1] 0.24139184738440478 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.71 [[ 0.99996987 0.00109246 -0.00768562 0.50472922] [-0.00107785 0.99999761 0.00190462 -0.04480296] [ 0.00768768 -0.00189628 0.99996865 0.70926763] [ 0. 0. 0. 1. ]] SLAMing on 95.492557844 meters Centerline goodness [0,1] 0.24185695820766906 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.71 [[ 9.99970621e-01 9.71792593e-04 -7.60352463e-03 5.04672045e-01] [-9.59560117e-04 9.99998240e-01 1.61227298e-03 -4.34916960e-02] [ 7.60507804e-03 -1.60492957e-03 9.99969793e-01 7.08979273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522557844 meters Centerline goodness [0,1] 0.2503719586907054 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 9.99943596e-01 -4.88886594e-04 -1.06097353e-02 4.59444666e-01] [ 5.08232674e-04 9.99998213e-01 1.82080768e-03 -4.59568227e-02] [ 1.06088262e-02 -1.82609719e-03 9.99942057e-01 7.10177930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.552557844 meters Centerline goodness [0,1] 0.2397377667323678 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.71 [[ 9.99960967e-01 3.98694177e-04 -8.82645366e-03 5.04680009e-01] [-3.94443828e-04 9.99999805e-01 4.83282180e-04 -4.01602597e-02] [ 8.82664463e-03 -4.79781776e-04 9.99960929e-01 7.09170131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58255784400001 meters Centerline goodness [0,1] 0.24571216325460465 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 9.99920817e-01 -1.93167811e-03 -1.24350027e-02 4.61714652e-01] [ 1.93418816e-03 9.99998111e-01 1.89830219e-04 -4.22259848e-02] [ 1.24346126e-02 -2.13866823e-04 9.99922664e-01 7.09649522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61255784400001 meters Centerline goodness [0,1] 0.24172435358305833 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.04, Z:0.71 [[ 0.99993193 0.00461612 -0.0107157 0.48407869] [-0.00464665 0.99998521 -0.0028259 -0.04201227] [ 0.0107025 0.0028755 0.99993859 0.70840293] [ 0. 0. 0. 1. ]] SLAMing on 95.642557844 meters Centerline goodness [0,1] 0.23557005479860982 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.71 [[ 0.9999417 -0.00327919 -0.01028828 0.50495068] [ 0.00325854 0.99999264 -0.00202328 -0.03818631] [ 0.01029484 0.00198964 0.99994503 0.70942295] [ 0. 0. 0. 1. ]] SLAMing on 95.672557844 meters Centerline goodness [0,1] 0.2428754925652581 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.71 [[ 0.99989709 -0.00544572 -0.01327238 0.46021011] [ 0.00542288 0.99998375 -0.00175633 -0.04366824] [ 0.01328173 0.00168417 0.99991038 0.71044654] [ 0. 0. 0. 1. ]] SLAMing on 95.702557844 meters Centerline goodness [0,1] 0.24077716064057397 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.99987655 -0.00615951 -0.01445484 0.46360258] [ 0.00613275 0.9999794 -0.00189483 -0.04573033] [ 0.01446621 0.00180595 0.99989373 0.70996151] [ 0. 0. 0. 1. ]] SLAMing on 95.732557844 meters Centerline goodness [0,1] 0.2423992355802641 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.99987168 -0.00616844 -0.01478412 0.46433168] [ 0.00614451 0.99997974 -0.00166307 -0.0472761 ] [ 0.01479408 0.00157201 0.99988933 0.71014106] [ 0. 0. 0. 1. ]] SLAMing on 95.762557844 meters Centerline goodness [0,1] 0.24373049304843175 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.9998704 -0.00611665 -0.01489215 0.46456131] [ 0.00609589 0.99998038 -0.00143899 -0.04855248] [ 0.01490066 0.00134802 0.99988807 0.71022864] [ 0. 0. 0. 1. ]] SLAMing on 95.792557844 meters Centerline goodness [0,1] 0.24157938198096396 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.99987131 -0.00599576 -0.01488019 0.46465998] [ 0.00597906 0.99998144 -0.00116696 -0.04971346] [ 0.01488691 0.00107784 0.9998886 0.71007559] [ 0. 0. 0. 1. ]] SLAMing on 95.822557844 meters Centerline goodness [0,1] 0.24139049926451506 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:0.71 [[ 0.9998717 -0.00592411 -0.0148825 0.46465936] [ 0.00590785 0.9999819 -0.0011363 -0.04961976] [ 0.01488896 0.00104823 0.9998886 0.71007107] [ 0. 0. 0. 1. ]] SLAMing on 95.852557844 meters Centerline goodness [0,1] 0.24370334802915883 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.05, Z:0.71 [[ 0.99989076 0.00187619 -0.01466121 0.4441713 ] [-0.00190416 0.99999639 -0.00189374 -0.05402945] [ 0.01465761 0.00192145 0.99989073 0.70860779] [ 0. 0. 0. 1. ]] SLAMing on 95.882557844 meters Centerline goodness [0,1] 0.24325619906741625 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.05, Z:0.71 [[ 0.99989198 0.00192457 -0.0145716 0.44381574] [-0.00195357 0.99999614 -0.00197575 -0.05335587] [ 0.01456774 0.002004 0.99989188 0.70883904] [ 0. 0. 0. 1. ]] SLAMing on 95.912557844 meters Centerline goodness [0,1] 0.23932395819894203 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:0.71 [[ 0.99988901 -0.0023363 -0.01471423 0.46533922] [ 0.00235532 0.99999641 0.0012754 -0.05014727] [ 0.0147112 -0.00130991 0.99989093 0.70907209] [ 0. 0. 0. 1. ]] SLAMing on 95.942557844 meters Centerline goodness [0,1] 0.2409033065159718 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:0.71 [[ 0.99989062 -0.00234203 -0.0146033 0.46514331] [ 0.00236005 0.99999647 0.00121676 -0.04991281] [ 0.0146004 -0.00125109 0.99989263 0.70889425] [ 0. 0. 0. 1. ]] SLAMing on 95.97255784400001 meters Centerline goodness [0,1] 0.2476267730690812 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:0.71 [[ 9.99876778e-01 5.28238623e-03 -1.47826018e-02 4.44564658e-01] [-5.27823225e-03 9.99986019e-01 3.20005434e-04 -5.53231535e-02] [ 1.47840855e-02 -2.41939997e-04 9.99890680e-01 7.07770894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00255784400001 meters Centerline goodness [0,1] 0.23588868749333614 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.71 [[ 9.99909226e-01 6.35727827e-03 -1.18795757e-02 4.88515993e-01] [-6.36479861e-03 9.99979567e-01 -5.95348287e-04 -5.15694630e-02] [ 1.18755482e-02 6.70905352e-04 9.99929258e-01 7.07057598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.032557844 meters Centerline goodness [0,1] 0.23588868749333614 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.71 [[ 9.99909226e-01 6.35727827e-03 -1.18795757e-02 4.88515993e-01] [-6.36479861e-03 9.99979567e-01 -5.95348287e-04 -5.15694630e-02] [ 1.18755482e-02 6.70905352e-04 9.99929258e-01 7.07057598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062557844 meters Centerline goodness [0,1] 0.24118774358863937 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:0.71 [[ 9.99921824e-01 -2.81851956e-03 -1.21819959e-02 4.68215023e-01] [ 2.82461713e-03 9.99995894e-01 4.83362776e-04 -4.87392293e-02] [ 1.21805835e-02 -5.17734463e-04 9.99925680e-01 7.06583911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.092557844 meters Centerline goodness [0,1] 0.2421991084695394 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:0.71 [[ 9.99920945e-01 -2.76911004e-03 -1.22652287e-02 4.68371350e-01] [ 2.77679625e-03 9.99995959e-01 6.09681939e-04 -4.94268551e-02] [ 1.22634909e-02 -6.43691782e-04 9.99924593e-01 7.06673380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122557844 meters Centerline goodness [0,1] 0.24372287830048145 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:0.71 [[ 9.99921469e-01 -2.66074350e-03 -1.22465173e-02 4.68246227e-01] [ 2.67138485e-03 9.99996068e-01 8.52652579e-04 -5.04645506e-02] [ 1.22442005e-02 -8.85300780e-04 9.99924645e-01 7.06795676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.152557844 meters Centerline goodness [0,1] 0.2473907157517795 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:0.71 [[ 0.99992283 -0.00254761 -0.01215915 0.46783706] [ 0.0025607 0.99999616 0.00106112 -0.05120528] [ 0.0121564 -0.00109217 0.99992551 0.70711557] [ 0. 0. 0. 1. ]] SLAMing on 96.182557844 meters Centerline goodness [0,1] 0.24275307819584413 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.71 [[ 9.99926016e-01 6.44064936e-03 -1.03189844e-02 4.87088688e-01] [-6.44061152e-03 9.99979258e-01 3.68981743e-05 -5.47095605e-02] [ 1.03190080e-02 2.95651252e-05 9.99946757e-01 7.08483193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.212557844 meters Centerline goodness [0,1] 0.2421052631578947 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.71 [[ 9.99924427e-01 6.45213236e-03 -1.04646880e-02 4.87457886e-01] [-6.45159301e-03 9.99979185e-01 8.52971371e-05 -5.51450969e-02] [ 1.04650205e-02 -1.77767830e-05 9.99945240e-01 7.08530893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242557844 meters Centerline goodness [0,1] 0.24594354541712704 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.71 [[ 9.99922012e-01 6.47659545e-03 -1.06782090e-02 4.88174797e-01] [-6.47533885e-03 9.99979023e-01 1.52248806e-04 -5.55858790e-02] [ 1.06789711e-02 -8.30919111e-05 9.99942975e-01 7.08216870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.272557844 meters Centerline goodness [0,1] 0.23779598490048048 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.71 [[ 9.99941923e-01 -6.35852627e-04 -1.07585112e-02 5.07827176e-01] [ 6.47657761e-04 9.99999192e-01 1.09383483e-03 -5.05433117e-02] [ 1.07578070e-02 -1.10073914e-03 9.99941527e-01 7.09200795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302557844 meters Centerline goodness [0,1] 0.2385806368717477 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.71 [[ 9.99943570e-01 -5.71530738e-04 -1.06080232e-02 5.07309555e-01] [ 5.83784827e-04 9.99999166e-01 1.15211122e-03 -5.05591394e-02] [ 1.06073558e-02 -1.15823901e-03 9.99943070e-01 7.09395182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33255784400001 meters Centerline goodness [0,1] 0.2431115879828326 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.71 [[ 9.99945733e-01 -4.54629769e-04 -1.04078617e-02 5.06481606e-01] [ 4.69169975e-04 9.99998917e-01 1.39464166e-03 -5.17444908e-02] [ 1.04072164e-02 -1.39944903e-03 9.99944864e-01 7.09953049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36255784400001 meters Centerline goodness [0,1] 0.25106382978723407 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:0.71 [[ 0.99991041 -0.00246363 -0.01315669 0.4604086 ] [ 0.0024843 0.9999957 0.00155522 -0.05702427] [ 0.0131528 -0.00158777 0.99991224 0.71195699] [ 0. 0. 0. 1. ]] SLAMing on 96.392557844 meters Centerline goodness [0,1] 0.23808812227819998 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.71 [[ 9.99943910e-01 -1.67989104e-03 -1.04572434e-02 5.04129119e-01] [ 1.68756223e-03 9.99998313e-01 7.24796682e-04 -5.56108663e-02] [ 1.04560082e-02 -7.42403278e-04 9.99945059e-01 7.11649488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422557844 meters Centerline goodness [0,1] 0.24095688861285414 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.71 [[ 0.99994271 -0.00150744 -0.01059755 0.50462864] [ 0.00152012 0.99999814 0.00118904 -0.05776156] [ 0.01059574 -0.00120508 0.99994314 0.71141852] [ 0. 0. 0. 1. ]] SLAMing on 96.452557844 meters Centerline goodness [0,1] 0.2427155172413793 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99993403 -0.00150356 -0.01138723 0.50765896] [ 0.00152237 0.99999749 0.0016435 -0.06061144] [ 0.01138473 -0.00166073 0.99993381 0.70980189] [ 0. 0. 0. 1. ]] SLAMing on 96.482557844 meters Centerline goodness [0,1] 0.24449210372392283 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99993026 -0.00149783 -0.01171426 0.50893146] [ 0.00151929 0.99999718 0.00182301 -0.06199346] [ 0.0117115 -0.00184068 0.99992972 0.70911544] [ 0. 0. 0. 1. ]] SLAMing on 96.512557844 meters Centerline goodness [0,1] 0.24334187774253813 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99992694 -0.0014616 -0.01199943 0.50971423] [ 0.00148608 0.99999683 0.00203185 -0.06345454] [ 0.01199642 -0.00204953 0.99992594 0.70905416] [ 0. 0. 0. 1. ]] SLAMing on 96.542557844 meters Centerline goodness [0,1] 0.2405068756341342 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99992197 -0.0013539 -0.01241885 0.51055347] [ 0.00138267 0.99999638 0.00230837 -0.06480879] [ 0.01241568 -0.00232536 0.99992022 0.70943718] [ 0. 0. 0. 1. ]] SLAMing on 96.572557844 meters Centerline goodness [0,1] 0.2376549830537561 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99992071 -0.00129228 -0.01252621 0.51086629] [ 0.0013221 0.99999631 0.0023726 -0.06477799] [ 0.0125231 -0.00238897 0.99991873 0.70938319] [ 0. 0. 0. 1. ]] SLAMing on 96.602557844 meters Centerline goodness [0,1] 0.23968336361276932 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99992012 -0.00126166 -0.01257596 0.511092 ] [ 0.00129206 0.99999626 0.00240903 -0.06485404] [ 0.01257288 -0.00242508 0.99991802 0.70923778] [ 0. 0. 0. 1. ]] SLAMing on 96.632557844 meters Centerline goodness [0,1] 0.2389992673361203 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99991845 -0.00131628 -0.0127028 0.51167284] [ 0.00134603 0.99999637 0.00233398 -0.06474674] [ 0.01269968 -0.00235089 0.99991659 0.7088371 ] [ 0. 0. 0. 1. ]] SLAMing on 96.662557844 meters Centerline goodness [0,1] 0.24027747669629307 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99991947 -0.00139664 -0.01261367 0.51126393] [ 0.00142392 0.99999667 0.00215428 -0.06424827] [ 0.01261062 -0.00217207 0.99991812 0.70913038] [ 0. 0. 0. 1. ]] SLAMing on 96.692557844 meters Centerline goodness [0,1] 0.24522869544354042 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99992355 -0.00138785 -0.01228672 0.51019309] [ 0.00141282 0.99999695 0.0020237 -0.06321109] [ 0.01228387 -0.00204091 0.99992247 0.70951824] [ 0. 0. 0. 1. ]] SLAMing on 96.72255784400001 meters Centerline goodness [0,1] 0.24587136027813994 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99992722 -0.0013925 -0.01198433 0.50932423] [ 0.00141436 0.99999735 0.00181573 -0.06164697] [ 0.01198177 -0.00183255 0.99992654 0.70972315] [ 0. 0. 0. 1. ]] SLAMing on 96.75255784400001 meters Centerline goodness [0,1] 0.2435625108375239 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99993186 -0.00143173 -0.01158558 0.50853794] [ 0.00144677 0.99999812 0.0012898 -0.0582529 ] [ 0.01158371 -0.00130648 0.99993205 0.7092982 ] [ 0. 0. 0. 1. ]] SLAMing on 96.782557844 meters Centerline goodness [0,1] 0.2417014681189994 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 9.99932831e-01 -1.54141283e-03 -1.14873187e-02 5.08289135e-01] [ 1.55259456e-03 9.99998330e-01 9.64543301e-04 -5.66604624e-02] [ 1.14858127e-02 -9.82313662e-04 9.99933553e-01 7.09270813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.812557844 meters Centerline goodness [0,1] 0.2425157449745492 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 9.99933971e-01 -1.63737002e-03 -1.13742494e-02 5.07864525e-01] [ 1.64539155e-03 9.99998404e-01 6.95913529e-04 -5.53334923e-02] [ 1.13730918e-02 -7.14582672e-04 9.99935069e-01 7.09468000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842557844 meters Centerline goodness [0,1] 0.24533165807374036 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.71 [[ 9.99935032e-01 -1.67665517e-03 -1.12747643e-02 5.07449679e-01] [ 1.68313946e-03 9.99998424e-01 5.65651763e-04 -5.45561432e-02] [ 1.12737981e-02 -5.84592014e-04 9.99936278e-01 7.09708678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.872557844 meters Centerline goodness [0,1] 0.24360905491478735 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.71 [[ 9.99936658e-01 -1.70302818e-03 -1.11256246e-02 5.07094001e-01] [ 1.70827837e-03 9.99998434e-01 4.62414930e-04 -5.36996105e-02] [ 1.11248197e-02 -4.81391304e-04 9.99938001e-01 7.09651663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902557844 meters Centerline goodness [0,1] 0.24554699138545244 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.71 [[ 9.99937475e-01 -1.69734080e-03 -1.10527926e-02 5.06949333e-01] [ 1.70297389e-03 9.99998425e-01 5.00261700e-04 -5.39371029e-02] [ 1.10519261e-02 -5.19053039e-04 9.99938791e-01 7.09600301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.932557844 meters Centerline goodness [0,1] 0.2442831919383317 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:0.71 [[ 9.99939760e-01 -1.66730720e-03 -1.08488371e-02 5.06216467e-01] [ 1.67414667e-03 9.99998406e-01 6.21383183e-04 -5.46162573e-02] [ 1.08477837e-02 -6.39508295e-04 9.99940957e-01 7.09958644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962557844 meters Centerline goodness [0,1] 0.24779373594047416 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 9.99942358e-01 -1.63813337e-03 -1.06111828e-02 5.05456043e-01] [ 1.64587046e-03 9.99998386e-01 7.20453530e-04 -5.51867114e-02] [ 1.06099855e-02 -7.37876634e-04 9.99943440e-01 7.10220090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.992557844 meters Centerline goodness [0,1] 0.25 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 9.99941241e-01 -1.68841992e-03 -1.07081414e-02 5.06060060e-01] [ 1.69579020e-03 9.99998331e-01 6.79244570e-04 -5.52427277e-02] [ 1.07069767e-02 -6.97363420e-04 9.99942436e-01 7.09610107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022557844 meters Centerline goodness [0,1] 0.2455252918287938 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 9.99937600e-01 -1.75691921e-03 -1.10321633e-02 5.07247606e-01] [ 1.76397143e-03 9.99998246e-01 6.29544316e-04 -5.52863092e-02] [ 1.10310379e-02 -6.48965453e-04 9.99938946e-01 7.08987207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.052557844 meters Centerline goodness [0,1] 0.24532053775991014 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 9.99934595e-01 -1.80535185e-03 -1.12936525e-02 5.08199278e-01] [ 1.81261144e-03 9.99998157e-01 6.32599071e-04 -5.55333585e-02] [ 1.12924896e-02 -6.53028699e-04 9.99936025e-01 7.08463951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08255784400001 meters Centerline goodness [0,1] 0.24684205941284088 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 9.99933095e-01 -1.77332460e-03 -1.14307367e-02 5.08583133e-01] [ 1.78258606e-03 9.99998091e-01 8.00086711e-04 -5.64248586e-02] [ 1.14292961e-02 -8.20409453e-04 9.99934347e-01 7.08410964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11255784400001 meters Centerline goodness [0,1] 0.24186076576673632 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 9.99927510e-01 -1.96612596e-03 -1.18789699e-02 5.09568073e-01] [ 1.97812267e-03 9.99997545e-01 9.98246775e-04 -5.81445404e-02] [ 1.18769780e-02 -1.02167247e-03 9.99928944e-01 7.08735128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142557844 meters Centerline goodness [0,1] 0.24589017138859737 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.71 [[ 0.99990349 0.00330784 -0.01349352 0.48655475] [-0.0033351 0.99999244 -0.00199799 -0.0612101 ] [ 0.01348681 0.0020428 0.99990696 0.70931964] [ 0. 0. 0. 1. ]] SLAMing on 97.172557844 meters Centerline goodness [0,1] 0.24372713299127535 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99988896 -0.00401186 -0.01435158 0.5070063 ] [ 0.00399266 0.9999911 -0.00136603 -0.05662243] [ 0.01435694 0.00130857 0.99989608 0.71056685] [ 0. 0. 0. 1. ]] SLAMing on 97.202557844 meters Centerline goodness [0,1] 0.2404043902755829 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99988532 -0.00401029 -0.01460343 0.50787283] [ 0.00399161 0.99999118 -0.00130861 -0.05703339] [ 0.01460855 0.00125017 0.99989251 0.71019985] [ 0. 0. 0. 1. ]] SLAMing on 97.232557844 meters Centerline goodness [0,1] 0.24057864780958949 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99988014 -0.00403258 -0.01494782 0.50897972] [ 0.0040151 0.99999122 -0.00119905 -0.058039 ] [ 0.01495252 0.00113889 0.99988756 0.70982832] [ 0. 0. 0. 1. ]] SLAMing on 97.262557844 meters Centerline goodness [0,1] 0.23954716981132074 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 0.99988034 -0.0040032 -0.01494288 0.50873873] [ 0.00398736 0.99999146 -0.0010897 -0.05864493] [ 0.01494712 0.00102998 0.99988776 0.71020881] [ 0. 0. 0. 1. ]] SLAMing on 97.292557844 meters Centerline goodness [0,1] 0.2410778054323125 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.71 [[ 9.99881554e-01 -3.97450109e-03 -1.48688003e-02 5.08312805e-01] [ 3.95969234e-03 9.99991635e-01 -1.02526848e-03 -5.89102341e-02] [ 1.48727509e-02 9.66271162e-04 9.99888928e-01 7.10601912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.322557844 meters Centerline goodness [0,1] 0.23625350484792706 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.71 [[ 0.99989351 0.00490715 -0.01374372 0.52794365] [-0.00493855 0.99998527 -0.0022519 -0.06143255] [ 0.01373247 0.00231954 0.99990301 0.71150277] [ 0. 0. 0. 1. ]] SLAMing on 97.352557844 meters Centerline goodness [0,1] 0.23685796702113915 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.71 [[ 0.99989322 0.00487448 -0.01377648 0.52813498] [-0.00490737 0.99998519 -0.00235433 -0.06081042] [ 0.0137648 0.00242169 0.99990233 0.71131913] [ 0. 0. 0. 1. ]] SLAMing on 97.382557844 meters Centerline goodness [0,1] 0.24123206312047518 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.71 [[ 0.99989228 0.00482792 -0.01386095 0.52854443] [-0.00486179 0.99998527 -0.00241101 -0.06068196] [ 0.01384911 0.00247814 0.99990103 0.71098744] [ 0. 0. 0. 1. ]] SLAMing on 97.412557844 meters Centerline goodness [0,1] 0.24264689850648646 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.71 [[ 0.99989295 0.00485026 -0.01380473 0.52823236] [-0.0048826 0.99998541 -0.00230997 -0.06122873] [ 0.01379332 0.00237713 0.99990204 0.71128349] [ 0. 0. 0. 1. ]] SLAMing on 97.442557844 meters Centerline goodness [0,1] 0.2434021426704991 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.71 [[ 0.99989866 0.00495113 -0.01334717 0.52640948] [-0.00497883 0.99998552 -0.0020433 -0.06218927] [ 0.01333686 0.00210954 0.99990883 0.71244324] [ 0. 0. 0. 1. ]] SLAMing on 97.47255784400001 meters Centerline goodness [0,1] 0.2444570160360321 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.71 [[ 0.99989976 0.00498427 -0.01325231 0.52598839] [-0.00501117 0.99998545 -0.00199735 -0.06225951] [ 0.01324216 0.00206356 0.99991019 0.7127843 ] [ 0. 0. 0. 1. ]] SLAMing on 97.50255784400001 meters Centerline goodness [0,1] 0.24442939531632302 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.71 [[ 0.99989906 0.00494429 -0.0133203 0.52611605] [-0.00497267 0.99998543 -0.00209876 -0.06180253] [ 0.01330973 0.00216478 0.99990908 0.71291734] [ 0. 0. 0. 1. ]] SLAMing on 97.532557844 meters Centerline goodness [0,1] 0.2467808339173091 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:0.71 [[ 0.99989846 0.0048675 -0.01339325 0.52640038] [-0.00489883 0.99998534 -0.00230716 -0.06087194] [ 0.01338182 0.00237254 0.99990764 0.71276687] [ 0. 0. 0. 1. ]] SLAMing on 97.562557844 meters Centerline goodness [0,1] 0.24784714157372312 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:0.71 [[ 0.99990788 0.00495694 -0.01263546 0.52468871] [-0.00499093 0.99998401 -0.00265938 -0.05866723] [ 0.01262208 0.0027222 0.99991663 0.712534 ] [ 0. 0. 0. 1. ]] SLAMing on 97.592557844 meters Centerline goodness [0,1] 0.24482811239727076 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:0.71 [[ 0.99991198 0.0049344 -0.01231604 0.52376608] [-0.0049707 0.99998339 -0.00291854 -0.05720889] [ 0.01230143 0.0029795 0.9999199 0.71272736] [ 0. 0. 0. 1. ]] SLAMing on 97.622557844 meters Centerline goodness [0,1] 0.2454632490534836 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:0.71 [[ 0.99991494 0.00488193 -0.01209429 0.52319233] [-0.00492101 0.99998276 -0.00320347 -0.05561725] [ 0.01207844 0.00326271 0.99992173 0.71276885] [ 0. 0. 0. 1. ]] SLAMing on 97.652557844 meters Centerline goodness [0,1] 0.24420211617361265 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.72 [[ 0.99992451 -0.00160026 -0.01218236 0.54098329] [ 0.00157799 0.99999707 -0.00183768 -0.04925711] [ 0.01218527 0.00181831 0.9999241 0.71503662] [ 0. 0. 0. 1. ]] SLAMing on 97.682557844 meters Centerline goodness [0,1] 0.2441205053449952 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.71 [[ 0.99992268 -0.0016579 -0.01232449 0.54139279] [ 0.00163342 0.99999667 -0.00199627 -0.04846412] [ 0.01232775 0.00197598 0.99992206 0.71491413] [ 0. 0. 0. 1. ]] SLAMing on 97.712557844 meters Centerline goodness [0,1] 0.2440000870340956 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.71 [[ 0.99992147 -0.00165315 -0.0124227 0.54165713] [ 0.00162922 0.9999968 -0.00193618 -0.04892405] [ 0.01242586 0.00191579 0.99992096 0.71489119] [ 0. 0. 0. 1. ]] SLAMing on 97.742557844 meters Centerline goodness [0,1] 0.24197797451954217 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.71 [[ 0.99992071 -0.00166626 -0.01248157 0.54184157] [ 0.00164264 0.99999684 -0.00190169 -0.04920117] [ 0.0124847 0.00188104 0.99992029 0.71486699] [ 0. 0. 0. 1. ]] SLAMing on 97.772557844 meters Centerline goodness [0,1] 0.24314168422424465 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.72 [[ 0.99992332 -0.00160834 -0.01227847 0.54110645] [ 0.00158631 0.99999712 -0.00180325 -0.04948107] [ 0.01228134 0.00178363 0.99992299 0.71519982] [ 0. 0. 0. 1. ]] SLAMing on 97.802557844 meters Centerline goodness [0,1] 0.24633609895254893 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.72 [[ 0.99992785 -0.00151829 -0.01191582 0.53985894] [ 0.00149724 0.9999973 -0.00177555 -0.04907298] [ 0.01191848 0.00175758 0.99992743 0.71576687] [ 0. 0. 0. 1. ]] SLAMing on 97.83255784400001 meters Centerline goodness [0,1] 0.2455178095258742 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.72 [[ 0.99993346 -0.00145283 -0.01144366 0.53845366] [ 0.00143155 0.99999723 -0.0018674 -0.04809041] [ 0.01144635 0.0018509 0.99993278 0.71615663] [ 0. 0. 0. 1. ]] SLAMing on 97.86255784400001 meters Centerline goodness [0,1] 0.24375686798388319 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.72 [[ 0.99993248 -0.00147354 -0.01152668 0.5389169 ] [ 0.00145159 0.99999712 -0.00191233 -0.04804434] [ 0.01152947 0.00189547 0.99993174 0.71574756] [ 0. 0. 0. 1. ]] SLAMing on 97.89255784400001 meters Centerline goodness [0,1] 0.24776810075742695 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:0.71 [[ 0.99990632 0.00607888 -0.01226397 0.51909865] [-0.00611525 0.99997701 -0.00293011 -0.05396962] [ 0.01224587 0.00300483 0.9999205 0.71390389] [ 0. 0. 0. 1. ]] SLAMing on 97.922557844 meters Centerline goodness [0,1] 0.24776810075742695 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:0.71 [[ 0.99990632 0.00607888 -0.01226397 0.51909865] [-0.00611525 0.99997701 -0.00293011 -0.05396962] [ 0.01224587 0.00300483 0.9999205 0.71390389] [ 0. 0. 0. 1. ]] SLAMing on 97.952557844 meters Centerline goodness [0,1] 0.24533952559734373 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:0.71 [[ 0.99990643 0.00608266 -0.01225246 0.51933626] [-0.00611914 0.99997695 -0.00294245 -0.0538966 ] [ 0.01223428 0.00301715 0.99992061 0.71343104] [ 0. 0. 0. 1. ]] SLAMing on 97.982557844 meters Centerline goodness [0,1] 0.2480509498188207 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:0.71 [[ 0.99990908 -0.00247203 -0.01325634 0.50030321] [ 0.00245737 0.99999635 -0.00112213 -0.05052381] [ 0.01325907 0.00108945 0.9999115 0.71164386] [ 0. 0. 0. 1. ]] SLAMing on 98.012557844 meters Centerline goodness [0,1] 0.24738721763326832 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:0.71 [[ 0.99990677 -0.00250377 -0.01342322 0.50087751] [ 0.00248787 0.99999618 -0.00120123 -0.05026352] [ 0.01342618 0.00116772 0.99990918 0.711336 ] [ 0. 0. 0. 1. ]] SLAMing on 98.042557844 meters Centerline goodness [0,1] 0.24294539271185345 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.71 [[ 9.99922119e-01 -9.90128591e-04 -1.24408520e-02 5.45842840e-01] [ 9.64206457e-04 9.99997352e-01 -2.08945535e-03 -4.62866037e-02] [ 1.24428879e-02 2.07729707e-03 9.99920427e-01 7.10964893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.072557844 meters Centerline goodness [0,1] 0.24467024872172627 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.71 [[ 9.99921633e-01 -9.56692464e-04 -1.24825282e-02 5.46274866e-01] [ 9.30966098e-04 9.99997431e-01 -2.06663790e-03 -4.62304062e-02] [ 1.24844733e-02 2.05485513e-03 9.99919955e-01 7.10375035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.102557844 meters Centerline goodness [0,1] 0.24316999132697315 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.71 [[ 9.99922866e-01 -8.83504838e-04 -1.23887739e-02 5.46071202e-01] [ 8.59522410e-04 9.99997747e-01 -1.94101016e-03 -4.66485209e-02] [ 1.23904609e-02 1.93021201e-03 9.99921372e-01 7.10314750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.132557844 meters Centerline goodness [0,1] 0.2441434608299924 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.71 [[ 9.99922117e-01 -8.50644866e-04 -1.24513308e-02 5.46310393e-01] [ 8.27484826e-04 9.99997918e-01 -1.86507905e-03 -4.70429004e-02] [ 1.24528914e-02 1.85463051e-03 9.99920740e-01 7.10165745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.162557844 meters Centerline goodness [0,1] 0.24591131712436598 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.71 [[ 9.99920046e-01 -8.33831406e-04 -1.26177266e-02 5.46965155e-01] [ 8.10889133e-04 9.99998009e-01 -1.82326403e-03 -4.73131424e-02] [ 1.26192217e-02 1.81288668e-03 9.99918731e-01 7.09758267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.192557844 meters Centerline goodness [0,1] 0.24576936496859736 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.71 [[ 9.99918446e-01 -8.52254607e-04 -1.27426613e-02 5.47284494e-01] [ 8.28876239e-04 9.99997964e-01 -1.83982221e-03 -4.73237296e-02] [ 1.27442033e-02 1.82911008e-03 9.99917116e-01 7.09723340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22255784400001 meters Centerline goodness [0,1] 0.24921191279236377 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.71 [[ 9.99920934e-01 -8.85070794e-04 -1.25436060e-02 5.46616079e-01] [ 8.60440572e-04 9.99997692e-01 -1.96882863e-03 -4.65289401e-02] [ 1.25453196e-02 1.95787994e-03 9.99919388e-01 7.10021903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25255784400001 meters Centerline goodness [0,1] 0.24628859207357123 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.71 [[ 9.99924209e-01 -9.19104062e-04 -1.22772693e-02 5.45684326e-01] [ 8.92921257e-04 9.99997316e-01 -2.13793575e-03 -4.54811558e-02] [ 1.22792013e-02 2.12681108e-03 9.99922346e-01 7.10483474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282557844 meters Centerline goodness [0,1] 0.24426240166439117 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.04, Z:0.71 [[ 9.99927255e-01 -1.01472189e-03 -1.20189444e-02 5.44820487e-01] [ 9.85184057e-04 9.99996481e-01 -2.46327198e-03 -4.37257337e-02] [ 1.20214017e-02 2.45125191e-03 9.99924736e-01 7.10842223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.312557844 meters Centerline goodness [0,1] 0.24392840074727373 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.04, Z:0.71 [[ 0.99993218 -0.00117314 -0.01158687 0.54389111] [ 0.00113543 0.99999404 -0.00326112 -0.0393622 ] [ 0.01159062 0.00324775 0.99992755 0.71049485] [ 0. 0. 0. 1. ]] SLAMing on 98.342557844 meters Centerline goodness [0,1] 0.24355257464301172 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.04, Z:0.71 [[ 0.99993064 -0.00136623 -0.01169833 0.54442167] [ 0.00132143 0.99999177 -0.00383651 -0.03646336] [ 0.01170348 0.00382079 0.99992421 0.71001987] [ 0. 0. 0. 1. ]] SLAMing on 98.372557844 meters Centerline goodness [0,1] 0.24795162774394253 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.71 [[ 0.9998922 0.00644154 -0.01319416 0.52375072] [-0.00650654 0.99996688 -0.00488969 -0.03860685] [ 0.01316223 0.00497501 0.999901 0.70937331] [ 0. 0. 0. 1. ]] SLAMing on 98.402557844 meters Centerline goodness [0,1] 0.2458474669000985 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:0.71 [[ 0.99989707 0.00604127 -0.01301335 0.52351551] [-0.00612114 0.99996262 -0.00610686 -0.03195583] [ 0.01297597 0.00618589 0.99989667 0.70894338] [ 0. 0. 0. 1. ]] SLAMing on 98.432557844 meters Centerline goodness [0,1] 0.24151730963702478 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:0.71 [[ 9.99921348e-01 8.91396439e-04 -1.25101304e-02 5.45962926e-01] [-9.35602669e-04 9.99993338e-01 -3.52822706e-03 -2.52859288e-02] [ 1.25069020e-02 3.53965407e-03 9.99915521e-01 7.08622410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462557844 meters Centerline goodness [0,1] 0.24583514099783077 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.02, Z:0.71 [[ 9.99924101e-01 6.06683124e-04 -1.23054244e-02 5.45481085e-01] [-6.59857842e-04 9.99990461e-01 -4.31764243e-03 -2.13304607e-02] [ 1.23026876e-02 4.32543456e-03 9.99914964e-01 7.08512361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.492557844 meters Centerline goodness [0,1] 0.24575938603758773 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.02, Z:0.71 [[ 9.99925660e-01 3.72313632e-04 -1.21875213e-02 5.45306420e-01] [-4.33800812e-04 9.99987191e-01 -5.04283840e-03 -1.75307681e-02] [ 1.21854876e-02 5.04775047e-03 9.99913013e-01 7.08208594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522557844 meters Centerline goodness [0,1] 0.2433964723260057 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.01, Z:0.71 [[ 9.99925178e-01 -7.06970790e-05 -1.22324412e-02 5.46023152e-01] [-6.03732260e-06 9.99980325e-01 -6.27287371e-03 -9.71168055e-03] [ 1.22326440e-02 6.27247822e-03 9.99905505e-01 7.07203498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.552557844 meters Centerline goodness [0,1] 0.24559336823734734 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.01, Z:0.71 [[ 9.99925035e-01 -2.96319942e-04 -1.22407725e-02 5.46060322e-01] [ 2.12752154e-04 9.99976668e-01 -6.82774091e-03 -7.02543308e-03] [ 1.22425101e-02 6.82462482e-03 9.99901768e-01 7.07117173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58255784400001 meters Centerline goodness [0,1] 0.2452508843180925 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.00, Z:0.71 [[ 9.99925952e-01 -4.82991695e-04 -1.21596183e-02 5.45594852e-01] [ 3.94326105e-04 9.99973327e-01 -7.29314887e-03 -4.78235329e-03] [ 1.21628165e-02 7.28781398e-03 9.99899472e-01 7.07516528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61255784400001 meters Centerline goodness [0,1] 0.24427796772577803 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.00, Z:0.71 [[ 9.99927781e-01 -6.59965036e-04 -1.19998581e-02 5.44905383e-01] [ 5.67006359e-04 9.99969820e-01 -7.74840056e-03 -2.45372279e-03] [ 1.20046097e-02 7.74103698e-03 9.99897978e-01 7.07982100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64255784400001 meters Centerline goodness [0,1] 0.2457553519475444 Centerline is valid? [False, False] Translation: X:0.54, Y:0.00, Z:0.71 [[ 9.99932204e-01 -9.98650073e-04 -1.16012626e-02 5.43495083e-01] [ 8.98504295e-04 9.99962320e-01 -8.63432427e-03 2.28467673e-03] [ 1.16094481e-02 8.62331512e-03 9.99895424e-01 7.08580757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.672557844 meters Centerline goodness [0,1] 0.2456730034703276 Centerline is valid? [False, False] Translation: X:0.54, Y:0.00, Z:0.71 [[ 0.99993439 -0.00120652 -0.01139138 0.54291745] [ 0.00110207 0.99995734 -0.00917084 0.00497279] [ 0.01140195 0.00915769 0.99989306 0.70866013] [ 0. 0. 0. 1. ]] SLAMing on 98.702557844 meters Centerline goodness [0,1] 0.2443752163378332 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:0.71 [[ 0.99990156 -0.00826771 -0.01133675 0.56092529] [ 0.00817347 0.99993187 -0.00833394 0.01409513] [ 0.01140488 0.00824046 0.99990101 0.71049098] [ 0. 0. 0. 1. ]] SLAMing on 98.732557844 meters Centerline goodness [0,1] 0.2473950385839473 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.71 [[ 0.99989987 -0.00852463 -0.01129536 0.56097296] [ 0.00842366 0.99992441 -0.00895688 0.01713998] [ 0.01137086 0.00886084 0.99989609 0.71017253] [ 0. 0. 0. 1. ]] SLAMing on 98.762557844 meters Centerline goodness [0,1] 0.24689231037641213 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.71 [[ 0.99989671 -0.00877407 -0.01138373 0.56140877] [ 0.00866529 0.99991666 -0.00956967 0.02004521] [ 0.01146675 0.00947003 0.99988941 0.70977025] [ 0. 0. 0. 1. ]] SLAMing on 98.792557844 meters Centerline goodness [0,1] 0.24476362764543058 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:0.71 [[ 0.99988672 -0.00924375 -0.01187831 0.56294148] [ 0.00911602 0.99990053 -0.01076269 0.02582649] [ 0.01197661 0.01065319 0.99987153 0.70915551] [ 0. 0. 0. 1. ]] SLAMing on 98.822557844 meters Centerline goodness [0,1] 0.2443462551422415 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:0.71 [[ 0.99988124 -0.00943161 -0.01218826 0.56388182] [ 0.00929433 0.99989328 -0.0112716 0.02842011] [ 0.01229327 0.01115698 0.99986219 0.70877588] [ 0. 0. 0. 1. ]] SLAMing on 98.852557844 meters Centerline goodness [0,1] 0.24455443385735776 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:0.71 [[ 0.99989264 -0.00615586 -0.01329685 0.5666235 ] [ 0.00604982 0.9999497 -0.00800041 0.02937246] [ 0.01334543 0.00791911 0.99987959 0.70873307] [ 0. 0. 0. 1. ]] SLAMing on 98.882557844 meters Centerline goodness [0,1] 0.24348221832130545 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:0.71 [[ 0.99989026 -0.00633209 -0.01339285 0.56691612] [ 0.00621905 0.99994483 -0.00846516 0.03170385] [ 0.01344571 0.00838094 0.99987448 0.70861319] [ 0. 0. 0. 1. ]] SLAMing on 98.912557844 meters Centerline goodness [0,1] 0.2470333704844948 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:0.71 [[ 0.99989078 -0.0066222 -0.0132125 0.5662567 ] [ 0.00650138 0.99993685 -0.00916667 0.03499694] [ 0.01327237 0.00907977 0.99987069 0.70892961] [ 0. 0. 0. 1. ]] SLAMing on 98.942557844 meters Centerline goodness [0,1] 0.24571602099691991 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:0.71 [[ 0.99989319 -0.0067028 -0.01298775 0.56540854] [ 0.0065815 0.99993453 -0.00936013 0.03602099] [ 0.01304964 0.00927365 0.99987184 0.7093809 ] [ 0. 0. 0. 1. ]] SLAMing on 98.97255784400001 meters Centerline goodness [0,1] 0.24421216309606086 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.71 [[ 0.9998956 -0.0067892 -0.01275486 0.56460024] [ 0.00666773 0.99993225 -0.00954139 0.03701088] [ 0.01281877 0.00945535 0.99987313 0.70971132] [ 0. 0. 0. 1. ]] SLAMing on 99.00255784400001 meters Centerline goodness [0,1] 0.24762509302631008 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:0.71 [[ 0.99991479 0.00134894 -0.01298418 0.5436373 ] [-0.00147969 0.99994825 -0.01006505 0.0326922 ] [ 0.01296993 0.0100834 0.99986504 0.70918594] [ 0. 0. 0. 1. ]] SLAMing on 99.032557844 meters Centerline goodness [0,1] 0.24873498481981782 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:0.71 [[ 0.99991437 0.00112323 -0.01303796 0.54382256] [-0.00126173 0.99994282 -0.01061899 0.0354714 ] [ 0.01302529 0.01063453 0.99985861 0.70908654] [ 0. 0. 0. 1. ]] SLAMing on 99.062557844 meters Centerline goodness [0,1] 0.2483456768482405 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:0.71 [[ 0.99991423 0.00101796 -0.01305718 0.54391817] [-0.00116044 0.99993982 -0.01090901 0.03697699] [ 0.01304529 0.01092322 0.99985524 0.70896665] [ 0. 0. 0. 1. ]] SLAMing on 99.092557844 meters Centerline goodness [0,1] 0.2425746848558108 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:0.71 [[ 0.99992409 -0.0042151 -0.01157814 0.56592113] [ 0.00412716 0.99996253 -0.00760927 0.04264991] [ 0.01160978 0.0075609 0.99990402 0.70884431] [ 0. 0. 0. 1. ]] SLAMing on 99.122557844 meters Centerline goodness [0,1] 0.2464247621949892 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:0.71 [[ 0.99992628 -0.00425428 -0.01137225 0.56518581] [ 0.00416644 0.99996139 -0.00773641 0.04339238] [ 0.01140472 0.00768845 0.99990541 0.70920631] [ 0. 0. 0. 1. ]] SLAMing on 99.152557844 meters Centerline goodness [0,1] 0.24735779856333684 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.71 [[ 0.99992705 -0.0042826 -0.01129406 0.56472402] [ 0.00419469 0.99996081 -0.00779571 0.04358247] [ 0.011327 0.00774777 0.99990583 0.70967589] [ 0. 0. 0. 1. ]] SLAMing on 99.182557844 meters Centerline goodness [0,1] 0.2423949471513277 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.71 [[ 0.99992775 -0.00433537 -0.01121126 0.56422859] [ 0.00424729 0.99996003 -0.00786793 0.04364045] [ 0.01124492 0.00781974 0.9999062 0.71013419] [ 0. 0. 0. 1. ]] SLAMing on 99.212557844 meters Centerline goodness [0,1] 0.24168328936361883 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.71 [[ 0.99992822 -0.00435764 -0.01116129 0.56387079] [ 0.0042695 0.99995961 -0.0079087 0.04378268] [ 0.01119531 0.00786048 0.99990643 0.71050669] [ 0. 0. 0. 1. ]] SLAMing on 99.242557844 meters Centerline goodness [0,1] 0.2430401550220691 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.71 [[ 9.99940887e-01 -9.80191310e-04 -1.08287425e-02 5.62851662e-01] [ 9.34252623e-04 9.99990547e-01 -4.24653622e-03 4.30448080e-02] [ 1.08328026e-02 4.23616842e-03 9.99932350e-01 7.10866735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.272557844 meters Centerline goodness [0,1] 0.24388252733795945 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.71 [[ 9.99941833e-01 -9.63702550e-04 -1.07425059e-02 5.62719782e-01] [ 9.17908340e-04 9.99990475e-01 -4.26701393e-03 4.32740563e-02] [ 1.07465157e-02 4.25690510e-03 9.99933193e-01 7.10719276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302557844 meters Centerline goodness [0,1] 0.24965483991146364 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.71 [[ 0.99990533 -0.00214938 -0.01359049 0.51787961] [ 0.00208954 0.99998807 -0.0044153 0.04010997] [ 0.01359981 0.00438648 0.9998979 0.71096762] [ 0. 0. 0. 1. ]] SLAMing on 99.33255784400001 meters Centerline goodness [0,1] 0.24125072330211528 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.71 [[ 0.99993055 -0.00130886 -0.01171222 0.56387477] [ 0.00125163 0.99998725 -0.00489268 0.04267231] [ 0.01171848 0.00487768 0.99991944 0.70995747] [ 0. 0. 0. 1. ]] SLAMing on 99.36255784400001 meters Centerline goodness [0,1] 0.24804011737397624 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:0.71 [[ 0.99986672 -0.00162284 -0.01624541 0.52529407] [ 0.0015539 0.99998974 -0.00425542 0.0388618 ] [ 0.01625215 0.00422961 0.99985898 0.70777022] [ 0. 0. 0. 1. ]] SLAMing on 99.39255784400001 meters Centerline goodness [0,1] 0.2460735271631097 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:0.71 [[ 0.99986151 -0.00163045 -0.01656222 0.52655805] [ 0.00155837 0.99998926 -0.00436414 0.03956223] [ 0.01656916 0.00433773 0.99985331 0.70693318] [ 0. 0. 0. 1. ]] SLAMing on 99.422557844 meters Centerline goodness [0,1] 0.23862734584450407 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:0.71 [[ 9.99885746e-01 -1.37727615e-05 -1.51160469e-02 5.72205652e-01] [-4.85896845e-05 9.99991490e-01 -4.12520402e-03 4.26641403e-02] [ 1.51159750e-02 4.12546718e-03 9.99877236e-01 7.06384563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.452557844 meters Centerline goodness [0,1] 0.24518843043658323 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:0.71 [[ 9.99839658e-01 -4.43152703e-04 -1.79014400e-02 5.26297610e-01] [ 3.82354314e-04 9.99994148e-01 -3.39956473e-03 3.95740881e-02] [ 1.79028418e-02 3.39217495e-03 9.99833977e-01 7.07344428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.482557844 meters Centerline goodness [0,1] 0.2395646223590796 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:0.71 [[ 9.99897493e-01 9.45280138e-04 -1.42866710e-02 5.66682132e-01] [-9.94514062e-04 9.99993591e-01 -3.43943237e-03 4.37176317e-02] [ 1.42833282e-02 3.45328810e-03 9.99892025e-01 7.08410881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.512557844 meters Centerline goodness [0,1] 0.24528913475667735 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:0.71 [[ 9.99901591e-01 8.68789824e-04 -1.40018876e-02 5.65851787e-01] [-9.20571873e-04 9.99992760e-01 -3.69219836e-03 4.49796422e-02] [ 1.39985785e-02 3.70472476e-03 9.99895152e-01 7.08563194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.542557844 meters Centerline goodness [0,1] 0.24477985791712553 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 9.99903879e-01 7.74743977e-04 -1.38431556e-02 5.65543116e-01] [-8.30414012e-04 9.99991590e-01 -4.01618907e-03 4.65539276e-02] [ 1.38399276e-02 4.02729858e-03 9.99896113e-01 7.08364533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.572557844 meters Centerline goodness [0,1] 0.244481295630263 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 9.99903285e-01 6.74479367e-04 -1.38911770e-02 5.66088844e-01] [-7.39266249e-04 9.99988872e-01 -4.65928050e-03 5.01620783e-02] [ 1.38878798e-02 4.66909916e-03 9.99892657e-01 7.07508135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602557844 meters Centerline goodness [0,1] 0.2478895360251292 Centerline is valid? [False, False] Translation: X:0.55, Y:0.05, Z:0.71 [[ 0.99985279 -0.00780561 -0.01527947 0.54635251] [ 0.00775835 0.99996494 -0.00314949 0.05429468] [ 0.01530352 0.00303048 0.9998783 0.70601273] [ 0. 0. 0. 1. ]] SLAMing on 99.632557844 meters Centerline goodness [0,1] 0.24476775514602866 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 9.99904632e-01 9.12311507e-04 -1.37802272e-02 5.66478190e-01] [-9.68642821e-04 9.99991201e-01 -4.08171524e-03 5.22258895e-02] [ 1.37763821e-02 4.09467410e-03 9.99896717e-01 7.06513674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.662557844 meters Centerline goodness [0,1] 0.24428701023802324 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 9.99903370e-01 9.15904694e-04 -1.38712578e-02 5.66598422e-01] [-9.71612218e-04 9.99991489e-01 -4.00983335e-03 5.17986978e-02] [ 1.38674671e-02 4.02292336e-03 9.99895749e-01 7.06700907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.692557844 meters Centerline goodness [0,1] 0.24258308449161103 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 9.99886467e-01 6.67106604e-04 -1.50534979e-02 5.69751320e-01] [-7.25527389e-04 9.99992226e-01 -3.87575034e-03 4.99841307e-02] [ 1.50507954e-02 3.88623204e-03 9.99879178e-01 7.06515247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72255784400001 meters Centerline goodness [0,1] 0.24583333333333335 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 9.99882101e-01 6.89401615e-04 -1.53397553e-02 5.70725516e-01] [-7.45876362e-04 9.99992965e-01 -3.67617725e-03 4.86679696e-02] [ 1.53371131e-02 3.68718539e-03 9.99875581e-01 7.06121627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75255784400001 meters Centerline goodness [0,1] 0.23906592697716422 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 0.99985369 -0.00685619 -0.01567131 0.59015349] [ 0.00681596 0.99997334 -0.00261923 0.05301802] [ 0.01568885 0.00251204 0.99987377 0.70785362] [ 0. 0. 0. 1. ]] SLAMing on 99.782557844 meters Centerline goodness [0,1] 0.24266499708542932 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 0.9998554 -0.0068057 -0.01558372 0.5898139 ] [ 0.0067676 0.99997398 -0.00249621 0.05251153] [ 0.0156003 0.00239038 0.99987545 0.70803645] [ 0. 0. 0. 1. ]] SLAMing on 99.812557844 meters Centerline goodness [0,1] 0.24266499708542932 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 0.9998554 -0.0068057 -0.01558372 0.5898139 ] [ 0.0067676 0.99997398 -0.00249621 0.05251153] [ 0.0156003 0.00239038 0.99987545 0.70803645] [ 0. 0. 0. 1. ]] SLAMing on 99.842557844 meters Centerline goodness [0,1] 0.2473579848778681 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 9.99930144e-01 -2.12725049e-04 -1.18178714e-02 5.69622717e-01] [ 1.84954389e-04 9.99997219e-01 -2.35093007e-03 4.73000822e-02] [ 1.18183386e-02 2.34858007e-03 9.99927403e-01 7.06443439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.872557844 meters Centerline goodness [0,1] 0.24232250844685477 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 0.99991762 -0.0077716 -0.01021502 0.58846722] [ 0.00775949 0.99996914 -0.00122457 0.0525536 ] [ 0.01022422 0.0011452 0.99994708 0.7077324 ] [ 0. 0. 0. 1. ]] SLAMing on 99.902557844 meters Centerline goodness [0,1] 0.24251772821732331 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 0.99991797 -0.0077776 -0.01017649 0.58844215] [ 0.00776489 0.99996902 -0.00128792 0.05291279] [ 0.01018619 0.00120879 0.99994739 0.70755488] [ 0. 0. 0. 1. ]] SLAMing on 99.932557844 meters Centerline goodness [0,1] 0.24714332353901403 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 9.99930730e-01 4.30193558e-04 -1.17622030e-02 5.68018844e-01] [-4.54483522e-04 9.99997770e-01 -2.06249126e-03 4.82356998e-02] [ 1.17612895e-02 2.06769412e-03 9.99928696e-01 7.06549028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962557844 meters Centerline goodness [0,1] 0.24061942911144996 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 9.99876599e-01 -3.73380541e-03 -1.52592567e-02 5.91339544e-01] [ 3.73598474e-03 9.99993015e-01 1.14316554e-04 5.48827982e-02] [ 1.52587233e-02 -1.71310798e-04 9.99883564e-01 7.06308268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.992557844 meters Centerline goodness [0,1] 0.2407133200283268 Centerline is valid? [False, False] Translation: X:0.59, Y:0.06, Z:0.71 [[ 9.99875266e-01 -3.83005515e-03 -1.53226016e-02 5.91516066e-01] [ 3.82899546e-03 9.99992665e-01 -9.84952031e-05 5.56945612e-02] [ 1.53228665e-02 3.98127454e-05 9.99882597e-01 7.06261186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.022557844 meters Centerline goodness [0,1] 0.24737968381518038 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 0.9998685 0.00217151 -0.01607052 0.56783358] [-0.00221996 0.99999304 -0.00299721 0.05340849] [ 0.0160639 0.00303249 0.99986637 0.70726602] [ 0. 0. 0. 1. ]] SLAMing on 100.052557844 meters Centerline goodness [0,1] 0.24563845986512944 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:0.71 [[ 0.99987581 0.00213286 -0.01561431 0.56604116] [-0.00218343 0.99999242 -0.00322252 0.05518967] [ 0.01560732 0.00325622 0.9998729 0.708268 ] [ 0. 0. 0. 1. ]] SLAMing on 100.08255784400001 meters Centerline goodness [0,1] 0.2469525468001741 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:0.71 [[ 0.99987858 0.00209253 -0.01544171 0.56550834] [-0.00214412 0.99999217 -0.00332533 0.05587444] [ 0.01543463 0.00335803 0.99987524 0.70841834] [ 0. 0. 0. 1. ]] SLAMing on 100.11255784400001 meters Centerline goodness [0,1] 0.24419758412424508 Centerline is valid? [False, False] Translation: X:0.59, Y:0.06, Z:0.71 [[ 0.99986864 -0.00558291 -0.01521603 0.58531812] [ 0.00554779 0.99998185 -0.00234988 0.06185486] [ 0.01522887 0.00226516 0.99988147 0.70972834] [ 0. 0. 0. 1. ]] SLAMing on 100.14255784400001 meters Centerline goodness [0,1] 0.247485349427097 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:0.71 [[ 0.99986008 0.00210695 -0.01659439 0.56626448] [-0.00216649 0.99999128 -0.00357063 0.05586965] [ 0.01658672 0.00360608 0.99985593 0.70823804] [ 0. 0. 0. 1. ]] SLAMing on 100.172557844 meters Centerline goodness [0,1] 0.24626817026269476 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:0.71 [[ 0.99985523 0.0020736 -0.01688857 0.56700363] [-0.00213321 0.99999156 -0.00351239 0.0552887 ] [ 0.01688115 0.0035479 0.99985121 0.70825533] [ 0. 0. 0. 1. ]] SLAMing on 100.202557844 meters Centerline goodness [0,1] 0.24498018206367878 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:0.71 [[ 0.99985616 0.00212439 -0.01682723 0.56659949] [-0.00218048 0.99999213 -0.00331562 0.05436143] [ 0.01682005 0.00335184 0.99985291 0.70867357] [ 0. 0. 0. 1. ]] SLAMing on 100.232557844 meters Centerline goodness [0,1] 0.24509634494081056 Centerline is valid? [False, False] Translation: X:0.59, Y:0.06, Z:0.71 [[ 0.99986329 -0.00599522 -0.01540948 0.58676212] [ 0.00596472 0.99998016 -0.00202419 0.05609724] [ 0.01542131 0.001932 0.99987922 0.71038163] [ 0. 0. 0. 1. ]] SLAMing on 100.262557844 meters Centerline goodness [0,1] 0.24713978681371163 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 0.99986381 -0.0059078 -0.01540941 0.58675655] [ 0.00588363 0.99998139 -0.00161344 0.05380432] [ 0.01541866 0.00152256 0.99987997 0.71047983] [ 0. 0. 0. 1. ]] SLAMing on 100.292557844 meters Centerline goodness [0,1] 0.24530796237701014 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 0.99986044 -0.00581655 -0.015661 0.58749074] [ 0.00579876 0.99998249 -0.00118112 0.05133711] [ 0.01566759 0.00109014 0.99987666 0.71035365] [ 0. 0. 0. 1. ]] SLAMing on 100.322557844 meters Centerline goodness [0,1] 0.2463167988841426 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 9.99855954e-01 -5.71729798e-03 -1.59807358e-02 5.88583859e-01] [ 5.70477532e-03 9.99983384e-01 -8.29086101e-04 4.94399901e-02] [ 1.59852104e-02 7.37800167e-04 9.99871956e-01 7.09887546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.352557844 meters Centerline goodness [0,1] 0.24591521066620192 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 9.99845817e-01 -5.53557914e-03 -1.66643164e-02 5.91115792e-01] [ 5.53017188e-03 9.99984640e-01 -3.70545678e-04 4.71470742e-02] [ 1.66661117e-02 2.78332013e-04 9.99861072e-01 7.08538184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.382557844 meters Centerline goodness [0,1] 0.24725756910925845 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:0.71 [[ 9.99843955e-01 -5.46462268e-03 -1.67989109e-02 5.91453154e-01] [ 5.46164917e-03 9.99985060e-01 -2.22879531e-04 4.63576578e-02] [ 1.67998779e-02 1.31094993e-04 9.99858863e-01 7.08559400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.412557844 meters Centerline goodness [0,1] 0.24266195422611092 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:0.71 [[ 0.99987221 0.00309475 -0.01568406 0.61150136] [-0.00312104 0.99999376 -0.00165228 0.0433575 ] [ 0.01567885 0.00170102 0.99987563 0.7101519 ] [ 0. 0. 0. 1. ]] SLAMing on 100.442557844 meters Centerline goodness [0,1] 0.246376180733905 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:0.71 [[ 0.99987194 0.00309126 -0.01570196 0.61149103] [-0.00311963 0.99999354 -0.00178291 0.04402242] [ 0.01569635 0.00183167 0.99987513 0.71019623] [ 0. 0. 0. 1. ]] SLAMing on 100.47255784400001 meters Centerline goodness [0,1] 0.24560946488657331 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.71 [[ 0.99986701 0.00313468 -0.01600431 0.61254468] [-0.00316752 0.99999293 -0.00202732 0.04564399] [ 0.01599785 0.00207775 0.99986987 0.70957234] [ 0. 0. 0. 1. ]] SLAMing on 100.50255784400001 meters Centerline goodness [0,1] 0.2411758371917735 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:0.71 [[ 9.99842741e-01 6.35211575e-03 -1.65572656e-02 6.16606767e-01] [-6.34465135e-03 9.99979746e-01 5.03313724e-04 5.02808848e-02] [ 1.65601273e-02 -3.98184496e-04 9.99862792e-01 7.06147382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.532557844 meters Centerline goodness [0,1] 0.24568580941396645 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:0.70 [[ 0.99985379 -0.00175255 -0.01700956 0.59812914] [ 0.00178488 0.99999663 0.00188563 0.05680164] [ 0.0170062 -0.00191571 0.99985355 0.70384095] [ 0. 0. 0. 1. ]] SLAMing on 100.562557844 meters Centerline goodness [0,1] 0.24171240869602806 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:0.71 [[ 9.99853422e-01 6.81622267e-03 -1.57058450e-02 6.17803676e-01] [-6.81746427e-03 9.99976760e-01 -2.55136861e-05 5.68821642e-02] [ 1.57053061e-02 1.32583983e-04 9.99876655e-01 7.05338712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.592557844 meters Centerline goodness [0,1] 0.24399417353305652 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:0.71 [[ 9.99857581e-01 6.67176904e-03 -1.55017734e-02 6.16882338e-01] [-6.67976670e-03 9.99977582e-01 -4.64198269e-04 5.90728400e-02] [ 1.54983289e-02 5.67680388e-04 9.99879733e-01 7.05948522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.622557844 meters Centerline goodness [0,1] 0.24162591818710555 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99898752e-01 -4.11161112e-04 -1.42237935e-02 6.34354931e-01] [ 4.26104622e-04 9.99999361e-01 1.04758485e-03 6.88772458e-02] [ 1.42233537e-02 -1.05353961e-03 9.99898288e-01 7.08463732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.652557844 meters Centerline goodness [0,1] 0.2466370627098451 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99899783e-01 -5.05954793e-04 -1.41480886e-02 6.34082136e-01] [ 5.17630570e-04 9.99999529e-01 8.21605000e-04 7.00760254e-02] [ 1.41476662e-02 -8.28846144e-04 9.99899573e-01 7.08541701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.682557844 meters Centerline goodness [0,1] 0.24310311305061683 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99900623e-01 -6.32179277e-04 -1.40834503e-02 6.33791106e-01] [ 6.41202473e-04 9.99999592e-01 6.36188791e-04 7.07129337e-02] [ 1.40830423e-02 -6.45155912e-04 9.99900621e-01 7.08796832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.712557844 meters Centerline goodness [0,1] 0.24334798328606377 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99900318e-01 -7.25809283e-04 -1.41006241e-02 6.33560480e-01] [ 7.33671450e-04 9.99999578e-01 5.52410943e-04 7.07409036e-02] [ 1.41002172e-02 -5.62701103e-04 9.99900429e-01 7.09270851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.742557844 meters Centerline goodness [0,1] 0.24480409597778452 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99905179e-01 -7.88384701e-04 -1.37481348e-02 6.32287293e-01] [ 7.95504621e-04 9.99999552e-01 5.12421735e-04 7.09034181e-02] [ 1.37477247e-02 -5.23309852e-04 9.99905359e-01 7.09943988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.772557844 meters Centerline goodness [0,1] 0.24698677012270875 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99906144e-01 -7.58612537e-04 -1.36794583e-02 6.32022294e-01] [ 7.66372625e-04 9.99999548e-01 5.62047237e-04 7.08448277e-02] [ 1.36790257e-02 -5.72478048e-04 9.99906274e-01 7.10099356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.802557844 meters Centerline goodness [0,1] 0.24624696286011805 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99905872e-01 -7.38102341e-04 -1.37004693e-02 6.32095846e-01] [ 7.47194754e-04 9.99999504e-01 6.58550171e-04 7.03999024e-02] [ 1.36999764e-02 -6.68725102e-04 9.99905927e-01 7.10098874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83255784400001 meters Centerline goodness [0,1] 0.24398558698513384 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99902981e-01 -7.60210421e-04 -1.39086784e-02 6.32811402e-01] [ 7.70049112e-04 9.99999457e-01 7.02036113e-04 7.00158700e-02] [ 1.39081371e-02 -7.12678367e-04 9.99903023e-01 7.09830392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86255784400001 meters Centerline goodness [0,1] 0.2532944838090193 Centerline is valid? [False, False] Translation: X:0.59, Y:0.07, Z:0.71 [[ 9.99843710e-01 -1.54102244e-03 -1.76119592e-02 5.89884316e-01] [ 1.55646359e-03 9.99998416e-01 8.63068632e-04 6.75405308e-02] [ 1.76106013e-02 -8.90346116e-04 9.99844525e-01 7.10094005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89255784400001 meters Centerline goodness [0,1] 0.24577079899366705 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99874319e-01 -3.59164860e-04 -1.58498156e-02 6.33205975e-01] [ 3.68355585e-04 9.99999766e-01 5.76947637e-04 7.20345538e-02] [ 1.58496046e-02 -5.82713494e-04 9.99874217e-01 7.10805985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922557844 meters Centerline goodness [0,1] 0.24860715069094097 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99876862e-01 -4.51795641e-04 -1.56861822e-02 6.32654824e-01] [ 4.55925937e-04 9.99999862e-01 2.59732839e-04 7.36292894e-02] [ 1.56860627e-02 -2.66852593e-04 9.99876931e-01 7.10990176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.952557844 meters Centerline goodness [0,1] 0.2478978782729926 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99894494e-01 -2.12326243e-04 -1.45243280e-02 6.29533190e-01] [ 2.10074680e-04 9.99999966e-01 -1.56545616e-04 7.73181016e-02] [ 1.45243607e-02 1.53477906e-04 9.99894504e-01 7.11253139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.982557844 meters Centerline goodness [0,1] 0.2437575340106768 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:0.71 [[ 0.99988948 0.00859717 -0.01212938 0.65004159] [-0.00861285 0.99996214 -0.00124086 0.07780575] [ 0.01211826 0.00134519 0.99992567 0.71130474] [ 0. 0. 0. 1. ]] SLAMing on 101.012557844 meters Centerline goodness [0,1] 0.24462122192040703 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:0.71 [[ 0.99989253 0.00844383 -0.01198466 0.64967774] [-0.00846437 0.99996279 -0.00166394 0.07985255] [ 0.01197017 0.0017652 0.9999268 0.71125407] [ 0. 0. 0. 1. ]] SLAMing on 101.042557844 meters Centerline goodness [0,1] 0.24655093749321055 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.71 [[ 9.99908101e-01 -3.71761186e-04 -1.35518157e-02 6.30684038e-01] [ 3.61371625e-04 9.99999639e-01 -7.69095197e-04 8.56051217e-02] [ 1.35520967e-02 7.64127276e-04 9.99907874e-01 7.10021213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.072557844 meters Centerline goodness [0,1] 0.24528465695743706 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.71 [[ 9.99893730e-01 -5.85514619e-04 -1.45665928e-02 6.34054533e-01] [ 5.62192593e-04 9.99998554e-01 -1.60510584e-03 9.00016533e-02] [ 1.45675116e-02 1.59674603e-03 9.99892613e-01 7.08425766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102557844 meters Centerline goodness [0,1] 0.24592962184873945 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.71 [[ 9.99891132e-01 -7.40944756e-04 -1.47368836e-02 6.34638034e-01] [ 7.11584567e-04 9.99997752e-01 -1.99743672e-03 9.20204409e-02] [ 1.47383305e-02 1.98673272e-03 9.99889411e-01 7.08106756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.132557844 meters Centerline goodness [0,1] 0.2422586128983667 Centerline is valid? [False, False] Translation: X:0.68, Y:0.10, Z:0.71 [[ 9.99925467e-01 1.39037245e-04 -1.22082088e-02 6.78024100e-01] [-1.63028257e-04 9.99998058e-01 -1.96418096e-03 9.68768040e-02] [ 1.22079120e-02 1.96602485e-03 9.99923548e-01 7.07932877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162557844 meters Centerline goodness [0,1] 0.24570867001528718 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.71 [[ 0.99989042 -0.00122719 -0.01475266 0.63132011] [ 0.0011943 0.99999678 -0.00223788 0.09423887] [ 0.01475536 0.00222001 0.99988867 0.70976567] [ 0. 0. 0. 1. ]] SLAMing on 101.192557844 meters Centerline goodness [0,1] 0.2440500726791487 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.71 [[ 0.99988916 -0.00130944 -0.01483082 0.63118306] [ 0.00127743 0.99999683 -0.00216769 0.0935058 ] [ 0.01483361 0.0021485 0.99988767 0.71039181] [ 0. 0. 0. 1. ]] SLAMing on 101.22255784400001 meters Centerline goodness [0,1] 0.24235115167318555 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.71 [[ 0.99988968 -0.00231995 -0.01467096 0.63044205] [ 0.00228332 0.99999423 -0.00251327 0.09137571] [ 0.0146767 0.00247949 0.99988922 0.71111796] [ 0. 0. 0. 1. ]] SLAMing on 101.25255784400001 meters Centerline goodness [0,1] 0.2429423890636867 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.71 [[ 0.99988703 -0.00227972 -0.01485719 0.63094948] [ 0.00224745 0.99999508 -0.00218814 0.08964745] [ 0.01486211 0.0021545 0.99988723 0.71110587] [ 0. 0. 0. 1. ]] SLAMing on 101.282557844 meters Centerline goodness [0,1] 0.24334040802183043 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.71 [[ 0.9998851 -0.00220212 -0.01499804 0.63139183] [ 0.00217425 0.99999588 -0.00187431 0.08809594] [ 0.01500211 0.00184149 0.99988577 0.71101278] [ 0. 0. 0. 1. ]] SLAMing on 101.312557844 meters Centerline goodness [0,1] 0.24713663140836128 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.71 [[ 0.99988347 -0.00213112 -0.01511667 0.63165981] [ 0.00210694 0.99999648 -0.00161513 0.08675202] [ 0.01512006 0.00158309 0.99988443 0.71111239] [ 0. 0. 0. 1. ]] SLAMing on 101.342557844 meters Centerline goodness [0,1] 0.24424636038706304 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 0.99988252 -0.00199969 -0.01519708 0.63163489] [ 0.00198276 0.9999974 -0.0011289 0.08413978] [ 0.01519929 0.00109864 0.99988388 0.71159995] [ 0. 0. 0. 1. ]] SLAMing on 101.372557844 meters Centerline goodness [0,1] 0.2462053278509252 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99881278e-01 -1.87368837e-03 -1.52944124e-02 6.31900766e-01] [ 1.86121935e-03 9.99997924e-01 -8.29459395e-04 8.28293510e-02] [ 1.52959348e-02 8.00894663e-04 9.99882690e-01 7.11587481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402557844 meters Centerline goodness [0,1] 0.24486551235979526 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99881454e-01 -1.72919701e-03 -1.52999506e-02 6.31972230e-01] [ 1.72129918e-03 9.99998378e-01 -5.29352973e-04 8.15612047e-02] [ 1.53008411e-02 5.02954427e-04 9.99882809e-01 7.11518995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.432557844 meters Centerline goodness [0,1] 0.24288289070812796 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99882149e-01 -1.61087978e-03 -1.52673639e-02 6.31734428e-01] [ 1.60699183e-03 9.99998673e-01 -2.66921765e-04 8.03507635e-02] [ 1.52677736e-02 2.42355779e-04 9.99883411e-01 7.11837675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462557844 meters Centerline goodness [0,1] 0.2431806874472734 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99882109e-01 -1.50304909e-03 -1.52809830e-02 6.31629357e-01] [ 1.50158982e-03 9.99998867e-01 -1.06968976e-04 7.93380205e-02] [ 1.52811265e-02 8.40105972e-05 9.99883233e-01 7.12111152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.492557844 meters Centerline goodness [0,1] 0.24622214446607038 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99881197e-01 -1.48483312e-03 -1.53423416e-02 6.32016286e-01] [ 1.48232884e-03 9.99998886e-01 -1.74596989e-04 7.97290387e-02] [ 1.53425838e-02 1.51833851e-04 9.99882284e-01 7.11651239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522557844 meters Centerline goodness [0,1] 0.24415274463007164 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99878282e-01 -1.38764612e-03 -1.55401293e-02 6.32863212e-01] [ 1.38360188e-03 9.99999006e-01 -2.70992815e-04 8.05996621e-02] [ 1.55404899e-02 2.49458478e-04 9.99879208e-01 7.10963132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.552557844 meters Centerline goodness [0,1] 0.2424779143357021 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99876626e-01 -1.25099138e-03 -1.56578475e-02 6.33484886e-01] [ 1.24540473e-03 9.99999157e-01 -3.66541313e-04 8.17197969e-02] [ 1.56582929e-02 3.46995734e-04 9.99877341e-01 7.10292612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58255784400001 meters Centerline goodness [0,1] 0.2490350030704448 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:0.71 [[ 9.99827143e-01 -7.46237134e-04 -1.85776219e-02 5.88257982e-01] [ 7.62809384e-04 9.99999317e-01 8.84984194e-04 7.85954197e-02] [ 1.85769488e-02 -8.99002402e-04 9.99827029e-01 7.11102731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61255784400001 meters Centerline goodness [0,1] 0.24672958021477387 Centerline is valid? [False, False] Translation: X:0.61, Y:0.08, Z:0.71 [[ 9.99819626e-01 8.09070199e-03 -1.71830246e-02 6.08958402e-01] [-8.09582691e-03 9.99967202e-01 -2.28713879e-04 7.67011078e-02] [ 1.71806106e-02 3.67783418e-04 9.99852335e-01 7.12192757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64255784400001 meters Centerline goodness [0,1] 0.24289243304151864 Centerline is valid? [False, False] Translation: X:0.61, Y:0.08, Z:0.71 [[ 9.99822518e-01 8.12724248e-03 -1.69965098e-02 6.07741467e-01] [-8.13050173e-03 9.99966939e-01 -1.22667163e-04 7.58906779e-02] [ 1.69949509e-02 2.60835544e-04 9.99855541e-01 7.13366465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.672557844 meters Centerline goodness [0,1] 0.245214141370244 Centerline is valid? [False, False] Translation: X:0.61, Y:0.08, Z:0.71 [[ 9.99822630e-01 8.17543040e-03 -1.69667436e-02 6.07481566e-01] [-8.17614356e-03 9.99966574e-01 2.73344811e-05 7.51129673e-02] [ 1.69663999e-02 1.11392898e-04 9.99856054e-01 7.13680354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702557844 meters Centerline goodness [0,1] 0.245214141370244 Centerline is valid? [False, False] Translation: X:0.61, Y:0.08, Z:0.71 [[ 9.99822630e-01 8.17543040e-03 -1.69667436e-02 6.07481566e-01] [-8.17614356e-03 9.99966574e-01 2.73344811e-05 7.51129673e-02] [ 1.69663999e-02 1.11392898e-04 9.99856054e-01 7.13680354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.732557844 meters Centerline goodness [0,1] 0.2466605950212507 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:0.71 [[ 9.99821986e-01 8.23658819e-03 -1.69751029e-02 6.07551945e-01] [-8.23092106e-03 9.99966044e-01 4.03688999e-04 7.30656553e-02] [ 1.69778515e-02 -2.63896405e-04 9.99855831e-01 7.13633163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.762557844 meters Centerline goodness [0,1] 0.2428707019284697 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99858347e-01 2.45901646e-04 -1.68293222e-02 6.27764255e-01] [-2.23803463e-04 9.99999110e-01 1.31494700e-03 7.67723210e-02] [ 1.68296306e-02 -1.31099427e-03 9.99857512e-01 7.14672801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.792557844 meters Centerline goodness [0,1] 0.24234826214767424 Centerline is valid? [False, False] Translation: X:0.63, Y:0.08, Z:0.71 [[ 9.99854995e-01 2.97436256e-04 -1.70264373e-02 6.28368805e-01] [-2.70692817e-04 9.99998726e-01 1.57298390e-03 7.52988172e-02] [ 1.70268835e-02 -1.56814687e-03 9.99853802e-01 7.14587591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822557844 meters Centerline goodness [0,1] 0.2422242353651698 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99851698e-01 3.42171619e-04 -1.72181667e-02 6.28861827e-01] [-3.11463427e-04 9.99998356e-01 1.78612630e-03 7.41633832e-02] [ 1.72187495e-02 -1.78049859e-03 9.99850161e-01 7.14619060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.852557844 meters Centerline goodness [0,1] 0.24379222697747172 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99848389e-01 4.11039143e-04 -1.74077444e-02 6.29328543e-01] [-3.76700372e-04 9.99997977e-01 1.97584770e-03 7.33224326e-02] [ 1.74085214e-02 -1.96899064e-03 9.99846521e-01 7.14675902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882557844 meters Centerline goodness [0,1] 0.241345117482216 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99844655e-01 4.73009460e-04 -1.76193461e-02 6.29864254e-01] [-4.36148300e-04 9.99997709e-01 2.09586836e-03 7.29298964e-02] [ 1.76202971e-02 -2.08785813e-03 9.99842571e-01 7.14689402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.912557844 meters Centerline goodness [0,1] 0.2402650664824728 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.71 [[ 9.99837437e-01 5.80626238e-04 -1.80211867e-02 6.30843938e-01] [-5.37516816e-04 9.99996983e-01 2.39690383e-03 7.14064468e-02] [ 1.80225240e-02 -2.38682749e-03 9.99834732e-01 7.14811518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.942557844 meters Centerline goodness [0,1] 0.24521932308228422 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.72 [[ 9.99835628e-01 6.21920211e-04 -1.81198745e-02 6.30971862e-01] [-5.75112366e-04 9.99996485e-01 2.58832866e-03 7.01739979e-02] [ 1.81214206e-02 -2.57748225e-03 9.99832471e-01 7.15064807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97255784400001 meters Centerline goodness [0,1] 0.24852369767084492 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.72 [[ 9.99833903e-01 6.60500742e-04 -1.82134775e-02 6.31037925e-01] [-6.09548202e-04 9.99995886e-01 2.80292804e-03 6.88400053e-02] [ 1.82152539e-02 -2.79136049e-03 9.99830192e-01 7.15372032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00255784400001 meters Centerline goodness [0,1] 0.244950213371266 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.72 [[ 9.99833519e-01 6.86838526e-04 -1.82335614e-02 6.31118985e-01] [-6.32883987e-04 9.99995405e-01 2.96468396e-03 6.78589533e-02] [ 1.82355139e-02 -2.95265067e-03 9.99829359e-01 7.15356853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.032557844 meters Centerline goodness [0,1] 0.24585429884051635 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.72 [[ 9.99835037e-01 7.53544775e-04 -1.81474714e-02 6.30916141e-01] [-6.95753886e-04 9.99994668e-01 3.19061776e-03 6.67025226e-02] [ 1.81497789e-02 -3.17746525e-03 9.99830230e-01 7.15382550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062557844 meters Centerline goodness [0,1] 0.24217719438617735 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:0.72 [[ 0.99982114 0.00929049 -0.01647338 0.65046066] [-0.00925908 0.99995517 0.00198205 0.0639022 ] [ 0.01649105 -0.00182917 0.99986234 0.71650716] [ 0. 0. 0. 1. ]] SLAMing on 102.092557844 meters Centerline goodness [0,1] 0.2409075239162286 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:0.72 [[ 0.99982321 0.00926333 -0.01636275 0.64995839] [-0.0092331 0.99995553 0.00192233 0.0642575 ] [ 0.01637983 -0.00177091 0.99986427 0.71685461] [ 0. 0. 0. 1. ]] SLAMing on 102.122557844 meters Centerline goodness [0,1] 0.24492782109240208 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:0.72 [[ 9.99861140e-01 2.06234664e-04 -1.66630942e-02 6.28699133e-01] [-1.61833154e-04 9.99996433e-01 2.66596622e-03 6.97363874e-02] [ 1.66635845e-02 -2.66289939e-03 9.99857607e-01 7.15878717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.152557844 meters Centerline goodness [0,1] 0.24161146235677444 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:0.72 [[ 0.99984101 0.00904802 -0.0153649 0.64982103] [-0.00902257 0.99995781 0.00172505 0.06971548] [ 0.01537986 -0.00158615 0.99988046 0.71569689] [ 0. 0. 0. 1. ]] SLAMing on 102.182557844 meters Centerline goodness [0,1] 0.24042007202466953 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:0.72 [[ 0.99984094 0.00890528 -0.01545263 0.6500968 ] [-0.00888427 0.99995951 0.00142806 0.07098946] [ 0.01546472 -0.00129054 0.99987958 0.71562412] [ 0. 0. 0. 1. ]] SLAMing on 102.212557844 meters Centerline goodness [0,1] 0.24201170604812483 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:0.72 [[ 9.99839116e-01 8.73801149e-03 -1.56649186e-02 6.50653994e-01] [-8.72308704e-03 9.99961432e-01 1.02080632e-03 7.27756081e-02] [ 1.56732342e-02 -8.83995636e-04 9.99876777e-01 7.15572042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.242557844 meters Centerline goodness [0,1] 0.2400961163787505 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:0.72 [[ 9.99837887e-01 8.58539208e-03 -1.58269285e-02 6.51097577e-01] [-8.57677022e-03 9.99963031e-01 6.12555504e-04 7.47999266e-02] [ 1.58316024e-02 -4.76712271e-04 9.99874559e-01 7.15470239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.272557844 meters Centerline goodness [0,1] 0.2458049491805776 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:0.72 [[ 9.99836937e-01 8.43237549e-03 -1.59685514e-02 6.51536480e-01] [-8.43247786e-03 9.99964444e-01 6.09218345e-05 7.78937409e-02] [ 1.59684973e-02 7.37425554e-05 9.99872493e-01 7.15257127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.302557844 meters Centerline goodness [0,1] 0.24017542722578689 Centerline is valid? [False, False] Translation: X:0.67, Y:0.08, Z:0.72 [[ 9.99879822e-01 4.55321080e-04 -1.54962336e-02 6.70937767e-01] [-4.41946367e-04 9.99999527e-01 8.66507911e-04 8.24741990e-02] [ 1.54966208e-02 -8.59555272e-04 9.99879551e-01 7.16666998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33255784400001 meters Centerline goodness [0,1] 0.24046743129192816 Centerline is valid? [False, False] Translation: X:0.67, Y:0.08, Z:0.72 [[ 9.99882458e-01 5.04550165e-04 -1.53236747e-02 6.70220111e-01] [-4.86762809e-04 9.99999204e-01 1.16448365e-03 8.07961735e-02] [ 1.53242500e-02 -1.15688778e-03 9.99881908e-01 7.17195833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36255784400001 meters Centerline goodness [0,1] 0.24252046745728295 Centerline is valid? [False, False] Translation: X:0.67, Y:0.08, Z:0.72 [[ 9.99885676e-01 5.58692908e-04 -1.51103572e-02 6.69372872e-01] [-5.36152892e-04 9.99998738e-01 1.49570294e-03 7.89233794e-02] [ 1.51111737e-02 -1.48743048e-03 9.99884713e-01 7.17771629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39255784400001 meters Centerline goodness [0,1] 0.24470957066968557 Centerline is valid? [False, False] Translation: X:0.67, Y:0.08, Z:0.72 [[ 9.99887440e-01 6.59310037e-04 -1.49891043e-02 6.68706144e-01] [-6.31325865e-04 9.99998049e-01 1.87162275e-03 7.70839777e-02] [ 1.49903091e-02 -1.86194907e-03 9.99885905e-01 7.18465368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422557844 meters Centerline goodness [0,1] 0.24476025168149274 Centerline is valid? [False, False] Translation: X:0.67, Y:0.07, Z:0.72 [[ 9.99886242e-01 7.84281374e-04 -1.50627720e-02 6.68708367e-01] [-7.47610807e-04 9.99996744e-01 2.43999312e-03 7.42627569e-02] [ 1.50646365e-02 -2.42845446e-03 9.99883573e-01 7.18882820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.452557844 meters Centerline goodness [0,1] 0.24518476555691127 Centerline is valid? [False, False] Translation: X:0.67, Y:0.07, Z:0.72 [[ 9.99884129e-01 9.10063884e-04 -1.51954067e-02 6.69135959e-01] [-8.67686755e-04 9.99995717e-01 2.79517170e-03 7.25018080e-02] [ 1.51978854e-02 -2.78166297e-03 9.99880636e-01 7.18751935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.482557844 meters Centerline goodness [0,1] 0.2445911895038665 Centerline is valid? [False, False] Translation: X:0.67, Y:0.07, Z:0.72 [[ 9.99882556e-01 1.04369510e-03 -1.52900531e-02 6.69508129e-01] [-9.95586992e-04 9.99994532e-01 3.15364049e-03 7.07823023e-02] [ 1.52932609e-02 -3.13804754e-03 9.99878127e-01 7.18555564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.512557844 meters Centerline goodness [0,1] 0.24106427659067786 Centerline is valid? [False, False] Translation: X:0.67, Y:0.07, Z:0.72 [[ 0.99988062 0.00115867 -0.01540792 0.66997531] [-0.00110513 0.99999332 0.00348268 0.06913673] [ 0.01541185 -0.00346523 0.99987523 0.71831758] [ 0. 0. 0. 1. ]] SLAMing on 102.542557844 meters Centerline goodness [0,1] 0.2447136468238461 Centerline is valid? [False, False] Translation: X:0.67, Y:0.07, Z:0.72 [[ 0.99987925 0.00136168 -0.01547995 0.67011084] [-0.00129821 0.99999071 0.0041094 0.06559917] [ 0.01548541 -0.0040888 0.99987173 0.71849323] [ 0. 0. 0. 1. ]] SLAMing on 102.572557844 meters Centerline goodness [0,1] 0.2430633833347785 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.72 [[ 0.99987793 0.00149068 -0.01555352 0.67000031] [-0.00142187 0.99998916 0.00443405 0.06398792] [ 0.01555996 -0.00441139 0.99986921 0.71903849] [ 0. 0. 0. 1. ]] SLAMing on 102.602557844 meters Centerline goodness [0,1] 0.24839680670069364 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.72 [[ 0.99987805 0.0016282 -0.01553176 0.66971921] [-0.00155456 0.9999875 0.0047522 0.06250276] [ 0.0155393 -0.00472747 0.99986808 0.7194491 ] [ 0. 0. 0. 1. ]] SLAMing on 102.632557844 meters Centerline goodness [0,1] 0.24567820596559986 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.72 [[ 0.99988024 0.00192989 -0.01535517 0.66922047] [-0.00184749 0.99998383 0.00537865 0.05971246] [ 0.0153653 -0.00534964 0.99986764 0.71958774] [ 0. 0. 0. 1. ]] SLAMing on 102.662557844 meters Centerline goodness [0,1] 0.24786753637732062 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.72 [[ 0.99988168 0.00202574 -0.01524871 0.66902687] [-0.00194033 0.99998236 0.00561385 0.05849242] [ 0.01525982 -0.00558359 0.99986797 0.71950985] [ 0. 0. 0. 1. ]] SLAMing on 102.692557844 meters Centerline goodness [0,1] 0.2441057394617766 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.72 [[ 0.99988134 0.00209685 -0.01526139 0.66925312] [-0.00200909 0.99998137 0.00576332 0.05758585] [ 0.01527319 -0.00573197 0.99986693 0.71921926] [ 0. 0. 0. 1. ]] SLAMing on 102.72255784400001 meters Centerline goodness [0,1] 0.24403435519113859 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.72 [[ 0.9998789 0.00213916 -0.01541426 0.66978199] [-0.00204946 0.99998089 0.0058324 0.05714913] [ 0.01542644 -0.00580011 0.99986418 0.71896938] [ 0. 0. 0. 1. ]] SLAMing on 102.75255784400001 meters Centerline goodness [0,1] 0.24631840362495638 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.72 [[ 0.99987566 0.00220271 -0.01561426 0.67052235] [-0.00211061 0.9999803 0.0059122 0.05679078] [ 0.01562697 -0.00587851 0.99986061 0.71853555] [ 0. 0. 0. 1. ]] SLAMing on 102.782557844 meters Centerline goodness [0,1] 0.24805489990383778 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.72 [[ 0.99987391 0.00226343 -0.01571745 0.67095156] [-0.00216936 0.99997965 0.00599957 0.05644659] [ 0.01573071 -0.00596472 0.99985847 0.71823836] [ 0. 0. 0. 1. ]] SLAMing on 102.812557844 meters Centerline goodness [0,1] 0.2457147810258522 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.72 [[ 0.9998758 0.00241981 -0.0155731 0.67016325] [-0.00232137 0.99997723 0.0063361 0.05478422] [ 0.01558808 -0.00629916 0.99985866 0.71899092] [ 0. 0. 0. 1. ]] SLAMing on 102.842557844 meters Centerline goodness [0,1] 0.2436355804436786 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.72 [[ 0.99987711 0.00251772 -0.01547335 0.66936665] [-0.00241554 0.99997518 0.00661844 0.05323548] [ 0.01548963 -0.00658025 0.99985838 0.71992517] [ 0. 0. 0. 1. ]] SLAMing on 102.872557844 meters Centerline goodness [0,1] 0.2461448370095647 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.72 [[ 0.99987961 0.0026515 -0.01528843 0.6686453 ] [-0.00254549 0.99997262 0.00694903 0.05161685] [ 0.01530644 -0.00690927 0.99985898 0.72036079] [ 0. 0. 0. 1. ]] SLAMing on 102.902557844 meters Centerline goodness [0,1] 0.24594395280235992 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.72 [[ 0.99987748 0.00292021 -0.01537855 0.66923689] [-0.00280278 0.99996679 0.00765217 0.04821589] [ 0.01540039 -0.00760813 0.99985246 0.71978177] [ 0. 0. 0. 1. ]] SLAMing on 102.932557844 meters Centerline goodness [0,1] 0.2496656948067606 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.72 [[ 0.99987393 0.0030417 -0.01558446 0.67003557] [-0.00291599 0.99996308 0.00808279 0.0459269 ] [ 0.01560847 -0.00803633 0.99984588 0.71936279] [ 0. 0. 0. 1. ]] SLAMing on 102.962557844 meters Centerline goodness [0,1] 0.2470007824045901 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.72 [[ 0.99986998 0.00318099 -0.01580843 0.67060953] [-0.00304508 0.99995827 0.00861362 0.04311997] [ 0.01583517 -0.00856436 0.99983794 0.71938164] [ 0. 0. 0. 1. ]] SLAMing on 102.992557844 meters Centerline goodness [0,1] 0.2440818799497988 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.72 [[ 0.99986917 0.00337052 -0.01582063 0.67037975] [-0.00322568 0.99995274 0.00917178 0.04048578] [ 0.01585079 -0.00911954 0.99983278 0.71991382] [ 0. 0. 0. 1. ]] SLAMing on 103.022557844 meters Centerline goodness [0,1] 0.24559545169588626 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.72 [[ 0.99987011 0.0035783 -0.01571505 0.66984945] [-0.00342561 0.99994677 0.00973225 0.03792436] [ 0.01574904 -0.00967715 0.99982915 0.72040629] [ 0. 0. 0. 1. ]] SLAMing on 103.052557844 meters Centerline goodness [0,1] 0.243568196509373 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.72 [[ 0.99986919 0.00378929 -0.01572374 0.66964044] [-0.00362753 0.99994034 0.01030331 0.03530817] [ 0.01576185 -0.01024493 0.99982329 0.72088212] [ 0. 0. 0. 1. ]] SLAMing on 103.08255784400001 meters Centerline goodness [0,1] 0.24249795496620308 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:0.72 [[ 9.99876252e-01 -1.24459026e-04 -1.57310323e-02 6.70076405e-01] [ 2.32271303e-04 9.99976499e-01 6.85183634e-03 3.21523022e-02] [ 1.57298099e-02 -6.85464230e-03 9.99852783e-01 7.20314052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11255784400001 meters Centerline goodness [0,1] 0.2432053191719017 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:0.72 [[ 9.99873949e-01 6.81894573e-05 -1.58770741e-02 6.70457670e-01] [ 5.04613889e-05 9.99972079e-01 7.47257213e-03 2.88402088e-02] [ 1.58771404e-02 -7.47243139e-03 9.99846028e-01 7.20362193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14255784400001 meters Centerline goodness [0,1] 0.24668122270742354 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:0.72 [[ 9.99875205e-01 3.19338544e-04 -1.57947239e-02 6.70269819e-01] [-1.91354800e-04 9.99967145e-01 8.10379043e-03 2.59391922e-02] [ 1.57967929e-02 -8.09975672e-03 9.99842415e-01 7.20355290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.172557844 meters Centerline goodness [0,1] 0.2471871063034884 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:0.72 [[ 9.99877077e-01 5.55260982e-04 -1.56691624e-02 6.69853793e-01] [-4.19478254e-04 9.99962348e-01 8.66755868e-03 2.35048419e-02] [ 1.56733852e-02 -8.65992036e-03 9.99839663e-01 7.20573386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202557844 meters Centerline goodness [0,1] 0.24660716999978283 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:0.72 [[ 9.99876151e-01 8.86259503e-04 -1.57129367e-02 6.69816493e-01] [-7.37210499e-04 9.99954707e-01 9.48900686e-03 1.93762747e-02] [ 1.57206348e-02 -9.47624792e-03 9.99831517e-01 7.20972922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.232557844 meters Centerline goodness [0,1] 0.24055832759807294 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:0.72 [[ 0.99984626 0.00746554 -0.01586584 0.69329787] [-0.00736878 0.99995395 0.00614825 0.01691029] [ 0.01591101 -0.0060304 0.99985523 0.72056895] [ 0. 0. 0. 1. ]] SLAMing on 103.262557844 meters Centerline goodness [0,1] 0.23966496125035075 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:0.72 [[ 0.99983854 0.00748307 -0.01633698 0.69498199] [-0.00738108 0.99995295 0.00629398 0.01579097] [ 0.01638331 -0.00617238 0.99984673 0.71973787] [ 0. 0. 0. 1. ]] SLAMing on 103.292557844 meters Centerline goodness [0,1] 0.24577088263651503 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:0.72 [[ 0.99981797 -0.00132322 -0.01903372 0.6757084 ] [ 0.00146854 0.99996987 0.0076229 0.01750789] [ 0.01902306 -0.00764947 0.99978978 0.71873793] [ 0. 0. 0. 1. ]] SLAMing on 103.322557844 meters Centerline goodness [0,1] 0.24127692774478782 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.72 [[ 0.99979023 0.00830661 -0.01872177 0.69734391] [-0.008161 0.99993596 0.00784052 0.01125191] [ 0.0187857 -0.00768608 0.99979399 0.71883845] [ 0. 0. 0. 1. ]] SLAMing on 103.352557844 meters Centerline goodness [0,1] 0.24231763198471123 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.72 [[ 0.99983275 0.00515651 -0.01754678 0.69381552] [-0.00507477 0.99997608 0.00469979 0.01012633] [ 0.01757059 -0.00460996 0.999835 0.71952539] [ 0. 0. 0. 1. ]] SLAMing on 103.382557844 meters Centerline goodness [0,1] 0.24533280991014572 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.72 [[ 0.99983437 0.00529135 -0.0174134 0.6931229 ] [-0.00520248 0.99997323 0.00514515 0.00770446] [ 0.01744016 -0.0050537 0.99983514 0.72016613] [ 0. 0. 0. 1. ]] SLAMing on 103.412557844 meters Centerline goodness [0,1] 0.23858195014064543 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:0.72 [[ 0.99985566 -0.00250305 -0.01680488 0.7136765 ] [ 0.00260348 0.99997887 0.00595726 0.01033413] [ 0.01678961 -0.00600016 0.99984104 0.72088471] [ 0. 0. 0. 1. ]] SLAMing on 103.442557844 meters Centerline goodness [0,1] 0.24344876752576206 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:0.72 [[ 0.99985409 -0.00237887 -0.01691544 0.71424813] [ 0.00248521 0.99997726 0.00626847 0.00884053] [ 0.01690015 -0.00630959 0.99983727 0.72043619] [ 0. 0. 0. 1. ]] SLAMing on 103.47255784400001 meters Centerline goodness [0,1] 0.23798976388112336 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:0.72 [[ 0.99985035 -0.0023329 -0.01714187 0.71522673] [ 0.00244205 0.99997686 0.00634916 0.00850755] [ 0.01712666 -0.00639007 0.99983291 0.71979114] [ 0. 0. 0. 1. ]] SLAMing on 103.50255784400001 meters Centerline goodness [0,1] 0.24473483611020364 Centerline is valid? [False, False] Translation: X:0.69, Y:0.00, Z:0.72 [[ 0.99983043 0.00554929 -0.01755896 0.69468378] [-0.00545863 0.99997155 0.00520667 0.00419136] [ 0.01758736 -0.00510994 0.99983227 0.71839506] [ 0. 0. 0. 1. ]] SLAMing on 103.532557844 meters Centerline goodness [0,1] 0.24372294372294367 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.72 [[ 0.99983077 0.0054991 -0.01755566 0.69452271] [-0.00541324 0.99997317 0.00493446 0.00551203] [ 0.01758232 -0.00483859 0.99983371 0.71861922] [ 0. 0. 0. 1. ]] SLAMing on 103.562557844 meters Centerline goodness [0,1] 0.24306855277475514 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.72 [[ 0.99983223 0.00571229 -0.01740333 0.69403078] [-0.00563107 0.99997304 0.00471266 0.0076201 ] [ 0.01742978 -0.00461387 0.99983744 0.71861644] [ 0. 0. 0. 1. ]] SLAMing on 103.592557844 meters Centerline goodness [0,1] 0.24278049206072239 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.72 [[ 0.99983591 0.00565569 -0.01720926 0.69379256] [-0.00557915 0.99997435 0.00449232 0.00896057] [ 0.01723423 -0.00439557 0.99984182 0.71815044] [ 0. 0. 0. 1. ]] SLAMing on 103.622557844 meters Centerline goodness [0,1] 0.24278049206072239 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.72 [[ 0.99983591 0.00565569 -0.01720926 0.69379256] [-0.00557915 0.99997435 0.00449232 0.00896057] [ 0.01723423 -0.00439557 0.99984182 0.71815044] [ 0. 0. 0. 1. ]] SLAMing on 103.652557844 meters Centerline goodness [0,1] 0.2439162668992586 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.72 [[ 0.99983892 0.00561267 -0.01704801 0.6934208 ] [-0.0055385 0.99997501 0.00439468 0.00938731] [ 0.01707225 -0.00429955 0.99984501 0.71807895] [ 0. 0. 0. 1. ]] SLAMing on 103.682557844 meters Centerline goodness [0,1] 0.2383206731079598 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:0.72 [[ 0.99986886 -0.00257937 -0.01598783 0.71405657] [ 0.00265293 0.99998598 0.00458169 0.01424629] [ 0.01597579 -0.0046235 0.99986169 0.71841739] [ 0. 0. 0. 1. ]] SLAMing on 103.712557844 meters Centerline goodness [0,1] 0.24534168242993504 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:0.72 [[ 0.99987868 -0.00462883 -0.01487301 0.70884616] [ 0.0046719 0.99998499 0.00286278 0.01404621] [ 0.01485953 -0.00293192 0.99988529 0.72121136] [ 0. 0. 0. 1. ]] SLAMing on 103.742557844 meters Centerline goodness [0,1] 0.24368079089947547 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:0.72 [[ 0.99990027 0.00373667 -0.01361961 0.72681157] [-0.00371562 0.99999186 0.00157055 0.00974923] [ 0.01362537 -0.00151979 0.99990602 0.72274066] [ 0. 0. 0. 1. ]] SLAMing on 103.772557844 meters Centerline goodness [0,1] 0.23770969622384874 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:0.72 [[ 0.99989874 0.00383631 -0.01370338 0.72685731] [-0.00380918 0.99999073 0.00200592 0.0076513 ] [ 0.01371095 -0.00195352 0.99990409 0.72306687] [ 0. 0. 0. 1. ]] SLAMing on 103.802557844 meters Centerline goodness [0,1] 0.2441110245085304 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:0.72 [[ 0.99989571 0.00385584 -0.01391744 0.7273628 ] [-0.00382252 0.99998977 0.00242 0.0052207 ] [ 0.01392663 -0.00236654 0.99990022 0.72321241] [ 0. 0. 0. 1. ]] SLAMing on 103.83255784400001 meters Centerline goodness [0,1] 0.24347448425624318 Centerline is valid? [False, False] Translation: X:0.73, Y:0.00, Z:0.72 [[ 0.99989134 0.00383364 -0.01423404 0.7281956 ] [-0.00379361 0.99998878 0.00283849 0.00235255] [ 0.01424476 -0.00278419 0.99989466 0.72321175] [ 0. 0. 0. 1. ]] SLAMing on 103.86255784400001 meters Centerline goodness [0,1] 0.23993844953512056 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.00, Z:0.72 [[ 9.99906675e-01 5.29995855e-05 -1.36615618e-02 7.27228168e-01] [-6.05470237e-05 9.99999846e-01 -5.52044920e-04 -1.94737153e-04] [ 1.36615304e-02 5.52820568e-04 9.99906524e-01 7.22621903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89255784400001 meters Centerline goodness [0,1] 0.24657322931817183 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.72 [[ 9.99874476e-01 -8.74066277e-04 -1.58198508e-02 6.80885944e-01] [ 8.83322838e-04 9.99999443e-01 5.78145157e-04 -5.42290701e-03] [ 1.58193366e-02 -5.92046622e-04 9.99874691e-01 7.23940410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922557844 meters Centerline goodness [0,1] 0.2402886401935791 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.00, Z:0.72 [[ 9.99911028e-01 6.55799316e-04 -1.33231330e-02 7.23415991e-01] [-6.48804024e-04 9.99999649e-01 5.29364020e-04 -4.26883068e-03] [ 1.33234755e-02 -5.20672819e-04 9.99911103e-01 7.24370163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.952557844 meters Centerline goodness [0,1] 0.24516536943772216 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.01, Z:0.72 [[ 9.99909511e-01 7.49506210e-04 -1.34316346e-02 7.23650867e-01] [-7.39415514e-04 9.99999441e-01 7.56213725e-04 -5.39910246e-03] [ 1.34321938e-02 -7.46213737e-04 9.99909506e-01 7.24464344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982557844 meters Centerline goodness [0,1] 0.24688892302965126 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.01, Z:0.72 [[ 9.99905213e-01 8.49342289e-04 -1.37420728e-02 7.24604232e-01] [-8.34876548e-04 9.99999091e-01 1.05836331e-03 -7.00442405e-03] [ 1.37429592e-02 -1.04679006e-03 9.99905013e-01 7.24189900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.012557844 meters Centerline goodness [0,1] 0.24207199601705742 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.01, Z:0.73 [[ 0.99988908 -0.00634862 -0.01347294 0.74468896] [ 0.00638273 0.99997653 0.00249 -0.00544034] [ 0.01345682 -0.00257572 0.99990614 0.7252791 ] [ 0. 0. 0. 1. ]] SLAMing on 104.042557844 meters Centerline goodness [0,1] 0.24181802418830467 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.01, Z:0.73 [[ 0.99989259 -0.00617183 -0.01329378 0.74414698] [ 0.0062106 0.99997657 0.00287745 -0.00713929] [ 0.01327571 -0.00295971 0.99990749 0.72544872] [ 0. 0. 0. 1. ]] SLAMing on 104.072557844 meters Centerline goodness [0,1] 0.24129288739089105 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.01, Z:0.73 [[ 0.99989494 -0.00601393 -0.01318853 0.74386674] [ 0.00605793 0.99997621 0.00329891 -0.00922997] [ 0.01316838 -0.00337846 0.99990759 0.72549183] [ 0. 0. 0. 1. ]] SLAMing on 104.102557844 meters Centerline goodness [0,1] 0.24245776129438046 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.01, Z:0.73 [[ 0.99989108 -0.00579465 -0.0135738 0.7450734 ] [ 0.00584985 0.99997477 0.00402995 -0.01315386] [ 0.01355011 -0.00410891 0.99989975 0.72518714] [ 0. 0. 0. 1. ]] SLAMing on 104.132557844 meters Centerline goodness [0,1] 0.24240575288733934 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.01, Z:0.72 [[ 0.99988787 -0.00568647 -0.01385343 0.7460799 ] [ 0.00574631 0.99997432 0.00428334 -0.01429492] [ 0.01382872 -0.00436247 0.99989486 0.72461785] [ 0. 0. 0. 1. ]] SLAMing on 104.162557844 meters Centerline goodness [0,1] 0.24251738495411246 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:0.72 [[ 0.99988446 -0.0055742 -0.01414212 0.74706524] [ 0.00563879 0.99997383 0.00453176 -0.01541973] [ 0.01411649 -0.00461098 0.99988973 0.72422123] [ 0. 0. 0. 1. ]] SLAMing on 104.192557844 meters Centerline goodness [0,1] 0.23836982440927812 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.02, Z:0.73 [[ 0.9998916 0.00316615 -0.01437918 0.76688959] [-0.00311991 0.99998989 0.00323731 -0.02054014] [ 0.01438928 -0.00319209 0.99989137 0.7258187 ] [ 0. 0. 0. 1. ]] SLAMing on 104.22255784400001 meters Centerline goodness [0,1] 0.24525742292628494 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.02, Z:0.73 [[ 0.99989105 0.00328192 -0.01439157 0.76666174] [-0.00323087 0.99998841 0.003569 -0.02237607] [ 0.01440312 -0.00352211 0.99989007 0.72632543] [ 0. 0. 0. 1. ]] SLAMing on 104.25255784400001 meters Centerline goodness [0,1] 0.24034492446672862 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:0.73 [[ 9.99877486e-01 1.05819528e-02 -1.15341212e-02 7.86252196e-01] [-1.05729146e-02 9.99943749e-01 8.44305565e-04 -2.61668455e-02] [ 1.15424068e-02 -7.22252848e-04 9.99933123e-01 7.26698424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282557844 meters Centerline goodness [0,1] 0.24566860146752822 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.02, Z:0.73 [[ 0.99992385 0.0013615 -0.01226576 0.76576602] [-0.00133573 0.99999688 0.00210911 -0.02367168] [ 0.0122686 -0.00209257 0.99992255 0.72588129] [ 0. 0. 0. 1. ]] SLAMing on 104.312557844 meters Centerline goodness [0,1] 0.24176535300588886 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:0.73 [[ 0.99987283 0.01078681 -0.01174638 0.78686429] [-0.01076999 0.99994089 0.00149457 -0.02767205] [ 0.01176181 -0.00136787 0.99992989 0.72609425] [ 0. 0. 0. 1. ]] SLAMing on 104.342557844 meters Centerline goodness [0,1] 0.24688312260452006 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:0.73 [[ 0.9998422 0.00959906 -0.01494794 0.74329118] [-0.00956567 0.9999516 0.0023031 -0.0318887 ] [ 0.01496932 -0.00215975 0.99988562 0.726666 ] [ 0. 0. 0. 1. ]] SLAMing on 104.372557844 meters Centerline goodness [0,1] 0.2422746269949544 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:0.73 [[ 0.99989619 0.0020952 -0.01425546 0.76312321] [-0.00205481 0.99999383 0.00284749 -0.02848783] [ 0.01426134 -0.00281791 0.99989433 0.7272465 ] [ 0. 0. 0. 1. ]] SLAMing on 104.402557844 meters Centerline goodness [0,1] 0.24416646620158766 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:0.73 [[ 0.99989964 0.00221195 -0.01399378 0.76199505] [-0.0021694 0.99999298 0.00305485 -0.02925824] [ 0.01400044 -0.00302418 0.99989742 0.72804748] [ 0. 0. 0. 1. ]] SLAMing on 104.432557844 meters Centerline goodness [0,1] 0.24555222062725657 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:0.73 [[ 0.99990194 0.0022498 -0.01382228 0.7611925 ] [-0.00220682 0.99999269 0.00312394 -0.02949764] [ 0.01382921 -0.00309313 0.99989959 0.72868344] [ 0. 0. 0. 1. ]] SLAMing on 104.462557844 meters Centerline goodness [0,1] 0.24281621668547615 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:0.73 [[ 0.99990309 0.00226927 -0.01373532 0.76082138] [-0.00222554 0.99999241 0.00319796 -0.02987278] [ 0.01374247 -0.00316708 0.99990055 0.72893966] [ 0. 0. 0. 1. ]] SLAMing on 104.492557844 meters Centerline goodness [0,1] 0.23575803158912645 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:0.73 [[ 0.99989553 0.00227592 -0.01427376 0.76250522] [-0.00222593 0.99999134 0.00351668 -0.03212075] [ 0.01428164 -0.00348454 0.99989194 0.72849755] [ 0. 0. 0. 1. ]] SLAMing on 104.522557844 meters Centerline goodness [0,1] 0.2461632769227401 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.73 [[ 9.99853938e-01 2.40870194e-04 -1.70892930e-02 7.17617988e-01] [-1.75881232e-04 9.99992748e-01 3.80430629e-03 -3.73743431e-02] [ 1.70900854e-02 -3.80074495e-03 9.99846730e-01 7.29350606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.552557844 meters Centerline goodness [0,1] 0.24037382370715699 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:0.73 [[ 0.99985577 0.00793872 -0.01501362 0.7385683 ] [-0.00791556 0.99996739 0.00160107 -0.03947351] [ 0.01502584 -0.00148199 0.99988601 0.72897028] [ 0. 0. 0. 1. ]] SLAMing on 104.58255784400001 meters Centerline goodness [0,1] 0.24030723424453604 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:0.73 [[ 0.99985718 0.00803956 -0.01486549 0.73806229] [-0.00801245 0.99996613 0.00188257 -0.04068374] [ 0.01488012 -0.00176319 0.99988773 0.72916007] [ 0. 0. 0. 1. ]] SLAMing on 104.61255784400001 meters Centerline goodness [0,1] 0.2432912819178914 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:0.73 [[ 0.99985631 0.00816539 -0.01485532 0.73817181] [-0.0081326 0.99996436 0.00226609 -0.04226758] [ 0.0148733 -0.00214495 0.99988709 0.72888239] [ 0. 0. 0. 1. ]] SLAMing on 104.64255784400001 meters Centerline goodness [0,1] 0.24697936539262766 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.73 [[ 0.99986884 -0.00129713 -0.01614367 0.7183847 ] [ 0.00135412 0.99999289 0.00352002 -0.04032907] [ 0.01613899 -0.00354141 0.99986349 0.72753857] [ 0. 0. 0. 1. ]] SLAMing on 104.672557844 meters Centerline goodness [0,1] 0.24864556601083543 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.73 [[ 0.99986615 -0.00126966 -0.01631157 0.71897434] [ 0.00133 0.99999231 0.0036888 -0.04130517] [ 0.01630676 -0.00371 0.99986015 0.72725961] [ 0. 0. 0. 1. ]] SLAMing on 104.702557844 meters Centerline goodness [0,1] 0.24220000865463676 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:0.73 [[ 9.99868840e-01 5.85490679e-03 -1.51003977e-02 7.41713106e-01] [-5.84246125e-03 9.99982556e-01 8.68169633e-04 -4.21433412e-02] [ 1.51052173e-02 -7.79832276e-04 9.99885606e-01 7.26145632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.732557844 meters Centerline goodness [0,1] 0.24809834136134779 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.04, Z:0.73 [[ 9.99866860e-01 5.92238205e-03 -1.52048374e-02 7.41897608e-01] [-5.90650002e-03 9.99981963e-01 1.08923208e-03 -4.32770200e-02] [ 1.52110140e-02 -9.99279688e-04 9.99883806e-01 7.26288909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.762557844 meters Centerline goodness [0,1] 0.2482538153313919 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:0.73 [[ 0.99986347 0.0059827 -0.0154031 0.74227684] [-0.00596035 0.99998112 0.0014968 -0.04565369] [ 0.01541176 -0.00140478 0.99988024 0.72651865] [ 0. 0. 0. 1. ]] SLAMing on 104.792557844 meters Centerline goodness [0,1] 0.24408200495157018 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:0.73 [[ 0.99988789 -0.00143777 -0.01490416 0.76166778] [ 0.00147528 0.99999577 0.00250554 -0.04206489] [ 0.01490049 -0.00252725 0.99988579 0.72780724] [ 0. 0. 0. 1. ]] SLAMing on 104.822557844 meters Centerline goodness [0,1] 0.24562967472603936 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:0.73 [[ 0.99989148 -0.0013495 -0.0146699 0.76086308] [ 0.00138973 0.9999953 0.00273295 -0.04304644] [ 0.01466614 -0.00275304 0.99988866 0.72815785] [ 0. 0. 0. 1. ]] SLAMing on 104.852557844 meters Centerline goodness [0,1] 0.2522851919561243 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:0.73 [[ 0.99989013 0.00565298 -0.0137027 0.7408657 ] [-0.00562888 0.99998254 0.00179691 -0.0492134 ] [ 0.01371262 -0.00171959 0.9999045 0.72637305] [ 0. 0. 0. 1. ]] SLAMing on 104.882557844 meters Centerline goodness [0,1] 0.249469562744712 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:0.73 [[ 0.99988984 0.00565296 -0.01372398 0.74102384] [-0.00562733 0.99998235 0.00190559 -0.05003645] [ 0.01373451 -0.00182815 0.99990401 0.72618248] [ 0. 0. 0. 1. ]] SLAMing on 104.912557844 meters Centerline goodness [0,1] 0.24512300388433317 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:0.73 [[ 0.99990341 -0.00166349 -0.0137985 0.76108393] [ 0.00169911 0.99999525 0.00257013 -0.04490695] [ 0.01379416 -0.00259332 0.99990149 0.72728334] [ 0. 0. 0. 1. ]] SLAMing on 104.942557844 meters Centerline goodness [0,1] 0.24765896143016175 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:0.73 [[ 0.99989855 0.00543457 -0.01316629 0.74198913] [-0.00541414 0.99998408 0.00158675 -0.0499402 ] [ 0.0131747 -0.0015153 0.99991206 0.72524672] [ 0. 0. 0. 1. ]] SLAMing on 104.97255784400001 meters Centerline goodness [0,1] 0.2481529106640804 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:0.73 [[ 0.99989763 0.00547543 -0.01321896 0.74194049] [-0.00545341 0.99998368 0.00170085 -0.05043887] [ 0.01322805 -0.00162859 0.99991118 0.72556791] [ 0. 0. 0. 1. ]] SLAMing on 105.00255784400001 meters Centerline goodness [0,1] 0.2472064600611087 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:0.73 [[ 0.99989631 0.00561497 -0.01326061 0.74154824] [-0.00558456 0.99998169 0.00232924 -0.05391201] [ 0.01327344 -0.00225494 0.99990936 0.72646483] [ 0. 0. 0. 1. ]] SLAMing on 105.03255784400001 meters Centerline goodness [0,1] 0.2521390138484608 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:0.73 [[ 0.99989502 0.00574344 -0.01330289 0.74151695] [-0.00570765 0.99997999 0.00272659 -0.05592451] [ 0.01331828 -0.00265038 0.9999078 0.72673114] [ 0. 0. 0. 1. ]] SLAMing on 105.062557844 meters Centerline goodness [0,1] 0.2509657594381036 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:0.73 [[ 9.99913675e-01 2.10069412e-03 -1.29703296e-02 7.41010013e-01] [-2.11381268e-03 9.99997268e-01 -9.97802572e-04 -5.57746824e-02] [ 1.29681981e-02 1.02513328e-03 9.99915384e-01 7.26219559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.092557844 meters Centerline goodness [0,1] 0.24495207459410118 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:0.73 [[ 9.99901905e-01 -5.56910051e-03 -1.28516771e-02 7.61574953e-01] [ 5.56524886e-03 9.99984458e-01 -3.35443849e-04 -5.44652745e-02] [ 1.28533455e-02 2.63888163e-04 9.99917358e-01 7.27085011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.122557844 meters Centerline goodness [0,1] 0.2505047401685393 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:0.72 [[ 9.99948296e-01 4.05509697e-04 -1.01607683e-02 7.43963464e-01] [-4.14870849e-04 9.99999491e-01 -9.19212725e-04 -5.96163583e-02] [ 1.01603904e-02 9.23380605e-04 9.99947956e-01 7.24227429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.152557844 meters Centerline goodness [0,1] 0.24757713071569498 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:0.72 [[ 0.99994552 -0.0046097 -0.00936548 0.76589605] [ 0.00463129 0.99998667 0.00228386 -0.05772696] [ 0.00935483 -0.00232711 0.99995353 0.72444356] [ 0. 0. 0. 1. ]] SLAMing on 105.182557844 meters Centerline goodness [0,1] 0.24563940937742856 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:0.72 [[ 0.99994499 -0.00455394 -0.00944874 0.76616512] [ 0.00457586 0.99998689 0.00229988 -0.05756804] [ 0.00943814 -0.00234299 0.99995271 0.72435389] [ 0. 0. 0. 1. ]] SLAMing on 105.212557844 meters Centerline goodness [0,1] 0.24996711247533432 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 0.99993683 0.00318293 -0.0107801 0.74594992] [-0.00316608 0.99999374 0.00157915 -0.06326592] [ 0.01078505 -0.00154492 0.99994065 0.72326092] [ 0. 0. 0. 1. ]] SLAMing on 105.242557844 meters Centerline goodness [0,1] 0.24614177347632749 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 0.9999327 0.00327244 -0.01113079 0.7474341 ] [-0.00325276 0.99999311 0.0017861 -0.06452587] [ 0.01113656 -0.00174977 0.99993646 0.7222519 ] [ 0. 0. 0. 1. ]] SLAMing on 105.272557844 meters Centerline goodness [0,1] 0.24509697692057641 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:0.72 [[ 0.99993221 0.00339177 -0.01113888 0.74738719] [-0.00336895 0.99999219 0.00206644 -0.06582705] [ 0.0111458 -0.00202878 0.99993583 0.72235119] [ 0. 0. 0. 1. ]] SLAMing on 105.302557844 meters Centerline goodness [0,1] 0.24903327289013177 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:0.72 [[ 0.99993334 0.00353627 -0.01099155 0.74688471] [-0.00351006 0.99999095 0.00240294 -0.06726907] [ 0.01099995 -0.0023642 0.9999367 0.72258948] [ 0. 0. 0. 1. ]] SLAMing on 105.33255784400001 meters Centerline goodness [0,1] 0.24480843615618986 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:0.72 [[ 0.99994357 -0.00379438 -0.00992236 0.76638328] [ 0.00382932 0.99998653 0.00350469 -0.06402383] [ 0.00990893 -0.00354249 0.99994463 0.72386156] [ 0. 0. 0. 1. ]] SLAMing on 105.36255784400001 meters Centerline goodness [0,1] 0.243786264830692 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:0.72 [[ 0.99994159 -0.00366194 -0.01016861 0.76709677] [ 0.00370272 0.99998517 0.0039946 -0.06677334] [ 0.01015383 -0.00403201 0.99994032 0.723808 ] [ 0. 0. 0. 1. ]] SLAMing on 105.39255784400001 meters Centerline goodness [0,1] 0.24249516856345288 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:0.72 [[ 0.99994126 0.00525752 -0.00947844 0.7869644 ] [-0.00523381 0.99998312 0.00252523 -0.0707278 ] [ 0.00949156 -0.00247548 0.99995189 0.72449316] [ 0. 0. 0. 1. ]] SLAMing on 105.422557844 meters Centerline goodness [0,1] 0.24466701352757547 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:0.72 [[ 0.99994233 -0.0036259 -0.01010862 0.76816355] [ 0.00366922 0.99998415 0.00426959 -0.06743755] [ 0.01009298 -0.00430643 0.99993979 0.72275988] [ 0. 0. 0. 1. ]] SLAMing on 105.452557844 meters Centerline goodness [0,1] 0.2473657802308078 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:0.72 [[ 0.99994422 -0.00357014 -0.0099402 0.767997 ] [ 0.00361272 0.99998436 0.00426902 -0.06720375] [ 0.00992481 -0.00430469 0.99994148 0.7222882 ] [ 0. 0. 0. 1. ]] SLAMing on 105.482557844 meters Centerline goodness [0,1] 0.24791648580605952 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:0.72 [[ 0.99994469 -0.0034295 -0.00994231 0.76829887] [ 0.00347165 0.99998504 0.00422599 -0.06666853] [ 0.00992767 -0.00426027 0.99994164 0.72171885] [ 0. 0. 0. 1. ]] SLAMing on 105.512557844 meters Centerline goodness [0,1] 0.24791648580605952 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:0.72 [[ 0.99994469 -0.0034295 -0.00994231 0.76829887] [ 0.00347165 0.99998504 0.00422599 -0.06666853] [ 0.00992767 -0.00426027 0.99994164 0.72171885] [ 0. 0. 0. 1. ]] SLAMing on 105.542557844 meters Centerline goodness [0,1] 0.24814855033119776 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:0.72 [[ 0.9999434 -0.00346047 -0.01006107 0.76883371] [ 0.00350224 0.99998531 0.0041379 -0.06638877] [ 0.0100466 -0.0041729 0.99994082 0.72131399] [ 0. 0. 0. 1. ]] SLAMing on 105.572557844 meters Centerline goodness [0,1] 0.24210889934798563 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.07, Z:0.72 [[ 0.99994048 -0.0035544 -0.01031533 0.76982128] [ 0.00359536 0.99998571 0.0039554 -0.06580003] [ 0.01030112 -0.00399225 0.99993897 0.72073971] [ 0. 0. 0. 1. ]] SLAMing on 105.602557844 meters Centerline goodness [0,1] 0.24812756704518002 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:0.72 [[ 0.99992767 0.00389778 -0.01137789 0.75016765] [-0.00386352 0.99998794 0.00303175 -0.07133802] [ 0.01138957 -0.00298757 0.99993067 0.7194686 ] [ 0. 0. 0. 1. ]] SLAMing on 105.632557844 meters Centerline goodness [0,1] 0.24908128445183308 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:0.72 [[ 0.99992975 0.00392859 -0.0111827 0.74959583] [-0.00389379 0.99998751 0.00313215 -0.07181484] [ 0.01119487 -0.00308838 0.99993257 0.71956744] [ 0. 0. 0. 1. ]] SLAMing on 105.662557844 meters Centerline goodness [0,1] 0.24772095849973952 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:0.72 [[ 0.99993198 0.00392805 -0.01098241 0.7488729 ] [-0.00389414 0.99998759 0.00310748 -0.07151778] [ 0.01099448 -0.00306451 0.99993486 0.71989294] [ 0. 0. 0. 1. ]] SLAMing on 105.692557844 meters Centerline goodness [0,1] 0.24739809193408502 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:0.72 [[ 0.99993481 0.00392001 -0.01072403 0.74801509] [-0.00388717 0.9999877 0.00308077 -0.07124917] [ 0.01073598 -0.00303888 0.99993775 0.72021135] [ 0. 0. 0. 1. ]] SLAMing on 105.72255784400001 meters Centerline goodness [0,1] 0.2472548934508051 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:0.72 [[ 0.99993883 0.00388641 -0.01035525 0.74655076] [-0.00385545 0.99998804 0.00300794 -0.07072195] [ 0.01036681 -0.00296783 0.99994186 0.72114454] [ 0. 0. 0. 1. ]] SLAMing on 105.75255784400001 meters Centerline goodness [0,1] 0.24796431046431044 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:0.72 [[ 0.99993903 0.00378681 -0.010373 0.74665724] [-0.0037577 0.99998895 0.00282396 -0.07001497] [ 0.01038358 -0.00278481 0.99994221 0.72102849] [ 0. 0. 0. 1. ]] SLAMing on 105.78255784400001 meters Centerline goodness [0,1] 0.249501391719815 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:0.72 [[ 0.99990837 -0.00576374 -0.01224857 0.72683252] [ 0.00580864 0.99997653 0.00363263 -0.06586411] [ 0.01222735 -0.00370345 0.99991838 0.72029934] [ 0. 0. 0. 1. ]] SLAMing on 105.812557844 meters Centerline goodness [0,1] 0.2421066197001589 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:0.72 [[ 0.99992081 -0.00364549 -0.01204531 0.77051452] [ 0.00367733 0.9999898 0.00262241 -0.06028261] [ 0.01203563 -0.0026665 0.99992401 0.72003533] [ 0. 0. 0. 1. ]] SLAMing on 105.842557844 meters Centerline goodness [0,1] 0.2448537847139548 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:0.72 [[ 0.99991997 -0.0037998 -0.01206719 0.77087803] [ 0.0038267 0.99999024 0.00220755 -0.05832593] [ 0.01205868 -0.00225355 0.99992475 0.71944614] [ 0. 0. 0. 1. ]] SLAMing on 105.872557844 meters Centerline goodness [0,1] 0.2497987073749266 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.06, Z:0.72 [[ 0.99992407 -0.00388198 -0.01169536 0.76965312] [ 0.00390224 0.99999092 0.00171018 -0.0552564 ] [ 0.01168862 -0.00175569 0.99993014 0.71975951] [ 0. 0. 0. 1. ]] SLAMing on 105.902557844 meters Centerline goodness [0,1] 0.24854701596113815 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:0.72 [[ 0.99992525 -0.00394325 -0.01157343 0.76914555] [ 0.00396128 0.99999098 0.00153516 -0.05433681] [ 0.01156727 -0.00158089 0.99993185 0.72004998] [ 0. 0. 0. 1. ]] SLAMing on 105.932557844 meters Centerline goodness [0,1] 0.24218515501050553 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.05, Z:0.72 [[ 0.99994672 0.00341586 -0.00974119 0.79051058] [-0.00342944 0.99999317 -0.00137796 -0.05370669] [ 0.00973642 0.00141129 0.9999516 0.71929923] [ 0. 0. 0. 1. ]] SLAMing on 105.962557844 meters Centerline goodness [0,1] 0.2492735257488693 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 0.99991698 0.00122351 -0.01282735 0.74539297] [-0.00123905 0.99999851 -0.00120302 -0.05675576] [ 0.01282586 0.00121881 0.999917 0.72090932] [ 0. 0. 0. 1. ]] SLAMing on 105.992557844 meters Centerline goodness [0,1] 0.24858253861360324 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 9.99913611e-01 9.99387567e-04 -1.31061762e-02 7.46167221e-01] [-1.01665494e-03 9.99998624e-01 -1.31090291e-03 -5.67889023e-02] [ 1.31048481e-02 1.32411412e-03 9.99913251e-01 7.20818162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.022557844 meters Centerline goodness [0,1] 0.2471415815493172 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 0.99991447 0.00103631 -0.01303783 0.74571526] [-0.00105109 0.99999881 -0.00112657 -0.05768935] [ 0.01303665 0.00114018 0.99991437 0.72131105] [ 0. 0. 0. 1. ]] SLAMing on 106.052557844 meters Centerline goodness [0,1] 0.25123930686554063 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 9.99913855e-01 1.05072011e-03 -1.30835082e-02 7.45585670e-01] [-1.06355207e-03 9.99998960e-01 -9.73854279e-04 -5.85109208e-02] [ 1.30824714e-02 9.87685379e-04 9.99913933e-01 7.21752756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08255784400001 meters Centerline goodness [0,1] 0.2505146511322325 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 9.99911810e-01 1.08398079e-03 -1.32362087e-02 7.45909838e-01] [-1.09376706e-03 9.99999134e-01 -7.32139437e-04 -5.98349914e-02] [ 1.32354036e-02 7.46552198e-04 9.99912130e-01 7.21857929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11255784400001 meters Centerline goodness [0,1] 0.24679949316205707 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 9.99904430e-01 1.11805056e-03 -1.37797357e-02 7.47576385e-01] [-1.12256030e-03 9.99999319e-01 -3.19542512e-04 -6.21504018e-02] [ 1.37793690e-02 3.34980557e-04 9.99905004e-01 7.21316056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14255784400001 meters Centerline goodness [0,1] 0.24467279610600323 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 9.99901658e-01 1.17336725e-03 -1.39748658e-02 7.48252566e-01] [-1.17558735e-03 9.99999298e-01 -1.50650048e-04 -6.30023102e-02] [ 1.39746792e-02 1.67063908e-04 9.99902335e-01 7.21029355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172557844 meters Centerline goodness [0,1] 0.24759714477880712 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 9.99901514e-01 1.24733428e-03 -1.39787771e-02 7.48217547e-01] [-1.24770489e-03 9.99999221e-01 -1.77914113e-05 -6.35378609e-02] [ 1.39787441e-02 3.52310477e-05 9.99902292e-01 7.21124629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202557844 meters Centerline goodness [0,1] 0.2503663844959205 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 9.99914383e-01 1.61549269e-03 -1.29852640e-02 7.45135996e-01] [-1.61191494e-03 9.99998660e-01 2.85984965e-04 -6.42148767e-02] [ 1.29857086e-02 -2.65029339e-04 9.99915647e-01 7.22281502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.232557844 meters Centerline goodness [0,1] 0.25128735531006563 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:0.72 [[ 9.99919240e-01 1.68423895e-03 -1.25966944e-02 7.44101921e-01] [-1.68185403e-03 9.99998566e-01 1.99920473e-04 -6.35106717e-02] [ 1.25970130e-02 -1.78718526e-04 9.99920639e-01 7.22398816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262557844 meters Centerline goodness [0,1] 0.2517395299986871 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:0.72 [[ 9.99919429e-01 1.67072089e-03 -1.25834849e-02 7.44413117e-01] [-1.67199484e-03 9.99998598e-01 -9.07200645e-05 -6.19322089e-02] [ 1.25833157e-02 1.11752277e-04 9.99920821e-01 7.21752968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.292557844 meters Centerline goodness [0,1] 0.24650077760497668 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 9.99915312e-01 1.72757391e-03 -1.28989840e-02 7.45712135e-01] [-1.73289944e-03 9.99998418e-01 -4.01698748e-04 -6.00019559e-02] [ 1.28982696e-02 4.24017371e-04 9.99916724e-01 7.20737887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322557844 meters Centerline goodness [0,1] 0.24469448487086476 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 9.99913492e-01 1.70697461e-03 -1.30420086e-02 7.46558317e-01] [-1.71726060e-03 9.99998223e-01 -7.77523683e-04 -5.79883189e-02] [ 1.30406582e-02 7.99852949e-04 9.99914647e-01 7.19834890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.352557844 meters Centerline goodness [0,1] 0.24548366710976488 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:0.72 [[ 0.99990957 0.00169321 -0.01334147 0.74758827] [-0.00171045 0.99999772 -0.00128087 -0.05547017] [ 0.01333927 0.00130357 0.99991018 0.71923437] [ 0. 0. 0. 1. ]] SLAMing on 106.382557844 meters Centerline goodness [0,1] 0.2506302242271461 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.06, Z:0.72 [[ 9.99867614e-01 7.64187176e-05 -1.62711257e-02 7.02312503e-01] [-8.76390895e-05 9.99999759e-01 -6.88876011e-04 -5.93102067e-02] [ 1.62710691e-02 6.90210800e-04 9.99867379e-01 7.21070439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.412557844 meters Centerline goodness [0,1] 0.2507556840583519 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.06, Z:0.72 [[ 9.99867673e-01 5.93521704e-05 -1.62675379e-02 7.02058501e-01] [-7.10787655e-05 9.99999738e-01 -7.20281407e-04 -5.90653149e-02] [ 1.62674909e-02 7.21342371e-04 9.99867415e-01 7.21437218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442557844 meters Centerline goodness [0,1] 0.2467330160103851 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:0.72 [[ 9.99855361e-01 -7.12739227e-03 -1.54420651e-02 7.21226239e-01] [ 7.13643630e-03 9.99974395e-01 5.30649720e-04 -5.36302225e-02] [ 1.54378876e-02 -6.40774282e-04 9.99880623e-01 7.23017973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47255784400001 meters Centerline goodness [0,1] 0.24868647670540012 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.06, Z:0.72 [[ 9.99858197e-01 -7.03864500e-03 -1.52984710e-02 7.20625937e-01] [ 7.05278853e-03 9.99974750e-01 8.70750373e-04 -5.51371017e-02] [ 1.52919559e-02 -9.78523779e-04 9.99882592e-01 7.23420525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50255784400001 meters Centerline goodness [0,1] 0.24920113810461808 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.06, Z:0.72 [[ 0.99985994 -0.00713489 -0.0151394 0.71992427] [ 0.00715377 0.9999737 0.0011929 -0.05723679] [ 0.01513049 -0.00130104 0.99988468 0.72409636] [ 0. 0. 0. 1. ]] SLAMing on 106.53255784400001 meters Centerline goodness [0,1] 0.24927869492591703 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:0.72 [[ 0.9999183 -0.00228662 -0.01257623 0.73811431] [ 0.00224962 0.9999931 -0.00295497 -0.06414549] [ 0.0125829 0.00292644 0.99991655 0.72424975] [ 0. 0. 0. 1. ]] SLAMing on 106.562557844 meters Centerline goodness [0,1] 0.2510909848468236 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.07, Z:0.72 [[ 0.99991574 -0.00226005 -0.01278285 0.73851885] [ 0.00222838 0.99999441 -0.00249116 -0.06659678] [ 0.0127884 0.00246247 0.99991519 0.72442577] [ 0. 0. 0. 1. ]] SLAMing on 106.592557844 meters Centerline goodness [0,1] 0.24982439195715167 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.07, Z:0.72 [[ 0.99990404 -0.00237677 -0.01364811 0.74069748] [ 0.00235036 0.99999533 -0.00195142 -0.06993835] [ 0.01365268 0.00191915 0.99990496 0.72441711] [ 0. 0. 0. 1. ]] SLAMing on 106.622557844 meters Centerline goodness [0,1] 0.24466731370645967 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:0.72 [[ 0.999903 -0.00138481 -0.01385931 0.7844761 ] [ 0.0013431 0.99999454 -0.0030184 -0.06980131] [ 0.01386342 0.00299949 0.9998994 0.72491325] [ 0. 0. 0. 1. ]] SLAMing on 106.652557844 meters Centerline goodness [0,1] 0.2492299568775851 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:0.73 [[ 0.99985195 -0.00333908 -0.01687971 0.7407226 ] [ 0.00329897 0.99999167 -0.0024032 -0.07522123] [ 0.0168876 0.00234715 0.99985464 0.7258413 ] [ 0. 0. 0. 1. ]] SLAMing on 106.682557844 meters Centerline goodness [0,1] 0.24873129757634094 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:0.73 [[ 0.99985244 -0.00316409 -0.01688464 0.74057492] [ 0.00313125 0.99999316 -0.00197073 -0.07712418] [ 0.01689076 0.00191757 0.9998555 0.72613053] [ 0. 0. 0. 1. ]] SLAMing on 106.712557844 meters Centerline goodness [0,1] 0.2491604661881872 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:0.73 [[ 0.99985824 -0.00281544 -0.01660023 0.73930696] [ 0.00279503 0.99999531 -0.00125219 -0.0800377 ] [ 0.01660368 0.00120561 0.99986142 0.72712528] [ 0. 0. 0. 1. ]] SLAMing on 106.742557844 meters Centerline goodness [0,1] 0.2472806067172264 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:0.73 [[ 0.99987768 0.00460264 -0.01494771 0.76076263] [-0.00466417 0.99998078 -0.00408399 -0.08249152] [ 0.01492863 0.00415321 0.99987994 0.72642297] [ 0. 0. 0. 1. ]] SLAMing on 106.772557844 meters Centerline goodness [0,1] 0.24706318244229886 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:0.73 [[ 0.99987423 0.00466969 -0.01515616 0.76141477] [-0.004728 0.99998155 -0.00381356 -0.08414874] [ 0.01513807 0.00388474 0.99987787 0.72627382] [ 0. 0. 0. 1. ]] SLAMing on 106.802557844 meters Centerline goodness [0,1] 0.2443814756332331 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:0.73 [[ 0.99987012 0.00474077 -0.01540367 0.76223219] [-0.00479706 0.99998194 -0.00361928 -0.08520699] [ 0.01538624 0.0036927 0.99987481 0.72598718] [ 0. 0. 0. 1. ]] SLAMing on 106.83255784400001 meters Centerline goodness [0,1] 0.24964106641927863 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:0.73 [[ 9.99805349e-01 5.28203160e-03 -1.90095920e-02 7.19789982e-01] [-5.29828964e-03 9.99985640e-01 -8.04991815e-04 -9.20088135e-02] [ 1.90050670e-02 9.05553447e-04 9.99818977e-01 7.26845716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86255784400001 meters Centerline goodness [0,1] 0.24239607427743792 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:0.73 [[ 0.99982859 0.00723143 -0.01704411 0.76419257] [-0.0072567 0.99997266 -0.00142119 -0.0908962 ] [ 0.01703337 0.00154463 0.99985373 0.72631999] [ 0. 0. 0. 1. ]] SLAMing on 106.89255784400001 meters Centerline goodness [0,1] 0.24954943074420854 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.10, Z:0.73 [[ 9.99785675e-01 5.52768755e-03 -1.99511740e-02 7.19026233e-01] [-5.54129919e-03 9.99984450e-01 -6.27028576e-04 -9.66835825e-02] [ 1.99473978e-02 7.37449612e-04 9.99800759e-01 7.28373590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922557844 meters Centerline goodness [0,1] 0.24929667944088785 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.10, Z:0.73 [[ 9.99786026e-01 5.73375112e-03 -1.98752466e-02 7.18532329e-01] [-5.73663598e-03 9.99983541e-01 -8.81365072e-05 -9.93116891e-02] [ 1.98744141e-02 2.02134703e-04 9.99802464e-01 7.28979877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.952557844 meters Centerline goodness [0,1] 0.2483515048638767 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:0.73 [[ 0.99982886 -0.00158 -0.01843233 0.73891499] [ 0.00160147 0.99999806 0.00114989 -0.10143596] [ 0.01843048 -0.00117921 0.99982945 0.72942469] [ 0. 0. 0. 1. ]] SLAMing on 106.982557844 meters Centerline goodness [0,1] 0.2490118577075099 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:0.73 [[ 0.99982942 -0.00130585 -0.01842348 0.73881126] [ 0.00133972 0.99999743 0.00182629 -0.10451926] [ 0.01842105 -0.00185066 0.99982861 0.72958316] [ 0. 0. 0. 1. ]] SLAMing on 107.012557844 meters Centerline goodness [0,1] 0.24619300382875042 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:0.73 [[ 0.99982961 -0.00104075 -0.0184303 0.73872468] [ 0.00108779 0.99999618 0.00254242 -0.10791558] [ 0.01842758 -0.00256204 0.99982692 0.72979883] [ 0. 0. 0. 1. ]] SLAMing on 107.042557844 meters Centerline goodness [0,1] 0.24533483252967758 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:0.73 [[ 9.99828502e-01 -7.71484927e-04 -1.85033052e-02 7.38689181e-01] [ 8.33108305e-04 9.99994132e-01 3.32292137e-03 -1.11754753e-01] [ 1.85006331e-02 -3.33776675e-03 9.99823277e-01 7.30261971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.072557844 meters Centerline goodness [0,1] 0.24310337360876533 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:0.73 [[ 9.99825725e-01 -4.82555393e-04 -1.86624307e-02 7.38871837e-01] [ 5.60422261e-04 9.99991159e-01 4.16738141e-03 -1.15933923e-01] [ 1.86602547e-02 -4.17711398e-03 9.99817157e-01 7.30723288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102557844 meters Centerline goodness [0,1] 0.2429141071236125 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:0.73 [[ 9.99816674e-01 4.84395592e-05 -1.91472434e-02 7.39912528e-01] [ 5.78935676e-05 9.99984581e-01 5.55284979e-03 -1.22705461e-01] [ 1.91472171e-02 -5.55294031e-03 9.99801255e-01 7.31155477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.132557844 meters Centerline goodness [0,1] 0.24964176274773486 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.73 [[ 0.99975409 -0.00163007 -0.02211584 0.69688783] [ 0.00178437 0.9999742 0.00695876 -0.12922302] [ 0.02210393 -0.00699651 0.9997312 0.73159308] [ 0. 0. 0. 1. ]] SLAMing on 107.162557844 meters Centerline goodness [0,1] 0.24551432802020734 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.73 [[ 0.99974765 0.0064489 -0.0215184 0.71935969] [-0.0063522 0.99996943 0.00455934 -0.13225828] [ 0.02154715 -0.0044215 0.99975806 0.73069197] [ 0. 0. 0. 1. ]] SLAMing on 107.192557844 meters Centerline goodness [0,1] 0.24428580643774056 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.73 [[ 0.99974174 0.00657151 -0.0217549 0.72032783] [-0.00646627 0.99996707 0.00490441 -0.1346157 ] [ 0.02178642 -0.00476247 0.9997513 0.7302823 ] [ 0. 0. 0. 1. ]] SLAMing on 107.22255784400001 meters Centerline goodness [0,1] 0.2424111389777739 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99974394 0.00667866 -0.02162074 0.72013348] [-0.0065704 0.99996554 0.00507428 -0.13529426] [ 0.02165388 -0.00493093 0.99975337 0.73002326] [ 0. 0. 0. 1. ]] SLAMing on 107.25255784400001 meters Centerline goodness [0,1] 0.24033035694981952 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99974755 0.00674819 -0.02143144 0.71981126] [-0.0066398 0.99996483 0.00512431 -0.13521083] [ 0.02146526 -0.00498072 0.99975719 0.72973762] [ 0. 0. 0. 1. ]] SLAMing on 107.28255784400001 meters Centerline goodness [0,1] 0.24350133779991734 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99974882 0.00679726 -0.02135623 0.71977471] [-0.00668832 0.99996428 0.00516833 -0.13522158] [ 0.0213906 -0.00502419 0.99975857 0.72947005] [ 0. 0. 0. 1. ]] SLAMing on 107.312557844 meters Centerline goodness [0,1] 0.24106078018951793 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99977376 0.00322144 -0.02102523 0.71897865] [-0.00319239 0.9999939 0.00141504 -0.13526545] [ 0.02102966 -0.0013476 0.99977794 0.72923874] [ 0. 0. 0. 1. ]] SLAMing on 107.342557844 meters Centerline goodness [0,1] 0.24836103064491544 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99977326 0.00329078 -0.02103805 0.71869306] [-0.00325677 0.99999333 0.00165088 -0.13653112] [ 0.02104334 -0.00158199 0.99977731 0.7297963 ] [ 0. 0. 0. 1. ]] SLAMing on 107.372557844 meters Centerline goodness [0,1] 0.24172285615491007 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99977425 0.0033435 -0.02098252 0.71841436] [-0.00330608 0.99999288 0.00181772 -0.13735369] [ 0.02098845 -0.00174794 0.99977819 0.7300299 ] [ 0. 0. 0. 1. ]] SLAMing on 107.402557844 meters Centerline goodness [0,1] 0.24170830461750514 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99977598 0.00336384 -0.02089656 0.71818331] [-0.00332565 0.99999274 0.00186207 -0.13746838] [ 0.02090267 -0.00179216 0.99977991 0.73002462] [ 0. 0. 0. 1. ]] SLAMing on 107.432557844 meters Centerline goodness [0,1] 0.24170830461750514 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99977598 0.00336384 -0.02089656 0.71818331] [-0.00332565 0.99999274 0.00186207 -0.13746838] [ 0.02090267 -0.00179216 0.99977991 0.73002462] [ 0. 0. 0. 1. ]] SLAMing on 107.462557844 meters Centerline goodness [0,1] 0.24647443558375526 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99977662 0.00334389 -0.02086923 0.71807429] [-0.00330883 0.99999306 0.00171409 -0.13646656] [ 0.02087482 -0.00164465 0.99978074 0.73006971] [ 0. 0. 0. 1. ]] SLAMing on 107.492557844 meters Centerline goodness [0,1] 0.24497669881868434 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99977132 0.00325663 -0.02113523 0.71879756] [-0.00322482 0.99999362 0.00153889 -0.13580548] [ 0.02114011 -0.00147038 0.99977544 0.73003284] [ 0. 0. 0. 1. ]] SLAMing on 107.522557844 meters Centerline goodness [0,1] 0.24707239562927164 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99976723 0.00314474 -0.02134492 0.71962507] [-0.00311687 0.99999425 0.00133862 -0.13514342] [ 0.02134901 -0.00127178 0.99977128 0.72952594] [ 0. 0. 0. 1. ]] SLAMing on 107.552557844 meters Centerline goodness [0,1] 0.2429007072258148 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.73 [[ 0.9997629 0.0030152 -0.02156492 0.72094709] [-0.0029919 0.99999491 0.00111275 -0.13427208] [ 0.02156817 -0.00104796 0.99976683 0.72821939] [ 0. 0. 0. 1. ]] SLAMing on 107.58255784400001 meters Centerline goodness [0,1] 0.24405292085768282 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.73 [[ 0.99976421 0.00302612 -0.02150272 0.72076137] [-0.00300121 0.99999479 0.00119051 -0.1347306 ] [ 0.02150621 -0.0011257 0.99976808 0.72822247] [ 0. 0. 0. 1. ]] SLAMing on 107.61255784400001 meters Centerline goodness [0,1] 0.24724081184860125 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99976621 0.00308638 -0.02140077 0.72003588] [-0.00305593 0.99999427 0.00145509 -0.13603305] [ 0.02140514 -0.00138935 0.99976992 0.72901967] [ 0. 0. 0. 1. ]] SLAMing on 107.64255784400001 meters Centerline goodness [0,1] 0.2457826598666144 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99976456 0.00302912 -0.02148579 0.71965315] [-0.00299225 0.999994 0.00174765 -0.13789765] [ 0.02149096 -0.00168295 0.99976763 0.73006701] [ 0. 0. 0. 1. ]] SLAMing on 107.672557844 meters Centerline goodness [0,1] 0.24695095200491357 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:0.73 [[ 0.99976529 0.00304375 -0.02144979 0.71908699] [-0.00299849 0.99999321 0.0021416 -0.14003166] [ 0.02145616 -0.00207678 0.99976763 0.73093372] [ 0. 0. 0. 1. ]] SLAMing on 107.702557844 meters Centerline goodness [0,1] 0.2477503976294747 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:0.73 [[ 0.99978097 -0.0045389 -0.02043084 0.73916022] [ 0.00460934 0.99998359 0.00340217 -0.13945554] [ 0.02041506 -0.0034956 0.99978548 0.73223566] [ 0. 0. 0. 1. ]] SLAMing on 107.732557844 meters Centerline goodness [0,1] 0.24441952250523002 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 0.99980976 0.00404352 -0.01908121 0.75952543] [-0.00401531 0.99999079 0.00151646 -0.14280951] [ 0.01908716 -0.00143955 0.99981679 0.73173801] [ 0. 0. 0. 1. ]] SLAMing on 107.762557844 meters Centerline goodness [0,1] 0.24163786920519004 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 0.99980726 0.0040606 -0.01920825 0.76004536] [-0.00403095 0.99999062 0.00158201 -0.14324699] [ 0.0192145 -0.00150428 0.99981425 0.73142048] [ 0. 0. 0. 1. ]] SLAMing on 107.792557844 meters Centerline goodness [0,1] 0.24711754320960744 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 0.99980282 0.00395302 -0.01946033 0.76108832] [-0.00392766 0.99999139 0.00134117 -0.14232317] [ 0.01946547 -0.00126447 0.99980973 0.73079089] [ 0. 0. 0. 1. ]] SLAMing on 107.822557844 meters Centerline goodness [0,1] 0.2476933529115256 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 9.99798440e-01 3.96877418e-03 -1.96806482e-02 7.62145540e-01] [-3.95378587e-03 9.99991863e-01 8.00428171e-04 -1.39239243e-01] [ 1.96836648e-02 -7.22453768e-04 9.99805997e-01 7.29813839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.852557844 meters Centerline goodness [0,1] 0.24701230036485988 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 9.99798817e-01 3.88528234e-03 -1.96781830e-02 7.62335080e-01] [-3.87691610e-03 9.99992377e-01 4.63284542e-04 -1.37468391e-01] [ 1.96798330e-02 -3.86900673e-04 9.99806258e-01 7.29437652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.882557844 meters Centerline goodness [0,1] 0.2402275567814507 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 9.99800498e-01 3.83247279e-03 -1.96029882e-02 7.62201994e-01] [-3.82960727e-03 9.99992650e-01 1.83715210e-04 -1.35903664e-01] [ 1.96035482e-02 -1.08606812e-04 9.99807826e-01 7.29305848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.912557844 meters Centerline goodness [0,1] 0.243455837739447 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:0.73 [[ 9.99805014e-01 3.74417051e-03 -1.93885551e-02 7.61596832e-01] [-3.74692099e-03 9.99992975e-01 -1.05535938e-04 -1.34449983e-01] [ 1.93880238e-02 1.78162744e-04 9.99812019e-01 7.29408285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.942557844 meters Centerline goodness [0,1] 0.24616489326979563 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:0.73 [[ 9.99819800e-01 3.69721957e-03 -1.86198192e-02 7.59111275e-01] [-3.70731908e-03 9.99992999e-01 -5.07917751e-04 -1.32228843e-01] [ 1.86178109e-02 5.76855835e-04 9.99826507e-01 7.30308005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97255784400001 meters Centerline goodness [0,1] 0.24577192295987127 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:0.73 [[ 9.99826098e-01 3.60158791e-03 -1.82975926e-02 7.58139289e-01] [-3.61849293e-03 9.99993056e-01 -8.90869207e-04 -1.30092689e-01] [ 1.82942570e-02 9.56923992e-04 9.99832188e-01 7.30522803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00255784400001 meters Centerline goodness [0,1] 0.24601972830319285 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:0.73 [[ 0.99983215 0.00353133 -0.01797775 0.75737725] [-0.00355517 0.99999284 -0.00129438 -0.12749863] [ 0.01797305 0.00135808 0.99983755 0.73034781] [ 0. 0. 0. 1. ]] SLAMing on 108.03255784400001 meters Centerline goodness [0,1] 0.24422951532275594 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:0.73 [[ 0.99983587 0.0033355 -0.01780749 0.75736626] [-0.00337058 0.99999244 -0.00194045 -0.12379458] [ 0.01780088 0.00200016 0.99983955 0.72961388] [ 0. 0. 0. 1. ]] SLAMing on 108.062557844 meters Centerline goodness [0,1] 0.24605500206203468 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:0.73 [[ 0.99983357 0.00323152 -0.01795537 0.75760076] [-0.00326868 0.99999258 -0.00204079 -0.12366236] [ 0.01794864 0.00209915 0.99983671 0.72988062] [ 0. 0. 0. 1. ]] SLAMing on 108.092557844 meters Centerline goodness [0,1] 0.24446861742630266 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:0.73 [[ 0.9998321 0.00316964 -0.01804798 0.75751959] [-0.00320578 0.99999291 -0.00197396 -0.12441259] [ 0.01804159 0.00203148 0.99983517 0.73038516] [ 0. 0. 0. 1. ]] SLAMing on 108.122557844 meters Centerline goodness [0,1] 0.2438710521723958 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:0.73 [[ 0.99983169 0.00316234 -0.01807172 0.75733324] [-0.00319678 0.99999313 -0.00187758 -0.12490852] [ 0.01806565 0.00193503 0.99983493 0.730762 ] [ 0. 0. 0. 1. ]] SLAMing on 108.152557844 meters Centerline goodness [0,1] 0.2506494650169522 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:0.73 [[ 0.99982608 0.003087 -0.01839218 0.75843169] [-0.00312052 0.99999352 -0.00179398 -0.12529798] [ 0.01838652 0.00185106 0.99982924 0.73014542] [ 0. 0. 0. 1. ]] SLAMing on 108.182557844 meters Centerline goodness [0,1] 0.24607067338085586 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:0.73 [[ 0.99981932 -0.00418641 -0.01854175 0.778827 ] [ 0.00416574 0.99999066 -0.00115347 -0.12118324] [ 0.0185464 0.00107602 0.99982742 0.73123719] [ 0. 0. 0. 1. ]] SLAMing on 108.212557844 meters Centerline goodness [0,1] 0.24430876580898386 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:0.73 [[ 9.99818393e-01 -4.11786983e-03 -1.86070797e-02 7.78587714e-01] [ 4.10202617e-03 9.99991191e-01 -8.89572281e-04 -1.22554768e-01] [ 1.86105789e-02 8.13084001e-04 9.99826478e-01 7.31935121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.242557844 meters Centerline goodness [0,1] 0.2488446498400284 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:0.73 [[ 9.99842135e-01 7.00959748e-04 -1.77542812e-02 7.53850631e-01] [-7.65143941e-04 9.99993196e-01 -3.60860409e-03 -1.26875318e-01] [ 1.77516309e-02 3.62161900e-03 9.99835868e-01 7.32697653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.272557844 meters Centerline goodness [0,1] 0.2452000775745038 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:0.73 [[ 0.99988648 0.00157705 -0.01498451 0.79765105] [-0.00165162 0.99998631 -0.00496559 -0.12517094] [ 0.01497647 0.00498977 0.9998754 0.73206875] [ 0. 0. 0. 1. ]] SLAMing on 108.302557844 meters Centerline goodness [0,1] 0.24301802286772467 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:0.73 [[ 0.99988255 0.00161871 -0.01524023 0.79863754] [-0.00169174 0.99998714 -0.00478049 -0.1262062 ] [ 0.0152323 0.00480571 0.99987243 0.73151008] [ 0. 0. 0. 1. ]] SLAMing on 108.33255784400001 meters Centerline goodness [0,1] 0.24937326824119277 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:0.73 [[ 9.99826643e-01 -3.78865737e-04 -1.86156225e-02 7.56150245e-01] [ 3.07577866e-04 9.99992610e-01 -3.83217869e-03 -1.30898483e-01] [ 1.86169368e-02 3.82578860e-03 9.99819370e-01 7.32000194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36255784400001 meters Centerline goodness [0,1] 0.24372105160153956 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:0.73 [[ 9.99812055e-01 -4.08126853e-04 -1.93826617e-02 7.58132139e-01] [ 3.39863008e-04 9.99993729e-01 -3.52506597e-03 -1.33304537e-01] [ 1.93839788e-02 3.51781600e-03 9.99805924e-01 7.31956115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39255784400001 meters Centerline goodness [0,1] 0.2401454639911682 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:0.73 [[ 9.99812057e-01 -2.88669539e-04 -1.93847312e-02 7.57927425e-01] [ 2.25816580e-04 9.99994711e-01 -3.24450581e-03 -1.34575410e-01] [ 1.93855653e-02 3.23951863e-03 9.99806834e-01 7.32316939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422557844 meters Centerline goodness [0,1] 0.2447044362008034 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:0.73 [[ 0.99982289 0.00639516 -0.01770012 0.73797038] [-0.00646153 0.9999723 -0.00369489 -0.14083952] [ 0.017676 0.0038086 0.99983651 0.73058124] [ 0. 0. 0. 1. ]] SLAMing on 108.452557844 meters Centerline goodness [0,1] 0.24476445537164682 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:0.73 [[ 0.99982553 0.00647293 -0.01752163 0.73735752] [-0.00653581 0.9999724 -0.00353418 -0.14150538] [ 0.01749827 0.00364808 0.99984024 0.73086688] [ 0. 0. 0. 1. ]] SLAMing on 108.482557844 meters Centerline goodness [0,1] 0.24207011686143576 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 9.99849899e-01 -8.30871532e-04 -1.73057436e-02 7.57814812e-01] [ 7.79064562e-04 9.99995196e-01 -3.00015519e-03 -1.38115728e-01] [ 1.73081532e-02 2.98622257e-03 9.99845743e-01 7.31229762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.512557844 meters Centerline goodness [0,1] 0.24662741134595945 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:0.73 [[ 0.99983126 0.00628464 -0.01726153 0.73820719] [-0.00634734 0.99997345 -0.00357973 -0.14465796] [ 0.01723857 0.00368869 0.9998446 0.72969471] [ 0. 0. 0. 1. ]] SLAMing on 108.542557844 meters Centerline goodness [0,1] 0.2441337993010484 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 9.99851789e-01 -8.73673811e-04 -1.71940871e-02 7.58350021e-01] [ 8.22770261e-04 9.99995259e-01 -2.96737776e-03 -1.40843812e-01] [ 1.71965981e-02 2.95279117e-03 9.99847767e-01 7.30543764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.572557844 meters Centerline goodness [0,1] 0.24364024111592275 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 9.99849821e-01 -7.85025781e-04 -1.73124082e-02 7.58521374e-01] [ 7.38181794e-04 9.99996050e-01 -2.71202856e-03 -1.42192012e-01] [ 1.73144688e-02 2.69884157e-03 9.99846451e-01 7.30780658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.602557844 meters Centerline goodness [0,1] 0.24706425649821873 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:0.73 [[ 9.99851625e-01 -5.90243575e-04 -1.72156705e-02 7.57955957e-01] [ 5.52355404e-04 9.99997415e-01 -2.20546743e-03 -1.44624648e-01] [ 1.72169278e-02 2.19563103e-03 9.99849367e-01 7.31324802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.632557844 meters Centerline goodness [0,1] 0.24383984689328198 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.73 [[ 9.99834578e-01 -7.51765517e-03 -1.65620448e-02 7.77286901e-01] [ 7.50247258e-03 9.99971377e-01 -9.78652536e-04 -1.40833141e-01] [ 1.65689279e-02 8.54234359e-04 9.99862361e-01 7.32664706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.662557844 meters Centerline goodness [0,1] 0.24651345511687295 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.73 [[ 9.99836846e-01 -7.38078055e-03 -1.64864985e-02 7.77106248e-01] [ 7.37108420e-03 9.99972623e-01 -6.48828225e-04 -1.42199206e-01] [ 1.64908360e-02 5.27198998e-04 9.99863878e-01 7.32584967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.692557844 meters Centerline goodness [0,1] 0.246901143182515 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.73 [[ 9.99838017e-01 -7.23908535e-03 -1.64783543e-02 7.77049747e-01] [ 7.23514426e-03 9.99973781e-01 -2.98771530e-04 -1.43701158e-01] [ 1.64800851e-02 1.79499863e-04 9.99864178e-01 7.32614748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72255784400001 meters Centerline goodness [0,1] 0.23885746121539386 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.73 [[ 0.99987094 -0.0059416 -0.01492632 0.82289886] [ 0.00591642 0.999981 -0.00173091 -0.14242156] [ 0.01493632 0.00164238 0.9998871 0.7313413 ] [ 0. 0. 0. 1. ]] SLAMing on 108.75255784400001 meters Centerline goodness [0,1] 0.24516807643423766 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:0.73 [[ 9.99799839e-01 -7.82238798e-03 -1.84144434e-02 7.79150819e-01] [ 7.80636895e-03 9.99969086e-01 -9.41638091e-04 -1.45548564e-01] [ 1.84212400e-02 7.97699673e-04 9.99829996e-01 7.32769644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78255784400001 meters Centerline goodness [0,1] 0.24201575212047777 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:0.73 [[ 0.99984263 0.00144402 -0.01768151 0.79940578] [-0.00148704 0.99999597 -0.00242037 -0.14712136] [ 0.01767794 0.00244628 0.99984074 0.73313628] [ 0. 0. 0. 1. ]] SLAMing on 108.812557844 meters Centerline goodness [0,1] 0.24548562412342212 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:0.73 [[ 0.99984528 0.00136271 -0.01753733 0.79928848] [-0.00141133 0.9999952 -0.00275985 -0.14527813] [ 0.01753348 0.00278417 0.9998424 0.73271043] [ 0. 0. 0. 1. ]] SLAMing on 108.842557844 meters Centerline goodness [0,1] 0.24466876420206263 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:0.73 [[ 0.99985301 0.00138043 -0.01708948 0.79819371] [-0.00143299 0.99999428 -0.0030634 -0.14331708] [ 0.01708515 0.00308744 0.99984927 0.7326626 ] [ 0. 0. 0. 1. ]] SLAMing on 108.872557844 meters Centerline goodness [0,1] 0.24456948442816018 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:0.73 [[ 0.99987335 0.00153161 -0.01584092 0.79479309] [-0.00158884 0.99999226 -0.00360065 -0.13955835] [ 0.01583528 0.00362536 0.99986804 0.73309933] [ 0. 0. 0. 1. ]] SLAMing on 108.902557844 meters Centerline goodness [0,1] 0.24539984302781892 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:0.73 [[ 0.99987754 0.0014254 -0.01558465 0.79408934] [-0.00148917 0.99999056 -0.00408126 -0.13708522] [ 0.01557869 0.00410397 0.99987022 0.73318617] [ 0. 0. 0. 1. ]] SLAMing on 108.932557844 meters Centerline goodness [0,1] 0.24254262896611267 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 0.99987886 0.00128059 -0.0155122 0.79397971] [-0.00135211 0.9999885 -0.00460047 -0.13441854] [ 0.01550613 0.00462089 0.9998691 0.73299176] [ 0. 0. 0. 1. ]] SLAMing on 108.962557844 meters Centerline goodness [0,1] 0.24628063326827154 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 0.99987861 0.00107422 -0.01554373 0.79446444] [-0.00115476 0.99998595 -0.00517319 -0.13160158] [ 0.01553796 0.00519051 0.99986581 0.73227964] [ 0. 0. 0. 1. ]] SLAMing on 108.992557844 meters Centerline goodness [0,1] 0.2458906624619306 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 9.99878651e-01 9.90302340e-04 -1.55468127e-02 7.94497517e-01] [-1.07249348e-03 9.99985490e-01 -5.27924044e-03 -1.31373351e-01] [ 1.55413590e-02 5.29527366e-03 9.99865204e-01 7.32213086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022557844 meters Centerline goodness [0,1] 0.2449459230082911 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 9.99878637e-01 9.60603823e-04 -1.55495584e-02 7.94270066e-01] [-1.04308476e-03 9.99985426e-01 -5.29715012e-03 -1.31398577e-01] [ 1.55442434e-02 5.31272675e-03 9.99865067e-01 7.32600692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.052557844 meters Centerline goodness [0,1] 0.24799964925356777 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 9.99878222e-01 9.37491527e-04 -1.55776229e-02 7.94114641e-01] [-1.02084348e-03 9.99985201e-01 -5.34365939e-03 -1.31119348e-01] [ 1.55723828e-02 5.35891097e-03 9.99864382e-01 7.32942404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08255784400001 meters Centerline goodness [0,1] 0.24757037716482122 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:0.73 [[ 9.99874415e-01 8.03246643e-04 -1.58274915e-02 7.95100251e-01] [-8.91665820e-04 9.99984033e-01 -5.58016552e-03 -1.29938680e-01] [ 1.58227565e-02 5.59357757e-03 9.99859166e-01 7.32257010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11255784400001 meters Centerline goodness [0,1] 0.24708727192789626 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:0.73 [[ 9.99870557e-01 7.15679537e-04 -1.60734599e-02 7.95989548e-01] [-8.07399841e-04 9.99983426e-01 -5.70055575e-03 -1.29619618e-01] [ 1.60691138e-02 5.71279556e-03 9.99854563e-01 7.31784410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14255784400001 meters Centerline goodness [0,1] 0.24091745104403328 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:0.73 [[ 0.99984189 -0.00647009 -0.01656273 0.81599366] [ 0.00638132 0.99996502 -0.00540724 -0.12465596] [ 0.01659714 0.00530069 0.99984821 0.73302936] [ 0. 0. 0. 1. ]] SLAMing on 109.172557844 meters Centerline goodness [0,1] 0.24705417681521957 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 9.99885587e-01 8.58505551e-04 -1.51021904e-02 7.93735625e-01] [-9.38295378e-04 9.99985636e-01 -5.27703611e-03 -1.30597251e-01] [ 1.50974432e-02 5.29060267e-03 9.99872030e-01 7.33456792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202557844 meters Centerline goodness [0,1] 0.2498195735374522 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 9.99889732e-01 9.87556910e-04 -1.48171804e-02 7.92450783e-01] [-1.06196184e-03 9.99986863e-01 -5.01450373e-03 -1.31474292e-01] [ 1.48120337e-02 5.02968607e-03 9.99877645e-01 7.34450271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.232557844 meters Centerline goodness [0,1] 0.2458558148605604 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:0.74 [[ 0.99988406 -0.00599843 -0.01399589 0.8113377 ] [ 0.00594625 0.99997523 -0.00376643 -0.12767082] [ 0.01401813 0.00368277 0.99989496 0.73622664] [ 0. 0. 0. 1. ]] SLAMing on 109.262557844 meters Centerline goodness [0,1] 0.24890494962768284 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 9.99911371e-01 8.19255059e-04 -1.32882992e-02 7.92771949e-01] [-8.78396857e-04 9.99989733e-01 -4.44544162e-03 -1.34342448e-01] [ 1.32845208e-02 4.45672002e-03 9.99901825e-01 7.34146707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.292557844 meters Centerline goodness [0,1] 0.2478387438249824 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 9.99910647e-01 7.62376903e-04 -1.33460251e-02 7.93484153e-01] [-8.23492681e-04 9.99989198e-01 -4.57442806e-03 -1.34171517e-01] [ 1.33423935e-02 4.58500967e-03 9.99900474e-01 7.33288931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.322557844 meters Centerline goodness [0,1] 0.2478387438249824 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 9.99910647e-01 7.62376903e-04 -1.33460251e-02 7.93484153e-01] [-8.23492681e-04 9.99989198e-01 -4.57442806e-03 -1.34171517e-01] [ 1.33423935e-02 4.58500967e-03 9.99900474e-01 7.33288931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.352557844 meters Centerline goodness [0,1] 0.24333983105912926 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 0.99990692 -0.00379329 -0.01310583 0.8158253 ] [ 0.00377098 0.9999914 -0.00172688 -0.13063261] [ 0.01311227 0.0016773 0.99991262 0.73326905] [ 0. 0. 0. 1. ]] SLAMing on 109.382557844 meters Centerline goodness [0,1] 0.24821573665371022 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 0.99991107 0.00411625 -0.01268529 0.79372442] [-0.0041404 0.99998966 -0.00187836 -0.13475793] [ 0.01267742 0.00193072 0.99991777 0.73278039] [ 0. 0. 0. 1. ]] SLAMing on 109.412557844 meters Centerline goodness [0,1] 0.25686587740989564 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.73 [[ 0.99991133 0.00410126 -0.01266901 0.79376942] [-0.00412742 0.9999894 -0.00203908 -0.13381954] [ 0.01266052 0.00209118 0.99991767 0.73265367] [ 0. 0. 0. 1. ]] SLAMing on 109.442557844 meters Centerline goodness [0,1] 0.24252348530552448 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:0.73 [[ 0.99990067 0.00426753 -0.01343292 0.79630551] [-0.00429444 0.99998883 -0.00197448 -0.13391847] [ 0.01342435 0.00203197 0.99990782 0.73140001] [ 0. 0. 0. 1. ]] SLAMing on 109.47255784400001 meters Centerline goodness [0,1] 0.2433271799326746 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:0.73 [[ 0.99989823 0.0042979 -0.01360337 0.79705063] [-0.00432318 0.99998898 -0.00182888 -0.13484154] [ 0.01359536 0.0018875 0.9999058 0.7309042 ] [ 0. 0. 0. 1. ]] SLAMing on 109.50255784400001 meters Centerline goodness [0,1] 0.2433372960121042 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:0.73 [[ 0.99989629 0.00436432 -0.01372457 0.79723374] [-0.00438622 0.99998915 -0.00156576 -0.13630283] [ 0.01371759 0.0016258 0.99990459 0.73115808] [ 0. 0. 0. 1. ]] SLAMing on 109.53255784400001 meters Centerline goodness [0,1] 0.24322965618237857 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:0.73 [[ 0.99989653 0.00444485 -0.01368106 0.79659029] [-0.00446246 0.99998925 -0.0012565 -0.1378991 ] [ 0.01367532 0.00131742 0.99990562 0.73203199] [ 0. 0. 0. 1. ]] SLAMing on 109.562557844 meters Centerline goodness [0,1] 0.2441583729987019 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 9.99909065e-01 -2.54018517e-03 -1.32442315e-02 8.16093070e-01] [ 2.53586612e-03 9.99996726e-01 -3.42890952e-04 -1.32271720e-01] [ 1.32450591e-02 3.09274173e-04 9.99912233e-01 7.33134175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.592557844 meters Centerline goodness [0,1] 0.24494878402667997 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 9.99911766e-01 -2.51607509e-03 -1.30433816e-02 8.15681419e-01] [ 2.51159129e-03 9.99996781e-01 -3.60129673e-04 -1.31900801e-01] [ 1.30442457e-02 3.27338254e-04 9.99914867e-01 7.32933090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622557844 meters Centerline goodness [0,1] 0.24384913336074265 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:0.73 [[ 9.99915447e-01 -2.53571061e-03 -1.27541806e-02 8.14967446e-01] [ 2.52978953e-03 9.99996685e-01 -4.80358374e-04 -1.31077551e-01] [ 1.27553564e-02 4.48052366e-04 9.99918547e-01 7.32854027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.652557844 meters Centerline goodness [0,1] 0.2429122594069707 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 9.99914508e-01 -2.75662595e-03 -1.27819231e-02 8.15131679e-01] [ 2.74398859e-03 9.99995729e-01 -1.00612253e-03 -1.28747324e-01] [ 1.27846420e-02 9.70963061e-04 9.99917802e-01 7.32659872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.682557844 meters Centerline goodness [0,1] 0.24049704448375542 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 0.99991114 -0.00287361 -0.01301753 0.81587314] [ 0.002858 0.99999517 -0.00121765 -0.12788628] [ 0.01302096 0.00118034 0.99991453 0.73236059] [ 0. 0. 0. 1. ]] SLAMing on 109.712557844 meters Centerline goodness [0,1] 0.24634742029743995 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 0.99990796 -0.00297933 -0.01323642 0.81669811] [ 0.00296118 0.99999465 -0.00139076 -0.12716825] [ 0.01324049 0.00135143 0.99991143 0.73182959] [ 0. 0. 0. 1. ]] SLAMing on 109.742557844 meters Centerline goodness [0,1] 0.24550989677672785 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 0.9999048 -0.00304816 -0.01345745 0.81748973] [ 0.00302881 0.99999435 -0.0014578 -0.12688241] [ 0.01346182 0.0014169 0.99990838 0.73131726] [ 0. 0. 0. 1. ]] SLAMing on 109.772557844 meters Centerline goodness [0,1] 0.24353896317044887 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 0.99988963 -0.00363192 -0.01440606 0.82006453] [ 0.00360674 0.99999192 -0.00177304 -0.12699695] [ 0.01441238 0.00172088 0.99989466 0.73102498] [ 0. 0. 0. 1. ]] SLAMing on 109.802557844 meters Centerline goodness [0,1] 0.24355325948951445 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 0.99988649 -0.00373565 -0.01459618 0.8200756 ] [ 0.00371301 0.99999186 -0.00157802 -0.12849102] [ 0.01460195 0.00152365 0.99989222 0.73185099] [ 0. 0. 0. 1. ]] SLAMing on 109.83255784400001 meters Centerline goodness [0,1] 0.2449611726725417 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 0.99989039 -0.00374691 -0.01432363 0.81884145] [ 0.00372987 0.9999923 -0.00121674 -0.13042666] [ 0.01432808 0.00116318 0.99989667 0.73281931] [ 0. 0. 0. 1. ]] SLAMing on 109.86255784400001 meters Centerline goodness [0,1] 0.24055937981802789 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.73 [[ 9.99896996e-01 -3.63114292e-03 -1.38857129e-02 8.17082861e-01] [ 3.62161182e-03 9.99993189e-01 -7.11480405e-04 -1.32753966e-01] [ 1.38882018e-02 6.61118457e-04 9.99903336e-01 7.33927367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89255784400001 meters Centerline goodness [0,1] 0.2464385915309163 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:0.74 [[ 9.99911648e-01 -3.83206934e-03 -1.27283659e-02 8.13418594e-01] [ 3.83099610e-03 9.99992656e-01 -1.08699619e-04 -1.36941441e-01] [ 1.27286890e-02 5.99276948e-05 9.99918985e-01 7.35538836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922557844 meters Centerline goodness [0,1] 0.24179929600276417 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:0.74 [[ 9.99908400e-01 -3.71189068e-03 -1.30158972e-02 8.14037165e-01] [ 3.71654574e-03 9.99993038e-01 3.33474412e-04 -1.39381707e-01] [ 1.30145687e-02 -3.81818042e-04 9.99915234e-01 7.35743421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.952557844 meters Centerline goodness [0,1] 0.2450152958278189 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.74 [[ 9.99904112e-01 -3.58484909e-03 -1.33759184e-02 8.15015783e-01] [ 3.59486373e-03 9.99993276e-01 7.24739098e-04 -1.41422995e-01] [ 1.33732304e-02 -7.72754208e-04 9.99910276e-01 7.35644901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.982557844 meters Centerline goodness [0,1] 0.24296775033073803 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.74 [[ 0.99990129 -0.00343234 -0.01362467 0.81585593] [ 0.00344779 0.99999344 0.00111129 -0.14327808] [ 0.01362077 -0.00115815 0.99990656 0.73527556] [ 0. 0. 0. 1. ]] SLAMing on 110.012557844 meters Centerline goodness [0,1] 0.24483358712203607 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:0.74 [[ 0.99990799 -0.0029789 -0.01323374 0.8148027 ] [ 0.00300361 0.99999378 0.00184776 -0.14624373] [ 0.01322815 -0.00188734 0.99991072 0.73554939] [ 0. 0. 0. 1. ]] SLAMing on 110.042557844 meters Centerline goodness [0,1] 0.24457833946011787 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:0.74 [[ 0.99991396 -0.00274996 -0.01282585 0.81345223] [ 0.00277672 0.999994 0.00206957 -0.14692609] [ 0.01282009 -0.002105 0.9999156 0.73619389] [ 0. 0. 0. 1. ]] SLAMing on 110.072557844 meters Centerline goodness [0,1] 0.24883598348414304 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:0.74 [[ 0.99992394 -0.00240179 -0.01209766 0.81151548] [ 0.00242885 0.99999458 0.00222248 -0.1467742 ] [ 0.01209226 -0.0022517 0.99992435 0.7365367 ] [ 0. 0. 0. 1. ]] SLAMing on 110.102557844 meters Centerline goodness [0,1] 0.24293441661416815 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.15, Z:0.74 [[ 0.99987955 0.01023243 -0.01166965 0.83345813] [-0.01019547 0.99994283 0.00322253 -0.14559501] [ 0.01170196 -0.00310317 0.99992671 0.73618604] [ 0. 0. 0. 1. ]] SLAMing on 110.132557844 meters Centerline goodness [0,1] 0.24210071320510052 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:0.74 [[ 0.99987545 0.01060086 -0.01169188 0.83384759] [-0.01056742 0.9999399 0.00291837 -0.14291624] [ 0.01172211 -0.00279446 0.99992739 0.7354601 ] [ 0. 0. 0. 1. ]] SLAMing on 110.162557844 meters Centerline goodness [0,1] 0.24312185384481866 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:0.73 [[ 0.99987608 0.01088213 -0.01137546 0.83330741] [-0.01085417 0.99993792 0.00251694 -0.13994009] [ 0.01140215 -0.00239316 0.99993213 0.7349039 ] [ 0. 0. 0. 1. ]] SLAMing on 110.192557844 meters Centerline goodness [0,1] 0.24373873188956707 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:0.73 [[ 0.99988089 0.01099271 -0.01083312 0.83217087] [-0.01097185 0.99993784 0.00198256 -0.1366122 ] [ 0.01085424 -0.00186347 0.99993935 0.7343981 ] [ 0. 0. 0. 1. ]] SLAMing on 110.22255784400001 meters Centerline goodness [0,1] 0.24215169073769782 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.73 [[ 0.99987986 0.01133398 -0.0105739 0.83172849] [-0.01132025 0.999935 0.00135689 -0.13060481] [ 0.01058859 -0.00123703 0.99994317 0.73373223] [ 0. 0. 0. 1. ]] SLAMing on 110.25255784400001 meters Centerline goodness [0,1] 0.23841514455581547 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.73 [[ 9.99880577e-01 1.10774105e-02 -1.07760565e-02 8.32421717e-01] [-1.10693950e-02 9.99938410e-01 8.03190544e-04 -1.28151485e-01] [ 1.07842900e-02 -6.83810199e-04 9.99941614e-01 7.33403571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28255784400001 meters Centerline goodness [0,1] 0.24379056685417566 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.73 [[ 0.99992824 0.00115369 -0.01192433 0.81314998] [-0.00113387 0.99999797 0.00166802 -0.1227398 ] [ 0.01192623 -0.00165438 0.99992751 0.73243701] [ 0. 0. 0. 1. ]] SLAMing on 110.312557844 meters Centerline goodness [0,1] 0.24010605276771857 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.73 [[ 9.99927861e-01 9.92590596e-04 -1.19703086e-02 8.13151164e-01] [-9.75956958e-04 9.99998550e-01 1.39533606e-03 -1.21510132e-01] [ 1.19716763e-02 -1.38355289e-03 9.99927380e-01 7.32548875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.342557844 meters Centerline goodness [0,1] 0.24237982323776674 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.73 [[ 9.99934370e-01 5.63483273e-04 -1.14428348e-02 8.11287407e-01] [-5.52628676e-04 9.99999394e-01 9.51733048e-04 -1.19414738e-01] [ 1.14433642e-02 -9.45346946e-04 9.99934076e-01 7.33229069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.372557844 meters Centerline goodness [0,1] 0.24603279265022637 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.12, Z:0.73 [[ 0.9998987 -0.00192497 -0.01410234 0.76600043] [ 0.00194425 0.99999719 0.00135314 -0.12098321] [ 0.0140997 -0.00138042 0.99989964 0.73466383] [ 0. 0. 0. 1. ]] SLAMing on 110.402557844 meters Centerline goodness [0,1] 0.24584869842239632 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.12, Z:0.73 [[ 0.99989567 -0.00213499 -0.0142863 0.76655127] [ 0.00214984 0.99999716 0.00102467 -0.11967828] [ 0.01428407 -0.00105528 0.99989742 0.73449173] [ 0. 0. 0. 1. ]] SLAMing on 110.432557844 meters Centerline goodness [0,1] 0.2468692124525972 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.12, Z:0.73 [[ 9.99890974e-01 -2.47028294e-03 -1.45580897e-02 7.67324587e-01] [ 2.47701213e-03 9.99996834e-01 4.44217053e-04 -1.17256709e-01] [ 1.45569462e-02 -4.80229186e-04 9.99893927e-01 7.34186077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462557844 meters Centerline goodness [0,1] 0.2404635546409618 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.73 [[ 9.99924340e-01 -1.16701013e-03 -1.22455332e-02 8.08736218e-01] [ 1.15788809e-03 9.99999047e-01 -7.51991764e-04 -1.12740847e-01] [ 1.22463991e-02 7.37755911e-04 9.99924738e-01 7.34345466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.492557844 meters Centerline goodness [0,1] 0.24884205904950063 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.12, Z:0.73 [[ 0.99990839 0.00579344 -0.01223312 0.78925068] [-0.00581529 0.99998156 -0.00175125 -0.11738839] [ 0.01222275 0.00182223 0.99992364 0.73328781] [ 0. 0. 0. 1. ]] SLAMing on 110.522557844 meters Centerline goodness [0,1] 0.24621170708241313 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.12, Z:0.73 [[ 0.99990799 0.00567309 -0.01232183 0.78941136] [-0.00569653 0.99998203 -0.001868 -0.11704575] [ 0.01231101 0.00193802 0.99992234 0.73339295] [ 0. 0. 0. 1. ]] SLAMing on 110.552557844 meters Centerline goodness [0,1] 0.2461477763408807 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.12, Z:0.73 [[ 0.99990363 0.0054225 -0.01277984 0.79083364] [-0.00545017 0.99998288 -0.00213137 -0.11629036] [ 0.01276806 0.00220082 0.99991606 0.73282199] [ 0. 0. 0. 1. ]] SLAMing on 110.58255784400001 meters Centerline goodness [0,1] 0.24246176572818912 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.73 [[ 0.9999009 -0.00153812 -0.01399355 0.81072085] [ 0.00151277 0.9999972 -0.0018219 -0.11085189] [ 0.01399631 0.00180056 0.99990043 0.73394864] [ 0. 0. 0. 1. ]] SLAMing on 110.61255784400001 meters Centerline goodness [0,1] 0.2408781358107961 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.73 [[ 0.99990077 -0.0015823 -0.01399783 0.81081397] [ 0.00155464 0.99999682 -0.0019865 -0.11004914] [ 0.01400093 0.00196454 0.99990005 0.73378703] [ 0. 0. 0. 1. ]] SLAMing on 110.64255784400001 meters Centerline goodness [0,1] 0.24250368316145243 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.73 [[ 0.99990384 -0.00160926 -0.01377368 0.81008834] [ 0.00157944 0.99999639 -0.00217574 -0.10891863] [ 0.01377713 0.00215378 0.99990277 0.73402978] [ 0. 0. 0. 1. ]] SLAMing on 110.672557844 meters Centerline goodness [0,1] 0.24448217317487264 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.73 [[ 0.99990854 -0.0016036 -0.01342911 0.80892814] [ 0.00157166 0.99999591 -0.0023888 -0.10747913] [ 0.01343289 0.00236747 0.99990697 0.73452622] [ 0. 0. 0. 1. ]] SLAMing on 110.702557844 meters Centerline goodness [0,1] 0.24514158199189717 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.74 [[ 0.99991649 -0.0015292 -0.01283217 0.80695881] [ 0.00149405 0.99999511 -0.00274848 -0.10507431] [ 0.01283631 0.00272908 0.99991389 0.73531989] [ 0. 0. 0. 1. ]] SLAMing on 110.732557844 meters Centerline goodness [0,1] 0.2471393363260277 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:0.74 [[ 0.99987252 -0.00299894 -0.01568267 0.76188484] [ 0.002966 0.99999335 -0.00212307 -0.10588111] [ 0.01568893 0.00207628 0.99987477 0.73675564] [ 0. 0. 0. 1. ]] SLAMing on 110.762557844 meters Centerline goodness [0,1] 0.24344569288389517 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:0.74 [[ 9.99903848e-01 -5.39372206e-04 -1.38565189e-02 8.05560246e-01] [ 5.01474690e-04 9.99996125e-01 -2.73832440e-03 -1.00567952e-01] [ 1.38579422e-02 2.73111241e-03 9.99900244e-01 7.36181101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.792557844 meters Centerline goodness [0,1] 0.24721652185303233 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:0.74 [[ 9.99907942e-01 -6.16551335e-04 -1.35546043e-02 8.05015914e-01] [ 5.73705484e-04 9.99994828e-01 -3.16464249e-03 -9.82233661e-02] [ 1.35564853e-02 3.15657481e-03 9.99903124e-01 7.35777925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822557844 meters Centerline goodness [0,1] 0.24578454079092626 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.74 [[ 9.99922107e-01 -4.10222862e-04 -1.24744630e-02 8.02195856e-01] [ 3.66620999e-04 9.99993817e-01 -3.49737575e-03 -9.52239154e-02] [ 1.24758206e-02 3.49252993e-03 9.99916075e-01 7.35870072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.852557844 meters Centerline goodness [0,1] 0.2492547781869192 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.74 [[ 9.99924982e-01 -4.19400143e-04 -1.22415054e-02 8.01266409e-01] [ 3.75091442e-04 9.99993372e-01 -3.62161823e-03 -9.44261340e-02] [ 1.22429432e-02 3.61675486e-03 9.99918511e-01 7.36485619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.882557844 meters Centerline goodness [0,1] 0.25814668423364073 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.74 [[ 9.99926184e-01 -4.30290849e-04 -1.21425784e-02 8.00654533e-01] [ 3.85801410e-04 9.99993206e-01 -3.66602482e-03 -9.41757714e-02] [ 1.21440734e-02 3.66106959e-03 9.99919556e-01 7.37115530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.912557844 meters Centerline goodness [0,1] 0.24918916549789616 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.74 [[ 9.99923583e-01 -4.58748932e-04 -1.23538620e-02 8.00985161e-01] [ 4.13661876e-04 9.99993246e-01 -3.65194045e-03 -9.44062516e-02] [ 1.23554539e-02 3.64655106e-03 9.99917019e-01 7.37436426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.942557844 meters Centerline goodness [0,1] 0.2477473555913463 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.74 [[ 9.99921600e-01 -4.68340643e-04 -1.25129509e-02 8.01645953e-01] [ 4.23455850e-04 9.99993468e-01 -3.58947563e-03 -9.48233101e-02] [ 1.25145503e-02 3.58389553e-03 9.99915267e-01 7.36895811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97255784400001 meters Centerline goodness [0,1] 0.2416030698917777 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.74 [[ 9.99919365e-01 -4.97869428e-04 -1.26892206e-02 8.02367178e-01] [ 4.53178694e-04 9.99993686e-01 -3.52457687e-03 -9.53448095e-02] [ 1.26908952e-02 3.51854218e-03 9.99913277e-01 7.36415112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00255784400001 meters Centerline goodness [0,1] 0.24776321834051585 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:0.74 [[ 0.9998759 -0.00262278 -0.01553404 0.7582913 ] [ 0.00257532 0.99999196 -0.00307443 -0.09882197] [ 0.01554198 0.00303404 0.99987461 0.73699959] [ 0. 0. 0. 1. ]] SLAMing on 111.03255784400001 meters Centerline goodness [0,1] 0.2584424685734309 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:0.74 [[ 0.99987183 -0.00261458 -0.01579548 0.75912316] [ 0.00256744 0.99999219 -0.0030042 -0.09931685] [ 0.01580321 0.00296326 0.99987073 0.73671394] [ 0. 0. 0. 1. ]] SLAMing on 111.062557844 meters Centerline goodness [0,1] 0.24300182561071026 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:0.74 [[ 0.99987045 -0.00260835 -0.01588308 0.75939531] [ 0.00255949 0.99999193 -0.00309615 -0.09873862] [ 0.01589103 0.0030551 0.99986906 0.73662612] [ 0. 0. 0. 1. ]] SLAMing on 111.092557844 meters Centerline goodness [0,1] 0.24354638095445913 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:0.74 [[ 0.99987006 -0.00265038 -0.01590095 0.75955718] [ 0.00259765 0.99999106 -0.00333602 -0.09744167] [ 0.01590965 0.00329428 0.99986801 0.73640547] [ 0. 0. 0. 1. ]] SLAMing on 111.122557844 meters Centerline goodness [0,1] 0.2441203833921115 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:0.74 [[ 0.99986912 -0.00270515 -0.0159507 0.75996306] [ 0.00264677 0.99998973 -0.00368018 -0.09563336] [ 0.0159605 0.00363748 0.99986601 0.73591696] [ 0. 0. 0. 1. ]] SLAMing on 111.152557844 meters Centerline goodness [0,1] 0.23675564240771363 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:0.74 [[ 9.99867280e-01 1.00643018e-03 -1.62606746e-02 7.61051322e-01] [-1.01153865e-03 9.99999442e-01 -3.05939424e-04 -9.38907954e-02] [ 1.62603576e-02 3.22347121e-04 9.99867740e-01 7.35438612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.182557844 meters Centerline goodness [0,1] 0.25526044973834605 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.09, Z:0.74 [[ 9.99813967e-01 -1.06844561e-04 -1.92878105e-02 7.15394367e-01] [ 1.19062291e-04 9.99999793e-01 6.32295844e-04 -9.49816549e-02] [ 1.92877389e-02 -6.34474667e-04 9.99813773e-01 7.36998218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.212557844 meters Centerline goodness [0,1] 0.24186398529570763 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:0.74 [[ 9.99795236e-01 9.16797530e-03 -1.80397992e-02 7.35812969e-01] [-9.18345007e-03 9.99957531e-01 -7.75157291e-04 -9.43447627e-02] [ 1.80319264e-02 9.40666161e-04 9.99836969e-01 7.37154143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242557844 meters Centerline goodness [0,1] 0.2437319556298435 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:0.74 [[ 0.99979776 0.00890651 -0.0180307 0.7360887 ] [-0.00893414 0.99995904 -0.0014522 -0.09119487] [ 0.01801703 0.001613 0.99983638 0.73660316] [ 0. 0. 0. 1. ]] SLAMing on 111.272557844 meters Centerline goodness [0,1] 0.2437319556298435 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:0.74 [[ 0.99979776 0.00890651 -0.0180307 0.7360887 ] [-0.00893414 0.99995904 -0.0014522 -0.09119487] [ 0.01801703 0.001613 0.99983638 0.73660316] [ 0. 0. 0. 1. ]] SLAMing on 111.302557844 meters Centerline goodness [0,1] 0.2593100398053958 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:0.74 [[ 9.99813353e-01 -9.26306673e-04 -1.92976876e-02 7.16099751e-01] [ 9.03050847e-04 9.99998856e-01 -1.21378882e-03 -8.28232141e-02] [ 1.92987899e-02 1.19613547e-03 9.99813046e-01 7.35925250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33255784400001 meters Centerline goodness [0,1] 0.2568240380835918 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:0.74 [[ 0.99980952 0.00772631 -0.01792302 0.7354905 ] [-0.00777982 0.99996548 -0.0029181 -0.08375427] [ 0.01789985 0.00305698 0.99983511 0.73661458] [ 0. 0. 0. 1. ]] SLAMing on 111.36255784400001 meters Centerline goodness [0,1] 0.24421431982979458 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:0.74 [[ 9.99833850e-01 5.42440507e-04 -1.82202594e-02 7.54785578e-01] [-5.78684279e-04 9.99997864e-01 -1.98398833e-03 -7.81098378e-02] [ 1.82191443e-02 1.99420247e-03 9.99832029e-01 7.38883382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39255784400001 meters Centerline goodness [0,1] 0.24670627178464166 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:0.74 [[ 9.99832746e-01 4.88223946e-04 -1.82822543e-02 7.54856595e-01] [-5.24759170e-04 9.99997875e-01 -1.99365419e-03 -7.80043790e-02] [ 1.82812421e-02 2.00291453e-03 9.99830878e-01 7.38928804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422557844 meters Centerline goodness [0,1] 0.2406068738637347 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:0.74 [[ 0.99981308 -0.00739453 -0.01786412 0.77631436] [ 0.00737522 0.99997214 -0.001147 -0.07330941] [ 0.01787211 0.00101503 0.99983977 0.73996322] [ 0. 0. 0. 1. ]] SLAMing on 111.452557844 meters Centerline goodness [0,1] 0.2470585662424004 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:0.74 [[ 9.99813864e-01 -7.36179798e-03 -1.78337314e-02 7.76125872e-01] [ 7.34588724e-03 9.99972560e-01 -9.57515047e-04 -7.42976712e-02] [ 1.78402910e-02 8.26332239e-04 9.99840508e-01 7.40183564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482557844 meters Centerline goodness [0,1] 0.2451490668350792 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:0.74 [[ 9.99813695e-01 -7.31800448e-03 -1.78612148e-02 7.76033996e-01] [ 7.30519083e-03 9.99973011e-01 -7.82541447e-04 -7.52286131e-02] [ 1.78664594e-02 6.51916072e-04 9.99840170e-01 7.40474625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.512557844 meters Centerline goodness [0,1] 0.25660618338765084 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:0.74 [[ 9.99854887e-01 2.04969277e-05 -1.70353960e-02 7.55796445e-01] [-4.14690118e-05 9.99999242e-01 -1.23073640e-03 -8.12884488e-02] [ 1.70353579e-02 1.23126425e-03 9.99854130e-01 7.39373069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542557844 meters Centerline goodness [0,1] 0.2550126276490612 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:0.74 [[ 9.99856352e-01 4.72340538e-05 -1.69491091e-02 7.55355432e-01] [-6.83294904e-05 9.99999224e-01 -1.24405700e-03 -8.10261414e-02] [ 1.69490372e-02 1.24503642e-03 9.99855580e-01 7.39786449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.572557844 meters Centerline goodness [0,1] 0.24609024694328396 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:0.74 [[ 9.99858191e-01 7.82645890e-05 -1.68401552e-02 7.54990589e-01] [-9.93087381e-05 9.99999215e-01 -1.24880843e-03 -8.09089046e-02] [ 1.68400442e-02 1.25030371e-03 9.99857415e-01 7.39943723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602557844 meters Centerline goodness [0,1] 0.24497790933031538 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:0.74 [[ 9.99857103e-01 1.22841103e-04 -1.69043752e-02 7.55234954e-01] [-1.42049107e-04 9.99999346e-01 -1.13507809e-03 -8.16688265e-02] [ 1.69042247e-02 1.13731714e-03 9.99856467e-01 7.39879273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.632557844 meters Centerline goodness [0,1] 0.2567244142897921 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:0.74 [[ 9.99856583e-01 1.75143654e-04 -1.69346358e-02 7.55328190e-01] [-1.92573518e-04 9.99999453e-01 -1.02761829e-03 -8.21810549e-02] [ 1.69344465e-02 1.03073208e-03 9.99856071e-01 7.39855566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662557844 meters Centerline goodness [0,1] 0.24393633422361194 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:0.74 [[ 9.99845724e-01 -6.55181765e-03 -1.62973199e-02 7.73610303e-01] [ 6.55878966e-03 9.99978421e-01 3.74388249e-04 -7.76991336e-02] [ 1.62945153e-02 -4.81221183e-04 9.99867120e-01 7.41706521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.692557844 meters Centerline goodness [0,1] 0.24569555116486097 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:0.74 [[ 9.99849018e-01 -6.48181228e-03 -1.61222310e-02 7.72955135e-01] [ 6.49011173e-03 9.99978832e-01 4.62514638e-04 -7.79558704e-02] [ 1.61188918e-02 -5.67079887e-04 9.99869921e-01 7.42106574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72255784400001 meters Centerline goodness [0,1] 0.25522957792561896 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.08, Z:0.74 [[ 9.99850811e-01 -6.40258290e-03 -1.60425454e-02 7.72535228e-01] [ 6.41332922e-03 9.99979243e-01 6.18506634e-04 -7.86533898e-02] [ 1.60382524e-02 -7.21300485e-04 9.99871119e-01 7.42499451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75255784400001 meters Centerline goodness [0,1] 0.24641809079924049 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.74 [[ 0.99990121 0.00158797 -0.01396606 0.79191711] [-0.00161211 0.99999723 -0.00171761 -0.08269115] [ 0.01396329 0.00173996 0.99990099 0.74254328] [ 0. 0. 0. 1. ]] SLAMing on 111.78255784400001 meters Centerline goodness [0,1] 0.25609119387399926 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.74 [[ 0.99990386 0.00173117 -0.01375767 0.79109436] [-0.00175073 0.99999747 -0.00140978 -0.08398215] [ 0.01375519 0.00143373 0.99990436 0.74304612] [ 0. 0. 0. 1. ]] SLAMing on 111.812557844 meters Centerline goodness [0,1] 0.25509096435239464 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.74 [[ 0.99990598 0.00183694 -0.01358878 0.79044296] [-0.00185278 0.99999762 -0.00115305 -0.08513716] [ 0.01358663 0.00117812 0.999907 0.74346496] [ 0. 0. 0. 1. ]] SLAMing on 111.842557844 meters Centerline goodness [0,1] 0.2468674672631328 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.74 [[ 9.99905207e-01 1.90680453e-03 -1.36360591e-02 7.90436513e-01] [-1.91990545e-03 9.99997708e-01 -9.47729649e-04 -8.61557469e-02] [ 1.36342207e-02 9.73819755e-04 9.99906575e-01 7.43695208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.872557844 meters Centerline goodness [0,1] 0.2568735099192896 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.74 [[ 9.99903611e-01 1.94129736e-03 -1.37477389e-02 7.90780076e-01] [-1.95301820e-03 9.99997741e-01 -8.39190321e-04 -8.67613130e-02] [ 1.37460787e-02 8.65959017e-04 9.99905143e-01 7.43573098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902557844 meters Centerline goodness [0,1] 0.25724336843945284 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.74 [[ 9.99902896e-01 1.99106563e-03 -1.37925367e-02 7.90987857e-01] [-2.00054374e-03 9.99997772e-01 -6.73428438e-04 -8.77221049e-02] [ 1.37911651e-02 7.00955618e-04 9.99904652e-01 7.43432822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.932557844 meters Centerline goodness [0,1] 0.24540512555009064 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.08, Z:0.74 [[ 9.99891745e-01 -5.01481053e-03 -1.38329303e-02 8.10277811e-01] [ 5.01788714e-03 9.99987393e-01 1.87712836e-04 -8.27757467e-02] [ 1.38318145e-02 -2.57104598e-04 9.99904303e-01 7.44805654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.962557844 meters Centerline goodness [0,1] 0.254734190410007 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.08, Z:0.74 [[ 9.99890920e-01 -4.99978215e-03 -1.38978833e-02 8.10697220e-01] [ 5.00313586e-03 9.99987463e-01 2.06553428e-04 -8.28318933e-02] [ 1.38966763e-02 -2.76063895e-04 9.99903398e-01 7.44327731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.992557844 meters Centerline goodness [0,1] 0.25359122025426495 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.08, Z:0.74 [[ 9.99888228e-01 -5.02133841e-03 -1.40825518e-02 8.11691934e-01] [ 5.02390055e-03 9.99987369e-01 1.46566288e-04 -8.26357166e-02] [ 1.40816380e-02 -2.17299245e-04 9.99900825e-01 7.43403702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022557844 meters Centerline goodness [0,1] 0.25769222298086025 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.74 [[ 0.99985576 0.00234367 -0.01682169 0.79269092] [-0.00236213 0.99999663 -0.00107785 -0.085517 ] [ 0.01681911 0.00111743 0.99985792 0.74151116] [ 0. 0. 0. 1. ]] SLAMing on 112.052557844 meters Centerline goodness [0,1] 0.2534283789363876 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.08, Z:0.74 [[ 9.99832590e-01 -4.42473957e-03 -1.77542338e-02 8.11985241e-01] [ 4.41562497e-03 9.99990098e-01 -5.52544528e-04 -7.86945506e-02] [ 1.77565028e-02 4.74055989e-04 9.99842228e-01 7.42965256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08255784400001 meters Centerline goodness [0,1] 0.24188529195660635 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:0.74 [[ 0.99985482 0.00463135 -0.01639793 0.83019756] [-0.00466862 0.9999866 -0.0022353 -0.0785388 ] [ 0.01638736 0.00231153 0.99986305 0.74432792] [ 0. 0. 0. 1. ]] SLAMing on 112.11255784400001 meters Centerline goodness [0,1] 0.24372159770389856 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:0.74 [[ 0.99985575 0.00454277 -0.01636604 0.83003925] [-0.00458334 0.99998651 -0.00244244 -0.07753921] [ 0.01635472 0.0025171 0.99986308 0.74445657] [ 0. 0. 0. 1. ]] SLAMing on 112.14255784400001 meters Centerline goodness [0,1] 0.24316490742342967 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:0.74 [[ 0.99985478 0.00438285 -0.01646874 0.83047751] [-0.00442862 0.99998643 -0.00274383 -0.07631178] [ 0.01645649 0.00281636 0.99986062 0.74412805] [ 0. 0. 0. 1. ]] SLAMing on 112.17255784400001 meters Centerline goodness [0,1] 0.24605005823279935 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.74 [[ 0.99980083 0.00236788 -0.01981636 0.78779029] [-0.00241734 0.99999402 -0.00247198 -0.07776659] [ 0.01981039 0.00251939 0.99980058 0.74404 ] [ 0. 0. 0. 1. ]] SLAMing on 112.202557844 meters Centerline goodness [0,1] 0.2407025017932054 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:0.75 [[ 0.99976202 -0.00439184 -0.02136858 0.80797418] [ 0.00435007 0.99998854 -0.0020008 -0.07133288] [ 0.02137712 0.00190737 0.99976966 0.74527199] [ 0. 0. 0. 1. ]] SLAMing on 112.232557844 meters Centerline goodness [0,1] 0.23959122696862756 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:0.74 [[ 0.99975897 -0.00445892 -0.02149691 0.80849008] [ 0.00441328 0.99998791 -0.00217004 -0.07051101] [ 0.02150633 0.00207465 0.99976656 0.74494542] [ 0. 0. 0. 1. ]] SLAMing on 112.262557844 meters Centerline goodness [0,1] 0.24602423949145458 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:0.74 [[ 0.99975727 0.00309488 -0.02181331 0.78747347] [-0.00315819 0.9999909 -0.00286845 -0.07468791] [ 0.02180424 0.00293665 0.99975795 0.74473602] [ 0. 0. 0. 1. ]] SLAMing on 112.292557844 meters Centerline goodness [0,1] 0.24909070869613137 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:0.74 [[ 0.99975845 0.00302581 -0.02176893 0.78729117] [-0.00309265 0.9999906 -0.00303737 -0.07387878] [ 0.02175953 0.00310396 0.99975841 0.74483314] [ 0. 0. 0. 1. ]] SLAMing on 112.322557844 meters Centerline goodness [0,1] 0.24414701232321923 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:0.75 [[ 0.99975553 -0.00377909 -0.02178509 0.80618473] [ 0.00373359 0.99999076 -0.00212876 -0.06723359] [ 0.02179293 0.00204691 0.99976041 0.74655019] [ 0. 0. 0. 1. ]] SLAMing on 112.352557844 meters Centerline goodness [0,1] 0.2427165567210987 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:0.75 [[ 0.99975581 -0.00391198 -0.02174891 0.80637124] [ 0.00385823 0.9999894 -0.00251318 -0.06536469] [ 0.02175851 0.00242865 0.99976031 0.74607404] [ 0. 0. 0. 1. ]] SLAMing on 112.382557844 meters Centerline goodness [0,1] 0.24614711990381466 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.06, Z:0.75 [[ 0.9997532 -0.00409479 -0.02183513 0.80696836] [ 0.00402965 0.9999873 -0.00302642 -0.06297967] [ 0.02184724 0.00293769 0.999757 0.74542001] [ 0. 0. 0. 1. ]] SLAMing on 112.412557844 meters Centerline goodness [0,1] 0.25471945464079704 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.06, Z:0.74 [[ 0.99973628 -0.00293485 -0.02277611 0.81004765] [ 0.00287193 0.99999197 -0.00279464 -0.05566683] [ 0.02278413 0.00272849 0.99973668 0.74408972] [ 0. 0. 0. 1. ]] SLAMing on 112.442557844 meters Centerline goodness [0,1] 0.25632592202780335 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.05, Z:0.74 [[ 0.99973943 -0.00305136 -0.02262224 0.80964415] [ 0.00297477 0.99998973 -0.00341841 -0.05233647] [ 0.02263244 0.00335022 0.99973824 0.74405588] [ 0. 0. 0. 1. ]] SLAMing on 112.47255784400001 meters Centerline goodness [0,1] 0.25331478502803983 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.74 [[ 0.99976958 0.00627558 -0.02052814 0.82950593] [-0.00637364 0.99996857 -0.00471487 -0.05039228] [ 0.0204979 0.00484462 0.99977816 0.74461722] [ 0. 0. 0. 1. ]] SLAMing on 112.50255784400001 meters Centerline goodness [0,1] 0.2564629269465265 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.75 [[ 0.99979671 0.00646666 -0.01909772 0.82505061] [-0.00656558 0.99996533 -0.00512167 -0.0466172 ] [ 0.01906394 0.00524601 0.9998045 0.74590785] [ 0. 0. 0. 1. ]] SLAMing on 112.53255784400001 meters Centerline goodness [0,1] 0.24787091971889574 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.05, Z:0.75 [[ 0.99980179 0.00632794 -0.01887706 0.82434706] [-0.00643157 0.99996455 -0.005434 -0.04525297] [ 0.01884201 0.00555433 0.99980705 0.74618944] [ 0. 0. 0. 1. ]] SLAMing on 112.562557844 meters Centerline goodness [0,1] 0.2436823885763738 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.75 [[ 9.99817922e-01 -9.53120893e-04 -1.90581658e-02 8.43793696e-01] [ 8.57539014e-04 9.99987018e-01 -5.02281519e-03 -3.84552999e-02] [ 1.90627057e-02 5.00555753e-03 9.99805760e-01 7.47577131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.592557844 meters Centerline goodness [0,1] 0.24184876118375775 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.75 [[ 0.99981666 -0.00117445 -0.01911214 0.84382296] [ 0.00107139 0.99998484 -0.00540155 -0.03684412] [ 0.0191182 0.00538008 0.99980276 0.74770026] [ 0. 0. 0. 1. ]] SLAMing on 112.622557844 meters Centerline goodness [0,1] 0.2471239323688339 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:0.75 [[ 0.99976333 -0.00283802 -0.02156923 0.79632294] [ 0.00273993 0.99998578 -0.00457589 -0.03995034] [ 0.02158191 0.00451571 0.99975689 0.74980676] [ 0. 0. 0. 1. ]] SLAMing on 112.652557844 meters Centerline goodness [0,1] 0.2571271447426309 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:0.75 [[ 0.99976741 -0.00281693 -0.02138196 0.79549945] [ 0.00272022 0.99998595 -0.00455079 -0.03985334] [ 0.02139448 0.00449156 0.99976102 0.75042122] [ 0. 0. 0. 1. ]] SLAMing on 112.682557844 meters Centerline goodness [0,1] 0.2566102214725404 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:0.75 [[ 0.99977136 -0.00281547 -0.02119682 0.79480797] [ 0.00271937 0.9999859 -0.00456108 -0.03970378] [ 0.02120937 0.0045024 0.99976492 0.75080506] [ 0. 0. 0. 1. ]] SLAMing on 112.712557844 meters Centerline goodness [0,1] 0.24400103765835102 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:0.75 [[ 0.9997905 0.00510146 -0.01982256 0.8164041 ] [-0.00524187 0.9999615 -0.00703761 -0.03929741] [ 0.01978589 0.00714004 0.99977874 0.75014477] [ 0. 0. 0. 1. ]] SLAMing on 112.742557844 meters Centerline goodness [0,1] 0.2466244264802272 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:0.75 [[ 0.99978732 0.00503136 -0.01999976 0.81705335] [-0.00517545 0.99996098 -0.00715922 -0.03889954] [ 0.01996296 0.0072612 0.99977435 0.74979779] [ 0. 0. 0. 1. ]] SLAMing on 112.772557844 meters Centerline goodness [0,1] 0.24475433619886966 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.75 [[ 0.99978975 -0.00182623 -0.02042376 0.83562585] [ 0.00170307 0.99998027 -0.00604597 -0.03419441] [ 0.02043439 0.00600992 0.99977313 0.75206903] [ 0. 0. 0. 1. ]] SLAMing on 112.802557844 meters Centerline goodness [0,1] 0.2456848582713248 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.75 [[ 0.99979203 -0.00175477 -0.02031774 0.83516641] [ 0.00163458 0.99998108 -0.00593049 -0.03453738] [ 0.02032776 0.00589605 0.99977598 0.75235789] [ 0. 0. 0. 1. ]] SLAMing on 112.83255784400001 meters Centerline goodness [0,1] 0.2467323459689872 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.75 [[ 0.99979511 -0.00169044 -0.02017125 0.8346768 ] [ 0.00157276 0.99998166 -0.00584835 -0.03471614] [ 0.02018077 0.00581543 0.99977943 0.75253597] [ 0. 0. 0. 1. ]] SLAMing on 112.86255784400001 meters Centerline goodness [0,1] 0.2461729416632189 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.75 [[ 0.99979533 -0.00164956 -0.02016355 0.8346488 ] [ 0.00153355 0.99998219 -0.00576746 -0.03506921] [ 0.02017271 0.00573536 0.99978006 0.75257397] [ 0. 0. 0. 1. ]] SLAMing on 112.89255784400001 meters Centerline goodness [0,1] 0.24597108791544742 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.75 [[ 0.99978934 -0.00168045 -0.02045591 0.83559589] [ 0.0015635 0.99998235 -0.0057319 -0.03576519] [ 0.02046518 0.00569871 0.99977433 0.75221493] [ 0. 0. 0. 1. ]] SLAMing on 112.92255784400001 meters Centerline goodness [0,1] 0.24715422142135102 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.75 [[ 0.99978773 -0.00166019 -0.02053634 0.83596828] [ 0.00154279 0.99998239 -0.00573122 -0.03570164] [ 0.02054549 0.00569832 0.99977268 0.75188203] [ 0. 0. 0. 1. ]] SLAMing on 112.952557844 meters Centerline goodness [0,1] 0.24634928950297952 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.75 [[ 0.99978556 -0.00169367 -0.02063877 0.83652558] [ 0.00157162 0.99998119 -0.00592877 -0.03457775] [ 0.02064842 0.00589506 0.99976942 0.75136483] [ 0. 0. 0. 1. ]] SLAMing on 112.982557844 meters Centerline goodness [0,1] 0.24614209320091673 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.75 [[ 9.99758322e-01 8.10332810e-04 -2.19690845e-02 8.42247601e-01] [-8.93708896e-04 9.99992435e-01 -3.78560273e-03 -3.15173999e-02] [ 2.19658507e-02 3.80432180e-03 9.99751483e-01 7.48609124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.012557844 meters Centerline goodness [0,1] 0.24732435224051164 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.75 [[ 9.99761031e-01 7.16257760e-04 -2.18487417e-02 8.42004878e-01] [-8.05579196e-04 9.99991354e-01 -4.07964547e-03 -3.00589190e-02] [ 2.18456307e-02 4.09627145e-03 9.99752964e-01 7.48479256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.042557844 meters Centerline goodness [0,1] 0.24489662960389158 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:0.75 [[ 0.99975627 -0.00652559 -0.0210906 0.86075222] [ 0.00645811 0.99997381 -0.00326612 -0.02334875] [ 0.02111136 0.00312912 0.99977223 0.75013637] [ 0. 0. 0. 1. ]] SLAMing on 113.072557844 meters Centerline goodness [0,1] 0.25465797760671793 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:0.75 [[ 0.9997567 -0.00659138 -0.0210498 0.86043537] [ 0.00652067 0.99997287 -0.00342575 -0.02260174] [ 0.02107181 0.00328766 0.99977256 0.75049557] [ 0. 0. 0. 1. ]] SLAMing on 113.102557844 meters Centerline goodness [0,1] 0.25109430959013135 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.75 [[ 9.99760421e-01 8.10533567e-04 -2.18733595e-02 8.41212017e-01] [-9.13238438e-04 9.99988604e-01 -4.68585150e-03 -2.57913960e-02] [ 2.18693122e-02 4.70470446e-03 9.99749768e-01 7.48704038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.132557844 meters Centerline goodness [0,1] 0.25764211457642117 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.75 [[ 9.99758438e-01 7.42338695e-04 -2.19662303e-02 8.41711769e-01] [-8.48758340e-04 9.99987947e-01 -4.83576666e-03 -2.50409400e-02] [ 2.19623758e-02 4.85324254e-03 9.99747018e-01 7.48188164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.162557844 meters Centerline goodness [0,1] 0.25764211457642117 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.75 [[ 9.99758438e-01 7.42338695e-04 -2.19662303e-02 8.41711769e-01] [-8.48758340e-04 9.99987947e-01 -4.83576666e-03 -2.50409400e-02] [ 2.19623758e-02 4.85324254e-03 9.99747018e-01 7.48188164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.192557844 meters Centerline goodness [0,1] 0.243579732778067 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:0.75 [[ 0.99979385 0.00218563 -0.02018629 0.88608923] [-0.00229355 0.99998319 -0.00532458 -0.02113048] [ 0.02017432 0.00536978 0.99978206 0.74763727] [ 0. 0. 0. 1. ]] SLAMing on 113.22255784400001 meters Centerline goodness [0,1] 0.24588266130793757 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:0.75 [[ 0.99979284 0.00211471 -0.02024373 0.886222 ] [-0.0022243 0.99998298 -0.00539291 -0.02094448] [ 0.02023198 0.00543682 0.99978053 0.74763254] [ 0. 0. 0. 1. ]] SLAMing on 113.25255784400001 meters Centerline goodness [0,1] 0.24488200942187877 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:0.75 [[ 0.99978937 0.00176012 -0.02044812 0.88609922] [-0.00187504 0.99998255 -0.00560246 -0.02107934] [ 0.0204379 0.00563962 0.99977522 0.74865969] [ 0. 0. 0. 1. ]] SLAMing on 113.28255784400001 meters Centerline goodness [0,1] 0.24523243902970604 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:0.75 [[ 0.9997857 0.00171175 -0.0206305 0.88648918] [-0.00182883 0.99998232 -0.00565771 -0.0208698 ] [ 0.02062045 0.00569422 0.99977116 0.74875604] [ 0. 0. 0. 1. ]] SLAMing on 113.312557844 meters Centerline goodness [0,1] 0.24633167372184328 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:0.75 [[ 0.99978409 0.00170333 -0.0207091 0.88683977] [-0.00182164 0.99998212 -0.00569559 -0.02051137] [ 0.02069903 0.00573208 0.99976932 0.74843012] [ 0. 0. 0. 1. ]] SLAMing on 113.342557844 meters Centerline goodness [0,1] 0.24526858691376374 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:0.75 [[ 0.99978367 0.00167844 -0.02073131 0.88701388] [-0.00179893 0.99998159 -0.0057946 -0.01987597] [ 0.02072121 0.00583064 0.99976829 0.74821139] [ 0. 0. 0. 1. ]] SLAMing on 113.372557844 meters Centerline goodness [0,1] 0.24425424686101582 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:0.75 [[ 0.999787 0.00157832 -0.02057816 0.88621352] [-0.00170204 0.99998058 -0.00599593 -0.01909241] [ 0.0205683 0.00602968 0.99977027 0.74896878] [ 0. 0. 0. 1. ]] SLAMing on 113.402557844 meters Centerline goodness [0,1] 0.24279210925644912 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:0.75 [[ 0.99979088 0.00155159 -0.02039091 0.88542228] [-0.00167593 0.9999801 -0.00608216 -0.01872165] [ 0.02038107 0.00611506 0.99977358 0.74952235] [ 0. 0. 0. 1. ]] SLAMing on 113.432557844 meters Centerline goodness [0,1] 0.24059890086113633 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:0.75 [[ 0.99979759 0.00155278 -0.02005908 0.88422482] [-0.00167672 0.9999796 -0.00616358 -0.0182527 ] [ 0.0200491 0.00619596 0.9997798 0.75007649] [ 0. 0. 0. 1. ]] SLAMing on 113.462557844 meters Centerline goodness [0,1] 0.24796310530361265 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:0.75 [[ 0.99977234 -0.00748859 -0.01997976 0.86307178] [ 0.00738998 0.99996017 -0.0050048 -0.0138236 ] [ 0.02001644 0.00485601 0.99978786 0.74917612] [ 0. 0. 0. 1. ]] SLAMing on 113.492557844 meters Centerline goodness [0,1] 0.24687785561985987 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:0.75 [[ 0.99984062 0.00189309 -0.01775231 0.88206668] [-0.00199843 0.99998049 -0.00591796 -0.01533045] [ 0.01774076 0.0059525 0.9998249 0.74999748] [ 0. 0. 0. 1. ]] SLAMing on 113.522557844 meters Centerline goodness [0,1] 0.2502953143457146 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:0.75 [[ 0.99984147 0.00188882 -0.01770497 0.88195441] [-0.0019952 0.99998005 -0.00599276 -0.01491274] [ 0.01769329 0.00602713 0.9998253 0.74999481] [ 0. 0. 0. 1. ]] SLAMing on 113.552557844 meters Centerline goodness [0,1] 0.24686528891496617 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:0.75 [[ 0.999842 0.00186609 -0.01767739 0.88200419] [-0.00197457 0.99997931 -0.00612136 -0.0142454 ] [ 0.0176656 0.0061553 0.999825 0.74978767] [ 0. 0. 0. 1. ]] SLAMing on 113.58255784400001 meters Centerline goodness [0,1] 0.2448483796798403 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:0.75 [[ 0.99984262 0.00186185 -0.01764269 0.88201106] [-0.00197229 0.99997856 -0.00624461 -0.01351631] [ 0.01763068 0.00627843 0.99982485 0.74963215] [ 0. 0. 0. 1. ]] SLAMing on 113.61255784400001 meters Centerline goodness [0,1] 0.24671950394096198 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:0.75 [[ 0.99984214 0.00197613 -0.01765736 0.88230246] [-0.00209142 0.9999766 -0.00651343 -0.01184883] [ 0.01764407 0.00654933 0.99982288 0.74919047] [ 0. 0. 0. 1. ]] SLAMing on 113.64255784400001 meters Centerline goodness [0,1] 0.2404422223180035 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:0.75 [[ 0.9998396 0.00189834 -0.01780907 0.88283965] [-0.00202132 0.99997422 -0.00689021 -0.01002966] [ 0.01779553 0.0069251 0.99981766 0.74890286] [ 0. 0. 0. 1. ]] SLAMing on 113.67255784400001 meters Centerline goodness [0,1] 0.24707137569132953 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:0.75 [[ 0.99984336 0.00180387 -0.01760688 0.88248233] [-0.00193451 0.99997071 -0.00740569 -0.00727564] [ 0.01759301 0.00743859 0.99981756 0.74858275] [ 0. 0. 0. 1. ]] SLAMing on 113.702557844 meters Centerline goodness [0,1] 0.24342417829222995 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.00, Z:0.75 [[ 0.99983326 -0.00208305 -0.01814164 0.90321892] [ 0.00201663 0.9999912 -0.00367873 -0.00206531] [ 0.01814915 0.00364153 0.99982866 0.74981043] [ 0. 0. 0. 1. ]] SLAMing on 113.732557844 meters Centerline goodness [0,1] 0.24697510445682447 Centerline is valid? [False, False] Translation: X:0.90, Y:0.00, Z:0.75 [[ 0.99984029 -0.00219251 -0.01773658 0.9024697 ] [ 0.00211093 0.99998711 -0.00461704 0.00345034] [ 0.01774647 0.00457887 0.99983203 0.74924405] [ 0. 0. 0. 1. ]] SLAMing on 113.762557844 meters Centerline goodness [0,1] 0.24584312701314526 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:0.75 [[ 0.99984028 -0.00238737 -0.01771175 0.90252393] [ 0.00229718 0.9999843 -0.00511044 0.0056695 ] [ 0.01772367 0.00506893 0.99983007 0.74900821] [ 0. 0. 0. 1. ]] SLAMing on 113.792557844 meters Centerline goodness [0,1] 0.24635483241978462 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:0.75 [[ 0.99983661 -0.00259327 -0.01788919 0.90316661] [ 0.00249448 0.99998153 -0.00554249 0.00746119] [ 0.01790323 0.00549696 0.99982461 0.74866709] [ 0. 0. 0. 1. ]] SLAMing on 113.822557844 meters Centerline goodness [0,1] 0.24484070892682397 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:0.75 [[ 0.99983174 -0.00274984 -0.01813664 0.90411422] [ 0.00264426 0.99997944 -0.00584256 0.00865377] [ 0.01815234 0.00579362 0.99981845 0.74806374] [ 0. 0. 0. 1. ]] SLAMing on 113.852557844 meters Centerline goodness [0,1] 0.2462230724083212 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:0.75 [[ 0.99981166 -0.0031382 -0.01915195 0.90696767] [ 0.00301817 0.99997564 -0.00629314 0.01036656] [ 0.01917123 0.00623415 0.99979678 0.74749204] [ 0. 0. 0. 1. ]] SLAMing on 113.882557844 meters Centerline goodness [0,1] 0.2473341491128398 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:0.75 [[ 0.99981001 -0.00318164 -0.01923094 0.90711896] [ 0.00305964 0.99997503 -0.00636994 0.01081734] [ 0.01925073 0.00630989 0.99979478 0.74751152] [ 0. 0. 0. 1. ]] SLAMing on 113.912557844 meters Centerline goodness [0,1] 0.24577546170115339 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:0.75 [[ 0.99980988 -0.00334998 -0.0192091 0.90697922] [ 0.00322546 0.99997361 -0.00650955 0.01121126] [ 0.0192304 0.00644635 0.9997943 0.74767956] [ 0. 0. 0. 1. ]] SLAMing on 113.942557844 meters Centerline goodness [0,1] 0.2439811584089323 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:0.75 [[ 0.99981068 -0.00340595 -0.01915721 0.90684934] [ 0.00328014 0.99997287 -0.00659485 0.01153935] [ 0.01917915 0.00653076 0.99979473 0.74767277] [ 0. 0. 0. 1. ]] SLAMing on 113.97255784400001 meters Centerline goodness [0,1] 0.2425552249180043 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:0.75 [[ 0.99980989 -0.00349143 -0.01918338 0.90688623] [ 0.00336137 0.99997117 -0.00680811 0.01251615] [ 0.0192066 0.00674234 0.9997928 0.74774976] [ 0. 0. 0. 1. ]] SLAMing on 114.00255784400001 meters Centerline goodness [0,1] 0.24478849995657082 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:0.75 [[ 0.99980933 -0.00361608 -0.01918923 0.90687761] [ 0.00347914 0.99996828 -0.00716501 0.01421349] [ 0.01921453 0.00709688 0.9997902 0.74778349] [ 0. 0. 0. 1. ]] SLAMing on 114.03255784400001 meters Centerline goodness [0,1] 0.24832199995598692 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:0.75 [[ 0.99979477 0.00504114 -0.01962133 0.88363539] [-0.00519364 0.99995664 -0.00772892 0.01441565] [ 0.01958152 0.00782924 0.99977761 0.74795099] [ 0. 0. 0. 1. ]] SLAMing on 114.062557844 meters Centerline goodness [0,1] 0.24317295188556565 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:0.75 [[ 9.99826029e-01 1.48360357e-04 -1.86518034e-02 9.06397186e-01] [-2.37948620e-04 9.99988446e-01 -4.80106824e-03 2.02467834e-02] [ 1.86508756e-02 4.80467117e-03 9.99814513e-01 7.47808822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.092557844 meters Centerline goodness [0,1] 0.2434878634995561 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:0.75 [[ 9.99836771e-01 6.69963149e-05 -1.80673006e-02 9.04597529e-01] [-1.63153390e-04 9.99985831e-01 -5.32073914e-03 2.32402704e-02] [ 1.80666881e-02 5.32281838e-03 9.99822615e-01 7.48291471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122557844 meters Centerline goodness [0,1] 0.24886986525736499 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.75 [[ 9.99843233e-01 -8.96910714e-05 -1.77059522e-02 9.03474793e-01] [-1.36684543e-05 9.99982962e-01 -5.83735082e-03 2.59023475e-02] [ 1.77061741e-02 5.83667773e-03 9.99826197e-01 7.48624543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.152557844 meters Centerline goodness [0,1] 0.2452924331829226 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.75 [[ 9.99844200e-01 -3.07570667e-04 -1.76488486e-02 9.03421759e-01] [ 1.94627570e-04 9.99979496e-01 -6.40082056e-03 2.85219666e-02] [ 1.76504555e-02 6.39638836e-03 9.99823758e-01 7.48418002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182557844 meters Centerline goodness [0,1] 0.24962640646976086 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.75 [[ 9.99838127e-01 -6.46063527e-04 -1.79805879e-02 9.04365326e-01] [ 5.19779671e-04 9.99975174e-01 -7.02713144e-03 3.10100405e-02] [ 1.79846815e-02 7.01664800e-03 9.99813642e-01 7.48123973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.212557844 meters Centerline goodness [0,1] 0.24689471501233384 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.75 [[ 9.99834604e-01 -7.37286878e-04 -1.81719708e-02 9.04823491e-01] [ 6.08192661e-04 9.99974549e-01 -7.10853247e-03 3.12410323e-02] [ 1.81767494e-02 7.09630469e-03 9.99809606e-01 7.48168939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.242557844 meters Centerline goodness [0,1] 0.2490547788622175 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.75 [[ 9.99833637e-01 -7.98604562e-04 -1.82225553e-02 9.04819096e-01] [ 6.68368637e-04 9.99974201e-01 -7.15193407e-03 3.13758693e-02] [ 1.82277968e-02 7.13856487e-03 9.99808376e-01 7.48387101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.272557844 meters Centerline goodness [0,1] 0.24274024656173754 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:0.75 [[ 0.99980676 -0.0083907 -0.01777728 0.92460285] [ 0.0082803 0.99994603 -0.00627452 0.03730346] [ 0.01782896 0.00612611 0.99982228 0.74997805] [ 0. 0. 0. 1. ]] SLAMing on 114.302557844 meters Centerline goodness [0,1] 0.2463244102720481 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:0.75 [[ 0.999876 -0.00208484 -0.01560885 0.90764273] [ 0.00197566 0.9999735 -0.00700697 0.03395705] [ 0.01562305 0.00697526 0.99985362 0.74727877] [ 0. 0. 0. 1. ]] SLAMing on 114.33255784400001 meters Centerline goodness [0,1] 0.24531880108991821 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:0.75 [[ 0.99987556 -0.00221531 -0.01561889 0.90733476] [ 0.00210082 0.99997084 -0.0073425 0.03563398] [ 0.0156347 0.00730878 0.99985106 0.74787738] [ 0. 0. 0. 1. ]] SLAMing on 114.36255784400001 meters Centerline goodness [0,1] 0.2468455465896915 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:0.75 [[ 0.99987628 -0.00226817 -0.01556547 0.90708504] [ 0.00215189 0.99996969 -0.00748274 0.03628587] [ 0.01558197 0.00744832 0.99985085 0.74808798] [ 0. 0. 0. 1. ]] SLAMing on 114.39255784400001 meters Centerline goodness [0,1] 0.24217317194208898 Centerline is valid? [False, False] Translation: X:0.93, Y:0.04, Z:0.75 [[ 0.99983532 -0.00966633 -0.01535904 0.92654437] [ 0.00956722 0.99993302 -0.0065135 0.04188379] [ 0.01542097 0.00636548 0.99986083 0.74956785] [ 0. 0. 0. 1. ]] SLAMing on 114.42255784400001 meters Centerline goodness [0,1] 0.24901454099509457 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:0.75 [[ 0.99988118 -0.00162558 -0.0153293 0.90588634] [ 0.00152025 0.99997518 -0.00688012 0.03633445] [ 0.0153401 0.006856 0.99985883 0.74845315] [ 0. 0. 0. 1. ]] SLAMing on 114.452557844 meters Centerline goodness [0,1] 0.2471443180087466 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:0.75 [[ 0.99988068 -0.00161463 -0.01536285 0.90591429] [ 0.00150946 0.99997537 -0.00685429 0.03624383] [ 0.01537354 0.00683028 0.99985849 0.74857445] [ 0. 0. 0. 1. ]] SLAMing on 114.482557844 meters Centerline goodness [0,1] 0.24784294927662542 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:0.75 [[ 0.99988152 -0.00164278 -0.0153051 0.90573707] [ 0.00153637 0.99997458 -0.00696234 0.03676622] [ 0.01531615 0.006938 0.99985863 0.7486264 ] [ 0. 0. 0. 1. ]] SLAMing on 114.512557844 meters Centerline goodness [0,1] 0.24890801083253256 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:0.75 [[ 0.9998807 -0.00173314 -0.0153486 0.90598351] [ 0.00162196 0.99997238 -0.00725314 0.03810875] [ 0.01536075 0.00722738 0.9998559 0.74839159] [ 0. 0. 0. 1. ]] SLAMing on 114.542557844 meters Centerline goodness [0,1] 0.247073361082206 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:0.75 [[ 0.99987748 -0.00180235 -0.01554936 0.90674664] [ 0.00168398 0.99996953 -0.00762225 0.04001395] [ 0.01556262 0.00759513 0.99985005 0.74788219] [ 0. 0. 0. 1. ]] SLAMing on 114.572557844 meters Centerline goodness [0,1] 0.24638218115247146 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:0.75 [[ 0.99987725 -0.00187253 -0.0155558 0.90700823] [ 0.00174717 0.99996592 -0.00806861 0.04237283] [ 0.01557038 0.00804044 0.99984645 0.74743478] [ 0. 0. 0. 1. ]] SLAMing on 114.602557844 meters Centerline goodness [0,1] 0.24563531603344457 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.75 [[ 0.99987778 0.00198089 -0.01550835 0.90680296] [-0.00205478 0.99998661 -0.00475019 0.04544369] [ 0.01549873 0.00478147 0.99986845 0.74755565] [ 0. 0. 0. 1. ]] SLAMing on 114.632557844 meters Centerline goodness [0,1] 0.24224191844040455 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.75 [[ 0.99987998 0.00185346 -0.01538147 0.90660846] [-0.00193505 0.99998413 -0.00529129 0.04820747] [ 0.01537142 0.00532042 0.9998677 0.74729276] [ 0. 0. 0. 1. ]] SLAMing on 114.662557844 meters Centerline goodness [0,1] 0.25138989605994677 Centerline is valid? [False, False] Translation: X:0.86, Y:0.05, Z:0.75 [[ 0.99982945 0.00128576 -0.01842329 0.86217722] [-0.00137431 0.99998756 -0.00479498 0.04738226] [ 0.01841689 0.00481948 0.99981878 0.74773828] [ 0. 0. 0. 1. ]] SLAMing on 114.692557844 meters Centerline goodness [0,1] 0.24753686510103767 Centerline is valid? [False, False] Translation: X:0.86, Y:0.05, Z:0.75 [[ 0.99981511 0.0010276 -0.01920148 0.86453958] [-0.00113967 0.99998238 -0.00582631 0.05250175] [ 0.01919515 0.00584712 0.99979866 0.74674821] [ 0. 0. 0. 1. ]] SLAMing on 114.72255784400001 meters Centerline goodness [0,1] 0.24557111339260362 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:0.75 [[ 9.99811168e-01 8.38922307e-04 -1.94145235e-02 8.65156983e-01] [-9.60868009e-04 9.99979865e-01 -6.27268300e-03 5.45203787e-02] [ 1.94088703e-02 6.29015331e-03 9.99791843e-01 7.46574380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75255784400001 meters Centerline goodness [0,1] 0.24535852522469326 Centerline is valid? [False, False] Translation: X:0.87, Y:0.06, Z:0.75 [[ 9.99809945e-01 6.76358530e-04 -1.94837252e-02 8.65251054e-01] [-8.06316509e-04 9.99977477e-01 -6.66299527e-03 5.63951823e-02] [ 1.94787798e-02 6.67743899e-03 9.99787972e-01 7.46657777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78255784400001 meters Centerline goodness [0,1] 0.24759736421550382 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:0.75 [[ 9.99811365e-01 5.50291619e-04 -1.94147347e-02 8.64906503e-01] [-6.86167292e-04 9.99975316e-01 -6.99261789e-03 5.80781257e-02] [ 1.94104075e-02 7.00462059e-03 9.99787063e-01 7.46919618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.812557844 meters Centerline goodness [0,1] 0.24555314533622563 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99980057 -0.00700724 -0.01870072 0.88401704] [ 0.00689323 0.9999573 -0.00615411 0.06721578] [ 0.01874304 0.00602397 0.99980619 0.74865316] [ 0. 0. 0. 1. ]] SLAMing on 114.842557844 meters Centerline goodness [0,1] 0.24474842290099508 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99980211 -0.00707748 -0.01859144 0.8836 ] [ 0.00696148 0.99995594 -0.00629681 0.06790981] [ 0.01863518 0.00616614 0.99980734 0.74885307] [ 0. 0. 0. 1. ]] SLAMing on 114.872557844 meters Centerline goodness [0,1] 0.24584221279961338 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:0.75 [[ 9.99823595e-01 7.32380753e-04 -1.87681024e-02 8.63192720e-01] [-8.64168236e-04 9.99975023e-01 -7.01473861e-03 6.23582920e-02] [ 1.87624962e-02 7.02971997e-03 9.99799256e-01 7.48115291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.902557844 meters Centerline goodness [0,1] 0.24656754330260366 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:0.75 [[ 9.99822977e-01 6.94149312e-04 -1.88024640e-02 8.63096834e-01] [-8.25944856e-04 9.99975140e-01 -7.00262422e-03 6.22579443e-02] [ 1.87971357e-02 7.01691439e-03 9.99798695e-01 7.48439988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.932557844 meters Centerline goodness [0,1] 0.24427695839559915 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99980593 -0.00710101 -0.01837576 0.88307414] [ 0.0069924 0.99995774 -0.00596784 0.06716726] [ 0.01841736 0.0058382 0.99981334 0.7500336 ] [ 0. 0. 0. 1. ]] SLAMing on 114.962557844 meters Centerline goodness [0,1] 0.24633488493496325 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99980568 -0.00709668 -0.0183915 0.88295961] [ 0.00698946 0.99995824 -0.0058876 0.06676154] [ 0.01843251 0.00575791 0.99981353 0.75032476] [ 0. 0. 0. 1. ]] SLAMing on 114.992557844 meters Centerline goodness [0,1] 0.2452777055714409 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99982029 -0.00706372 -0.01759218 0.8801773 ] [ 0.0069648 0.99995963 -0.00567796 0.06600797] [ 0.01763158 0.00555441 0.99982912 0.75172036] [ 0. 0. 0. 1. ]] SLAMing on 115.022557844 meters Centerline goodness [0,1] 0.24629826348993 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.9998277 -0.00703445 -0.01717823 0.87853299] [ 0.00693827 0.99995996 -0.00565157 0.06604451] [ 0.0172173 0.00553141 0.99983647 0.75275957] [ 0. 0. 0. 1. ]] SLAMing on 115.052557844 meters Centerline goodness [0,1] 0.24755120213713266 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99983254 -0.00703093 -0.01689554 0.87752968] [ 0.00693523 0.99995961 -0.00571625 0.06640827] [ 0.01693505 0.00559811 0.99984092 0.7532659 ] [ 0. 0. 0. 1. ]] SLAMing on 115.08255784400001 meters Centerline goodness [0,1] 0.24755120213713266 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99983254 -0.00703093 -0.01689554 0.87752968] [ 0.00693523 0.99995961 -0.00571625 0.06640827] [ 0.01693505 0.00559811 0.99984092 0.7532659 ] [ 0. 0. 0. 1. ]] SLAMing on 115.11255784400001 meters Centerline goodness [0,1] 0.24480124640252743 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99982397 -0.00683295 -0.017474 0.87943453] [ 0.00672958 0.99995955 -0.00596808 0.06827462] [ 0.01751408 0.00584944 0.99982951 0.75229836] [ 0. 0. 0. 1. ]] SLAMing on 115.14255784400001 meters Centerline goodness [0,1] 0.24669450243562974 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99981878 -0.00338247 -0.01873382 0.88334744] [ 0.00333564 0.99999124 -0.00253041 0.06856767] [ 0.01874222 0.00246746 0.9998213 0.7512537 ] [ 0. 0. 0. 1. ]] SLAMing on 115.17255784400001 meters Centerline goodness [0,1] 0.24905751358933892 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99981524 -0.00342203 -0.01891485 0.88414071] [ 0.00336973 0.99999041 -0.00279602 0.06999921] [ 0.01892423 0.00273176 0.99981719 0.75059951] [ 0. 0. 0. 1. ]] SLAMing on 115.202557844 meters Centerline goodness [0,1] 0.24660599083346002 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:0.75 [[ 0.99982351 0.00540841 -0.01799186 0.90440373] [-0.00548463 0.99997618 -0.00418988 0.06879787] [ 0.01796877 0.00428782 0.99982935 0.75175956] [ 0. 0. 0. 1. ]] SLAMing on 115.232557844 meters Centerline goodness [0,1] 0.24596712911700214 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:0.75 [[ 0.99982946 0.00533001 -0.01768183 0.90332875] [-0.00541192 0.99997483 -0.0045882 0.07078102] [ 0.01765693 0.00468311 0.99983314 0.75222648] [ 0. 0. 0. 1. ]] SLAMing on 115.262557844 meters Centerline goodness [0,1] 0.248868778280543 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:0.75 [[ 0.99983144 0.00525572 -0.01759171 0.90319163] [-0.00534096 0.99997421 -0.00480185 0.07183951] [ 0.01756602 0.004895 0.99983372 0.75200934] [ 0. 0. 0. 1. ]] SLAMing on 115.292557844 meters Centerline goodness [0,1] 0.24570120107145943 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:0.75 [[ 9.99852172e-01 -3.09621855e-04 -1.71911991e-02 9.26005116e-01] [ 2.74464055e-04 9.99997866e-01 -2.04742629e-03 7.59534679e-02] [ 1.71917963e-02 2.04240525e-03 9.99850124e-01 7.51517651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.322557844 meters Centerline goodness [0,1] 0.24996715280515047 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99979877 -0.00117747 -0.02002577 0.88117504] [ 0.00114588 0.99999808 -0.00158858 0.07286353] [ 0.0200276 0.00156532 0.9997982 0.75176331] [ 0. 0. 0. 1. ]] SLAMing on 115.352557844 meters Centerline goodness [0,1] 0.24859176455176635 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99979411 -0.001312 -0.02024905 0.88184306] [ 0.00127751 0.99999771 -0.00171598 0.07294927] [ 0.02025125 0.00168976 0.99979349 0.75163606] [ 0. 0. 0. 1. ]] SLAMing on 115.382557844 meters Centerline goodness [0,1] 0.24794684674872014 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99979238 -0.00133693 -0.02033231 0.88207 ] [ 0.00130194 0.99999765 -0.00173383 0.07291913] [ 0.02033458 0.001707 0.99979177 0.75163121] [ 0. 0. 0. 1. ]] SLAMing on 115.412557844 meters Centerline goodness [0,1] 0.2461642550033829 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99979415 -0.00134971 -0.02024447 0.88177343] [ 0.00131459 0.99999761 -0.00174793 0.07298684] [ 0.02024678 0.00172096 0.99979353 0.75175101] [ 0. 0. 0. 1. ]] SLAMing on 115.442557844 meters Centerline goodness [0,1] 0.24261057173678535 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:0.75 [[ 0.99979987 0.00721126 -0.01866068 0.90131305] [-0.00726709 0.99996931 -0.0029258 0.07010303] [ 0.018639 0.00306082 0.99982159 0.75255139] [ 0. 0. 0. 1. ]] SLAMing on 115.47255784400001 meters Centerline goodness [0,1] 0.24965483991146364 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99980523 -0.00215836 -0.01961724 0.87992793] [ 0.00211667 0.99999546 -0.00214553 0.07253097] [ 0.01962178 0.00210359 0.99980526 0.75185504] [ 0. 0. 0. 1. ]] SLAMing on 115.50255784400001 meters Centerline goodness [0,1] 0.24717830502577043 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99979578 -0.00223382 -0.02008485 0.88134365] [ 0.00219211 0.9999954 -0.00209819 0.07177844] [ 0.02008944 0.00205373 0.99979608 0.75147242] [ 0. 0. 0. 1. ]] SLAMing on 115.53255784400001 meters Centerline goodness [0,1] 0.24614751078263508 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.9997896 -0.00224253 -0.02038949 0.88243258] [ 0.00220025 0.99999538 -0.00209608 0.07176939] [ 0.02039409 0.00205077 0.99978992 0.75093083] [ 0. 0. 0. 1. ]] SLAMing on 115.562557844 meters Centerline goodness [0,1] 0.24510568260568255 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99978497 -0.00223583 -0.02061584 0.88321286] [ 0.00219339 0.99999543 -0.00208067 0.071786 ] [ 0.0206204 0.002035 0.99978531 0.75053481] [ 0. 0. 0. 1. ]] SLAMing on 115.592557844 meters Centerline goodness [0,1] 0.24617978020053422 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99978347 -0.00222733 -0.02068931 0.88350896] [ 0.0021872 0.99999568 -0.00196195 0.07112951] [ 0.02069359 0.00191627 0.99978403 0.75038245] [ 0. 0. 0. 1. ]] SLAMing on 115.622557844 meters Centerline goodness [0,1] 0.2471249231849706 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.9997855 -0.00219328 -0.0205947 0.88289617] [ 0.00215641 0.99999603 -0.00181217 0.07036452] [ 0.02059859 0.00176737 0.99978626 0.75106599] [ 0. 0. 0. 1. ]] SLAMing on 115.652557844 meters Centerline goodness [0,1] 0.24841337813206843 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99978888 -0.00216176 -0.02043357 0.882168 ] [ 0.00212844 0.99999637 -0.00165247 0.06953172] [ 0.02043707 0.00160863 0.99978985 0.75165754] [ 0. 0. 0. 1. ]] SLAMing on 115.682557844 meters Centerline goodness [0,1] 0.24630198461974162 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99978743 -0.00210855 -0.02050971 0.88230692] [ 0.00207948 0.9999968 -0.00143866 0.06844453] [ 0.02051268 0.0013957 0.99978862 0.75178638] [ 0. 0. 0. 1. ]] SLAMing on 115.712557844 meters Centerline goodness [0,1] 0.24525703794369647 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 0.99978153 -0.00203738 -0.0208022 0.88336072] [ 0.00201583 0.99999741 -0.00105711 0.06647187] [ 0.0208043 0.00101495 0.99978305 0.75126566] [ 0. 0. 0. 1. ]] SLAMing on 115.742557844 meters Centerline goodness [0,1] 0.24121952275778447 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 9.99779058e-01 -1.97312740e-03 -2.09270542e-02 8.83667349e-01] [ 1.95490500e-03 9.99997692e-01 -8.91179753e-04 6.56745686e-02] [ 2.09287643e-02 8.50072451e-04 9.99780608e-01 7.51311455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.772557844 meters Centerline goodness [0,1] 0.24274766193280217 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 9.99779304e-01 -1.95400647e-03 -2.09171077e-02 8.83571154e-01] [ 1.93657619e-03 9.99997761e-01 -8.53526132e-04 6.55111598e-02] [ 2.09187287e-02 8.12830190e-04 9.99780849e-01 7.51422238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.802557844 meters Centerline goodness [0,1] 0.2393829049147831 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:0.75 [[ 9.99779927e-01 -1.93081717e-03 -2.08894489e-02 8.83322758e-01] [ 1.91247354e-03 9.99997768e-01 -8.98071187e-04 6.58856247e-02] [ 2.08911363e-02 8.57923028e-04 9.99781388e-01 7.51715927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83255784400001 meters Centerline goodness [0,1] 0.2496048472075869 Centerline is valid? [False, False] Translation: X:0.84, Y:0.06, Z:0.75 [[ 9.99718224e-01 -2.09150885e-03 -2.36452566e-02 8.37297637e-01] [ 2.09166287e-03 9.99997812e-01 -1.82185761e-05 6.32405576e-02] [ 2.36452429e-02 -3.12444627e-05 9.99720412e-01 7.52898088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86255784400001 meters Centerline goodness [0,1] 0.24169634185820654 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:0.75 [[ 9.99701237e-01 8.08451337e-03 -2.30667917e-02 8.59651089e-01] [-8.09352007e-03 9.99967203e-01 -2.97128852e-04 6.29658898e-02] [ 2.30636331e-02 4.83731623e-04 9.99733882e-01 7.53178625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89255784400001 meters Centerline goodness [0,1] 0.24629937812034686 Centerline is valid? [False, False] Translation: X:0.84, Y:0.07, Z:0.75 [[ 9.99725884e-01 -1.17584510e-04 -2.34124729e-02 8.38688745e-01] [ 1.44269290e-04 9.99999342e-01 1.13808188e-03 6.79637243e-02] [ 2.34123237e-02 -1.14114762e-03 9.99725243e-01 7.51927773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92255784400001 meters Centerline goodness [0,1] 0.24272916125681643 Centerline is valid? [False, False] Translation: X:0.86, Y:0.07, Z:0.75 [[ 9.99715403e-01 9.35434041e-03 -2.19455960e-02 8.59991586e-01] [-9.34634410e-03 9.99956213e-01 4.66911638e-04 6.76126843e-02] [ 2.19490027e-02 -2.61667665e-04 9.99759057e-01 7.52457499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.952557844 meters Centerline goodness [0,1] 0.2526742656729505 Centerline is valid? [False, False] Translation: X:0.84, Y:0.07, Z:0.75 [[ 9.99773630e-01 9.45699456e-04 -2.12554609e-02 8.38396673e-01] [-9.09787197e-04 9.99998143e-01 1.69916104e-03 7.27136000e-02] [ 2.12570283e-02 -1.67943845e-03 9.99772633e-01 7.50934489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.982557844 meters Centerline goodness [0,1] 0.2475617756396239 Centerline is valid? [False, False] Translation: X:0.84, Y:0.07, Z:0.75 [[ 9.99784141e-01 9.14393723e-04 -2.07565522e-02 8.36759370e-01] [-8.85079730e-04 9.99998598e-01 1.42141926e-03 7.42199431e-02] [ 2.07578228e-02 -1.40274123e-03 9.99783549e-01 7.51560614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.012557844 meters Centerline goodness [0,1] 0.24793911109172595 Centerline is valid? [False, False] Translation: X:0.84, Y:0.07, Z:0.75 [[ 9.99786264e-01 8.48868618e-04 -2.06568592e-02 8.36333838e-01] [-8.22517367e-04 9.99998837e-01 1.28412867e-03 7.48303196e-02] [ 2.06579252e-02 -1.26686358e-03 9.99785800e-01 7.51839822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.042557844 meters Centerline goodness [0,1] 0.24916358896371926 Centerline is valid? [False, False] Translation: X:0.84, Y:0.08, Z:0.75 [[ 9.99789873e-01 8.13384696e-04 -2.04828579e-02 8.35855922e-01] [-7.88665737e-04 9.99998951e-01 1.21486102e-03 7.52137760e-02] [ 2.04838245e-02 -1.19845162e-03 9.99789466e-01 7.51886157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.072557844 meters Centerline goodness [0,1] 0.24575426739450656 Centerline is valid? [False, False] Translation: X:0.84, Y:0.08, Z:0.75 [[ 9.99795219e-01 7.80121395e-04 -2.02215394e-02 8.35075766e-01] [-7.57516277e-04 9.99999080e-01 1.12550898e-03 7.58304800e-02] [ 2.02223988e-02 -1.10996035e-03 9.99794890e-01 7.52062988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102557844 meters Centerline goodness [0,1] 0.24877549687615652 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:0.75 [[ 9.99797403e-01 7.58046113e-04 -2.01141346e-02 8.34749522e-01] [-7.36238259e-04 9.99999133e-01 1.09158845e-03 7.60308761e-02] [ 2.01149447e-02 -1.07655850e-03 9.99797094e-01 7.52154667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.132557844 meters Centerline goodness [0,1] 0.24829658009883104 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:0.75 [[ 9.99796795e-01 6.52822802e-04 -2.01480233e-02 8.34795897e-01] [-6.30642611e-04 9.99999188e-01 1.10719602e-03 7.55102475e-02] [ 2.01487297e-02 -1.09426483e-03 9.99796395e-01 7.52279572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162557844 meters Centerline goodness [0,1] 0.24807989382302387 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 9.99795452e-01 6.74095318e-04 -2.02138565e-02 8.34768042e-01] [-6.48338332e-04 9.99998970e-01 1.28075054e-03 7.45567902e-02] [ 2.02146990e-02 -1.26738314e-03 9.99794859e-01 7.52624732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.192557844 meters Centerline goodness [0,1] 0.24758744159643686 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 9.99800118e-01 3.77025421e-04 -1.99895512e-02 8.33875799e-01] [-3.45505142e-04 9.99998692e-01 1.58026792e-03 7.19945337e-02] [ 1.99901209e-02 -1.57304556e-03 9.99798940e-01 7.53420186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22255784400001 meters Centerline goodness [0,1] 0.24818280739934717 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 9.99798632e-01 4.54477435e-04 -2.00621072e-02 8.33916704e-01] [-4.14037126e-04 9.99997874e-01 2.01986345e-03 6.97145101e-02] [ 2.00629826e-02 -2.01115026e-03 9.99796695e-01 7.53745206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25255784400001 meters Centerline goodness [0,1] 0.24502710524610705 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 9.99794700e-01 5.35376704e-04 -2.02551395e-02 8.34447881e-01] [-4.86211645e-04 9.99996924e-01 2.43213493e-03 6.75266753e-02] [ 2.02563793e-02 -2.42178733e-03 9.99791885e-01 7.53744688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28255784400001 meters Centerline goodness [0,1] 0.2444175700773118 Centerline is valid? [False, False] Translation: X:0.84, Y:0.07, Z:0.75 [[ 9.99790909e-01 6.05670134e-04 -2.04394461e-02 8.35174239e-01] [-5.49828130e-04 9.99996102e-01 2.73757940e-03 6.58204843e-02] [ 2.04410245e-02 -2.72576882e-03 9.99787345e-01 7.53367895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.312557844 meters Centerline goodness [0,1] 0.24475010272713515 Centerline is valid? [False, False] Translation: X:0.84, Y:0.06, Z:0.75 [[ 9.99785873e-01 6.48385894e-04 -2.06830427e-02 8.36175451e-01] [-5.88495770e-04 9.99995617e-01 2.90156997e-03 6.48867452e-02] [ 2.06848333e-02 -2.88877678e-03 9.99781873e-01 7.52749346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.342557844 meters Centerline goodness [0,1] 0.25116856073192884 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:0.75 [[ 9.99719947e-01 -2.52191825e-04 -2.36635566e-02 7.92319155e-01] [ 3.33040918e-04 9.99994121e-01 3.41272903e-03 6.14020932e-02] [ 2.36625569e-02 -3.41965422e-03 9.99714154e-01 7.52483626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.372557844 meters Centerline goodness [0,1] 0.24733433636423108 Centerline is valid? [False, False] Translation: X:0.81, Y:0.06, Z:0.75 [[ 0.99967719 0.00929255 -0.0236466 0.81498889] [-0.00922318 0.99995284 0.00304085 0.05943255] [ 0.02367374 -0.00282178 0.99971576 0.75283776] [ 0. 0. 0. 1. ]] SLAMing on 116.402557844 meters Centerline goodness [0,1] 0.2476931823151266 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:0.75 [[ 0.99967516 0.00922228 -0.02375956 0.81558923] [-0.00915878 0.99995419 0.00278002 0.0606933 ] [ 0.02378411 -0.00256151 0.99971384 0.75228083] [ 0. 0. 0. 1. ]] SLAMing on 116.432557844 meters Centerline goodness [0,1] 0.24798268057468997 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:0.75 [[ 0.99967525 0.00912749 -0.02379257 0.81589576] [-0.0090719 0.99995586 0.00244342 0.06228335] [ 0.02381382 -0.00222679 0.99971393 0.75184178] [ 0. 0. 0. 1. ]] SLAMing on 116.462557844 meters Centerline goodness [0,1] 0.24868039060438107 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:0.75 [[ 0.99967982 0.00906935 -0.02362208 0.8153947 ] [-0.00901989 0.9999569 0.00219956 0.06350702] [ 0.02364101 -0.00198579 0.99971854 0.75194611] [ 0. 0. 0. 1. ]] SLAMing on 116.492557844 meters Centerline goodness [0,1] 0.2482778289675749 Centerline is valid? [False, False] Translation: X:0.81, Y:0.07, Z:0.75 [[ 0.99968948 0.00895331 -0.02325485 0.81419806] [-0.00891575 0.99995878 0.00171813 0.06590857] [ 0.02326928 -0.00151026 0.99972809 0.75240601] [ 0. 0. 0. 1. ]] SLAMing on 116.522557844 meters Centerline goodness [0,1] 0.24680312486361455 Centerline is valid? [False, False] Translation: X:0.81, Y:0.07, Z:0.75 [[ 0.99968749 0.00886136 -0.02337516 0.81483915] [-0.00882894 0.99995991 0.0014899 0.0668972 ] [ 0.02338743 -0.00128306 0.99972565 0.75179971] [ 0. 0. 0. 1. ]] SLAMing on 116.552557844 meters Centerline goodness [0,1] 0.24627435578538548 Centerline is valid? [False, False] Translation: X:0.82, Y:0.07, Z:0.75 [[ 0.9996837 0.00875359 -0.02357706 0.81575696] [-0.00872723 0.99996117 0.00122051 0.06810828] [ 0.02358683 -0.00101437 0.99972128 0.75103828] [ 0. 0. 0. 1. ]] SLAMing on 116.58255784400001 meters Centerline goodness [0,1] 0.24658912016792023 Centerline is valid? [False, False] Translation: X:0.82, Y:0.07, Z:0.75 [[ 9.99683185e-01 8.68383963e-03 -2.36245725e-02 8.16066190e-01] [-8.66131715e-03 9.99961933e-01 1.05550893e-03 6.88454838e-02] [ 2.36328390e-02 -8.50554614e-04 9.99720344e-01 7.50701802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61255784400001 meters Centerline goodness [0,1] 0.24685483345283876 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 0.99976204 0.00122858 -0.02177958 0.83332016] [-0.00117554 0.99999631 0.00244798 0.07389352] [ 0.02178251 -0.00242179 0.9997598 0.75314674] [ 0. 0. 0. 1. ]] SLAMing on 116.64255784400001 meters Centerline goodness [0,1] 0.2486615762682114 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 0.99976729 0.00130923 -0.02153237 0.83217217] [-0.00125281 0.99999575 0.00263366 0.07319572] [ 0.02153573 -0.00260608 0.99976468 0.75409746] [ 0. 0. 0. 1. ]] SLAMing on 116.67255784400001 meters Centerline goodness [0,1] 0.2480895255927369 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 0.99977211 0.00135662 -0.02130472 0.83125059] [-0.00129675 0.99999517 0.0028235 0.07228464] [ 0.02130844 -0.00279523 0.99976904 0.75475955] [ 0. 0. 0. 1. ]] SLAMing on 116.702557844 meters Centerline goodness [0,1] 0.24669450243562974 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.76 [[ 0.9997732 0.00144303 -0.02124755 0.83088621] [-0.00137255 0.99999351 0.00333111 0.06935906] [ 0.02125222 -0.00330119 0.9997687 0.75524757] [ 0. 0. 0. 1. ]] SLAMing on 116.732557844 meters Centerline goodness [0,1] 0.24789344334240326 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 0.99976681 0.00152927 -0.02154058 0.83185562] [-0.00144989 0.9999921 0.0037003 0.06724938] [ 0.02154607 -0.00366821 0.99976113 0.75489894] [ 0. 0. 0. 1. ]] SLAMing on 116.762557844 meters Centerline goodness [0,1] 0.24435380643481652 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 0.99975704 0.00161416 -0.02198319 0.83333534] [-0.00152552 0.99999064 0.00404842 0.06534033] [ 0.02198952 -0.0040139 0.99975014 0.75431416] [ 0. 0. 0. 1. ]] SLAMing on 116.792557844 meters Centerline goodness [0,1] 0.24253071782711788 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.75 [[ 0.99975061 0.00170746 -0.02226658 0.8344631 ] [-0.00161222 0.99998948 0.00429448 0.06417783] [ 0.02227368 -0.00425751 0.99974285 0.75364672] [ 0. 0. 0. 1. ]] SLAMing on 116.822557844 meters Centerline goodness [0,1] 0.24601406543484905 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.75 [[ 0.99975205 0.00188724 -0.02218734 0.83426935] [-0.00178642 0.99998799 0.00456306 0.06338126] [ 0.02219568 -0.00452229 0.99974342 0.75365811] [ 0. 0. 0. 1. ]] SLAMing on 116.852557844 meters Centerline goodness [0,1] 0.24479291618503418 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.75 [[ 0.99975511 0.00191049 -0.02204717 0.83366567] [-0.00180987 0.99998786 0.00458284 0.06326767] [ 0.02205566 -0.00454182 0.99974643 0.7540692 ] [ 0. 0. 0. 1. ]] SLAMing on 116.882557844 meters Centerline goodness [0,1] 0.2462528635322352 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.75 [[ 0.99975892 0.0019276 -0.02187196 0.8329851 ] [-0.001827 0.99998767 0.00461851 0.06309732] [ 0.02188059 -0.00457743 0.99975011 0.75448966] [ 0. 0. 0. 1. ]] SLAMing on 116.912557844 meters Centerline goodness [0,1] 0.2430434314042461 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:0.76 [[ 0.99973443 0.0107591 -0.02037937 0.85271645] [-0.01069051 0.99993683 0.0034714 0.06083593] [ 0.02041543 -0.00325261 0.99978629 0.75537479] [ 0. 0. 0. 1. ]] SLAMing on 116.942557844 meters Centerline goodness [0,1] 0.24521263906660018 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.75 [[ 0.99978036 0.00235327 -0.02082516 0.83413551] [-0.00224474 0.99998379 0.00523316 0.06458152] [ 0.02083714 -0.00518526 0.99976944 0.75243325] [ 0. 0. 0. 1. ]] SLAMing on 116.97255784400001 meters Centerline goodness [0,1] 0.24521263906660018 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.75 [[ 0.99978036 0.00235327 -0.02082516 0.83413551] [-0.00224474 0.99998379 0.00523316 0.06458152] [ 0.02083714 -0.00518526 0.99976944 0.75243325] [ 0. 0. 0. 1. ]] SLAMing on 117.00255784400001 meters Centerline goodness [0,1] 0.24914945455343618 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.75 [[ 0.99977917 0.00228161 -0.02089019 0.83463409] [-0.00217558 0.99998465 0.00509663 0.06504638] [ 0.0209015 -0.00505006 0.99976879 0.75184454] [ 0. 0. 0. 1. ]] SLAMing on 117.03255784400001 meters Centerline goodness [0,1] 0.24394306480920658 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:0.75 [[ 0.9997397 0.01073159 -0.02013381 0.85497993] [-0.01065949 0.9999364 0.0036846 0.0625841 ] [ 0.02017208 -0.00346903 0.9997905 0.75282437] [ 0. 0. 0. 1. ]] SLAMing on 117.062557844 meters Centerline goodness [0,1] 0.24414092140921406 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:0.75 [[ 0.99973868 0.01071748 -0.02019172 0.85509247] [-0.01064467 0.99993646 0.00370988 0.06239411] [ 0.0202302 -0.00349398 0.99978924 0.7528694 ] [ 0. 0. 0. 1. ]] SLAMing on 117.092557844 meters Centerline goodness [0,1] 0.24673316490983532 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:0.75 [[ 0.99974009 0.01074625 -0.02010645 0.85483128] [-0.01067169 0.99993579 0.0038122 0.06197241] [ 0.02014613 -0.00359664 0.99979058 0.75293852] [ 0. 0. 0. 1. ]] SLAMing on 117.122557844 meters Centerline goodness [0,1] 0.24399703664967098 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:0.75 [[ 9.99778083e-01 6.68718914e-03 -1.99766269e-02 8.54649166e-01] [-6.69122837e-03 9.99977604e-01 -1.35363159e-04 6.22232561e-02] [ 1.99752743e-02 2.69001292e-04 9.99800438e-01 7.52635819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.152557844 meters Centerline goodness [0,1] 0.24535768645357692 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:0.75 [[ 9.99769166e-01 6.64354652e-03 -2.04322975e-02 8.55795535e-01] [-6.64218312e-03 9.99977931e-01 1.34592226e-04 6.03585536e-02] [ 2.04327407e-02 1.15390419e-06 9.99791230e-01 7.52655417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.182557844 meters Centerline goodness [0,1] 0.24434960588773247 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:0.75 [[ 9.99761766e-01 6.67609501e-03 -2.07808041e-02 8.56764205e-01] [-6.66769734e-03 9.99977659e-01 4.73369482e-04 5.83864235e-02] [ 2.07835001e-02 -3.34696597e-04 9.99783944e-01 7.52557094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.212557844 meters Centerline goodness [0,1] 0.24851239487956434 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:0.75 [[ 9.99758284e-01 6.78941666e-03 -2.09111622e-02 8.57039291e-01] [-6.77267278e-03 9.99976685e-01 8.71431601e-04 5.64008197e-02] [ 2.09165912e-02 -7.29596503e-04 9.99780958e-01 7.52651128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.242557844 meters Centerline goodness [0,1] 0.24226290957884256 Centerline is valid? [False, False] Translation: X:0.88, Y:0.06, Z:0.75 [[ 0.99982154 -0.00168106 -0.01881648 0.87802319] [ 0.00171054 0.99999733 0.00155084 0.05642051] [ 0.01881382 -0.00158275 0.99982175 0.75297043] [ 0. 0. 0. 1. ]] SLAMing on 117.272557844 meters Centerline goodness [0,1] 0.24370314028034334 Centerline is valid? [False, False] Translation: X:0.88, Y:0.05, Z:0.75 [[ 0.99982358 -0.00151706 -0.01872196 0.87762243] [ 0.00155542 0.99999672 0.00203457 0.05409214] [ 0.01871881 -0.00206333 0.99982266 0.75330069] [ 0. 0. 0. 1. ]] SLAMing on 117.302557844 meters Centerline goodness [0,1] 0.24635180006990565 Centerline is valid? [False, False] Translation: X:0.88, Y:0.05, Z:0.75 [[ 0.99982194 -0.00132911 -0.01882337 0.8779647 ] [ 0.00137755 0.99999577 0.00256046 0.05150019] [ 0.01881989 -0.00258594 0.99981955 0.75323104] [ 0. 0. 0. 1. ]] SLAMing on 117.33255784400001 meters Centerline goodness [0,1] 0.24411950301368668 Centerline is valid? [False, False] Translation: X:0.88, Y:0.05, Z:0.75 [[ 0.99981643 -0.00120571 -0.01912203 0.87898361] [ 0.00126199 0.99999491 0.00293136 0.04947803] [ 0.01911839 -0.00295495 0.99981286 0.75281328] [ 0. 0. 0. 1. ]] SLAMing on 117.36255784400001 meters Centerline goodness [0,1] 0.23693800539083554 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:0.75 [[ 0.99975633 0.00707658 -0.02090918 0.90029196] [-0.0070328 0.99997292 0.00216666 0.0414444 ] [ 0.02092395 -0.00201908 0.99977903 0.75489614] [ 0. 0. 0. 1. ]] SLAMing on 117.39255784400001 meters Centerline goodness [0,1] 0.24387108021530213 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:0.75 [[ 0.9997747 -0.00190215 -0.02114088 0.8793963 ] [ 0.00197685 0.99999188 0.00351304 0.0430016 ] [ 0.02113402 -0.00355404 0.99977033 0.75416209] [ 0. 0. 0. 1. ]] SLAMing on 117.42255784400001 meters Centerline goodness [0,1] 0.24622884876043893 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:0.75 [[ 0.99977947 -0.00169062 -0.02093199 0.87840923] [ 0.00177452 0.99999046 0.00399022 0.04094999] [ 0.02092504 -0.00402648 0.99977294 0.75496515] [ 0. 0. 0. 1. ]] SLAMing on 117.452557844 meters Centerline goodness [0,1] 0.24419110608302153 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:0.76 [[ 0.99978243 -0.00152749 -0.02080279 0.87789536] [ 0.00161862 0.99998917 0.00436432 0.03929905] [ 0.0207959 -0.00439704 0.99977407 0.75531933] [ 0. 0. 0. 1. ]] SLAMing on 117.482557844 meters Centerline goodness [0,1] 0.24407644979709386 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:0.76 [[ 0.99978091 -0.00140424 -0.02088458 0.87821765] [ 0.00150202 0.99998798 0.00466679 0.03787416] [ 0.02087777 -0.00469713 0.999771 0.75514278] [ 0. 0. 0. 1. ]] SLAMing on 117.512557844 meters Centerline goodness [0,1] 0.24133981631550516 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.75 [[ 0.99976379 0.00606719 -0.02086995 0.90102752] [-0.00602023 0.9999792 0.00231235 0.0337124 ] [ 0.02088355 -0.00218616 0.99977952 0.75490169] [ 0. 0. 0. 1. ]] SLAMing on 117.542557844 meters Centerline goodness [0,1] 0.24466488285583765 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.76 [[ 0.99976207 0.00617438 -0.02092076 0.90096822] [-0.0061219 0.99997795 0.00257152 0.03246669] [ 0.02093618 -0.00244283 0.99977783 0.75527343] [ 0. 0. 0. 1. ]] SLAMing on 117.572557844 meters Centerline goodness [0,1] 0.24584906072044155 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.76 [[ 0.9997638 0.00628177 -0.02080583 0.90046153] [-0.00622482 0.9999767 0.00280066 0.03148091] [ 0.02082294 -0.00267049 0.99977961 0.75567242] [ 0. 0. 0. 1. ]] SLAMing on 117.602557844 meters Centerline goodness [0,1] 0.24314100613070133 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.76 [[ 0.99976451 0.00636854 -0.02074528 0.9001478 ] [-0.00630848 0.99997572 0.00295937 0.03084005] [ 0.02076363 -0.0028278 0.99978041 0.75595399] [ 0. 0. 0. 1. ]] SLAMing on 117.632557844 meters Centerline goodness [0,1] 0.247885719293633 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.76 [[ 0.9997665 0.0065103 -0.02060497 0.89988609] [-0.00644603 0.99997415 0.00318405 0.02999291] [ 0.02062517 -0.00305048 0.99978262 0.7557834 ] [ 0. 0. 0. 1. ]] SLAMing on 117.662557844 meters Centerline goodness [0,1] 0.244685222431281 Centerline is valid? [False, False] Translation: X:0.92, Y:0.03, Z:0.76 [[ 0.99980131 -0.00133073 -0.01988908 0.92014553] [ 0.00140592 0.99999192 0.00376706 0.03396095] [ 0.01988391 -0.00379427 0.9997951 0.75639862] [ 0. 0. 0. 1. ]] SLAMing on 117.692557844 meters Centerline goodness [0,1] 0.24595412864019517 Centerline is valid? [False, False] Translation: X:0.92, Y:0.03, Z:0.76 [[ 0.99980082 -0.00120293 -0.0199218 0.92024967] [ 0.00128578 0.99999058 0.00414641 0.03201033] [ 0.01991663 -0.0041712 0.99979294 0.75636869] [ 0. 0. 0. 1. ]] SLAMing on 117.72255784400001 meters Centerline goodness [0,1] 0.2469078744663057 Centerline is valid? [False, False] Translation: X:0.92, Y:0.03, Z:0.76 [[ 0.99979983 -0.00104429 -0.01998043 0.92044643] [ 0.00113662 0.99998873 0.00461033 0.02976128] [ 0.0199754 -0.00463211 0.99978974 0.75631973] [ 0. 0. 0. 1. ]] SLAMing on 117.75255784400001 meters Centerline goodness [0,1] 0.24235727440147325 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:0.76 [[ 0.99981434 0.00582077 -0.0183686 0.94310516] [-0.00578396 0.99998116 0.00205639 0.027512 ] [ 0.01838023 -0.00194977 0.99982917 0.75512706] [ 0. 0. 0. 1. ]] SLAMing on 117.78255784400001 meters Centerline goodness [0,1] 0.24397844575731997 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:0.76 [[ 0.99981432 0.00598524 -0.01831653 0.94277423] [-0.00593958 0.99997912 0.00254654 0.02510853] [ 0.01833139 -0.00243727 0.999829 0.75552413] [ 0. 0. 0. 1. ]] SLAMing on 117.812557844 meters Centerline goodness [0,1] 0.238586886235289 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:0.76 [[ 0.99983346 0.00213895 -0.01812389 0.94236863] [-0.00215902 0.99999708 -0.00108797 0.02370871] [ 0.01812151 0.00112692 0.99983516 0.75532457] [ 0. 0. 0. 1. ]] SLAMing on 117.842557844 meters Centerline goodness [0,1] 0.24086849332843152 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:0.76 [[ 9.99831028e-01 2.26451552e-03 -1.82424874e-02 9.42793613e-01] [-2.27909348e-03 9.99997100e-01 -7.78371163e-04 2.22698285e-02] [ 1.82406719e-02 8.19815974e-04 9.99833289e-01 7.55107518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.872557844 meters Centerline goodness [0,1] 0.24864734087010076 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:0.76 [[ 9.99780543e-01 1.59270915e-03 -2.08884920e-02 8.98162923e-01] [-1.58112956e-03 9.99998587e-01 5.70856571e-04 1.77832368e-02] [ 2.08893717e-02 -5.37703880e-04 9.99781649e-01 7.55390053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.902557844 meters Centerline goodness [0,1] 0.24408599831798672 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:0.76 [[ 9.99827379e-01 3.17501500e-03 -1.83065955e-02 9.42058296e-01] [-3.16865503e-03 9.99994909e-01 3.76409677e-04 1.90216713e-02] [ 1.83076974e-02 -3.18337415e-04 9.99832349e-01 7.55009378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.932557844 meters Centerline goodness [0,1] 0.2470243945052305 Centerline is valid? [False, False] Translation: X:0.92, Y:0.02, Z:0.75 [[ 0.99979774 -0.00599096 -0.0191986 0.92200682] [ 0.00602172 0.99998068 0.00154479 0.02118794] [ 0.01918898 -0.00166009 0.9998145 0.75432688] [ 0. 0. 0. 1. ]] SLAMing on 117.962557844 meters Centerline goodness [0,1] 0.24648117839607198 Centerline is valid? [False, False] Translation: X:0.92, Y:0.02, Z:0.75 [[ 0.99979572 -0.00587292 -0.01933955 0.92238006] [ 0.00590947 0.99998086 0.00183354 0.01974146] [ 0.01932841 -0.00194745 0.99981129 0.75430295] [ 0. 0. 0. 1. ]] SLAMing on 117.992557844 meters Centerline goodness [0,1] 0.24374265442040655 Centerline is valid? [False, False] Translation: X:0.92, Y:0.02, Z:0.75 [[ 0.99979211 -0.00578196 -0.01955244 0.9231612 ] [ 0.00582371 0.99998088 0.00207896 0.01850353] [ 0.01954004 -0.0021924 0.99980667 0.75390752] [ 0. 0. 0. 1. ]] SLAMing on 118.022557844 meters Centerline goodness [0,1] 0.24496789866389035 Centerline is valid? [False, False] Translation: X:0.92, Y:0.02, Z:0.75 [[ 0.99978826 -0.00569454 -0.01977373 0.92399433] [ 0.00574097 0.99998089 0.00229198 0.01741757] [ 0.0197603 -0.00240502 0.99980185 0.75346138] [ 0. 0. 0. 1. ]] SLAMing on 118.052557844 meters Centerline goodness [0,1] 0.24301785171350387 Centerline is valid? [False, False] Translation: X:0.92, Y:0.01, Z:0.75 [[ 0.99978421 -0.00553682 -0.02002216 0.9249453 ] [ 0.00559287 0.99998059 0.00274471 0.01496502] [ 0.02000658 -0.0028561 0.99979577 0.753009 ] [ 0. 0. 0. 1. ]] SLAMing on 118.08255784400001 meters Centerline goodness [0,1] 0.24609927534654974 Centerline is valid? [False, False] Translation: X:0.92, Y:0.01, Z:0.75 [[ 0.99978521 -0.00544051 -0.01999834 0.92469985] [ 0.00550011 0.99998059 0.00292624 0.01425165] [ 0.01998203 -0.00303561 0.99979573 0.75334109] [ 0. 0. 0. 1. ]] SLAMing on 118.11255784400001 meters Centerline goodness [0,1] 0.24867736482778302 Centerline is valid? [False, False] Translation: X:0.92, Y:0.01, Z:0.75 [[ 0.99978846 -0.00534088 -0.01986228 0.92413002] [ 0.00540313 0.99998065 0.0030818 0.01375554] [ 0.01984543 -0.00318847 0.99979798 0.75374231] [ 0. 0. 0. 1. ]] SLAMing on 118.14255784400001 meters Centerline goodness [0,1] 0.24375895454348107 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:0.76 [[ 0.99981839 0.00348517 -0.01873609 0.94393138] [-0.00345423 0.99999262 0.00168369 0.01105118] [ 0.01874182 -0.00161867 0.99982305 0.75509515] [ 0. 0. 0. 1. ]] SLAMing on 118.17255784400001 meters Centerline goodness [0,1] 0.24617690503084544 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:0.76 [[ 0.99981728 0.00338474 -0.01881351 0.94417287] [-0.00335923 0.9999934 0.0013875 0.01210156] [ 0.01881809 -0.00132405 0.99982205 0.75501474] [ 0. 0. 0. 1. ]] SLAMing on 118.202557844 meters Centerline goodness [0,1] 0.24658727221266685 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:0.76 [[ 0.99981896 0.0033198 -0.01873591 0.94393784] [-0.00329811 0.99999385 0.00118853 0.01305578] [ 0.01873974 -0.00112652 0.99982376 0.75505708] [ 0. 0. 0. 1. ]] SLAMing on 118.232557844 meters Centerline goodness [0,1] 0.2437582555596457 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:0.76 [[ 9.99823417e-01 3.29172538e-03 -1.85013551e-02 9.43306746e-01] [-3.27335555e-03 9.99994119e-01 1.02308662e-03 1.40730671e-02] [ 1.85046141e-02 -9.62344443e-04 9.99828312e-01 7.55072005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.262557844 meters Centerline goodness [0,1] 0.24552385101285124 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:0.75 [[ 9.99828511e-01 3.27325160e-03 -1.82272761e-02 9.42617321e-01] [-3.25770588e-03 9.99994304e-01 8.82508835e-04 1.50135882e-02] [ 1.82300610e-02 -8.22978390e-04 9.99833480e-01 7.54990750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.292557844 meters Centerline goodness [0,1] 0.24997801231310468 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:0.75 [[ 9.99831167e-01 3.22881395e-03 -1.80889973e-02 9.42348635e-01] [-3.21602114e-03 9.99994558e-01 7.36260087e-04 1.58357742e-02] [ 1.80912761e-02 -6.77961184e-04 9.99836110e-01 7.54816045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.322557844 meters Centerline goodness [0,1] 0.2510911762770601 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:0.75 [[ 9.99831531e-01 3.12208644e-03 -1.80876198e-02 9.42388564e-01] [-3.11371215e-03 9.99995032e-01 4.91128068e-04 1.69343103e-02] [ 1.80890632e-02 -4.34725687e-04 9.99836285e-01 7.54701265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.352557844 meters Centerline goodness [0,1] 0.2445649815578217 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:0.76 [[ 0.99982374 -0.00404694 -0.01833349 0.96188853] [ 0.00406958 0.999991 0.00119766 0.02386727] [ 0.01832848 -0.00127206 0.99983121 0.75609733] [ 0. 0. 0. 1. ]] SLAMing on 118.382557844 meters Centerline goodness [0,1] 0.24730337569326166 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:0.76 [[ 9.99822785e-01 -4.14688249e-03 -1.83630554e-02 9.61903465e-01] [ 4.16581301e-03 9.99990830e-01 9.92770481e-04 2.48813416e-02] [ 1.83587701e-02 -1.06909160e-03 9.99830892e-01 7.56101094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.412557844 meters Centerline goodness [0,1] 0.24877418789948336 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:0.76 [[ 0.99982444 -0.00412267 -0.01827811 0.96146151] [ 0.00414327 0.99999082 0.00108929 0.0245177 ] [ 0.01827345 -0.00116483 0.99983235 0.75647132] [ 0. 0. 0. 1. ]] SLAMing on 118.442557844 meters Centerline goodness [0,1] 0.24446943321151304 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:0.76 [[ 0.99986617 0.00267041 -0.01614045 0.98327083] [-0.00269884 0.99999484 -0.00173974 0.02445239] [ 0.01613572 0.00178307 0.99986822 0.75561761] [ 0. 0. 0. 1. ]] SLAMing on 118.47255784400001 meters Centerline goodness [0,1] 0.2477572847320747 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:0.76 [[ 0.99986701 0.00225782 -0.01615102 0.98320831] [-0.00228533 0.99999597 -0.00168493 0.02272103] [ 0.01614715 0.00172161 0.99986814 0.7559424 ] [ 0. 0. 0. 1. ]] SLAMing on 118.50255784400001 meters Centerline goodness [0,1] 0.24735351775212377 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:0.76 [[ 0.99986745 0.00228 -0.01612119 0.98295454] [-0.00230416 0.99999625 -0.00148038 0.02161935] [ 0.01611775 0.00151733 0.99986895 0.75626975] [ 0. 0. 0. 1. ]] SLAMing on 118.53255784400001 meters Centerline goodness [0,1] 0.24613889188897287 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:0.76 [[ 9.99859033e-01 -5.04113583e-03 -1.60156381e-02 1.00220549e+00] [ 5.03813322e-03 9.99987283e-01 -2.27821881e-04 2.61005278e-02] [ 1.60165829e-02 1.47100847e-04 9.99871715e-01 7.58328690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562557844 meters Centerline goodness [0,1] 0.24721331500992516 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:0.76 [[ 9.99858886e-01 -5.00035993e-03 -1.60375797e-02 1.00212033e+00] [ 4.99888763e-03 9.99987497e-01 -1.31890169e-04 2.57678150e-02] [ 1.60380387e-02 5.17014990e-05 9.99871381e-01 7.58549606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.592557844 meters Centerline goodness [0,1] 0.24462745268464392 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:0.76 [[ 9.99858129e-01 -4.95590935e-03 -1.60984453e-02 1.00231043e+00] [ 4.95634848e-03 9.99987717e-01 -1.26197656e-05 2.51639965e-02] [ 1.60983101e-02 -6.71715296e-05 9.99870412e-01 7.58500536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622557844 meters Centerline goodness [0,1] 0.2443860744504489 Centerline is valid? [False, False] Translation: X:1.02, Y:0.02, Z:0.76 [[ 0.99987804 0.00356621 -0.01520487 1.02141682] [-0.00359007 0.99999237 -0.001542 0.0211229 ] [ 0.01519925 0.0015964 0.99988321 0.75978181] [ 0. 0. 0. 1. ]] SLAMing on 118.652557844 meters Centerline goodness [0,1] 0.2432660114483206 Centerline is valid? [False, False] Translation: X:1.02, Y:0.02, Z:0.76 [[ 0.99987867 0.00360196 -0.0151548 1.02172591] [-0.0036251 0.9999923 -0.00150009 0.02091305] [ 0.01514928 0.00155484 0.99988403 0.75903357] [ 0. 0. 0. 1. ]] SLAMing on 118.682557844 meters Centerline goodness [0,1] 0.2434784486481817 Centerline is valid? [False, False] Translation: X:1.02, Y:0.02, Z:0.76 [[ 0.99987703 0.00358899 -0.01526578 1.02245176] [-0.00361311 0.99999227 -0.00155333 0.02108055] [ 0.01526008 0.0016083 0.99988226 0.75826414] [ 0. 0. 0. 1. ]] SLAMing on 118.712557844 meters Centerline goodness [0,1] 0.24789943619331767 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:0.76 [[ 0.99982031 0.00208359 -0.01884142 0.97977329] [-0.0021101 0.99999681 -0.0013877 0.0180868 ] [ 0.01883847 0.00142721 0.99982152 0.75822338] [ 0. 0. 0. 1. ]] SLAMing on 118.742557844 meters Centerline goodness [0,1] 0.25333303853722167 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:0.76 [[ 0.99981042 0.00211597 -0.01935561 0.9814376 ] [-0.00213999 0.99999697 -0.00122075 0.01702729] [ 0.01935297 0.00126194 0.99981192 0.75748644] [ 0. 0. 0. 1. ]] SLAMing on 118.772557844 meters Centerline goodness [0,1] 0.24822429906542054 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:0.76 [[ 9.99806930e-01 2.20665150e-03 -1.95251750e-02 9.81867510e-01] [-2.22601958e-03 9.99997052e-01 -9.70276055e-04 1.59501731e-02] [ 1.95229763e-02 1.01355215e-03 9.99808895e-01 7.57428809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802557844 meters Centerline goodness [0,1] 0.24699745770141146 Centerline is valid? [False, False] Translation: X:0.98, Y:0.01, Z:0.76 [[ 9.99806780e-01 2.33913497e-03 -1.95174538e-02 9.81647007e-01] [-2.35202756e-03 9.99997031e-01 -6.37638458e-04 1.44645607e-02] [ 1.95159043e-02 6.83420843e-04 9.99809313e-01 7.57794884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83255784400001 meters Centerline goodness [0,1] 0.24647533279415945 Centerline is valid? [False, False] Translation: X:0.98, Y:0.01, Z:0.76 [[ 9.99808754e-01 2.47220654e-03 -1.93995798e-02 9.80930049e-01] [-2.47643465e-03 9.99996915e-01 -1.93928310e-04 1.22947326e-02] [ 1.93990405e-02 2.41933014e-04 9.99811792e-01 7.58551163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86255784400001 meters Centerline goodness [0,1] 0.24076997945279555 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:0.76 [[ 9.99824279e-01 -5.54959393e-03 -1.79056534e-02 1.00172489e+00] [ 5.55764513e-03 9.99984476e-01 3.99916130e-04 1.44502519e-02] [ 1.79031560e-02 -4.99359124e-04 9.99839601e-01 7.59117069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89255784400001 meters Centerline goodness [0,1] 0.24076997945279555 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:0.76 [[ 9.99824279e-01 -5.54959393e-03 -1.79056534e-02 1.00172489e+00] [ 5.55764513e-03 9.99984476e-01 3.99916130e-04 1.44502519e-02] [ 1.79031560e-02 -4.99359124e-04 9.99839601e-01 7.59117069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92255784400001 meters Centerline goodness [0,1] 0.24216159996533115 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:0.76 [[ 9.99823595e-01 -5.39362256e-03 -1.79913174e-02 1.00197611e+00] [ 5.40987761e-03 9.99985001e-01 8.54946506e-04 1.22074008e-02] [ 1.79864363e-02 -9.52126515e-04 9.99837778e-01 7.59070791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.952557844 meters Centerline goodness [0,1] 0.24667914968608873 Centerline is valid? [False, False] Translation: X:0.98, Y:0.00, Z:0.76 [[ 9.99799989e-01 2.50370830e-03 -1.98422040e-02 9.82850795e-01] [-2.49088266e-03 9.99996673e-01 6.71070134e-04 3.10302804e-03] [ 1.98438182e-02 -6.21511310e-04 9.99802899e-01 7.57413602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.982557844 meters Centerline goodness [0,1] 0.24629678324130078 Centerline is valid? [False, False] Translation: X:0.98, Y:0.00, Z:0.76 [[ 0.99979779 0.00267624 -0.0199303 0.98309187] [-0.00265453 0.99999585 0.00111546 0.00101945] [ 0.0199332 -0.00106233 0.99980075 0.757383 ] [ 0. 0. 0. 1. ]] SLAMing on 119.012557844 meters Centerline goodness [0,1] 0.24248002252203482 Centerline is valid? [False, False] Translation: X:1.00, Y:0.00, Z:0.76 [[ 0.9998058 -0.0049117 -0.01908496 1.00321005] [ 0.00495067 0.99998576 0.00199499 0.0032208 ] [ 0.01907489 -0.00208908 0.99981588 0.75839475] [ 0. 0. 0. 1. ]] SLAMing on 119.042557844 meters Centerline goodness [0,1] 0.24741657342197065 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.01, Z:0.76 [[ 0.99981324 0.00227502 -0.01919129 0.98385486] [-0.00225314 0.99999679 0.00116171 -0.00564194] [ 0.01919387 -0.00111825 0.99981516 0.75695582] [ 0. 0. 0. 1. ]] SLAMing on 119.072557844 meters Centerline goodness [0,1] 0.24810652063506078 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.01, Z:0.76 [[ 0.9998062 0.00253346 -0.01952276 0.98485184] [-0.00249939 0.99999531 0.00176913 -0.00875937] [ 0.01952715 -0.00171999 0.99980785 0.7568316 ] [ 0. 0. 0. 1. ]] SLAMing on 119.102557844 meters Centerline goodness [0,1] 0.24504206075927293 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.00, Z:0.76 [[ 0.99982836 -0.00428357 -0.01802502 1.00285239] [ 0.0043421 0.99998542 0.00320925 -0.00484897] [ 0.01801101 -0.00328697 0.99983239 0.7582371 ] [ 0. 0. 0. 1. ]] SLAMing on 119.132557844 meters Centerline goodness [0,1] 0.24444733082218473 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:0.76 [[ 0.99986217 0.00496604 -0.01584232 1.02163698] [-0.00493454 0.99998577 0.00202664 -0.00734721] [ 0.01585216 -0.00194819 0.99987245 0.75950202] [ 0. 0. 0. 1. ]] SLAMing on 119.162557844 meters Centerline goodness [0,1] 0.24474145961051064 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:0.76 [[ 0.99986776 0.00508498 -0.0154471 1.02048305] [-0.00505293 0.999985 0.0021135 -0.0074652 ] [ 0.01545762 -0.00203517 0.99987845 0.75972927] [ 0. 0. 0. 1. ]] SLAMing on 119.192557844 meters Centerline goodness [0,1] 0.2479572389318495 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:0.76 [[ 0.99986905 0.00510989 -0.01535513 1.02044671] [-0.00507807 0.99998488 0.00211051 -0.00745254] [ 0.01536568 -0.00203226 0.99987988 0.75939999] [ 0. 0. 0. 1. ]] SLAMing on 119.22255784400001 meters Centerline goodness [0,1] 0.24639996498446182 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:0.76 [[ 0.99986739 0.00509778 -0.01546664 1.02106519] [-0.0050667 0.99998507 0.0020479 -0.00724138] [ 0.01547685 -0.00196926 0.99987829 0.75880409] [ 0. 0. 0. 1. ]] SLAMing on 119.25255784400001 meters Centerline goodness [0,1] 0.2450789108567465 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99984933 -0.00124593 -0.01731392 1.03988046] [ 0.0012921 0.99999564 0.00265562 -0.00221227] [ 0.01731054 -0.00267759 0.99984658 0.76034137] [ 0. 0. 0. 1. ]] SLAMing on 119.28255784400001 meters Centerline goodness [0,1] 0.24867516314106775 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99984817 -0.00119992 -0.01738403 1.04000836] [ 0.00124775 0.99999547 0.00274072 -0.00248903] [ 0.01738066 -0.002762 0.99984513 0.76038817] [ 0. 0. 0. 1. ]] SLAMing on 119.31255784400001 meters Centerline goodness [0,1] 0.2464468447981808 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99984845 -0.00114392 -0.01737125 1.03989683] [ 0.00119479 0.99999503 0.00291798 -0.00333929] [ 0.01736783 -0.00293829 0.99984485 0.76053649] [ 0. 0. 0. 1. ]] SLAMing on 119.342557844 meters Centerline goodness [0,1] 0.24668776601549713 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.76 [[ 0.99984664 -0.00115994 -0.01747405 1.04006991] [ 0.00121592 0.99999416 0.00319353 -0.00509495] [ 0.01747025 -0.00321428 0.99984222 0.76078812] [ 0. 0. 0. 1. ]] SLAMing on 119.372557844 meters Centerline goodness [0,1] 0.24483628299343396 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.76 [[ 0.99984712 -0.00113751 -0.01744826 1.03998509] [ 0.00119464 0.99999396 0.00326423 -0.00540877] [ 0.01744444 -0.00328457 0.99984244 0.76082156] [ 0. 0. 0. 1. ]] SLAMing on 119.402557844 meters Centerline goodness [0,1] 0.2439528858505149 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.76 [[ 0.99984954 -0.00108864 -0.01731218 1.03953735] [ 0.00114616 0.99999385 0.00331308 -0.00539438] [ 0.01730847 -0.00333243 0.99984464 0.76096919] [ 0. 0. 0. 1. ]] SLAMing on 119.432557844 meters Centerline goodness [0,1] 0.2464340239912759 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.76 [[ 0.99985252 -0.00107231 -0.01714032 1.0389426 ] [ 0.00112912 0.9999939 0.00330537 -0.00523894] [ 0.01713668 -0.00332424 0.99984763 0.76123373] [ 0. 0. 0. 1. ]] SLAMing on 119.462557844 meters Centerline goodness [0,1] 0.24492504514697244 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99985427 -0.00111117 -0.01703541 1.03857869] [ 0.00116581 0.99999421 0.0031982 -0.00475536] [ 0.01703175 -0.0032176 0.99984977 0.76140181] [ 0. 0. 0. 1. ]] SLAMing on 119.492557844 meters Centerline goodness [0,1] 0.2451420029895366 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99985526 -0.00121545 -0.01696981 1.03831593] [ 0.00126599 0.99999479 0.00296788 -0.00379835] [ 0.01696611 -0.00298894 0.9998516 0.76156878] [ 0. 0. 0. 1. ]] SLAMing on 119.522557844 meters Centerline goodness [0,1] 0.2439393939393939 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99985573 -0.00131746 -0.01693445 1.03852434] [ 0.00136292 0.9999955 0.00267275 -0.00237897] [ 0.01693085 -0.00269545 0.99985303 0.76098568] [ 0. 0. 0. 1. ]] SLAMing on 119.552557844 meters Centerline goodness [0,1] 0.24426215202024615 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99985393 -0.00136776 -0.01703687 1.0389188 ] [ 0.0014118 0.99999569 0.00257333 -0.00191818] [ 0.01703328 -0.00259701 0.99985155 0.76068818] [ 0. 0. 0. 1. ]] SLAMing on 119.58255784400001 meters Centerline goodness [0,1] 0.24470994988949435 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99985229 -0.00141229 -0.01712915 1.03913076] [ 0.00145584 0.99999574 0.0025304 -0.00181161] [ 0.0171255 -0.00255496 0.99985008 0.7607354 ] [ 0. 0. 0. 1. ]] SLAMing on 119.61255784400001 meters Centerline goodness [0,1] 0.2424288049556913 Centerline is valid? [False, False] Translation: X:1.08, Y:0.00, Z:0.76 [[ 9.99895701e-01 -1.44410201e-03 -1.43701803e-02 1.08049977e+00] [ 1.45471098e-03 9.99998677e-01 7.27837241e-04 2.36059598e-03] [ 1.43691102e-02 -7.48665787e-04 9.99896479e-01 7.61734958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64255784400001 meters Centerline goodness [0,1] 0.2383615056666024 Centerline is valid? [False, False] Translation: X:1.08, Y:0.00, Z:0.76 [[ 9.99896070e-01 -1.45092601e-03 -1.43437738e-02 1.08023780e+00] [ 1.46225009e-03 9.99998627e-01 7.79020632e-04 2.09228030e-03] [ 1.43426238e-02 -7.99913853e-04 9.99896819e-01 7.62057751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67255784400001 meters Centerline goodness [0,1] 0.24520107704334226 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.00, Z:0.76 [[ 9.99872112e-01 5.86130972e-03 -1.48796970e-02 1.06090110e+00] [-5.86489264e-03 9.99982782e-01 -1.97167101e-04 -3.79099098e-03] [ 1.48782852e-02 2.84409711e-04 9.99889272e-01 7.60697874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.702557844 meters Centerline goodness [0,1] 0.24388811553854184 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.00, Z:0.76 [[ 9.99869264e-01 5.85129578e-03 -1.50737087e-02 1.06156938e+00] [-5.85466191e-03 9.99982845e-01 -1.79192659e-04 -3.92370390e-03] [ 1.50724016e-02 2.67420700e-04 9.99886369e-01 7.60354145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.732557844 meters Centerline goodness [0,1] 0.24463631038896239 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.00, Z:0.76 [[ 9.99865488e-01 5.83144457e-03 -1.53297033e-02 1.06250662e+00] [-5.83439643e-03 9.99982969e-01 -1.47842361e-04 -4.17494984e-03] [ 1.53285801e-02 2.37262041e-04 9.99882482e-01 7.59823958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.762557844 meters Centerline goodness [0,1] 0.24495037436879674 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.00, Z:0.76 [[ 9.99862486e-01 5.85530171e-03 -1.55153299e-02 1.06310793e+00] [-5.85696718e-03 9.99982846e-01 -6.19065072e-05 -4.63360976e-03] [ 1.55147012e-02 1.52770772e-04 9.99879628e-01 7.59583439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.792557844 meters Centerline goodness [0,1] 0.24083385485228426 Centerline is valid? [False, False] Translation: X:1.08, Y:0.00, Z:0.76 [[ 9.99867245e-01 -1.36480164e-03 -1.62366578e-02 1.08270248e+00] [ 1.37261830e-03 9.99998947e-01 4.70286280e-04 1.02489125e-04] [ 1.62359988e-02 -4.92510581e-04 9.99868066e-01 7.61430038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.822557844 meters Centerline goodness [0,1] 0.24361027621157938 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99981189 -0.00251855 -0.01923142 1.03675714] [ 0.00254478 0.99999586 0.00133948 -0.00367332] [ 0.01922797 -0.00138817 0.99981416 0.76350169] [ 0. 0. 0. 1. ]] SLAMing on 119.852557844 meters Centerline goodness [0,1] 0.24489884992252797 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99981471 -0.00248223 -0.01908904 1.03622829] [ 0.0025077 0.999996 0.00131015 -0.00327136] [ 0.01908571 -0.00135777 0.99981693 0.76376436] [ 0. 0. 0. 1. ]] SLAMing on 119.882557844 meters Centerline goodness [0,1] 0.24518863184568673 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99981873 -0.00242012 -0.0188854 1.03562422] [ 0.0024454 0.99999614 0.00131596 -0.00301063] [ 0.01888215 -0.00136191 0.99982079 0.76390235] [ 0. 0. 0. 1. ]] SLAMing on 119.912557844 meters Centerline goodness [0,1] 0.24563921875679673 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:0.76 [[ 0.99982241 -0.00243051 -0.01868778 1.03515994] [ 0.00245422 0.99999621 0.00124629 -0.002782 ] [ 0.01868468 -0.00129193 0.99982459 0.76384705] [ 0. 0. 0. 1. ]] SLAMing on 119.942557844 meters Centerline goodness [0,1] 0.2414701563444761 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.77 [[ 9.99831077e-01 6.33506643e-03 -1.72535204e-02 1.05358094e+00] [-6.34385031e-03 9.99979774e-01 -4.54422746e-04 -5.46380725e-03] [ 1.72502926e-02 5.63799734e-04 9.99851044e-01 7.65327303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97255784400001 meters Centerline goodness [0,1] 0.24248622115053398 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.77 [[ 9.99833597e-01 6.34189084e-03 -1.71043758e-02 1.05288712e+00] [-6.35053651e-03 9.99979733e-01 -4.51197614e-04 -5.37944627e-03] [ 1.71011677e-02 5.59744497e-04 9.99853608e-01 7.65816658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00255784400001 meters Centerline goodness [0,1] 0.2441787287602265 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:0.77 [[ 9.99835181e-01 6.40709536e-03 -1.69870495e-02 1.05226718e+00] [-6.41316364e-03 9.99979390e-01 -3.02778512e-04 -5.90705000e-03] [ 1.69847595e-02 4.11669337e-04 9.99855664e-01 7.66327791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03255784400001 meters Centerline goodness [0,1] 0.24110731403271224 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:0.77 [[ 9.99861575e-01 -1.14953797e-03 -1.65984977e-02 1.07234260e+00] [ 1.15922444e-03 9.99999163e-01 5.73965735e-04 -1.80323841e-03] [ 1.65978241e-02 -5.93127668e-04 9.99862071e-01 7.67771719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06255784400001 meters Centerline goodness [0,1] 0.2452294659621851 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.01, Z:0.77 [[ 9.99790689e-01 -4.47280189e-03 -1.99642571e-02 1.03021501e+00] [ 4.47241899e-03 9.99989997e-01 -6.38285125e-05 -8.93503908e-03] [ 1.99643428e-02 -2.54733698e-05 9.99800692e-01 7.67428241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.092557844 meters Centerline goodness [0,1] 0.2463241729389113 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.01, Z:0.77 [[ 9.99788283e-01 -4.37168025e-03 -2.01066792e-02 1.03073264e+00] [ 4.37813264e-03 9.99990378e-01 2.76899496e-04 -1.06752886e-02] [ 2.01052752e-02 -3.64870580e-04 9.99797802e-01 7.67177045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122557844 meters Centerline goodness [0,1] 0.24738257087276783 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.01, Z:0.77 [[ 9.99791216e-01 -4.22040063e-03 -1.99928366e-02 1.03045240e+00] [ 4.23337274e-03 9.99990855e-01 6.06559191e-04 -1.20734275e-02] [ 1.99900938e-02 -6.91069680e-04 9.99799939e-01 7.67163195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.152557844 meters Centerline goodness [0,1] 0.2506761659740089 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.01, Z:0.77 [[ 9.99794455e-01 -4.11730038e-03 -1.98518367e-02 1.02995555e+00] [ 4.13404665e-03 9.99991133e-01 8.02598020e-04 -1.28221659e-02] [ 1.98483562e-02 -8.84501469e-04 9.99802611e-01 7.67437056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182557844 meters Centerline goodness [0,1] 0.24637712694199054 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.02, Z:0.77 [[ 9.99805335e-01 5.11743882e-03 -1.90552811e-02 1.05058388e+00] [-5.12461350e-03 9.99986815e-01 -3.27708026e-04 -1.66743364e-02] [ 1.90533528e-02 4.25295183e-04 9.99818378e-01 7.68127206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.212557844 meters Centerline goodness [0,1] 0.2403702984398265 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:0.77 [[ 9.99805068e-01 -1.51463923e-03 -1.96858447e-02 1.06853143e+00] [ 1.52653956e-03 9.99998661e-01 5.89499294e-04 -1.20070402e-02] [ 1.96849254e-02 -6.19435602e-04 9.99806041e-01 7.70261095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242557844 meters Centerline goodness [0,1] 0.2436885636340016 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:0.77 [[ 9.99805383e-01 -1.49299912e-03 -1.96714571e-02 1.06854300e+00] [ 1.50481193e-03 9.99998696e-01 5.85716341e-04 -1.19401363e-02] [ 1.96705570e-02 -6.15204194e-04 9.99806327e-01 7.70182333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.272557844 meters Centerline goodness [0,1] 0.24663422723602957 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:0.77 [[ 9.99806509e-01 -1.46661227e-03 -1.96161438e-02 1.06862237e+00] [ 1.47757553e-03 9.99998760e-01 5.44407802e-04 -1.16026781e-02] [ 1.96153210e-02 -5.73286799e-04 9.99807437e-01 7.69759383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302557844 meters Centerline goodness [0,1] 0.24300846998678594 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:0.77 [[ 9.99806155e-01 -1.45910386e-03 -1.96347401e-02 1.06889226e+00] [ 1.46777410e-03 9.99998832e-01 4.27172721e-04 -1.08895326e-02] [ 1.96340939e-02 -4.55909278e-04 9.99807129e-01 7.69341465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33255784400001 meters Centerline goodness [0,1] 0.24529200398285644 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:0.77 [[ 9.99805486e-01 -1.50173640e-03 -1.96655704e-02 1.06917993e+00] [ 1.50672911e-03 9.99998836e-01 2.39066696e-04 -9.96025763e-03] [ 1.96651885e-02 -2.68650881e-04 9.99806585e-01 7.68960921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36255784400001 meters Centerline goodness [0,1] 0.24481508972623678 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:0.77 [[ 9.99804599e-01 -1.63262883e-03 -1.97001908e-02 1.06966127e+00] [ 1.62554433e-03 9.99998608e-01 -3.75623929e-04 -7.01815630e-03] [ 1.97007766e-02 3.43526998e-04 9.99805862e-01 7.68223574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39255784400001 meters Centerline goodness [0,1] 0.24503843314370088 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:0.77 [[ 9.99804293e-01 -1.75819911e-03 -1.97049235e-02 1.06989832e+00] [ 1.74126825e-03 9.99998100e-01 -8.76344280e-04 -4.51342650e-03] [ 1.97064268e-02 8.41861215e-04 9.99805455e-01 7.67748550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42255784400001 meters Centerline goodness [0,1] 0.24560069519878336 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:0.77 [[ 0.99980496 -0.00184726 -0.01966277 1.07005767] [ 0.00182102 0.99999743 -0.00135224 -0.00196185] [ 0.01966521 0.00131617 0.99980575 0.76716439] [ 0. 0. 0. 1. ]] SLAMing on 120.452557844 meters Centerline goodness [0,1] 0.24189241569404363 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.77 [[ 9.99802505e-01 -1.96045295e-03 -1.97764238e-02 1.07056577e+00] [ 1.92376230e-03 9.99996393e-01 -1.87412608e-03 7.64662382e-04] [ 1.97800266e-02 1.83571081e-03 9.99802671e-01 7.66677071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482557844 meters Centerline goodness [0,1] 0.24325024839085918 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:0.77 [[ 0.99980005 -0.00215184 -0.01988049 1.07098154] [ 0.00210422 0.99999487 -0.00241599 0.00329788] [ 0.01988559 0.00237367 0.99979944 0.76638641] [ 0. 0. 0. 1. ]] SLAMing on 120.512557844 meters Centerline goodness [0,1] 0.2440080980473257 Centerline is valid? [False, False] Translation: X:1.07, Y:0.01, Z:0.77 [[ 0.99979923 -0.00233506 -0.01990075 1.07112344] [ 0.00227761 0.99999318 -0.0029089 0.00558803] [ 0.01990741 0.00286299 0.99979773 0.76616936] [ 0. 0. 0. 1. ]] SLAMing on 120.542557844 meters Centerline goodness [0,1] 0.24262740363887214 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99981106 0.00641347 -0.01834974 1.09099701] [-0.00650041 0.99996791 -0.0046822 0.00847683] [ 0.01831912 0.0048006 0.99982067 0.76626517] [ 0. 0. 0. 1. ]] SLAMing on 120.572557844 meters Centerline goodness [0,1] 0.24338532389103706 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.9998145 0.00626634 -0.01821281 1.09068216] [-0.00635895 0.99996712 -0.0050317 0.01015047] [ 0.01818068 0.00514658 0.99982147 0.76616697] [ 0. 0. 0. 1. ]] SLAMing on 120.602557844 meters Centerline goodness [0,1] 0.24449740034662049 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99981876 0.00613622 -0.01802224 1.0900401 ] [-0.00623234 0.99996663 -0.00528217 0.01126847] [ 0.01798923 0.00539353 0.99982363 0.76642088] [ 0. 0. 0. 1. ]] SLAMing on 120.632557844 meters Centerline goodness [0,1] 0.2465347397785721 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99982357 0.00604349 -0.01778496 1.08915453] [-0.00614063 0.9999665 -0.00541231 0.01178562] [ 0.01775165 0.00552056 0.99982719 0.76690985] [ 0. 0. 0. 1. ]] SLAMing on 120.662557844 meters Centerline goodness [0,1] 0.2447206048492222 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99982643 0.00597609 -0.01764653 1.08844503] [-0.00607345 0.9999666 -0.00546865 0.01199949] [ 0.01761326 0.00557488 0.99982933 0.76751377] [ 0. 0. 0. 1. ]] SLAMing on 120.692557844 meters Centerline goodness [0,1] 0.24498349548297427 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99982505 0.00590413 -0.01774845 1.08829812] [-0.00600203 0.99996704 -0.00546805 0.01228832] [ 0.01771558 0.00557362 0.99982753 0.76806774] [ 0. 0. 0. 1. ]] SLAMing on 120.72255784400001 meters Centerline goodness [0,1] 0.242648650989563 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99982263 0.00587541 -0.01789396 1.08866818] [-0.00597404 0.99996723 -0.00546318 0.01228661] [ 0.01786127 0.00556911 0.99982496 0.7680694 ] [ 0. 0. 0. 1. ]] SLAMing on 120.75255784400001 meters Centerline goodness [0,1] 0.24644384326730084 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99982115 0.00588675 -0.01797256 1.0887574 ] [-0.00598367 0.99996782 -0.00534359 0.01165772] [ 0.01794053 0.00545018 0.9998242 0.76825736] [ 0. 0. 0. 1. ]] SLAMing on 120.78255784400001 meters Centerline goodness [0,1] 0.24644384326730084 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99982115 0.00588675 -0.01797256 1.0887574 ] [-0.00598367 0.99996782 -0.00534359 0.01165772] [ 0.01794053 0.00545018 0.9998242 0.76825736] [ 0. 0. 0. 1. ]] SLAMing on 120.81255784400001 meters Centerline goodness [0,1] 0.2448295380328297 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99982229 0.00585434 -0.01791982 1.08820745] [-0.00594737 0.99996909 -0.00514252 0.01031797] [ 0.01788916 0.00524818 0.9998262 0.76901431] [ 0. 0. 0. 1. ]] SLAMing on 120.842557844 meters Centerline goodness [0,1] 0.24609553682284524 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99982654 0.00586007 -0.01767897 1.08700965] [-0.00594645 0.99997062 -0.00483707 0.00846869] [ 0.01765011 0.00494136 0.99983201 0.77009436] [ 0. 0. 0. 1. ]] SLAMing on 120.872557844 meters Centerline goodness [0,1] 0.2455074225193159 Centerline is valid? [False, False] Translation: X:1.09, Y:0.01, Z:0.77 [[ 0.99982845 0.00594911 -0.0175406 1.08617528] [-0.00602811 0.99997191 -0.00445461 0.00657116] [ 0.01751361 0.00455958 0.99983623 0.77096356] [ 0. 0. 0. 1. ]] SLAMing on 120.902557844 meters Centerline goodness [0,1] 0.24442704595376352 Centerline is valid? [False, False] Translation: X:1.09, Y:0.00, Z:0.77 [[ 0.99982612 0.00606833 -0.01763259 1.08641303] [-0.00614006 0.99997308 -0.00401709 0.0044254 ] [ 0.01760773 0.00412466 0.99983646 0.77094119] [ 0. 0. 0. 1. ]] SLAMing on 120.932557844 meters Centerline goodness [0,1] 0.2449157340068806 Centerline is valid? [False, False] Translation: X:1.09, Y:0.00, Z:0.77 [[ 0.99982459 0.00611582 -0.01770261 1.08681917] [-0.00618514 0.99997341 -0.00386379 0.00369143] [ 0.01767851 0.00397261 0.99983583 0.77053138] [ 0. 0. 0. 1. ]] SLAMing on 120.962557844 meters Centerline goodness [0,1] 0.24436492177442226 Centerline is valid? [False, False] Translation: X:1.09, Y:0.00, Z:0.77 [[ 0.99982378 0.00616928 -0.0177297 1.08697817] [-0.00623659 0.99997355 -0.00374348 0.00315828] [ 0.01770613 0.00385339 0.99983581 0.77037938] [ 0. 0. 0. 1. ]] SLAMing on 120.992557844 meters Centerline goodness [0,1] 0.24560069519878336 Centerline is valid? [False, False] Translation: X:1.09, Y:0.00, Z:0.77 [[ 0.99982334 0.00619633 -0.01774518 1.08705562] [-0.00626256 0.99997362 -0.00367919 0.00283873] [ 0.01772192 0.00378967 0.99983577 0.77034093] [ 0. 0. 0. 1. ]] SLAMing on 121.022557844 meters Centerline goodness [0,1] 0.24725986777077336 Centerline is valid? [False, False] Translation: X:1.07, Y:0.01, Z:0.77 [[ 9.99896246e-01 -6.26927597e-04 -1.43911299e-02 1.07102029e+00] [ 5.90506429e-04 9.99996613e-01 -2.53491643e-03 5.61241074e-03] [ 1.43926703e-02 2.52615537e-03 9.99893229e-01 7.66174414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.052557844 meters Centerline goodness [0,1] 0.2404643449419569 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.77 [[ 9.99913503e-01 1.08618334e-03 -1.31074775e-02 1.11612407e+00] [-1.12792424e-03 9.99994316e-01 -3.17753828e-03 9.01993257e-03] [ 1.31039516e-02 3.19204767e-03 9.99909045e-01 7.65438880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08255784400001 meters Centerline goodness [0,1] 0.2441184130566889 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.77 [[ 0.99991649 0.00112217 -0.01287438 1.11560371] [-0.00116477 0.99999387 -0.00330171 0.00995998] [ 0.0128706 0.00331643 0.99991167 0.76528437] [ 0. 0. 0. 1. ]] SLAMing on 121.11255784400001 meters Centerline goodness [0,1] 0.2463181709412865 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.77 [[ 9.99919303e-01 1.09757133e-03 -1.26563211e-02 1.11503407e+00] [-1.14136371e-03 9.99993386e-01 -3.45341525e-03 1.08215799e-02] [ 1.26524470e-02 3.46758203e-03 9.99913942e-01 7.65288582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14255784400001 meters Centerline goodness [0,1] 0.24960038538176876 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:0.77 [[ 9.99921259e-01 1.05541415e-03 -1.25045036e-02 1.11467483e+00] [-1.10062619e-03 9.99992881e-01 -3.60933078e-03 1.15938908e-02] [ 1.25006053e-02 3.62280936e-03 9.99915301e-01 7.65234647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17255784400001 meters Centerline goodness [0,1] 0.2468680113772065 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.76 [[ 9.99920903e-01 9.58857660e-04 -1.25406914e-02 1.11500225e+00] [-1.00683739e-03 9.99992196e-01 -3.82017025e-03 1.24175758e-02] [ 1.25369305e-02 3.83249452e-03 9.99914065e-01 7.64838432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.202557844 meters Centerline goodness [0,1] 0.2445608642002035 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.76 [[ 9.99919629e-01 8.90355449e-04 -1.26468766e-02 1.11560358e+00] [-9.40327517e-04 9.99991773e-01 -3.94594012e-03 1.28618820e-02] [ 1.26432593e-02 3.95751519e-03 9.99912239e-01 7.64236471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.232557844 meters Centerline goodness [0,1] 0.24867505616017094 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.76 [[ 9.99918224e-01 8.57914461e-04 -1.27596481e-02 1.11627179e+00] [-9.08915412e-04 9.99991620e-01 -3.99178822e-03 1.29712864e-02] [ 1.27561165e-02 4.00305923e-03 9.99910625e-01 7.63528283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262557844 meters Centerline goodness [0,1] 0.24490239554801962 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.76 [[ 9.99915807e-01 7.83722874e-04 -1.29524209e-02 1.11696148e+00] [-8.36922089e-04 9.99991235e-01 -4.10236983e-03 1.35306159e-02] [ 1.29490922e-02 4.11286460e-03 9.99907698e-01 7.63116483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.292557844 meters Centerline goodness [0,1] 0.24544624614180754 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.76 [[ 9.99913424e-01 7.80209777e-04 -1.31352811e-02 1.11730029e+00] [-8.33952781e-04 9.99991302e-01 -4.08652007e-03 1.35180156e-02] [ 1.31319785e-02 4.09712048e-03 9.99905378e-01 7.63316358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322557844 meters Centerline goodness [0,1] 0.244883279931995 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.76 [[ 9.99909957e-01 7.53143472e-04 -1.33981348e-02 1.11796150e+00] [-8.08325716e-04 9.99991212e-01 -4.11371280e-03 1.36072089e-02] [ 1.33949188e-02 4.12417245e-03 9.99901779e-01 7.63335226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.352557844 meters Centerline goodness [0,1] 0.2446047856040684 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.76 [[ 9.99908276e-01 7.16864636e-04 -1.35249808e-02 1.11849379e+00] [-7.73516381e-04 9.99990948e-01 -4.18390864e-03 1.38462300e-02] [ 1.35218591e-02 4.19398667e-03 9.99899780e-01 7.62947928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382557844 meters Centerline goodness [0,1] 0.2452200104766894 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.76 [[ 9.99913905e-01 7.33454217e-04 -1.31013384e-02 1.11718571e+00] [-7.88192343e-04 9.99990981e-01 -4.17338134e-03 1.38681827e-02] [ 1.30981593e-02 4.18334840e-03 9.99905464e-01 7.63380696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.412557844 meters Centerline goodness [0,1] 0.243859155539204 Centerline is valid? [False, False] Translation: X:1.14, Y:0.02, Z:0.76 [[ 0.99990914 -0.0066179 -0.01174341 1.13569157] [ 0.00658184 0.99997351 -0.00310661 0.01914248] [ 0.01176365 0.00302903 0.99992622 0.76483326] [ 0. 0. 0. 1. ]] SLAMing on 121.442557844 meters Centerline goodness [0,1] 0.24346716275850133 Centerline is valid? [False, False] Translation: X:1.14, Y:0.02, Z:0.77 [[ 0.99991012 -0.00660232 -0.01166914 1.13528757] [ 0.00656665 0.99997366 -0.00309251 0.01912739] [ 0.01168925 0.00301561 0.99992713 0.76520332] [ 0. 0. 0. 1. ]] SLAMing on 121.47255784400001 meters Centerline goodness [0,1] 0.23985494733206703 Centerline is valid? [False, False] Translation: X:1.14, Y:0.02, Z:0.76 [[ 0.99990814 -0.00661637 -0.01182961 1.13580463] [ 0.00657971 0.99997344 -0.00313569 0.01934808] [ 0.01185004 0.00305757 0.99992511 0.76499219] [ 0. 0. 0. 1. ]] SLAMing on 121.50255784400001 meters Centerline goodness [0,1] 0.24425624321389794 Centerline is valid? [False, False] Translation: X:1.14, Y:0.02, Z:0.76 [[ 0.99990649 -0.00664644 -0.01195142 1.13621862] [ 0.00660855 0.99997302 -0.00320729 0.01967416] [ 0.01197242 0.00312801 0.99992344 0.76478433] [ 0. 0. 0. 1. ]] SLAMing on 121.53255784400001 meters Centerline goodness [0,1] 0.24547415201620804 Centerline is valid? [False, False] Translation: X:1.14, Y:0.02, Z:0.77 [[ 0.99990729 -0.00657244 -0.01192498 1.13572638] [ 0.00653606 0.99997388 -0.00308666 0.01936372] [ 0.01194496 0.00300843 0.99992413 0.76552155] [ 0. 0. 0. 1. ]] SLAMing on 121.56255784400001 meters Centerline goodness [0,1] 0.2475892681433538 Centerline is valid? [False, False] Translation: X:1.14, Y:0.02, Z:0.77 [[ 0.99990641 -0.00655299 -0.01200947 1.13587288] [ 0.00651731 0.99997424 -0.00300735 0.0189167 ] [ 0.01202887 0.0029288 0.99992336 0.76566473] [ 0. 0. 0. 1. ]] SLAMing on 121.592557844 meters Centerline goodness [0,1] 0.2435348555613216 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:0.77 [[ 0.99993262 0.00201759 -0.01143166 1.15624189] [-0.00206903 0.99998778 -0.00448975 0.01519262] [ 0.01142246 0.0045131 0.99992458 0.76632569] [ 0. 0. 0. 1. ]] SLAMing on 121.622557844 meters Centerline goodness [0,1] 0.24300320596135516 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 0.99993088 0.00209881 -0.01156845 1.15684099] [-0.0021481 0.99998866 -0.00425068 0.01401416] [ 0.0115594 0.00427524 0.99992405 0.76586642] [ 0. 0. 0. 1. ]] SLAMing on 121.652557844 meters Centerline goodness [0,1] 0.24425193773203935 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 0.99993122 0.00218652 -0.01152319 1.15686792] [-0.00223294 0.99998944 -0.00401658 0.01296701] [ 0.01151428 0.00404203 0.99992554 0.7655996 ] [ 0. 0. 0. 1. ]] SLAMing on 121.682557844 meters Centerline goodness [0,1] 0.24716225969424577 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 0.99993161 0.00228368 -0.01147016 1.15672326] [-0.00232748 0.99999005 -0.00380654 0.01207482] [ 0.01146136 0.00383297 0.99992697 0.76560224] [ 0. 0. 0. 1. ]] SLAMing on 121.712557844 meters Centerline goodness [0,1] 0.24914855749159548 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 0.99993148 0.00231314 -0.0114756 1.15665574] [-0.00235617 0.99999024 -0.00373712 0.01164333] [ 0.01146684 0.0037639 0.99992717 0.76581063] [ 0. 0. 0. 1. ]] SLAMing on 121.742557844 meters Centerline goodness [0,1] 0.2502580319300788 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 0.99993229 0.0023046 -0.01140613 1.15638248] [-0.00234858 0.99998985 -0.00384376 0.01226289] [ 0.01139716 0.00387028 0.99992756 0.76596615] [ 0. 0. 0. 1. ]] SLAMing on 121.772557844 meters Centerline goodness [0,1] 0.24518541059861754 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.77 [[ 9.99940636e-01 -2.58154211e-03 -1.05858913e-02 1.17774091e+00] [ 2.57632280e-03 9.99996553e-01 -5.06651044e-04 1.53898875e-02] [ 1.05871627e-02 4.79348293e-04 9.99943840e-01 7.66404748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.802557844 meters Centerline goodness [0,1] 0.24735821513388678 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.77 [[ 9.99942367e-01 -2.56138009e-03 -1.04260132e-02 1.17727720e+00] [ 2.55420207e-03 9.99996492e-01 -7.01729296e-04 1.67291966e-02] [ 1.04277741e-02 6.75058709e-04 9.99945401e-01 7.66429828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83255784400001 meters Centerline goodness [0,1] 0.24651384702131818 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.77 [[ 9.99943164e-01 -2.60872430e-03 -1.03375025e-02 1.17708174e+00] [ 2.59891843e-03 9.99996160e-01 -9.61892664e-04 1.80990884e-02] [ 1.03399721e-02 9.34971668e-04 9.99946104e-01 7.66348289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86255784400001 meters Centerline goodness [0,1] 0.24728302297724059 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.77 [[ 0.99994192 -0.00278308 -0.01041162 1.17736486] [ 0.0027682 0.99999513 -0.00144386 0.02009497] [ 0.01041559 0.00141495 0.99994476 0.76616587] [ 0. 0. 0. 1. ]] SLAMing on 121.89255784400001 meters Centerline goodness [0,1] 0.24685992437741755 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.77 [[ 0.99994245 -0.00283134 -0.01034783 1.17724783] [ 0.00281485 0.99999475 -0.00160768 0.02087095] [ 0.01035233 0.00157846 0.99994517 0.7660304 ] [ 0. 0. 0. 1. ]] SLAMing on 121.92255784400001 meters Centerline goodness [0,1] 0.24587239781601444 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.77 [[ 0.9999433 -0.00288565 -0.01025037 1.17704174] [ 0.00286741 0.99999428 -0.00179444 0.02187023] [ 0.01025549 0.00176494 0.99994585 0.76588444] [ 0. 0. 0. 1. ]] SLAMing on 121.952557844 meters Centerline goodness [0,1] 0.24843126069594978 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.77 [[ 0.99994464 -0.00294788 -0.01010104 1.17672875] [ 0.00292766 0.99999368 -0.00201595 0.02308926] [ 0.01010691 0.00198627 0.99994695 0.7657176 ] [ 0. 0. 0. 1. ]] SLAMing on 121.982557844 meters Centerline goodness [0,1] 0.24975255691191023 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.77 [[ 0.99994487 -0.00304569 -0.0100492 1.17669073] [ 0.00302271 0.99999278 -0.00230122 0.02453099] [ 0.01005614 0.00227071 0.99994686 0.7655159 ] [ 0. 0. 0. 1. ]] SLAMing on 122.012557844 meters Centerline goodness [0,1] 0.24930887708982408 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.77 [[ 0.99994476 -0.00315193 -0.01002744 1.17665681] [ 0.00312596 0.99999172 -0.00260526 0.02605277] [ 0.01003557 0.00257377 0.99994633 0.76538711] [ 0. 0. 0. 1. ]] SLAMing on 122.042557844 meters Centerline goodness [0,1] 0.24486175414304878 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.76 [[ 0.99996394 0.00355082 -0.00771476 1.19868092] [-0.00359481 0.99997732 -0.00569537 0.02885266] [ 0.00769436 0.00572289 0.99995402 0.76410499] [ 0. 0. 0. 1. ]] SLAMing on 122.072557844 meters Centerline goodness [0,1] 0.24794475501479774 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.76 [[ 0.99994626 -0.00607662 -0.00839933 1.17747578] [ 0.00603623 0.99997014 -0.00482602 0.03160393] [ 0.0084284 0.00477506 0.99995308 0.76367315] [ 0. 0. 0. 1. ]] SLAMing on 122.102557844 meters Centerline goodness [0,1] 0.24488247029230636 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.76 [[ 0.9999709 0.00253035 -0.0071968 1.1956678 ] [-0.00257506 0.99997741 -0.00620896 0.02819554] [ 0.00718093 0.00622732 0.99995483 0.76484513] [ 0. 0. 0. 1. ]] SLAMing on 122.132557844 meters Centerline goodness [0,1] 0.24606195851929635 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.77 [[ 0.99997128 0.00253602 -0.00714174 1.19538754] [-0.0025798 0.99997789 -0.00612837 0.02781512] [ 0.00712604 0.00614662 0.99995572 0.7650706 ] [ 0. 0. 0. 1. ]] SLAMing on 122.162557844 meters Centerline goodness [0,1] 0.2441670479053657 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.77 [[ 0.9999699 0.00247554 -0.00735346 1.19582229] [-0.00251882 0.99997953 -0.00588207 0.02643087] [ 0.00733875 0.00590041 0.99995566 0.76525424] [ 0. 0. 0. 1. ]] SLAMing on 122.192557844 meters Centerline goodness [0,1] 0.24439501003227782 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.77 [[ 0.99996799 0.00249257 -0.00760261 1.19634848] [-0.00253543 0.99998092 -0.00563275 0.02497342] [ 0.00758843 0.00565184 0.99995524 0.76544338] [ 0. 0. 0. 1. ]] SLAMing on 122.22255784400001 meters Centerline goodness [0,1] 0.2430654723267991 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:0.77 [[ 0.99995371 -0.00507566 -0.00817416 1.21617808] [ 0.00503593 0.99997544 -0.00487364 0.02755983] [ 0.0081987 0.00483225 0.99995471 0.76708136] [ 0. 0. 0. 1. ]] SLAMing on 122.25255784400001 meters Centerline goodness [0,1] 0.24376677343952902 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:0.77 [[ 0.99995366 -0.00497786 -0.00824038 1.21622069] [ 0.00494016 0.99997727 -0.00458837 0.02614657] [ 0.00826303 0.00454745 0.99995552 0.76732389] [ 0. 0. 0. 1. ]] SLAMing on 122.28255784400001 meters Centerline goodness [0,1] 0.24176894603545684 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:0.77 [[ 0.99995505 -0.00485863 -0.00814184 1.21579794] [ 0.00482347 0.99997898 -0.00433291 0.02511494] [ 0.00816272 0.00429345 0.99995747 0.76761619] [ 0. 0. 0. 1. ]] SLAMing on 122.31255784400001 meters Centerline goodness [0,1] 0.240836674975615 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:0.77 [[ 0.99995639 -0.00477815 -0.00802464 1.21538669] [ 0.00474448 0.99997989 -0.00420912 0.02476411] [ 0.00804459 0.00417086 0.99995894 0.76780768] [ 0. 0. 0. 1. ]] SLAMing on 122.342557844 meters Centerline goodness [0,1] 0.24634623749456286 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:0.77 [[ 0.99996258 -0.00450627 -0.00738436 1.21359689] [ 0.00447517 0.99998107 -0.0042228 0.02574828] [ 0.00740325 0.00418959 0.99996382 0.76817088] [ 0. 0. 0. 1. ]] SLAMing on 122.372557844 meters Centerline goodness [0,1] 0.24711907810499356 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:0.77 [[ 0.99996218 -0.00451847 -0.00743109 1.21377381] [ 0.00448445 0.99997942 -0.00458776 0.0275796 ] [ 0.00745167 0.00455426 0.99996186 0.76805624] [ 0. 0. 0. 1. ]] SLAMing on 122.402557844 meters Centerline goodness [0,1] 0.2475609222557641 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:0.77 [[ 0.99996371 -0.00441631 -0.00728585 1.21358877] [ 0.00438039 0.99997821 -0.00493858 0.02976598] [ 0.0073075 0.00490649 0.99996126 0.7676815 ] [ 0. 0. 0. 1. ]] SLAMing on 122.432557844 meters Centerline goodness [0,1] 0.24810895894364038 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:0.77 [[ 0.99997052 -0.00155006 -0.00752016 1.21405982] [ 0.00153285 0.9999962 -0.00229314 0.02660428] [ 0.00752369 0.00228154 0.99996909 0.76756778] [ 0. 0. 0. 1. ]] SLAMing on 122.462557844 meters Centerline goodness [0,1] 0.2505139308052312 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:0.77 [[ 0.99997565 -0.00127668 -0.00686089 1.21239496] [ 0.00125967 0.99999612 -0.00248329 0.02867308] [ 0.00686404 0.00247458 0.99997338 0.76744789] [ 0. 0. 0. 1. ]] SLAMing on 122.492557844 meters Centerline goodness [0,1] 0.24406743262106734 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:0.77 [[ 0.99997696 0.00205701 -0.00646827 1.25379354] [-0.00207737 0.99999291 -0.00314195 0.03744279] [ 0.00646176 0.00315532 0.99997414 0.76850701] [ 0. 0. 0. 1. ]] SLAMing on 122.522557844 meters Centerline goodness [0,1] 0.24617554518823914 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:0.77 [[ 0.99997612 0.00186636 -0.00665444 1.2544066 ] [-0.00189059 0.9999916 -0.00363744 0.03960769] [ 0.0066476 0.00364993 0.99997124 0.76824054] [ 0. 0. 0. 1. ]] SLAMing on 122.552557844 meters Centerline goodness [0,1] 0.24485961123110156 Centerline is valid? [False, False] Translation: X:1.26, Y:0.04, Z:0.77 [[ 0.99997525 0.00170247 -0.00682641 1.25503346] [-0.00173031 0.9999902 -0.00407426 0.04158554] [ 0.00681941 0.00408597 0.9999684 0.76785335] [ 0. 0. 0. 1. ]] SLAMing on 122.58255784400001 meters Centerline goodness [0,1] 0.24665152006924163 Centerline is valid? [False, False] Translation: X:1.26, Y:0.04, Z:0.77 [[ 0.99997578 0.00152223 -0.00679099 1.25521894] [-0.00155301 0.99998853 -0.00453033 0.04368585] [ 0.00678401 0.00454076 0.99996668 0.76730438] [ 0. 0. 0. 1. ]] SLAMing on 122.61255784400001 meters Centerline goodness [0,1] 0.2509782369751594 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:0.77 [[ 9.99953768e-01 5.75073652e-04 -9.59845480e-03 1.21025223e+00] [-6.10982939e-04 9.99992825e-01 -3.73863993e-03 4.24437065e-02] [ 9.59623594e-03 3.74433158e-03 9.99946945e-01 7.68192450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64255784400001 meters Centerline goodness [0,1] 0.2444722210249558 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:0.77 [[ 0.99996862 0.00224874 -0.00759683 1.25406535] [-0.00228132 0.99998823 -0.0042824 0.04949934] [ 0.00758711 0.00429959 0.99996197 0.76760686] [ 0. 0. 0. 1. ]] SLAMing on 122.67255784400001 meters Centerline goodness [0,1] 0.24423068627873878 Centerline is valid? [False, False] Translation: X:1.26, Y:0.05, Z:0.77 [[ 0.99996683 0.0018563 -0.00793002 1.25505566] [-0.00189734 0.99998483 -0.00517035 0.05355896] [ 0.0079203 0.00518522 0.99995519 0.76729014] [ 0. 0. 0. 1. ]] SLAMing on 122.702557844 meters Centerline goodness [0,1] 0.24423068627873878 Centerline is valid? [False, False] Translation: X:1.26, Y:0.05, Z:0.77 [[ 0.99996683 0.0018563 -0.00793002 1.25505566] [-0.00189734 0.99998483 -0.00517035 0.05355896] [ 0.0079203 0.00518522 0.99995519 0.76729014] [ 0. 0. 0. 1. ]] SLAMing on 122.732557844 meters Centerline goodness [0,1] 0.24423068627873878 Centerline is valid? [False, False] Translation: X:1.26, Y:0.05, Z:0.77 [[ 0.99996683 0.0018563 -0.00793002 1.25505566] [-0.00189734 0.99998483 -0.00517035 0.05355896] [ 0.0079203 0.00518522 0.99995519 0.76729014] [ 0. 0. 0. 1. ]] SLAMing on 122.762557844 meters Centerline goodness [0,1] 0.23727870186029587 Centerline is valid? [False, False] Translation: X:1.26, Y:0.05, Z:0.77 [[ 0.99996533 0.0016946 -0.00815314 1.25582756] [-0.00173921 0.99998355 -0.00546658 0.05477409] [ 0.00814374 0.00548057 0.99995182 0.76693816] [ 0. 0. 0. 1. ]] SLAMing on 122.792557844 meters Centerline goodness [0,1] 0.24431474275832255 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:0.77 [[ 0.99993508 -0.00770071 -0.00839906 1.23543478] [ 0.00766141 0.9999596 -0.00470063 0.060561 ] [ 0.00843492 0.00463598 0.99995368 0.7657042 ] [ 0. 0. 0. 1. ]] SLAMing on 122.822557844 meters Centerline goodness [0,1] 0.2416157719918568 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:0.77 [[ 9.99978956e-01 9.27042421e-04 -6.42085338e-03 1.25318028e+00] [-9.65897829e-04 9.99981226e-01 -6.05098471e-03 5.89483711e-02] [ 6.41512331e-03 6.05705927e-03 9.99961078e-01 7.66912527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.852557844 meters Centerline goodness [0,1] 0.2458803403997315 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:0.77 [[ 0.99994901 -0.00803598 -0.00611559 1.23178341] [ 0.00800668 0.99995642 -0.00480025 0.0629437 ] [ 0.00615389 0.00475104 0.99996978 0.76610941] [ 0. 0. 0. 1. ]] SLAMing on 122.882557844 meters Centerline goodness [0,1] 0.24627350723632901 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:0.77 [[ 0.99994968 -0.00806445 -0.00596633 1.23110918] [ 0.00803586 0.99995619 -0.00479929 0.06296646] [ 0.00600477 0.00475111 0.99997068 0.76660401] [ 0. 0. 0. 1. ]] SLAMing on 122.912557844 meters Centerline goodness [0,1] 0.24110867414957204 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:0.77 [[ 0.99994924 -0.00808883 -0.00600811 1.23112556] [ 0.0080606 0.99995643 -0.00470758 0.06245823] [ 0.00604593 0.00465892 0.99997087 0.76675647] [ 0. 0. 0. 1. ]] SLAMing on 122.942557844 meters Centerline goodness [0,1] 0.2530258099945085 Centerline is valid? [False, False] Translation: X:1.19, Y:0.06, Z:0.77 [[ 0.99991505 -0.00962353 -0.00879086 1.18612975] [ 0.00958622 0.99994491 -0.00427663 0.05754366] [ 0.00883153 0.00419199 0.99995221 0.76806038] [ 0. 0. 0. 1. ]] SLAMing on 122.97255784400001 meters Centerline goodness [0,1] 0.24339935771709376 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:0.77 [[ 0.99996284 -0.00363182 -0.00781889 1.20879501] [ 0.00357452 0.99996674 -0.00733048 0.05501663] [ 0.00784525 0.00730226 0.99994256 0.76695831] [ 0. 0. 0. 1. ]] SLAMing on 123.00255784400001 meters Centerline goodness [0,1] 0.24643167972149693 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:0.77 [[ 0.99996105 -0.00355703 -0.00807759 1.2093933 ] [ 0.00350078 0.9999696 -0.00696752 0.05319231] [ 0.00810213 0.00693897 0.9999431 0.76706021] [ 0. 0. 0. 1. ]] SLAMing on 123.03255784400001 meters Centerline goodness [0,1] 0.2470739802602847 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:0.77 [[ 0.99996062 -0.00343954 -0.00818108 1.2095328 ] [ 0.00338611 0.99997291 -0.00653504 0.0511167 ] [ 0.00820333 0.00650708 0.99994518 0.76728338] [ 0. 0. 0. 1. ]] SLAMing on 123.06255784400001 meters Centerline goodness [0,1] 0.2430951147937166 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:0.77 [[ 0.99990718 -0.01140094 -0.00746055 1.23021994] [ 0.01135826 0.99991902 -0.00573885 0.05396242] [ 0.00752538 0.00565358 0.9999557 0.76814159] [ 0. 0. 0. 1. ]] SLAMing on 123.092557844 meters Centerline goodness [0,1] 0.24845143434520933 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:0.77 [[ 0.99996229 -0.00376487 -0.00782643 1.21041847] [ 0.00371537 0.99997307 -0.00632933 0.04635799] [ 0.00785005 0.00630001 0.99994934 0.76731323] [ 0. 0. 0. 1. ]] SLAMing on 123.122557844 meters Centerline goodness [0,1] 0.24806780256455296 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:0.77 [[ 0.99996123 -0.00367536 -0.00800234 1.21084189] [ 0.00362698 0.99997511 -0.00605151 0.04501421] [ 0.00802439 0.00602225 0.99994967 0.76734756] [ 0. 0. 0. 1. ]] SLAMing on 123.152557844 meters Centerline goodness [0,1] 0.2402394642203416 Centerline is valid? [False, False] Translation: X:1.26, Y:0.04, Z:0.77 [[ 0.99997956 -0.00242893 -0.00591435 1.25566525] [ 0.00239397 0.99997966 -0.00591164 0.04398621] [ 0.00592858 0.00589736 0.99996504 0.76648771] [ 0. 0. 0. 1. ]] SLAMing on 123.182557844 meters Centerline goodness [0,1] 0.24514352614690837 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:0.77 [[ 0.99998105 -0.002261 -0.00572522 1.25484897] [ 0.00222927 0.99998216 -0.00554218 0.04243172] [ 0.00573765 0.00552931 0.99996825 0.76709271] [ 0. 0. 0. 1. ]] SLAMing on 123.212557844 meters Centerline goodness [0,1] 0.2464262437540734 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:0.77 [[ 0.99998219 -0.00214085 -0.00557109 1.25402715] [ 0.00211152 0.99998391 -0.0052655 0.04121206] [ 0.00558227 0.00525364 0.99997062 0.76788466] [ 0. 0. 0. 1. ]] SLAMing on 123.242557844 meters Centerline goodness [0,1] 0.24336464744628006 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:0.77 [[ 0.99998226 -0.0020225 -0.00560212 1.25377234] [ 0.00199477 0.99998575 -0.00495195 0.03962194] [ 0.00561205 0.00494069 0.99997205 0.76849005] [ 0. 0. 0. 1. ]] SLAMing on 123.272557844 meters Centerline goodness [0,1] 0.24662125399899892 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:0.77 [[ 0.99998143 -0.00190654 -0.00578832 1.25425992] [ 0.00187977 0.99998753 -0.00462708 0.03794453] [ 0.00579707 0.00461612 0.99997254 0.76847607] [ 0. 0. 0. 1. ]] SLAMing on 123.302557844 meters Centerline goodness [0,1] 0.24605857083669513 Centerline is valid? [False, False] Translation: X:1.26, Y:0.03, Z:0.77 [[ 0.99997965 -0.00159349 -0.00617663 1.25592607] [ 0.00156956 0.99999125 -0.00387683 0.03461372] [ 0.00618275 0.00386706 0.99997341 0.76719364] [ 0. 0. 0. 1. ]] SLAMing on 123.33255784400001 meters Centerline goodness [0,1] 0.24490458263014414 Centerline is valid? [False, False] Translation: X:1.26, Y:0.03, Z:0.77 [[ 0.99997947 -0.00144272 -0.00624263 1.25627718] [ 0.00142065 0.99999274 -0.00353706 0.03312359] [ 0.00624769 0.00352811 0.99997426 0.76686694] [ 0. 0. 0. 1. ]] SLAMing on 123.36255784400001 meters Centerline goodness [0,1] 0.2414505097431927 Centerline is valid? [False, False] Translation: X:1.26, Y:0.03, Z:0.77 [[ 0.99997934 -0.00132766 -0.00629014 1.25624043] [ 0.00130736 0.99999393 -0.00323014 0.03148825] [ 0.00629439 0.00322185 0.999975 0.76721013] [ 0. 0. 0. 1. ]] SLAMing on 123.39255784400001 meters Centerline goodness [0,1] 0.24727463771288472 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:0.77 [[ 0.99995364 -0.00290764 -0.00917939 1.21043441] [ 0.0028786 0.99999081 -0.00317599 0.02667589] [ 0.00918854 0.00314942 0.99995282 0.76947353] [ 0. 0. 0. 1. ]] SLAMing on 123.42255784400001 meters Centerline goodness [0,1] 0.2443225973577411 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:0.77 [[ 0.99997459 -0.00138398 -0.00699281 1.25398461] [ 0.00135819 0.99999226 -0.00369136 0.02863277] [ 0.00699786 0.00368177 0.99996874 0.76941189] [ 0. 0. 0. 1. ]] SLAMing on 123.452557844 meters Centerline goodness [0,1] 0.24911055475029653 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.77 [[ 0.99994939 -0.0014962 -0.0099486 1.20884877] [ 0.00147588 0.99999681 -0.00205018 0.02475846] [ 0.00995163 0.00203539 0.99994841 0.77090063] [ 0. 0. 0. 1. ]] SLAMing on 123.482557844 meters Centerline goodness [0,1] 0.24954382570844413 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.77 [[ 9.99953867e-01 -1.05949376e-03 -9.54680762e-03 1.20822360e+00] [ 1.04204741e-03 9.99997779e-01 -1.83224281e-03 2.47723431e-02] [ 9.54872766e-03 1.82221006e-03 9.99952750e-01 7.70207871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.512557844 meters Centerline goodness [0,1] 0.24628860825526555 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.77 [[ 9.99954229e-01 -1.01924414e-03 -9.51318689e-03 1.20815027e+00] [ 1.00173344e-03 9.99997796e-01 -1.84526041e-03 2.48210259e-02] [ 9.51504669e-03 1.83564627e-03 9.99953046e-01 7.70168577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.542557844 meters Centerline goodness [0,1] 0.244685222431281 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:0.77 [[ 9.99954403e-01 -1.01994002e-03 -9.49480228e-03 1.20804734e+00] [ 1.00199980e-03 9.99997704e-01 -1.89404388e-03 2.50074689e-02] [ 9.49671229e-03 1.88444373e-03 9.99953130e-01 7.70254991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.572557844 meters Centerline goodness [0,1] 0.24782637261558005 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:0.77 [[ 0.99992237 0.00673924 -0.0104803 1.18785575] [-0.00676901 0.99997315 -0.00280799 0.01961861] [ 0.01046109 0.00287871 0.99994114 0.76905773] [ 0. 0. 0. 1. ]] SLAMing on 123.602557844 meters Centerline goodness [0,1] 0.24541314248536106 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:0.77 [[ 9.99934079e-01 4.91229988e-05 -1.14819392e-02 1.20738221e+00] [-7.23150944e-05 9.99997958e-01 -2.01946975e-03 2.59816368e-02] [ 1.14818165e-02 2.02016694e-03 9.99932041e-01 7.70067186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.632557844 meters Centerline goodness [0,1] 0.24278364939621588 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:0.77 [[ 9.99931303e-01 9.23423390e-06 -1.17213236e-02 1.20832156e+00] [-3.45330144e-05 9.99997671e-01 -2.15815470e-03 2.65894739e-02] [ 1.17212764e-02 2.15841121e-03 9.99928974e-01 7.69495475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.662557844 meters Centerline goodness [0,1] 0.24617096478596678 Centerline is valid? [False, False] Translation: X:1.17, Y:0.02, Z:0.77 [[ 0.99988021 -0.00145869 -0.0154092 1.16527515] [ 0.00143125 0.99999737 -0.00179161 0.02329713] [ 0.01541177 0.00176934 0.99987967 0.77010356] [ 0. 0. 0. 1. ]] SLAMing on 123.692557844 meters Centerline goodness [0,1] 0.24275966641394997 Centerline is valid? [False, False] Translation: X:1.17, Y:0.02, Z:0.77 [[ 0.99987623 -0.00147802 -0.01566353 1.16592171] [ 0.00145098 0.99999744 -0.00173755 0.02291831] [ 0.01566606 0.0017146 0.99987581 0.77009346] [ 0. 0. 0. 1. ]] SLAMing on 123.72255784400001 meters Centerline goodness [0,1] 0.24223105847776294 Centerline is valid? [False, False] Translation: X:1.17, Y:0.02, Z:0.77 [[ 0.99987432 -0.00145402 -0.01578694 1.16616503] [ 0.00142884 0.99999769 -0.00160563 0.02225906] [ 0.01578923 0.00158287 0.99987409 0.77019676] [ 0. 0. 0. 1. ]] SLAMing on 123.75255784400001 meters Centerline goodness [0,1] 0.24425017985219422 Centerline is valid? [False, False] Translation: X:1.17, Y:0.02, Z:0.77 [[ 0.99987628 -0.00138396 -0.01566852 1.16574681] [ 0.0013619 0.99999807 -0.00141814 0.021468 ] [ 0.01567045 0.00139662 0.99987624 0.77039635] [ 0. 0. 0. 1. ]] SLAMing on 123.78255784400001 meters Centerline goodness [0,1] 0.23995085889173873 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.77 [[ 9.99920787e-01 -1.57838242e-04 -1.25854698e-02 1.20868729e+00] [ 1.35354970e-04 9.99998394e-01 -1.78727857e-03 2.36865221e-02] [ 1.25857317e-02 1.78543349e-03 9.99919203e-01 7.70103582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81255784400001 meters Centerline goodness [0,1] 0.24225467744026274 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.77 [[ 9.99923343e-01 -5.30544974e-05 -1.23816267e-02 1.20789899e+00] [ 3.48516820e-05 9.99998918e-01 -1.47035847e-03 2.22239792e-02] [ 1.23816913e-02 1.46981423e-03 9.99922264e-01 7.70574309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.842557844 meters Centerline goodness [0,1] 0.24412526997840178 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.77 [[ 9.99918145e-01 -2.19346036e-05 -1.27946156e-02 1.20914035e+00] [ 9.86396961e-06 9.99999555e-01 -9.43477474e-04 1.92229434e-02] [ 1.27946306e-02 9.43274040e-04 9.99917700e-01 7.70269388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.872557844 meters Centerline goodness [0,1] 0.2441466487120455 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.77 [[ 9.99913913e-01 7.77009960e-05 -1.31210133e-02 1.21026594e+00] [-8.52087835e-05 9.99999833e-01 -5.71637641e-04 1.73063006e-02] [ 1.31209667e-02 5.72706455e-04 9.99913752e-01 7.69721926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.902557844 meters Centerline goodness [0,1] 0.2443485987992804 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.77 [[ 9.99910950e-01 1.71035729e-04 -1.33440502e-02 1.21097568e+00] [-1.73620888e-04 9.99999966e-01 -1.92573018e-04 1.53258652e-02] [ 1.33440168e-02 1.94872675e-04 9.99910946e-01 7.69504243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.932557844 meters Centerline goodness [0,1] 0.2422360248447205 Centerline is valid? [False, False] Translation: X:1.21, Y:0.01, Z:0.77 [[ 9.99909403e-01 2.92578492e-04 -1.34573399e-02 1.21119155e+00] [-2.89019431e-04 9.99999923e-01 2.66413902e-04 1.29749349e-02] [ 1.34574168e-02 -2.62500333e-04 9.99909410e-01 7.69669610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.962557844 meters Centerline goodness [0,1] 0.2480352021716763 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99868877e-01 -1.47800928e-03 -1.61258650e-02 1.16486508e+00] [ 1.49084991e-03 9.99998581e-01 7.84282935e-04 7.22591466e-03] [ 1.61246830e-02 -8.08221342e-04 9.99869662e-01 7.71560631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.992557844 meters Centerline goodness [0,1] 0.24343234610286613 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99869979e-01 -1.32164752e-03 -1.60710540e-02 1.16446472e+00] [ 1.34000487e-03 9.99998462e-01 1.13154719e-03 5.74940503e-03] [ 1.60695338e-02 -1.15293536e-03 9.99870212e-01 7.72048647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.022557844 meters Centerline goodness [0,1] 0.24483622850229025 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99879333e-01 -1.05942511e-03 -1.54983095e-02 1.16253700e+00] [ 1.08137433e-03 9.99998424e-01 1.40792169e-03 5.10673042e-03] [ 1.54967935e-02 -1.42451127e-03 9.99878903e-01 7.72886705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.052557844 meters Centerline goodness [0,1] 0.24580179239537114 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99883111e-01 -1.02182795e-03 -1.52551751e-02 1.16172500e+00] [ 1.04264817e-03 9.99998536e-01 1.35690637e-03 5.53093296e-03] [ 1.52537663e-02 -1.37265354e-03 9.99882712e-01 7.73251713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08255784400001 meters Centerline goodness [0,1] 0.25565541429197725 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99884906e-01 -9.83623101e-04 -1.51396138e-02 1.16139696e+00] [ 1.00288494e-03 9.99998697e-01 1.26474117e-03 6.23500190e-03] [ 1.51383501e-02 -1.27977889e-03 9.99884590e-01 7.73290987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11255784400001 meters Centerline goodness [0,1] 0.256165403653248 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99884703e-01 -9.62001442e-04 -1.51544127e-02 1.16163451e+00] [ 9.78535477e-04 9.99998934e-01 1.08366041e-03 7.38578727e-03] [ 1.51533541e-02 -1.09836460e-03 9.99884578e-01 7.72883723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14255784400001 meters Centerline goodness [0,1] 0.24612714254719026 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99882035e-01 -9.04904754e-04 -1.53328682e-02 1.16235457e+00] [ 9.19434759e-04 9.99999135e-01 9.40615085e-04 8.31827875e-03] [ 1.53320038e-02 -9.54601698e-04 9.99882002e-01 7.72350524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17255784400001 meters Centerline goodness [0,1] 0.24767971280973644 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99880900e-01 -9.59106538e-04 -1.54034202e-02 1.16271008e+00] [ 9.69766991e-04 9.99999295e-01 6.84629096e-04 9.49580041e-03] [ 1.54027527e-02 -6.99485285e-04 9.99881126e-01 7.72058992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.202557844 meters Centerline goodness [0,1] 0.24755458515283846 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99881236e-01 -9.52943228e-04 -1.53820078e-02 1.16266370e+00] [ 9.58767177e-04 9.99999471e-01 3.71250968e-04 1.09106283e-02] [ 1.53816459e-02 -3.85954641e-04 9.99881621e-01 7.72025274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.232557844 meters Centerline goodness [0,1] 0.2460398292413375 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99882714e-01 -9.64679196e-04 -1.52848623e-02 1.16235554e+00] [ 9.68779047e-04 9.99999497e-01 2.60827471e-04 1.14976489e-02] [ 1.52846030e-02 -2.75604534e-04 9.99883146e-01 7.72061075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.262557844 meters Centerline goodness [0,1] 0.24772993874093063 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99887463e-01 -9.41589103e-04 -1.49724383e-02 1.16146818e+00] [ 9.44788703e-04 9.99999532e-01 2.06627476e-04 1.20191499e-02] [ 1.49722367e-02 -2.20750014e-04 9.99887885e-01 7.72152380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.292557844 meters Centerline goodness [0,1] 0.24533408392153466 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99892320e-01 -9.30410925e-04 -1.46452497e-02 1.16044815e+00] [ 9.33385304e-04 9.99999545e-01 1.96261206e-04 1.22149472e-02] [ 1.46450604e-02 -2.09909733e-04 9.99892733e-01 7.72476754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.322557844 meters Centerline goodness [0,1] 0.2449745492192218 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99895948e-01 -9.30130021e-04 -1.43954512e-02 1.15943456e+00] [ 9.33179475e-04 9.99999544e-01 2.05118865e-04 1.21755197e-02] [ 1.43952538e-02 -2.18531062e-04 9.99896359e-01 7.73141251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.352557844 meters Centerline goodness [0,1] 0.24452601751674397 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99896810e-01 -9.22790590e-04 -1.43358906e-02 1.15898015e+00] [ 9.26550325e-04 9.99999538e-01 2.55620645e-04 1.18957494e-02] [ 1.43356481e-02 -2.68877191e-04 9.99897203e-01 7.73663611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.382557844 meters Centerline goodness [0,1] 0.244132166984237 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99892771e-01 -9.43668047e-04 -1.46135280e-02 1.15954610e+00] [ 9.48387496e-04 9.99999500e-01 3.16024067e-04 1.16166280e-02] [ 1.46132225e-02 -3.29849468e-04 9.99893167e-01 7.73838103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.412557844 meters Centerline goodness [0,1] 0.2493377990849588 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99889557e-01 -9.46383605e-04 -1.48316721e-02 1.16044629e+00] [ 9.51794761e-04 9.99999483e-01 3.57783429e-04 1.13821836e-02] [ 1.48313258e-02 -3.71860623e-04 9.99889941e-01 7.73182260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.442557844 meters Centerline goodness [0,1] 0.24745747947472718 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99885311e-01 -1.03649481e-03 -1.51092946e-02 1.16157144e+00] [ 1.04112507e-03 9.99999413e-01 2.98588552e-04 1.13256093e-02] [ 1.51089763e-02 -3.14284972e-04 9.99885804e-01 7.72436166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47255784400001 meters Centerline goodness [0,1] 0.24812866900901298 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.77 [[ 9.99884144e-01 -1.08661747e-03 -1.51827945e-02 1.16199240e+00] [ 1.09148315e-03 9.99999356e-01 3.12190687e-04 1.08533812e-02] [ 1.51824454e-02 -3.28726282e-04 9.99884686e-01 7.72083629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50255784400001 meters Centerline goodness [0,1] 0.24179567898572596 Centerline is valid? [False, False] Translation: X:1.18, Y:0.01, Z:0.77 [[ 0.99989598 0.0053019 -0.01341306 1.18391692] [-0.00534817 0.99997986 -0.00341629 0.01074111] [ 0.01339468 0.00348767 0.9999042 0.77126087] [ 0. 0. 0. 1. ]] SLAMing on 124.53255784400001 meters Centerline goodness [0,1] 0.24584508570188757 Centerline is valid? [False, False] Translation: X:1.18, Y:0.01, Z:0.77 [[ 0.99989676 0.00532759 -0.01334499 1.18352136] [-0.00537192 0.99998016 -0.00328841 0.01008574] [ 0.01332721 0.00335976 0.99990554 0.77163701] [ 0. 0. 0. 1. ]] SLAMing on 124.56255784400001 meters Centerline goodness [0,1] 0.2461179621190852 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.77 [[ 0.99990239 -0.00139948 -0.0139018 1.20268102] [ 0.00137846 0.99999789 -0.00152168 0.01497322] [ 0.0139039 0.00150237 0.99990221 0.77432773] [ 0. 0. 0. 1. ]] SLAMing on 124.592557844 meters Centerline goodness [0,1] 0.2461179621190852 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.77 [[ 0.99990239 -0.00139948 -0.0139018 1.20268102] [ 0.00137846 0.99999789 -0.00152168 0.01497322] [ 0.0139039 0.00150237 0.99990221 0.77432773] [ 0. 0. 0. 1. ]] SLAMing on 124.622557844 meters Centerline goodness [0,1] 0.24674533025645495 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.77 [[ 0.99989901 -0.00139158 -0.01414365 1.20347744] [ 0.00137119 0.99999801 -0.0014514 0.01459803] [ 0.01414565 0.00143186 0.99989892 0.77400554] [ 0. 0. 0. 1. ]] SLAMing on 124.652557844 meters Centerline goodness [0,1] 0.24419181569126558 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.77 [[ 0.9998956 -0.00138987 -0.01438222 1.20417098] [ 0.00137079 0.99999817 -0.00133653 0.01382588] [ 0.01438405 0.00131668 0.99989568 0.77389366] [ 0. 0. 0. 1. ]] SLAMing on 124.682557844 meters Centerline goodness [0,1] 0.23970110041561687 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.77 [[ 9.99896269e-01 -1.32824159e-03 -1.43417796e-02 1.20385543e+00] [ 1.31207287e-03 9.99998493e-01 -1.13673578e-03 1.28170639e-02] [ 1.43432679e-02 1.11780041e-03 9.99896505e-01 7.74273781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.712557844 meters Centerline goodness [0,1] 0.24762586184467283 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.77 [[ 9.99900294e-01 -1.27335327e-03 -1.40634635e-02 1.20275095e+00] [ 1.25884991e-03 9.99998667e-01 -1.04008355e-03 1.25028911e-02] [ 1.40647691e-02 1.02227606e-03 9.99900564e-01 7.74936852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.742557844 meters Centerline goodness [0,1] 0.24827511154641424 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.77 [[ 0.9999044 -0.00137058 -0.01375884 1.20202921] [ 0.00135111 0.99999807 -0.0014236 0.01459985] [ 0.01376077 0.00140487 0.99990433 0.77482238] [ 0. 0. 0. 1. ]] SLAMing on 124.772557844 meters Centerline goodness [0,1] 0.24611651537144963 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.77 [[ 0.99990036 -0.00150873 -0.0140354 1.20319543] [ 0.00148254 0.99999714 -0.00187593 0.01673712] [ 0.01403819 0.00185493 0.99989974 0.77395559] [ 0. 0. 0. 1. ]] SLAMing on 124.802557844 meters Centerline goodness [0,1] 0.24754753016754927 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.77 [[ 0.99989728 -0.00166347 -0.01423566 1.2039753 ] [ 0.00163089 0.99999603 -0.00229962 0.01866168] [ 0.01423943 0.00227617 0.99989602 0.77345756] [ 0. 0. 0. 1. ]] SLAMing on 124.83255784400001 meters Centerline goodness [0,1] 0.25305329181298175 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:0.77 [[ 0.99983935 -0.0027191 -0.01771675 1.15959961] [ 0.00269102 0.99999509 -0.0016084 0.01690631] [ 0.01772104 0.00156046 0.99984175 0.77465856] [ 0. 0. 0. 1. ]] SLAMing on 124.86255784400001 meters Centerline goodness [0,1] 0.2462999587073218 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.78 [[ 0.99983809 0.00632654 -0.01684542 1.18006703] [-0.006373 0.99997603 -0.00270591 0.01596825] [ 0.0168279 0.00281283 0.99985444 0.77526484] [ 0. 0. 0. 1. ]] SLAMing on 124.89255784400001 meters Centerline goodness [0,1] 0.24988423118481118 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:0.78 [[ 9.99832117e-01 -2.27985769e-03 -1.81807446e-02 1.15865233e+00] [ 2.26190849e-03 9.99996934e-01 -1.00776656e-03 1.99139641e-02] [ 1.81829865e-02 9.66474190e-04 9.99834209e-01 7.75725642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92255784400001 meters Centerline goodness [0,1] 0.24618717504332754 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.78 [[ 0.99988128 -0.00288383 -0.01513649 1.19818636] [ 0.00283688 0.9999911 -0.00312192 0.02506029] [ 0.01514536 0.0030786 0.99988056 0.77729395] [ 0. 0. 0. 1. ]] SLAMing on 124.952557844 meters Centerline goodness [0,1] 0.24707420725727358 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.78 [[ 0.9998831 -0.00294568 -0.01500374 1.1977147 ] [ 0.00289946 0.99999099 -0.00310123 0.02474126] [ 0.01501274 0.00305737 0.99988263 0.77753379] [ 0. 0. 0. 1. ]] SLAMing on 124.982557844 meters Centerline goodness [0,1] 0.24700823143583173 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.78 [[ 0.99988329 -0.00298744 -0.01498294 1.19758831] [ 0.00294126 0.99999086 -0.00310321 0.02462986] [ 0.01499207 0.00305878 0.99988293 0.77767704] [ 0. 0. 0. 1. ]] SLAMing on 125.012557844 meters Centerline goodness [0,1] 0.248 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.78 [[ 0.99988383 -0.00300312 -0.01494358 1.19727925] [ 0.00295668 0.99999074 -0.00312839 0.02479009] [ 0.01495284 0.00308384 0.99988344 0.77803494] [ 0. 0. 0. 1. ]] SLAMing on 125.042557844 meters Centerline goodness [0,1] 0.24689850648642753 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.78 [[ 0.99988402 -0.00301524 -0.01492813 1.19689454] [ 0.00296851 0.99999063 -0.0031518 0.02498101] [ 0.01493749 0.00310712 0.9998836 0.77862818] [ 0. 0. 0. 1. ]] SLAMing on 125.072557844 meters Centerline goodness [0,1] 0.24720199934803866 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.78 [[ 0.99988384 -0.00302861 -0.01493742 1.19653539] [ 0.00298169 0.99999055 -0.00316246 0.0250739 ] [ 0.01494686 0.00311755 0.99988343 0.77928798] [ 0. 0. 0. 1. ]] SLAMing on 125.102557844 meters Centerline goodness [0,1] 0.2496281714785652 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.78 [[ 0.99988208 -0.00306464 -0.01504754 1.19649359] [ 0.00301735 0.99999044 -0.00316471 0.0249346 ] [ 0.0150571 0.00311893 0.99988177 0.77989636] [ 0. 0. 0. 1. ]] SLAMing on 125.132557844 meters Centerline goodness [0,1] 0.2451644935670495 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:0.78 [[ 0.99989285 0.00542436 -0.01359678 1.21542632] [-0.00548871 0.99997389 -0.00469971 0.02138332] [ 0.01357093 0.00477384 0.99989651 0.78087537] [ 0. 0. 0. 1. ]] SLAMing on 125.162557844 meters Centerline goodness [0,1] 0.24702065534768036 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.78 [[ 0.99989501 0.00549539 -0.01340819 1.21473091] [-0.00555651 0.99997432 -0.00452563 0.0206424 ] [ 0.01338297 0.00459966 0.99989986 0.78122169] [ 0. 0. 0. 1. ]] SLAMing on 125.192557844 meters Centerline goodness [0,1] 0.25011992499236846 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:0.78 [[ 0.99989675 0.00561752 -0.01322599 1.21390238] [-0.00567377 0.999975 -0.00421902 0.01932877] [ 0.01320196 0.00429362 0.99990363 0.7818687 ] [ 0. 0. 0. 1. ]] SLAMing on 125.22255784400001 meters Centerline goodness [0,1] 0.24716425664559705 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.78 [[ 0.99992445 -0.00171407 -0.01217214 1.23270225] [ 0.00167987 0.99999462 -0.002819 0.02203701] [ 0.01217691 0.00279834 0.99992194 0.78385362] [ 0. 0. 0. 1. ]] SLAMing on 125.25255784400001 meters Centerline goodness [0,1] 0.24565076624217574 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.78 [[ 0.99992463 -0.00145792 -0.01219052 1.23247645] [ 0.00143265 0.99999681 -0.00208135 0.01847022] [ 0.01219352 0.00206373 0.99992353 0.78437399] [ 0. 0. 0. 1. ]] SLAMing on 125.28255784400001 meters Centerline goodness [0,1] 0.24565076624217574 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.78 [[ 0.99992463 -0.00145792 -0.01219052 1.23247645] [ 0.00143265 0.99999681 -0.00208135 0.01847022] [ 0.01219352 0.00206373 0.99992353 0.78437399] [ 0. 0. 0. 1. ]] SLAMing on 125.31255784400001 meters Centerline goodness [0,1] 0.24614720483488017 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.78 [[ 0.99992378 -0.00130138 -0.0122777 1.23279127] [ 0.0012805 0.99999772 -0.00170808 0.01674468] [ 0.0122799 0.00169223 0.99992317 0.78423115] [ 0. 0. 0. 1. ]] SLAMing on 125.342557844 meters Centerline goodness [0,1] 0.24827840896747988 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.78 [[ 9.99924360e-01 -1.11017842e-03 -1.22491468e-02 1.23276630e+00] [ 1.09381797e-03 9.99998501e-01 -1.34225865e-03 1.50566921e-02] [ 1.22506186e-02 1.32875879e-03 9.99924075e-01 7.84198940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.372557844 meters Centerline goodness [0,1] 0.2501368842944436 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.78 [[ 9.99924700e-01 -1.05154131e-03 -1.22265610e-02 1.23270325e+00] [ 1.03472189e-03 9.99998510e-01 -1.38189048e-03 1.54582955e-02] [ 1.22279959e-02 1.36913533e-03 9.99924298e-01 7.84216576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402557844 meters Centerline goodness [0,1] 0.2546118962708581 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.78 [[ 9.99922680e-01 -1.03377435e-03 -1.23921220e-02 1.23335702e+00] [ 1.01506005e-03 9.99998335e-01 -1.51637134e-03 1.62440006e-02] [ 1.23936690e-02 1.50367535e-03 9.99922065e-01 7.83756610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.432557844 meters Centerline goodness [0,1] 0.2455567567567568 Centerline is valid? [False, False] Translation: X:1.26, Y:0.02, Z:0.78 [[ 0.99986502 0.00787176 -0.0144213 1.26173613] [-0.00791531 0.99996428 -0.00296523 0.01620125] [ 0.01439745 0.00307898 0.99989161 0.78084478] [ 0. 0. 0. 1. ]] SLAMing on 125.462557844 meters Centerline goodness [0,1] 0.24554356558177914 Centerline is valid? [False, False] Translation: X:1.26, Y:0.02, Z:0.78 [[ 0.99985928 0.00782169 -0.0148407 1.26347824] [-0.00787068 0.99996376 -0.00324535 0.01736727] [ 0.01481478 0.0033617 0.9998846 0.77961432] [ 0. 0. 0. 1. ]] SLAMing on 125.492557844 meters Centerline goodness [0,1] 0.24793135820797763 Centerline is valid? [False, False] Translation: X:1.26, Y:0.02, Z:0.78 [[ 0.99986123 0.00783848 -0.01469954 1.26325873] [-0.00788949 0.99996305 -0.00341506 0.01836847] [ 0.01467223 0.00353056 0.99988612 0.77938503] [ 0. 0. 0. 1. ]] SLAMing on 125.522557844 meters Centerline goodness [0,1] 0.2461311717022845 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 9.99909547e-01 1.21597341e-03 -1.33947100e-02 1.28003493e+00] [-1.24149436e-03 9.99997430e-01 -1.89715047e-03 2.45654505e-02] [ 1.33923687e-02 1.91360833e-03 9.99908487e-01 7.81591039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.552557844 meters Centerline goodness [0,1] 0.24980944706984032 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:0.78 [[ 9.99914611e-01 1.25405514e-03 -1.30076259e-02 1.27864776e+00] [-1.28028038e-03 9.99997164e-01 -2.00801220e-03 2.54842214e-02] [ 1.30050708e-02 2.02449415e-03 9.99913381e-01 7.82267185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58255784400001 meters Centerline goodness [0,1] 0.24944325575302384 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:0.78 [[ 9.99915748e-01 1.23909864e-03 -1.29213400e-02 1.27833483e+00] [-1.26619133e-03 9.99997017e-01 -2.08876969e-03 2.59395054e-02] [ 1.29187132e-02 2.10495459e-03 9.99914334e-01 7.82422751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61255784400001 meters Centerline goodness [0,1] 0.24773236464881565 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:0.78 [[ 9.99909925e-01 1.14499194e-03 -1.33727374e-02 1.27991746e+00] [-1.17292813e-03 9.99997146e-01 -2.08138446e-03 2.53832518e-02] [ 1.33703161e-02 2.09688224e-03 9.99908415e-01 7.81618132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64255784400001 meters Centerline goodness [0,1] 0.2486601185658347 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 9.99907582e-01 1.16907346e-03 -1.35447473e-02 1.28056418e+00] [-1.19520657e-03 9.99997440e-01 -1.92145641e-03 2.44788948e-02] [ 1.35424663e-02 1.93746760e-03 9.99906420e-01 7.81213900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67255784400001 meters Centerline goodness [0,1] 0.24623006388249102 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 9.99903903e-01 1.19161731e-03 -1.38117530e-02 1.28124840e+00] [-1.21421504e-03 9.99997938e-01 -1.62785333e-03 2.28762718e-02] [ 1.38097847e-02 1.64446734e-03 9.99903288e-01 7.81188072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.702557844 meters Centerline goodness [0,1] 0.24500054165312535 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 9.99902904e-01 1.26847291e-03 -1.38771088e-02 1.28132372e+00] [-1.28576368e-03 9.99998408e-01 -1.23714120e-03 2.09024749e-02] [ 1.38755175e-02 1.25486376e-03 9.99902943e-01 7.81378765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.732557844 meters Centerline goodness [0,1] 0.24322697170379293 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 9.99901448e-01 1.34999205e-03 -1.39739393e-02 1.28120012e+00] [-1.36172918e-03 9.99998728e-01 -8.30448659e-04 1.87642641e-02] [ 1.39728004e-02 8.49395537e-04 9.99902015e-01 7.82053814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.762557844 meters Centerline goodness [0,1] 0.24374675437078064 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 9.99903288e-01 1.47126600e-03 -1.38293402e-02 1.28026538e+00] [-1.47656614e-03 9.99998840e-01 -3.73050682e-04 1.64668216e-02] [ 1.38287753e-02 3.93434539e-04 9.99904301e-01 7.83076534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.792557844 meters Centerline goodness [0,1] 0.24764570585427248 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 9.99907294e-01 1.65725305e-03 -1.35150345e-02 1.27912187e+00] [-1.65318774e-03 9.99998585e-01 3.11966048e-04 1.31276158e-02] [ 1.35155324e-02 -2.89594238e-04 9.99908619e-01 7.83735319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.822557844 meters Centerline goodness [0,1] 0.2487245454149043 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 9.99907172e-01 1.79216793e-03 -1.35068774e-02 1.27928119e+00] [-1.78401084e-03 9.99998219e-01 6.15945363e-04 1.18487376e-02] [ 1.35079572e-02 -5.91791771e-04 9.99908588e-01 7.83428932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.852557844 meters Centerline goodness [0,1] 0.24788523589430544 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 9.99905034e-01 1.90067938e-03 -1.36495559e-02 1.27992162e+00] [-1.88882610e-03 9.99997828e-01 8.81238724e-04 1.06021831e-02] [ 1.36512012e-02 -8.55373399e-04 9.99906452e-01 7.82940549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.882557844 meters Centerline goodness [0,1] 0.2521586290233989 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 9.99902861e-01 2.00952348e-03 -1.37924310e-02 1.28042157e+00] [-1.99344284e-03 9.99997317e-01 1.17955197e-03 9.14980656e-03] [ 1.37947644e-02 -1.15194297e-03 9.99904184e-01 7.82713745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.912557844 meters Centerline goodness [0,1] 0.2456584344183611 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 0.99990041 0.00210626 -0.01395455 1.28084543] [-0.0020865 0.9999968 0.00143095 0.00790801] [ 0.01395752 -0.00140169 0.99990161 0.78272089] [ 0. 0. 0. 1. ]] SLAMing on 125.942557844 meters Centerline goodness [0,1] 0.2489844944310985 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 0.99990096 0.00220151 -0.01390046 1.28051239] [-0.00217886 0.99999627 0.00164442 0.00696199] [ 0.01390403 -0.00161397 0.99990203 0.78309998] [ 0. 0. 0. 1. ]] SLAMing on 125.97255784400001 meters Centerline goodness [0,1] 0.24420108648788474 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:0.78 [[ 0.99994683 -0.00176365 -0.01016014 1.30408346] [ 0.00181279 0.9999867 0.00482942 0.00508229] [ 0.01015148 -0.00484759 0.99993672 0.78185193] [ 0. 0. 0. 1. ]] SLAMing on 126.00255784400001 meters Centerline goodness [0,1] 0.25021245070054254 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:0.78 [[ 9.99951152e-01 4.64872568e-03 -8.72253543e-03 1.28573757e+00] [-4.61711404e-03 9.99982713e-01 3.64077839e-03 -1.24473246e-03] [ 8.73930963e-03 -3.60032761e-03 9.99955330e-01 7.79281671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03255784400001 meters Centerline goodness [0,1] 0.25019186492709133 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:0.78 [[ 0.99995097 0.00467402 -0.00872977 1.28583019] [-0.00464209 0.99998247 0.00367444 -0.00141571] [ 0.00874679 -0.00363373 0.99995514 0.77912793] [ 0. 0. 0. 1. ]] SLAMing on 126.06255784400001 meters Centerline goodness [0,1] 0.24701810900226362 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:0.78 [[ 9.99950509e-01 4.64324190e-03 -8.79891191e-03 1.28624172e+00] [-4.61228622e-03 9.99983115e-01 3.53515839e-03 -6.69986744e-04] [ 8.81517793e-03 -3.49440033e-03 9.99955040e-01 7.78687930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.092557844 meters Centerline goodness [0,1] 0.2447925669835782 Centerline is valid? [False, False] Translation: X:1.29, Y:0.00, Z:0.78 [[ 9.99950790e-01 4.62829903e-03 -8.77471706e-03 1.28646637e+00] [-4.59893998e-03 9.99983770e-01 3.36309954e-03 3.38103951e-04] [ 8.79014007e-03 -3.32257964e-03 9.99955846e-01 7.78134982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.122557844 meters Centerline goodness [0,1] 0.24500852597724965 Centerline is valid? [False, False] Translation: X:1.29, Y:0.00, Z:0.78 [[ 0.99995044 0.00454189 -0.00885926 1.28722841] [-0.00451448 0.99998497 0.00311183 0.00151294] [ 0.00887326 -0.00307168 0.99995591 0.77714981] [ 0. 0. 0. 1. ]] SLAMing on 126.152557844 meters Centerline goodness [0,1] 0.24768776648081336 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:0.78 [[ 9.99909503e-01 3.09166343e-03 -1.30930472e-02 1.24685881e+00] [-3.04865155e-03 9.99989895e-01 3.30377900e-03 1.28156694e-04] [ 1.31031291e-02 -3.26356388e-03 9.99908824e-01 7.76236519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.182557844 meters Centerline goodness [0,1] 0.24545848688489058 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:0.78 [[ 9.99907714e-01 3.02144024e-03 -1.32451608e-02 1.24740255e+00] [-2.97955632e-03 9.99990502e-01 3.18079881e-03 5.47230109e-04] [ 1.32546456e-02 -3.14104057e-03 9.99907220e-01 7.75935569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.212557844 meters Centerline goodness [0,1] 0.2476509483208631 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:0.78 [[ 9.99907691e-01 3.01084974e-03 -1.32493488e-02 1.24718365e+00] [-2.96883041e-03 9.99990505e-01 3.18995315e-03 4.81224803e-04] [ 1.32588275e-02 -3.15032361e-03 9.99907135e-01 7.76349496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.242557844 meters Centerline goodness [0,1] 0.24011075100341273 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:0.78 [[ 0.9999198 -0.00449866 -0.01183835 1.26640555] [ 0.00454705 0.9999814 0.00406384 0.00503572] [ 0.01181984 -0.00411734 0.99992167 0.77784828] [ 0. 0. 0. 1. ]] SLAMing on 126.272557844 meters Centerline goodness [0,1] 0.24276496104624812 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.78 [[ 0.99992343 -0.00447699 -0.01153666 1.26505983] [ 0.00452525 0.99998111 0.00416022 0.00467649] [ 0.01151782 -0.00421211 0.9999248 0.77886416] [ 0. 0. 0. 1. ]] SLAMing on 126.302557844 meters Centerline goodness [0,1] 0.24834271555565213 Centerline is valid? [False, False] Translation: X:1.26, Y:0.00, Z:0.78 [[ 0.99992679 -0.00442241 -0.01126338 1.26401604] [ 0.00447061 0.99998094 0.00425808 0.004435 ] [ 0.01124433 -0.00430813 0.9999275 0.77946616] [ 0. 0. 0. 1. ]] SLAMing on 126.33255784400001 meters Centerline goodness [0,1] 0.2503386793689638 Centerline is valid? [False, False] Translation: X:1.26, Y:0.00, Z:0.78 [[ 0.99993063 -0.00441124 -0.01092122 1.26346455] [ 0.00445804 0.99998097 0.00426448 0.00458765] [ 0.0109022 -0.00431287 0.99993127 0.77887308] [ 0. 0. 0. 1. ]] SLAMing on 126.36255784400001 meters Centerline goodness [0,1] 0.248725126402361 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 0.99992953 0.00440151 -0.01102561 1.28320304] [-0.00437026 0.99998637 0.00285728 0.00204802] [ 0.01103804 -0.00280889 0.99993513 0.77978416] [ 0. 0. 0. 1. ]] SLAMing on 126.39255784400001 meters Centerline goodness [0,1] 0.24747661117020125 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 0.99992647 0.00433447 -0.01132509 1.28421482] [-0.00430324 0.99998688 0.00277985 0.00220667] [ 0.01133699 -0.00273091 0.99993201 0.77933845] [ 0. 0. 0. 1. ]] SLAMing on 126.42255784400001 meters Centerline goodness [0,1] 0.2506963177402022 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:0.78 [[ 0.99991147 -0.00501825 -0.01232357 1.2650617 ] [ 0.00506714 0.9999794 0.0039395 0.00552498] [ 0.01230355 -0.0040016 0.9999163 0.77817461] [ 0. 0. 0. 1. ]] SLAMing on 126.452557844 meters Centerline goodness [0,1] 0.24752173913043474 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 0.99993017 0.00362335 -0.01124834 1.28402346] [-0.00359716 0.99999077 0.00234766 0.0026632 ] [ 0.01125674 -0.00230704 0.99993398 0.77946756] [ 0. 0. 0. 1. ]] SLAMing on 126.482557844 meters Centerline goodness [0,1] 0.24752173913043474 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 0.99993017 0.00362335 -0.01124834 1.28402346] [-0.00359716 0.99999077 0.00234766 0.0026632 ] [ 0.01125674 -0.00230704 0.99993398 0.77946756] [ 0. 0. 0. 1. ]] SLAMing on 126.512557844 meters Centerline goodness [0,1] 0.2491982109741464 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 0.9999309 0.0036432 -0.01117695 1.28358475] [-0.00361613 0.99999048 0.00244058 0.0022385 ] [ 0.01118574 -0.00239999 0.99993456 0.77994254] [ 0. 0. 0. 1. ]] SLAMing on 126.542557844 meters Centerline goodness [0,1] 0.2482572324851865 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 9.99930311e-01 3.65841200e-03 -1.12245198e-02 1.28344904e+00] [-3.62903719e-03 9.99989940e-01 2.63627455e-03 1.18392518e-03] [ 1.12340515e-02 -2.59535663e-03 9.99933528e-01 7.80409181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.572557844 meters Centerline goodness [0,1] 0.24699776325218792 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 9.99928221e-01 3.63730337e-03 -1.14159011e-02 1.28409068e+00] [-3.60756729e-03 9.99990049e-01 2.62430768e-03 1.19971096e-03] [ 1.14253329e-02 -2.58293568e-03 9.99931393e-01 7.80122616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.602557844 meters Centerline goodness [0,1] 0.24823129996714488 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 0.99992772 0.00356577 -0.01148183 1.28456003] [-0.00353809 0.99999079 0.00243049 0.00208837] [ 0.01149039 -0.00238969 0.99993113 0.77957322] [ 0. 0. 0. 1. ]] SLAMing on 126.632557844 meters Centerline goodness [0,1] 0.24923892332289366 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 0.99992823 0.0034749 -0.01146585 1.28471361] [-0.00345087 0.99999181 0.0021153 0.00359387] [ 0.0114731 -0.00207558 0.99993203 0.77921886] [ 0. 0. 0. 1. ]] SLAMing on 126.662557844 meters Centerline goodness [0,1] 0.24833311543992675 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 0.99993085 0.00335935 -0.01127029 1.28432973] [-0.00334041 0.99999298 0.00169849 0.00557685] [ 0.01127592 -0.00166073 0.99993505 0.77906083] [ 0. 0. 0. 1. ]] SLAMing on 126.692557844 meters Centerline goodness [0,1] 0.24922098014861305 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 0.99994326 0.00374051 -0.00997416 1.28069378] [-0.0037256 0.99999191 0.00151328 0.0082337 ] [ 0.00997974 -0.00147603 0.99994911 0.77957961] [ 0. 0. 0. 1. ]] SLAMing on 126.72255784400001 meters Centerline goodness [0,1] 0.2532823118031272 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 9.99945272e-01 3.65496742e-03 -9.80275660e-03 1.28049561e+00] [-3.64383913e-03 9.99992697e-01 1.15284103e-03 1.01477916e-02] [ 9.80689860e-03 -1.11705827e-03 9.99951287e-01 7.79116179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75255784400001 meters Centerline goodness [0,1] 0.24597706114867057 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:0.78 [[ 9.99944934e-01 -1.25684471e-03 -1.04187034e-02 1.30386289e+00] [ 1.29677887e-03 9.99991836e-01 3.82706161e-03 1.53607890e-02] [ 1.04138083e-02 -3.84036162e-03 9.99938400e-01 7.78718455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78255784400001 meters Centerline goodness [0,1] 0.24984778637905536 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:0.78 [[ 0.99994381 -0.00143461 -0.0105032 1.30438392] [ 0.00147033 0.99999316 0.00339388 0.01729598] [ 0.01049826 -0.00340913 0.99993908 0.77814558] [ 0. 0. 0. 1. ]] SLAMing on 126.81255784400001 meters Centerline goodness [0,1] 0.24521761736606074 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:0.78 [[ 0.99994246 -0.00161719 -0.01060456 1.30477366] [ 0.00164851 0.9999943 0.00294583 0.01928207] [ 0.01059974 -0.00296314 0.99993943 0.77788255] [ 0. 0. 0. 1. ]] SLAMing on 126.842557844 meters Centerline goodness [0,1] 0.2532828893825748 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 0.99992028 0.00591783 -0.01115445 1.28426773] [-0.00589815 0.99998099 0.00179621 0.01567624] [ 0.01116487 -0.00173028 0.99993617 0.77715075] [ 0. 0. 0. 1. ]] SLAMing on 126.872557844 meters Centerline goodness [0,1] 0.2517227757538516 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 9.99929809e-01 5.78047584e-03 -1.03423143e-02 1.28139097e+00] [-5.76906621e-03 9.99982717e-01 1.13269276e-03 1.94527836e-02] [ 1.03486830e-02 -1.07294776e-03 9.99945875e-01 7.78580567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.902557844 meters Centerline goodness [0,1] 0.25196297758476993 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 9.99935323e-01 5.64591126e-03 -9.87283014e-03 1.27994996e+00] [-5.63935794e-03 9.99983860e-01 6.91486047e-04 2.17693210e-02] [ 9.87657486e-03 -6.35764901e-04 9.99951023e-01 7.79047278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.932557844 meters Centerline goodness [0,1] 0.2508161755103817 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:0.78 [[ 9.99951853e-01 -1.17051387e-03 -9.74274497e-03 1.29720823e+00] [ 1.18645518e-03 9.99997967e-01 1.63060507e-03 2.99021002e-02] [ 9.74081651e-03 -1.64208589e-03 9.99951209e-01 7.81308518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.962557844 meters Centerline goodness [0,1] 0.24989637644800278 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:0.78 [[ 9.99952679e-01 -1.29552930e-03 -9.64167851e-03 1.29699761e+00] [ 1.30846108e-03 9.99998253e-01 1.33504966e-03 3.12402581e-02] [ 9.63993207e-03 -1.34760225e-03 9.99952627e-01 7.81185907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.992557844 meters Centerline goodness [0,1] 0.24826147426981915 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:0.78 [[ 9.99952124e-01 -1.39507796e-03 -9.68521667e-03 1.29731754e+00] [ 1.40624464e-03 9.99998354e-01 1.14624641e-03 3.19966200e-02] [ 9.68360163e-03 -1.15981132e-03 9.99952440e-01 7.80770619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.022557844 meters Centerline goodness [0,1] 0.24707690975229513 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:0.78 [[ 9.99948568e-01 -1.47035044e-03 -1.00349553e-02 1.29822550e+00] [ 1.48261198e-03 9.99998163e-01 1.21455285e-03 3.14423241e-02] [ 1.00331510e-02 -1.22936832e-03 9.99948911e-01 7.80701081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.052557844 meters Centerline goodness [0,1] 0.24630030289917781 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:0.78 [[ 0.99994815 -0.00144221 -0.01008095 1.29821684] [ 0.00145618 0.99999799 0.00137795 0.03062377] [ 0.01007894 -0.00139255 0.99994824 0.78093219] [ 0. 0. 0. 1. ]] SLAMing on 127.08255784400001 meters Centerline goodness [0,1] 0.2524152197354812 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:0.78 [[ 0.99991499 -0.00367191 -0.01251104 1.25250387] [ 0.00368924 0.99999227 0.00136242 0.026023 ] [ 0.01250594 -0.00140846 0.99992081 0.78226473] [ 0. 0. 0. 1. ]] SLAMing on 127.11255784400001 meters Centerline goodness [0,1] 0.2532635345570208 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:0.78 [[ 0.9999146 -0.00365233 -0.01254767 1.25245024] [ 0.00367198 0.99999207 0.0015436 0.02489487] [ 0.01254193 -0.00158955 0.99992008 0.78256569] [ 0. 0. 0. 1. ]] SLAMing on 127.14255784400001 meters Centerline goodness [0,1] 0.2526681777171401 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:0.78 [[ 0.99991471 -0.00362341 -0.01254764 1.25244567] [ 0.00364463 0.99999197 0.00166868 0.02418301] [ 0.0125415 -0.00171427 0.99991988 0.78257458] [ 0. 0. 0. 1. ]] SLAMing on 127.17255784400001 meters Centerline goodness [0,1] 0.24852587901288492 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:0.78 [[ 0.99991366 -0.00362928 -0.01262924 1.25348049] [ 0.00364865 0.9999922 0.00151055 0.02510944] [ 0.01262365 -0.0015565 0.99991911 0.78105366] [ 0. 0. 0. 1. ]] SLAMing on 127.20255784400001 meters Centerline goodness [0,1] 0.24899969221298857 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:0.78 [[ 0.9999137 -0.00368356 -0.01261037 1.25380583] [ 0.00370008 0.99999233 0.00128719 0.02625714] [ 0.01260553 -0.00133374 0.99991966 0.78035379] [ 0. 0. 0. 1. ]] SLAMing on 127.232557844 meters Centerline goodness [0,1] 0.24770421549763866 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:0.78 [[ 9.99912398e-01 -3.74274469e-03 -1.26959936e-02 1.25417700e+00] [ 3.75588978e-03 9.99992435e-01 1.01168814e-03 2.76339355e-02] [ 1.26921110e-02 -1.05928427e-03 9.99918891e-01 7.80023685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.262557844 meters Centerline goodness [0,1] 0.24551092288078824 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:0.78 [[ 9.99911245e-01 5.14784236e-03 -1.22882549e-02 1.27467405e+00] [-5.15454357e-03 9.99986583e-01 -5.13725780e-04 2.60823786e-02] [ 1.22854454e-02 5.77020530e-04 9.99924365e-01 7.81110799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.292557844 meters Centerline goodness [0,1] 0.24848656417403425 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:0.78 [[ 9.99909559e-01 5.08281533e-03 -1.24514194e-02 1.27518675e+00] [-5.09078966e-03 9.99986857e-01 -6.08824044e-04 2.62930930e-02] [ 1.24481612e-02 6.72156538e-04 9.99922293e-01 7.80911432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.322557844 meters Centerline goodness [0,1] 0.2450110384831825 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 9.99906833e-01 5.00791858e-03 -1.26982782e-02 1.27556043e+00] [-5.01334207e-03 9.99987355e-01 -3.95308797e-04 2.47872818e-02] [ 1.26961380e-02 4.58932779e-04 9.99919295e-01 7.81291330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.352557844 meters Centerline goodness [0,1] 0.25001098756207973 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:0.78 [[ 9.99901578e-01 -4.51784547e-03 -1.32824622e-02 1.25375464e+00] [ 4.52823281e-03 9.99989465e-01 7.52063658e-04 2.61717556e-02] [ 1.32789246e-02 -8.12135719e-04 9.99911501e-01 7.80773544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.382557844 meters Centerline goodness [0,1] 0.24762698116930093 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:0.78 [[ 9.99903719e-01 -4.44026161e-03 -1.31467174e-02 1.25324774e+00] [ 4.45541066e-03 9.99989444e-01 1.12324230e-03 2.44444148e-02] [ 1.31415912e-02 -1.18170818e-03 9.99912947e-01 7.81078331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.412557844 meters Centerline goodness [0,1] 0.2452785340766671 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:0.78 [[ 0.99993795 0.00221363 -0.0109177 1.27537997] [-0.00223092 0.99999628 -0.00157203 0.02334931] [ 0.01091418 0.00159629 0.99993916 0.77967188] [ 0. 0. 0. 1. ]] SLAMing on 127.442557844 meters Centerline goodness [0,1] 0.2511302736916393 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:0.78 [[ 9.99910889e-01 2.00980350e-04 -1.33481790e-02 1.23018713e+00] [-2.16669130e-04 9.99999287e-01 -1.17391410e-03 1.86871743e-02] [ 1.33479336e-02 1.17670163e-03 9.99910220e-01 7.80741788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47255784400001 meters Centerline goodness [0,1] 0.246281458319762 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:0.78 [[ 9.99880651e-01 -7.63672796e-03 -1.34299382e-02 1.25132125e+00] [ 7.62914778e-03 9.99970708e-01 -6.15566648e-04 2.22376928e-02] [ 1.34342457e-02 5.13034198e-04 9.99909625e-01 7.81573926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50255784400001 meters Centerline goodness [0,1] 0.24419565217391304 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:0.78 [[ 9.99865601e-01 -7.80335167e-03 -1.44182923e-02 1.25430639e+00] [ 7.79643812e-03 9.99969464e-01 -5.35645343e-04 2.06947122e-02] [ 1.44220318e-02 4.23162030e-04 9.99895908e-01 7.80739487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53255784400001 meters Centerline goodness [0,1] 0.2428559057845514 Centerline is valid? [False, False] Translation: X:1.26, Y:0.02, Z:0.78 [[ 9.99861945e-01 -7.79439037e-03 -1.46744064e-02 1.25521103e+00] [ 7.78777757e-03 9.99969546e-01 -5.07725797e-04 2.05031823e-02] [ 1.46779169e-02 3.93374690e-04 9.99892196e-01 7.80275411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56255784400001 meters Centerline goodness [0,1] 0.24278908618449546 Centerline is valid? [False, False] Translation: X:1.26, Y:0.02, Z:0.78 [[ 9.99860747e-01 -7.74577439e-03 -1.47814230e-02 1.25567909e+00] [ 7.73998355e-03 9.99969945e-01 -4.48932377e-04 2.04257541e-02] [ 1.47844561e-02 3.34461891e-04 9.99890648e-01 7.79907755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.592557844 meters Centerline goodness [0,1] 0.24459306870494224 Centerline is valid? [False, False] Translation: X:1.26, Y:0.02, Z:0.78 [[ 9.99862608e-01 -7.63272825e-03 -1.47141610e-02 1.25542977e+00] [ 7.62982872e-03 9.99970860e-01 -2.53183821e-04 1.97657688e-02] [ 1.47156647e-02 1.40882507e-04 9.99891709e-01 7.79998196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.622557844 meters Centerline goodness [0,1] 0.2444029445614645 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:0.78 [[ 9.99865791e-01 -7.44727177e-03 -1.45923905e-02 1.25475098e+00] [ 7.45030467e-03 9.99972234e-01 1.53489697e-04 1.80369719e-02] [ 1.45908423e-02 -2.62186852e-04 9.99893514e-01 7.80679198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.652557844 meters Centerline goodness [0,1] 0.24548343563623698 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:0.78 [[ 9.99867544e-01 -7.27426166e-03 -1.45595314e-02 1.25424760e+00] [ 7.28369196e-03 9.99973297e-01 5.94784028e-04 1.58287936e-02] [ 1.45548160e-02 -7.00752387e-04 9.99893828e-01 7.81456242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.682557844 meters Centerline goodness [0,1] 0.24492150928607193 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:0.78 [[ 0.99986796 -0.00707234 -0.01463044 1.25435888] [ 0.00709281 0.99997394 0.00134753 0.01120413] [ 0.01462053 -0.00145112 0.99989206 0.78174373] [ 0. 0. 0. 1. ]] SLAMing on 127.712557844 meters Centerline goodness [0,1] 0.24834996162701461 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:0.78 [[ 0.99987154 -0.00692023 -0.01445717 1.2540552 ] [ 0.00694571 0.99997441 0.00171314 0.00952835] [ 0.01444494 -0.00181333 0.99989402 0.78148415] [ 0. 0. 0. 1. ]] SLAMing on 127.742557844 meters Centerline goodness [0,1] 0.24815001866450015 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:0.78 [[ 0.99987495 -0.00677499 -0.01428942 1.25384072] [ 0.00680496 0.99997475 0.00204953 0.00806762] [ 0.01427518 -0.00214651 0.9998958 0.78113059] [ 0. 0. 0. 1. ]] SLAMing on 127.772557844 meters Centerline goodness [0,1] 0.24587426539153823 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:0.78 [[ 9.99915022e-01 1.15068148e-03 -1.29855591e-02 1.27546202e+00] [-1.15134471e-03 9.99999336e-01 -4.35987946e-05 5.60961889e-03] [ 1.29855003e-02 5.85459444e-05 9.99915683e-01 7.80209499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.802557844 meters Centerline goodness [0,1] 0.24523255561112445 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 9.99912922e-01 1.26021762e-03 -1.31362576e-02 1.27593146e+00] [-1.25688255e-03 9.99999176e-01 2.62135611e-04 4.05890125e-03] [ 1.31365771e-02 -2.45602051e-04 9.99913681e-01 7.80094711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83255784400001 meters Centerline goodness [0,1] 0.24621550390973845 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:0.78 [[ 9.99912464e-01 1.43534629e-03 -1.31530886e-02 1.27565148e+00] [-1.42702742e-03 9.99998776e-01 6.41828611e-04 2.40820279e-03] [ 1.31539937e-02 -6.23002610e-04 9.99913288e-01 7.80682964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86255784400001 meters Centerline goodness [0,1] 0.24349022727761416 Centerline is valid? [False, False] Translation: X:1.29, Y:0.01, Z:0.78 [[ 0.99990493 -0.0053715 -0.01269964 1.29385327] [ 0.00539676 0.99998352 0.0019562 0.00755356] [ 0.01268893 -0.00202455 0.99991744 0.78284546] [ 0. 0. 0. 1. ]] SLAMing on 127.89255784400001 meters Centerline goodness [0,1] 0.245617841027421 Centerline is valid? [False, False] Translation: X:1.29, Y:0.01, Z:0.78 [[ 0.9999058 -0.00537246 -0.01263017 1.29360474] [ 0.00539662 0.99998367 0.00187939 0.00802233] [ 0.01261986 -0.00194738 0.99991847 0.78295591] [ 0. 0. 0. 1. ]] SLAMing on 127.92255784400001 meters Centerline goodness [0,1] 0.25 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.78 [[ 9.99919435e-01 2.26086318e-03 -1.24904387e-02 1.27295582e+00] [-2.24665901e-03 9.99996814e-01 1.15111770e-03 2.67452657e-03] [ 1.24930015e-02 -1.12296321e-03 9.99921329e-01 7.81785858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95255784400001 meters Centerline goodness [0,1] 0.24622929380993896 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.78 [[ 9.99920919e-01 2.14420779e-03 -1.23918405e-02 1.27287402e+00] [-2.13421458e-03 9.99997387e-01 8.19602120e-04 4.15294622e-03] [ 1.23935656e-02 -7.93090458e-04 9.99922882e-01 7.81442141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.982557844 meters Centerline goodness [0,1] 0.2474055986744571 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.78 [[ 9.99921707e-01 2.07174918e-03 -1.23404767e-02 1.27292798e+00] [-2.06372558e-03 9.99997651e-01 6.62883967e-04 4.81869270e-03] [ 1.23418210e-02 -6.37364711e-04 9.99923634e-01 7.81076768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.012557844 meters Centerline goodness [0,1] 0.2486190277074759 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.78 [[ 9.99921549e-01 2.06335853e-03 -1.23546984e-02 1.27302931e+00] [-2.05523735e-03 9.99997664e-01 6.69995428e-04 4.77655127e-03] [ 1.23560520e-02 -6.44551029e-04 9.99923453e-01 7.80912552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04255784400002 meters Centerline goodness [0,1] 0.24891732067093142 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.78 [[ 9.99920728e-01 2.07386101e-03 -1.24192417e-02 1.27316818e+00] [-2.06433922e-03 9.99997565e-01 7.79466933e-04 4.25049977e-03] [ 1.24208280e-02 -7.53767615e-04 9.99922574e-01 7.80929484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07255784400002 meters Centerline goodness [0,1] 0.24562205959226346 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.78 [[ 9.99917410e-01 2.06005943e-03 -1.26858212e-02 1.27375352e+00] [-2.04847394e-03 9.99997473e-01 9.26189079e-04 3.39917458e-03] [ 1.26876971e-02 -9.00126010e-04 9.99919103e-01 7.81070776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10255784400002 meters Centerline goodness [0,1] 0.245848336061102 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.78 [[ 9.99912811e-01 2.05119190e-03 -1.30446405e-02 1.27462648e+00] [-2.03683979e-03 9.99997306e-01 1.11342110e-03 2.24138902e-03] [ 1.30468892e-02 -1.08675418e-03 9.99914295e-01 7.81120278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13255784400002 meters Centerline goodness [0,1] 0.24668586629146794 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.00, Z:0.78 [[ 9.99909915e-01 1.84996900e-03 -1.32943542e-02 1.27522472e+00] [-1.83170179e-03 9.99997362e-01 1.38610232e-03 -1.02454497e-04] [ 1.32968834e-02 -1.36162616e-03 9.99910665e-01 7.81242138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162557844 meters Centerline goodness [0,1] 0.2468470835522859 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.00, Z:0.78 [[ 0.99991139 0.00193798 -0.0131703 1.27472915] [-0.00191543 0.99999668 0.00172453 -0.00175753] [ 0.0131736 -0.00169915 0.99991178 0.78156903] [ 0. 0. 0. 1. ]] SLAMing on 128.192557844 meters Centerline goodness [0,1] 0.24579973483448891 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.00, Z:0.78 [[ 0.99991329 0.00204723 -0.01300849 1.27420282] [-0.00202054 0.99999583 0.0020646 -0.00333886] [ 0.01301266 -0.00203814 0.99991325 0.78176551] [ 0. 0. 0. 1. ]] SLAMing on 128.222557844 meters Centerline goodness [0,1] 0.247990010296405 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.00, Z:0.78 [[ 0.99991429 0.00217418 -0.01291055 1.27389568] [-0.00214332 0.99999482 0.002403 -0.00486277] [ 0.01291571 -0.00237513 0.99991377 0.78184112] [ 0. 0. 0. 1. ]] SLAMing on 128.252557844 meters Centerline goodness [0,1] 0.24445213479257688 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:0.78 [[ 0.99990273 -0.00535088 -0.01287994 1.29462299] [ 0.00539308 0.9999802 0.00324331 -0.00144782] [ 0.01286234 -0.00331246 0.99991179 0.78267739] [ 0. 0. 0. 1. ]] SLAMing on 128.282557844 meters Centerline goodness [0,1] 0.24353256021409453 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.00, Z:0.78 [[ 0.99989947 -0.00528215 -0.01315855 1.29547806] [ 0.00532805 0.99997983 0.0034557 -0.0025501 ] [ 0.01314003 -0.00352546 0.99990745 0.78241225] [ 0. 0. 0. 1. ]] SLAMing on 128.312557844 meters Centerline goodness [0,1] 0.2420647782027182 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.01, Z:0.78 [[ 0.99989122 0.00316334 -0.01440624 1.31686439] [-0.00313238 0.99999274 0.00217117 -0.00817196] [ 0.014413 -0.00212581 0.99989387 0.78358689] [ 0. 0. 0. 1. ]] SLAMing on 128.342557844 meters Centerline goodness [0,1] 0.24347995328921757 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.01, Z:0.78 [[ 0.99989208 0.00319403 -0.01434002 1.31690772] [-0.00316242 0.99999252 0.00222648 -0.00841467] [ 0.01434703 -0.00218089 0.9998947 0.78320881] [ 0. 0. 0. 1. ]] SLAMing on 128.372557844 meters Centerline goodness [0,1] 0.24347995328921757 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.01, Z:0.78 [[ 0.99989208 0.00319403 -0.01434002 1.31690772] [-0.00316242 0.99999252 0.00222648 -0.00841467] [ 0.01434703 -0.00218089 0.9998947 0.78320881] [ 0. 0. 0. 1. ]] SLAMing on 128.402557844 meters Centerline goodness [0,1] 0.24571914077817958 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.01, Z:0.78 [[ 0.99989628 0.00327121 -0.01402616 1.31595624] [-0.00323861 0.999992 0.0023466 -0.00875781] [ 0.01403373 -0.00230093 0.99989887 0.78345804] [ 0. 0. 0. 1. ]] SLAMing on 128.432557844 meters Centerline goodness [0,1] 0.24613495318085132 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:0.78 [[ 0.99990072 0.00333891 -0.01368919 1.31474889] [-0.00330573 0.99999154 0.00244589 -0.00897936] [ 0.01369724 -0.0024004 0.99990331 0.78407229] [ 0. 0. 0. 1. ]] SLAMing on 128.462557844 meters Centerline goodness [0,1] 0.2458531707211027 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:0.78 [[ 0.99990429 0.00342248 -0.01340528 1.31364666] [-0.00338702 0.99999071 0.00266705 -0.00990936] [ 0.01341428 -0.00262139 0.99990659 0.7847336 ] [ 0. 0. 0. 1. ]] SLAMing on 128.492557844 meters Centerline goodness [0,1] 0.2458781050158786 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:0.79 [[ 0.99990444 0.00337453 -0.01340643 1.31331375] [-0.0033334 0.99998967 0.00308939 -0.01266734] [ 0.01341671 -0.00304441 0.99990536 0.78539103] [ 0. 0. 0. 1. ]] SLAMing on 128.522557844 meters Centerline goodness [0,1] 0.24079920425550316 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:0.79 [[ 0.99989779 0.00326207 -0.01392037 1.3146091 ] [-0.00321664 0.99998943 0.00328478 -0.01437177] [ 0.01393094 -0.00323967 0.99989771 0.78539195] [ 0. 0. 0. 1. ]] SLAMing on 128.552557844 meters Centerline goodness [0,1] 0.24055541114288193 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.02, Z:0.79 [[ 0.9998892 0.00313694 -0.01455161 1.31635652] [-0.00308642 0.99998914 0.00349315 -0.01608626] [ 0.01456241 -0.00344785 0.99988802 0.78509831] [ 0. 0. 0. 1. ]] SLAMing on 128.582557844 meters Centerline goodness [0,1] 0.24192919356935472 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.02, Z:0.78 [[ 0.99988098 0.00309036 -0.01511537 1.31788814] [-0.00303373 0.9999883 0.00376796 -0.01784394] [ 0.01512684 -0.00372166 0.99987866 0.78486813] [ 0. 0. 0. 1. ]] SLAMing on 128.612557844 meters Centerline goodness [0,1] 0.24490332763382872 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:0.78 [[ 0.99984725 -0.00690626 -0.01605555 1.29677559] [ 0.00698614 0.99996347 0.00492459 -0.01765328] [ 0.01602096 -0.00503601 0.99985897 0.78462032] [ 0. 0. 0. 1. ]] SLAMing on 128.642557844 meters Centerline goodness [0,1] 0.2399404196528797 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.02, Z:0.78 [[ 9.99913324e-01 -4.72902501e-04 -1.31575730e-02 1.31901798e+00] [ 5.01666114e-04 9.99997492e-01 2.18287344e-03 -1.89938082e-02] [ 1.31565077e-02 -2.18928495e-03 9.99911053e-01 7.83029964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.672557844 meters Centerline goodness [0,1] 0.24694082685079977 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.02, Z:0.78 [[ 9.99915992e-01 -3.85096076e-04 -1.29560836e-02 1.31825523e+00] [ 4.17906422e-04 9.99996713e-01 2.52981576e-03 -2.06511578e-02] [ 1.29550668e-02 -2.53501767e-03 9.99912866e-01 7.83448009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.702557844 meters Centerline goodness [0,1] 0.2390296495956873 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.02, Z:0.78 [[ 9.99914944e-01 6.44468476e-03 -1.13389290e-02 1.34028222e+00] [-6.44905961e-03 9.99979144e-01 -3.49303363e-04 -2.33686164e-02] [ 1.13364414e-02 4.22399082e-04 9.99935651e-01 7.82022378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.732557844 meters Centerline goodness [0,1] 0.24098024398143147 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.02, Z:0.78 [[ 9.99915178e-01 6.50722208e-03 -1.12824487e-02 1.34014222e+00] [-6.50829129e-03 9.99978819e-01 -5.80546229e-05 -2.49202473e-02] [ 1.12818320e-02 1.31479161e-04 9.99936349e-01 7.81977128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762557844 meters Centerline goodness [0,1] 0.241512462850077 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.78 [[ 9.99915370e-01 6.55286939e-03 -1.12389163e-02 1.33985252e+00] [-6.55154318e-03 9.99978526e-01 1.54815447e-04 -2.61128103e-02] [ 1.12396895e-02 -8.11700990e-05 9.99936829e-01 7.82303187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79255784400002 meters Centerline goodness [0,1] 0.24885066320582472 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.02, Z:0.78 [[ 9.99916443e-01 -3.12213066e-03 -1.25443130e-02 1.31877976e+00] [ 3.13556000e-03 9.99994532e-01 1.05102755e-03 -2.41201992e-02] [ 1.25409630e-02 -1.09027317e-03 9.99920765e-01 7.82293458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82255784400002 meters Centerline goodness [0,1] 0.2418163305097597 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.78 [[ 9.99919372e-01 4.34366633e-03 -1.19323804e-02 1.34095041e+00] [-4.35962531e-03 9.99989636e-01 -1.31176600e-03 -2.72205859e-02] [ 1.19265588e-02 1.36368094e-03 9.99927946e-01 7.81476141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85255784400002 meters Centerline goodness [0,1] 0.24004592521987778 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.78 [[ 9.99916675e-01 4.36869268e-03 -1.21472901e-02 1.34171728e+00] [-4.38112769e-03 9.99989906e-01 -9.97264109e-04 -2.89923831e-02] [ 1.21428108e-02 1.05039984e-03 9.99925722e-01 7.80984168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88255784400002 meters Centerline goodness [0,1] 0.2415574268599705 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.78 [[ 9.99913561e-01 4.37193989e-03 -1.23998769e-02 1.34247513e+00] [-4.38009267e-03 9.99990209e-01 -6.30407819e-04 -3.11026704e-02] [ 1.23969993e-02 6.84665937e-04 9.99922920e-01 7.80692581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.912557844 meters Centerline goodness [0,1] 0.24220670451826232 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.03, Z:0.78 [[ 9.99907043e-01 4.30388367e-03 -1.29376458e-02 1.34394367e+00] [-4.30780899e-03 9.99990683e-01 -2.75550449e-04 -3.33586108e-02] [ 1.29363393e-02 3.31257741e-04 9.99916267e-01 7.80347148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942557844 meters Centerline goodness [0,1] 0.2384180303095721 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.03, Z:0.78 [[ 9.99884712e-01 -3.12330165e-03 -1.48595666e-02 1.36564156e+00] [ 3.13041786e-03 9.99994996e-01 4.55661463e-04 -3.22902130e-02] [ 1.48580691e-02 -5.02125583e-04 9.99889487e-01 7.81724717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.972557844 meters Centerline goodness [0,1] 0.24135435626411705 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:0.78 [[ 9.99824928e-01 -6.57218503e-03 -1.75191208e-02 1.32470550e+00] [ 6.58069077e-03 9.99978255e-01 4.27906906e-04 -3.81975993e-02] [ 1.75159276e-02 -5.43119908e-04 9.99846437e-01 7.80921075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002557844 meters Centerline goodness [0,1] 0.24573184112354618 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:0.78 [[ 9.99826411e-01 -6.49318337e-03 -1.74638643e-02 1.32434034e+00] [ 6.51009522e-03 9.99978393e-01 9.11714969e-04 -4.06838827e-02] [ 1.74575670e-02 -1.02524812e-03 9.99847079e-01 7.81286998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.032557844 meters Centerline goodness [0,1] 0.24101786681104498 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.04, Z:0.78 [[ 9.99885759e-01 1.92133592e-04 -1.51139859e-02 1.34534374e+00] [-2.22334168e-04 9.99997982e-01 -1.99653251e-03 -4.37039978e-02] [ 1.51135718e-02 1.99966478e-03 9.99883784e-01 7.80427878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062557844 meters Centerline goodness [0,1] 0.24506197170761612 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:0.78 [[ 9.99889229e-01 2.79686008e-04 -1.48812686e-02 1.34444148e+00] [-3.05596909e-04 9.99998441e-01 -1.73893007e-03 -4.48614048e-02] [ 1.48807591e-02 1.74328511e-03 9.99887756e-01 7.80923517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.092557844 meters Centerline goodness [0,1] 0.2465110184113395 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:0.78 [[ 9.99890846e-01 3.66617106e-04 -1.47702750e-02 1.34402896e+00] [-3.89178603e-04 9.99998762e-01 -1.52464804e-03 -4.57697618e-02] [ 1.47696978e-02 1.53022990e-03 9.99889751e-01 7.81101202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122557844 meters Centerline goodness [0,1] 0.24571064987493962 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:0.78 [[ 9.99890441e-01 4.13479132e-04 -1.47964634e-02 1.34429390e+00] [-4.33288356e-04 9.99999014e-01 -1.33560032e-03 -4.67267478e-02] [ 1.47958965e-02 1.34186513e-03 9.99889634e-01 7.80679236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.152557844 meters Centerline goodness [0,1] 0.24889834038541647 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:0.78 [[ 9.99890376e-01 4.21774624e-04 -1.48005963e-02 1.34434900e+00] [-4.40822365e-04 9.99999079e-01 -1.28371883e-03 -4.70599721e-02] [ 1.48000412e-02 1.29010254e-03 9.99889641e-01 7.80585686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182557844 meters Centerline goodness [0,1] 0.24578144492350795 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:0.78 [[ 9.99890040e-01 4.04137738e-04 -1.48238163e-02 1.34440185e+00] [-4.23794354e-04 9.99999035e-01 -1.32289856e-03 -4.69194698e-02] [ 1.48232674e-02 1.32903534e-03 9.99889246e-01 7.80594523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.212557844 meters Centerline goodness [0,1] 0.2391135135135135 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.04, Z:0.78 [[ 9.99862541e-01 -6.76127235e-03 -1.51388639e-02 1.36443532e+00] [ 6.75407413e-03 9.99977052e-01 -5.26556754e-04 -4.26677446e-02] [ 1.51420767e-02 4.24235364e-04 9.99885262e-01 7.81939758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242557844 meters Centerline goodness [0,1] 0.24484502375866424 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.04, Z:0.78 [[ 9.99861976e-01 -6.77618213e-03 -1.51694350e-02 1.36479294e+00] [ 6.76816187e-03 9.99976928e-01 -5.79987723e-04 -4.23577438e-02] [ 1.51730151e-02 4.77238479e-04 9.99884769e-01 7.81409826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.272557844 meters Centerline goodness [0,1] 0.241010311064899 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:0.78 [[ 9.99858698e-01 -6.81266168e-03 -1.53678951e-02 1.36558674e+00] [ 6.80315142e-03 9.99976633e-01 -6.71033394e-04 -4.18568784e-02] [ 1.53721075e-02 5.66388458e-04 9.99881682e-01 7.80857608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302557844 meters Centerline goodness [0,1] 0.2447647419609218 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:0.78 [[ 9.99860696e-01 9.38269605e-04 -1.66645727e-02 1.34601888e+00] [-9.63217225e-04 9.99998427e-01 -1.48908202e-03 -4.56741496e-02] [ 1.66631493e-02 1.50492619e-03 9.99860028e-01 7.79460534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.332557844 meters Centerline goodness [0,1] 0.2437257212692593 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:0.78 [[ 9.99857896e-01 8.96497662e-04 -1.68339877e-02 1.34615152e+00] [-9.22747946e-04 9.99998370e-01 -1.55165964e-03 -4.55996114e-02] [ 1.68325692e-02 1.56697267e-03 9.99857094e-01 7.80023814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.362557844 meters Centerline goodness [0,1] 0.23592873568158856 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.04, Z:0.78 [[ 0.99989273 0.00194394 -0.01451746 1.38670181] [-0.00198651 0.99999377 -0.00291804 -0.04455872] [ 0.0145117 0.00294656 0.99989036 0.78165773] [ 0. 0. 0. 1. ]] SLAMing on 129.392557844 meters Centerline goodness [0,1] 0.24302547218852888 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:0.78 [[ 0.9999013 0.00201732 -0.01390387 1.38451473] [-0.00206043 0.99999311 -0.00308726 -0.04338302] [ 0.01389754 0.0031156 0.99989857 0.78284822] [ 0. 0. 0. 1. ]] SLAMing on 129.422557844 meters Centerline goodness [0,1] 0.24306095979247733 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:0.78 [[ 0.9999225 0.00276758 -0.01213808 1.37915014] [-0.00280726 0.99999077 -0.00325297 -0.03866163] [ 0.01212896 0.0032868 0.99992104 0.78422357] [ 0. 0. 0. 1. ]] SLAMing on 129.452557844 meters Centerline goodness [0,1] 0.24291033467549894 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:0.78 [[ 0.99992364 0.00280987 -0.01203367 1.37942267] [-0.00285597 0.99998864 -0.00381591 -0.03533042] [ 0.01202281 0.00384999 0.99992031 0.78336224] [ 0. 0. 0. 1. ]] SLAMing on 129.482557844 meters Centerline goodness [0,1] 0.2416416329882648 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.03, Z:0.78 [[ 0.99991969 0.00282359 -0.01235465 1.38086857] [-0.00287825 0.99998614 -0.00440908 -0.03188379] [ 0.01234203 0.00444429 0.99991396 0.7822803 ] [ 0. 0. 0. 1. ]] SLAMing on 129.512557844 meters Centerline goodness [0,1] 0.24334263525645183 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.03, Z:0.78 [[ 0.99991696 0.00270207 -0.01260033 1.38198551] [-0.00276623 0.99998328 -0.00507743 -0.0284981 ] [ 0.01258639 0.00511186 0.99990772 0.78145458] [ 0. 0. 0. 1. ]] SLAMing on 129.54255784400002 meters Centerline goodness [0,1] 0.24588767284881052 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.03, Z:0.78 [[ 0.99991624 0.00253698 -0.0126916 1.3823254 ] [-0.00260934 0.99998042 -0.00568855 -0.02552647] [ 0.01267692 0.00572119 0.99990328 0.78135128] [ 0. 0. 0. 1. ]] SLAMing on 129.57255784400002 meters Centerline goodness [0,1] 0.24351700902075857 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.02, Z:0.78 [[ 0.9999164 0.00239233 -0.01270743 1.38225471] [-0.00247216 0.99997729 -0.00627014 -0.02259579] [ 0.01269215 0.00630103 0.9998996 0.78158999] [ 0. 0. 0. 1. ]] SLAMing on 129.60255784400002 meters Centerline goodness [0,1] 0.2429363784665579 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.02, Z:0.78 [[ 0.99992485 0.00248793 -0.01200423 1.38008895] [-0.00257158 0.99997249 -0.00695768 -0.01775423] [ 0.01198659 0.00698803 0.99990374 0.78215423] [ 0. 0. 0. 1. ]] SLAMing on 129.63255784400002 meters Centerline goodness [0,1] 0.24386316155988863 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.02, Z:0.78 [[ 0.99992544 0.00231142 -0.0119906 1.38023219] [-0.00240048 0.9999696 -0.00741826 -0.01560612] [ 0.01197309 0.00744649 0.99990059 0.78183438] [ 0. 0. 0. 1. ]] SLAMing on 129.662557844 meters Centerline goodness [0,1] 0.24672991389321008 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.01, Z:0.78 [[ 0.99992507 0.00213475 -0.01205388 1.38070081] [-0.00222899 0.99996701 -0.00781058 -0.01395862] [ 0.01203681 0.00783686 0.99989684 0.78131684] [ 0. 0. 0. 1. ]] SLAMing on 129.692557844 meters Centerline goodness [0,1] 0.24123446579754937 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.01, Z:0.78 [[ 0.99992398 0.00195703 -0.01217414 1.38129351] [-0.0020574 0.99996396 -0.00823678 -0.01207883] [ 0.01215759 0.0082612 0.99989197 0.78084092] [ 0. 0. 0. 1. ]] SLAMing on 129.722557844 meters Centerline goodness [0,1] 0.24370771606952513 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.01, Z:0.78 [[ 0.99992501 0.0018141 -0.01211154 1.38121688] [-0.00191903 0.99996067 -0.00865832 -0.01004785] [ 0.01209536 0.00868091 0.99988917 0.7807033 ] [ 0. 0. 0. 1. ]] SLAMing on 129.752557844 meters Centerline goodness [0,1] 0.24734595600306442 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.00, Z:0.78 [[ 0.99993239 0.00389986 -0.01095461 1.3759708 ] [-0.00397921 0.99996594 -0.00723122 -0.00354431] [ 0.01092604 0.00727432 0.99991385 0.78361639] [ 0. 0. 0. 1. ]] SLAMing on 129.782557844 meters Centerline goodness [0,1] 0.24938320556877258 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.78 [[ 9.99935958e-01 3.72642088e-03 -1.06861235e-02 1.37542816e+00] [-3.81122942e-03 9.99961318e-01 -7.92697248e-03 5.78012089e-06] [ 1.06561709e-02 7.96719209e-03 9.99911481e-01 7.83456959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812557844 meters Centerline goodness [0,1] 0.24626423540254094 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.78 [[ 0.99993545 0.00358576 -0.01078173 1.37603798] [-0.00367859 0.99995623 -0.0086022 0.00355779] [ 0.01075041 0.00864131 0.99990487 0.78281839] [ 0. 0. 0. 1. ]] SLAMing on 129.842557844 meters Centerline goodness [0,1] 0.2432894993392405 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.78 [[ 9.99931976e-01 -1.04466493e-03 -1.16169288e-02 1.39895478e+00] [ 9.77269527e-04 9.99982670e-01 -5.80564639e-03 8.93581750e-03] [ 1.16227925e-02 5.79389859e-03 9.99915667e-01 7.82700260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.872557844 meters Centerline goodness [0,1] 0.24634092900964066 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.78 [[ 9.99931573e-01 -1.23523047e-03 -1.16328234e-02 1.39927627e+00] [ 1.16101643e-03 9.99978946e-01 -6.38430386e-03 1.16649936e-02] [ 1.16404646e-02 6.37036111e-03 9.99911955e-01 7.82263685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902557844 meters Centerline goodness [0,1] 0.24758347978910367 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.78 [[ 9.99931964e-01 -1.37926769e-03 -1.15829636e-02 1.39927168e+00] [ 1.29966427e-03 9.99975507e-01 -6.87717411e-03 1.39916552e-02] [ 1.15921653e-02 6.86165225e-03 9.99909266e-01 7.82094652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.932557844 meters Centerline goodness [0,1] 0.25018141836173724 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 0.99993281 -0.00154947 -0.01148811 1.39905624] [ 0.00146287 0.99997048 -0.00754318 0.01710261] [ 0.01149946 0.00752587 0.99990556 0.78214513] [ 0. 0. 0. 1. ]] SLAMing on 129.962557844 meters Centerline goodness [0,1] 0.24882959315998854 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 0.99993246 -0.00159386 -0.01151258 1.39911505] [ 0.00150541 0.99996931 -0.00768795 0.01779091] [ 0.01152448 0.0076701 0.99990417 0.78214183] [ 0. 0. 0. 1. ]] SLAMing on 129.992557844 meters Centerline goodness [0,1] 0.2503242257050535 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 0.99993163 -0.0016077 -0.0115821 1.39918899] [ 0.00151802 0.99996884 -0.00774705 0.01812177] [ 0.0115942 0.00772894 0.99990291 0.78231736] [ 0. 0. 0. 1. ]] SLAMing on 130.022557844 meters Centerline goodness [0,1] 0.24334321126516845 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 0.99989689 -0.00881979 -0.01133215 1.41862215] [ 0.00874334 0.9999388 -0.00677843 0.02334615] [ 0.01139124 0.00667865 0.99991281 0.78384885] [ 0. 0. 0. 1. ]] SLAMing on 130.052557844 meters Centerline goodness [0,1] 0.2483287455760912 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 9.99939449e-01 -1.01425584e-03 -1.09575986e-02 1.39799789e+00] [ 9.32613873e-04 9.99971789e-01 -7.45325966e-03 1.89964363e-02] [ 1.09648490e-02 7.44258915e-03 9.99912186e-01 7.82529532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.082557844 meters Centerline goodness [0,1] 0.24864216381284765 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 9.99941563e-01 -1.01007054e-03 -1.07633763e-02 1.39742549e+00] [ 9.28954137e-04 9.99971152e-01 -7.53867086e-03 1.95147553e-02] [ 1.07706804e-02 7.52823164e-03 9.99913655e-01 7.82670306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.112557844 meters Centerline goodness [0,1] 0.24652935698351852 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 9.99945576e-01 -9.86678191e-04 -1.03861107e-02 1.39645463e+00] [ 9.05275883e-04 9.99968862e-01 -7.83939781e-03 2.13792947e-02] [ 1.03935222e-02 7.82956886e-03 9.99915333e-01 7.82695541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.142557844 meters Centerline goodness [0,1] 0.2482843988881167 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 9.99944555e-01 -1.07047208e-03 -1.04757248e-02 1.39685543e+00] [ 9.85206202e-04 9.99966375e-01 -8.14115552e-03 2.28511450e-02] [ 1.04840874e-02 8.13038338e-03 9.99911987e-01 7.82427012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.172557844 meters Centerline goodness [0,1] 0.2469290929179575 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 9.99940889e-01 -1.18049977e-03 -1.08085162e-02 1.39783306e+00] [ 1.08886488e-03 9.99963451e-01 -8.47998996e-03 2.44428317e-02] [ 1.08181318e-02 8.46771969e-03 9.99905628e-01 7.82234388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202557844 meters Centerline goodness [0,1] 0.2471469715671626 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 9.99938752e-01 -1.27599270e-03 -1.09938523e-02 1.39848650e+00] [ 1.17843385e-03 9.99959914e-01 -8.87585872e-03 2.63529219e-02] [ 1.10047371e-02 8.86235956e-03 9.99900172e-01 7.81938432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.232557844 meters Centerline goodness [0,1] 0.2468628346490942 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 9.99938401e-01 -1.37489616e-03 -1.10138346e-02 1.39864708e+00] [ 1.27233286e-03 9.99955816e-01 -9.31382429e-03 2.85478528e-02] [ 1.10261535e-02 9.29923730e-03 9.99895969e-01 7.81723447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.262557844 meters Centerline goodness [0,1] 0.2490012443513 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 9.99940739e-01 -1.44156076e-03 -1.07907387e-02 1.39823633e+00] [ 1.33644915e-03 9.99951655e-01 -9.74179132e-03 3.07662474e-02] [ 1.08042604e-02 9.72679274e-03 9.99894323e-01 7.81492604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29255784400002 meters Centerline goodness [0,1] 0.2488527599318212 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 9.99947090e-01 -1.42983806e-03 -1.01868782e-02 1.39670140e+00] [ 1.32568483e-03 9.99946858e-01 -1.02236804e-02 3.35212105e-02] [ 1.02009551e-02 1.02096349e-02 9.99895847e-01 7.81553073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32255784400002 meters Centerline goodness [0,1] 0.2488527599318212 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 9.99947090e-01 -1.42983806e-03 -1.01868782e-02 1.39670140e+00] [ 1.32568483e-03 9.99946858e-01 -1.02236804e-02 3.35212105e-02] [ 1.02009551e-02 1.02096349e-02 9.99895847e-01 7.81553073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35255784400002 meters Centerline goodness [0,1] 0.24713829579269753 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 9.99946668e-01 -1.50000948e-03 -1.02182117e-02 1.39689222e+00] [ 1.39336604e-03 9.99944575e-01 -1.04357412e-02 3.44926095e-02] [ 1.02332991e-02 1.04209469e-02 9.99893336e-01 7.81357041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38255784400002 meters Centerline goodness [0,1] 0.25011473152822394 Centerline is valid? [False, False] Translation: X:1.40, Y:0.04, Z:0.78 [[ 0.99994493 -0.00155676 -0.01037835 1.39759326] [ 0.00144678 0.99994282 -0.01059574 0.03519791] [ 0.01039425 0.01058014 0.99989 0.78078608] [ 0. 0. 0. 1. ]] SLAMing on 130.412557844 meters Centerline goodness [0,1] 0.24689541776643154 Centerline is valid? [False, False] Translation: X:1.42, Y:0.04, Z:0.78 [[ 0.99990284 -0.00832175 -0.0111828 1.41690207] [ 0.00821373 0.99991949 -0.00967158 0.04152065] [ 0.01126238 0.00957879 0.9998907 0.78222837] [ 0. 0. 0. 1. ]] SLAMing on 130.442557844 meters Centerline goodness [0,1] 0.243924567429201 Centerline is valid? [False, False] Translation: X:1.42, Y:0.04, Z:0.78 [[ 0.99990369 -0.00831862 -0.01110924 1.41683667] [ 0.00821065 0.99991895 -0.00973016 0.04188999] [ 0.01118928 0.00963801 0.99989095 0.78201341] [ 0. 0. 0. 1. ]] SLAMing on 130.472557844 meters Centerline goodness [0,1] 0.24869743410869616 Centerline is valid? [False, False] Translation: X:1.39, Y:0.04, Z:0.78 [[ 9.99960877e-01 -7.51115844e-04 -8.81365334e-03 1.39419226e+00] [ 6.63233338e-04 9.99950080e-01 -9.96986776e-03 3.71410349e-02] [ 8.82070188e-03 9.96363220e-03 9.99911457e-01 7.81271793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502557844 meters Centerline goodness [0,1] 0.25090751005325507 Centerline is valid? [False, False] Translation: X:1.39, Y:0.04, Z:0.78 [[ 9.99963926e-01 -7.29766461e-04 -8.46246136e-03 1.39309700e+00] [ 6.45002924e-04 9.99949642e-01 -1.00148233e-02 3.74452927e-02] [ 8.46934370e-03 1.00090037e-02 9.99914041e-01 7.81649813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.532557844 meters Centerline goodness [0,1] 0.24761699374595647 Centerline is valid? [False, False] Translation: X:1.39, Y:0.04, Z:0.78 [[ 9.99964321e-01 -7.61871222e-04 -8.41288410e-03 1.39295640e+00] [ 6.76635308e-04 9.99948463e-01 -1.01297949e-02 3.80164749e-02] [ 8.42016813e-03 1.01237411e-02 9.99913302e-01 7.81659716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562557844 meters Centerline goodness [0,1] 0.25493272056386573 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:0.78 [[ 9.99929306e-01 -8.57055101e-04 -1.18595212e-02 1.34933274e+00] [ 7.57114907e-04 9.99964189e-01 -8.42892591e-03 3.40354226e-02] [ 1.18663205e-02 8.41935102e-03 9.99894147e-01 7.82267134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.592557844 meters Centerline goodness [0,1] 0.2486404176636937 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:0.78 [[ 0.99990454 -0.00561268 -0.01262577 1.37413024] [ 0.00554749 0.99997114 -0.00519176 0.0365345 ] [ 0.01265455 0.00512123 0.99990681 0.78085022] [ 0. 0. 0. 1. ]] SLAMing on 130.622557844 meters Centerline goodness [0,1] 0.24875849451123888 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:0.78 [[ 0.99990449 -0.0055529 -0.01265636 1.37430399] [ 0.00548968 0.99997231 -0.00502413 0.03561287] [ 0.0126839 0.00495417 0.99990728 0.78068114] [ 0. 0. 0. 1. ]] SLAMing on 130.652557844 meters Centerline goodness [0,1] 0.2483062624858855 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.78 [[ 0.99990295 -0.00549234 -0.012803 1.37469874] [ 0.0054314 0.99997378 -0.00479005 0.0342225 ] [ 0.01282897 0.00472005 0.99990656 0.78069294] [ 0. 0. 0. 1. ]] SLAMing on 130.682557844 meters Centerline goodness [0,1] 0.24982526646863534 Centerline is valid? [False, False] Translation: X:1.38, Y:0.03, Z:0.78 [[ 0.99990011 -0.00544566 -0.01304254 1.37530029] [ 0.00538582 0.99997483 -0.00461818 0.03319587] [ 0.01306736 0.00454747 0.99990428 0.78070105] [ 0. 0. 0. 1. ]] SLAMing on 130.712557844 meters Centerline goodness [0,1] 0.2469928863979306 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 0.99991048 0.00361463 -0.01288296 1.39609506] [-0.00368608 0.99997794 -0.00552629 0.02934903] [ 0.0128627 0.00557329 0.99990174 0.78157558] [ 0. 0. 0. 1. ]] SLAMing on 130.742557844 meters Centerline goodness [0,1] 0.2446339883394515 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 0.99990931 0.00367966 -0.01295484 1.39655922] [-0.00375107 0.99997788 -0.00549181 0.02956376] [ 0.01293434 0.00553991 0.999901 0.78103921] [ 0. 0. 0. 1. ]] SLAMing on 130.772557844 meters Centerline goodness [0,1] 0.2490091894952311 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 0.99991165 0.00383353 -0.0127277 1.39613884] [-0.0039017 0.99997816 -0.00533493 0.0292591 ] [ 0.01270697 0.00538411 0.99990477 0.78084431] [ 0. 0. 0. 1. ]] SLAMing on 130.802557844 meters Centerline goodness [0,1] 0.24769825414748547 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 0.99991118 0.00388357 -0.01274923 1.39595638] [-0.00394918 0.99997907 -0.00512446 0.02789483] [ 0.01272907 0.00517435 0.99990559 0.78129078] [ 0. 0. 0. 1. ]] SLAMing on 130.832557844 meters Centerline goodness [0,1] 0.24518060611282233 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.78 [[ 0.99990873 0.00391753 -0.01293013 1.39633222] [-0.00398101 0.99998013 -0.00488694 0.02629642] [ 0.01291073 0.00493796 0.99990446 0.78145929] [ 0. 0. 0. 1. ]] SLAMing on 130.862557844 meters Centerline goodness [0,1] 0.24670752379710525 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 0.99990572 0.0040183 -0.0131304 1.39691478] [-0.00407906 0.99998108 -0.00460357 0.02489317] [ 0.01311165 0.00465669 0.9999032 0.78131347] [ 0. 0. 0. 1. ]] SLAMing on 130.892557844 meters Centerline goodness [0,1] 0.24704222294583744 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 0.99990342 0.00415418 -0.01326211 1.39748519] [-0.0042116 0.99998187 -0.00430452 0.02366959] [ 0.01324399 0.00435996 0.99990279 0.78084323] [ 0. 0. 0. 1. ]] SLAMing on 130.922557844 meters Centerline goodness [0,1] 0.24947767041002877 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 0.99990278 0.00434639 -0.01324889 1.39773507] [-0.00439761 0.99998296 -0.00383936 0.02164697] [ 0.01323198 0.00389725 0.99990486 0.78038072] [ 0. 0. 0. 1. ]] SLAMing on 130.952557844 meters Centerline goodness [0,1] 0.24800716329249384 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 0.99990132 0.00436349 -0.01335297 1.39796892] [-0.00441317 0.99998344 -0.00369383 0.02065907] [ 0.01333663 0.0037524 0.99990402 0.78046137] [ 0. 0. 0. 1. ]] SLAMing on 130.982557844 meters Centerline goodness [0,1] 0.24660840073049828 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 0.99989961 0.00433702 -0.01348937 1.39836765] [-0.0043863 0.99998381 -0.00362614 0.01994947] [ 0.01347342 0.00368494 0.99990244 0.7804169 ] [ 0. 0. 0. 1. ]] SLAMing on 131.012557844 meters Centerline goodness [0,1] 0.25008743551630674 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.78 [[ 0.99989813 0.00439124 -0.01358133 1.39858326] [-0.00443879 0.99998412 -0.00347261 0.01916333] [ 0.01356586 0.00353254 0.99990174 0.78047685] [ 0. 0. 0. 1. ]] SLAMing on 131.04255784400002 meters Centerline goodness [0,1] 0.24127400589259984 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 0.99990866 -0.00249278 -0.01328353 1.41741799] [ 0.00246388 0.99999456 -0.00219168 0.02423325] [ 0.01328892 0.00215875 0.99990937 0.78191135] [ 0. 0. 0. 1. ]] SLAMing on 131.07255784400002 meters Centerline goodness [0,1] 0.24756407196024388 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 0.9999088 -0.00244683 -0.01328159 1.41745947] [ 0.00241907 0.99999486 -0.00210521 0.02393936] [ 0.01328668 0.00207289 0.99990958 0.78180409] [ 0. 0. 0. 1. ]] SLAMing on 131.10255784400002 meters Centerline goodness [0,1] 0.24499199584649334 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 0.99990786 -0.00229563 -0.01337933 1.41793207] [ 0.002273 0.99999596 -0.00170699 0.02207815] [ 0.01338319 0.00167642 0.99990904 0.78141121] [ 0. 0. 0. 1. ]] SLAMing on 131.13255784400002 meters Centerline goodness [0,1] 0.2448464723132655 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 0.99990782 -0.0022119 -0.01339595 1.41793471] [ 0.00219212 0.99999649 -0.0014911 0.02103087] [ 0.0133992 0.0014616 0.99990916 0.78150017] [ 0. 0. 0. 1. ]] SLAMing on 131.162557844 meters Centerline goodness [0,1] 0.24446656137086475 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 9.99908279e-01 -2.17778834e-03 -1.33675465e-02 1.41789912e+00] [ 2.15929584e-03 9.99996692e-01 -1.39766431e-03 2.05524812e-02] [ 1.33705461e-02 1.36867162e-03 9.99909674e-01 7.81445579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.192557844 meters Centerline goodness [0,1] 0.25033473078864765 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.78 [[ 0.99988959 0.00541195 -0.01383874 1.39763659] [-0.00544326 0.99998271 -0.00222539 0.01458786] [ 0.01382646 0.00230048 0.99990176 0.78036606] [ 0. 0. 0. 1. ]] SLAMing on 131.222557844 meters Centerline goodness [0,1] 0.2502136049950706 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.78 [[ 0.99988883 0.00541494 -0.01389287 1.3976128 ] [-0.00544617 0.99998273 -0.00221103 0.01447658] [ 0.01388065 0.00228645 0.99990104 0.78067751] [ 0. 0. 0. 1. ]] SLAMing on 131.252557844 meters Centerline goodness [0,1] 0.2511072428001675 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.78 [[ 0.99989297 0.0055292 -0.01354513 1.39619678] [-0.00555695 0.99998254 -0.00201232 0.01361971] [ 0.01353377 0.00208738 0.99990624 0.781676 ] [ 0. 0. 0. 1. ]] SLAMing on 131.282557844 meters Centerline goodness [0,1] 0.24758807351464618 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 9.99920876e-01 -1.73922633e-03 -1.24585959e-02 1.41521046e+00] [ 1.72753844e-03 9.99998058e-01 -9.48838752e-04 1.84987848e-02] [ 1.24602219e-02 9.27240972e-04 9.99921939e-01 7.82858368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.312557844 meters Centerline goodness [0,1] 0.248952368415279 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 9.99922629e-01 -1.68290253e-03 -1.23248944e-02 1.41507900e+00] [ 1.67192437e-03 9.99998196e-01 -9.00979777e-04 1.84836494e-02] [ 1.23263884e-02 8.80303776e-04 9.99923640e-01 7.82470737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342557844 meters Centerline goodness [0,1] 0.24593144044321325 Centerline is valid? [False, False] Translation: X:1.44, Y:0.02, Z:0.78 [[ 0.9999054 0.00767356 -0.01141535 1.43583112] [-0.00769352 0.99996895 -0.00170549 0.01566731] [ 0.01140191 0.00179315 0.99993339 0.78250035] [ 0. 0. 0. 1. ]] SLAMing on 131.372557844 meters Centerline goodness [0,1] 0.24747398256128428 Centerline is valid? [False, False] Translation: X:1.44, Y:0.02, Z:0.78 [[ 0.99990528 0.00769223 -0.01141321 1.43605992] [-0.00771148 0.99996891 -0.00164385 0.01524058] [ 0.01140021 0.00173171 0.99993352 0.78209245] [ 0. 0. 0. 1. ]] SLAMing on 131.402557844 meters Centerline goodness [0,1] 0.2503505082369436 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 9.99921658e-01 -1.87132159e-03 -1.23764049e-02 1.41607695e+00] [ 1.86295443e-03 9.99998028e-01 -6.87552070e-04 1.75416580e-02] [ 1.23776671e-02 6.64441528e-04 9.99923173e-01 7.81452575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.432557844 meters Centerline goodness [0,1] 0.24817804931267728 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 9.99920790e-01 -1.77780653e-03 -1.24600950e-02 1.41580815e+00] [ 1.77335923e-03 9.99998360e-01 -3.67962716e-04 1.57523012e-02] [ 1.24607287e-02 3.45837345e-04 9.99922302e-01 7.82332687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462557844 meters Centerline goodness [0,1] 0.24633450110289346 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.78 [[ 9.99920593e-01 -1.71412581e-03 -1.24847425e-02 1.41586694e+00] [ 1.71089180e-03 9.99998500e-01 -2.69713113e-04 1.54550270e-02] [ 1.24851861e-02 2.48331653e-04 9.99922026e-01 7.82291678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.492557844 meters Centerline goodness [0,1] 0.24886590256623786 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.78 [[ 9.99900059e-01 6.02011019e-03 -1.27918419e-02 1.39557450e+00] [-6.03145539e-03 9.99981451e-01 -8.48515362e-04 9.80505843e-03] [ 1.27864965e-02 9.25583984e-04 9.99917821e-01 7.81209209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.522557844 meters Centerline goodness [0,1] 0.248226178557437 Centerline is valid? [False, False] Translation: X:1.41, Y:0.02, Z:0.78 [[ 9.99913627e-01 -6.69415231e-04 -1.31259339e-02 1.41390234e+00] [ 6.74061408e-04 9.99999712e-01 3.49548377e-04 1.51958978e-02] [ 1.31256961e-02 -3.58365871e-04 9.99913790e-01 7.82942875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.552557844 meters Centerline goodness [0,1] 0.24789410348977137 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:0.78 [[ 9.99914005e-01 -6.49780992e-04 -1.30981366e-02 1.41387623e+00] [ 6.55133411e-04 9.99999704e-01 4.04353164e-04 1.49707192e-02] [ 1.30978700e-02 -4.12899419e-04 9.99914134e-01 7.82852951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582557844 meters Centerline goodness [0,1] 0.24925294427843203 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:0.78 [[ 9.99911531e-01 -5.65700180e-04 -1.32894829e-02 1.41423744e+00] [ 5.74803755e-04 9.99999603e-01 6.81211445e-04 1.36375642e-02] [ 1.32890923e-02 -6.88790024e-04 9.99911459e-01 7.83081277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.612557844 meters Centerline goodness [0,1] 0.24531586621112877 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:0.78 [[ 9.99908232e-01 -5.28387006e-04 -1.35369553e-02 1.41480344e+00] [ 5.40152057e-04 9.99999480e-01 8.65464725e-04 1.26498228e-02] [ 1.35364909e-02 -8.72697317e-04 9.99907997e-01 7.83203558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642557844 meters Centerline goodness [0,1] 0.24362275254765353 Centerline is valid? [False, False] Translation: X:1.42, Y:0.01, Z:0.78 [[ 9.99904926e-01 -4.88773963e-04 -1.37804275e-02 1.41548717e+00] [ 5.03562631e-04 9.99999301e-01 1.06971524e-03 1.15672103e-02] [ 1.37798950e-02 -1.07655285e-03 9.99904473e-01 7.83110695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.672557844 meters Centerline goodness [0,1] 0.24787368604701876 Centerline is valid? [False, False] Translation: X:1.42, Y:0.01, Z:0.78 [[ 9.99902463e-01 -4.29903767e-04 -1.39599210e-02 1.41597235e+00] [ 4.47931926e-04 9.99999070e-01 1.28832170e-03 1.04379414e-02] [ 1.39593542e-02 -1.29444914e-03 9.99901726e-01 7.83067470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702557844 meters Centerline goodness [0,1] 0.24255705002266892 Centerline is valid? [False, False] Translation: X:1.42, Y:0.01, Z:0.78 [[ 9.99901365e-01 -3.99820591e-04 -1.40392744e-02 1.41607361e+00] [ 4.21464871e-04 9.99998727e-01 1.53877019e-03 9.03106591e-03] [ 1.40386413e-02 -1.54453547e-03 9.99900261e-01 7.83243153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.732557844 meters Centerline goodness [0,1] 0.2474931032972807 Centerline is valid? [False, False] Translation: X:1.37, Y:0.00, Z:0.79 [[ 0.99985669 -0.00237143 -0.01676209 1.37030022] [ 0.00240743 0.99999484 0.0021282 0.00360962] [ 0.01675695 -0.00216825 0.99985724 0.78509909] [ 0. 0. 0. 1. ]] SLAMing on 131.762557844 meters Centerline goodness [0,1] 0.24920417366699088 Centerline is valid? [False, False] Translation: X:1.37, Y:0.00, Z:0.79 [[ 0.99985557 -0.00224178 -0.0168465 1.37025512] [ 0.00228547 0.99999407 0.00257484 0.00160348] [ 0.01684062 -0.00261297 0.99985477 0.78561076] [ 0. 0. 0. 1. ]] SLAMing on 131.79255784400002 meters Centerline goodness [0,1] 0.2414366191103149 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:0.78 [[ 9.99896101e-01 -1.08194791e-03 -1.43741583e-02 1.41434698e+00] [ 1.10521098e-03 9.99998092e-01 1.61054986e-03 4.46772629e-03] [ 1.43723884e-02 -1.62626900e-03 9.99895389e-01 7.84830538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82255784400002 meters Centerline goodness [0,1] 0.24175705457845387 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:0.78 [[ 9.99896295e-01 -1.09026332e-03 -1.43600081e-02 1.41430140e+00] [ 1.11346302e-03 9.99998088e-01 1.60768118e-03 4.36101669e-03] [ 1.43582279e-02 -1.62350379e-03 9.99895597e-01 7.84886193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85255784400002 meters Centerline goodness [0,1] 0.24411809432773568 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:0.78 [[ 9.99897126e-01 -1.08125998e-03 -1.43027407e-02 1.41414442e+00] [ 1.10455487e-03 9.99998076e-01 1.62090206e-03 4.25546698e-03] [ 1.43009606e-02 -1.63653347e-03 9.99896397e-01 7.84935824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88255784400002 meters Centerline goodness [0,1] 0.24650463870377626 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:0.79 [[ 9.99899234e-01 -1.06613108e-03 -1.41557361e-02 1.41372666e+00] [ 1.08830975e-03 9.99998192e-01 1.55915146e-03 4.72868422e-03] [ 1.41540483e-02 -1.57440018e-03 9.99898587e-01 7.85013791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.912557844 meters Centerline goodness [0,1] 0.24806286150823964 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:0.79 [[ 9.99914687e-01 -5.07290350e-04 -1.30522354e-02 1.41055569e+00] [ 5.30873328e-04 9.99998233e-01 1.80341397e-03 5.77638584e-03] [ 1.30512975e-02 -1.81018920e-03 9.99913190e-01 7.85532864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942557844 meters Centerline goodness [0,1] 0.24872343211277437 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:0.79 [[ 9.99917662e-01 -5.20863367e-04 -1.28217653e-02 1.40968637e+00] [ 5.42003919e-04 9.99998499e-01 1.64538234e-03 6.70587715e-03] [ 1.28208890e-02 -1.65219631e-03 9.99916444e-01 7.86071741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.972557844 meters Centerline goodness [0,1] 0.2509073312363901 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:0.79 [[ 9.99918563e-01 -6.15055379e-04 -1.27470975e-02 1.40933545e+00] [ 6.33362633e-04 9.99998774e-01 1.43220288e-03 7.49527533e-03] [ 1.27462010e-02 -1.44015978e-03 9.99917727e-01 7.86405412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002557844 meters Centerline goodness [0,1] 0.24921926544974704 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:0.79 [[ 9.99916364e-01 -7.11516690e-04 -1.29134916e-02 1.40980954e+00] [ 7.27690474e-04 9.99998957e-01 1.24781637e-03 8.08335253e-03] [ 1.29125902e-02 -1.25710903e-03 9.99915839e-01 7.86330271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.032557844 meters Centerline goodness [0,1] 0.24334905048232902 Centerline is valid? [False, False] Translation: X:1.45, Y:0.01, Z:0.79 [[ 9.99876736e-01 2.00912976e-03 -1.55716475e-02 1.45300956e+00] [-1.99304792e-03 9.99997465e-01 1.04821392e-03 1.15725524e-02] [ 1.55737140e-02 -1.01704967e-03 9.99878205e-01 7.87337415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062557844 meters Centerline goodness [0,1] 0.246293389150532 Centerline is valid? [False, False] Translation: X:1.45, Y:0.01, Z:0.79 [[ 9.99876524e-01 1.98213840e-03 -1.55887299e-02 1.45326122e+00] [-1.96743667e-03 9.99997605e-01 9.58379093e-04 1.20472121e-02] [ 1.55905922e-02 -9.27590917e-04 9.99878029e-01 7.86973043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.092557844 meters Centerline goodness [0,1] 0.24919363686231488 Centerline is valid? [False, False] Translation: X:1.45, Y:0.01, Z:0.79 [[ 9.99875548e-01 1.92091348e-03 -1.56588148e-02 1.45343528e+00] [-1.90849026e-03 9.99997852e-01 8.08273775e-04 1.26821967e-02] [ 1.56603338e-02 -7.78288489e-04 9.99877067e-01 7.86974880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122557844 meters Centerline goodness [0,1] 0.2465357088472666 Centerline is valid? [False, False] Translation: X:1.45, Y:0.01, Z:0.79 [[ 9.99873479e-01 1.77906959e-03 -1.58069861e-02 1.45377721e+00] [-1.77094002e-03 9.99998292e-01 5.28284828e-04 1.37300012e-02] [ 1.58078989e-02 -5.00224764e-04 9.99874922e-01 7.87058989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.152557844 meters Centerline goodness [0,1] 0.2478969505783386 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:0.79 [[ 9.99871093e-01 1.62498452e-03 -1.59736481e-02 1.45432859e+00] [-1.62251591e-03 9.99998670e-01 1.67501474e-04 1.52491598e-02] [ 1.59738990e-02 -1.41562383e-04 9.99872399e-01 7.86854281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182557844 meters Centerline goodness [0,1] 0.2478969505783386 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:0.79 [[ 9.99871093e-01 1.62498452e-03 -1.59736481e-02 1.45432859e+00] [-1.62251591e-03 9.99998670e-01 1.67501474e-04 1.52491598e-02] [ 1.59738990e-02 -1.41562383e-04 9.99872399e-01 7.86854281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.212557844 meters Centerline goodness [0,1] 0.24733243325639132 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:0.79 [[ 9.99870739e-01 1.48713834e-03 -1.60091584e-02 1.45468437e+00] [-1.49176477e-03 9.99998849e-01 -2.77048905e-04 1.74720302e-02] [ 1.60087280e-02 3.00894992e-04 9.99871807e-01 7.86285525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242557844 meters Centerline goodness [0,1] 0.24678467105549984 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:0.79 [[ 9.99876990e-01 1.66588143e-03 -1.55958209e-02 1.45410020e+00] [-1.67524032e-03 9.99998424e-01 -5.87044243e-04 2.12019538e-02] [ 1.55948184e-02 6.13098778e-04 9.99878205e-01 7.85526695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.272557844 meters Centerline goodness [0,1] 0.24795753418672728 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:0.79 [[ 9.99878445e-01 1.60981491e-03 -1.55082047e-02 1.45379747e+00] [-1.62121507e-03 9.99998425e-01 -7.22561571e-04 2.18564141e-02] [ 1.55070171e-02 7.47615875e-04 9.99879479e-01 7.85651953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.302557844 meters Centerline goodness [0,1] 0.2450805398345668 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:0.79 [[ 9.99876257e-01 1.51161395e-03 -1.56583832e-02 1.45405239e+00] [-1.52391540e-03 9.99998540e-01 -7.73712391e-04 2.17345458e-02] [ 1.56571908e-02 7.97478701e-04 9.99877101e-01 7.85925480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.332557844 meters Centerline goodness [0,1] 0.24850759371433584 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:0.79 [[ 9.99869664e-01 1.42379309e-03 -1.60818993e-02 1.45493807e+00] [-1.43531193e-03 9.99998722e-01 -7.04742194e-04 2.09043054e-02] [ 1.60808753e-02 7.27732883e-04 9.99870430e-01 7.86234539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.362557844 meters Centerline goodness [0,1] 0.24421867861726887 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:0.79 [[ 9.99862127e-01 1.33932405e-03 -1.65509062e-02 1.45613740e+00] [-1.34893453e-03 9.99998928e-01 -5.69511534e-04 1.98272899e-02] [ 1.65501257e-02 5.91759103e-04 9.99862862e-01 7.86216116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.392557844 meters Centerline goodness [0,1] 0.24024538281453223 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:0.79 [[ 9.99859194e-01 1.33585988e-03 -1.67274356e-02 1.45653000e+00] [-1.34136372e-03 9.99999050e-01 -3.17815044e-04 1.85065019e-02] [ 1.67269951e-02 3.40207869e-04 9.99860036e-01 7.86290818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.422557844 meters Centerline goodness [0,1] 0.23984467694962786 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:0.79 [[ 9.99863673e-01 1.05142545e-03 -1.64781864e-02 1.45559233e+00] [-1.05116795e-03 9.99999447e-01 2.42876251e-05 1.60023196e-02] [ 1.64782028e-02 -6.96297257e-06 9.99864225e-01 7.86999468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.452557844 meters Centerline goodness [0,1] 0.24643221756413325 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:0.79 [[ 9.99862776e-01 1.12964037e-03 -1.65273140e-02 1.45537607e+00] [-1.12251870e-03 9.99999273e-01 4.40173676e-04 1.38504865e-02] [ 1.65277992e-02 -4.21561055e-04 9.99863318e-01 7.87639048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.482557844 meters Centerline goodness [0,1] 0.24139198097914194 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:0.79 [[ 9.99861039e-01 1.20798728e-03 -1.66266024e-02 1.45538594e+00] [-1.19467583e-03 9.99998958e-01 8.10520937e-04 1.19195030e-02] [ 1.66275642e-02 -7.90544906e-04 9.99861440e-01 7.88091022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.512557844 meters Centerline goodness [0,1] 0.24504178212205174 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:0.79 [[ 9.99852611e-01 1.42407861e-03 -1.71092823e-02 1.45676881e+00] [-1.39911773e-03 9.99997940e-01 1.47079013e-03 8.75621884e-03] [ 1.71113416e-02 -1.44663545e-03 9.99852544e-01 7.87842009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54255784400002 meters Centerline goodness [0,1] 0.24783805031446537 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:0.79 [[ 0.9998487 0.00153815 -0.01732639 1.45755129] [-0.00150726 0.99999725 0.00179574 0.00718558] [ 0.01732911 -0.00176935 0.99984827 0.78743444] [ 0. 0. 0. 1. ]] SLAMing on 132.57255784400002 meters Centerline goodness [0,1] 0.24466742120842766 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:0.79 [[ 0.9998462 0.00163578 -0.01746168 1.4579972 ] [-0.00159882 0.99999645 0.00213011 0.00548134] [ 0.0174651 -0.00210187 0.99984526 0.78725668] [ 0. 0. 0. 1. ]] SLAMing on 132.60255784400002 meters Centerline goodness [0,1] 0.24333485431197444 Centerline is valid? [False, False] Translation: X:1.46, Y:0.00, Z:0.79 [[ 0.99984505 0.00173318 -0.01751761 1.45797378] [-0.00169085 0.99999562 0.00243105 0.00400236] [ 0.01752174 -0.00240106 0.9998436 0.78757884] [ 0. 0. 0. 1. ]] SLAMing on 132.63255784400002 meters Centerline goodness [0,1] 0.24542756122048104 Centerline is valid? [False, False] Translation: X:1.46, Y:0.00, Z:0.79 [[ 0.99984598 0.00181052 -0.01745698 1.45749409] [-0.00176438 0.99999491 0.00265811 0.00289598] [ 0.0174617 -0.0026269 0.99984408 0.78818515] [ 0. 0. 0. 1. ]] SLAMing on 132.662557844 meters Centerline goodness [0,1] 0.24718485738071239 Centerline is valid? [False, False] Translation: X:1.46, Y:0.00, Z:0.79 [[ 0.99984803 0.00191342 -0.01732772 1.45671674] [-0.00186301 0.99999399 0.00292507 0.00173831] [ 0.01733321 -0.00289234 0.99984559 0.78903436] [ 0. 0. 0. 1. ]] SLAMing on 132.692557844 meters Centerline goodness [0,1] 0.24833406400701452 Centerline is valid? [False, False] Translation: X:1.45, Y:0.00, Z:0.79 [[ 9.99855945e-01 2.15628014e-03 -1.68356503e-02 1.45482435e+00] [-2.09989838e-03 9.99992131e-01 3.36591055e-03 1.50985893e-04] [ 1.68427756e-02 -3.33007252e-03 9.99852605e-01 7.90247732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722557844 meters Centerline goodness [0,1] 0.24865718106680113 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.00, Z:0.79 [[ 9.99857834e-01 2.25199470e-03 -1.67104766e-02 1.45441561e+00] [-2.19251867e-03 9.99991200e-01 3.57667302e-03 -7.83413640e-04] [ 1.67183842e-02 -3.53952650e-03 9.99853973e-01 7.90431732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.752557844 meters Centerline goodness [0,1] 0.24650939902851288 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.00, Z:0.79 [[ 0.99985697 0.00229762 -0.01675582 1.45453566] [-0.00223574 0.99999061 0.00371103 -0.00153228] [ 0.01676419 -0.00367304 0.99985272 0.79046485] [ 0. 0. 0. 1. ]] SLAMing on 132.782557844 meters Centerline goodness [0,1] 0.2434297332958405 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.00, Z:0.79 [[ 0.99985614 0.00232519 -0.01680149 1.45473861] [-0.0022622 0.99999035 0.0037671 -0.0018597 ] [ 0.01681009 -0.00372855 0.99985175 0.79033062] [ 0. 0. 0. 1. ]] SLAMing on 132.812557844 meters Centerline goodness [0,1] 0.24773466669577937 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.00, Z:0.79 [[ 0.99985545 0.00233353 -0.01684155 1.45490444] [-0.00227039 0.99999033 0.00376759 -0.00184667] [ 0.01685018 -0.00372881 0.99985107 0.79023183] [ 0. 0. 0. 1. ]] SLAMing on 132.842557844 meters Centerline goodness [0,1] 0.24529367061122576 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.00, Z:0.79 [[ 9.99850562e-01 2.33208054e-03 -1.71293529e-02 1.45595997e+00] [-2.26967032e-03 9.99990719e-01 3.66200346e-03 -1.31745933e-03] [ 1.71377341e-02 -3.62257823e-03 9.99846576e-01 7.89614681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.872557844 meters Centerline goodness [0,1] 0.23732847341337904 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.00, Z:0.79 [[ 9.99848744e-01 2.28073604e-03 -1.72420321e-02 1.45642196e+00] [-2.21958234e-03 9.99991182e-01 3.56508481e-03 -1.02557764e-03] [ 1.72500111e-02 -3.52627546e-03 9.99844989e-01 7.89319428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902557844 meters Centerline goodness [0,1] 0.24785576754769822 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:0.79 [[ 9.99797552e-01 5.70701623e-04 -2.01129313e-02 1.41046891e+00] [-4.89961203e-04 9.99991804e-01 4.01905287e-03 -4.19252190e-03] [ 2.01150602e-02 -4.00838466e-03 9.99789636e-01 7.91254341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.932557844 meters Centerline goodness [0,1] 0.24807960893854752 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:0.79 [[ 9.99801015e-01 5.89878971e-04 -1.99394761e-02 1.40967396e+00] [-5.09815498e-04 9.99991789e-01 4.02016958e-03 -4.08785965e-03] [ 1.99416837e-02 -4.00920417e-03 9.99793106e-01 7.91867743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962557844 meters Centerline goodness [0,1] 0.2485941481416396 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:0.79 [[ 9.99804143e-01 5.94931168e-04 -1.97818708e-02 1.40899292e+00] [-5.16059953e-04 9.99991899e-01 3.99191111e-03 -3.77927829e-03] [ 1.97840854e-02 -3.98092063e-03 9.99796350e-01 7.92342592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.992557844 meters Centerline goodness [0,1] 0.24752928856600565 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:0.79 [[ 9.99805702e-01 5.46944702e-04 -1.97043065e-02 1.40881225e+00] [-4.70862200e-04 9.99992418e-01 3.86564441e-03 -3.10178739e-03] [ 1.97062713e-02 -3.85561531e-03 9.99798378e-01 7.92299071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.022557844 meters Centerline goodness [0,1] 0.24630670675905342 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:0.79 [[ 9.99803446e-01 4.12046244e-04 -1.98217081e-02 1.40940561e+00] [-3.40813821e-04 9.99993473e-01 3.59690101e-03 -1.96975682e-03] [ 1.98230608e-02 -3.58943851e-03 9.99797061e-01 7.91758328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.052557844 meters Centerline goodness [0,1] 0.24226881882636897 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.00, Z:0.79 [[ 0.99978629 0.00901304 -0.0186046 1.4289623 ] [-0.00897976 0.99995793 0.00187152 -0.00428862] [ 0.01862069 -0.00170405 0.99982517 0.79259968] [ 0. 0. 0. 1. ]] SLAMing on 133.082557844 meters Centerline goodness [0,1] 0.24825479930191974 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:0.79 [[ 9.99821199e-01 -7.01508115e-04 -1.88965214e-02 1.40826897e+00] [ 7.51023257e-04 9.99996303e-01 2.61336199e-03 1.40108876e-04] [ 1.88946182e-02 -2.62708645e-03 9.99818029e-01 7.91842569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.112557844 meters Centerline goodness [0,1] 0.24732731160274035 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:0.79 [[ 9.99819920e-01 -7.18134850e-04 -1.89634228e-02 1.40832461e+00] [ 7.67476238e-04 9.99996339e-01 2.59477469e-03 2.29505268e-04] [ 1.89614900e-02 -2.60886140e-03 9.99816811e-01 7.92024237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.142557844 meters Centerline goodness [0,1] 0.2449289510792928 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:0.79 [[ 9.99813368e-01 -8.05898415e-04 -1.93023141e-02 1.40940768e+00] [ 8.55138126e-04 9.99996401e-01 2.54285650e-03 1.70761601e-04] [ 1.93001953e-02 -2.55888807e-03 9.99810459e-01 7.91628937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.172557844 meters Centerline goodness [0,1] 0.24118730365074204 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:0.79 [[ 9.99805048e-01 -8.64279064e-04 -1.97260983e-02 1.41079432e+00] [ 9.14890466e-04 9.99996313e-01 2.55682741e-03 -2.34785345e-04] [ 1.97238157e-02 -2.57437617e-03 9.99802152e-01 7.91116367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.202557844 meters Centerline goodness [0,1] 0.25317236517448005 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.00, Z:0.79 [[ 0.99973181 -0.00278173 -0.02299051 1.36838765] [ 0.00284981 0.99999165 0.00292877 -0.00397687] [ 0.02298217 -0.0029935 0.99973139 0.79079823] [ 0. 0. 0. 1. ]] SLAMing on 133.232557844 meters Centerline goodness [0,1] 0.24361697516147207 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.79 [[ 0.99973912 0.00621172 -0.02197949 1.38828127] [-0.00617362 0.99997932 0.00180096 -0.00691806] [ 0.02199022 -0.00166479 0.9997568 0.79144353] [ 0. 0. 0. 1. ]] SLAMing on 133.262557844 meters Centerline goodness [0,1] 0.2485626508667983 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.00, Z:0.79 [[ 0.99973333 -0.00304661 -0.02289058 1.36883793] [ 0.00311883 0.99999027 0.00311997 -0.00339702] [ 0.02288085 -0.00319053 0.99973311 0.7902106 ] [ 0. 0. 0. 1. ]] SLAMing on 133.29255784400002 meters Centerline goodness [0,1] 0.2421627219573238 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.79 [[ 0.99974072 0.00587163 -0.02200054 1.38847164] [-0.00583212 0.99998126 0.00185987 -0.0062352 ] [ 0.02201105 -0.00173108 0.99975623 0.79116455] [ 0. 0. 0. 1. ]] SLAMing on 133.32255784400002 meters Centerline goodness [0,1] 0.24480841080893212 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.79 [[ 0.99974135 0.00585615 -0.02197571 1.38840365] [-0.00581824 0.99998147 0.00178865 -0.00583377] [ 0.02198578 -0.00166033 0.9997569 0.791179 ] [ 0. 0. 0. 1. ]] SLAMing on 133.35255784400002 meters Centerline goodness [0,1] 0.24623518450304438 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.00, Z:0.79 [[ 0.99974269 0.00582506 -0.02192297 1.3883445 ] [-0.00579083 0.99998191 0.00162426 -0.00495725] [ 0.02193204 -0.00149689 0.99975834 0.79103006] [ 0. 0. 0. 1. ]] SLAMing on 133.38255784400002 meters Centerline goodness [0,1] 0.24735711029587337 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.00, Z:0.79 [[ 9.99753068e-01 5.87411455e-03 -2.14312493e-02 1.38723328e+00] [-5.84837749e-03 9.99982100e-01 1.26339215e-03 -2.57703230e-03] [ 2.14382870e-02 -1.13774215e-03 9.99769526e-01 7.90756550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.412557844 meters Centerline goodness [0,1] 0.24866765682334435 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.00, Z:0.79 [[ 9.99757641e-01 5.80415470e-03 -2.12360791e-02 1.38668699e+00] [-5.78433792e-03 9.99982776e-01 9.94472779e-04 -1.13724491e-03] [ 2.12414854e-02 -8.71395101e-04 9.99773994e-01 7.90803899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442557844 meters Centerline goodness [0,1] 0.24284484613729285 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.79 [[ 9.99766997e-01 -8.02079902e-04 -2.15710303e-02 1.40491936e+00] [ 8.40867404e-04 9.99998046e-01 1.78911921e-03 6.19772289e-03] [ 2.15695531e-02 -1.80684071e-03 9.99765717e-01 7.92607594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.472557844 meters Centerline goodness [0,1] 0.2484782371550125 Centerline is valid? [False, False] Translation: X:1.39, Y:0.00, Z:0.79 [[ 9.99758789e-01 6.40359526e-03 -2.10085109e-02 1.38520511e+00] [-6.39362407e-03 9.99979414e-01 5.41760525e-04 2.84937238e-03] [ 2.10115477e-02 -4.07309325e-04 9.99779150e-01 7.90511694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502557844 meters Centerline goodness [0,1] 0.2455653981936714 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.79 [[ 9.99755810e-01 6.96339459e-05 -2.20978541e-02 1.40216427e+00] [-4.66984814e-05 9.99999460e-01 1.03841894e-03 1.02972614e-02] [ 2.20979145e-02 -1.03713343e-03 9.99755273e-01 7.93016034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.532557844 meters Centerline goodness [0,1] 0.24718247160756557 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.79 [[ 9.99757912e-01 -1.30332165e-04 -2.20022993e-02 1.40189235e+00] [ 1.42063619e-04 9.99999849e-01 5.31629973e-04 1.26322753e-02] [ 2.20022267e-02 -5.34626998e-04 9.99757779e-01 7.93047474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562557844 meters Centerline goodness [0,1] 0.24411185846832628 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.79 [[ 9.99757676e-01 -3.56207956e-04 -2.20104996e-02 1.40202081e+00] [ 3.55269030e-04 9.99999936e-01 -4.65683763e-05 1.53708432e-02] [ 2.20105148e-02 3.87374428e-05 9.99757739e-01 7.92812411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.592557844 meters Centerline goodness [0,1] 0.246596460753447 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.79 [[ 9.99752442e-01 -6.36023738e-04 -2.22407540e-02 1.40310702e+00] [ 6.13434054e-04 9.99999289e-01 -1.02249648e-03 2.05770771e-02] [ 2.22413885e-02 1.00860011e-03 9.99752121e-01 7.91856940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.622557844 meters Centerline goodness [0,1] 0.24512353706111834 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:0.79 [[ 9.99753021e-01 -8.00460879e-04 -2.22093671e-02 1.40291275e+00] [ 7.68377472e-04 9.99998649e-01 -1.45308504e-03 2.25796242e-02] [ 2.22105002e-02 1.43566098e-03 9.99752286e-01 7.92022268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.652557844 meters Centerline goodness [0,1] 0.24570136730213243 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.79 [[ 9.99756235e-01 -1.07466545e-03 -2.20525631e-02 1.40173711e+00] [ 1.02887014e-03 9.99997291e-01 -2.08788415e-03 2.53403670e-02] [ 2.20547472e-02 2.06468598e-03 9.99754632e-01 7.93318992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682557844 meters Centerline goodness [0,1] 0.24822477426141842 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.79 [[ 9.99755731e-01 -1.17976168e-03 -2.20700215e-02 1.40188159e+00] [ 1.12781247e-03 9.99996565e-01 -2.36613514e-03 2.66414580e-02] [ 2.20727372e-02 2.34066632e-03 9.99753627e-01 7.93130606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.712557844 meters Centerline goodness [0,1] 0.24735904012520105 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.79 [[ 9.99752892e-01 -1.27527874e-03 -2.21929911e-02 1.40248737e+00] [ 1.21719224e-03 9.99995799e-01 -2.63064679e-03 2.78957392e-02] [ 2.21962526e-02 2.60298359e-03 9.99750244e-01 7.92581945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742557844 meters Centerline goodness [0,1] 0.25010394555441273 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.79 [[ 9.99753593e-01 -1.33760311e-03 -2.21577265e-02 1.40252689e+00] [ 1.27528968e-03 9.99995193e-01 -2.82615837e-03 2.88587291e-02] [ 2.21614003e-02 2.79720446e-03 9.99750493e-01 7.92356815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.772557844 meters Centerline goodness [0,1] 0.24808709719732414 Centerline is valid? [False, False] Translation: X:1.40, Y:0.03, Z:0.79 [[ 9.99758249e-01 -1.36638341e-03 -2.19448668e-02 1.40182511e+00] [ 1.30192663e-03 9.99994798e-01 -2.95123290e-03 2.95407282e-02] [ 2.19487851e-02 2.92194883e-03 9.99754826e-01 7.92643529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.802557844 meters Centerline goodness [0,1] 0.24615884007790523 Centerline is valid? [False, False] Translation: X:1.42, Y:0.03, Z:0.79 [[ 0.99977612 0.00754112 -0.01976991 1.42078019] [-0.0076272 0.99996174 -0.00428237 0.02770082] [ 0.01973686 0.0044322 0.99979538 0.79383092] [ 0. 0. 0. 1. ]] SLAMing on 133.832557844 meters Centerline goodness [0,1] 0.2533418344912497 Centerline is valid? [False, False] Translation: X:1.39, Y:0.03, Z:0.80 [[ 9.99832529e-01 3.06375184e-04 -1.82980779e-02 1.39442053e+00] [-3.33895363e-04 9.99998818e-01 -1.50095672e-03 2.99107802e-02] [ 1.82975964e-02 1.50681500e-03 9.99831450e-01 7.95220317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862557844 meters Centerline goodness [0,1] 0.24973407142081838 Centerline is valid? [False, False] Translation: X:1.41, Y:0.04, Z:0.80 [[ 9.99824797e-01 -6.85919631e-03 -1.74162548e-02 1.41317865e+00] [ 6.85147682e-03 9.99976402e-01 -5.02864965e-04 3.62110604e-02] [ 1.74192931e-02 3.83449796e-04 9.99848199e-01 7.96542434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.892557844 meters Centerline goodness [0,1] 0.24937857049409096 Centerline is valid? [False, False] Translation: X:1.41, Y:0.04, Z:0.80 [[ 9.99825730e-01 -6.87272093e-03 -1.73573018e-02 1.41309781e+00] [ 6.86401987e-03 9.99976285e-01 -5.60816872e-04 3.65120071e-02] [ 1.73607445e-02 4.41578274e-04 9.99849193e-01 7.96393297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.922557844 meters Centerline goodness [0,1] 0.24917022799748356 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:0.80 [[ 0.99984237 0.00195764 -0.01764664 1.43293095] [-0.0019925 0.9999961 -0.00195786 0.03394997] [ 0.01764274 0.00199271 0.99984237 0.79774993] [ 0. 0. 0. 1. ]] SLAMing on 133.952557844 meters Centerline goodness [0,1] 0.24477554179566563 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:0.80 [[ 0.9998367 0.00190245 -0.01797115 1.43416539] [-0.00194009 0.99999596 -0.00207723 0.03441885] [ 0.01796713 0.00211175 0.99983635 0.7970439 ] [ 0. 0. 0. 1. ]] SLAMing on 133.982557844 meters Centerline goodness [0,1] 0.24719223877988028 Centerline is valid? [False, False] Translation: X:1.39, Y:0.03, Z:0.80 [[ 9.99763842e-01 6.63036609e-04 -2.17214162e-02 1.39212635e+00] [-6.93759871e-04 9.99998770e-01 -1.40691749e-03 3.12893950e-02] [ 2.17204567e-02 1.42165469e-03 9.99763072e-01 7.96612181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.012557844 meters Centerline goodness [0,1] 0.24739760250706755 Centerline is valid? [False, False] Translation: X:1.39, Y:0.03, Z:0.80 [[ 9.99753281e-01 6.09962399e-04 -2.22037351e-02 1.39352981e+00] [-6.42187210e-04 9.99998751e-01 -1.44422244e-03 3.11197222e-02] [ 2.22028265e-02 1.45812508e-03 9.99752424e-01 7.96291870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04255784400002 meters Centerline goodness [0,1] 0.2448196636032599 Centerline is valid? [False, False] Translation: X:1.41, Y:0.04, Z:0.80 [[ 9.99741533e-01 -6.74946504e-03 -2.17097006e-02 1.41288217e+00] [ 6.73652622e-03 9.99977086e-01 -6.69070826e-04 3.65834666e-02] [ 2.17137190e-02 5.22649926e-04 9.99764093e-01 7.97998965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07255784400002 meters Centerline goodness [0,1] 0.24634846113719355 Centerline is valid? [False, False] Translation: X:1.41, Y:0.04, Z:0.80 [[ 9.99744205e-01 -6.74989325e-03 -2.15862032e-02 1.41223864e+00] [ 6.73651005e-03 9.99977070e-01 -6.92645683e-04 3.67800183e-02] [ 2.15903835e-02 5.47052833e-04 9.99766751e-01 7.98530202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10255784400002 meters Centerline goodness [0,1] 0.245570823610751 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:0.80 [[ 0.99979381 0.00212919 -0.0201943 1.43055423] [-0.00217299 0.99999533 -0.00214749 0.03458911] [ 0.02018963 0.00219093 0.99979377 0.80015731] [ 0. 0. 0. 1. ]] SLAMing on 134.13255784400002 meters Centerline goodness [0,1] 0.245570823610751 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:0.80 [[ 0.99979381 0.00212919 -0.0201943 1.43055423] [-0.00217299 0.99999533 -0.00214749 0.03458911] [ 0.02018963 0.00219093 0.99979377 0.80015731] [ 0. 0. 0. 1. ]] SLAMing on 134.162557844 meters Centerline goodness [0,1] 0.24706728882299067 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:0.80 [[ 0.99979979 0.002096 -0.0198996 1.42980205] [-0.00214245 0.99999503 -0.00231315 0.03565511] [ 0.01989465 0.00235532 0.99979931 0.80015021] [ 0. 0. 0. 1. ]] SLAMing on 134.192557844 meters Centerline goodness [0,1] 0.2484276729559748 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:0.80 [[ 0.99980013 0.0020571 -0.0198862 1.42985941] [-0.00210503 0.99999493 -0.00238959 0.03597385] [ 0.01988118 0.00243097 0.99979939 0.79999682] [ 0. 0. 0. 1. ]] SLAMing on 134.222557844 meters Centerline goodness [0,1] 0.2453659592897358 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:0.80 [[ 0.99979807 0.00204206 -0.01999142 1.43010658] [-0.0020889 0.99999512 -0.00232265 0.03552168] [ 0.01998658 0.00236394 0.99979745 0.8000226 ] [ 0. 0. 0. 1. ]] SLAMing on 134.252557844 meters Centerline goodness [0,1] 0.24875774358076308 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:0.80 [[ 0.99979582 0.00208368 -0.02009901 1.43024406] [-0.00212726 0.99999543 -0.00214729 0.03464875] [ 0.02009444 0.0021896 0.99979569 0.80023189] [ 0. 0. 0. 1. ]] SLAMing on 134.282557844 meters Centerline goodness [0,1] 0.24646969367803606 Centerline is valid? [False, False] Translation: X:1.45, Y:0.04, Z:0.80 [[ 9.99767395e-01 -5.09635734e-03 -2.09567060e-02 1.44985281e+00] [ 5.07783196e-03 9.99986669e-01 -9.37101810e-04 3.81000641e-02] [ 2.09612024e-02 8.30469204e-04 9.99779945e-01 8.02722821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.312557844 meters Centerline goodness [0,1] 0.24801626336153193 Centerline is valid? [False, False] Translation: X:1.45, Y:0.04, Z:0.80 [[ 9.99763098e-01 -5.02550850e-03 -2.11776344e-02 1.45041900e+00] [ 5.01256776e-03 9.99987216e-01 -6.64096019e-04 3.67590481e-02] [ 2.11807011e-02 5.57784366e-04 9.99775508e-01 8.02728907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342557844 meters Centerline goodness [0,1] 0.24540332794689257 Centerline is valid? [False, False] Translation: X:1.45, Y:0.03, Z:0.80 [[ 9.99753976e-01 -5.00991837e-03 -2.16076040e-02 1.45167059e+00] [ 5.00547081e-03 9.99987439e-01 -2.59913218e-04 3.43943833e-02] [ 2.16086347e-02 1.51693042e-04 9.99766495e-01 8.02480340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.372557844 meters Centerline goodness [0,1] 0.24376665294716549 Centerline is valid? [False, False] Translation: X:1.47, Y:0.03, Z:0.80 [[ 0.99979569 0.00358322 -0.01989304 1.4698527 ] [-0.00361886 0.99999191 -0.00175571 0.02994863] [ 0.01988659 0.00182735 0.99980057 0.80392018] [ 0. 0. 0. 1. ]] SLAMing on 134.402557844 meters Centerline goodness [0,1] 0.24676318782258766 Centerline is valid? [False, False] Translation: X:1.47, Y:0.03, Z:0.80 [[ 0.99980305 0.00370299 -0.01949758 1.46844293] [-0.00373241 0.99999195 -0.00147285 0.02869767] [ 0.01949197 0.00154533 0.99980882 0.80466698] [ 0. 0. 0. 1. ]] SLAMing on 134.432557844 meters Centerline goodness [0,1] 0.2484823248372745 Centerline is valid? [False, False] Translation: X:1.47, Y:0.03, Z:0.81 [[ 9.99807720e-01 3.81080827e-03 -1.92353939e-02 1.46745243e+00] [-3.83470650e-03 9.99991921e-01 -1.20567740e-03 2.74807300e-02] [ 1.92306439e-02 1.27920766e-03 9.99814256e-01 8.05270563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462557844 meters Centerline goodness [0,1] 0.24637271937445704 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:0.81 [[ 9.99826498e-01 -3.44666864e-03 -1.83055995e-02 1.48639829e+00] [ 3.44534186e-03 9.99994059e-01 -1.04016174e-04 3.14328056e-02] [ 1.83058493e-02 4.09290786e-05 9.99832433e-01 8.06580156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.492557844 meters Centerline goodness [0,1] 0.2480801117025918 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:0.81 [[ 9.99828479e-01 -3.34314384e-03 -1.82163551e-02 1.48622037e+00] [ 3.34551523e-03 9.99994399e-01 9.97066353e-05 3.05673137e-02] [ 1.82159198e-02 -1.60632627e-04 9.99834063e-01 8.06499361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.522557844 meters Centerline goodness [0,1] 0.2461770031194782 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:0.81 [[ 9.99825989e-01 -3.24024090e-03 -1.83709504e-02 1.48690469e+00] [ 3.24485275e-03 9.99994711e-01 2.21237853e-04 3.01153050e-02] [ 1.83701364e-02 -2.80810384e-04 9.99831215e-01 8.05992661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.552557844 meters Centerline goodness [0,1] 0.2480931879275302 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:0.81 [[ 9.99823961e-01 -3.23915053e-03 -1.84812231e-02 1.48733324e+00] [ 3.24238502e-03 9.99994733e-01 1.45053438e-04 3.05295198e-02] [ 1.84806559e-02 -2.04951144e-04 9.99829197e-01 8.05738322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.582557844 meters Centerline goodness [0,1] 0.24722794407678483 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:0.81 [[ 9.99823824e-01 -3.26089028e-03 -1.84847702e-02 1.48732757e+00] [ 3.26150769e-03 9.99994681e-01 3.25451029e-06 3.12521381e-02] [ 1.84846613e-02 -6.35421571e-05 9.99829142e-01 8.05780213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.612557844 meters Centerline goodness [0,1] 0.2489697501096011 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:0.81 [[ 9.99825186e-01 -3.28635487e-03 -1.84064426e-02 1.48712456e+00] [ 3.28388911e-03 9.99994595e-01 -1.64185572e-04 3.20859024e-02] [ 1.84068827e-02 1.03712154e-04 9.99830574e-01 8.05814736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.642557844 meters Centerline goodness [0,1] 0.24755693220486874 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:0.81 [[ 9.99828296e-01 -3.31502908e-03 -1.82315270e-02 1.48671077e+00] [ 3.30858322e-03 9.99994453e-01 -3.83706964e-04 3.32335055e-02] [ 1.82326979e-02 3.23320556e-04 9.99833718e-01 8.05721831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.672557844 meters Centerline goodness [0,1] 0.24354915651155729 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:0.81 [[ 9.99831410e-01 -3.36047549e-03 -1.80515540e-02 1.48627194e+00] [ 3.34996857e-03 9.99994201e-01 -6.12257631e-04 3.44761670e-02] [ 1.80535068e-02 5.51682272e-04 9.99836870e-01 8.05626127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.702557844 meters Centerline goodness [0,1] 0.24531575294934072 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:0.80 [[ 9.99831904e-01 -3.53853298e-03 -1.79900495e-02 1.48691591e+00] [ 3.51652277e-03 9.99993030e-01 -1.25495265e-03 3.79378708e-02] [ 1.79943648e-02 1.19147928e-03 9.99837378e-01 8.04214683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.732557844 meters Centerline goodness [0,1] 0.24531782373749433 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:0.80 [[ 0.99982646 -0.00375968 -0.01824613 1.48798838] [ 0.0037281 0.99999149 -0.0017642 0.04013246] [ 0.01825261 0.00169587 0.99983197 0.80343926] [ 0. 0. 0. 1. ]] SLAMing on 134.762557844 meters Centerline goodness [0,1] 0.24153012598733603 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:0.80 [[ 0.99981917 -0.00414644 -0.01855874 1.48908994] [ 0.00409798 0.9999881 -0.00264822 0.04399994] [ 0.0185695 0.00257169 0.99982426 0.80284789] [ 0. 0. 0. 1. ]] SLAMing on 134.79255784400002 meters Centerline goodness [0,1] 0.24928599674853902 Centerline is valid? [False, False] Translation: X:1.49, Y:0.05, Z:0.80 [[ 0.99981939 -0.0042711 -0.01851904 1.48886923] [ 0.00421688 0.99998671 -0.00296609 0.04553558] [ 0.01853146 0.00288747 0.99982411 0.8030115 ] [ 0. 0. 0. 1. ]] SLAMing on 134.82255784400002 meters Centerline goodness [0,1] 0.23916376908623627 Centerline is valid? [False, False] Translation: X:1.53, Y:0.05, Z:0.80 [[ 0.99986216 -0.00307425 -0.01631575 1.53210053] [ 0.00301249 0.99998821 -0.00380861 0.05086975] [ 0.01632726 0.00375893 0.99985964 0.8029845 ] [ 0. 0. 0. 1. ]] SLAMing on 134.85255784400002 meters Centerline goodness [0,1] 0.23998443344215514 Centerline is valid? [False, False] Translation: X:1.53, Y:0.05, Z:0.80 [[ 0.99986023 -0.00321928 -0.01640606 1.53245097] [ 0.00315305 0.99998678 -0.00406115 0.05189669] [ 0.01641892 0.00400885 0.99985716 0.80271953] [ 0. 0. 0. 1. ]] SLAMing on 134.88255784400002 meters Centerline goodness [0,1] 0.24475646448349542 Centerline is valid? [False, False] Translation: X:1.53, Y:0.05, Z:0.80 [[ 0.99985877 -0.00335281 -0.01646836 1.53278131] [ 0.0032824 0.99998536 -0.00430073 0.05291714] [ 0.01648254 0.00424607 0.99985514 0.80235016] [ 0. 0. 0. 1. ]] SLAMing on 134.912557844 meters Centerline goodness [0,1] 0.24170307100475974 Centerline is valid? [False, False] Translation: X:1.53, Y:0.05, Z:0.80 [[ 0.99985927 -0.00348333 -0.01641068 1.53265562] [ 0.00340879 0.99998376 -0.00456789 0.05419947] [ 0.01642633 0.0045113 0.9998549 0.80224085] [ 0. 0. 0. 1. ]] SLAMing on 134.942557844 meters Centerline goodness [0,1] 0.2464645135828455 Centerline is valid? [False, False] Translation: X:1.53, Y:0.06, Z:0.80 [[ 0.99986169 -0.00357015 -0.01624333 1.53208374] [ 0.00349272 0.99998241 -0.00479313 0.05544804] [ 0.01626016 0.00473574 0.99985658 0.80243612] [ 0. 0. 0. 1. ]] SLAMing on 134.972557844 meters Centerline goodness [0,1] 0.24131891891891888 Centerline is valid? [False, False] Translation: X:1.55, Y:0.07, Z:0.80 [[ 0.99981825 -0.01104889 -0.01553645 1.55115412] [ 0.01098719 0.99993143 -0.0040509 0.06508596] [ 0.01558014 0.00387946 0.9998711 0.80442645] [ 0. 0. 0. 1. ]] SLAMing on 135.002557844 meters Centerline goodness [0,1] 0.2459680066525155 Centerline is valid? [False, False] Translation: X:1.53, Y:0.06, Z:0.80 [[ 0.99986437 -0.00329814 -0.01613598 1.5310867 ] [ 0.00321941 0.9999828 -0.00490272 0.06100073] [ 0.01615187 0.00485011 0.99985779 0.80365088] [ 0. 0. 0. 1. ]] SLAMing on 135.032557844 meters Centerline goodness [0,1] 0.24543309151297965 Centerline is valid? [False, False] Translation: X:1.53, Y:0.06, Z:0.80 [[ 0.99986329 -0.00341058 -0.01617936 1.53112163] [ 0.00332871 0.99998153 -0.00508445 0.06170566] [ 0.0161964 0.0050299 0.99985618 0.80373127] [ 0. 0. 0. 1. ]] SLAMing on 135.062557844 meters Centerline goodness [0,1] 0.24533665726344334 Centerline is valid? [False, False] Translation: X:1.53, Y:0.06, Z:0.80 [[ 0.99986394 -0.00345683 -0.01612912 1.53077985] [ 0.00337494 0.99998129 -0.00510157 0.06176007] [ 0.01614646 0.00504644 0.9998569 0.80404267] [ 0. 0. 0. 1. ]] SLAMing on 135.092557844 meters Centerline goodness [0,1] 0.2428072473259114 Centerline is valid? [False, False] Translation: X:1.53, Y:0.06, Z:0.80 [[ 0.99986439 -0.00344472 -0.016104 1.53058047] [ 0.00336647 0.99998241 -0.00488383 0.06071094] [ 0.01612054 0.00482895 0.99985839 0.80428508] [ 0. 0. 0. 1. ]] SLAMing on 135.122557844 meters Centerline goodness [0,1] 0.23929460131991775 Centerline is valid? [False, False] Translation: X:1.53, Y:0.06, Z:0.80 [[ 0.9998645 -0.00339208 -0.01610817 1.53029405] [ 0.0033204 0.99998448 -0.00447434 0.05870322] [ 0.0161231 0.00442025 0.99986024 0.80476962] [ 0. 0. 0. 1. ]] SLAMing on 135.152557844 meters Centerline goodness [0,1] 0.24015090739576328 Centerline is valid? [False, False] Translation: X:1.53, Y:0.06, Z:0.81 [[ 0.9998752 -0.00402778 -0.01527642 1.52731765] [ 0.00396325 0.99998311 -0.00425193 0.05500665] [ 0.01529328 0.00419086 0.99987427 0.80644031] [ 0. 0. 0. 1. ]] SLAMing on 135.182557844 meters Centerline goodness [0,1] 0.2472938484555135 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:0.81 [[ 9.99887051e-01 1.14764858e-03 -1.49855860e-02 1.50351379e+00] [-1.25615481e-03 9.99973050e-01 -7.23330261e-03 5.01336004e-02] [ 1.49768808e-02 7.25130983e-03 9.99861546e-01 8.06603726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.212557844 meters Centerline goodness [0,1] 0.23980456026058627 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:0.81 [[ 0.99986086 -0.00668785 -0.01528169 1.52481316] [ 0.00658685 0.99995619 -0.00665007 0.05294619] [ 0.01532549 0.00654849 0.99986111 0.80729877] [ 0. 0. 0. 1. ]] SLAMing on 135.242557844 meters Centerline goodness [0,1] 0.24138604832931676 Centerline is valid? [False, False] Translation: X:1.53, Y:0.05, Z:0.81 [[ 0.99985676 -0.00659481 -0.01558726 1.52617176] [ 0.00649422 0.99995782 -0.00649499 0.05235183] [ 0.01562944 0.00639283 0.99985742 0.80632237] [ 0. 0. 0. 1. ]] SLAMing on 135.272557844 meters Centerline goodness [0,1] 0.24255910383605062 Centerline is valid? [False, False] Translation: X:1.53, Y:0.05, Z:0.81 [[ 0.99985805 -0.00653062 -0.01553154 1.52601722] [ 0.00643034 0.99995822 -0.00649753 0.05256803] [ 0.01557332 0.00639674 0.99985827 0.80635312] [ 0. 0. 0. 1. ]] SLAMing on 135.302557844 meters Centerline goodness [0,1] 0.24621811785400172 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:0.81 [[ 0.99987913 0.00192448 -0.01542817 1.50319548] [-0.0020259 0.99997643 -0.00656048 0.04709701] [ 0.01541518 0.00659095 0.99985946 0.80637078] [ 0. 0. 0. 1. ]] SLAMing on 135.332557844 meters Centerline goodness [0,1] 0.24412407164700745 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:0.81 [[ 0.99988059 0.00194721 -0.01533016 1.50266798] [-0.00204914 0.99997588 -0.00663617 0.04751036] [ 0.01531687 0.00666679 0.99986046 0.80692983] [ 0. 0. 0. 1. ]] SLAMing on 135.362557844 meters Centerline goodness [0,1] 0.24537734407404976 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:0.81 [[ 0.9998816 0.00198562 -0.01525917 1.50225765] [-0.00208782 0.99997548 -0.00668467 0.04780869] [ 0.01524552 0.00671574 0.99986123 0.80737121] [ 0. 0. 0. 1. ]] SLAMing on 135.392557844 meters Centerline goodness [0,1] 0.2470433351618212 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:0.81 [[ 0.99988138 0.00211445 -0.01525614 1.5022412 ] [-0.00221566 0.99997563 -0.00662011 0.04782668] [ 0.01524177 0.00665313 0.9998617 0.80733991] [ 0. 0. 0. 1. ]] SLAMing on 135.422557844 meters Centerline goodness [0,1] 0.24644591417459516 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:0.81 [[ 0.99988128 0.00216112 -0.0152563 1.5024415 ] [-0.00226104 0.99997609 -0.00653516 0.04748968] [ 0.01524181 0.00656888 0.99986226 0.80697846] [ 0. 0. 0. 1. ]] SLAMing on 135.452557844 meters Centerline goodness [0,1] 0.24722069345074293 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:0.81 [[ 0.99988199 0.0022263 -0.01520049 1.50239413] [-0.00232338 0.999977 -0.00637161 0.04673679] [ 0.01518596 0.00640617 0.99986416 0.8067816 ] [ 0. 0. 0. 1. ]] SLAMing on 135.482557844 meters Centerline goodness [0,1] 0.24248871135811045 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:0.81 [[ 0.99988372 -0.00538219 -0.01426824 1.52235782] [ 0.00530351 0.99997056 -0.00554605 0.0506637 ] [ 0.01429767 0.00546974 0.99988282 0.80759185] [ 0. 0. 0. 1. ]] SLAMing on 135.512557844 meters Centerline goodness [0,1] 0.24329435291048995 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:0.81 [[ 0.99988528 -0.00529815 -0.01418994 1.52188556] [ 0.00522299 0.99997216 -0.00532851 0.04964466] [ 0.01421777 0.00525379 0.99988512 0.80807725] [ 0. 0. 0. 1. ]] SLAMing on 135.54255784400002 meters Centerline goodness [0,1] 0.24472986482374925 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:0.81 [[ 0.99988708 -0.00517894 -0.01410721 1.5213415 ] [ 0.00510741 0.99997394 -0.00510171 0.04883026] [ 0.01413326 0.00502908 0.99988747 0.80865281] [ 0. 0. 0. 1. ]] SLAMing on 135.57255784400002 meters Centerline goodness [0,1] 0.24499803844644963 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:0.81 [[ 0.99988875 -0.00512764 -0.01400702 1.52096559] [ 0.00505714 0.99997439 -0.00506377 0.04886199] [ 0.01403262 0.00499237 0.99988907 0.80887478] [ 0. 0. 0. 1. ]] SLAMing on 135.60255784400002 meters Centerline goodness [0,1] 0.2439469284054635 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:0.81 [[ 0.99989214 -0.00510024 -0.01377326 1.52021914] [ 0.0050302 0.99997427 -0.00511514 0.04938252] [ 0.013799 0.0050453 0.99989206 0.80912617] [ 0. 0. 0. 1. ]] SLAMing on 135.63255784400002 meters Centerline goodness [0,1] 0.24283338013868783 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:0.81 [[ 0.99989495 -0.00507177 -0.01357801 1.51956435] [ 0.00500158 0.99997398 -0.00519842 0.05005159] [ 0.01360402 0.00512997 0.9998943 0.80938432] [ 0. 0. 0. 1. ]] SLAMing on 135.662557844 meters Centerline goodness [0,1] 0.2460013074743953 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:0.81 [[ 0.99989579 -0.00510687 -0.01350297 1.51945048] [ 0.00503489 0.99997296 -0.00535957 0.05085162] [ 0.01352998 0.00529102 0.99989447 0.80925907] [ 0. 0. 0. 1. ]] SLAMing on 135.692557844 meters Centerline goodness [0,1] 0.24825702109059122 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:0.81 [[ 0.99988828 -0.00515976 -0.01402866 1.52138146] [ 0.00507812 0.99997 -0.00584905 0.05333507] [ 0.01405842 0.00577716 0.99988449 0.80803292] [ 0. 0. 0. 1. ]] SLAMing on 135.722557844 meters Centerline goodness [0,1] 0.24054760208157888 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99988384 -0.00524777 -0.01431 1.52253699] [ 0.00515976 0.99996759 -0.00618021 0.05500328] [ 0.01434197 0.00610566 0.99987851 0.80720047] [ 0. 0. 0. 1. ]] SLAMing on 135.752557844 meters Centerline goodness [0,1] 0.24531627390821853 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.999882 -0.0053414 -0.01440361 1.52299816] [ 0.00524866 0.9999653 -0.00646867 0.05648136] [ 0.01443766 0.00639231 0.99987534 0.80679185] [ 0. 0. 0. 1. ]] SLAMing on 135.782557844 meters Centerline goodness [0,1] 0.2421467385421402 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.9998804 -0.00543797 -0.01447779 1.52327215] [ 0.0053411 0.99996315 -0.0067215 0.05771408] [ 0.01451381 0.00664337 0.9998726 0.8066231 ] [ 0. 0. 0. 1. ]] SLAMing on 135.812557844 meters Centerline goodness [0,1] 0.24467600130250733 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99987718 -0.00552947 -0.01466435 1.52382631] [ 0.00542851 0.99996136 -0.00691518 0.05857313] [ 0.01470202 0.00683472 0.99986856 0.80647975] [ 0. 0. 0. 1. ]] SLAMing on 135.842557844 meters Centerline goodness [0,1] 0.2436116950952556 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99987402 -0.00557366 -0.01486169 1.52436122] [ 0.00546939 0.99996021 -0.00704736 0.05923082] [ 0.01490038 0.00696519 0.99986472 0.80638102] [ 0. 0. 0. 1. ]] SLAMing on 135.872557844 meters Centerline goodness [0,1] 0.24407258502662177 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99987389 -0.00560739 -0.01485798 1.52431243] [ 0.00550193 0.99995945 -0.00712917 0.05964059] [ 0.01489735 0.00704652 0.9998642 0.80645285] [ 0. 0. 0. 1. ]] SLAMing on 135.902557844 meters Centerline goodness [0,1] 0.2455097699510954 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99987572 -0.00564971 -0.01471827 1.52382798] [ 0.0055439 0.99995857 -0.00721988 0.06001642] [ 0.01475845 0.00713738 0.99986561 0.80669251] [ 0. 0. 0. 1. ]] SLAMing on 135.932557844 meters Centerline goodness [0,1] 0.2440716420515282 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99987564 -0.00569865 -0.01470448 1.52374815] [ 0.00559115 0.99995742 -0.00734184 0.06048979] [ 0.0147457 0.00725872 0.99986493 0.8068087 ] [ 0. 0. 0. 1. ]] SLAMing on 135.962557844 meters Centerline goodness [0,1] 0.24614108246184752 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99987708 -0.00574063 -0.01459018 1.52355012] [ 0.00563128 0.99995583 -0.00752513 0.06138479] [ 0.01463274 0.00744205 0.99986524 0.8066491 ] [ 0. 0. 0. 1. ]] SLAMing on 135.992557844 meters Centerline goodness [0,1] 0.24614108246184752 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99987708 -0.00574063 -0.01459018 1.52355012] [ 0.00563128 0.99995583 -0.00752513 0.06138479] [ 0.01463274 0.00744205 0.99986524 0.8066491 ] [ 0. 0. 0. 1. ]] SLAMing on 136.022557844 meters Centerline goodness [0,1] 0.24560634614541788 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99987962 -0.00575383 -0.01440942 1.52317952] [ 0.00564298 0.99995426 -0.00772202 0.0625227 ] [ 0.0144532 0.00763978 0.99986636 0.80649383] [ 0. 0. 0. 1. ]] SLAMing on 136.052557844 meters Centerline goodness [0,1] 0.24590592334494776 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 0.99989426 -0.0015888 -0.01445473 1.52272207] [ 0.00153525 0.99999192 -0.00371533 0.06297019] [ 0.01446052 0.00369274 0.99988862 0.80728093] [ 0. 0. 0. 1. ]] SLAMing on 136.082557844 meters Centerline goodness [0,1] 0.2472266590814607 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:0.81 [[ 9.99896719e-01 -1.56502595e-03 -1.42864545e-02 1.52233571e+00] [ 1.50875489e-03 9.99991066e-01 -3.94869864e-03 6.43775697e-02] [ 1.42925067e-02 3.92673606e-03 9.99890146e-01 8.07206007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.112557844 meters Centerline goodness [0,1] 0.24601361787291431 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:0.81 [[ 9.99895424e-01 -1.54254963e-03 -1.43791974e-02 1.52262871e+00] [ 1.48228062e-03 9.99990077e-01 -4.20111833e-03 6.58214385e-02] [ 1.43855352e-02 4.17936499e-03 9.99887788e-01 8.07056229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.142557844 meters Centerline goodness [0,1] 0.24377958883676687 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:0.81 [[ 9.99892419e-01 -1.56821375e-03 -1.45839079e-02 1.52341932e+00] [ 1.50280998e-03 9.99988770e-01 -4.49453138e-03 6.72588503e-02] [ 1.45907926e-02 4.47213101e-03 9.99883548e-01 8.06532966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.172557844 meters Centerline goodness [0,1] 0.25162044181842236 Centerline is valid? [False, False] Translation: X:1.48, Y:0.06, Z:0.81 [[ 9.99835435e-01 -8.15025151e-04 -1.81228923e-02 1.47972001e+00] [ 7.64000657e-04 9.99995726e-01 -2.82221718e-03 6.47349933e-02] [ 1.81251150e-02 2.80790684e-03 9.99831784e-01 8.07523003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202557844 meters Centerline goodness [0,1] 0.24400189867955469 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:0.81 [[ 9.99880776e-01 1.38368036e-03 -1.53792136e-02 1.52247594e+00] [-1.42723842e-03 9.99995001e-01 -2.82165371e-03 7.00099091e-02] [ 1.53752324e-02 2.84326711e-03 9.99877752e-01 8.07533964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.232557844 meters Centerline goodness [0,1] 0.24802548326569795 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:0.81 [[ 9.99887670e-01 1.37280332e-03 -1.49252433e-02 1.52128314e+00] [-1.41955441e-03 9.99994118e-01 -3.12220684e-03 7.17927503e-02] [ 1.49208693e-02 3.14304331e-03 9.99883738e-01 8.07574758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.262557844 meters Centerline goodness [0,1] 0.2476024790692617 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:0.81 [[ 9.99891259e-01 1.27502856e-03 -1.46916591e-02 1.52079368e+00] [-1.32716812e-03 9.99992854e-01 -3.53971955e-03 7.38827873e-02] [ 1.46870409e-02 3.55883294e-03 9.99885806e-01 8.07324222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29255784400002 meters Centerline goodness [0,1] 0.2471321804119232 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:0.81 [[ 9.99893568e-01 1.17427368e-03 -1.45421550e-02 1.52044432e+00] [-1.23107074e-03 9.99991648e-01 -3.89734864e-03 7.56518321e-02] [ 1.45374570e-02 3.91483626e-03 9.99886662e-01 8.07228687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32255784400002 meters Centerline goodness [0,1] 0.24583206372698385 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:0.81 [[ 9.99895831e-01 1.08605351e-03 -1.43926259e-02 1.51986236e+00] [-1.14631156e-03 9.99990610e-01 -4.17914302e-03 7.70747684e-02] [ 1.43879520e-02 4.19520611e-03 9.99887687e-01 8.07526003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35255784400002 meters Centerline goodness [0,1] 0.24782466470395814 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:0.81 [[ 9.99901693e-01 1.07399858e-03 -1.39803554e-02 1.51796625e+00] [-1.13455525e-03 9.99990006e-01 -4.32434404e-03 7.83344813e-02] [ 1.39755713e-02 4.33978041e-03 9.99892919e-01 8.08870690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38255784400002 meters Centerline goodness [0,1] 0.24876383844571825 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:0.81 [[ 9.99903083e-01 1.03316463e-03 -1.38837144e-02 1.51756198e+00] [-1.09383217e-03 9.99989885e-01 -4.36280800e-03 7.84734799e-02] [ 1.38790664e-02 4.37757162e-03 9.99894099e-01 8.09148572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.412557844 meters Centerline goodness [0,1] 0.25130809479839955 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:0.81 [[ 9.99900756e-01 9.49728375e-04 -1.40561485e-02 1.51810606e+00] [-1.01206267e-03 9.99989683e-01 -4.42821520e-03 7.84772465e-02] [ 1.40517979e-02 4.44200143e-03 9.99891402e-01 8.08950431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442557844 meters Centerline goodness [0,1] 0.24771943607873947 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:0.81 [[ 9.99896355e-01 8.04328640e-04 -1.43746940e-02 1.51920677e+00] [-8.70728557e-04 9.99988978e-01 -4.61356152e-03 7.89857053e-02] [ 1.43708247e-02 4.62559980e-03 9.99886035e-01 8.08407351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.472557844 meters Centerline goodness [0,1] 0.24491477642364579 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:0.81 [[ 0.99986881 0.00328509 -0.01586112 1.52527531] [-0.00332459 0.99999144 -0.00246461 0.08277204] [ 0.01585289 0.00251702 0.99987117 0.80564962] [ 0. 0. 0. 1. ]] SLAMing on 136.502557844 meters Centerline goodness [0,1] 0.24335180650427457 Centerline is valid? [False, False] Translation: X:1.55, Y:0.09, Z:0.81 [[ 9.99854902e-01 -1.37121350e-03 -1.69792261e-02 1.54722368e+00] [ 1.37515347e-03 9.99999030e-01 2.20372776e-04 8.90265095e-02] [ 1.69789075e-02 -2.43689842e-04 9.99855818e-01 8.06204041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.532557844 meters Centerline goodness [0,1] 0.2493840739111307 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:0.81 [[ 9.99799784e-01 -2.16474773e-03 -1.98923569e-02 1.50157752e+00] [ 2.17559715e-03 9.99997496e-01 5.23781616e-04 8.78281640e-02] [ 1.98911732e-02 -5.66954501e-04 9.99801990e-01 8.07152389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562557844 meters Centerline goodness [0,1] 0.2457301590746327 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:0.81 [[ 9.99801871e-01 6.59805765e-03 -1.87798947e-02 1.52201325e+00] [-6.62235492e-03 9.99977313e-01 -1.23189590e-03 8.90064759e-02] [ 1.87713406e-02 1.35601896e-03 9.99822883e-01 8.07857859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.592557844 meters Centerline goodness [0,1] 0.2475904531906098 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:0.81 [[ 0.99980582 0.0064123 -0.01863349 1.52173465] [-0.0064459 0.99997771 -0.00174344 0.0914474 ] [ 0.01862189 0.00186321 0.99982486 0.80763287] [ 0. 0. 0. 1. ]] SLAMing on 136.622557844 meters Centerline goodness [0,1] 0.24719932131126143 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:0.81 [[ 0.99981395 0.00624178 -0.01825093 1.52071684] [-0.0062845 0.99997764 -0.00228411 0.09448396] [ 0.01823626 0.00239838 0.99983083 0.80758581] [ 0. 0. 0. 1. ]] SLAMing on 136.652557844 meters Centerline goodness [0,1] 0.2462991377261038 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.81 [[ 9.99828991e-01 -1.04371819e-03 -1.84634702e-02 1.53942198e+00] [ 1.01966601e-03 9.99998619e-01 -1.31205630e-03 1.00961142e-01] [ 1.84648142e-02 1.29300536e-03 9.99828675e-01 8.09835249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682557844 meters Centerline goodness [0,1] 0.2453548484782938 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.81 [[ 9.99829123e-01 -1.13135046e-03 -1.84511679e-02 1.53932301e+00] [ 1.10543583e-03 9.99998388e-01 -1.41463724e-03 1.01269132e-01] [ 1.84527387e-02 1.39399893e-03 9.99828762e-01 8.09949876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.712557844 meters Centerline goodness [0,1] 0.24617018049446382 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.81 [[ 9.99830598e-01 -1.20417011e-03 -1.83664202e-02 1.53901827e+00] [ 1.17764162e-03 9.99998248e-01 -1.45514872e-03 1.01330559e-01] [ 1.83681402e-02 1.43327316e-03 9.99830264e-01 8.10100091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742557844 meters Centerline goodness [0,1] 0.24694856146469046 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.81 [[ 9.99825774e-01 -1.42557538e-03 -1.86115636e-02 1.53981056e+00] [ 1.39643088e-03 9.99997779e-01 -1.57883727e-03 1.01745659e-01] [ 1.86137730e-02 1.55257243e-03 9.99825543e-01 8.09786422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.772557844 meters Centerline goodness [0,1] 0.24848789222001444 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.81 [[ 9.99821188e-01 -1.50691501e-03 -1.88499557e-02 1.54054477e+00] [ 1.47632605e-03 9.99997571e-01 -1.63657077e-03 1.01853200e-01] [ 1.88523761e-02 1.60844945e-03 9.99820984e-01 8.09548796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.802557844 meters Centerline goodness [0,1] 0.24748380885699284 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.81 [[ 0.99981707 -0.00157953 -0.01906119 1.54106521] [ 0.00154854 0.99999746 -0.00164045 0.10159927] [ 0.01906373 0.00161063 0.99981697 0.80957836] [ 0. 0. 0. 1. ]] SLAMing on 136.832557844 meters Centerline goodness [0,1] 0.2456886266513374 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.81 [[ 0.99981332 -0.00166944 -0.01924917 1.54134188] [ 0.00163743 0.99999725 -0.00167854 0.10144816] [ 0.01925192 0.00164671 0.99981331 0.8099517 ] [ 0. 0. 0. 1. ]] SLAMing on 136.862557844 meters Centerline goodness [0,1] 0.244474808597393 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.81 [[ 0.99981299 -0.00173709 -0.01926063 1.54126502] [ 0.0017035 0.999997 -0.00175995 0.1016915 ] [ 0.01926363 0.00172681 0.99981295 0.8101467 ] [ 0. 0. 0. 1. ]] SLAMing on 136.892557844 meters Centerline goodness [0,1] 0.24285745135724623 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.81 [[ 0.99981211 -0.00180846 -0.01929954 1.54141179] [ 0.00177128 0.99999654 -0.00194305 0.10257003] [ 0.01930299 0.0019085 0.99981186 0.81003523] [ 0. 0. 0. 1. ]] SLAMing on 136.922557844 meters Centerline goodness [0,1] 0.24617819892881154 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.81 [[ 0.99981405 -0.00203018 -0.0191769 1.5416699 ] [ 0.00198042 0.99999462 -0.00261387 0.10609337] [ 0.0191821 0.0025754 0.99981269 0.80903701] [ 0. 0. 0. 1. ]] SLAMing on 136.952557844 meters Centerline goodness [0,1] 0.24353893866299103 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.81 [[ 0.99981342 -0.00217258 -0.019194 1.54183003] [ 0.00211513 0.99999322 -0.00301335 0.10799521] [ 0.01920042 0.00297219 0.99981124 0.80879084] [ 0. 0. 0. 1. ]] SLAMing on 136.982557844 meters Centerline goodness [0,1] 0.24380004328067517 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.81 [[ 0.99981494 -0.00233242 -0.01909582 1.54146547] [ 0.00226789 0.99999165 -0.00340019 0.10974512] [ 0.01910359 0.00335625 0.99981188 0.80896072] [ 0. 0. 0. 1. ]] SLAMing on 137.012557844 meters Centerline goodness [0,1] 0.24871558424450002 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:0.81 [[ 0.99980796 0.00564507 -0.0187664 1.51969527] [-0.0057218 0.99997548 -0.0040372 0.10559698] [ 0.01874315 0.00414381 0.99981574 0.80856795] [ 0. 0. 0. 1. ]] SLAMing on 137.04255784400002 meters Centerline goodness [0,1] 0.2440652338265471 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.81 [[ 9.99888300e-01 3.10161111e-04 -1.49429330e-02 1.53923841e+00] [-3.28169111e-04 9.99999223e-01 -1.20268122e-03 1.11094078e-01] [ 1.49425484e-02 1.20745069e-03 9.99887625e-01 8.08842166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07255784400002 meters Centerline goodness [0,1] 0.24891954424411755 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.81 [[ 9.99890275e-01 2.17815090e-04 -1.48118644e-02 1.53874942e+00] [-2.38437722e-04 9.99999005e-01 -1.39055323e-03 1.11947526e-01] [ 1.48115468e-02 1.39393236e-03 9.99889331e-01 8.09107229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10255784400002 meters Centerline goodness [0,1] 0.24939737914712712 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.81 [[ 9.99888158e-01 9.41297850e-05 -1.49553633e-02 1.53912260e+00] [-1.17444669e-04 9.99998779e-01 -1.55809415e-03 1.12461768e-01] [ 1.49551983e-02 1.55967632e-03 9.99886948e-01 8.09057364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13255784400002 meters Centerline goodness [0,1] 0.2447035957240039 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:0.81 [[ 9.99849879e-01 -8.10623453e-03 -1.53136467e-02 1.56067694e+00] [ 8.08585486e-03 9.99966340e-01 -1.39226547e-03 1.17938548e-01] [ 1.53244172e-02 1.26823254e-03 9.99881770e-01 8.09539486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162557844 meters Centerline goodness [0,1] 0.24540249826509364 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:0.81 [[ 9.99848338e-01 -8.13371617e-03 -1.53994382e-02 1.56092853e+00] [ 8.11311900e-03 9.99966109e-01 -1.39952852e-03 1.17913430e-01] [ 1.54102996e-02 1.27437879e-03 9.99880442e-01 8.09454995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.192557844 meters Centerline goodness [0,1] 0.24359388110759694 Centerline is valid? [False, False] Translation: X:1.58, Y:0.12, Z:0.81 [[ 9.99924239e-01 3.71637587e-04 -1.23035719e-02 1.57868361e+00] [-4.02195893e-04 9.99996841e-01 -2.48131272e-03 1.16800040e-01] [ 1.23026109e-02 2.48607318e-03 9.99921230e-01 8.10471054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222557844 meters Centerline goodness [0,1] 0.2488538619394839 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:0.81 [[ 9.99898367e-01 -8.61367105e-04 -1.42307538e-02 1.53103589e+00] [ 8.27325409e-04 9.99996783e-01 -2.39783565e-03 1.14561728e-01] [ 1.42327734e-02 2.38581849e-03 9.99895863e-01 8.12060504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.252557844 meters Centerline goodness [0,1] 0.247373551391747 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:0.81 [[ 9.99898263e-01 -9.07233658e-04 -1.42351995e-02 1.53100451e+00] [ 8.72131845e-04 9.99996565e-01 -2.47186030e-03 1.14708818e-01] [ 1.42373931e-02 2.45919385e-03 9.99895619e-01 8.12145265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282557844 meters Centerline goodness [0,1] 0.24962535260930885 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:0.81 [[ 0.99983887 -0.00199585 -0.01783983 1.48924934] [ 0.00194825 0.9999945 -0.00268486 0.11439363] [ 0.01784509 0.00264967 0.99983725 0.81078651] [ 0. 0. 0. 1. ]] SLAMing on 137.312557844 meters Centerline goodness [0,1] 0.2508553139830041 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:0.81 [[ 0.99983818 -0.0020283 -0.01787454 1.48958402] [ 0.00197754 0.99999396 -0.00285671 0.11533387] [ 0.01788022 0.0028209 0.99983616 0.81026484] [ 0. 0. 0. 1. ]] SLAMing on 137.342557844 meters Centerline goodness [0,1] 0.25342693270146377 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:0.81 [[ 0.99983797 -0.00206319 -0.01788241 1.48965719] [ 0.00200939 0.9999934 -0.00302565 0.11625535] [ 0.01788854 0.00298923 0.99983552 0.81013979] [ 0. 0. 0. 1. ]] SLAMing on 137.372557844 meters Centerline goodness [0,1] 0.24425268712558668 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:0.81 [[ 9.99877751e-01 -5.67408041e-04 -1.56256717e-02 1.53461807e+00] [ 5.22868886e-04 9.99995790e-01 -2.85432119e-03 1.19411538e-01] [ 1.56272255e-02 2.84580208e-03 9.99873838e-01 8.09832121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402557844 meters Centerline goodness [0,1] 0.24700664219542035 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:0.81 [[ 9.99876448e-01 -5.90735627e-04 -1.57079216e-02 1.53488604e+00] [ 5.44340330e-04 9.99995478e-01 -2.95773565e-03 1.19921602e-01] [ 1.57095979e-02 2.94881977e-03 9.99872248e-01 8.09718157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.432557844 meters Centerline goodness [0,1] 0.24749288373111455 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:0.81 [[ 9.99874649e-01 -6.03988602e-04 -1.58215203e-02 1.53537148e+00] [ 5.56912557e-04 9.99995406e-01 -2.97968077e-03 1.19909473e-01] [ 1.58232473e-02 2.97049606e-03 9.99870392e-01 8.09376007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462557844 meters Centerline goodness [0,1] 0.24602639646887436 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:0.81 [[ 9.99867305e-01 -6.49624960e-04 -1.62772956e-02 1.53697087e+00] [ 6.03147605e-04 9.99995728e-01 -2.86009519e-03 1.18466517e-01] [ 1.62790841e-02 2.84989806e-03 9.99863425e-01 8.08641069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.492557844 meters Centerline goodness [0,1] 0.24799686465772508 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:0.81 [[ 9.99868634e-01 -5.77880595e-04 -1.61981986e-02 1.53679141e+00] [ 5.34155794e-04 9.99996203e-01 -2.70355849e-03 1.17752544e-01] [ 1.61996994e-02 2.69455097e-03 9.99865145e-01 8.08532479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.522557844 meters Centerline goodness [0,1] 0.24862239452878265 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:0.81 [[ 9.99872843e-01 -4.77698008e-04 -1.59395546e-02 1.53601593e+00] [ 4.37336368e-04 9.99996690e-01 -2.53555825e-03 1.17238791e-01] [ 1.59407131e-02 2.52826489e-03 9.99869742e-01 8.08713148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.552557844 meters Centerline goodness [0,1] 0.24807248333841525 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:0.81 [[ 9.99877841e-01 -3.76315810e-04 -1.56256779e-02 1.53517310e+00] [ 3.39512739e-04 9.99997163e-01 -2.35788030e-03 1.16645541e-01] [ 1.56265209e-02 2.35228714e-03 9.99875131e-01 8.08784732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.582557844 meters Centerline goodness [0,1] 0.24745821500574472 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:0.81 [[ 9.99878894e-01 -3.51275978e-04 -1.55587561e-02 1.53511359e+00] [ 3.16604886e-04 9.99997462e-01 -2.23080451e-03 1.15973566e-01] [ 1.55595003e-02 2.22560837e-03 9.99876467e-01 8.08581712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.612557844 meters Centerline goodness [0,1] 0.24865245418344228 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:0.81 [[ 0.99980376 -0.00276868 -0.01961568 1.49405623] [ 0.00270543 0.99999106 -0.00325012 0.11181634] [ 0.01962451 0.00319641 0.99980231 0.80787007] [ 0. 0. 0. 1. ]] SLAMing on 137.642557844 meters Centerline goodness [0,1] 0.2449794860721226 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.81 [[ 0.99982578 -0.00176618 -0.01858201 1.54021824] [ 0.00170252 0.99999263 -0.00344157 0.11344081] [ 0.01858796 0.00340934 0.99982142 0.8075021 ] [ 0. 0. 0. 1. ]] SLAMing on 137.672557844 meters Centerline goodness [0,1] 0.24299892125134848 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.81 [[ 0.99982204 -0.00168825 -0.01878956 1.54095664] [ 0.00162729 0.99999336 -0.00325947 0.1125974 ] [ 0.01879494 0.00322831 0.99981815 0.80713867] [ 0. 0. 0. 1. ]] SLAMing on 137.702557844 meters Centerline goodness [0,1] 0.24740669563888096 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.81 [[ 9.99821634e-01 -1.59290301e-03 -1.88192067e-02 1.54112224e+00] [ 1.53605889e-03 9.99994216e-01 -3.03460655e-03 1.11569288e-01] [ 1.88239317e-02 3.00515787e-03 9.99818298e-01 8.06979570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.732557844 meters Centerline goodness [0,1] 0.24507540615763013 Centerline is valid? [False, False] Translation: X:1.56, Y:0.11, Z:0.80 [[ 9.99945672e-01 -8.63716818e-04 -1.03878787e-02 1.55645216e+00] [ 8.38134714e-04 9.99996606e-01 -2.46678926e-03 1.10431093e-01] [ 1.03899740e-02 2.45794880e-03 9.99943002e-01 7.99665034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.762557844 meters Centerline goodness [0,1] 0.24789778311674127 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:0.80 [[ 0.99994555 0.00628385 -0.0083314 1.53510729] [-0.00630778 0.99997605 -0.00284883 0.102703 ] [ 0.0083133 0.00290123 0.99996124 0.79858311] [ 0. 0. 0. 1. ]] SLAMing on 137.79255784400002 meters Centerline goodness [0,1] 0.24643747966597984 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.80 [[ 9.99969471e-01 -1.15221630e-03 -7.72842986e-03 1.55410958e+00] [ 1.14091087e-03 9.99998273e-01 -1.46708484e-03 1.06541245e-01] [ 7.73010692e-03 1.45822261e-03 9.99969059e-01 8.00124516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82255784400002 meters Centerline goodness [0,1] 0.2439760985395949 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:0.80 [[ 9.99968660e-01 -1.02150534e-03 -7.85089062e-03 1.55445440e+00] [ 1.01286312e-03 9.99998877e-01 -1.10469169e-03 1.04890828e-01] [ 7.85201025e-03 1.09670519e-03 9.99968571e-01 8.00047767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85255784400002 meters Centerline goodness [0,1] 0.24701002874761346 Centerline is valid? [False, False] Translation: X:1.51, Y:0.10, Z:0.80 [[ 9.99938197e-01 -2.33392708e-03 -1.08699230e-02 1.51001467e+00] [ 2.32772766e-03 9.99997121e-01 -5.82944459e-04 9.95501783e-02] [ 1.08712522e-02 5.57606211e-04 9.99940751e-01 8.00963366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88255784400002 meters Centerline goodness [0,1] 0.24923560758277274 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:0.80 [[ 9.99940148e-01 -2.15861088e-03 -1.07256968e-02 1.50940704e+00] [ 2.16314096e-03 9.99997576e-01 4.10774853e-04 9.44719637e-02] [ 1.07247841e-02 -4.33951462e-04 9.99942394e-01 8.01568730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91255784400002 meters Centerline goodness [0,1] 0.2496477012506606 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:0.80 [[ 9.99941599e-01 -1.99245620e-03 -1.06221130e-02 1.50889431e+00] [ 2.00282260e-03 9.99997528e-01 9.65377838e-04 9.17127497e-02] [ 1.06201633e-02 -9.86595666e-04 9.99943118e-01 8.02073925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942557844 meters Centerline goodness [0,1] 0.2496477012506606 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:0.80 [[ 9.99941599e-01 -1.99245620e-03 -1.06221130e-02 1.50889431e+00] [ 2.00282260e-03 9.99997528e-01 9.65377838e-04 9.17127497e-02] [ 1.06201633e-02 -9.86595666e-04 9.99943118e-01 8.02073925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.972557844 meters Centerline goodness [0,1] 0.24584379599965367 Centerline is valid? [False, False] Translation: X:1.55, Y:0.09, Z:0.80 [[ 9.99965929e-01 -2.25877379e-03 -7.93973618e-03 1.55143846e+00] [ 2.25587410e-03 9.99997386e-01 -3.74150177e-04 9.17149290e-02] [ 7.94056054e-03 3.56226385e-04 9.99968410e-01 8.02238131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002557844 meters Centerline goodness [0,1] 0.24832126973053104 Centerline is valid? [False, False] Translation: X:1.55, Y:0.09, Z:0.80 [[ 9.99966258e-01 -2.12148359e-03 -7.93614846e-03 1.55126815e+00] [ 2.12201040e-03 9.99997747e-01 5.79606751e-05 8.96057325e-02] [ 7.93600762e-03 -7.47993090e-05 9.99968507e-01 8.02535831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.032557844 meters Centerline goodness [0,1] 0.24688165500456338 Centerline is valid? [False, False] Translation: X:1.55, Y:0.09, Z:0.80 [[ 9.99965205e-01 -1.91929361e-03 -8.11817454e-03 1.55207526e+00] [ 1.92468448e-03 9.99997932e-01 6.56289362e-04 8.69092759e-02] [ 8.11689814e-03 -6.71891451e-04 9.99966832e-01 8.01871228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062557844 meters Centerline goodness [0,1] 0.24815649548149932 Centerline is valid? [False, False] Translation: X:1.55, Y:0.09, Z:0.80 [[ 9.99965332e-01 -1.81739933e-03 -8.12596137e-03 1.55212985e+00] [ 1.82506647e-03 9.99997896e-01 9.36220019e-04 8.56320562e-02] [ 8.12424279e-03 -9.51017982e-04 9.99966546e-01 8.01802735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.092557844 meters Centerline goodness [0,1] 0.25152201147277964 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:0.80 [[ 9.99964860e-01 -1.71142025e-03 -8.20663526e-03 1.55208663e+00] [ 1.72196289e-03 9.99997701e-01 1.27775505e-03 8.39801110e-02] [ 8.20442962e-03 -1.29184168e-03 9.99965509e-01 8.02272169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122557844 meters Centerline goodness [0,1] 0.24382948505519575 Centerline is valid? [False, False] Translation: X:1.60, Y:0.08, Z:0.80 [[ 9.99983464e-01 -1.39881074e-03 -5.57803943e-03 1.59522477e+00] [ 1.40143389e-03 9.99998909e-01 4.66382501e-04 8.38418685e-02] [ 5.57738097e-03 -4.74192043e-04 9.99984334e-01 8.02337253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.152557844 meters Centerline goodness [0,1] 0.24773275918314086 Centerline is valid? [False, False] Translation: X:1.58, Y:0.08, Z:0.80 [[ 9.99965511e-01 5.66102755e-03 -6.07688930e-03 1.57677560e+00] [-5.66570607e-03 9.99983666e-01 -7.52947977e-04 7.56329341e-02] [ 6.07252759e-03 7.87351878e-04 9.99981252e-01 8.00702546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182557844 meters Centerline goodness [0,1] 0.2450244698205547 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.80 [[ 9.99961999e-01 4.48490371e-03 -7.47571136e-03 1.58258875e+00] [-4.49588404e-03 9.99988838e-01 -1.45264296e-03 7.28516154e-02] [ 7.46911295e-03 1.48619769e-03 9.99971001e-01 7.97877414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.212557844 meters Centerline goodness [0,1] 0.24397994033980375 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:0.80 [[ 9.99959383e-01 4.58047398e-03 -7.76221847e-03 1.58344803e+00] [-4.58785985e-03 9.99989040e-01 -9.33976433e-04 7.01241333e-02] [ 7.75785534e-03 9.69550468e-04 9.99969437e-01 7.97635636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242557844 meters Centerline goodness [0,1] 0.24859608871408279 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.80 [[ 9.99951356e-01 -4.59507475e-03 -8.72762210e-03 1.56293918e+00] [ 4.60005261e-03 9.99989268e-01 5.50367883e-04 7.01738216e-02] [ 8.72499945e-03 -5.90488631e-04 9.99961762e-01 7.97125618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.272557844 meters Centerline goodness [0,1] 0.2513626232981 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:0.80 [[ 9.99987024e-01 -5.78428283e-04 -5.06136608e-03 1.54014775e+00] [ 5.69317545e-04 9.99998216e-01 -1.80131078e-03 6.08273749e-02] [ 5.06239897e-03 1.79840588e-03 9.99985569e-01 7.96770102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302557844 meters Centerline goodness [0,1] 0.24786883816251337 Centerline is valid? [False, False] Translation: X:1.56, Y:0.06, Z:0.80 [[ 9.99958841e-01 -8.26699758e-03 -3.73812949e-03 1.56007857e+00] [ 8.26350528e-03 9.99965407e-01 -9.48718422e-04 6.28729709e-02] [ 3.74584323e-03 9.17789321e-04 9.99992563e-01 7.97338249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.332557844 meters Centerline goodness [0,1] 0.24748565569299907 Centerline is valid? [False, False] Translation: X:1.56, Y:0.06, Z:0.80 [[ 9.99959182e-01 -8.14234067e-03 -3.91609733e-03 1.56064890e+00] [ 8.13957917e-03 9.99966613e-01 -7.20587377e-04 6.18778325e-02] [ 3.92183385e-03 6.88682580e-04 9.99992072e-01 7.97149916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.362557844 meters Centerline goodness [0,1] 0.24665437588114092 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.80 [[ 9.99989079e-01 1.14213042e-03 -4.53184777e-03 1.58193301e+00] [-1.14918245e-03 9.99998133e-01 -1.55380478e-03 5.78034988e-02] [ 4.53006466e-03 1.55899573e-03 9.99988524e-01 7.97918085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.392557844 meters Centerline goodness [0,1] 0.2466590136238601 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.80 [[ 9.99987224e-01 1.24965518e-03 -4.89793274e-03 1.58333518e+00] [-1.25732271e-03 9.99997989e-01 -1.56269443e-03 5.80633930e-02] [ 4.89597006e-03 1.56883275e-03 9.99986784e-01 7.97040339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.422557844 meters Centerline goodness [0,1] 0.2500654564496422 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.80 [[ 9.99985754e-01 1.34371058e-03 -5.16578323e-03 1.58435547e+00] [-1.35198675e-03 9.99997808e-01 -1.59895363e-03 5.84233966e-02] [ 5.16362338e-03 1.60591492e-03 9.99985379e-01 7.96370283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.452557844 meters Centerline goodness [0,1] 0.24812375555215194 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.80 [[ 9.99985639e-01 1.42456303e-03 -5.16652418e-03 1.58452746e+00] [-1.43298605e-03 9.99997650e-01 -1.62697217e-03 5.87463921e-02] [ 5.16419431e-03 1.63435236e-03 9.99985330e-01 7.96068359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.482557844 meters Centerline goodness [0,1] 0.25306410369455956 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.80 [[ 9.99989291e-01 2.08230411e-03 -4.13300502e-03 1.58168259e+00] [-2.08738232e-03 9.99997071e-01 -1.22476357e-03 5.85588616e-02] [ 4.13044259e-03 1.23337762e-03 9.99990709e-01 7.96552147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.512557844 meters Centerline goodness [0,1] 0.24906436716202318 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.80 [[ 9.99990181e-01 2.10892942e-03 -3.89757536e-03 1.58112703e+00] [-2.11417163e-03 9.99996866e-01 -1.34136212e-03 5.92468876e-02] [ 3.89473431e-03 1.34958909e-03 9.99991505e-01 7.96506033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54255784400002 meters Centerline goodness [0,1] 0.25105355575065846 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.80 [[ 9.99990528e-01 2.11283653e-03 -3.80525222e-03 1.58084947e+00] [-2.11842028e-03 9.99996685e-01 -1.46394974e-03 5.98727426e-02] [ 3.80214652e-03 1.47199700e-03 9.99991688e-01 7.96584547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57255784400002 meters Centerline goodness [0,1] 0.247133314475946 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.80 [[ 9.99986086e-01 -4.11406693e-03 -3.30184279e-03 1.59757574e+00] [ 4.11472519e-03 9.99991516e-01 1.92592220e-04 6.66815747e-02] [ 3.30102244e-03 -2.06175716e-04 9.99994530e-01 7.98763286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60255784400002 meters Centerline goodness [0,1] 0.25265518833696154 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:0.80 [[ 9.99991136e-01 3.56652079e-03 -2.23792657e-03 1.57708135e+00] [-3.56753132e-03 9.99993536e-01 -4.47718963e-04 6.30649883e-02] [ 2.23631531e-03 4.55698867e-04 9.99997396e-01 7.97352181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63255784400002 meters Centerline goodness [0,1] 0.24979847933596222 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.80 [[ 9.99992121e-01 -3.50736177e-03 -1.85935328e-03 1.59574181e+00] [ 3.50848186e-03 9.99993666e-01 5.99488845e-04 6.96464214e-02] [ 1.85723888e-03 -6.06007629e-04 9.99998092e-01 7.98685163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66255784400002 meters Centerline goodness [0,1] 0.250560550318915 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.80 [[ 9.99991754e-01 -3.59061917e-03 -1.89729885e-03 1.59597726e+00] [ 3.59129979e-03 9.99993488e-01 3.55448975e-04 7.07482938e-02] [ 1.89601021e-03 -3.62259813e-04 9.99998137e-01 7.98374697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.692557844 meters Centerline goodness [0,1] 0.2511132454378765 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.80 [[ 9.99991124e-01 -3.67263388e-03 -2.06493532e-03 1.59654592e+00] [ 3.67297437e-03 9.99993242e-01 1.61123611e-04 7.15571880e-02] [ 2.06432962e-03 -1.68706636e-04 9.99997855e-01 7.98080120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722557844 meters Centerline goodness [0,1] 0.2501304574708645 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.80 [[ 9.99990258e-01 -3.75306599e-03 -2.32325046e-03 1.59717144e+00] [ 3.75290995e-03 9.99992955e-01 -7.15213376e-05 7.28042761e-02] [ 2.32350252e-03 6.28016911e-05 9.99997299e-01 7.98004233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.752557844 meters Centerline goodness [0,1] 0.2499457158987276 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.80 [[ 9.99990715e-01 -3.73422393e-03 -2.15050782e-03 1.59643641e+00] [ 3.73418450e-03 9.99993028e-01 -2.23528315e-05 7.27740166e-02] [ 2.15057630e-03 1.43222310e-05 9.99997687e-01 7.98513301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782557844 meters Centerline goodness [0,1] 0.2505531094609099 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.80 [[ 9.99991143e-01 -3.69116536e-03 -2.02207577e-03 1.59571001e+00] [ 3.69149192e-03 9.99993174e-01 1.57793143e-04 7.20192970e-02] [ 2.02147952e-03 -1.65256222e-04 9.99997943e-01 7.99286665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.812557844 meters Centerline goodness [0,1] 0.25168219178082196 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.80 [[ 9.99991344e-01 -3.67931267e-03 -1.94267997e-03 1.59525330e+00] [ 3.67996584e-03 9.99993174e-01 3.32752531e-04 7.10841945e-02] [ 1.94144241e-03 -3.39898647e-04 9.99998058e-01 7.99798202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842557844 meters Centerline goodness [0,1] 0.2493925193092077 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:0.80 [[ 0.99999417 0.00262063 -0.00219063 1.61710559] [-0.00262686 0.9999925 -0.00284721 0.06896421] [ 0.00218315 0.00285295 0.99999355 0.79942183] [ 0. 0. 0. 1. ]] SLAMing on 138.872557844 meters Centerline goodness [0,1] 0.24868449662970216 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:0.80 [[ 0.99999369 0.00262653 -0.00239164 1.61777503] [-0.00263312 0.99999273 -0.00275841 0.06849963] [ 0.00238438 0.00276469 0.99999334 0.79911455] [ 0. 0. 0. 1. ]] SLAMing on 138.902557844 meters Centerline goodness [0,1] 0.2508240738719466 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:0.80 [[ 0.99999309 0.00261242 -0.00264643 1.61859529] [-0.00261959 0.9999929 -0.00271035 0.06810025] [ 0.00263933 0.00271726 0.99999283 0.79878831] [ 0. 0. 0. 1. ]] SLAMing on 138.932557844 meters Centerline goodness [0,1] 0.24738774357526128 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:0.80 [[ 0.99999235 0.00256313 -0.00295352 1.61946592] [-0.00257122 0.99999295 -0.00273576 0.0679972 ] [ 0.00294649 0.00274333 0.9999919 0.79865474] [ 0. 0. 0. 1. ]] SLAMing on 138.962557844 meters Centerline goodness [0,1] 0.24662725481279368 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:0.80 [[ 0.9999915 0.00244151 -0.00332288 1.62046995] [-0.0024516 0.99999239 -0.00303601 0.0691281 ] [ 0.00331544 0.00304413 0.99998987 0.79855566] [ 0. 0. 0. 1. ]] SLAMing on 138.992557844 meters Centerline goodness [0,1] 0.2490258896874188 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:0.80 [[ 0.99999164 0.00244367 -0.00327883 1.62040345] [-0.00245429 0.99999175 -0.00323696 0.07035157] [ 0.00327089 0.00324498 0.99998939 0.79845306] [ 0. 0. 0. 1. ]] SLAMing on 139.022557844 meters Centerline goodness [0,1] 0.24610172436259392 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:0.80 [[ 0.99999179 0.0024025 -0.00326181 1.62042086] [-0.00241402 0.99999085 -0.00353143 0.07193647] [ 0.0032533 0.00353927 0.99998844 0.79836914] [ 0. 0. 0. 1. ]] SLAMing on 139.052557844 meters Centerline goodness [0,1] 0.24826475771883638 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:0.80 [[ 0.9999917 0.00229698 -0.00336469 1.62092132] [-0.00231004 0.9999898 -0.00388137 0.07347384] [ 0.00335574 0.00388911 0.99998681 0.79792306] [ 0. 0. 0. 1. ]] SLAMing on 139.082557844 meters Centerline goodness [0,1] 0.246504782928624 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:0.80 [[ 0.99999103 0.0022086 -0.00361337 1.6217797 ] [-0.0022239 0.99998856 -0.0042346 0.07502195] [ 0.00360398 0.0042426 0.99998451 0.79748471] [ 0. 0. 0. 1. ]] SLAMing on 139.112557844 meters Centerline goodness [0,1] 0.24478862895038123 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:0.80 [[ 0.99999079 0.00211394 -0.00373583 1.62232647] [-0.00213113 0.99998713 -0.00460488 0.07670653] [ 0.00372605 0.0046128 0.99998242 0.79702693] [ 0. 0. 0. 1. ]] SLAMing on 139.142557844 meters Centerline goodness [0,1] 0.2492592592592593 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:0.80 [[ 0.99999294 0.00253633 -0.00277222 1.61980578] [-0.00254954 0.99998536 -0.00477293 0.0792993 ] [ 0.00276008 0.00477997 0.99998477 0.79705807] [ 0. 0. 0. 1. ]] SLAMing on 139.172557844 meters Centerline goodness [0,1] 0.2465943902492016 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:0.80 [[ 0.99999344 0.00251244 -0.00260744 1.61939296] [-0.00252552 0.99998419 -0.00502403 0.0807311 ] [ 0.00259478 0.00503058 0.99998398 0.79702755] [ 0. 0. 0. 1. ]] SLAMing on 139.202557844 meters Centerline goodness [0,1] 0.24665512015587787 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:0.80 [[ 0.99999366 0.00246695 -0.00256735 1.61944245] [-0.00248042 0.99998311 -0.00525699 0.0819455 ] [ 0.00255434 0.00526333 0.99998289 0.79670958] [ 0. 0. 0. 1. ]] SLAMing on 139.232557844 meters Centerline goodness [0,1] 0.24527526705012326 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:0.80 [[ 0.99999384 0.00243468 -0.0025266 1.61946386] [-0.00244831 0.99998241 -0.0054026 0.08268783] [ 0.00251341 0.00540875 0.99998221 0.79644531] [ 0. 0. 0. 1. ]] SLAMing on 139.262557844 meters Centerline goodness [0,1] 0.2520410162628176 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:0.80 [[ 0.99999423 0.00239447 -0.00240937 1.61892242] [-0.00240779 0.99998176 -0.00553921 0.08334373] [ 0.00239606 0.00554498 0.99998176 0.7968896 ] [ 0. 0. 0. 1. ]] SLAMing on 139.29255784400002 meters Centerline goodness [0,1] 0.24957514488648747 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:0.80 [[ 0.99999457 0.00240218 -0.00225676 1.61829431] [-0.00241463 0.9999818 -0.00552915 0.08334106] [ 0.00224344 0.00553457 0.99998217 0.7973126 ] [ 0. 0. 0. 1. ]] SLAMing on 139.32255784400002 meters Centerline goodness [0,1] 0.25284146687318654 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:0.80 [[ 0.99999475 0.00245419 -0.00211656 1.61774056] [-0.00246556 0.99998245 -0.00538719 0.0827319 ] [ 0.0021033 0.00539238 0.99998325 0.79765985] [ 0. 0. 0. 1. ]] SLAMing on 139.35255784400002 meters Centerline goodness [0,1] 0.2478571582788177 Centerline is valid? [False, False] Translation: X:1.64, Y:0.09, Z:0.80 [[ 9.99985606e-01 -5.26101632e-03 -1.05324161e-03 1.63745586e+00] [ 5.25635565e-03 9.99976593e-01 -4.37998742e-03 8.72432501e-02] [ 1.07626014e-03 4.37438816e-03 9.99989853e-01 7.98563402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38255784400002 meters Centerline goodness [0,1] 0.24739994378256824 Centerline is valid? [False, False] Translation: X:1.64, Y:0.09, Z:0.80 [[ 9.99986365e-01 -5.13907769e-03 -9.26748509e-04 1.63671600e+00] [ 5.13530799e-03 9.99978713e-01 -4.02516925e-03 8.56936736e-02] [ 9.47414439e-04 4.02035523e-03 9.99991470e-01 7.99320535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41255784400002 meters Centerline goodness [0,1] 0.2551834480340157 Centerline is valid? [False, False] Translation: X:1.64, Y:0.08, Z:0.80 [[ 9.99986635e-01 -5.13543627e-03 -5.97642926e-04 1.63538963e+00] [ 5.13336591e-03 9.99980991e-01 -3.41564957e-03 8.25076338e-02] [ 6.15172416e-04 3.41253600e-03 9.99993988e-01 8.00442303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442557844 meters Centerline goodness [0,1] 0.2526193503134453 Centerline is valid? [False, False] Translation: X:1.64, Y:0.08, Z:0.80 [[ 9.99986825e-01 -5.05601532e-03 -8.86586305e-04 1.63614722e+00] [ 5.05326523e-03 9.99982498e-01 -3.07717348e-03 8.08557616e-02] [ 9.02129024e-04 3.07265278e-03 9.99994872e-01 8.00378183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.472557844 meters Centerline goodness [0,1] 0.24679736864883584 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:0.80 [[ 9.99994994e-01 2.85323412e-03 -1.36784288e-03 1.65997194e+00] [-2.85957726e-03 9.99985063e-01 -4.65802223e-03 7.73876622e-02] [ 1.35453202e-03 4.66191037e-03 9.99988216e-01 7.99457980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502557844 meters Centerline goodness [0,1] 0.25140672184926893 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:0.80 [[ 9.99994317e-01 2.95495739e-03 -1.62326227e-03 1.66076852e+00] [-2.96183426e-03 9.99986580e-01 -4.25051338e-03 7.51596880e-02] [ 1.61068040e-03 4.25529706e-03 9.99989649e-01 7.99219762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.532557844 meters Centerline goodness [0,1] 0.25185038764797607 Centerline is valid? [False, False] Translation: X:1.64, Y:0.08, Z:0.80 [[ 0.99997791 -0.00629174 -0.00214327 1.63949821] [ 0.0062849 0.99997518 -0.00318313 0.07763317] [ 0.00216324 0.00316959 0.99999264 0.7992004 ] [ 0. 0. 0. 1. ]] SLAMing on 139.562557844 meters Centerline goodness [0,1] 0.2457882717911155 Centerline is valid? [False, False] Translation: X:1.68, Y:0.08, Z:0.80 [[ 9.99988258e-01 -4.84070508e-03 2.25076491e-04 1.68131417e+00] [ 4.84141484e-03 9.99982941e-01 -3.26774918e-03 7.95955449e-02] [-2.09254441e-04 3.26880050e-03 9.99994636e-01 7.99817658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.592557844 meters Centerline goodness [0,1] 0.24783968040297022 Centerline is valid? [False, False] Translation: X:1.68, Y:0.08, Z:0.80 [[ 9.99988843e-01 -4.71829287e-03 2.26523610e-04 1.68082754e+00] [ 4.71894208e-03 9.99984495e-01 -2.95653669e-03 7.82636554e-02] [-2.12570292e-04 2.95757265e-03 9.99995604e-01 8.00695645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622557844 meters Centerline goodness [0,1] 0.24982614742698195 Centerline is valid? [False, False] Translation: X:1.68, Y:0.07, Z:0.80 [[ 9.99988903e-01 -4.65452828e-03 -7.27050283e-04 1.68335052e+00] [ 4.65288744e-03 9.99986661e-01 -2.24246519e-03 7.41502060e-02] [ 7.37478202e-04 2.23905742e-03 9.99997221e-01 8.00510125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.652557844 meters Centerline goodness [0,1] 0.2423246562310819 Centerline is valid? [False, False] Translation: X:1.69, Y:0.07, Z:0.80 [[ 9.99989030e-01 -4.50950822e-03 -1.26656277e-03 1.68500650e+00] [ 4.50741783e-03 9.99988483e-01 -1.64847650e-03 7.09809454e-02] [ 1.27398200e-03 1.64274949e-03 9.99997839e-01 8.00052614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682557844 meters Centerline goodness [0,1] 0.2521185510428101 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:0.80 [[ 9.99997618e-01 8.96829846e-04 -1.98965987e-03 1.66179114e+00] [-9.05489010e-04 9.99990105e-01 -4.35545905e-03 6.45981626e-02] [ 1.98573408e-03 4.35725029e-03 9.99988536e-01 8.00478970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.712557844 meters Centerline goodness [0,1] 0.2477560289823727 Centerline is valid? [False, False] Translation: X:1.68, Y:0.07, Z:0.80 [[ 9.99975829e-01 -6.93163413e-03 -5.41739330e-04 1.68239321e+00] [ 6.92970137e-03 9.99969893e-01 -3.49166317e-03 6.55162091e-02] [ 5.65925951e-04 3.48782469e-03 9.99993757e-01 8.00632541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.742557844 meters Centerline goodness [0,1] 0.24533293186510663 Centerline is valid? [False, False] Translation: X:1.68, Y:0.06, Z:0.80 [[ 9.99977308e-01 -6.72376067e-03 -4.18512441e-04 1.68172263e+00] [ 6.72247714e-03 9.99972915e-01 -2.99624905e-03 6.32444471e-02] [ 4.38647168e-04 2.99336762e-03 9.99995424e-01 8.01293937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.772557844 meters Centerline goodness [0,1] 0.2503162762291149 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.80 [[ 9.99997811e-01 2.05665766e-03 -3.84061585e-04 1.65857871e+00] [-2.05755366e-03 9.99995128e-01 -2.34731656e-03 5.48025086e-02] [ 3.79232087e-04 2.34810165e-03 9.99997171e-01 8.01976978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.802557844 meters Centerline goodness [0,1] 0.24546535509674627 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.80 [[ 9.99997340e-01 2.15773014e-03 -8.15200856e-04 1.66011804e+00] [-2.15959284e-03 9.99995044e-01 -2.29103933e-03 5.46285761e-02] [ 8.10253371e-04 2.29279374e-03 9.99997043e-01 8.01126005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.832557844 meters Centerline goodness [0,1] 0.24546535509674627 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.80 [[ 9.99997340e-01 2.15773014e-03 -8.15200856e-04 1.66011804e+00] [-2.15959284e-03 9.99995044e-01 -2.29103933e-03 5.46285761e-02] [ 8.10253371e-04 2.29279374e-03 9.99997043e-01 8.01126005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.862557844 meters Centerline goodness [0,1] 0.24928895547015784 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.80 [[ 9.99996692e-01 2.21650462e-03 -1.30517549e-03 1.66205678e+00] [-2.21945410e-03 9.99994977e-01 -2.26273402e-03 5.44109258e-02] [ 1.30015357e-03 2.26562331e-03 9.99996588e-01 7.99811383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.892557844 meters Centerline goodness [0,1] 0.2503833180006133 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.80 [[ 9.99996175e-01 2.27042767e-03 -1.57950165e-03 1.66324549e+00] [-2.27386907e-03 9.99995038e-01 -2.18041595e-03 5.40058115e-02] [ 1.57454334e-03 2.18399919e-03 9.99996375e-01 7.98869189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.922557844 meters Centerline goodness [0,1] 0.24704501998957062 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.80 [[ 9.99995723e-01 2.42495865e-03 -1.63540069e-03 1.66316818e+00] [-2.42808076e-03 9.99995229e-01 -1.90980042e-03 5.29552869e-02] [ 1.63076170e-03 1.91376313e-03 9.99996839e-01 7.99248775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.952557844 meters Centerline goodness [0,1] 0.24520509438450067 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.80 [[ 9.99995524e-01 2.51256627e-03 -1.62441113e-03 1.66272604e+00] [-2.51530369e-03 9.99995416e-01 -1.68533249e-03 5.19566118e-02] [ 1.62016917e-03 1.68941083e-03 9.99997260e-01 7.99987896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982557844 meters Centerline goodness [0,1] 0.24444540316665953 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.80 [[ 9.99995308e-01 2.57114190e-03 -1.66518919e-03 1.66248926e+00] [-2.57351953e-03 9.99995670e-01 -1.42727582e-03 5.05903646e-02] [ 1.66151225e-03 1.43155452e-03 9.99997595e-01 8.00614780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.012557844 meters Centerline goodness [0,1] 0.2513367812061711 Centerline is valid? [False, False] Translation: X:1.62, Y:0.05, Z:0.80 [[ 9.99990696e-01 4.23394626e-04 -4.29295061e-03 1.61568273e+00] [-4.29002409e-04 9.99999056e-01 -1.30544051e-03 4.51130141e-02] [ 4.29239384e-03 1.30727005e-03 9.99989933e-01 8.03559542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04255784400002 meters Centerline goodness [0,1] 0.24892928939777992 Centerline is valid? [False, False] Translation: X:1.62, Y:0.04, Z:0.80 [[ 9.99990697e-01 4.98039179e-04 -4.28467113e-03 1.61539472e+00] [-5.02541549e-04 9.99999323e-01 -1.04979641e-03 4.38758863e-02] [ 4.28414539e-03 1.05193987e-03 9.99990270e-01 8.04066124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07255784400002 meters Centerline goodness [0,1] 0.2522867194371152 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:0.80 [[ 9.99991484e-01 5.91764502e-04 -4.08444363e-03 1.61467385e+00] [-5.95363462e-04 9.99999436e-01 -8.79978755e-04 4.33686384e-02] [ 4.08392058e-03 8.82402989e-04 9.99991271e-01 8.04445680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10255784400002 meters Centerline goodness [0,1] 0.24678952725382763 Centerline is valid? [False, False] Translation: X:1.63, Y:0.05, Z:0.81 [[ 9.99973012e-01 -6.44144114e-03 -3.53301374e-03 1.63343075e+00] [ 6.44260684e-03 9.99979195e-01 3.18664511e-04 4.93143755e-02] [ 3.53088758e-03 -3.41417730e-04 9.99993708e-01 8.05907128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13255784400002 meters Centerline goodness [0,1] 0.2440090429540317 Centerline is valid? [False, False] Translation: X:1.63, Y:0.05, Z:0.81 [[ 9.99973604e-01 -6.40884431e-03 -3.42305421e-03 1.63296712e+00] [ 6.41000590e-03 9.99979402e-01 3.28481751e-04 4.94509295e-02] [ 3.42087851e-03 -3.50414878e-04 9.99994087e-01 8.06228503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16255784400002 meters Centerline goodness [0,1] 0.25708259952601487 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:0.81 [[ 9.99994317e-01 1.08816770e-03 -3.19097369e-03 1.61302039e+00] [-1.08936347e-03 9.99999337e-01 -3.73021123e-04 4.33468493e-02] [ 3.19056566e-03 3.76495133e-04 9.99994839e-01 8.05238411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.192557844 meters Centerline goodness [0,1] 0.24960139783771973 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:0.81 [[ 9.99993925e-01 1.10967421e-03 -3.30421495e-03 1.61328230e+00] [-1.11046702e-03 9.99999355e-01 -2.38112423e-04 4.25218212e-02] [ 3.30394859e-03 2.41780198e-04 9.99994513e-01 8.05282226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222557844 meters Centerline goodness [0,1] 0.24599046380580836 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:0.81 [[ 9.99992693e-01 1.10238673e-03 -3.66052676e-03 1.61420288e+00] [-1.10230840e-03 9.99999392e-01 2.34159291e-05 4.08178422e-02] [ 3.66055035e-03 -1.93807286e-05 9.99993300e-01 8.05262783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.252557844 meters Centerline goodness [0,1] 0.24773013597462967 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:0.81 [[ 9.99992841e-01 1.15968425e-03 -3.60175881e-03 1.61398550e+00] [-1.15911722e-03 9.99999316e-01 1.59513627e-04 4.03169939e-02] [ 3.60194133e-03 -1.55337625e-04 9.99993501e-01 8.05359977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282557844 meters Centerline goodness [0,1] 0.24914451171360885 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:0.81 [[ 9.99992732e-01 1.23188181e-03 -3.60802871e-03 1.61394650e+00] [-1.23070056e-03 9.99999188e-01 3.29597469e-04 3.96449962e-02] [ 3.60843181e-03 -3.25154670e-04 9.99993437e-01 8.05470214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.312557844 meters Centerline goodness [0,1] 0.24665367121507475 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:0.81 [[ 9.99974936e-01 -6.14036178e-03 -3.52479911e-03 1.63370047e+00] [ 6.14418636e-03 9.99980546e-01 1.07524742e-03 4.35426899e-02] [ 3.51812813e-03 -1.09687749e-03 9.99993210e-01 8.06304539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342557844 meters Centerline goodness [0,1] 0.24767943522029023 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:0.81 [[ 9.99974538e-01 -6.13127847e-03 -3.65123858e-03 1.63409515e+00] [ 6.13533481e-03 9.99980573e-01 1.10078830e-03 4.33160074e-02] [ 3.64441841e-03 -1.12316185e-03 9.99992728e-01 8.06182886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.372557844 meters Centerline goodness [0,1] 0.2499945070639158 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:0.80 [[ 9.99992891e-01 1.28183474e-03 -3.54617450e-03 1.61492485e+00] [-1.28157408e-03 9.99999176e-01 7.57764502e-05 3.85130862e-02] [ 3.54626871e-03 -7.12312261e-05 9.99993709e-01 8.04184414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402557844 meters Centerline goodness [0,1] 0.24463575012978023 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:0.80 [[ 0.99998523 -0.00389927 -0.00378536 1.63803049] [ 0.00390998 0.99998836 0.00282613 0.0421435 ] [ 0.0037743 -0.00284089 0.99998884 0.80352877] [ 0. 0. 0. 1. ]] SLAMing on 140.432557844 meters Centerline goodness [0,1] 0.2462730418507476 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:0.80 [[ 0.99998491 -0.00395397 -0.00381429 1.63835428] [ 0.00396421 0.99998854 0.00268258 0.04280398] [ 0.00380364 -0.00269766 0.99998913 0.80305997] [ 0. 0. 0. 1. ]] SLAMing on 140.462557844 meters Centerline goodness [0,1] 0.24730691388653125 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:0.80 [[ 0.99998506 -0.00399399 -0.00373136 1.63772896] [ 0.00400408 0.99998834 0.00269984 0.04256052] [ 0.00372054 -0.00271474 0.99998939 0.80382202] [ 0. 0. 0. 1. ]] SLAMing on 140.492557844 meters Centerline goodness [0,1] 0.2442975494139903 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:0.80 [[ 0.99998518 -0.00399798 -0.00369655 1.63734102] [ 0.00400826 0.99998811 0.00277655 0.04211182] [ 0.0036854 -0.00279132 0.99998931 0.80439004] [ 0. 0. 0. 1. ]] SLAMing on 140.522557844 meters Centerline goodness [0,1] 0.24586556269746163 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:0.80 [[ 0.99998567 -0.00395349 -0.00360828 1.63694463] [ 0.00396404 0.99998788 0.00292145 0.04145655] [ 0.00359669 -0.00293571 0.99998922 0.80465365] [ 0. 0. 0. 1. ]] SLAMing on 140.552557844 meters Centerline goodness [0,1] 0.24502552123886145 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:0.81 [[ 0.99998378 0.00485867 -0.00297212 1.65558609] [-0.00485348 0.99998669 0.0017506 0.03718973] [ 0.00298059 -0.00173615 0.99999405 0.80590524] [ 0. 0. 0. 1. ]] SLAMing on 140.582557844 meters Centerline goodness [0,1] 0.24927618880505353 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:0.81 [[ 0.99998094 -0.00440151 -0.00432969 1.63505733] [ 0.0044149 0.99998549 0.00308647 0.03918483] [ 0.00431604 -0.00310553 0.99998586 0.80538189] [ 0. 0. 0. 1. ]] SLAMing on 140.612557844 meters Centerline goodness [0,1] 0.2450777315046988 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:0.81 [[ 0.99997995 -0.00437767 -0.00457575 1.63585777] [ 0.00439263 0.99998502 0.00326471 0.03821266] [ 0.00456139 -0.00328475 0.9999842 0.80503499] [ 0. 0. 0. 1. ]] SLAMing on 140.642557844 meters Centerline goodness [0,1] 0.2459581759072138 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:0.81 [[ 0.99997841 -0.00439282 -0.00488765 1.63640514] [ 0.00440993 0.99998416 0.00349645 0.03665177] [ 0.00487222 -0.00351793 0.99998194 0.80547809] [ 0. 0. 0. 1. ]] SLAMing on 140.672557844 meters Centerline goodness [0,1] 0.2409622858631696 Centerline is valid? [False, False] Translation: X:1.66, Y:0.03, Z:0.81 [[ 0.9999861 0.00417716 -0.00321612 1.65516602] [-0.00417104 0.99998948 0.0019083 0.03340192] [ 0.00322406 -0.00189486 0.99999301 0.80661888] [ 0. 0. 0. 1. ]] SLAMing on 140.702557844 meters Centerline goodness [0,1] 0.24682700919675815 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:0.81 [[ 0.99998616 0.00441507 -0.0028623 1.65356109] [-0.00440836 0.99998753 0.00234487 0.03205166] [ 0.00287262 -0.00233222 0.99999315 0.80785034] [ 0. 0. 0. 1. ]] SLAMing on 140.732557844 meters Centerline goodness [0,1] 0.2449858603437024 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:0.81 [[ 0.99998545 0.00450646 -0.0029649 1.65381916] [-0.00449865 0.99998641 0.00263614 0.03062029] [ 0.00297674 -0.00262277 0.99999213 0.80785371] [ 0. 0. 0. 1. ]] SLAMing on 140.762557844 meters Centerline goodness [0,1] 0.24565848970051773 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:0.81 [[ 0.99998414 0.00457157 -0.00328965 1.65479985] [-0.00456158 0.99998498 0.00303683 0.02829608] [ 0.00330349 -0.00302177 0.99998998 0.80762022] [ 0. 0. 0. 1. ]] SLAMing on 140.79255784400002 meters Centerline goodness [0,1] 0.24677861925145428 Centerline is valid? [False, False] Translation: X:1.66, Y:0.03, Z:0.81 [[ 0.99998221 0.00468638 -0.00369122 1.65579422] [-0.00467313 0.99998264 0.00358849 0.02530535] [ 0.00370797 -0.00357117 0.99998675 0.80768447] [ 0. 0. 0. 1. ]] SLAMing on 140.82255784400002 meters Centerline goodness [0,1] 0.24244857217255444 Centerline is valid? [False, False] Translation: X:1.68, Y:0.03, Z:0.81 [[ 0.9999899 -0.00337643 -0.00296609 1.67745484] [ 0.00338888 0.99998542 0.00420371 0.02616811] [ 0.00295185 -0.00421372 0.99998677 0.80785389] [ 0. 0. 0. 1. ]] SLAMing on 140.85255784400002 meters Centerline goodness [0,1] 0.2443536291111449 Centerline is valid? [False, False] Translation: X:1.68, Y:0.02, Z:0.81 [[ 0.9999917 -0.00303031 -0.00272322 1.67623984] [ 0.00304554 0.99997964 0.00560805 0.01916311] [ 0.00270617 -0.0056163 0.99998057 0.80907073] [ 0. 0. 0. 1. ]] SLAMing on 140.88255784400002 meters Centerline goodness [0,1] 0.24393589687758566 Centerline is valid? [False, False] Translation: X:1.68, Y:0.02, Z:0.81 [[ 0.9999922 -0.00276528 -0.00282024 1.67623597] [ 0.00278307 0.99997613 0.00632353 0.01584641] [ 0.00280268 -0.00633133 0.99997603 0.80962516] [ 0. 0. 0. 1. ]] SLAMing on 140.91255784400002 meters Centerline goodness [0,1] 0.24591528319243072 Centerline is valid? [False, False] Translation: X:1.68, Y:0.01, Z:0.81 [[ 0.99999212 -0.00256419 -0.00303048 1.67678254] [ 0.00258493 0.99997312 0.00686108 0.01323371] [ 0.00301281 -0.00686886 0.99997187 0.80970329] [ 0. 0. 0. 1. ]] SLAMing on 140.942557844 meters Centerline goodness [0,1] 0.24565279205581925 Centerline is valid? [False, False] Translation: X:1.68, Y:0.01, Z:0.81 [[ 0.99999149 -0.00245895 -0.00331273 1.67781229] [ 0.00248256 0.99997141 0.00714314 0.01168806] [ 0.00329507 -0.0071513 0.999969 0.80927707] [ 0. 0. 0. 1. ]] SLAMing on 140.972557844 meters Centerline goodness [0,1] 0.24762342839619744 Centerline is valid? [False, False] Translation: X:1.68, Y:0.01, Z:0.81 [[ 0.99999132 -0.00233286 -0.0034529 1.6787221 ] [ 0.00235777 0.99997109 0.00722854 0.011366 ] [ 0.00343594 -0.00723662 0.99996791 0.80826767] [ 0. 0. 0. 1. ]] SLAMing on 141.002557844 meters Centerline goodness [0,1] 0.24418983139118544 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:0.81 [[ 0.99995058 0.00972217 -0.00207818 1.69958654] [-0.00970404 0.99991624 0.00856443 0.00833066] [ 0.00216127 -0.00854384 0.99996117 0.80749656] [ 0. 0. 0. 1. ]] SLAMing on 141.032557844 meters Centerline goodness [0,1] 0.24653178561317157 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:0.81 [[ 9.99949903e-01 9.87819311e-03 -1.61652615e-03 1.69823336e+00] [-9.86385511e-03 9.99913942e-01 8.64944663e-03 8.29076589e-03] [ 1.70182794e-03 -8.63306814e-03 9.99961286e-01 8.07897942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062557844 meters Centerline goodness [0,1] 0.24108453501424743 Centerline is valid? [False, False] Translation: X:1.72, Y:0.01, Z:0.81 [[ 9.99995706e-01 2.56210326e-03 -1.42253203e-03 1.71647618e+00] [-2.54904373e-03 9.99955276e-01 9.10762184e-03 1.17973433e-02] [ 1.44580308e-03 -9.10395663e-03 9.99957513e-01 8.09424052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.092557844 meters Centerline goodness [0,1] 0.2453797207201338 Centerline is valid? [False, False] Translation: X:1.71, Y:0.01, Z:0.81 [[ 9.99999333e-01 -7.12537386e-04 -9.09466330e-04 1.71490802e+00] [ 7.17678450e-04 9.99983696e-01 5.66508307e-03 1.08583711e-02] [ 9.05414919e-04 -5.66573200e-03 9.99983540e-01 8.09616960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122557844 meters Centerline goodness [0,1] 0.2443837412587413 Centerline is valid? [False, False] Translation: X:1.72, Y:0.01, Z:0.81 [[ 9.99998358e-01 -7.35115407e-04 -1.65636407e-03 1.71691028e+00] [ 7.45396666e-04 9.99980408e-01 6.21508134e-03 7.40949901e-03] [ 1.65176282e-03 -6.21630579e-03 9.99979314e-01 8.09325242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.152557844 meters Centerline goodness [0,1] 0.2431240722954684 Centerline is valid? [False, False] Translation: X:1.72, Y:0.00, Z:0.81 [[ 9.99998271e-01 -6.45156229e-04 -1.74431088e-03 1.71711725e+00] [ 6.56892272e-04 9.99977097e-01 6.73600286e-03 4.80717728e-03] [ 1.73992515e-03 -6.73713704e-03 9.99975792e-01 8.09347015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182557844 meters Centerline goodness [0,1] 0.24835184090062856 Centerline is valid? [False, False] Translation: X:1.72, Y:0.00, Z:0.81 [[ 9.99998733e-01 -5.68063467e-04 -1.48715813e-03 1.71618770e+00] [ 5.78905056e-04 9.99973188e-01 7.29988743e-03 1.93924136e-03] [ 1.48297146e-03 -7.30073910e-03 9.99972250e-01 8.09994584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.212557844 meters Centerline goodness [0,1] 0.24395941941205734 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.00, Z:0.81 [[ 9.99986063e-01 4.86784665e-03 2.04402056e-03 1.73726381e+00] [-4.87507766e-03 9.99981824e-01 3.54768502e-03 -1.39722304e-04] [-2.02671382e-03 -3.55760034e-03 9.99991618e-01 8.08569762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.242557844 meters Centerline goodness [0,1] 0.2465810376140566 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.00, Z:0.81 [[ 9.99996689e-01 1.29302001e-03 2.22484664e-03 1.73609652e+00] [-1.29422078e-03 9.99999018e-01 5.38354093e-04 -3.94495560e-03] [-2.22414835e-03 -5.41231754e-04 9.99997380e-01 8.09533921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.272557844 meters Centerline goodness [0,1] 0.24048431624024524 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.01, Z:0.81 [[ 9.99997615e-01 1.36056829e-03 1.70874285e-03 1.73763407e+00] [-1.36218510e-03 9.99998625e-01 9.45389312e-04 -6.06635675e-03] [-1.70745424e-03 -9.47714680e-04 9.99998093e-01 8.09094852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.302557844 meters Centerline goodness [0,1] 0.2448352029104769 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.01, Z:0.81 [[ 9.99998151e-01 1.42747975e-03 1.28836715e-03 1.73904610e+00] [-1.42917675e-03 9.99998111e-01 1.31721079e-03 -8.07570214e-03] [-1.28648442e-03 -1.31904966e-03 9.99998303e-01 8.08471022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.332557844 meters Centerline goodness [0,1] 0.24705496667030924 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.01, Z:0.81 [[ 9.99998197e-01 1.55155311e-03 1.09494511e-03 1.73958242e+00] [-1.55344425e-03 9.99997300e-01 1.72842529e-03 -1.02098751e-02] [-1.09226040e-03 -1.73012311e-03 9.99997907e-01 8.08449087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.362557844 meters Centerline goodness [0,1] 0.24568521239500862 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.01, Z:0.81 [[ 9.99998135e-01 1.66671778e-03 9.75681698e-04 1.73960652e+00] [-1.66875801e-03 9.99996415e-01 2.09401946e-03 -1.21092760e-02] [-9.72188060e-04 -2.09564373e-03 9.99997332e-01 8.09012704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.392557844 meters Centerline goodness [0,1] 0.24804354479080137 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.01, Z:0.81 [[ 9.99997731e-01 1.90908660e-03 9.45494988e-04 1.73949320e+00] [-1.91158471e-03 9.99994666e-01 2.64830979e-03 -1.47091289e-02] [-9.40434092e-04 -2.65011117e-03 9.99996046e-01 8.09458676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.422557844 meters Centerline goodness [0,1] 0.24502920139116735 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.02, Z:0.81 [[ 9.99997453e-01 2.01346269e-03 1.01945426e-03 1.73943838e+00] [-2.01636568e-03 9.99993893e-01 2.85460822e-03 -1.55706718e-02] [-1.01370039e-03 -2.85665654e-03 9.99995406e-01 8.09216091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.452557844 meters Centerline goodness [0,1] 0.24324089367990964 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.02, Z:0.81 [[ 9.99997194e-01 2.12409317e-03 1.04856886e-03 1.73958758e+00] [-2.12728732e-03 9.99993072e-01 3.05454461e-03 -1.64027157e-02] [-1.04207346e-03 -3.05676665e-03 9.99994785e-01 8.08826027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.482557844 meters Centerline goodness [0,1] 0.24624545733175707 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.02, Z:0.81 [[ 9.99996898e-01 2.29337553e-03 9.71377273e-04 1.73993753e+00] [-2.29668134e-03 9.99991528e-01 3.41588036e-03 -1.80790124e-02] [-9.63535147e-04 -3.41810071e-03 9.99993694e-01 8.08610960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.512557844 meters Centerline goodness [0,1] 0.2421380249421834 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.01, Z:0.81 [[ 9.99988398e-01 -4.71760564e-03 9.74090490e-04 1.75944901e+00] [ 4.71345663e-03 9.99979993e-01 4.21861673e-03 -1.39035875e-02] [-9.93972771e-04 -4.21397645e-03 9.99990627e-01 8.09491675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54255784400002 meters Centerline goodness [0,1] 0.2434495205375199 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.01, Z:0.81 [[ 9.99988947e-01 -4.63286219e-03 8.01617690e-04 1.75996167e+00] [ 4.62930582e-03 9.99979680e-01 4.38288740e-03 -1.46435472e-02] [-8.21906714e-04 -4.37912803e-03 9.99990074e-01 8.09392344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57255784400002 meters Centerline goodness [0,1] 0.23990760329864858 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.02, Z:0.81 [[ 9.99989267e-01 4.60829940e-03 4.79425076e-04 1.77991939e+00] [-4.60978067e-03 9.99984458e-01 3.13585319e-03 -1.86791462e-02] [-4.64966674e-04 -3.13802957e-03 9.99994968e-01 8.10515693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60255784400002 meters Centerline goodness [0,1] 0.23999825772589678 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.02, Z:0.81 [[ 9.99988613e-01 4.76758265e-03 2.10243230e-04 1.78102611e+00] [-4.76830922e-03 9.99982142e-01 3.60256004e-03 -2.11681399e-02] [-1.93063973e-04 -3.60352152e-03 9.99993489e-01 8.09818707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63255784400002 meters Centerline goodness [0,1] 0.24367293964957815 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.02, Z:0.81 [[ 9.99987932e-01 4.91151407e-03 1.15611300e-04 1.78134576e+00] [-4.91193799e-03 9.99979905e-01 4.00768271e-03 -2.31011041e-02] [-9.59251873e-05 -4.00820222e-03 9.99991963e-01 8.09699014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66255784400002 meters Centerline goodness [0,1] 0.25380223994421924 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.02, Z:0.81 [[ 9.99987223e-01 5.05478011e-03 4.58555151e-05 1.78152988e+00] [-5.05493238e-03 9.99977648e-01 4.37623207e-03 -2.48179296e-02] [-2.37335993e-05 -4.37640796e-03 9.99990423e-01 8.09713939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.692557844 meters Centerline goodness [0,1] 0.24215275961286953 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.03, Z:0.81 [[ 9.99986725e-01 5.15258960e-03 -3.46331790e-06 1.78162912e+00] [-5.15251791e-03 9.99975934e-01 4.64564169e-03 -2.61511753e-02] [ 2.74003196e-05 -4.64556217e-03 9.99989209e-01 8.09773904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722557844 meters Centerline goodness [0,1] 0.24215275961286953 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.03, Z:0.81 [[ 9.99986725e-01 5.15258960e-03 -3.46331790e-06 1.78162912e+00] [-5.15251791e-03 9.99975934e-01 4.64564169e-03 -2.61511753e-02] [ 2.74003196e-05 -4.64556217e-03 9.99989209e-01 8.09773904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.752557844 meters Centerline goodness [0,1] 0.23857769747031488 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.02, Z:0.81 [[ 9.99997672e-01 -2.12140017e-03 3.93478425e-04 1.80139777e+00] [ 2.11927614e-03 9.99983592e-01 5.32214067e-03 -2.27207083e-02] [-4.04762359e-04 -5.32129439e-03 9.99985760e-01 8.10402460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782557844 meters Centerline goodness [0,1] 0.24285185427146616 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.03, Z:0.81 [[ 0.99998936 0.00412802 0.00205863 1.78281584] [-0.00413816 0.99997921 0.00494484 -0.03109873] [-0.00203817 -0.0049533 0.99998566 0.80890581] [ 0. 0. 0. 1. ]] SLAMing on 141.812557844 meters Centerline goodness [0,1] 0.24112343069157427 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.03, Z:0.81 [[ 9.99995490e-01 -2.63546166e-03 1.44017418e-03 1.80142020e+00] [ 2.62708473e-03 9.99979799e-01 5.78786713e-03 -2.69191896e-02] [-1.45539879e-03 -5.78405757e-03 9.99982213e-01 8.10401532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842557844 meters Centerline goodness [0,1] 0.25657374021633983 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.03, Z:0.81 [[ 0.9999891 0.00420372 0.00203143 1.78196273] [-0.00421411 0.99997793 0.00513588 -0.0341911 ] [-0.00200979 -0.00514439 0.99998475 0.80937394] [ 0. 0. 0. 1. ]] SLAMing on 141.872557844 meters Centerline goodness [0,1] 0.24515055946774955 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:0.81 [[ 0.99997431 0.00550711 0.00458801 1.82452109] [-0.00552525 0.99997694 0.00394951 -0.03204517] [-0.00456616 -0.00397476 0.99998168 0.80842402] [ 0. 0. 0. 1. ]] SLAMing on 141.902557844 meters Centerline goodness [0,1] 0.23942692423525358 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.03, Z:0.81 [[ 0.99997574 0.00558523 0.00416257 1.8252189 ] [-0.00560394 0.99997419 0.00449656 -0.0349066 ] [-0.00413735 -0.00451977 0.99998123 0.80909192] [ 0. 0. 0. 1. ]] SLAMing on 141.932557844 meters Centerline goodness [0,1] 0.2559367906408242 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.03, Z:0.81 [[ 0.99999009 -0.00390997 0.00212746 1.80487857] [ 0.00389737 0.99997503 0.00589458 -0.03429458] [-0.00215045 -0.00588623 0.99998036 0.80944627] [ 0. 0. 0. 1. ]] SLAMing on 141.962557844 meters Centerline goodness [0,1] 0.255659965034965 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.04, Z:0.81 [[ 0.9999908 -0.00385818 0.00187464 1.80556187] [ 0.00384644 0.99997323 0.00622412 -0.03610245] [-0.00189861 -0.00621685 0.99997887 0.80938054] [ 0. 0. 0. 1. ]] SLAMing on 141.992557844 meters Centerline goodness [0,1] 0.2395253505933117 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.04, Z:0.81 [[ 0.99998414 0.00389315 0.00406895 1.82584418] [-0.0039084 0.99998535 0.0037452 -0.03843487] [-0.00405431 -0.00376105 0.99998471 0.80834202] [ 0. 0. 0. 1. ]] SLAMing on 142.022557844 meters Centerline goodness [0,1] 0.25225049770622354 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:0.81 [[ 0.99997998 0.00411266 0.00480854 1.82296221] [-0.00413256 0.99998291 0.00413503 -0.03990119] [-0.00479145 -0.00415482 0.99997989 0.81026789] [ 0. 0. 0. 1. ]] SLAMing on 142.052557844 meters Centerline goodness [0,1] 0.2532280739699362 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:0.81 [[ 0.99997885 0.00413033 0.00502412 1.82217416] [-0.00415063 0.99998324 0.00403741 -0.03929952] [-0.00500736 -0.00405818 0.99997923 0.81077091] [ 0. 0. 0. 1. ]] SLAMing on 142.082557844 meters Centerline goodness [0,1] 0.2570960698689956 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:0.81 [[ 0.99997923 0.00407927 0.00498941 1.82245167] [-0.00409831 0.99998434 0.0038106 -0.03823757] [-0.00497379 -0.00383097 0.99998029 0.81041968] [ 0. 0. 0. 1. ]] SLAMing on 142.112557844 meters Centerline goodness [0,1] 0.23827896391026337 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:0.81 [[ 0.99998032 0.00402431 0.00481265 1.82334867] [-0.00404112 0.99998575 0.00348854 -0.03665235] [-0.00479854 -0.00350792 0.99998233 0.80960492] [ 0. 0. 0. 1. ]] SLAMing on 142.142557844 meters Centerline goodness [0,1] 0.24289148277280892 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:0.81 [[ 0.9999806 0.0039645 0.00480387 1.8237869 ] [-0.00397962 0.99998714 0.00314216 -0.03495987] [-0.00479136 -0.00316122 0.99998352 0.80882149] [ 0. 0. 0. 1. ]] SLAMing on 142.172557844 meters Centerline goodness [0,1] 0.2557382066191579 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:0.81 [[ 0.99998185 0.00389595 0.0045966 1.82478938] [-0.00390827 0.99998878 0.0026761 -0.03280558] [-0.00458613 -0.00269401 0.99998585 0.80789625] [ 0. 0. 0. 1. ]] SLAMing on 142.202557844 meters Centerline goodness [0,1] 0.23987834602359737 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.03, Z:0.81 [[ 0.99998304 0.00384486 0.00437493 1.82557109] [-0.00385609 0.99998929 0.00256108 -0.0324209 ] [-0.00436503 -0.00257791 0.99998715 0.80744296] [ 0. 0. 0. 1. ]] SLAMing on 142.232557844 meters Centerline goodness [0,1] 0.24262969119062194 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.03, Z:0.81 [[ 0.99998141 -0.00554931 0.00252703 1.80607277] [ 0.00553929 0.99997684 0.00395534 -0.03020741] [-0.00254892 -0.00394127 0.99998898 0.80720762] [ 0. 0. 0. 1. ]] SLAMing on 142.262557844 meters Centerline goodness [0,1] 0.2569595023764154 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.03, Z:0.81 [[ 0.99998172 -0.00553736 0.00242688 1.80631259] [ 0.00552756 0.99997662 0.00402474 -0.03057888] [-0.00244911 -0.00401125 0.99998896 0.80718602] [ 0. 0. 0. 1. ]] SLAMing on 142.29255784400002 meters Centerline goodness [0,1] 0.25586027271334455 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.03, Z:0.81 [[ 0.99998195 -0.00549912 0.00241886 1.80625437] [ 0.0054889 0.99997608 0.00420807 -0.03149652] [-0.00244194 -0.00419471 0.99998822 0.80732661] [ 0. 0. 0. 1. ]] SLAMing on 142.32255784400002 meters Centerline goodness [0,1] 0.2399172253238775 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.03, Z:0.81 [[ 9.99992304e-01 1.02885135e-03 3.78586553e-03 1.82819953e+00] [-1.03122140e-03 9.99999274e-01 6.24128294e-04 -3.33937869e-02] [-3.78522064e-03 -6.28027556e-04 9.99992639e-01 8.05784124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35255784400002 meters Centerline goodness [0,1] 0.2525546178378496 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.03, Z:0.81 [[ 9.99992852e-01 1.04614503e-03 3.63326790e-03 1.82863966e+00] [-1.04897786e-03 9.99999147e-01 7.77873432e-04 -3.43068254e-02] [-3.63245103e-03 -7.81679090e-04 9.99993097e-01 8.05685488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38255784400002 meters Centerline goodness [0,1] 0.24345390594467842 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.03, Z:0.81 [[ 9.99993301e-01 1.04845530e-03 3.50706190e-03 1.82900286e+00] [-1.05150580e-03 9.99999070e-01 8.68086093e-04 -3.48062558e-02] [-3.50614849e-03 -8.71767973e-04 9.99993473e-01 8.05561327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41255784400002 meters Centerline goodness [0,1] 0.2538864609831931 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.04, Z:0.81 [[ 9.99993576e-01 1.06307173e-03 3.42320671e-03 1.82926127e+00] [-1.06638043e-03 9.99998966e-01 9.64870752e-04 -3.51826728e-02] [-3.42217745e-03 -9.68514994e-04 9.99993675e-01 8.05456378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442557844 meters Centerline goodness [0,1] 0.23895936357772518 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.03, Z:0.81 [[ 0.99997945 -0.00547843 0.00333016 1.84831749] [ 0.00547075 0.99998236 0.00231105 -0.02984606] [-0.00334277 -0.00229279 0.99999178 0.80672958] [ 0. 0. 0. 1. ]] SLAMing on 142.472557844 meters Centerline goodness [0,1] 0.2553126499978182 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.03, Z:0.81 [[ 0.99997973 -0.00528454 0.00355097 1.84733389] [ 0.0052745 0.99998209 0.00282964 -0.03209535] [-0.00356586 -0.00281085 0.99998969 0.80751575] [ 0. 0. 0. 1. ]] SLAMing on 142.502557844 meters Centerline goodness [0,1] 0.23952969447305184 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:0.81 [[ 9.99980861e-01 2.37574459e-03 5.71265096e-03 1.86767372e+00] [-2.37619842e-03 9.99997174e-01 7.26573042e-05 -3.35379524e-02] [-5.71246220e-03 -8.62303057e-05 9.99983680e-01 8.06616121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.532557844 meters Centerline goodness [0,1] 0.25162180219401276 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:0.81 [[ 9.99980808e-01 2.43629831e-03 5.69626681e-03 1.86745004e+00] [-2.43790374e-03 9.99996991e-01 2.74911278e-04 -3.44954422e-02] [-5.69557990e-03 -2.88792952e-04 9.99983738e-01 8.07090026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562557844 meters Centerline goodness [0,1] 0.24443148184155383 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.04, Z:0.81 [[ 9.99982346e-01 2.45344225e-03 5.41180333e-03 1.86804843e+00] [-2.45777605e-03 9.99996664e-01 7.94300726e-04 -3.72414427e-02] [-5.40983650e-03 -8.07587704e-04 9.99985041e-01 8.07257441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.592557844 meters Centerline goodness [0,1] 0.2593553493689811 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:0.81 [[ 9.99995416e-01 -4.11501583e-04 2.99961467e-03 1.82305447e+00] [ 4.07486170e-04 9.99999020e-01 1.33913119e-03 -4.34947815e-02] [-3.00016279e-03 -1.33790275e-03 9.99994605e-01 8.09781416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622557844 meters Centerline goodness [0,1] 0.2419808666291503 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.04, Z:0.81 [[ 9.99982996e-01 2.56031820e-05 5.83151768e-03 1.86589265e+00] [-2.22481764e-05 9.99999834e-01 -5.75387035e-04 -4.30632858e-02] [-5.83153144e-03 5.75247510e-04 9.99982831e-01 8.08331833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.652557844 meters Centerline goodness [0,1] 0.25703308153164883 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99984335e-01 1.60932637e-04 5.59507146e-03 1.86627770e+00] [-1.60718390e-04 9.99999986e-01 -3.87416553e-05 -4.57424091e-02] [-5.59507761e-03 3.78418175e-05 9.99984347e-01 8.08705591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682557844 meters Centerline goodness [0,1] 0.2583661525598997 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.05, Z:0.81 [[ 9.99958878e-01 7.60241457e-03 4.94426181e-03 1.84644201e+00] [-7.60202288e-03 9.99971099e-01 -9.80101588e-05 -5.42114719e-02] [-4.94486403e-03 6.04197370e-05 9.99987772e-01 8.08312933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.712557844 meters Centerline goodness [0,1] 0.24573282243316208 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99989866e-01 6.39028208e-04 4.45629620e-03 1.86600509e+00] [-6.40824806e-04 9.99999714e-01 4.01743336e-04 -4.99197848e-02] [-4.45603820e-03 -4.04594970e-04 9.99989990e-01 8.09034035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.742557844 meters Centerline goodness [0,1] 0.2557493708235703 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99990298e-01 6.31033449e-04 4.35952039e-03 1.86634331e+00] [-6.32539857e-04 9.99999741e-01 3.44174200e-04 -4.97166313e-02] [-4.35930208e-03 -3.46928432e-04 9.99990438e-01 8.08925595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.772557844 meters Centerline goodness [0,1] 0.2563755162693123 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99990478e-01 6.25507188e-04 4.31882201e-03 1.86661134e+00] [-6.26624640e-04 9.99999771e-01 2.57391631e-04 -4.93152666e-02] [-4.31866002e-03 -2.60095461e-04 9.99990641e-01 8.08683041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.802557844 meters Centerline goodness [0,1] 0.2456766104626027 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99990265e-01 6.55113177e-04 4.36352450e-03 1.86670204e+00] [-6.55744384e-04 9.99999775e-01 1.43226256e-04 -4.86320434e-02] [-4.36342969e-03 -1.46086218e-04 9.99990470e-01 8.08324474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.832557844 meters Centerline goodness [0,1] 0.2561724363161333 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99988681e-01 7.90519393e-04 4.69182836e-03 1.86586912e+00] [-7.91262217e-04 9.99999675e-01 1.56468704e-04 -4.82632345e-02] [-4.69170314e-03 -1.60179400e-04 9.99988981e-01 8.08320381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862557844 meters Centerline goodness [0,1] 0.2557156245232439 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99989397e-01 7.32337972e-04 4.54648245e-03 1.86624662e+00] [-7.32680223e-04 9.99999729e-01 7.36132307e-05 -4.80565281e-02] [-4.54642730e-03 -7.69435679e-05 9.99989662e-01 8.08308022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.892557844 meters Centerline goodness [0,1] 0.2566075465136498 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99990551e-01 6.29910264e-04 4.30129661e-03 1.86701091e+00] [-6.29730972e-04 9.99999801e-01 -4.30373644e-05 -4.78480977e-02] [-4.30132286e-03 4.03282980e-05 9.99990748e-01 8.08044431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922557844 meters Centerline goodness [0,1] 0.24139863757868418 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99991052e-01 5.67309560e-04 4.19218080e-03 1.86734694e+00] [-5.66991222e-04 9.99999836e-01 -7.71243048e-05 -4.79130610e-02] [-4.19222386e-03 7.47466850e-05 9.99991210e-01 8.07953239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.952557844 meters Centerline goodness [0,1] 0.2560081554745792 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99990682e-01 5.59888177e-04 4.28037866e-03 1.86718518e+00] [-5.59623986e-04 9.99999841e-01 -6.29188187e-05 -4.80082802e-02] [-4.28041320e-03 6.05228299e-05 9.99990837e-01 8.07776097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982557844 meters Centerline goodness [0,1] 0.23993794708265104 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99988879e-01 5.28388381e-04 4.68649635e-03 1.86596161e+00] [-5.27993723e-04 9.99999857e-01 -8.54485841e-05 -4.77354951e-02] [-4.68654083e-03 8.29731932e-05 9.99989015e-01 8.08026639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.012557844 meters Centerline goodness [0,1] 0.2601331312199301 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:0.81 [[ 9.99997201e-01 -1.33016721e-03 1.95672243e-03 1.82069271e+00] [ 1.32803638e-03 9.99998524e-01 1.08987919e-03 -5.04046104e-02] [-1.95816926e-03 -1.08727755e-03 9.99997492e-01 8.10585771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04255784400002 meters Centerline goodness [0,1] 0.2590998470613939 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:0.81 [[ 9.99997379e-01 -1.45025608e-03 1.77188318e-03 1.82131000e+00] [ 1.44874264e-03 9.99998585e-01 8.55125641e-04 -4.94111124e-02] [-1.77312083e-03 -8.52556396e-04 9.99998065e-01 8.10240838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07255784400002 meters Centerline goodness [0,1] 0.2589721063035362 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:0.81 [[ 9.99997644e-01 -1.57976867e-03 1.48881160e-03 1.82241934e+00] [ 1.57893549e-03 9.99998596e-01 5.60636940e-04 -4.79128838e-02] [-1.48969518e-03 -5.58284882e-04 9.99998735e-01 8.09394361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10255784400002 meters Centerline goodness [0,1] 0.24659510744813418 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:0.81 [[ 9.99997610e-01 -1.62717680e-03 1.46002263e-03 1.82263971e+00] [ 1.62649769e-03 9.99998569e-01 4.66201963e-04 -4.74673600e-02] [-1.46077914e-03 -4.63826125e-04 9.99998825e-01 8.09080888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13255784400002 meters Centerline goodness [0,1] 0.25889068719653563 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:0.81 [[ 9.99997665e-01 -1.60526281e-03 1.44646533e-03 1.82245262e+00] [ 1.60454813e-03 9.99998590e-01 4.95112546e-04 -4.74734366e-02] [-1.44725808e-03 -4.92790467e-04 9.99998831e-01 8.09450148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16255784400002 meters Centerline goodness [0,1] 0.24912699273397676 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:0.81 [[ 9.99997678e-01 -1.65013389e-03 1.38624718e-03 1.82210548e+00] [ 1.64929540e-03 9.99998456e-01 6.05787449e-04 -4.81788248e-02] [-1.38724467e-03 -6.03499711e-04 9.99998856e-01 8.10325924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.192557844 meters Centerline goodness [0,1] 0.25721796180834655 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:0.81 [[ 9.99997829e-01 -1.65429282e-03 1.26665174e-03 1.82235074e+00] [ 1.65342750e-03 9.99998399e-01 6.83904203e-04 -4.86906910e-02] [-1.26778109e-03 -6.81808402e-04 9.99998964e-01 8.10414330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222557844 meters Centerline goodness [0,1] 0.24694948611414824 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:0.81 [[ 9.99997944e-01 -1.64146971e-03 1.19071169e-03 1.82268443e+00] [ 1.64057047e-03 9.99998369e-01 7.55791113e-04 -4.91156490e-02] [-1.19195035e-03 -7.53836112e-04 9.99999005e-01 8.10136446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.252557844 meters Centerline goodness [0,1] 0.24299205838162696 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99993601e-01 3.18974956e-05 3.57737632e-03 1.86588392e+00] [-3.04540773e-05 9.99999918e-01 -4.03538915e-04 -4.67464376e-02] [-3.57738889e-03 4.03427387e-04 9.99993520e-01 8.08406650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282557844 meters Centerline goodness [0,1] 0.241991650985227 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.81 [[ 9.99992863e-01 8.31319585e-05 3.77729645e-03 1.86522410e+00] [-8.18638786e-05 9.99999940e-01 -3.35864357e-04 -4.69241760e-02] [-3.77732414e-03 3.35552736e-04 9.99992810e-01 8.08660778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.312557844 meters Centerline goodness [0,1] 0.26025745049450666 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.05, Z:0.81 [[ 9.99957109e-01 8.14766442e-03 4.40411673e-03 1.84215703e+00] [-8.14721357e-03 9.99966804e-01 -1.20301131e-04 -5.09441583e-02] [-4.40495071e-03 8.44146920e-05 9.99990295e-01 8.09267289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342557844 meters Centerline goodness [0,1] 0.2445649815578217 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.05, Z:0.81 [[ 9.99958050e-01 8.10089913e-03 4.27476531e-03 1.84258101e+00] [-8.09921438e-03 9.99967116e-01 -4.11280244e-04 -4.94698459e-02] [-4.27795648e-03 3.76640750e-04 9.99990779e-01 8.09145560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.372557844 meters Centerline goodness [0,1] 0.24733053519779047 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.05, Z:0.81 [[ 9.99960499e-01 7.93573604e-03 4.00309757e-03 1.84350163e+00] [-7.93236299e-03 9.99968170e-01 -8.57786492e-04 -4.75897729e-02] [-4.00977732e-03 8.25998585e-04 9.99991620e-01 8.08772654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402557844 meters Centerline goodness [0,1] 0.25008179022443233 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.05, Z:0.81 [[ 9.99962193e-01 7.77829647e-03 3.88729964e-03 1.84397756e+00] [-7.77318238e-03 9.99968905e-01 -1.32897179e-03 -4.55332024e-02] [-3.89751590e-03 1.29870486e-03 9.99991561e-01 8.08472256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.432557844 meters Centerline goodness [0,1] 0.2449773169151005 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:0.81 [[ 9.99962496e-01 7.67329131e-03 4.01589793e-03 1.84365508e+00] [-7.66614751e-03 9.99969010e-01 -1.79126181e-03 -4.32149061e-02] [-4.02951835e-03 1.76040817e-03 9.99990332e-01 8.08473464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462557844 meters Centerline goodness [0,1] 0.25771561366548656 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:0.81 [[ 9.99970506e-01 1.59892871e-03 7.51198563e-03 1.82194072e+00] [-1.60411329e-03 9.99998479e-01 6.84199919e-04 -3.48620144e-02] [-7.51088022e-03 -6.96229815e-04 9.99971551e-01 8.07232093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.492557844 meters Centerline goodness [0,1] 0.2573772632311978 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:0.81 [[ 9.99969082e-01 1.47417278e-03 7.72412955e-03 1.82141296e+00] [-1.47596730e-03 9.99998885e-01 2.26630584e-04 -3.26042100e-02] [-7.72378684e-03 -2.38024139e-04 9.99970143e-01 8.07251842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.522557844 meters Centerline goodness [0,1] 0.24879583423736173 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:0.81 [[ 9.99970518e-01 1.28121369e-03 7.57115344e-03 1.82192363e+00] [-1.27867298e-03 9.99999125e-01 -3.40408413e-04 -2.99672286e-02] [-7.57158295e-03 3.30717347e-04 9.99971280e-01 8.07015703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.552557844 meters Centerline goodness [0,1] 0.2577130505032861 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:0.81 [[ 9.99973072e-01 1.06304157e-03 7.26118707e-03 1.82296094e+00] [-1.05627105e-03 9.99999004e-01 -9.36196984e-04 -2.72572494e-02] [-7.26217505e-03 9.28501993e-04 9.99973199e-01 8.06478957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.582557844 meters Centerline goodness [0,1] 0.2484965589110093 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.02, Z:0.81 [[ 9.99977316e-01 7.82250183e-04 6.68994156e-03 1.82474357e+00] [-7.68684318e-04 9.99997644e-01 -2.03013111e-03 -2.15207532e-02] [-6.69151387e-03 2.02494261e-03 9.99975561e-01 8.05663473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.612557844 meters Centerline goodness [0,1] 0.26031907371398266 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.02, Z:0.81 [[ 9.99991884e-01 -4.72125285e-04 4.00124856e-03 1.77900670e+00] [ 4.75241191e-04 9.99999585e-01 -7.77818571e-04 -2.24584788e-02] [-4.00087967e-03 7.79713816e-04 9.99991692e-01 8.08553978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.642557844 meters Centerline goodness [0,1] 0.26031907371398266 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.02, Z:0.81 [[ 9.99991884e-01 -4.72125285e-04 4.00124856e-03 1.77900670e+00] [ 4.75241191e-04 9.99999585e-01 -7.77818571e-04 -2.24584788e-02] [-4.00087967e-03 7.79713816e-04 9.99991692e-01 8.08553978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.672557844 meters Centerline goodness [0,1] 0.2423299628381298 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.02, Z:0.81 [[ 9.99978892e-01 1.50045624e-03 6.32178241e-03 1.82052909e+00] [-1.48914396e-03 9.99997282e-01 -1.79374091e-03 -1.62157436e-02] [-6.32445666e-03 1.78428900e-03 9.99978409e-01 8.07687764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.702557844 meters Centerline goodness [0,1] 0.24552746560006955 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:0.81 [[ 9.99975556e-01 1.30945196e-03 6.86825339e-03 1.81853971e+00] [-1.29337374e-03 9.99996414e-01 -2.34486663e-03 -1.33837809e-02] [-6.87129926e-03 2.33592609e-03 9.99973664e-01 8.08719751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.732557844 meters Centerline goodness [0,1] 0.24615418042760295 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:0.81 [[ 9.99975111e-01 1.22520658e-03 6.94814934e-03 1.81817674e+00] [-1.20788288e-03 9.99996153e-01 -2.49693009e-03 -1.26926163e-02] [-6.95118186e-03 2.48847540e-03 9.99972744e-01 8.08980345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.762557844 meters Centerline goodness [0,1] 0.24181327576902323 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:0.81 [[ 9.99976217e-01 1.14713044e-03 6.80068002e-03 1.81851447e+00] [-1.12983273e-03 9.99996119e-01 -2.54682281e-03 -1.25551287e-02] [-6.80357516e-03 2.53907861e-03 9.99973632e-01 8.08989975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79255784400002 meters Centerline goodness [0,1] 0.24759030913511637 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:0.81 [[ 9.99977385e-01 1.09957401e-03 6.63472865e-03 1.81905204e+00] [-1.08246570e-03 9.99996082e-01 -2.58164046e-03 -1.24603908e-02] [-6.63754136e-03 2.57440021e-03 9.99974657e-01 8.08724150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82255784400002 meters Centerline goodness [0,1] 0.24807738393499057 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:0.81 [[ 9.99978357e-01 1.07190823e-03 6.49121638e-03 1.81947482e+00] [-1.05504747e-03 9.99996063e-01 -2.60033964e-03 -1.24051918e-02] [-6.49397815e-03 2.59343482e-03 9.99975551e-01 8.08577460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85255784400002 meters Centerline goodness [0,1] 0.25762489044697634 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:0.81 [[ 9.99979056e-01 8.92241926e-04 6.41031964e-03 1.81988919e+00] [-8.72964638e-04 9.99995091e-01 -3.00939614e-03 -1.06688618e-02] [-6.41297327e-03 3.00373713e-03 9.99974925e-01 8.08192407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88255784400002 meters Centerline goodness [0,1] 0.2445742539599195 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:0.81 [[ 9.99979954e-01 7.23581227e-04 6.29025617e-03 1.82046381e+00] [-7.01830079e-04 9.99993770e-01 -3.45943114e-03 -8.63924045e-03] [-6.29272016e-03 3.45494710e-03 9.99974232e-01 8.07666321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91255784400002 meters Centerline goodness [0,1] 0.2495794096440822 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:0.81 [[ 9.99980458e-01 5.73844680e-04 6.22521707e-03 1.82092009e+00] [-5.49450139e-04 9.99992167e-01 -3.91966793e-03 -6.45953135e-03] [-6.22741759e-03 3.91617089e-03 9.99972941e-01 8.07107212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942557844 meters Centerline goodness [0,1] 0.24400710910746026 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.00, Z:0.81 [[ 9.99979970e-01 5.03804985e-04 6.30924462e-03 1.82069713e+00] [-4.76947103e-04 9.99990822e-01 -4.25769065e-03 -4.63077534e-03] [-6.31133176e-03 4.25459619e-03 9.99971032e-01 8.07062876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.972557844 meters Centerline goodness [0,1] 0.25956596230725304 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:0.81 [[ 9.99948926e-01 -7.48254515e-03 6.79388928e-03 1.79606730e+00] [ 7.49604024e-03 9.99969977e-01 -1.96307046e-03 -1.21883170e-03] [-6.77899655e-03 2.01389746e-03 9.99974994e-01 8.09705953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002557844 meters Centerline goodness [0,1] 0.2487327314260851 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.00, Z:0.81 [[ 9.99969344e-01 1.38497831e-03 7.70661712e-03 1.81426280e+00] [-1.35660981e-03 9.99992290e-01 -3.68506812e-03 -4.22816725e-03] [-7.71166144e-03 3.67450028e-03 9.99963513e-01 8.11197865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.032557844 meters Centerline goodness [0,1] 0.24864370220275833 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.00, Z:0.81 [[ 9.99970114e-01 1.34214671e-03 7.61374981e-03 1.81447137e+00] [-1.31384577e-03 9.99992214e-01 -3.72086860e-03 -4.19553831e-03] [-7.61868448e-03 3.71075411e-03 9.99964092e-01 8.11241470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062557844 meters Centerline goodness [0,1] 0.2576160963687151 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.00, Z:0.81 [[ 9.99970818e-01 1.28848225e-03 7.53012416e-03 1.81480585e+00] [-1.25949112e-03 9.99991782e-01 -3.85349471e-03 -3.59548600e-03] [-7.53502744e-03 3.84389813e-03 9.99964223e-01 8.10969027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.092557844 meters Centerline goodness [0,1] 0.2580019398642095 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.00, Z:0.81 [[ 9.99965215e-01 -6.21047818e-03 5.56764367e-03 1.79466548e+00] [ 6.21464992e-03 9.99980421e-01 -7.32295545e-04 -8.39277036e-04] [-5.56298675e-03 7.66871029e-04 9.99984232e-01 8.11455252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.122557844 meters Centerline goodness [0,1] 0.2469679057752091 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.00, Z:0.81 [[ 9.99965500e-01 -6.23262638e-03 5.49120361e-03 1.79489483e+00] [ 6.23700517e-03 9.99980245e-01 -7.80655693e-04 -6.45609228e-04] [-5.48622960e-03 8.14877426e-04 9.99984619e-01 8.11379119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.152557844 meters Centerline goodness [0,1] 0.24834603375619557 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:0.81 [[ 9.99966431e-01 -6.23509771e-03 5.31602032e-03 1.79514731e+00] [ 6.23920430e-03 9.99980250e-01 -7.56260993e-04 -8.67376246e-04] [-5.31119997e-03 7.89403343e-04 9.99985584e-01 8.11748748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182557844 meters Centerline goodness [0,1] 0.2457990977050324 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:0.81 [[ 9.99966956e-01 -6.21812466e-03 5.23666541e-03 1.79512843e+00] [ 6.22205136e-03 9.99980374e-01 -7.33890530e-04 -9.74402441e-04] [-5.23199921e-03 7.66449081e-04 9.99986019e-01 8.12156060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.212557844 meters Centerline goodness [0,1] 0.24571028874948087 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.00, Z:0.81 [[ 9.99966702e-01 -6.19277464e-03 5.31450106e-03 1.79469560e+00] [ 6.19685616e-03 9.99980517e-01 -7.51873510e-04 -7.23960961e-04] [-5.30974133e-03 7.84781673e-04 9.99985595e-01 8.12564847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.242557844 meters Centerline goodness [0,1] 0.2570357290781069 Centerline is valid? [False, False] Translation: X:1.79, Y:0.00, Z:0.81 [[ 9.99965614e-01 -6.16475719e-03 5.54668424e-03 1.79405708e+00] [ 6.16991259e-03 9.99980549e-01 -9.12825557e-04 4.56450964e-04] [-5.54094901e-03 9.47016726e-04 9.99984200e-01 8.12659184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.272557844 meters Centerline goodness [0,1] 0.24530079305963282 Centerline is valid? [False, False] Translation: X:1.79, Y:0.00, Z:0.81 [[ 9.99965146e-01 -6.26683390e-03 5.51673146e-03 1.79438264e+00] [ 6.27357063e-03 9.99979595e-01 -1.20468854e-03 1.73589486e-03] [-5.50906931e-03 1.23925615e-03 9.99984057e-01 8.12195708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.302557844 meters Centerline goodness [0,1] 0.24320732105893883 Centerline is valid? [False, False] Translation: X:1.80, Y:0.00, Z:0.81 [[ 9.99965268e-01 -6.40105885e-03 5.33751265e-03 1.79513369e+00] [ 6.40968883e-03 9.99978176e-01 -1.60131842e-03 3.43892396e-03] [-5.32714602e-03 1.63547460e-03 9.99984473e-01 8.11628130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.332557844 meters Centerline goodness [0,1] 0.24054512258737615 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:0.81 [[ 0.99996506 -0.00655379 0.00518815 1.79575793] [ 0.00656458 0.99997632 -0.0020659 0.00551704] [-0.00517448 0.00209988 0.99998441 0.81114851] [ 0. 0. 0. 1. ]] SLAMing on 144.362557844 meters Centerline goodness [0,1] 0.24337715962186246 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:0.81 [[ 9.99985106e-01 -3.11139100e-03 4.48401912e-03 1.79706815e+00] [ 3.10656344e-03 9.99994588e-01 1.08317812e-03 7.90348877e-03] [-4.48736505e-03 -1.06923210e-03 9.99989360e-01 8.11368912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.392557844 meters Centerline goodness [0,1] 0.2569967355821545 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:0.81 [[ 9.99984201e-01 -3.23681028e-03 4.59570055e-03 1.79650522e+00] [ 3.23360780e-03 9.99994524e-01 7.04101635e-04 9.88895237e-03] [-4.59795443e-03 -6.89229818e-04 9.99989192e-01 8.11822489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422557844 meters Centerline goodness [0,1] 0.2440944881889764 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:0.81 [[ 9.99983260e-01 -3.29743457e-03 4.75463875e-03 1.79583132e+00] [ 3.29510322e-03 9.99994447e-01 4.98081692e-04 1.11267177e-02] [-4.75625474e-03 -4.82406329e-04 9.99988573e-01 8.12216767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.452557844 meters Centerline goodness [0,1] 0.24500680154600218 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:0.81 [[ 9.99982596e-01 -3.35174098e-03 4.85518094e-03 1.79533673e+00] [ 3.35011573e-03 9.99994330e-01 3.42839031e-04 1.20270221e-02] [-4.85630252e-03 -3.26567646e-04 9.99988155e-01 8.12590564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482557844 meters Centerline goodness [0,1] 0.24054141851651323 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:0.81 [[ 9.99982324e-01 -3.49271630e-03 4.81161706e-03 1.79534199e+00] [ 3.49230249e-03 9.99993897e-01 9.44017236e-05 1.30713857e-02] [-4.81191741e-03 -7.75964328e-05 9.99988420e-01 8.12725235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.512557844 meters Centerline goodness [0,1] 0.24995049396026314 Centerline is valid? [False, False] Translation: X:1.78, Y:0.01, Z:0.81 [[ 9.99987171e-01 3.72041361e-03 3.43743178e-03 1.77630591e+00] [-3.71643973e-03 9.99992419e-01 -1.16172650e-03 8.11545300e-03] [-3.44172783e-03 1.14893659e-03 9.99993417e-01 8.11680032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54255784400002 meters Centerline goodness [0,1] 0.25794577914921757 Centerline is valid? [False, False] Translation: X:1.78, Y:0.01, Z:0.81 [[ 9.99988229e-01 3.61130218e-03 3.24031547e-03 1.77688272e+00] [-3.60716647e-03 9.99992673e-01 -1.28126916e-03 8.43656893e-03] [-3.24491878e-03 1.26956572e-03 9.99993929e-01 8.11482382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57255784400002 meters Centerline goodness [0,1] 0.24210435420849252 Centerline is valid? [False, False] Translation: X:1.82, Y:0.01, Z:0.81 [[ 0.99997411 0.00487974 0.00528753 1.8202564 ] [-0.00486742 0.99998542 -0.00234036 0.01209573] [-0.00529887 0.00231456 0.99998328 0.81016214] [ 0. 0. 0. 1. ]] SLAMing on 144.60255784400002 meters Centerline goodness [0,1] 0.24546227093456519 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:0.81 [[ 9.99982305e-01 -4.15314484e-03 4.25927834e-03 1.80107714e+00] [ 4.15737588e-03 9.99990873e-01 -9.84998759e-04 1.83212997e-02] [-4.25514863e-03 1.00268875e-03 9.99990444e-01 8.09092002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63255784400002 meters Centerline goodness [0,1] 0.2440177893480855 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:0.81 [[ 9.99982007e-01 -4.28700736e-03 4.19613661e-03 1.80139481e+00] [ 4.29269109e-03 9.99989880e-01 -1.34644846e-03 2.00130204e-02] [-4.19032191e-03 1.36443695e-03 9.99990290e-01 8.08757685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66255784400002 meters Centerline goodness [0,1] 0.23899615567362098 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:0.81 [[ 9.99981516e-01 -4.42170810e-03 4.17333449e-03 1.80172227e+00] [ 4.42888243e-03 9.99988728e-01 -1.71141473e-03 2.17170339e-02] [-4.16572007e-03 1.72986630e-03 9.99989827e-01 8.08234063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.692557844 meters Centerline goodness [0,1] 0.24250147029994118 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:0.81 [[ 0.99998074 -0.00457051 0.00419782 1.80177825] [ 0.00457941 0.99998728 -0.00211314 0.0235905 ] [-0.00418811 0.00213232 0.99998896 0.80799915] [ 0. 0. 0. 1. ]] SLAMing on 144.722557844 meters Centerline goodness [0,1] 0.24447308633344988 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:0.81 [[ 0.99997955 -0.00470113 0.00433513 1.80139851] [ 0.00471199 0.99998578 -0.00249851 0.02545036] [-0.00432332 0.00251889 0.99998748 0.80805589] [ 0. 0. 0. 1. ]] SLAMing on 144.752557844 meters Centerline goodness [0,1] 0.24399519178231888 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:0.81 [[ 0.99997756 -0.00482233 0.00464944 1.80029649] [ 0.00483616 0.9999839 -0.00296976 0.0279793 ] [-0.00463504 0.00299218 0.99998478 0.80858952] [ 0. 0. 0. 1. ]] SLAMing on 144.782557844 meters Centerline goodness [0,1] 0.243946770529049 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:0.81 [[ 0.99997342 0.00429252 0.00589356 1.8188294 ] [-0.00426696 0.99998147 -0.00434233 0.02631858] [-0.00591209 0.00431706 0.9999732 0.80941703] [ 0. 0. 0. 1. ]] SLAMing on 144.812557844 meters Centerline goodness [0,1] 0.24591265883169267 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:0.81 [[ 0.99997289 0.00421338 0.00603832 1.81835156] [-0.00418573 0.99998073 -0.00458443 0.02755108] [-0.00605752 0.00455903 0.99997126 0.80958752] [ 0. 0. 0. 1. ]] SLAMing on 144.842557844 meters Centerline goodness [0,1] 0.24352185424714612 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:0.81 [[ 0.99997267 0.0041561 0.00611427 1.81814895] [-0.00412692 0.99998008 -0.00477635 0.02851903] [-0.006134 0.00475099 0.9999699 0.80958896] [ 0. 0. 0. 1. ]] SLAMing on 144.872557844 meters Centerline goodness [0,1] 0.24620359647781154 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:0.81 [[ 0.99997105 -0.00499819 0.0057378 1.79898391] [ 0.0050185 0.99998117 -0.00353119 0.03337226] [-0.00572004 0.00355989 0.9999773 0.80858139] [ 0. 0. 0. 1. ]] SLAMing on 144.902557844 meters Centerline goodness [0,1] 0.24741883045560387 Centerline is valid? [False, False] Translation: X:1.80, Y:0.04, Z:0.81 [[ 0.99997017 -0.00510508 0.00579572 1.7989292 ] [ 0.00512854 0.99997869 -0.0040402 0.03597735] [-0.00577497 0.0040698 0.99997504 0.80839409] [ 0. 0. 0. 1. ]] SLAMing on 144.932557844 meters Centerline goodness [0,1] 0.2479213741965206 Centerline is valid? [False, False] Translation: X:1.80, Y:0.04, Z:0.81 [[ 0.9999707 -0.00523479 0.0055845 1.79964637] [ 0.00526009 0.99997592 -0.00452596 0.03833438] [-0.00556068 0.00455521 0.99997416 0.80797004] [ 0. 0. 0. 1. ]] SLAMing on 144.962557844 meters Centerline goodness [0,1] 0.24350487270201637 Centerline is valid? [False, False] Translation: X:1.82, Y:0.04, Z:0.81 [[ 0.99997437 0.00439239 0.00565445 1.82056214] [-0.00436109 0.99997516 -0.00553717 0.03810443] [-0.00567863 0.00551237 0.99996868 0.80818295] [ 0. 0. 0. 1. ]] SLAMing on 144.992557844 meters Centerline goodness [0,1] 0.2554704714531928 Centerline is valid? [False, False] Translation: X:1.82, Y:0.04, Z:0.81 [[ 0.99997428 0.00429781 0.00574113 1.82055821] [-0.00426354 0.9999731 -0.00596783 0.04036816] [-0.00576662 0.0059432 0.99996571 0.80778606] [ 0. 0. 0. 1. ]] SLAMing on 145.022557844 meters Centerline goodness [0,1] 0.2547180102541726 Centerline is valid? [False, False] Translation: X:1.82, Y:0.04, Z:0.81 [[ 0.99997384 0.00413799 0.00593309 1.82016317] [-0.00409851 0.99996948 -0.00665117 0.043651 ] [-0.00596043 0.00662668 0.99996028 0.80762002] [ 0. 0. 0. 1. ]] SLAMing on 145.052557844 meters Centerline goodness [0,1] 0.24421716896964418 Centerline is valid? [False, False] Translation: X:1.82, Y:0.04, Z:0.81 [[ 0.99997381 0.00404443 0.00600208 1.81997874] [-0.00400307 0.99996826 -0.00688821 0.04466083] [-0.00602975 0.006864 0.99995826 0.80762444] [ 0. 0. 0. 1. ]] SLAMing on 145.082557844 meters Centerline goodness [0,1] 0.24368612581987759 Centerline is valid? [False, False] Translation: X:1.82, Y:0.05, Z:0.81 [[ 0.99997338 0.00399279 0.0061071 1.81967522] [-0.00394967 0.9999673 -0.00705696 0.04551099] [-0.00613508 0.00703266 0.99995645 0.80768203] [ 0. 0. 0. 1. ]] SLAMing on 145.112557844 meters Centerline goodness [0,1] 0.24514830921009934 Centerline is valid? [False, False] Translation: X:1.82, Y:0.05, Z:0.81 [[ 0.99997223 0.00394828 0.00632092 1.81894386] [-0.00390219 0.99996583 -0.00728815 0.04686205] [-0.00634948 0.00726328 0.99995346 0.80799736] [ 0. 0. 0. 1. ]] SLAMing on 145.142557844 meters Centerline goodness [0,1] 0.2543625181997957 Centerline is valid? [False, False] Translation: X:1.82, Y:0.05, Z:0.81 [[ 0.99996929 0.00392629 0.00678278 1.81758753] [-0.00387499 0.99996392 -0.00755989 0.04851848] [-0.00681221 0.00753338 0.99994842 0.80834803] [ 0. 0. 0. 1. ]] SLAMing on 145.172557844 meters Centerline goodness [0,1] 0.2547288776796973 Centerline is valid? [False, False] Translation: X:1.82, Y:0.05, Z:0.81 [[ 0.9999674 0.00386832 0.00708722 1.81664941] [-0.00381191 0.99996108 -0.00795667 0.05070407] [-0.00711773 0.0079294 0.99994323 0.80866254] [ 0. 0. 0. 1. ]] SLAMing on 145.202557844 meters Centerline goodness [0,1] 0.24390878349085232 Centerline is valid? [False, False] Translation: X:1.82, Y:0.06, Z:0.81 [[ 0.99996476 0.00408674 0.00733267 1.81619573] [-0.0040232 0.99995441 -0.0086593 0.05562854] [-0.00736772 0.00862949 0.99993562 0.8081483 ] [ 0. 0. 0. 1. ]] SLAMing on 145.232557844 meters Centerline goodness [0,1] 0.24472592080235167 Centerline is valid? [False, False] Translation: X:1.82, Y:0.06, Z:0.81 [[ 0.99996559 0.00399479 0.0072708 1.81676592] [-0.00392734 0.99994934 -0.00926755 0.05897218] [-0.00730745 0.00923867 0.99993062 0.80729966] [ 0. 0. 0. 1. ]] SLAMing on 145.262557844 meters Centerline goodness [0,1] 0.24869378921365015 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 0.99997965 -0.00292834 0.00566864 1.79510207] [ 0.00296266 0.99997727 -0.00605622 0.06231162] [-0.00565078 0.00607289 0.99996559 0.80814588] [ 0. 0. 0. 1. ]] SLAMing on 145.29255784400002 meters Centerline goodness [0,1] 0.24748592336174224 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 0.99997926 -0.00312411 0.005632 1.79532762] [ 0.00316118 0.99997332 -0.00658538 0.06469248] [-0.00561127 0.00660304 0.99996246 0.80784817] [ 0. 0. 0. 1. ]] SLAMing on 145.32255784400002 meters Centerline goodness [0,1] 0.2443579597338783 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.9999821 -0.00361773 0.00476533 1.7976943 ] [ 0.00365269 0.99996633 -0.00734889 0.0670489 ] [-0.00473858 0.00736616 0.99996164 0.80734467] [ 0. 0. 0. 1. ]] SLAMing on 145.35255784400002 meters Centerline goodness [0,1] 0.24938784433756012 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998241 -0.00366207 0.00466609 1.79779872] [ 0.00369666 0.9999656 -0.00742515 0.06742281] [-0.00463873 0.00744227 0.99996155 0.80752779] [ 0. 0. 0. 1. ]] SLAMing on 145.38255784400002 meters Centerline goodness [0,1] 0.24362563201180476 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998144 -0.00362817 0.00489527 1.79689206] [ 0.00366417 0.99996617 -0.0073647 0.06753412] [-0.00486838 0.0073825 0.9999609 0.80807381] [ 0. 0. 0. 1. ]] SLAMing on 145.41255784400002 meters Centerline goodness [0,1] 0.24311956310574823 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998009 -0.00358819 0.00519026 1.79570926] [ 0.00362599 0.99996684 -0.00729128 0.0675909 ] [-0.00516392 0.00730995 0.99995995 0.80880055] [ 0. 0. 0. 1. ]] SLAMing on 145.442557844 meters Centerline goodness [0,1] 0.24446695256772188 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99997911 -0.0036127 0.00535929 1.79519919] [ 0.00365179 0.99996667 -0.00730167 0.06761893] [-0.00533273 0.00732109 0.99995898 0.8089234 ] [ 0. 0. 0. 1. ]] SLAMing on 145.472557844 meters Centerline goodness [0,1] 0.24744398520774413 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.9999791 -0.0036563 0.00533224 1.79522823] [ 0.00369531 0.99996636 -0.007323 0.06751359] [-0.00530528 0.00734255 0.99995897 0.80899712] [ 0. 0. 0. 1. ]] SLAMing on 145.502557844 meters Centerline goodness [0,1] 0.2398134617037737 Centerline is valid? [False, False] Translation: X:1.82, Y:0.07, Z:0.81 [[ 0.99992336 -0.01117301 0.00533213 1.81506216] [ 0.01120793 0.99991564 -0.00656452 0.07362768] [-0.00525833 0.00662378 0.99996424 0.81030967] [ 0. 0. 0. 1. ]] SLAMing on 145.532557844 meters Centerline goodness [0,1] 0.2398134617037737 Centerline is valid? [False, False] Translation: X:1.82, Y:0.07, Z:0.81 [[ 0.99992336 -0.01117301 0.00533213 1.81506216] [ 0.01120793 0.99991564 -0.00656452 0.07362768] [-0.00525833 0.00662378 0.99996424 0.81030967] [ 0. 0. 0. 1. ]] SLAMing on 145.562557844 meters Centerline goodness [0,1] 0.2406914322525231 Centerline is valid? [False, False] Translation: X:1.82, Y:0.07, Z:0.81 [[ 0.9999544 -0.00819653 0.00489948 1.81570566] [ 0.00821255 0.99996097 -0.00325824 0.07329105] [-0.00487258 0.00329833 0.99998269 0.8108907 ] [ 0. 0. 0. 1. ]] SLAMing on 145.592557844 meters Centerline goodness [0,1] 0.24343768228660312 Centerline is valid? [False, False] Translation: X:1.82, Y:0.07, Z:0.81 [[ 0.99995498 -0.00819703 0.0047803 1.81591376] [ 0.00821261 0.99996099 -0.00324985 0.07336269] [-0.00475347 0.00328896 0.99998329 0.81103512] [ 0. 0. 0. 1. ]] SLAMing on 145.622557844 meters Centerline goodness [0,1] 0.24345139674527894 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99991390e-01 -8.53021045e-04 4.06095573e-03 1.79748749e+00] [ 8.70406878e-04 9.99990456e-01 -4.28137640e-03 6.74633048e-02] [-4.05726487e-03 4.28487422e-03 9.99982589e-01 8.09792474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.652557844 meters Centerline goodness [0,1] 0.24225534672715487 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99994566e-01 -1.38405017e-03 2.99201313e-03 1.80044400e+00] [ 1.39700826e-03 9.99989636e-01 -4.33314812e-03 6.59423576e-02] [-2.98598482e-03 4.33730444e-03 9.99986136e-01 8.09323435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682557844 meters Centerline goodness [0,1] 0.24209886987267093 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99994690e-01 -1.27089366e-03 3.00078526e-03 1.80027625e+00] [ 1.28254965e-03 9.99991629e-01 -3.88558820e-03 6.38617375e-02] [-2.99582197e-03 3.88941622e-03 9.99987949e-01 8.09556077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.712557844 meters Centerline goodness [0,1] 0.24717721602245069 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99994656e-01 -1.18275998e-03 3.04785638e-03 1.79998904e+00] [ 1.19334768e-03 9.99993252e-01 -3.47434594e-03 6.18667006e-02] [-3.04372650e-03 3.47796453e-03 9.99989320e-01 8.09858658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.742557844 meters Centerline goodness [0,1] 0.24211304991079585 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99995774e-01 -1.17149636e-03 2.66068349e-03 1.80085381e+00] [ 1.17977740e-03 9.99994459e-01 -3.11294089e-03 5.97272545e-02] [-2.65702195e-03 3.11606675e-03 9.99991615e-01 8.10039515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.772557844 meters Centerline goodness [0,1] 0.24221166833689167 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99996884e-01 -1.10241959e-03 2.23986665e-03 1.80191249e+00] [ 1.10838795e-03 9.99995834e-01 -2.66511614e-03 5.71936895e-02] [-2.23691925e-03 2.66759048e-03 9.99993940e-01 8.10037128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.802557844 meters Centerline goodness [0,1] 0.2428537321207649 Centerline is valid? [False, False] Translation: X:1.80, Y:0.05, Z:0.81 [[ 9.99998152e-01 -9.46213249e-04 1.67332706e-03 1.80333318e+00] [ 9.49434066e-04 9.99997696e-01 -1.92505281e-03 5.31984199e-02] [-1.67150170e-03 1.92663797e-03 9.99996747e-01 8.10064143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.832557844 meters Centerline goodness [0,1] 0.2416739130434783 Centerline is valid? [False, False] Translation: X:1.80, Y:0.05, Z:0.81 [[ 9.99998330e-01 -8.49555132e-04 1.61803766e-03 1.80351904e+00] [ 8.52343308e-04 9.99998152e-01 -1.72327442e-03 5.23734418e-02] [-1.61657065e-03 1.72465067e-03 9.99997206e-01 8.09945625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.862557844 meters Centerline goodness [0,1] 0.2417487097193911 Centerline is valid? [False, False] Translation: X:1.80, Y:0.05, Z:0.81 [[ 9.99998348e-01 -7.77541517e-04 1.64300601e-03 1.80357017e+00] [ 7.80259185e-04 9.99998328e-01 -1.65408970e-03 5.22559643e-02] [-1.64171714e-03 1.65536894e-03 9.99997282e-01 8.09766971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.892557844 meters Centerline goodness [0,1] 0.23868589396075035 Centerline is valid? [False, False] Translation: X:1.80, Y:0.05, Z:0.81 [[ 9.99998297e-01 -7.15847779e-04 1.70104989e-03 1.80360101e+00] [ 7.18609168e-04 9.99998424e-01 -1.62328772e-03 5.22852793e-02] [-1.69988518e-03 1.62450735e-03 9.99997236e-01 8.09462528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.922557844 meters Centerline goodness [0,1] 0.2398339527504293 Centerline is valid? [False, False] Translation: X:1.80, Y:0.05, Z:0.81 [[ 9.99998219e-01 -7.04898574e-04 1.75083126e-03 1.80361411e+00] [ 7.07800994e-04 9.99998376e-01 -1.65767198e-03 5.23490352e-02] [-1.74965993e-03 1.65890827e-03 9.99997093e-01 8.09270146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.952557844 meters Centerline goodness [0,1] 0.23627053182025304 Centerline is valid? [False, False] Translation: X:1.80, Y:0.05, Z:0.81 [[ 9.99998285e-01 -6.95510011e-04 1.71661450e-03 1.80363749e+00] [ 6.98406386e-04 9.99998333e-01 -1.68723765e-03 5.23189251e-02] [-1.71543814e-03 1.68843365e-03 9.99997103e-01 8.09426005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.982557844 meters Centerline goodness [0,1] 0.24112011470530725 Centerline is valid? [False, False] Translation: X:1.80, Y:0.05, Z:0.81 [[ 9.99997803e-01 -4.45687163e-04 2.04829268e-03 1.80263041e+00] [ 4.49355645e-04 9.99998295e-01 -1.79088380e-03 5.35347314e-02] [-2.04749101e-03 1.79180028e-03 9.99996299e-01 8.09703746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.012557844 meters Centerline goodness [0,1] 0.24276544940743494 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99997586e-01 -4.74980879e-04 2.14524662e-03 1.80252063e+00] [ 4.79453483e-04 9.99997712e-01 -2.08485722e-03 5.52149467e-02] [-2.14425145e-03 2.08588073e-03 9.99995526e-01 8.09425790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04255784400002 meters Centerline goodness [0,1] 0.2437308198158702 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99996982e-01 -5.17420289e-04 2.40152741e-03 1.80187044e+00] [ 5.23207344e-04 9.99996960e-01 -2.40973691e-03 5.70955398e-02] [-2.40027326e-03 2.41098613e-03 9.99994213e-01 8.09437629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07255784400002 meters Centerline goodness [0,1] 0.24132553606237817 Centerline is valid? [False, False] Translation: X:1.82, Y:0.06, Z:0.81 [[ 9.99975624e-01 -5.43453297e-03 4.38369177e-03 1.82408115e+00] [ 5.43152218e-03 9.99985005e-01 6.98429303e-04 6.03287419e-02] [-4.38742168e-03 -6.74602159e-04 9.99990148e-01 8.08577308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10255784400002 meters Centerline goodness [0,1] 0.24133004286270943 Centerline is valid? [False, False] Translation: X:1.82, Y:0.06, Z:0.81 [[ 9.99973580e-01 -5.43270073e-03 4.82954654e-03 1.82261145e+00] [ 5.43020632e-03 9.99985116e-01 5.29450734e-04 6.14026276e-02] [-4.83235101e-03 -5.03211312e-04 9.99988198e-01 8.09179745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13255784400002 meters Centerline goodness [0,1] 0.2458735122925897 Centerline is valid? [False, False] Translation: X:1.82, Y:0.06, Z:0.81 [[ 9.99970731e-01 -5.49511437e-03 5.32352269e-03 1.82106031e+00] [ 5.49445246e-03 9.99984896e-01 1.38954582e-04 6.35443374e-02] [-5.32420585e-03 -1.09700673e-04 9.99985820e-01 8.09722839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16255784400002 meters Centerline goodness [0,1] 0.2439787164730155 Centerline is valid? [False, False] Translation: X:1.82, Y:0.07, Z:0.81 [[ 9.99970880e-01 -5.57619017e-03 5.21017055e-03 1.82154323e+00] [ 5.57721627e-03 9.99984431e-01 -1.82433176e-04 6.51739072e-02] [-5.20907215e-03 2.11486112e-04 9.99986410e-01 8.09284733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.192557844 meters Centerline goodness [0,1] 0.24335227519194902 Centerline is valid? [False, False] Translation: X:1.82, Y:0.07, Z:0.81 [[ 9.99969926e-01 -5.70968806e-03 5.24841364e-03 1.82170797e+00] [ 5.71309806e-03 9.99983479e-01 -6.34958060e-04 6.73803820e-02] [-5.24470152e-03 6.64923666e-04 9.99986025e-01 8.08774265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222557844 meters Centerline goodness [0,1] 0.2469643599448662 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99985945e-01 2.15618612e-03 4.84353506e-03 1.80079770e+00] [-2.14868557e-03 9.99996485e-01 -1.55324010e-03 6.44744457e-02] [-4.84686711e-03 1.54281104e-03 9.99987064e-01 8.08151326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.252557844 meters Centerline goodness [0,1] 0.24453755703755709 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998677 0.00203125 0.00472552 1.80112918] [-0.00202024 0.99999524 -0.00233239 0.06865508] [-0.00473023 0.00232281 0.99998611 0.80793303] [ 0. 0. 0. 1. ]] SLAMing on 146.282557844 meters Centerline goodness [0,1] 0.24450180019954015 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998824 0.00192163 0.00445366 1.8019256 ] [-0.00190949 0.99999445 -0.00273027 0.07066658] [-0.00445888 0.00272173 0.99998636 0.8076609 ] [ 0. 0. 0. 1. ]] SLAMing on 146.312557844 meters Centerline goodness [0,1] 0.2445225976976343 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99988869e-01 1.80617341e-03 4.35888386e-03 1.80220280e+00] [-1.79286249e-03 9.99993724e-01 -3.05572081e-03 7.22214518e-02] [-4.36437566e-03 3.04787192e-03 9.99985831e-01 8.07535787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342557844 meters Centerline goodness [0,1] 0.2463083413905247 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99988802e-01 1.75553373e-03 4.39478412e-03 1.80198394e+00] [-1.74159541e-03 9.99993448e-01 -3.17337918e-03 7.27759216e-02] [-4.40032630e-03 3.16568971e-03 9.99985308e-01 8.07731084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.372557844 meters Centerline goodness [0,1] 0.24478757742301316 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99988462e-01 1.71770105e-03 4.48623682e-03 1.80151603e+00] [-1.70324300e-03 9.99993350e-01 -3.22459078e-03 7.30450997e-02] [-4.49174587e-03 3.21691242e-03 9.99984738e-01 8.08186334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402557844 meters Centerline goodness [0,1] 0.2419007419333783 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99987492e-01 1.72060571e-03 4.69638111e-03 1.80077050e+00] [-1.70558850e-03 9.99993426e-01 -3.19974706e-03 7.30667858e-02] [-4.70185574e-03 3.19169694e-03 9.99983853e-01 8.08577215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.432557844 meters Centerline goodness [0,1] 0.2418600642144504 Centerline is valid? [False, False] Translation: X:1.82, Y:0.08, Z:0.81 [[ 9.99969831e-01 -5.47050321e-03 5.51451177e-03 1.81914262e+00] [ 5.48038899e-03 9.99983400e-01 -1.77916896e-03 7.89949937e-02] [-5.50468728e-03 1.80933696e-03 9.99983212e-01 8.10691910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462557844 meters Centerline goodness [0,1] 0.24648764393558675 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998616 0.00256931 0.00459208 1.7982672 ] [-0.00255933 0.99999435 -0.0021772 0.07370169] [-0.00459765 0.00216541 0.99998709 0.81076526] [ 0. 0. 0. 1. ]] SLAMing on 146.492557844 meters Centerline goodness [0,1] 0.24219733472240312 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998685 0.00253246 0.00445965 1.79874059] [-0.00252253 0.99999433 -0.00223123 0.0738944 ] [-0.00446527 0.00221995 0.99998757 0.81048574] [ 0. 0. 0. 1. ]] SLAMing on 146.522557844 meters Centerline goodness [0,1] 0.24300653594771238 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998851 0.00254116 0.00406593 1.80024857] [-0.00253238 0.99999445 -0.00216288 0.07355559] [-0.0040714 0.00215255 0.9999894 0.80948019] [ 0. 0. 0. 1. ]] SLAMing on 146.552557844 meters Centerline goodness [0,1] 0.24333573094444083 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998943 0.00253993 0.0038331 1.80118031] [-0.00253163 0.99999444 -0.00216997 0.07359556] [-0.00383859 0.00216025 0.9999903 0.80881056] [ 0. 0. 0. 1. ]] SLAMing on 146.582557844 meters Centerline goodness [0,1] 0.24439535443231775 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998996 0.00251863 0.00370657 1.80167586] [-0.00251029 0.99999431 -0.00225273 0.07397296] [-0.00371223 0.0022434 0.99999059 0.80847528] [ 0. 0. 0. 1. ]] SLAMing on 146.612557844 meters Centerline goodness [0,1] 0.2445478781521787 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99999037 0.00249261 0.00361218 1.80173257] [-0.00248424 0.99999422 -0.00232111 0.07427944] [-0.00361795 0.00231211 0.99999078 0.80883166] [ 0. 0. 0. 1. ]] SLAMing on 146.642557844 meters Centerline goodness [0,1] 0.24297092618384397 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998978 0.00251286 0.00375837 1.8009268 ] [-0.00250436 0.9999943 -0.00226533 0.07398902] [-0.00376404 0.0022559 0.99999037 0.8096323 ] [ 0. 0. 0. 1. ]] SLAMing on 146.672557844 meters Centerline goodness [0,1] 0.243800217155266 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998869 0.00255693 0.00400989 1.79989396] [-0.00254821 0.99999438 -0.0021787 0.07367313] [-0.00401544 0.00216846 0.99998959 0.81034772] [ 0. 0. 0. 1. ]] SLAMing on 146.702557844 meters Centerline goodness [0,1] 0.24310483258468418 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 0.99998667 0.00269946 0.00440244 1.79862599] [-0.00269109 0.99999456 -0.00190665 0.0727821 ] [-0.00440756 0.00189478 0.99998849 0.81086676] [ 0. 0. 0. 1. ]] SLAMing on 146.732557844 meters Centerline goodness [0,1] 0.2416269504472155 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99986668e-01 2.75807950e-03 4.36545154e-03 1.79896456e+00] [-2.75067681e-03 9.99994770e-01 -1.70084117e-03 7.16894784e-02] [-4.37011976e-03 1.68881055e-03 9.99989025e-01 8.10425892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.762557844 meters Centerline goodness [0,1] 0.2446682982256796 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99987964e-01 2.78552393e-03 4.03880738e-03 1.79999866e+00] [-2.77966955e-03 9.99995079e-01 -1.45442262e-03 7.01673991e-02] [-4.04283883e-03 1.44317857e-03 9.99990786e-01 8.10016689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79255784400002 meters Centerline goodness [0,1] 0.24221287355319654 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99990537e-01 2.71107783e-03 3.40223344e-03 1.80185745e+00] [-2.70685272e-03 9.99995560e-01 -1.24585490e-03 6.84582204e-02] [-3.40559595e-03 1.23663376e-03 9.99993436e-01 8.09511459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82255784400002 meters Centerline goodness [0,1] 0.2422288287500547 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99993025e-01 2.64332967e-03 2.63888400e-03 1.80404768e+00] [-2.64061789e-03 9.99995983e-01 -1.03058042e-03 6.68623581e-02] [-2.64159756e-03 1.02360494e-03 9.99995987e-01 8.08933085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85255784400002 meters Centerline goodness [0,1] 0.24351227229778727 Centerline is valid? [False, False] Translation: X:1.81, Y:0.07, Z:0.81 [[ 9.99993980e-01 2.68941080e-03 2.19257037e-03 1.80528043e+00] [-2.68786456e-03 9.99996137e-01 -7.07859381e-04 6.51372498e-02] [-2.19446563e-03 7.01961787e-04 9.99997346e-01 8.08695228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88255784400002 meters Centerline goodness [0,1] 0.2426598150954169 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99992369e-01 2.85649008e-03 2.66497917e-03 1.80352348e+00] [-2.85657993e-03 9.99995920e-01 2.99103425e-05 6.16141812e-02] [-2.66488285e-03 -3.75228402e-05 9.99996448e-01 8.09920065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91255784400002 meters Centerline goodness [0,1] 0.24523398772738192 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99990919e-01 2.97814481e-03 3.04842824e-03 1.80193145e+00] [-2.97945455e-03 9.99995471e-01 4.25191423e-04 5.97330342e-02] [-3.04714815e-03 -4.34270215e-04 9.99995263e-01 8.11163064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942557844 meters Centerline goodness [0,1] 0.24770702738370176 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99989963e-01 3.04412470e-03 3.28755846e-03 1.80092603e+00] [-3.04636690e-03 9.99995130e-01 6.77232990e-04 5.84146049e-02] [-3.28548087e-03 -6.87241302e-04 9.99994367e-01 8.11982034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.972557844 meters Centerline goodness [0,1] 0.24678163180556467 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99990077e-01 3.05899088e-03 3.23854880e-03 1.80095579e+00] [-3.06148725e-03 9.99995020e-01 7.66153635e-04 5.78397368e-02] [-3.23618901e-03 -7.76060809e-04 9.99994462e-01 8.12174321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002557844 meters Centerline goodness [0,1] 0.2425208807896735 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99990504e-01 3.03726949e-03 3.12514568e-03 1.80149770e+00] [-3.03959671e-03 9.99995106e-01 7.40195960e-04 5.77976051e-02] [-3.12288222e-03 -7.49688114e-04 9.99994843e-01 8.11694182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.032557844 meters Centerline goodness [0,1] 0.24467852137351087 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99990929e-01 3.01569065e-03 3.00783896e-03 1.80204737e+00] [-3.01780186e-03 9.99995203e-01 6.97613370e-04 5.78900786e-02] [-3.00572074e-03 -7.06684104e-04 9.99995233e-01 8.11246228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062557844 meters Centerline goodness [0,1] 0.24558692292623463 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99987656e-01 3.16948697e-03 3.82638337e-03 1.79956452e+00] [-3.17172693e-03 9.99994802e-01 5.79473022e-04 5.91679603e-02] [-3.82452685e-03 -5.91602112e-04 9.99992511e-01 8.12062572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.092557844 meters Centerline goodness [0,1] 0.256656950623507 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99985221e-01 3.22375424e-03 4.37780709e-03 1.79772527e+00] [-3.22576949e-03 9.99994694e-01 4.53350734e-04 6.02442622e-02] [-4.37632238e-03 -4.67465830e-04 9.99990315e-01 8.12934579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122557844 meters Centerline goodness [0,1] 0.24778644691855878 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99983782e-01 3.22385340e-03 4.69500969e-03 1.79681003e+00] [-3.22510911e-03 9.99994766e-01 2.59909853e-04 6.14783844e-02] [-4.69414720e-03 -2.75047556e-04 9.99988945e-01 8.13116391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.152557844 meters Centerline goodness [0,1] 0.2435477616441898 Centerline is valid? [False, False] Translation: X:1.84, Y:0.07, Z:0.81 [[ 9.99967862e-01 4.97355160e-03 6.28791314e-03 1.84141404e+00] [-4.97070775e-03 9.99987537e-01 -4.67819352e-04 6.60268080e-02] [-6.29016149e-03 4.36548939e-04 9.99980121e-01 8.11715767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182557844 meters Centerline goodness [0,1] 0.24486152238286008 Centerline is valid? [False, False] Translation: X:1.82, Y:0.07, Z:0.81 [[ 9.99988746e-01 -3.97244892e-03 2.59359553e-03 1.82238736e+00] [ 3.97180396e-03 9.99992080e-01 2.53776235e-04 6.81944241e-02] [-2.59458310e-03 -2.43472127e-04 9.99996604e-01 8.11743089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.212557844 meters Centerline goodness [0,1] 0.2482834507042253 Centerline is valid? [False, False] Translation: X:1.80, Y:0.06, Z:0.81 [[ 9.99992805e-01 3.57736941e-03 1.26207739e-03 1.80294226e+00] [-3.57637709e-03 9.99993295e-01 -7.87641687e-04 6.31794097e-02] [-1.26488662e-03 7.83122355e-04 9.99998893e-01 8.10998567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.242557844 meters Centerline goodness [0,1] 0.24459365190094173 Centerline is valid? [False, False] Translation: X:1.82, Y:0.07, Z:0.81 [[ 9.99995814e-01 -2.86520736e-03 4.04201545e-04 1.82104734e+00] [ 2.86498274e-03 9.99995742e-01 5.55201520e-04 6.91500689e-02] [-4.05790591e-04 -5.54041165e-04 9.99999764e-01 8.13185286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.272557844 meters Centerline goodness [0,1] 0.2421259417567947 Centerline is valid? [False, False] Translation: X:1.82, Y:0.07, Z:0.81 [[ 9.99995862e-01 -2.83144917e-03 5.08474729e-04 1.82086592e+00] [ 2.83123052e-03 9.99995900e-01 4.30227724e-04 7.03096498e-02] [-5.09690812e-04 -4.28786335e-04 9.99999778e-01 8.13017613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302557844 meters Centerline goodness [0,1] 0.24440331010452965 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99988525e-01 4.68772454e-03 9.87778808e-04 1.80132677e+00] [-4.68716676e-03 9.99988855e-01 -5.66236604e-04 6.65363956e-02] [-9.90422160e-04 5.61600222e-04 9.99999352e-01 8.11207218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.332557844 meters Centerline goodness [0,1] 0.2422688253830273 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99989056e-01 4.59280126e-03 8.91218635e-04 1.80167836e+00] [-4.59208179e-03 9.99989130e-01 -8.07661997e-04 6.75553035e-02] [-8.94918378e-04 8.03560609e-04 9.99999277e-01 8.11021960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.362557844 meters Centerline goodness [0,1] 0.24379113646336115 Centerline is valid? [False, False] Translation: X:1.78, Y:0.07, Z:0.81 [[ 9.99990612e-01 -4.04748518e-03 -1.54691975e-03 1.78372883e+00] [ 4.04858129e-03 9.99991555e-01 7.06103236e-04 7.19898446e-02] [ 1.54404874e-03 -7.12359438e-04 9.99998554e-01 8.09784021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.392557844 meters Centerline goodness [0,1] 0.242997548328307 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99985534e-01 5.16139577e-03 -1.51395207e-03 1.80452944e+00] [-5.16157104e-03 9.99986673e-01 -1.11880055e-04 6.99087470e-02] [ 1.51335443e-03 1.19692808e-04 9.99998848e-01 8.09855064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.422557844 meters Centerline goodness [0,1] 0.24520829686679502 Centerline is valid? [False, False] Translation: X:1.79, Y:0.07, Z:0.81 [[ 9.99989446e-01 -3.73219900e-03 -2.67923729e-03 1.78607436e+00] [ 3.73617911e-03 9.99991922e-01 1.48207166e-03 7.34050554e-02] [ 2.67368426e-03 -1.49206613e-03 9.99995313e-01 8.08087452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.452557844 meters Centerline goodness [0,1] 0.24520829686679502 Centerline is valid? [False, False] Translation: X:1.79, Y:0.07, Z:0.81 [[ 9.99989446e-01 -3.73219900e-03 -2.67923729e-03 1.78607436e+00] [ 3.73617911e-03 9.99991922e-01 1.48207166e-03 7.34050554e-02] [ 2.67368426e-03 -1.49206613e-03 9.99995313e-01 8.08087452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482557844 meters Centerline goodness [0,1] 0.24489751178340458 Centerline is valid? [False, False] Translation: X:1.79, Y:0.07, Z:0.81 [[ 9.99990099e-01 -3.65224415e-03 -2.54212152e-03 1.78556970e+00] [ 3.65653188e-03 9.99991897e-01 1.68407524e-03 7.23975371e-02] [ 2.53595026e-03 -1.69335391e-03 9.99995351e-01 8.08420121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.512557844 meters Centerline goodness [0,1] 0.2423749050255074 Centerline is valid? [False, False] Translation: X:1.80, Y:0.07, Z:0.81 [[ 9.99986885e-01 5.10171309e-03 -4.50703798e-04 1.80388889e+00] [-5.10164061e-03 9.99986973e-01 1.61833386e-04 7.02328560e-02] [ 4.51523554e-04 -1.59531934e-04 9.99999885e-01 8.09726464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54255784400002 meters Centerline goodness [0,1] 0.24450970937623284 Centerline is valid? [False, False] Translation: X:1.78, Y:0.07, Z:0.81 [[ 9.99993165e-01 -3.69376275e-03 1.63613688e-04 1.78286983e+00] [ 3.69352097e-03 9.99992122e-01 1.45416481e-03 7.43274299e-02] [-1.68983739e-04 -1.45355056e-03 9.99998929e-01 8.08929339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57255784400002 meters Centerline goodness [0,1] 0.2402412753123654 Centerline is valid? [False, False] Translation: X:1.83, Y:0.08, Z:0.81 [[ 9.99995692e-01 -1.78762908e-03 2.32830632e-03 1.82664896e+00] [ 1.78523690e-03 9.99997877e-01 1.02910383e-03 7.92621573e-02] [-2.33014104e-03 -1.02494282e-03 9.99996760e-01 8.08023362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60255784400002 meters Centerline goodness [0,1] 0.24294005544005548 Centerline is valid? [False, False] Translation: X:1.83, Y:0.08, Z:0.81 [[ 9.99995768e-01 -1.85528022e-03 2.24078519e-03 1.82723589e+00] [ 1.85365470e-03 9.99998018e-01 7.27281610e-04 8.07422293e-02] [-2.24213006e-03 -7.23124890e-04 9.99997225e-01 8.07307957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63255784400002 meters Centerline goodness [0,1] 0.24339799272853935 Centerline is valid? [False, False] Translation: X:1.83, Y:0.08, Z:0.81 [[ 9.99995969e-01 -1.91693494e-03 2.09456713e-03 1.82812813e+00] [ 1.91604188e-03 9.99998073e-01 4.28296501e-04 8.22450501e-02] [-2.09538411e-03 -4.24281496e-04 9.99997715e-01 8.06267874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66255784400002 meters Centerline goodness [0,1] 0.24077347589893938 Centerline is valid? [False, False] Translation: X:1.83, Y:0.08, Z:0.80 [[ 9.99999624e-01 -3.40932770e-04 7.97071237e-04 1.83358376e+00] [ 3.39643008e-04 9.99998634e-01 1.61770278e-03 8.33424936e-02] [-7.97621676e-04 -1.61743145e-03 9.99998374e-01 8.03342784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.692557844 meters Centerline goodness [0,1] 0.24318058715198787 Centerline is valid? [False, False] Translation: X:1.83, Y:0.08, Z:0.80 [[ 9.99999677e-01 -4.20925717e-04 6.84113923e-04 1.83395880e+00] [ 4.19952436e-04 9.99998900e-01 1.42220886e-03 8.42456363e-02] [-6.84711815e-04 -1.42192111e-03 9.99998755e-01 8.03127310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722557844 meters Centerline goodness [0,1] 0.2425266554739114 Centerline is valid? [False, False] Translation: X:1.83, Y:0.08, Z:0.80 [[ 9.99999718e-01 -5.00602267e-04 5.59612310e-04 1.83440309e+00] [ 4.99885131e-04 9.99999055e-01 1.28089317e-03 8.47702815e-02] [-5.60252999e-04 -1.28061306e-03 9.99999023e-01 8.02863137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.752557844 meters Centerline goodness [0,1] 0.24395537613404528 Centerline is valid? [False, False] Translation: X:1.84, Y:0.09, Z:0.80 [[ 9.99999666e-01 -8.14823512e-04 6.45561478e-05 1.83571971e+00] [ 8.14757994e-04 9.99999160e-01 1.00850387e-03 8.53235977e-02] [-6.53778462e-05 -1.00845094e-03 9.99999489e-01 8.02715813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782557844 meters Centerline goodness [0,1] 0.24264515012546506 Centerline is valid? [False, False] Translation: X:1.84, Y:0.09, Z:0.80 [[ 9.99999600e-01 -8.76385347e-04 1.78243506e-04 1.83512984e+00] [ 8.76201455e-04 9.99999087e-01 1.02916422e-03 8.51512563e-02] [-1.79145288e-04 -1.02900763e-03 9.99999455e-01 8.03286876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812557844 meters Centerline goodness [0,1] 0.24369419279150106 Centerline is valid? [False, False] Translation: X:1.83, Y:0.08, Z:0.80 [[ 9.99999471e-01 -9.18001693e-04 4.64006549e-04 1.83400672e+00] [ 9.17487515e-04 9.99998966e-01 1.10712893e-03 8.46562216e-02] [-4.65022415e-04 -1.10670262e-03 9.99999279e-01 8.04038357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842557844 meters Centerline goodness [0,1] 0.24658618642390662 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.80 [[ 9.99990341e-01 4.22205917e-03 1.22126897e-03 1.80995102e+00] [-4.21985264e-03 9.99989470e-01 -1.80372376e-03 8.16866503e-02] [-1.22887154e-03 1.79855277e-03 9.99997628e-01 8.04585174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872557844 meters Centerline goodness [0,1] 0.2417437822213594 Centerline is valid? [False, False] Translation: X:1.83, Y:0.09, Z:0.81 [[ 9.99991236e-01 -3.59600897e-03 2.14404381e-03 1.83028512e+00] [ 3.59833211e-03 9.99992942e-01 -1.08065894e-03 8.65146678e-02] [-2.14014262e-03 1.08836445e-03 9.99997118e-01 8.05377610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902557844 meters Centerline goodness [0,1] 0.24640129904327224 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.81 [[ 9.99997101e-01 1.40528004e-03 1.95528466e-03 1.80740316e+00] [-1.39746703e-03 9.99991058e-01 -3.99148830e-03 8.21059253e-02] [-1.96087633e-03 3.98874429e-03 9.99990122e-01 8.05582201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.932557844 meters Centerline goodness [0,1] 0.2454990386296102 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.81 [[ 9.99997018e-01 1.44620724e-03 1.96806403e-03 1.80731806e+00] [-1.43871947e-03 9.99991742e-01 -3.80074762e-03 8.11436929e-02] [-1.97354445e-03 3.79790479e-03 9.99990840e-01 8.05665357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962557844 meters Centerline goodness [0,1] 0.24440901546256666 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.81 [[ 9.99996817e-01 1.49996759e-03 2.02883705e-03 1.80699766e+00] [-1.49252672e-03 9.99992173e-01 -3.66411239e-03 8.05770743e-02] [-2.03431722e-03 3.66107263e-03 9.99991229e-01 8.05967325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.992557844 meters Centerline goodness [0,1] 0.243976749713693 Centerline is valid? [False, False] Translation: X:1.83, Y:0.09, Z:0.81 [[ 0.99997985 -0.00565736 0.00288124 1.82546632] [ 0.00566414 0.99998119 -0.00235309 0.08599613] [-0.00286788 0.00236937 0.99999308 0.80766894] [ 0. 0. 0. 1. ]] SLAMing on 148.022557844 meters Centerline goodness [0,1] 0.2434526005164146 Centerline is valid? [False, False] Translation: X:1.83, Y:0.09, Z:0.81 [[ 0.99997935 -0.00570854 0.00295084 1.82522271] [ 0.00571608 0.9999804 -0.00255349 0.08708592] [-0.00293621 0.00257031 0.99999239 0.80777513] [ 0. 0. 0. 1. ]] SLAMing on 148.052557844 meters Centerline goodness [0,1] 0.24470008933045728 Centerline is valid? [False, False] Translation: X:1.83, Y:0.09, Z:0.81 [[ 0.99998109 -0.00544727 0.0028548 1.8257818 ] [ 0.00545543 0.99998103 -0.00285921 0.08978674] [-0.00283917 0.00287473 0.99999184 0.80704594] [ 0. 0. 0. 1. ]] SLAMing on 148.082557844 meters Centerline goodness [0,1] 0.24302358256057754 Centerline is valid? [False, False] Translation: X:1.83, Y:0.09, Z:0.81 [[ 0.99998092 -0.00539993 0.00299961 1.82545956] [ 0.00540942 0.99998037 -0.00316219 0.09171216] [-0.00298248 0.00317835 0.9999905 0.80689544] [ 0. 0. 0. 1. ]] SLAMing on 148.112557844 meters Centerline goodness [0,1] 0.2443747295543055 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:0.81 [[ 9.99992841e-01 -2.38447639e-03 2.93807591e-03 1.82488445e+00] [ 2.38550814e-03 9.99997094e-01 -3.47710736e-04 8.95359692e-02] [-2.93723826e-03 3.54717050e-04 9.99995623e-01 8.07663602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142557844 meters Centerline goodness [0,1] 0.24548673719884428 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:0.81 [[ 9.99991856e-01 -2.47300430e-03 3.18934398e-03 1.82419573e+00] [ 2.47538203e-03 9.99996661e-01 -7.41789444e-04 9.14836829e-02] [-3.18749889e-03 7.49678248e-04 9.99994639e-01 8.07700082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.172557844 meters Centerline goodness [0,1] 0.2489336104123373 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:0.81 [[ 9.99991366e-01 -2.58241507e-03 3.25575986e-03 1.82397844e+00] [ 2.58593213e-03 9.99996077e-01 -1.07651240e-03 9.29851587e-02] [-3.25296709e-03 1.08492228e-03 9.99994121e-01 8.07748075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.202557844 meters Centerline goodness [0,1] 0.24705805296596295 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:0.81 [[ 9.99991329e-01 -2.68150177e-03 3.18628411e-03 1.82421911e+00] [ 2.68578611e-03 9.99995494e-01 -1.34110310e-03 9.41648110e-02] [-3.18267358e-03 1.34964915e-03 9.99994025e-01 8.07561297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.232557844 meters Centerline goodness [0,1] 0.24545948885263735 Centerline is valid? [False, False] Translation: X:1.83, Y:0.10, Z:0.81 [[ 9.99991651e-01 -2.84038237e-03 2.93779898e-03 1.82558222e+00] [ 2.84537435e-03 9.99994513e-01 -1.69644575e-03 9.60146752e-02] [-2.93296431e-03 1.70479073e-03 9.99994246e-01 8.06132071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262557844 meters Centerline goodness [0,1] 0.24177272629054214 Centerline is valid? [False, False] Translation: X:1.83, Y:0.10, Z:0.81 [[ 9.99991760e-01 -2.90952237e-03 2.83116482e-03 1.82599661e+00] [ 2.91442630e-03 9.99994257e-01 -1.72954531e-03 9.60933068e-02] [-2.82611641e-03 1.73778228e-03 9.99994497e-01 8.05802603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29255784400002 meters Centerline goodness [0,1] 0.24802465059975787 Centerline is valid? [False, False] Translation: X:1.78, Y:0.09, Z:0.81 [[ 9.99987242e-01 -5.04302900e-03 2.88443061e-04 1.78084990e+00] [ 5.04349158e-03 9.99985959e-01 -1.62612242e-03 9.15689967e-02] [-2.80238429e-04 1.62755644e-03 9.99998636e-01 8.07447741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32255784400002 meters Centerline goodness [0,1] 0.24433106575963714 Centerline is valid? [False, False] Translation: X:1.80, Y:0.09, Z:0.81 [[ 9.99999987e-01 7.49614817e-05 -1.45043560e-04 1.79977098e+00] [-7.56644510e-05 9.99988223e-01 -4.85268808e-03 8.54922294e-02] [ 1.44678088e-04 4.85269899e-03 9.99988215e-01 8.08463362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35255784400002 meters Centerline goodness [0,1] 0.24665588389578597 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99999839e-01 -3.90140508e-05 -5.66487731e-04 1.80069252e+00] [ 3.64313079e-05 9.99989609e-01 -4.55851600e-03 8.35085290e-02] [ 5.66659691e-04 4.55849462e-03 9.99989449e-01 8.08699107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38255784400002 meters Centerline goodness [0,1] 0.247122515900438 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99999659e-01 -1.51443451e-05 -8.26097154e-04 1.80125402e+00] [ 1.16788764e-05 9.99991202e-01 -4.19483278e-03 8.15492665e-02] [ 8.26153414e-04 4.19482170e-03 9.99990860e-01 8.08825576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41255784400002 meters Centerline goodness [0,1] 0.24246438498957612 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:0.81 [[ 9.99969484e-01 -7.80832075e-03 -2.48303376e-04 1.82185553e+00] [ 7.80745270e-03 9.99963999e-01 -3.32333167e-03 8.51885884e-02] [ 2.74244076e-04 3.32129164e-03 9.99994447e-01 8.09254577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442557844 meters Centerline goodness [0,1] 0.24287179039682372 Centerline is valid? [False, False] Translation: X:1.82, Y:0.08, Z:0.81 [[ 9.99970248e-01 -7.71226103e-03 -1.55886689e-04 1.82157148e+00] [ 7.71174065e-03 9.99965456e-01 -3.10099789e-03 8.42274823e-02] [ 1.79797009e-04 3.09970347e-03 9.99995180e-01 8.09349318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.472557844 meters Centerline goodness [0,1] 0.2453495760390877 Centerline is valid? [False, False] Translation: X:1.82, Y:0.08, Z:0.81 [[ 9.99971008e-01 -7.61425030e-03 7.79675773e-05 1.82087476e+00] [ 7.61444411e-03 9.99966820e-01 -2.89468368e-03 8.34235901e-02] [-5.59241443e-05 2.89519343e-03 9.99995807e-01 8.09593613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502557844 meters Centerline goodness [0,1] 0.24181708264962432 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:0.81 [[ 9.99995624e-01 1.27722471e-03 2.66847804e-03 1.83963195e+00] [-1.26693339e-03 9.99991768e-01 -3.85476305e-03 7.94183459e-02] [-2.67337947e-03 3.85136540e-03 9.99989010e-01 8.10677820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.532557844 meters Centerline goodness [0,1] 0.24516876530255338 Centerline is valid? [False, False] Translation: X:1.82, Y:0.08, Z:0.81 [[ 9.99968407e-01 -7.79300762e-03 1.56684059e-03 1.81949782e+00] [ 7.79715726e-03 9.99966064e-01 -2.65998458e-03 8.25495836e-02] [-1.54605813e-03 2.67211744e-03 9.99995235e-01 8.10682643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562557844 meters Centerline goodness [0,1] 0.24682263951800876 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99999723e-01 -1.16318531e-04 7.34705020e-04 1.80043330e+00] [ 1.19070355e-04 9.99992975e-01 -3.74654885e-03 7.73220517e-02] [-7.34264065e-04 3.74663529e-03 9.99992712e-01 8.09263086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.592557844 meters Centerline goodness [0,1] 0.24248941023134574 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99999970e-01 -2.45417096e-04 5.51983441e-06 1.80328929e+00] [ 2.45436851e-04 9.99992284e-01 -3.92067421e-03 7.72708594e-02] [-4.55759134e-06 3.92067545e-03 9.99992314e-01 8.07457485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622557844 meters Centerline goodness [0,1] 0.24510468855973921 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99999979e-01 -2.03733681e-04 -3.19554470e-05 1.80362155e+00] [ 2.03609307e-04 9.99992587e-01 -3.84497763e-03 7.68893522e-02] [ 3.27385616e-05 3.84497104e-03 9.99992608e-01 8.06991540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.652557844 meters Centerline goodness [0,1] 0.24703605129445927 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99999981e-01 -1.14474873e-04 1.58891916e-04 1.80308615e+00] [ 1.15062527e-04 9.99993136e-01 -3.70338362e-03 7.64548910e-02] [-1.58466881e-04 3.70340183e-03 9.99993130e-01 8.07084244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682557844 meters Centerline goodness [0,1] 0.24486918037054717 Centerline is valid? [False, False] Translation: X:1.82, Y:0.08, Z:0.81 [[ 9.99972607e-01 -7.21562286e-03 1.64950840e-03 1.82165229e+00] [ 7.21933312e-03 9.99971399e-01 -2.25452957e-03 8.11781009e-02] [-1.63319339e-03 2.26637616e-03 9.99996098e-01 8.08216757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.712557844 meters Centerline goodness [0,1] 0.248196944121709 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99997409e-01 1.24278833e-03 1.90703006e-03 1.79933779e+00] [-1.23875375e-03 9.99996995e-01 -2.11536010e-03 7.54152595e-02] [-1.90965328e-03 2.11299228e-03 9.99995944e-01 8.08301756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.742557844 meters Centerline goodness [0,1] 0.2435001519163158 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99997440e-01 1.27952743e-03 1.86617184e-03 1.79952795e+00] [-1.27539278e-03 9.99996733e-01 -2.21508892e-03 7.60409109e-02] [-1.86900001e-03 2.21270315e-03 9.99995805e-01 8.08144856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.772557844 meters Centerline goodness [0,1] 0.2459494773519164 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99996899e-01 1.63308538e-03 1.88029399e-03 1.79958946e+00] [-1.62886166e-03 9.99996152e-01 -2.24565073e-03 7.70305869e-02] [-1.88395409e-03 2.24258102e-03 9.99995711e-01 8.07863854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.802557844 meters Centerline goodness [0,1] 0.243835912977595 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 9.99996623e-01 1.76001671e-03 1.91219567e-03 1.79965391e+00] [-1.75541536e-03 9.99995566e-01 -2.40533777e-03 7.84124146e-02] [-1.91642063e-03 2.40197294e-03 9.99995279e-01 8.07527815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.832557844 meters Centerline goodness [0,1] 0.24542933887878005 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 0.99999594 0.00191213 0.00211446 1.79923281] [-0.00190665 0.99999483 -0.00259012 0.08002246] [-0.0021194 0.00258607 0.99999441 0.80726345] [ 0. 0. 0. 1. ]] SLAMing on 148.862557844 meters Centerline goodness [0,1] 0.24584717607973416 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 0.99999505 0.00196749 0.00245479 1.7983485 ] [-0.00196061 0.99999415 -0.00280325 0.08147342] [-0.00246029 0.00279842 0.99999306 0.80726977] [ 0. 0. 0. 1. ]] SLAMing on 148.892557844 meters Centerline goodness [0,1] 0.247771642245315 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 0.99999311 0.00200381 0.00312468 1.79624875] [-0.00199406 0.99999314 -0.00312197 0.08334251] [-0.00313091 0.00311572 0.99999024 0.80802077] [ 0. 0. 0. 1. ]] SLAMing on 148.922557844 meters Centerline goodness [0,1] 0.24698284297736317 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 0.99999273 0.00196523 0.00326807 1.79570879] [-0.00195453 0.99999273 -0.00327479 0.08416033] [-0.00327448 0.00326837 0.9999893 0.80828918] [ 0. 0. 0. 1. ]] SLAMing on 148.952557844 meters Centerline goodness [0,1] 0.2486337013085984 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.81 [[ 0.99999289 0.00191343 0.00324825 1.79583465] [-0.0019023 0.99999232 -0.0034265 0.08497537] [-0.00325478 0.0034203 0.99998885 0.80811258] [ 0. 0. 0. 1. ]] SLAMing on 148.982557844 meters Centerline goodness [0,1] 0.24685664563845988 Centerline is valid? [False, False] Translation: X:1.80, Y:0.09, Z:0.81 [[ 9.99994887e-01 1.76933771e-03 2.66370357e-03 1.79802383e+00] [-1.75933290e-03 9.99991407e-01 -3.75364777e-03 8.65720545e-02] [-2.67032215e-03 3.74894223e-03 9.99989407e-01 8.06736688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.012557844 meters Centerline goodness [0,1] 0.24767761350255135 Centerline is valid? [False, False] Translation: X:1.80, Y:0.09, Z:0.81 [[ 9.99995706e-01 1.68174705e-03 2.39979126e-03 1.79883462e+00] [-1.67236250e-03 9.99990968e-01 -3.90723407e-03 8.71140722e-02] [-2.40634056e-03 3.90320397e-03 9.99989487e-01 8.06440178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04255784400002 meters Centerline goodness [0,1] 0.24714504484795452 Centerline is valid? [False, False] Translation: X:1.80, Y:0.09, Z:0.81 [[ 9.99995981e-01 1.61550436e-03 2.32983264e-03 1.79894686e+00] [-1.60609549e-03 9.99990571e-01 -4.03466494e-03 8.76225081e-02] [-2.33632869e-03 4.03090679e-03 9.99989147e-01 8.06542207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07255784400002 meters Centerline goodness [0,1] 0.2437838888768875 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:0.81 [[ 0.99997868 -0.00581395 0.00297358 1.81800737] [ 0.00582323 0.99997818 -0.003119 0.09385912] [-0.00295538 0.00313625 0.99999071 0.80804692] [ 0. 0. 0. 1. ]] SLAMing on 149.10255784400002 meters Centerline goodness [0,1] 0.2447751536719508 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:0.81 [[ 0.99997806 -0.00584772 0.0031112 1.81731909] [ 0.00585776 0.99997764 -0.00322713 0.09455265] [-0.00309225 0.00324529 0.99998995 0.80859367] [ 0. 0. 0. 1. ]] SLAMing on 149.13255784400002 meters Centerline goodness [0,1] 0.24809202038093991 Centerline is valid? [False, False] Translation: X:1.80, Y:0.09, Z:0.81 [[ 0.99999154 0.00244045 0.0033107 1.79521671] [-0.00242929 0.99999137 -0.00336959 0.09220409] [-0.00331889 0.00336152 0.99998884 0.80866569] [ 0. 0. 0. 1. ]] SLAMing on 149.16255784400002 meters Centerline goodness [0,1] 0.24652641665577768 Centerline is valid? [False, False] Translation: X:1.79, Y:0.09, Z:0.81 [[ 0.99999156 0.00227573 0.00342008 1.79499249] [-0.00226255 0.99999001 -0.00385376 0.09452371] [-0.00342881 0.00384599 0.99998673 0.80855738] [ 0. 0. 0. 1. ]] SLAMing on 149.192557844 meters Centerline goodness [0,1] 0.24675661650233527 Centerline is valid? [False, False] Translation: X:1.79, Y:0.10, Z:0.81 [[ 0.99999152 0.00209017 0.00354763 1.79464758] [-0.00207456 0.99998818 -0.00439785 0.09705426] [-0.00355678 0.00439045 0.99998404 0.80857228] [ 0. 0. 0. 1. ]] SLAMing on 149.222557844 meters Centerline goodness [0,1] 0.24618547776214694 Centerline is valid? [False, False] Translation: X:1.79, Y:0.10, Z:0.81 [[ 0.99999177 0.00186074 0.00360599 1.79451826] [-0.00184248 0.99998551 -0.00505856 0.10015649] [-0.00361535 0.00505188 0.9999807 0.80850963] [ 0. 0. 0. 1. ]] SLAMing on 149.252557844 meters Centerline goodness [0,1] 0.24874096781256838 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:0.81 [[ 9.99991642e-01 -4.03522830e-03 6.57286312e-04 1.77295407e+00] [ 4.03637637e-03 9.99990314e-01 -1.75481744e-03 1.06287526e-01] [-6.50198857e-04 1.75745583e-03 9.99998244e-01 8.09675298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282557844 meters Centerline goodness [0,1] 0.2442013791314498 Centerline is valid? [False, False] Translation: X:1.79, Y:0.11, Z:0.81 [[ 9.99986583e-01 4.98560113e-03 1.40611290e-03 1.79446813e+00] [-4.98141897e-03 9.99983205e-01 -2.96224915e-03 1.07163069e-01] [-1.42085788e-03 2.95520497e-03 9.99994624e-01 8.09145897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.312557844 meters Centerline goodness [0,1] 0.24718459816038463 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:0.81 [[ 9.99991224e-01 -4.18827187e-03 -9.67857041e-05 1.77487745e+00] [ 4.18804834e-03 9.99988800e-01 -2.20459747e-03 1.12869205e-01] [ 1.06018074e-04 2.20417278e-03 9.99997565e-01 8.08058885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342557844 meters Centerline goodness [0,1] 0.24718459816038463 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:0.81 [[ 9.99991224e-01 -4.18827187e-03 -9.67857041e-05 1.77487745e+00] [ 4.18804834e-03 9.99988800e-01 -2.20459747e-03 1.12869205e-01] [ 1.06018074e-04 2.20417278e-03 9.99997565e-01 8.08058885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.372557844 meters Centerline goodness [0,1] 0.24545017061860175 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99990208e-01 -4.41998553e-03 -2.16340980e-04 1.77539166e+00] [ 4.41937154e-03 9.99986424e-01 -2.76071758e-03 1.15245549e-01] [ 2.28540374e-04 2.75973446e-03 9.99996166e-01 8.07580837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402557844 meters Centerline goodness [0,1] 0.24203187250996017 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99988294e-01 -4.81157642e-03 -5.09514853e-04 1.77634631e+00] [ 4.80960057e-03 9.99981173e-01 -3.81061230e-03 1.20310412e-01] [ 5.27840313e-04 3.80811713e-03 9.99992610e-01 8.07071683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.432557844 meters Centerline goodness [0,1] 0.24392202830598242 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99987453e-01 -4.97534455e-03 -5.82518713e-04 1.77653511e+00] [ 4.97280390e-03 9.99978457e-01 -4.28459513e-03 1.22678770e-01] [ 6.03823500e-04 4.28164462e-03 9.99990651e-01 8.06989858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462557844 meters Centerline goodness [0,1] 0.24869634095359638 Centerline is valid? [False, False] Translation: X:1.75, Y:0.12, Z:0.81 [[ 9.99993049e-01 3.49793365e-03 -1.29060010e-03 1.75457618e+00] [-3.50379168e-03 9.99983442e-01 -4.56500250e-03 1.19541035e-01] [ 1.27461066e-03 4.56949276e-03 9.99988747e-01 8.07543401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.492557844 meters Centerline goodness [0,1] 0.24437403702176597 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99997449e-01 -2.25692707e-03 -9.00219865e-05 1.77635665e+00] [ 2.25675204e-03 9.99995650e-01 -1.89920819e-03 1.24611404e-01] [ 9.43079693e-05 1.89900019e-03 9.99998192e-01 8.07219509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.522557844 meters Centerline goodness [0,1] 0.24948340294570237 Centerline is valid? [False, False] Translation: X:1.76, Y:0.12, Z:0.81 [[ 9.99984251e-01 5.58223656e-03 -5.79700002e-04 1.75569113e+00] [-5.58384492e-03 9.99980459e-01 -2.81093130e-03 1.20478668e-01] [ 5.63997390e-04 2.81412399e-03 9.99995881e-01 8.06752028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.552557844 meters Centerline goodness [0,1] 0.2436322646376623 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:0.81 [[ 9.99996560e-01 -2.58681763e-03 4.34295957e-04 1.77570434e+00] [ 2.58792435e-03 9.99993356e-01 -2.56737298e-03 1.27516317e-01] [-4.27651746e-04 2.56848808e-03 9.99996610e-01 8.07695812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.582557844 meters Centerline goodness [0,1] 0.247870528109029 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:0.81 [[ 9.99996413e-01 -2.63288525e-03 4.92359466e-04 1.77540123e+00] [ 2.63419542e-03 9.99992940e-01 -2.67956470e-03 1.28108424e-01] [-4.85301004e-04 2.68085206e-03 9.99996289e-01 8.07951035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.612557844 meters Centerline goodness [0,1] 0.24554407983614412 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:0.81 [[ 9.99996301e-01 -2.68840914e-03 4.12584691e-04 1.77555269e+00] [ 2.68955909e-03 9.99992428e-01 -2.81239617e-03 1.28850897e-01] [-4.05020695e-04 2.81349544e-03 9.99995960e-01 8.08015070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.642557844 meters Centerline goodness [0,1] 0.24445259886030046 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:0.81 [[ 9.99996215e-01 -2.71101876e-03 4.69995192e-04 1.77537502e+00] [ 2.71238568e-03 9.99992022e-01 -2.93254542e-03 1.29658040e-01] [-4.62041257e-04 2.93380913e-03 9.99995590e-01 8.08047539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.672557844 meters Centerline goodness [0,1] 0.24450585035188466 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.81 [[ 9.99995973e-01 -2.76946932e-03 6.20041614e-04 1.77489221e+00] [ 2.77139148e-03 9.99991289e-01 -3.12095356e-03 1.30701728e-01] [-6.11392828e-04 3.12265936e-03 9.99994938e-01 8.08212467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.702557844 meters Centerline goodness [0,1] 0.24966767634945197 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.81 [[ 9.99995196e-01 -2.86253831e-03 1.18920131e-03 1.77301969e+00] [ 2.86666315e-03 9.99989831e-01 -3.48148145e-03 1.32649429e-01] [-1.17922334e-03 3.48487377e-03 9.99993233e-01 8.08991942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.732557844 meters Centerline goodness [0,1] 0.24526756069164757 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.81 [[ 9.99994820e-01 -2.95723360e-03 1.27045884e-03 1.77273216e+00] [ 2.96205528e-03 9.99988354e-01 -3.81026058e-03 1.34341838e-01] [-1.25917621e-03 3.81400401e-03 9.99991934e-01 8.09099647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.762557844 meters Centerline goodness [0,1] 0.2513484593715196 Centerline is valid? [False, False] Translation: X:1.75, Y:0.13, Z:0.81 [[ 9.99985974e-01 5.27693375e-03 4.52915845e-04 1.75142060e+00] [-5.27477199e-03 9.99975284e-01 -4.64836665e-03 1.31316580e-01] [-4.77433774e-04 4.64591243e-03 9.99989094e-01 8.08803237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79255784400002 meters Centerline goodness [0,1] 0.24410280736556123 Centerline is valid? [False, False] Translation: X:1.75, Y:0.14, Z:0.81 [[ 9.99987240e-01 5.05167234e-03 2.58720530e-05 1.75263560e+00] [-5.05144731e-03 9.99971464e-01 -5.61730362e-03 1.35946189e-01] [-5.42480920e-05 5.61710125e-03 9.99984222e-01 8.08385924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82255784400002 meters Centerline goodness [0,1] 0.24974876567483728 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 9.99992264e-01 -3.77560876e-03 -1.10319237e-03 1.73278393e+00] [ 3.77040740e-03 9.99981943e-01 -4.67946585e-03 1.41610789e-01] [ 1.12084028e-03 4.67527017e-03 9.99988443e-01 8.07489615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85255784400002 meters Centerline goodness [0,1] 0.24785100286532946 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 9.99991954e-01 -3.85724105e-03 -1.10128563e-03 1.73283894e+00] [ 3.85170913e-03 9.99980173e-01 -4.98184303e-03 1.43190016e-01] [ 1.12047996e-03 4.97756111e-03 9.99986984e-01 8.07296370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88255784400002 meters Centerline goodness [0,1] 0.2504175457102672 Centerline is valid? [False, False] Translation: X:1.71, Y:0.14, Z:0.81 [[ 9.99990046e-01 4.24106051e-03 -1.38608352e-03 1.71232974e+00] [-4.24869984e-03 9.99975541e-01 -5.55577298e-03 1.38544123e-01] [ 1.36248725e-03 5.56160674e-03 9.99983606e-01 8.06705287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91255784400002 meters Centerline goodness [0,1] 0.24775118158255827 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 9.99993853e-01 -3.42367394e-03 -7.56216675e-04 1.73168106e+00] [ 3.42027788e-03 9.99984261e-01 -4.44740458e-03 1.44378427e-01] [ 7.71431236e-04 4.44479078e-03 9.99989824e-01 8.07976725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942557844 meters Centerline goodness [0,1] 0.2450834358741878 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 9.99992996e-01 -3.69938062e-03 -5.67081828e-04 1.73097994e+00] [ 3.69680414e-03 9.99983136e-01 -4.47904297e-03 1.43733161e-01] [ 5.83641949e-04 4.47691521e-03 9.99989808e-01 8.08456291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.972557844 meters Centerline goodness [0,1] 0.2465194951641584 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 9.99992950e-01 -3.70334928e-03 -6.20176833e-04 1.73107923e+00] [ 3.70056970e-03 9.99983364e-01 -4.42464984e-03 1.43359040e-01] [ 6.36552540e-04 4.42232364e-03 9.99990019e-01 8.08525128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002557844 meters Centerline goodness [0,1] 0.24756259092784405 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 9.99992936e-01 -3.69982044e-03 -6.63183380e-04 1.73114427e+00] [ 3.69684385e-03 9.99983333e-01 -4.43472366e-03 1.43496131e-01] [ 6.79580008e-04 4.43224065e-03 9.99989947e-01 8.08582389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.032557844 meters Centerline goodness [0,1] 0.25171936454922983 Centerline is valid? [False, False] Translation: X:1.71, Y:0.14, Z:0.81 [[ 9.99987475e-01 4.83712921e-03 -1.28508947e-03 1.70986513e+00] [-4.84306076e-03 9.99977445e-01 -4.65336527e-03 1.39206885e-01] [ 1.26255155e-03 4.65953075e-03 9.99988347e-01 8.08445604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062557844 meters Centerline goodness [0,1] 0.24712756021806648 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 9.99999420e-01 -6.04996160e-04 -8.91232153e-04 1.73244566e+00] [ 6.03496610e-04 9.99998404e-01 -1.68186689e-03 1.42921790e-01] [ 8.92248254e-04 1.68132806e-03 9.99998189e-01 8.07954832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.092557844 meters Centerline goodness [0,1] 0.24965777980574932 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 9.99999475e-01 -7.44048202e-04 -7.04277608e-04 1.73196691e+00] [ 7.42604058e-04 9.99997626e-01 -2.04857686e-03 1.44438533e-01] [ 7.05800176e-04 2.04805279e-03 9.99997654e-01 8.07933012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122557844 meters Centerline goodness [0,1] 0.2474094949057013 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:0.81 [[ 9.99999415e-01 -8.30478121e-04 -6.93329426e-04 1.73194183e+00] [ 8.28895877e-04 9.99997059e-01 -2.27927221e-03 1.45462733e-01] [ 6.95220272e-04 2.27869618e-03 9.99997162e-01 8.07883010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.152557844 meters Centerline goodness [0,1] 0.24845423669772704 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:0.81 [[ 9.99999272e-01 -9.14920782e-04 -7.86558493e-04 1.73238040e+00] [ 9.12926857e-04 9.99996379e-01 -2.53163104e-03 1.46726412e-01] [ 7.88871887e-04 2.53091113e-03 9.99996486e-01 8.07489293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182557844 meters Centerline goodness [0,1] 0.23942023991557726 Centerline is valid? [False, False] Translation: X:1.75, Y:0.15, Z:0.81 [[ 9.99979072e-01 -5.02884684e-03 -4.07019220e-03 1.75450863e+00] [ 5.03141963e-03 9.99987149e-01 6.22110710e-04 1.50515108e-01] [ 4.06701140e-03 -6.42576536e-04 9.99991523e-01 8.08471125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.212557844 meters Centerline goodness [0,1] 0.2470098690660334 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:0.81 [[ 9.99985718e-01 2.55846039e-03 -4.69231601e-03 1.73547999e+00] [-2.56103518e-03 9.99996573e-01 -5.42796957e-04 1.44217188e-01] [ 4.69091120e-03 5.54806391e-04 9.99988844e-01 8.07051056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.242557844 meters Centerline goodness [0,1] 0.24592226271039386 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:0.81 [[ 9.99985277e-01 2.52467197e-03 -4.80341646e-03 1.73565153e+00] [-2.52633846e-03 9.99996751e-01 -3.40902981e-04 1.42799126e-01] [ 4.80254019e-03 3.53033018e-04 9.99988405e-01 8.07300919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.272557844 meters Centerline goodness [0,1] 0.24433216737919417 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:0.81 [[ 9.99985099e-01 2.52453525e-03 -4.84030717e-03 1.73551118e+00] [-2.52454227e-03 9.99996813e-01 4.66059392e-06 1.40698949e-01] [ 4.84030351e-03 7.55903555e-06 9.99988286e-01 8.07778534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302557844 meters Centerline goodness [0,1] 0.2446483842341075 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:0.81 [[ 9.99984904e-01 2.58558960e-03 -4.84825152e-03 1.73535704e+00] [-2.58350856e-03 9.99996568e-01 4.35450248e-04 1.38442395e-01] [ 4.84936077e-03 -4.22918176e-04 9.99988152e-01 8.08122695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.332557844 meters Centerline goodness [0,1] 0.2474849094567404 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 0.99996335 -0.00634886 -0.00574421 1.71520821] [ 0.00636061 0.99997771 0.00203 0.13927135] [ 0.00573119 -0.00206647 0.99998144 0.80689818] [ 0. 0. 0. 1. ]] SLAMing on 150.362557844 meters Centerline goodness [0,1] 0.2551950338997975 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 0.99995788 -0.00638933 -0.00658907 1.71806791] [ 0.00640613 0.99997628 0.00253196 0.1361821 ] [ 0.00657273 -0.00257406 0.99997509 0.80552846] [ 0. 0. 0. 1. ]] SLAMing on 150.392557844 meters Centerline goodness [0,1] 0.2559183584083393 Centerline is valid? [False, False] Translation: X:1.74, Y:0.13, Z:0.81 [[ 9.99974049e-01 1.66340151e-03 -7.00959927e-03 1.73777955e+00] [-1.65654047e-03 9.99998143e-01 9.84498789e-04 1.30816735e-01] [ 7.01122387e-03 -9.72861555e-04 9.99974948e-01 8.07210145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422557844 meters Centerline goodness [0,1] 0.2506449692399285 Centerline is valid? [False, False] Translation: X:1.74, Y:0.13, Z:0.81 [[ 9.99973399e-01 1.70969808e-03 -7.09075148e-03 1.73779537e+00] [-1.70171892e-03 9.99997912e-01 1.13117243e-03 1.30022980e-01] [ 7.09267064e-03 -1.11907587e-03 9.99974221e-01 8.07573333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.452557844 meters Centerline goodness [0,1] 0.24418679966319057 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:0.81 [[ 9.99985278e-01 2.65926975e-03 -4.73001546e-03 1.78059169e+00] [-2.65623422e-03 9.99996262e-01 6.47924456e-04 1.32812602e-01] [ 4.73172079e-03 -6.35350888e-04 9.99988604e-01 8.08070876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482557844 meters Centerline goodness [0,1] 0.24615850755313162 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:0.81 [[ 9.99988692e-01 3.20288487e-03 -3.51541218e-03 1.77698783e+00] [-3.20023244e-03 9.99994591e-01 7.59881118e-04 1.34298286e-01] [ 3.51782698e-03 -7.48622389e-04 9.99993532e-01 8.08963049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.512557844 meters Centerline goodness [0,1] 0.25118307709082976 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:0.81 [[ 9.99990091e-01 3.18590011e-03 -3.10926260e-03 1.77590306e+00] [-3.18429973e-03 9.99994795e-01 5.19526804e-04 1.35632189e-01] [ 3.11090158e-03 -5.09620832e-04 9.99995031e-01 8.09085131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54255784400002 meters Centerline goodness [0,1] 0.24844316184607373 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:0.81 [[ 9.99990726e-01 3.14858474e-03 -2.93843564e-03 1.77546188e+00] [-3.14772524e-03 9.99995002e-01 2.97081502e-04 1.36767767e-01] [ 2.93935634e-03 -2.87829359e-04 9.99995639e-01 8.09047829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57255784400002 meters Centerline goodness [0,1] 0.24660682537617618 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:0.81 [[ 9.99990635e-01 3.15199563e-03 -2.96577476e-03 1.77562286e+00] [-3.15128939e-03 9.99995005e-01 2.42771247e-04 1.37092463e-01] [ 2.96652516e-03 -2.33422959e-04 9.99995573e-01 8.08829044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60255784400002 meters Centerline goodness [0,1] 0.24832697547683924 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:0.81 [[ 9.99990207e-01 3.19504756e-03 -3.06241395e-03 1.77592694e+00] [-3.19390928e-03 9.99994829e-01 3.76511950e-04 1.36459244e-01] [ 3.06360109e-03 -3.66727190e-04 9.99995240e-01 8.08701906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63255784400002 meters Centerline goodness [0,1] 0.24788701554631054 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:0.81 [[ 9.99990089e-01 3.24442221e-03 -3.04900721e-03 1.77584236e+00] [-3.24271062e-03 9.99994582e-01 5.66136153e-04 1.35556807e-01] [ 3.05082747e-03 -5.56243493e-04 9.99995192e-01 8.08774254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66255784400002 meters Centerline goodness [0,1] 0.24681165402915684 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.81 [[ 9.99990929e-01 3.20155409e-03 -2.80943872e-03 1.77489256e+00] [-3.19888699e-03 9.99994429e-01 9.53318501e-04 1.33193139e-01] [ 2.81247517e-03 -9.44322776e-04 9.99995599e-01 8.09552847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692557844 meters Centerline goodness [0,1] 0.2510857467100238 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.81 [[ 9.99991073e-01 3.27671202e-03 -2.66782410e-03 1.77424154e+00] [-3.27336098e-03 9.99993849e-01 1.25949356e-03 1.31680344e-01] [ 2.67193469e-03 -1.25074957e-03 9.99995648e-01 8.10103235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722557844 meters Centerline goodness [0,1] 0.24555759473172833 Centerline is valid? [False, False] Translation: X:1.79, Y:0.14, Z:0.81 [[ 0.99998827 -0.00443682 -0.00194218 1.79398938] [ 0.0044415 0.99998722 0.00241507 0.13539421] [ 0.00193144 -0.00242366 0.9999952 0.81116446] [ 0. 0. 0. 1. ]] SLAMing on 150.752557844 meters Centerline goodness [0,1] 0.24652177670238506 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:0.81 [[ 0.99998871 -0.00434563 -0.00192066 1.79405138] [ 0.00435066 0.9999871 0.00262131 0.13453626] [ 0.00190924 -0.00262964 0.99999472 0.81094535] [ 0. 0. 0. 1. ]] SLAMing on 150.782557844 meters Centerline goodness [0,1] 0.24586544289548884 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 0.99998835 -0.00424901 -0.00229031 1.79594042] [ 0.00425568 0.9999867 0.00291504 0.1327875 ] [ 0.00227789 -0.00292475 0.99999313 0.80937135] [ 0. 0. 0. 1. ]] SLAMing on 150.812557844 meters Centerline goodness [0,1] 0.24636203942660106 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 0.99998765 -0.00421843 -0.00262738 1.79725411] [ 0.00422646 0.99998639 0.00305987 0.13176664] [ 0.00261444 -0.00307093 0.99999187 0.80859592] [ 0. 0. 0. 1. ]] SLAMing on 150.842557844 meters Centerline goodness [0,1] 0.24432805980528516 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 0.99998716 -0.00416919 -0.00288111 1.79820603] [ 0.00417841 0.99998614 0.00320276 0.1308794 ] [ 0.00286771 -0.00321476 0.99999072 0.80803938] [ 0. 0. 0. 1. ]] SLAMing on 150.872557844 meters Centerline goodness [0,1] 0.24573953752925992 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 0.9999873 -0.00410073 -0.00292865 1.79847361] [ 0.0041105 0.99998598 0.00333863 0.13030425] [ 0.00291492 -0.00335062 0.99999014 0.80776758] [ 0. 0. 0. 1. ]] SLAMing on 150.902557844 meters Centerline goodness [0,1] 0.24592018799773707 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 0.99998801 -0.00399143 -0.00283693 1.7982426 ] [ 0.00400142 0.99998578 0.00352541 0.12970555] [ 0.00282282 -0.00353672 0.99998976 0.80773689] [ 0. 0. 0. 1. ]] SLAMing on 150.932557844 meters Centerline goodness [0,1] 0.245636126791142 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 0.99998927 -0.00385699 -0.00256607 1.79737681] [ 0.00386675 0.99998527 0.00380966 0.12855565] [ 0.00255134 -0.00381954 0.99998945 0.80807829] [ 0. 0. 0. 1. ]] SLAMing on 150.962557844 meters Centerline goodness [0,1] 0.24615884007790523 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 0.99998938 -0.00381508 -0.0025846 1.79753068] [ 0.00382535 0.99998475 0.00398254 0.12757335] [ 0.00256937 -0.00399238 0.99998873 0.80788137] [ 0. 0. 0. 1. ]] SLAMing on 150.992557844 meters Centerline goodness [0,1] 0.24866462346760065 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 0.99998705 0.00362757 -0.00356854 1.77884676] [-0.00361782 0.99998972 0.00273507 0.12067762] [ 0.00357842 -0.00272213 0.99998989 0.80630184] [ 0. 0. 0. 1. ]] SLAMing on 151.022557844 meters Centerline goodness [0,1] 0.24783679518755042 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 0.99998591 0.00367348 -0.00383105 1.77963392] [-0.00366203 0.99998883 0.00298964 0.11932777] [ 0.00384199 -0.00297557 0.99998819 0.80605403] [ 0. 0. 0. 1. ]] SLAMing on 151.052557844 meters Centerline goodness [0,1] 0.24799370230259565 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 0.99998572 0.00371312 -0.00384328 1.77949309] [-0.00369926 0.99998665 0.00360864 0.11611271] [ 0.00385663 -0.00359438 0.9999861 0.80644072] [ 0. 0. 0. 1. ]] SLAMing on 151.082557844 meters Centerline goodness [0,1] 0.24606552725208997 Centerline is valid? [False, False] Translation: X:1.78, Y:0.11, Z:0.81 [[ 0.99998547 0.00377033 -0.0038531 1.77926512] [-0.0037545 0.99998452 0.00410666 0.11342623] [ 0.00386852 -0.00409213 0.99998414 0.8069582 ] [ 0. 0. 0. 1. ]] SLAMing on 151.112557844 meters Centerline goodness [0,1] 0.2531586750160423 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:0.81 [[ 0.99996814 -0.00625262 -0.00496157 1.75656555] [ 0.00627458 0.99997054 0.00442228 0.11310187] [ 0.00493377 -0.00445327 0.99997791 0.80743011] [ 0. 0. 0. 1. ]] SLAMing on 151.142557844 meters Centerline goodness [0,1] 0.23995200959808038 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:0.81 [[ 0.99997417 -0.00652204 -0.003021 1.80358374] [ 0.00653192 0.99997331 0.00327406 0.1133852 ] [ 0.00299956 -0.0032937 0.99999008 0.80559219] [ 0. 0. 0. 1. ]] SLAMing on 151.172557844 meters Centerline goodness [0,1] 0.25058846822271597 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:0.81 [[ 0.99994745 -0.00772713 -0.00673677 1.75875746] [ 0.0077542 0.99996193 0.00400166 0.10672811] [ 0.00670559 -0.00405369 0.9999693 0.8071555 ] [ 0. 0. 0. 1. ]] SLAMing on 151.202557844 meters Centerline goodness [0,1] 0.24278434348910338 Centerline is valid? [False, False] Translation: X:1.78, Y:0.10, Z:0.81 [[ 9.99980296e-01 1.24551797e-03 -6.15277884e-03 1.77936367e+00] [-1.22464257e-03 9.99993486e-01 3.39544452e-03 1.02725901e-01] [ 6.15696785e-03 -3.38784266e-03 9.99975307e-01 8.07615667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.232557844 meters Centerline goodness [0,1] 0.2480320154800123 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:0.81 [[ 9.99958576e-01 4.10130321e-04 -9.09279925e-03 1.73472165e+00] [-3.73652804e-04 9.99991878e-01 4.01302867e-03 9.97051006e-02] [ 9.09437126e-03 -4.00946488e-03 9.99950607e-01 8.08822453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.262557844 meters Centerline goodness [0,1] 0.2480320154800123 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:0.81 [[ 9.99958576e-01 4.10130321e-04 -9.09279925e-03 1.73472165e+00] [-3.73652804e-04 9.99991878e-01 4.01302867e-03 9.97051006e-02] [ 9.09437126e-03 -4.00946488e-03 9.99950607e-01 8.08822453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29255784400002 meters Centerline goodness [0,1] 0.24496491189953717 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.81 [[ 9.99936270e-01 7.56454381e-03 -8.38060298e-03 1.75698882e+00] [-7.55471980e-03 9.99970739e-01 1.20326972e-03 9.79174042e-02] [ 8.38945994e-03 -1.13987992e-03 9.99964158e-01 8.08415520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32255784400002 meters Centerline goodness [0,1] 0.243267251652042 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.81 [[ 9.99934503e-01 7.60611017e-03 -8.55195926e-03 1.75736254e+00] [-7.59476892e-03 9.99970237e-01 1.35785273e-03 9.69413250e-02] [ 8.56203271e-03 -1.29281364e-03 9.99962509e-01 8.08542271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35255784400002 meters Centerline goodness [0,1] 0.24391145516221624 Centerline is valid? [False, False] Translation: X:1.76, Y:0.09, Z:0.81 [[ 0.9999328 0.00785626 -0.00852534 1.75701043] [-0.00784005 0.9999674 0.00193295 0.09430916] [ 0.00854025 -0.00186598 0.99996179 0.80903399] [ 0. 0. 0. 1. ]] SLAMing on 151.38255784400002 meters Centerline goodness [0,1] 0.24386749446446399 Centerline is valid? [False, False] Translation: X:1.76, Y:0.09, Z:0.81 [[ 0.99993224 0.00797093 -0.00848373 1.75686762] [-0.00795262 0.99996598 0.00218945 0.0931675 ] [ 0.00850089 -0.00212184 0.99996162 0.80909478] [ 0. 0. 0. 1. ]] SLAMing on 151.41255784400002 meters Centerline goodness [0,1] 0.24503296940871255 Centerline is valid? [False, False] Translation: X:1.76, Y:0.09, Z:0.81 [[ 0.9999316 0.00808991 -0.00844661 1.75666503] [-0.00806969 0.9999645 0.00242543 0.09208639] [ 0.00846593 -0.00235711 0.99996139 0.80933292] [ 0. 0. 0. 1. ]] SLAMing on 151.442557844 meters Centerline goodness [0,1] 0.24825909867297336 Centerline is valid? [False, False] Translation: X:1.74, Y:0.09, Z:0.81 [[ 9.99962662e-01 -1.16358482e-03 -8.56279838e-03 1.73505992e+00] [ 1.19023402e-03 9.99994463e-01 3.10776930e-03 9.48446258e-02] [ 8.55913481e-03 -3.11784500e-03 9.99958509e-01 8.09244596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.472557844 meters Centerline goodness [0,1] 0.24864876645453748 Centerline is valid? [False, False] Translation: X:1.73, Y:0.09, Z:0.81 [[ 9.99973828e-01 -3.99567198e-04 -7.22381702e-03 1.73097760e+00] [ 4.27343710e-04 9.99992521e-01 3.84399496e-03 9.31915414e-02] [ 7.22222706e-03 -3.84698140e-03 9.99966520e-01 8.10548464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502557844 meters Centerline goodness [0,1] 0.24922355189713963 Centerline is valid? [False, False] Translation: X:1.73, Y:0.09, Z:0.81 [[ 9.99976305e-01 -2.30169627e-04 -6.88021924e-03 1.73013492e+00] [ 2.56689865e-04 9.99992541e-01 3.85392842e-03 9.37028512e-02] [ 6.87928086e-03 -3.85560318e-03 9.99968904e-01 8.10469567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.532557844 meters Centerline goodness [0,1] 0.2517791249341065 Centerline is valid? [False, False] Translation: X:1.71, Y:0.09, Z:0.81 [[ 0.99993989 0.00798557 -0.00751279 1.7098166 ] [-0.00796326 0.99996381 0.00299511 0.08977795] [ 0.00753643 -0.00293511 0.99996729 0.80881897] [ 0. 0. 0. 1. ]] SLAMing on 151.562557844 meters Centerline goodness [0,1] 0.24902935915892332 Centerline is valid? [False, False] Translation: X:1.71, Y:0.09, Z:0.81 [[ 0.99993485 0.00814178 -0.00800012 1.71137588] [-0.0081185 0.99996273 0.00293736 0.09038782] [ 0.00802373 -0.00287222 0.99996368 0.80810211] [ 0. 0. 0. 1. ]] SLAMing on 151.592557844 meters Centerline goodness [0,1] 0.24755594177710194 Centerline is valid? [False, False] Translation: X:1.71, Y:0.09, Z:0.81 [[ 0.99992392 0.00872914 -0.00871486 1.71368799] [-0.00870426 0.99995794 0.00288939 0.09220057] [ 0.00873972 -0.00281332 0.99995785 0.80688114] [ 0. 0. 0. 1. ]] SLAMing on 151.622557844 meters Centerline goodness [0,1] 0.24966758942389433 Centerline is valid? [False, False] Translation: X:1.71, Y:0.09, Z:0.81 [[ 0.99992696 0.00874649 -0.00834118 1.71258065] [-0.00872461 0.99995841 0.00265581 0.09366201] [ 0.00836406 -0.00258284 0.99996168 0.80710923] [ 0. 0. 0. 1. ]] SLAMing on 151.652557844 meters Centerline goodness [0,1] 0.2484429065743945 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:0.81 [[ 9.99979506e-01 1.46353404e-03 -6.23264175e-03 1.72983656e+00] [-1.43961096e-03 9.99991587e-01 3.84111068e-03 1.00210364e-01] [ 6.23821091e-03 -3.83205938e-03 9.99973200e-01 8.08781060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682557844 meters Centerline goodness [0,1] 0.24939938965002273 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:0.81 [[ 9.99983012e-01 1.48324274e-03 -5.63705611e-03 1.72780241e+00] [-1.46195160e-03 9.99991790e-01 3.77924222e-03 1.00901557e-01] [ 5.64261537e-03 -3.77093691e-03 9.99976970e-01 8.09659830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.712557844 meters Centerline goodness [0,1] 0.2509680226234501 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:0.81 [[ 9.99985032e-01 1.41488987e-03 -5.28525609e-03 1.72697500e+00] [-1.39536648e-03 9.99992197e-01 3.69579642e-03 1.01200496e-01] [ 5.29044400e-03 -3.68836623e-03 9.99979203e-01 8.09540755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.742557844 meters Centerline goodness [0,1] 0.2473584336050373 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:0.81 [[ 9.99983526e-01 1.29943268e-03 -5.59105644e-03 1.72824695e+00] [-1.27931575e-03 9.99992701e-01 3.60012789e-03 1.01291350e-01] [ 5.59569375e-03 -3.59291585e-03 9.99977889e-01 8.08639466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.772557844 meters Centerline goodness [0,1] 0.24837802768166095 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:0.81 [[ 9.99981167e-01 1.22375270e-03 -6.01404266e-03 1.72969629e+00] [-1.20217280e-03 9.99992831e-01 3.59055700e-03 1.01001572e-01] [ 6.01839350e-03 -3.58325946e-03 9.99975469e-01 8.07961513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802557844 meters Centerline goodness [0,1] 0.24855743059335877 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:0.81 [[ 9.99977065e-01 7.51991008e-04 -6.73084899e-03 1.73144338e+00] [-7.27484933e-04 9.99993101e-01 3.64256753e-03 9.92191312e-02] [ 6.73354173e-03 -3.63758740e-03 9.99970713e-01 8.08212459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.832557844 meters Centerline goodness [0,1] 0.253637704448896 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:0.81 [[ 9.99975476e-01 7.95026513e-04 -6.95812165e-03 1.73168957e+00] [-7.66573385e-04 9.99991338e-01 4.09090886e-03 9.68388267e-02] [ 6.96131376e-03 -4.08547462e-03 9.99967424e-01 8.08866149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.862557844 meters Centerline goodness [0,1] 0.2513501104138881 Centerline is valid? [False, False] Translation: X:1.73, Y:0.09, Z:0.81 [[ 9.99971232e-01 8.05706312e-04 -7.54230395e-03 1.73301950e+00] [-7.71644704e-04 9.99989497e-01 4.51789595e-03 9.44162180e-02] [ 7.54586482e-03 -4.51194600e-03 9.99961350e-01 8.09153970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.892557844 meters Centerline goodness [0,1] 0.2522153154344663 Centerline is valid? [False, False] Translation: X:1.73, Y:0.09, Z:0.81 [[ 9.99968750e-01 9.13201508e-04 -7.85271928e-03 1.73382117e+00] [-8.74177110e-04 9.99987260e-01 4.97153669e-03 9.20907425e-02] [ 7.85715925e-03 -4.96451666e-03 9.99956808e-01 8.09135800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.922557844 meters Centerline goodness [0,1] 0.24934850590687974 Centerline is valid? [False, False] Translation: X:1.76, Y:0.09, Z:0.81 [[ 0.99995449 0.00732004 -0.00611852 1.75616997] [-0.00730857 0.9999715 0.00189464 0.0883471 ] [ 0.00613222 -0.00184984 0.99997949 0.80800024] [ 0. 0. 0. 1. ]] SLAMing on 151.952557844 meters Centerline goodness [0,1] 0.2504221583806663 Centerline is valid? [False, False] Translation: X:1.74, Y:0.09, Z:0.81 [[ 0.99997999 -0.00181941 -0.00605878 1.73588503] [ 0.00183706 0.99999408 0.00290875 0.09179575] [ 0.00605345 -0.00291983 0.99997741 0.80689706] [ 0. 0. 0. 1. ]] SLAMing on 151.982557844 meters Centerline goodness [0,1] 0.2462238909028137 Centerline is valid? [False, False] Translation: X:1.76, Y:0.09, Z:0.81 [[ 0.99996042 0.00739548 -0.00494637 1.75680333] [-0.00738634 0.99997099 0.00186199 0.0908165 ] [ 0.00495999 -0.00182538 0.99998603 0.8070651 ] [ 0. 0. 0. 1. ]] SLAMing on 152.012557844 meters Centerline goodness [0,1] 0.2467425295343989 Centerline is valid? [False, False] Translation: X:1.76, Y:0.09, Z:0.81 [[ 9.99960062e-01 7.33889795e-03 -5.10051663e-03 1.75751580e+00] [-7.33173483e-03 9.99972112e-01 1.42167296e-03 9.31152709e-02] [ 5.11080790e-03 -1.38422055e-03 9.99985982e-01 8.06424787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04255784400002 meters Centerline goodness [0,1] 0.24696601941747576 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.81 [[ 9.99952864e-01 7.79464674e-03 -5.78904762e-03 1.75978132e+00] [-7.78969479e-03 9.99969275e-01 8.77455511e-04 9.77953429e-02] [ 5.79570921e-03 -8.32319237e-04 9.99982858e-01 8.05153842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07255784400002 meters Centerline goodness [0,1] 0.2482314272654056 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.80 [[ 9.99953600e-01 7.63318660e-03 -5.87639596e-03 1.76020588e+00] [-7.63173805e-03 9.99970842e-01 2.68888298e-04 1.00724856e-01] [ 5.87827709e-03 -2.24028707e-04 9.99982698e-01 8.04697636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10255784400002 meters Centerline goodness [0,1] 0.24556901463584369 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.80 [[ 9.99954391e-01 7.46153546e-03 -5.96160589e-03 1.76069508e+00] [-7.46343682e-03 9.99972104e-01 -2.96750470e-04 1.03469461e-01] [ 5.95922537e-03 3.41231005e-04 9.99982185e-01 8.04108861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13255784400002 meters Centerline goodness [0,1] 0.24712580989986688 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:0.80 [[ 9.99955613e-01 7.25058535e-03 -6.01673011e-03 1.76110753e+00] [-7.25562149e-03 9.99973345e-01 -8.15618119e-04 1.05835992e-01] [ 6.01065602e-03 8.59237032e-04 9.99981567e-01 8.03574777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16255784400002 meters Centerline goodness [0,1] 0.24433391003460203 Centerline is valid? [False, False] Translation: X:1.78, Y:0.11, Z:0.80 [[ 9.99982977e-01 -3.34591373e-04 -5.82518817e-03 1.78065022e+00] [ 3.33094278e-04 9.99999911e-01 -2.57972070e-04 1.12731694e-01] [ 5.82527397e-03 2.56027341e-04 9.99983000e-01 8.04536628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19255784400002 meters Centerline goodness [0,1] 0.24752991248832812 Centerline is valid? [False, False] Translation: X:1.78, Y:0.11, Z:0.81 [[ 9.99986726e-01 -5.49183386e-04 -5.12308003e-03 1.77809385e+00] [ 5.46977583e-04 9.99999757e-01 -4.31953031e-04 1.13417814e-01] [ 5.12331601e-03 4.29145087e-04 9.99986784e-01 8.05975830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222557844 meters Centerline goodness [0,1] 0.24472108755322142 Centerline is valid? [False, False] Translation: X:1.78, Y:0.11, Z:0.81 [[ 9.99987851e-01 -5.50444633e-04 -4.89835670e-03 1.77708129e+00] [ 5.48545990e-04 9.99999774e-01 -3.88943279e-04 1.13478968e-01] [ 4.89856969e-03 3.86251580e-04 9.99987927e-01 8.06710937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.252557844 meters Centerline goodness [0,1] 0.25025576282623363 Centerline is valid? [False, False] Translation: X:1.78, Y:0.11, Z:0.81 [[ 9.99988722e-01 -5.36844442e-04 -4.71892981e-03 1.77650576e+00] [ 5.35241147e-04 9.99999799e-01 -3.41014596e-04 1.13473984e-01] [ 4.71911193e-03 3.38484984e-04 9.99988808e-01 8.06872101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282557844 meters Centerline goodness [0,1] 0.2508068234209313 Centerline is valid? [False, False] Translation: X:1.78, Y:0.11, Z:0.81 [[ 9.99987828e-01 -5.70014181e-04 -4.90084011e-03 1.77702138e+00] [ 5.68466775e-04 9.99999788e-01 -3.17130141e-04 1.13246378e-01] [ 4.90101984e-03 3.14340316e-04 9.99987941e-01 8.06758434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.312557844 meters Centerline goodness [0,1] 0.25123120362466345 Centerline is valid? [False, False] Translation: X:1.78, Y:0.11, Z:0.81 [[ 9.99983993e-01 -8.23436689e-04 -5.59775084e-03 1.77922421e+00] [ 8.20549000e-04 9.99999529e-01 -5.18143122e-04 1.13317690e-01] [ 5.59817487e-03 5.13541599e-04 9.99984198e-01 8.05982233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342557844 meters Centerline goodness [0,1] 0.24612445177819275 Centerline is valid? [False, False] Translation: X:1.78, Y:0.11, Z:0.81 [[ 9.99983367e-01 -8.60171876e-04 -5.70307947e-03 1.77965121e+00] [ 8.56130630e-04 9.99999381e-01 -7.11011145e-04 1.14424258e-01] [ 5.70368753e-03 7.06116738e-04 9.99983485e-01 8.05624809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.372557844 meters Centerline goodness [0,1] 0.24841127229697157 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99985055e-01 -9.20413953e-04 -5.38918323e-03 1.77917505e+00] [ 9.13916645e-04 9.99998853e-01 -1.20795865e-03 1.17493704e-01] [ 5.39028887e-03 1.20301533e-03 9.99984749e-01 8.05012999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402557844 meters Centerline goodness [0,1] 0.25077751982127994 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.80 [[ 9.99985310e-01 -1.01121196e-03 -5.32520655e-03 1.77905663e+00] [ 1.00351983e-03 9.99998450e-01 -1.44695049e-03 1.18528893e-01] [ 5.32666147e-03 1.44158528e-03 9.99984774e-01 8.04912250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.432557844 meters Centerline goodness [0,1] 0.24125844049718292 Centerline is valid? [False, False] Translation: X:1.82, Y:0.12, Z:0.80 [[ 9.99992748e-01 -2.60125234e-04 -3.79949935e-03 1.82323946e+00] [ 2.50118697e-04 9.99996500e-01 -2.63388383e-03 1.23461902e-01] [ 3.80017119e-03 2.63291440e-03 9.99989313e-01 8.04470681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462557844 meters Centerline goodness [0,1] 0.24679829824370025 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99974410e-01 -1.35913745e-03 -7.02371613e-03 1.77827014e+00] [ 1.34247489e-03 9.99996275e-01 -2.37649778e-03 1.21289595e-01] [ 7.02691995e-03 2.36700780e-03 9.99972509e-01 8.06004307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.492557844 meters Centerline goodness [0,1] 0.24621706235324814 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99973644e-01 -1.39944714e-03 -7.12411437e-03 1.77862966e+00] [ 1.38121992e-03 9.99995762e-01 -2.56280248e-03 1.22486744e-01] [ 7.12767068e-03 2.55289497e-03 9.99971339e-01 8.05730091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.522557844 meters Centerline goodness [0,1] 0.24866502473790897 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99975609e-01 -1.40690989e-03 -6.84126882e-03 1.77781499e+00] [ 1.38882150e-03 9.99995530e-01 -2.64804360e-03 1.23307088e-01] [ 6.84496380e-03 2.63847771e-03 9.99973092e-01 8.05874901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.552557844 meters Centerline goodness [0,1] 0.24518906695079257 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99976767e-01 -1.44716392e-03 -6.66115237e-03 1.77695912e+00] [ 1.42962232e-03 9.99995500e-01 -2.63742654e-03 1.23029486e-01] [ 6.66493918e-03 2.62784233e-03 9.99974336e-01 8.06634654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582557844 meters Centerline goodness [0,1] 0.2449340728112389 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99977532e-01 -1.45622183e-03 -6.54329284e-03 1.77625391e+00] [ 1.43958862e-03 9.99995723e-01 -2.54601598e-03 1.22415504e-01] [ 6.54697242e-03 2.53653913e-03 9.99975351e-01 8.07386755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.612557844 meters Centerline goodness [0,1] 0.2440806971263001 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99976619e-01 -1.44495184e-03 -6.68388561e-03 1.77646797e+00] [ 1.42831787e-03 9.99995873e-01 -2.49277102e-03 1.22189089e-01] [ 6.68745996e-03 2.48316602e-03 9.99974556e-01 8.07620712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642557844 meters Centerline goodness [0,1] 0.24386971107023048 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99974464e-01 -1.48349557e-03 -6.99081539e-03 1.77753939e+00] [ 1.46562761e-03 9.99995648e-01 -2.56034985e-03 1.22495435e-01] [ 6.99458324e-03 2.55003854e-03 9.99972286e-01 8.07095733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.672557844 meters Centerline goodness [0,1] 0.2511001642036125 Centerline is valid? [False, False] Translation: X:1.76, Y:0.12, Z:0.81 [[ 0.99993146 0.00583609 -0.0101498 1.75919772] [-0.00587857 0.99997406 -0.00416092 0.11916187] [ 0.01012526 0.0042203 0.99993983 0.80556939] [ 0. 0. 0. 1. ]] SLAMing on 152.702557844 meters Centerline goodness [0,1] 0.2484799440094484 Centerline is valid? [False, False] Translation: X:1.76, Y:0.12, Z:0.81 [[ 0.99992971 0.00571128 -0.01038973 1.76009032] [-0.00575789 0.99997347 -0.00446137 0.12031516] [ 0.01036397 0.00452088 0.99993607 0.80502136] [ 0. 0. 0. 1. ]] SLAMing on 152.732557844 meters Centerline goodness [0,1] 0.24581542020382774 Centerline is valid? [False, False] Translation: X:1.76, Y:0.12, Z:0.80 [[ 0.99993063 0.00561526 -0.0103543 1.76014156] [-0.00566499 0.99997253 -0.00478035 0.12181849] [ 0.01032717 0.00483868 0.99993497 0.8047352 ] [ 0. 0. 0. 1. ]] SLAMing on 152.762557844 meters Centerline goodness [0,1] 0.24770181452933593 Centerline is valid? [False, False] Translation: X:1.76, Y:0.12, Z:0.81 [[ 0.99993452 0.00560308 -0.00997783 1.75889263] [-0.00565309 0.99997157 -0.0049911 0.12310671] [ 0.00994958 0.00504717 0.99993776 0.80524533] [ 0. 0. 0. 1. ]] SLAMing on 152.79255784400002 meters Centerline goodness [0,1] 0.24855655673169452 Centerline is valid? [False, False] Translation: X:1.76, Y:0.13, Z:0.81 [[ 0.99993941 0.00562071 -0.00946509 1.75699457] [-0.00567087 0.99996998 -0.00528105 0.12519062] [ 0.00943512 0.00533441 0.99994126 0.80627859] [ 0. 0. 0. 1. ]] SLAMing on 152.82255784400002 meters Centerline goodness [0,1] 0.2490753507101744 Centerline is valid? [False, False] Translation: X:1.76, Y:0.13, Z:0.81 [[ 0.99993987 0.00554778 -0.00945957 1.7570948 ] [-0.00559949 0.99996948 -0.00544833 0.12595261] [ 0.00942905 0.00550097 0.99994041 0.8060415 ] [ 0. 0. 0. 1. ]] SLAMing on 152.85255784400002 meters Centerline goodness [0,1] 0.24581419146944194 Centerline is valid? [False, False] Translation: X:1.76, Y:0.13, Z:0.81 [[ 0.99993873 0.0054678 -0.00962475 1.75772222] [-0.00552143 0.99996933 -0.00555454 0.12631272] [ 0.00959408 0.00560734 0.99993825 0.8056786 ] [ 0. 0. 0. 1. ]] SLAMing on 152.88255784400002 meters Centerline goodness [0,1] 0.24858546427474892 Centerline is valid? [False, False] Translation: X:1.76, Y:0.13, Z:0.81 [[ 0.99993821 0.00545825 -0.00968384 1.75802177] [-0.00551192 0.99996955 -0.00552434 0.12614153] [ 0.00965339 0.00557738 0.99993785 0.80536843] [ 0. 0. 0. 1. ]] SLAMing on 152.91255784400002 meters Centerline goodness [0,1] 0.24473044848644032 Centerline is valid? [False, False] Translation: X:1.76, Y:0.13, Z:0.81 [[ 0.99994275 0.00540979 -0.00923186 1.75653263] [-0.00545968 0.99997058 -0.00538782 0.12543271] [ 0.00920244 0.00543791 0.99994287 0.80606804] [ 0. 0. 0. 1. ]] SLAMing on 152.94255784400002 meters Centerline goodness [0,1] 0.2470724460368784 Centerline is valid? [False, False] Translation: X:1.76, Y:0.12, Z:0.81 [[ 0.99994417 0.00541795 -0.00907262 1.75567814] [-0.00546509 0.99997165 -0.00517998 0.12422564] [ 0.00904429 0.00522927 0.99994543 0.80696623] [ 0. 0. 0. 1. ]] SLAMing on 152.972557844 meters Centerline goodness [0,1] 0.24734495869935758 Centerline is valid? [False, False] Translation: X:1.76, Y:0.12, Z:0.81 [[ 0.99994461 0.00545719 -0.00899988 1.75512188] [-0.00550161 0.99997277 -0.00491813 0.12279856] [ 0.0089728 0.00496737 0.99994741 0.80768372] [ 0. 0. 0. 1. ]] SLAMing on 153.002557844 meters Centerline goodness [0,1] 0.24482557259337756 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.81 [[ 0.99996477 -0.00243008 -0.00803475 1.77471276] [ 0.0023989 0.99998957 -0.00388782 0.12631088] [ 0.00804412 0.00386841 0.99996016 0.80924172] [ 0. 0. 0. 1. ]] SLAMing on 153.032557844 meters Centerline goodness [0,1] 0.24775571718760236 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.81 [[ 0.99996617 -0.00236832 -0.00787753 1.77406017] [ 0.00233888 0.99999025 -0.00374458 0.12574592] [ 0.00788632 0.00372603 0.99996196 0.8097027 ] [ 0. 0. 0. 1. ]] SLAMing on 153.062557844 meters Centerline goodness [0,1] 0.24521618936547018 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 9.99955923e-01 -7.43630772e-03 -5.73179235e-03 1.79501710e+00] [ 7.43667791e-03 9.99972347e-01 4.32754699e-05 1.27175067e-01] [ 5.73131203e-03 -8.58990560e-05 9.99983572e-01 8.09774875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.092557844 meters Centerline goodness [0,1] 0.24604481816999701 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:0.81 [[ 9.99956564e-01 -7.37404955e-03 -5.70034509e-03 1.79493787e+00] [ 7.37499978e-03 9.99972794e-01 1.45694030e-04 1.26761007e-01] [ 5.69911565e-03 -1.87727745e-04 9.99983742e-01 8.09780105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122557844 meters Centerline goodness [0,1] 0.2488004885283085 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99992846e-01 -1.33765147e-03 -3.53815567e-03 1.77848240e+00] [ 1.33312285e-03 9.99998290e-01 -1.28198836e-03 1.21740193e-01] [ 3.53986448e-03 1.27726239e-03 9.99992919e-01 8.05936269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152557844 meters Centerline goodness [0,1] 0.2488004885283085 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99992846e-01 -1.33765147e-03 -3.53815567e-03 1.77848240e+00] [ 1.33312285e-03 9.99998290e-01 -1.28198836e-03 1.21740193e-01] [ 3.53986448e-03 1.27726239e-03 9.99992919e-01 8.05936269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182557844 meters Centerline goodness [0,1] 0.24738835205014365 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.81 [[ 9.99992355e-01 -1.23460775e-03 -3.71010052e-03 1.77908913e+00] [ 1.23059755e-03 9.99998656e-01 -1.08297591e-03 1.20735886e-01] [ 3.71143259e-03 1.07840199e-03 9.99992531e-01 8.05636380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212557844 meters Centerline goodness [0,1] 0.24688235807098635 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.80 [[ 9.99992150e-01 -9.74418767e-04 -3.84065956e-03 1.77981383e+00] [ 9.71436487e-04 9.99999225e-01 -7.78291108e-04 1.19598456e-01] [ 3.84141497e-03 7.74554042e-04 9.99992322e-01 8.04876901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.242557844 meters Centerline goodness [0,1] 0.2458145385149202 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.80 [[ 9.99992090e-01 -9.07905315e-04 -3.87241821e-03 1.78003297e+00] [ 9.05125646e-04 9.99999332e-01 -7.19504350e-04 1.19286585e-01] [ 3.87306887e-03 7.15993634e-04 9.99992243e-01 8.04653586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.272557844 meters Centerline goodness [0,1] 0.2509025270758123 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.81 [[ 9.99975701e-01 -1.96877577e-03 -6.68734402e-03 1.73576626e+00] [ 1.96446958e-03 9.99997859e-01 -6.50439010e-04 1.15331215e-01] [ 6.68861027e-03 6.37286121e-04 9.99977428e-01 8.05426612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.302557844 meters Centerline goodness [0,1] 0.24891490201236355 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99974469e-01 -1.93898555e-03 -6.87769246e-03 1.73652838e+00] [ 1.93447035e-03 9.99997909e-01 -6.63091136e-04 1.15315766e-01] [ 6.87896380e-03 6.49769515e-04 9.99976129e-01 8.04862713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.332557844 meters Centerline goodness [0,1] 0.2457151590576625 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99967439e-01 -1.44236679e-03 -7.93983138e-03 1.73973365e+00] [ 1.43809541e-03 9.99998818e-01 -5.43651351e-04 1.16273926e-01] [ 7.94060614e-03 5.32215414e-04 9.99968331e-01 8.03530633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.362557844 meters Centerline goodness [0,1] 0.24649302976008391 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99967827e-01 -1.38689937e-03 -7.90068023e-03 1.73981432e+00] [ 1.38231932e-03 9.99998873e-01 -5.85134974e-04 1.16761521e-01] [ 7.90148285e-03 5.74194886e-04 9.99968618e-01 8.03129151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.392557844 meters Centerline goodness [0,1] 0.24841958407812703 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99968819e-01 -1.34661156e-03 -7.78122719e-03 1.73954963e+00] [ 1.34201624e-03 9.99998922e-01 -5.95755714e-04 1.17010220e-01] [ 7.78202106e-03 5.85294604e-04 9.99969548e-01 8.03037270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.422557844 meters Centerline goodness [0,1] 0.24484127845162407 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99969749e-01 -1.29795963e-03 -7.66924835e-03 1.73926749e+00] [ 1.29380906e-03 9.99999014e-01 -5.46132692e-04 1.16834130e-01] [ 7.66994965e-03 5.36193628e-04 9.99970442e-01 8.03012309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.452557844 meters Centerline goodness [0,1] 0.24463324469809977 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99969597e-01 -1.30016316e-03 -7.68857450e-03 1.73938611e+00] [ 1.29620689e-03 9.99999025e-01 -5.19525966e-04 1.16509633e-01] [ 7.68924248e-03 5.09544188e-04 9.99970308e-01 8.02932537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.482557844 meters Centerline goodness [0,1] 0.2473430373393274 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99971222e-01 -1.27660413e-03 -7.47838027e-03 1.73852272e+00] [ 1.27380896e-03 9.99999117e-01 -3.78518815e-04 1.15703691e-01] [ 7.47885689e-03 3.68981894e-04 9.99971965e-01 8.03549479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.512557844 meters Centerline goodness [0,1] 0.24629267232006957 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99972507e-01 -1.27653503e-03 -7.30450273e-03 1.73798045e+00] [ 1.27362949e-03 9.99999108e-01 -4.02412614e-04 1.15968968e-01] [ 7.30500991e-03 3.93098321e-04 9.99973241e-01 8.03712779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54255784400002 meters Centerline goodness [0,1] 0.24448553123790684 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99972606e-01 -1.31285566e-03 -7.28452324e-03 1.73784957e+00] [ 1.30923517e-03 9.99999017e-01 -5.01757791e-04 1.16497349e-01] [ 7.28517481e-03 4.92206892e-04 9.99973342e-01 8.03831382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57255784400002 meters Centerline goodness [0,1] 0.2441587770346565 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99970703e-01 -1.47809567e-03 -7.51060409e-03 1.73865031e+00] [ 1.47226464e-03 9.99998611e-01 -7.81842704e-04 1.17352423e-01] [ 7.51174930e-03 7.70762202e-04 9.99971489e-01 8.03424796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60255784400002 meters Centerline goodness [0,1] 0.24313844420856534 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.80 [[ 9.99969633e-01 -1.52370690e-03 -7.64267216e-03 1.73917652e+00] [ 1.51673278e-03 9.99998428e-01 -9.18236225e-04 1.18025396e-01] [ 7.64405927e-03 9.06616450e-04 9.99970373e-01 8.03049357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63255784400002 meters Centerline goodness [0,1] 0.24996154437778806 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:0.80 [[ 9.99941582e-01 -2.27039824e-03 -1.05677293e-02 1.69472321e+00] [ 2.26828008e-03 9.99997405e-01 -2.12418088e-04 1.15450539e-01] [ 1.05681842e-02 1.88435109e-04 9.99944137e-01 8.03705378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66255784400002 meters Centerline goodness [0,1] 0.24517100639500622 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:0.80 [[ 9.99940499e-01 -2.35705772e-03 -1.06509426e-02 1.69506940e+00] [ 2.35223145e-03 9.99997125e-01 -4.65635811e-04 1.16724510e-01] [ 1.06520095e-02 4.40554623e-04 9.99943169e-01 8.03428018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69255784400002 meters Centerline goodness [0,1] 0.24601919452327825 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:0.80 [[ 9.99940180e-01 -2.45925743e-03 -1.06578204e-02 1.69528043e+00] [ 2.45131164e-03 9.99996708e-01 -7.58535497e-04 1.18183804e-01] [ 1.06596507e-02 7.32364482e-04 9.99942916e-01 8.03002840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722557844 meters Centerline goodness [0,1] 0.2506148981026002 Centerline is valid? [False, False] Translation: X:1.67, Y:0.12, Z:0.80 [[ 0.99991526 0.00552732 -0.01178638 1.67459094] [-0.00554922 0.99998294 -0.00182625 0.11619523] [ 0.01177608 0.0018915 0.99992887 0.80237017] [ 0. 0. 0. 1. ]] SLAMing on 153.752557844 meters Centerline goodness [0,1] 0.2449187432286024 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:0.80 [[ 9.99929042e-01 -1.71582808e-03 -1.17884190e-02 1.69372456e+00] [ 1.70519635e-03 9.99998130e-01 -9.11871594e-04 1.23418997e-01] [ 1.17899616e-02 8.91705320e-04 9.99930098e-01 8.03841721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782557844 meters Centerline goodness [0,1] 0.246885617214043 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:0.80 [[ 9.99928749e-01 -1.79383157e-03 -1.18016166e-02 1.69377427e+00] [ 1.78106733e-03 9.99997818e-01 -1.09198838e-03 1.24263146e-01] [ 1.18035496e-02 1.07089110e-03 9.99929762e-01 8.03771093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.812557844 meters Centerline goodness [0,1] 0.24609273248241725 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:0.80 [[ 9.99930582e-01 -1.81712519e-03 -1.16417071e-02 1.69315723e+00] [ 1.80405233e-03 9.99997730e-01 -1.13333570e-03 1.24570981e-01] [ 1.16437400e-02 1.11225478e-03 9.99931591e-01 8.04138986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842557844 meters Centerline goodness [0,1] 0.24587195986476174 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:0.80 [[ 9.99934402e-01 -1.80237658e-03 -1.13111913e-02 1.69187767e+00] [ 1.79073557e-03 9.99997857e-01 -1.03920284e-03 1.24197549e-01] [ 1.13130401e-02 1.01887932e-03 9.99935486e-01 8.04948579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.872557844 meters Centerline goodness [0,1] 0.2470143613000756 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.80 [[ 0.99996903 0.00275783 -0.00737151 1.71306392] [-0.00279628 0.99998251 -0.00521118 0.12534349] [ 0.00735701 0.00523163 0.99995925 0.80384831] [ 0. 0. 0. 1. ]] SLAMing on 153.902557844 meters Centerline goodness [0,1] 0.24327407343635654 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:0.80 [[ 0.99996894 0.00275704 -0.00738343 1.71307636] [-0.00279488 0.99998299 -0.00512004 0.12480113] [ 0.00736918 0.00514051 0.99995963 0.80388122] [ 0. 0. 0. 1. ]] SLAMing on 153.932557844 meters Centerline goodness [0,1] 0.24407829212315424 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:0.80 [[ 0.99996841 0.00279121 -0.00744176 1.71328791] [-0.00282869 0.99998335 -0.00503041 0.12443154] [ 0.00742759 0.0050513 0.99995966 0.8037396 ] [ 0. 0. 0. 1. ]] SLAMing on 153.962557844 meters Centerline goodness [0,1] 0.24517996257126695 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:0.80 [[ 0.99996758 0.00280557 -0.00754766 1.71372182] [-0.00284345 0.99998339 -0.00501349 0.12446312] [ 0.00753347 0.00503479 0.99995895 0.80343727] [ 0. 0. 0. 1. ]] SLAMing on 153.992557844 meters Centerline goodness [0,1] 0.24445164775796868 Centerline is valid? [False, False] Translation: X:1.73, Y:0.13, Z:0.81 [[ 0.99996472 -0.00413425 -0.00731243 1.73129777] [ 0.00410673 0.99998444 -0.0037742 0.1313596 ] [ 0.00732792 0.00374404 0.99996614 0.80533449] [ 0. 0. 0. 1. ]] SLAMing on 154.022557844 meters Centerline goodness [0,1] 0.24644078064823227 Centerline is valid? [False, False] Translation: X:1.73, Y:0.13, Z:0.81 [[ 0.99996656 -0.00417186 -0.00703367 1.73033241] [ 0.00414412 0.9999836 -0.00395372 0.13229889] [ 0.00705004 0.00392444 0.99996745 0.80577053] [ 0. 0. 0. 1. ]] SLAMing on 154.052557844 meters Centerline goodness [0,1] 0.2480288304029704 Centerline is valid? [False, False] Translation: X:1.73, Y:0.13, Z:0.81 [[ 0.99996737 -0.00426832 -0.00685805 1.72974643] [ 0.00423923 0.99998198 -0.00425016 0.13373833] [ 0.00687606 0.00422095 0.99996745 0.80599946] [ 0. 0. 0. 1. ]] SLAMing on 154.082557844 meters Centerline goodness [0,1] 0.2452573060200307 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 0.99996608 -0.00436108 -0.00698641 1.73021469] [ 0.00432921 0.99998018 -0.00457112 0.13536756] [ 0.0070062 0.00454072 0.99996515 0.80566803] [ 0. 0. 0. 1. ]] SLAMing on 154.112557844 meters Centerline goodness [0,1] 0.24939806505275142 Centerline is valid? [False, False] Translation: X:1.71, Y:0.14, Z:0.81 [[ 0.99993914 0.00412541 -0.01023261 1.70968487] [-0.00417547 0.9999794 -0.00487558 0.13524402] [ 0.01021229 0.00491801 0.99993576 0.80520946] [ 0. 0. 0. 1. ]] SLAMing on 154.142557844 meters Centerline goodness [0,1] 0.24159587052371223 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:0.81 [[ 0.99992577 -0.00287308 -0.01184084 1.72965011] [ 0.00282132 0.99998641 -0.00438501 0.14223044] [ 0.01185328 0.00435127 0.99992028 0.80635973] [ 0. 0. 0. 1. ]] SLAMing on 154.172557844 meters Centerline goodness [0,1] 0.24633681582232736 Centerline is valid? [False, False] Translation: X:1.68, Y:0.14, Z:0.81 [[ 0.99987818 -0.00477787 -0.01485931 1.68450705] [ 0.00470347 0.99997625 -0.00503758 0.13873271] [ 0.01488303 0.00496707 0.9998769 0.80729594] [ 0. 0. 0. 1. ]] SLAMing on 154.202557844 meters Centerline goodness [0,1] 0.2441265713047247 Centerline is valid? [False, False] Translation: X:1.70, Y:0.14, Z:0.81 [[ 0.99991235 0.00257283 -0.01298739 1.70294053] [-0.00266847 0.99996941 -0.00735209 0.13528755] [ 0.01296808 0.0073861 0.99988863 0.80892244] [ 0. 0. 0. 1. ]] SLAMing on 154.232557844 meters Centerline goodness [0,1] 0.24770082378067382 Centerline is valid? [False, False] Translation: X:1.70, Y:0.13, Z:0.81 [[ 0.99992644 0.00213632 -0.0119393 1.69969218] [-0.00222183 0.99997195 -0.00715344 0.13333554] [ 0.01192369 0.00717944 0.99990314 0.81008726] [ 0. 0. 0. 1. ]] SLAMing on 154.262557844 meters Centerline goodness [0,1] 0.24442666551343872 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 0.99992196 -0.00575549 -0.01108863 1.72012575] [ 0.0056911 0.99996681 -0.00582949 0.13732634] [ 0.01112182 0.00576593 0.99992153 0.81109764] [ 0. 0. 0. 1. ]] SLAMing on 154.29255784400002 meters Centerline goodness [0,1] 0.2432672132211382 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 0.99992134 -0.00576325 -0.01113955 1.72033614] [ 0.00570173 0.99996837 -0.00554601 0.13575883] [ 0.01117116 0.00548206 0.99992257 0.81100443] [ 0. 0. 0. 1. ]] SLAMing on 154.32255784400002 meters Centerline goodness [0,1] 0.2400473169157974 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:0.81 [[ 0.99991846 -0.00591254 -0.01131853 1.72074513] [ 0.00585226 0.99996856 -0.00535151 0.13398322] [ 0.01134981 0.00528484 0.99992162 0.81115985] [ 0. 0. 0. 1. ]] SLAMing on 154.35255784400002 meters Centerline goodness [0,1] 0.24382372822223675 Centerline is valid? [False, False] Translation: X:1.70, Y:0.13, Z:0.81 [[ 9.99937053e-01 -1.07616716e-03 -1.11683132e-02 1.69805443e+00] [ 9.77371140e-04 9.99960380e-01 -8.84779111e-03 1.29071466e-01] [ 1.11773924e-02 8.83631858e-03 9.99898488e-01 8.11174799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38255784400002 meters Centerline goodness [0,1] 0.24637776032120107 Centerline is valid? [False, False] Translation: X:1.70, Y:0.13, Z:0.81 [[ 9.99934983e-01 -1.51008931e-03 -1.13026594e-02 1.69822088e+00] [ 1.41219286e-03 9.99961467e-01 -8.66433898e-03 1.26842286e-01] [ 1.13153078e-02 8.64781411e-03 9.99898584e-01 8.11533378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41255784400002 meters Centerline goodness [0,1] 0.2482852620471333 Centerline is valid? [False, False] Translation: X:1.70, Y:0.13, Z:0.81 [[ 9.99936018e-01 -1.44196772e-03 -1.12196769e-02 1.69800781e+00] [ 1.34806602e-03 9.99964042e-01 -8.37244220e-03 1.25481492e-01] [ 1.12313462e-02 8.35678165e-03 9.99902006e-01 8.11486409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44255784400002 meters Centerline goodness [0,1] 0.2444792210050426 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:0.81 [[ 0.99989825 -0.009584 -0.01056558 1.71888507] [ 0.00950407 0.99992603 -0.00759022 0.12908213] [ 0.01063754 0.00748903 0.99991537 0.81209104] [ 0. 0. 0. 1. ]] SLAMing on 154.472557844 meters Centerline goodness [0,1] 0.24403590353628202 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:0.81 [[ 0.99989532 -0.00959713 -0.01082757 1.71978178] [ 0.00951678 0.99992698 -0.00744756 0.12818861] [ 0.01089825 0.00734373 0.99991365 0.81167704] [ 0. 0. 0. 1. ]] SLAMing on 154.502557844 meters Centerline goodness [0,1] 0.24257661797217045 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:0.81 [[ 0.99989038 -0.00962522 -0.01125079 1.72117989] [ 0.00954241 0.99992715 -0.0073914 0.1277275 ] [ 0.01132111 0.00728323 0.99990939 0.81107816] [ 0. 0. 0. 1. ]] SLAMing on 154.532557844 meters Centerline goodness [0,1] 0.24406868527985315 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:0.81 [[ 9.99920661e-01 -1.68689630e-03 -1.24830339e-02 1.70234986e+00] [ 1.58274310e-03 9.99963896e-01 -8.34876114e-03 1.22904129e-01] [ 1.24966667e-02 8.32834132e-03 9.99887230e-01 8.09488629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562557844 meters Centerline goodness [0,1] 0.24617970660146704 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:0.81 [[ 9.99924383e-01 -1.55637387e-03 -1.21985885e-02 1.70111628e+00] [ 1.45858768e-03 9.99966768e-01 -8.02099040e-03 1.21635812e-01] [ 1.22106667e-02 8.00259117e-03 9.99893423e-01 8.10375091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.592557844 meters Centerline goodness [0,1] 0.24522369484049866 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:0.81 [[ 9.99929262e-01 -1.48551873e-03 -1.18010366e-02 1.69968606e+00] [ 1.39425270e-03 9.99969088e-01 -7.73819610e-03 1.20218040e-01] [ 1.18121671e-02 7.72119509e-03 9.99900423e-01 8.11138515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622557844 meters Centerline goodness [0,1] 0.24591373808851935 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:0.81 [[ 9.99931400e-01 -1.41736431e-03 -1.16270034e-02 1.69904626e+00] [ 1.33097177e-03 9.99971476e-01 -7.43471119e-03 1.18603497e-01] [ 1.16372095e-02 7.41872595e-03 9.99904764e-01 8.11448534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.652557844 meters Centerline goodness [0,1] 0.24417698502034813 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:0.81 [[ 9.99922592e-01 -1.66914255e-03 -1.23297688e-02 1.70117064e+00] [ 1.58093972e-03 9.99973118e-01 -7.15993434e-03 1.16178607e-01] [ 1.23413883e-02 7.13988749e-03 9.99898351e-01 8.10763483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682557844 meters Centerline goodness [0,1] 0.24568684542175478 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:0.81 [[ 9.99920000e-01 -1.62384055e-03 -1.25441664e-02 1.70184641e+00] [ 1.53689535e-03 9.99974753e-01 -6.93765954e-03 1.15000038e-01] [ 1.25551153e-02 6.91782546e-03 9.99897251e-01 8.10506659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.712557844 meters Centerline goodness [0,1] 0.24291242716757977 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99919417e-01 -1.55285970e-03 -1.25995364e-02 1.70191947e+00] [ 1.46812913e-03 9.99976266e-01 -6.73136112e-03 1.14071448e-01] [ 1.26096903e-02 6.71232094e-03 9.99897965e-01 8.10557250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.742557844 meters Centerline goodness [0,1] 0.2453884973462107 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99922123e-01 -1.49877860e-03 -1.23895855e-02 1.70111706e+00] [ 1.41665595e-03 9.99976988e-01 -6.63448283e-03 1.13785376e-01] [ 1.23992441e-02 6.61641438e-03 9.99901236e-01 8.11016493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.772557844 meters Centerline goodness [0,1] 0.2441605760263723 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99922976e-01 -1.46525001e-03 -1.23245936e-02 1.70078817e+00] [ 1.38419562e-03 9.99977376e-01 -6.58259904e-03 1.13652437e-01] [ 1.23339599e-02 6.56503237e-03 9.99902382e-01 8.11261233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.802557844 meters Centerline goodness [0,1] 0.24632168076780137 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99922020e-01 -1.45366861e-03 -1.24032486e-02 1.70100468e+00] [ 1.37281864e-03 9.99977773e-01 -6.52447685e-03 1.13346247e-01] [ 1.24124574e-02 6.50694066e-03 9.99901790e-01 8.11193807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.832557844 meters Centerline goodness [0,1] 0.2429228898923237 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99918305e-01 -1.46476745e-03 -1.26979304e-02 1.70208624e+00] [ 1.38311827e-03 9.99978329e-01 -6.43651635e-03 1.12729642e-01] [ 1.27070832e-02 6.41842778e-03 9.99898662e-01 8.10563015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.862557844 meters Centerline goodness [0,1] 0.2430317742424899 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99915500e-01 -1.45282562e-03 -1.29183071e-02 1.70290488e+00] [ 1.37176896e-03 9.99979332e-01 -6.28120547e-03 1.11810873e-01] [ 1.29271656e-02 6.26295377e-03 9.99896827e-01 8.10052594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.892557844 meters Centerline goodness [0,1] 0.2425160717764454 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99916410e-01 -1.44471167e-03 -1.28485530e-02 1.70277905e+00] [ 1.36576299e-03 9.99980148e-01 -6.15121179e-03 1.11113757e-01] [ 1.28571846e-02 6.13314953e-03 9.99898533e-01 8.09922149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.922557844 meters Centerline goodness [0,1] 0.24525883605239718 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99925381e-01 -1.57212977e-03 -1.21144968e-02 1.70051905e+00] [ 1.49954743e-03 9.99980887e-01 -5.99811842e-03 1.10161111e-01] [ 1.21236951e-02 5.97950458e-03 9.99908627e-01 8.10587354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.952557844 meters Centerline goodness [0,1] 0.24551523190328117 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99926095e-01 -1.59062415e-03 -1.20530119e-02 1.70023800e+00] [ 1.51963423e-03 9.99981460e-01 -5.89667835e-03 1.09582521e-01] [ 1.20621679e-02 5.87792639e-03 9.99909973e-01 8.10768293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.982557844 meters Centerline goodness [0,1] 0.24576619444144043 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99924623e-01 -1.61426592e-03 -1.21713906e-02 1.70048703e+00] [ 1.54351243e-03 9.99981871e-01 -5.82025284e-03 1.09070330e-01] [ 1.21805654e-02 5.80102743e-03 9.99908987e-01 8.10825660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.012557844 meters Centerline goodness [0,1] 0.2476504066813493 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99923685e-01 -1.61713476e-03 -1.22477814e-02 1.70066288e+00] [ 1.54688910e-03 9.99982314e-01 -5.74268228e-03 1.08604564e-01] [ 1.22568515e-02 5.72329807e-03 9.99908503e-01 8.10778197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04255784400002 meters Centerline goodness [0,1] 0.24562086414947448 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99927727e-01 -1.71487188e-03 -1.18995910e-02 1.69954383e+00] [ 1.64864193e-03 9.99983110e-01 -5.57331272e-03 1.07432049e-01] [ 1.19089476e-02 5.55329176e-03 9.99913665e-01 8.11156742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07255784400002 meters Centerline goodness [0,1] 0.24562086414947448 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99927727e-01 -1.71487188e-03 -1.18995910e-02 1.69954383e+00] [ 1.64864193e-03 9.99983110e-01 -5.57331272e-03 1.07432049e-01] [ 1.19089476e-02 5.55329176e-03 9.99913665e-01 8.11156742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10255784400002 meters Centerline goodness [0,1] 0.2489498556051457 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99930767e-01 -1.70274535e-03 -1.16430840e-02 1.69864186e+00] [ 1.63920118e-03 9.99983723e-01 -5.46504217e-03 1.06839239e-01] [ 1.16522000e-02 5.44557846e-03 9.99917283e-01 8.11582972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13255784400002 meters Centerline goodness [0,1] 0.2474777318188781 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99932668e-01 -1.69458798e-03 -1.14799137e-02 1.69807460e+00] [ 1.63247687e-03 9.99983992e-01 -5.41762850e-03 1.06636912e-01] [ 1.14889106e-02 5.39852302e-03 9.99919427e-01 8.11823243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16255784400002 meters Centerline goodness [0,1] 0.24600293838043386 Centerline is valid? [False, False] Translation: X:1.72, Y:0.11, Z:0.81 [[ 0.9998854 -0.00968513 -0.01163551 1.71939912] [ 0.00963277 0.99994326 -0.0045484 0.11115454] [ 0.0116789 0.0044358 0.99992196 0.81260085] [ 0. 0. 0. 1. ]] SLAMing on 155.19255784400002 meters Centerline goodness [0,1] 0.2440907522429262 Centerline is valid? [False, False] Translation: X:1.72, Y:0.11, Z:0.81 [[ 0.99987928 -0.0097891 -0.01206636 1.72114609] [ 0.00973318 0.99994166 -0.0046846 0.11156252] [ 0.01211151 0.00456659 0.99991623 0.81147625] [ 0. 0. 0. 1. ]] SLAMing on 155.222557844 meters Centerline goodness [0,1] 0.24421218006066026 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 0.99989587 -0.00196803 -0.01429625 1.70229811] [ 0.00188105 0.99997966 -0.00609514 0.10869365] [ 0.01430795 0.00606761 0.99987923 0.80950017] [ 0. 0. 0. 1. ]] SLAMing on 155.252557844 meters Centerline goodness [0,1] 0.24372550293423423 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 0.99989234 -0.00208643 -0.01452404 1.70314405] [ 0.00199487 0.99997807 -0.00631571 0.10947542] [ 0.0145369 0.00628606 0.99987457 0.80905061] [ 0. 0. 0. 1. ]] SLAMing on 155.282557844 meters Centerline goodness [0,1] 0.24778877598051052 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.81 [[ 0.99986552 0.00619921 -0.01518279 1.68161707] [-0.00630609 0.9999556 -0.00700165 0.10646065] [ 0.01513871 0.00709645 0.99986022 0.80843187] [ 0. 0. 0. 1. ]] SLAMing on 155.312557844 meters Centerline goodness [0,1] 0.2417952314165498 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99907646e-01 5.52000361e-04 -1.35792031e-02 1.70318969e+00] [-6.04238041e-04 9.99992433e-01 -3.84308657e-03 1.09240135e-01] [ 1.35769790e-02 3.85093672e-03 9.99900413e-01 8.08953621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342557844 meters Centerline goodness [0,1] 0.24578544479096243 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99907744e-01 4.38666243e-04 -1.35761017e-02 1.70319066e+00] [-4.94391171e-04 9.99991466e-01 -4.10155006e-03 1.10314046e-01] [ 1.35741866e-02 4.10788357e-03 9.99899428e-01 8.08997886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.372557844 meters Centerline goodness [0,1] 0.2479694323144105 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99908174e-01 3.32434227e-04 -1.35474423e-02 1.70325758e+00] [-3.90673895e-04 9.99990694e-01 -4.29652229e-03 1.10977311e-01] [ 1.35458879e-02 4.30142039e-03 9.99898998e-01 8.08753329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402557844 meters Centerline goodness [0,1] 0.24524648653352477 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99909198e-01 2.33351823e-04 -1.34737079e-02 1.70311086e+00] [-2.93580497e-04 9.99989974e-01 -4.46828420e-03 1.11600539e-01] [ 1.34725302e-02 4.47183409e-03 9.99899242e-01 8.08657663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.432557844 meters Centerline goodness [0,1] 0.24493826088843562 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99911658e-01 2.42937237e-04 -1.32897646e-02 1.70246823e+00] [-3.02365576e-04 9.99989964e-01 -4.46991107e-03 1.12086050e-01] [ 1.32885453e-02 4.47353456e-03 9.99901696e-01 8.08834767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462557844 meters Centerline goodness [0,1] 0.24639975709204476 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99909724e-01 2.69064937e-04 -1.34339495e-02 1.70303181e+00] [-3.27936357e-04 9.99990353e-01 -4.38027634e-03 1.11814920e-01] [ 1.34326413e-02 4.38428639e-03 9.99900166e-01 8.08430577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.492557844 meters Centerline goodness [0,1] 0.2444449266556723 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99905714e-01 2.70178954e-04 -1.37291552e-02 1.70400820e+00] [-3.29134645e-04 9.99990735e-01 -4.29211857e-03 1.11304274e-01] [ 1.37278684e-02 4.29623263e-03 9.99896539e-01 8.07993276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.522557844 meters Centerline goodness [0,1] 0.24594883426751868 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.81 [[ 9.99901978e-01 2.46893232e-04 -1.39990448e-02 1.70493947e+00] [-3.07302215e-04 9.99990651e-01 -4.31323495e-03 1.11268723e-01] [ 1.39978490e-02 4.31711409e-03 9.99892706e-01 8.07533313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.552557844 meters Centerline goodness [0,1] 0.24280874387691243 Centerline is valid? [False, False] Translation: X:1.72, Y:0.12, Z:0.81 [[ 0.99988296 -0.00716019 -0.0135203 1.72385828] [ 0.0071162 0.99996924 -0.00329891 0.11745347] [ 0.01354351 0.00320231 0.99990315 0.80948899] [ 0. 0. 0. 1. ]] SLAMing on 155.582557844 meters Centerline goodness [0,1] 0.24498697916666667 Centerline is valid? [False, False] Translation: X:1.72, Y:0.12, Z:0.81 [[ 0.99988809 -0.00724411 -0.01308939 1.72234756] [ 0.00719662 0.99996736 -0.00367168 0.11941861] [ 0.01311556 0.00357707 0.99990759 0.81027726] [ 0. 0. 0. 1. ]] SLAMing on 155.612557844 meters Centerline goodness [0,1] 0.24410161384154616 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.81 [[ 9.99935038e-01 1.44599337e-03 -1.13061414e-02 1.74113807e+00] [-1.50331224e-03 9.99986054e-01 -5.06285674e-03 1.17652497e-01] [ 1.12986628e-02 5.07952451e-03 9.99923266e-01 8.11588174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642557844 meters Centerline goodness [0,1] 0.2455436143122276 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.81 [[ 9.99936957e-01 1.31775906e-03 -1.11510374e-02 1.74058557e+00] [-1.37856177e-03 9.99984216e-01 -5.44672152e-03 1.19534021e-01] [ 1.11436839e-02 5.46175054e-03 9.99922991e-01 8.11905599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.672557844 meters Centerline goodness [0,1] 0.2480767135229378 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.81 [[ 9.99935561e-01 1.05421092e-03 -1.13032236e-02 1.74146716e+00] [-1.12372242e-03 9.99980487e-01 -6.14511982e-03 1.22968635e-01] [ 1.12965248e-02 6.15742551e-03 9.99917234e-01 8.11080252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.702557844 meters Centerline goodness [0,1] 0.246262683079852 Centerline is valid? [False, False] Translation: X:1.76, Y:0.13, Z:0.81 [[ 0.99989518 -0.00470008 -0.01369418 1.75772528] [ 0.00463626 0.99997826 -0.00468829 0.12756828] [ 0.01371591 0.00462431 0.99989524 0.81499718] [ 0. 0. 0. 1. ]] SLAMing on 155.732557844 meters Centerline goodness [0,1] 0.25218790644357736 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.82 [[ 0.99986245 -0.00530694 -0.01571345 1.71066952] [ 0.00523676 0.99997615 -0.00450384 0.13000697] [ 0.01573698 0.00442093 0.99986639 0.81619895] [ 0. 0. 0. 1. ]] SLAMing on 155.762557844 meters Centerline goodness [0,1] 0.24764883473425858 Centerline is valid? [False, False] Translation: X:1.73, Y:0.13, Z:0.82 [[ 0.99990054 0.00274481 -0.01383387 1.72919001] [-0.00282635 0.99997873 -0.00587765 0.12632761] [ 0.01381744 0.00591616 0.99988703 0.81683692] [ 0. 0. 0. 1. ]] SLAMing on 155.79255784400002 meters Centerline goodness [0,1] 0.2470435628580694 Centerline is valid? [False, False] Translation: X:1.73, Y:0.13, Z:0.82 [[ 0.99990058 0.00266129 -0.0138471 1.72912941] [-0.00274321 0.99997883 -0.00590098 0.12633348] [ 0.01383111 0.00593838 0.99988671 0.81690981] [ 0. 0. 0. 1. ]] SLAMing on 155.82255784400002 meters Centerline goodness [0,1] 0.24916355048218852 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.82 [[ 0.9998654 -0.00634906 -0.01512856 1.70967637] [ 0.00627526 0.9999682 -0.00492051 0.13116188] [ 0.01515932 0.00482491 0.99987345 0.81552959] [ 0. 0. 0. 1. ]] SLAMing on 155.85255784400002 meters Centerline goodness [0,1] 0.24854288093255616 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.81 [[ 0.99984623 -0.00685709 -0.01613968 1.71284528] [ 0.00677301 0.99996323 -0.00525883 0.13169491] [ 0.01617514 0.0051487 0.99985592 0.81418892] [ 0. 0. 0. 1. ]] SLAMing on 155.88255784400002 meters Centerline goodness [0,1] 0.2472646752344564 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.81 [[ 0.99984592 -0.00693921 -0.01612375 1.71281657] [ 0.00685339 0.99996209 -0.00537171 0.13210089] [ 0.01616041 0.00526038 0.99985557 0.81412679] [ 0. 0. 0. 1. ]] SLAMing on 155.91255784400002 meters Centerline goodness [0,1] 0.24487282000302557 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.81 [[ 0.99984834 -0.00714589 -0.01588171 1.71209553] [ 0.00705433 0.99995822 -0.00581322 0.13427597] [ 0.01592258 0.0057003 0.99985698 0.8142626 ] [ 0. 0. 0. 1. ]] SLAMing on 155.94255784400002 meters Centerline goodness [0,1] 0.24926153644180904 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:0.81 [[ 0.99986483 0.00169238 -0.0163544 1.69010606] [-0.00179498 0.99997879 -0.00626097 0.13315508] [ 0.01634345 0.00628948 0.99984666 0.81354774] [ 0. 0. 0. 1. ]] SLAMing on 155.972557844 meters Centerline goodness [0,1] 0.2472825495022546 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:0.81 [[ 9.99863202e-01 1.56887428e-03 -1.64655704e-02 1.69044785e+00] [-1.67889644e-03 9.99976344e-01 -6.67025764e-03 1.35246656e-01] [ 1.64547161e-02 6.69698915e-03 9.99842184e-01 8.13519876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002557844 meters Centerline goodness [0,1] 0.24808312276727362 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:0.81 [[ 9.99863207e-01 1.44180095e-03 -1.64768810e-02 1.69044873e+00] [-1.55737679e-03 9.99974261e-01 -7.00374756e-03 1.36739225e-01] [ 1.64663589e-02 7.02845021e-03 9.99839717e-01 8.13652174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.032557844 meters Centerline goodness [0,1] 0.25337770822772254 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:0.81 [[ 9.99864500e-01 1.31590355e-03 -1.64088601e-02 1.69026186e+00] [-1.43623207e-03 9.99972151e-01 -7.32351632e-03 1.38092886e-01] [ 1.63987661e-02 7.34609091e-03 9.99838545e-01 8.13724679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062557844 meters Centerline goodness [0,1] 0.2473706989829041 Centerline is valid? [False, False] Translation: X:1.71, Y:0.14, Z:0.81 [[ 0.99987166 -0.00434262 -0.01542123 1.71384925] [ 0.00426998 0.99997965 -0.00474045 0.14105477] [ 0.0154415 0.004674 0.99986985 0.8126991 ] [ 0. 0. 0. 1. ]] SLAMing on 156.092557844 meters Centerline goodness [0,1] 0.2515185404469005 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:0.81 [[ 0.99985279 0.00429755 -0.01661118 1.69278386] [-0.00439038 0.99997493 -0.00555553 0.13971679] [ 0.01658689 0.00562764 0.99984659 0.81132756] [ 0. 0. 0. 1. ]] SLAMing on 156.122557844 meters Centerline goodness [0,1] 0.2463523401307529 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99846606e-01 -1.63321165e-03 -1.74384036e-02 1.71747151e+00] [ 1.58014984e-03 9.99994081e-01 -3.05615904e-03 1.41911097e-01] [ 1.74432917e-02 3.02813495e-03 9.99843269e-01 8.10698597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.152557844 meters Centerline goodness [0,1] 0.2445716754888193 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99841838e-01 -1.72619739e-03 -1.77008120e-02 1.71838241e+00] [ 1.66773149e-03 9.99993107e-01 -3.31723589e-03 1.43193277e-01] [ 1.77064162e-02 3.28719103e-03 9.99837825e-01 8.10312389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182557844 meters Centerline goodness [0,1] 0.24941699540134687 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 0.99983922 -0.00182043 -0.01783891 1.71877749] [ 0.00175673 0.99999203 -0.00358581 0.14449604] [ 0.0178453 0.0035539 0.99983444 0.81026678] [ 0. 0. 0. 1. ]] SLAMing on 156.212557844 meters Centerline goodness [0,1] 0.24707973040331144 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 0.99984113 -0.00194526 -0.01771787 1.71808024] [ 0.00187272 0.9999898 -0.00411006 0.14725636] [ 0.01772568 0.00407622 0.99983458 0.81100415] [ 0. 0. 0. 1. ]] SLAMing on 156.242557844 meters Centerline goodness [0,1] 0.24639625990216873 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 0.9998433 -0.00198798 -0.01759029 1.71755532] [ 0.00191251 0.9999889 -0.00430607 0.14828815] [ 0.01759865 0.00427176 0.99983601 0.81138455] [ 0. 0. 0. 1. ]] SLAMing on 156.272557844 meters Centerline goodness [0,1] 0.2490172955974843 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 0.99984288 -0.00206985 -0.01760461 1.71749599] [ 0.00199044 0.99998777 -0.00452661 0.14928467] [ 0.01761376 0.00449086 0.99983478 0.81159385] [ 0. 0. 0. 1. ]] SLAMing on 156.302557844 meters Centerline goodness [0,1] 0.24727241177363724 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 0.9998405 -0.00213142 -0.01773204 1.71777123] [ 0.00204762 0.99998666 -0.00474261 0.15029649] [ 0.01774192 0.00470554 0.99983153 0.81172089] [ 0. 0. 0. 1. ]] SLAMing on 156.332557844 meters Centerline goodness [0,1] 0.24670167520180541 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 0.99982731 -0.0019711 -0.01847902 1.71999887] [ 0.00187855 0.99998561 -0.00502428 0.15269216] [ 0.01848866 0.0049887 0.99981662 0.81107918] [ 0. 0. 0. 1. ]] SLAMing on 156.362557844 meters Centerline goodness [0,1] 0.2471590291810617 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 0.99982345 -0.00201505 -0.01868189 1.72081383] [ 0.00191755 0.99998446 -0.00523557 0.15386942] [ 0.01869215 0.00519882 0.99981177 0.8105777 ] [ 0. 0. 0. 1. ]] SLAMing on 156.392557844 meters Centerline goodness [0,1] 0.2471362364463099 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 0.99982152 -0.00208145 -0.01877744 1.72113513] [ 0.00197999 0.99998335 -0.00542016 0.1546831 ] [ 0.01878841 0.00538202 0.999809 0.81045887] [ 0. 0. 0. 1. ]] SLAMing on 156.422557844 meters Centerline goodness [0,1] 0.24873151955209516 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 0.99982311 -0.00208493 -0.01869252 1.72076109] [ 0.00198364 0.99998326 -0.00543554 0.15469538] [ 0.01870354 0.0053975 0.9998105 0.81074119] [ 0. 0. 0. 1. ]] SLAMing on 156.452557844 meters Centerline goodness [0,1] 0.24622876312087438 Centerline is valid? [False, False] Translation: X:1.74, Y:0.16, Z:0.81 [[ 0.99979928 -0.00995885 -0.01738449 1.74005723] [ 0.00988755 0.99994237 -0.00418248 0.15819779] [ 0.01742514 0.00400975 0.99984013 0.81262464] [ 0. 0. 0. 1. ]] SLAMing on 156.482557844 meters Centerline goodness [0,1] 0.2509669479606188 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99842478e-01 -9.84922504e-04 -1.77214102e-02 1.71760832e+00] [ 9.09090679e-04 9.99990399e-01 -4.28665493e-03 1.54381256e-01] [ 1.77254621e-02 4.26986932e-03 9.99833774e-01 8.12569041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.512557844 meters Centerline goodness [0,1] 0.24571378776986252 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99838558e-01 -1.00022036e-03 -1.79403795e-02 1.71824459e+00] [ 9.21416327e-04 9.99989894e-01 -4.40027910e-03 1.54974409e-01] [ 1.79445994e-02 4.38303816e-03 9.99829376e-01 8.12435547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54255784400002 meters Centerline goodness [0,1] 0.24894292912695803 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99837925e-01 -1.00701552e-03 -1.79752581e-02 1.71845927e+00] [ 9.29042733e-04 9.99990126e-01 -4.34560761e-03 1.54414457e-01] [ 1.79794567e-02 4.32820351e-03 9.99828988e-01 8.12175843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57255784400002 meters Centerline goodness [0,1] 0.24462713619886067 Centerline is valid? [False, False] Translation: X:1.74, Y:0.16, Z:0.81 [[ 0.9998164 -0.00911267 -0.01685629 1.73877143] [ 0.00905463 0.99995282 -0.00351658 0.15706246] [ 0.01688754 0.00336331 0.99985174 0.81279903] [ 0. 0. 0. 1. ]] SLAMing on 156.60255784400002 meters Centerline goodness [0,1] 0.24528671999302543 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99871143e-01 -9.43384667e-04 -1.60252428e-02 1.71770126e+00] [ 8.79104183e-04 9.99991542e-01 -4.01777278e-03 1.51764717e-01] [ 1.60288976e-02 4.00316720e-03 9.99863515e-01 8.11290142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63255784400002 meters Centerline goodness [0,1] 0.24756335282651076 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99873394e-01 -8.35549727e-04 -1.58902053e-02 1.71731443e+00] [ 7.78559229e-04 9.99993244e-01 -3.59236540e-03 1.49657851e-01] [ 1.58930995e-02 3.57953912e-03 9.99867289e-01 8.11293817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66255784400002 meters Centerline goodness [0,1] 0.24674985300842756 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99871482e-01 -7.68629708e-04 -1.60133760e-02 1.71758818e+00] [ 7.15001248e-04 9.99994118e-01 -3.35443508e-03 1.48373155e-01] [ 1.60158601e-02 3.34255439e-03 9.99866151e-01 8.11295628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69255784400002 meters Centerline goodness [0,1] 0.24683997138087288 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99870946e-01 -7.18527230e-04 -1.60491194e-02 1.71749295e+00] [ 6.67539655e-04 9.99994714e-01 -3.18210142e-03 1.47512325e-01] [ 1.60513210e-02 3.17097733e-03 9.99866141e-01 8.11598247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722557844 meters Centerline goodness [0,1] 0.24556879739978332 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99874779e-01 -6.23717646e-04 -1.58125865e-02 1.71629759e+00] [ 5.75462377e-04 9.99995165e-01 -3.05606637e-03 1.47360431e-01] [ 1.58144162e-02 3.04658413e-03 9.99870303e-01 8.12510445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.752557844 meters Centerline goodness [0,1] 0.24951576748133797 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99875820e-01 -5.82762433e-04 -1.57481936e-02 1.71614821e+00] [ 5.35819086e-04 9.99995402e-01 -2.98492682e-03 1.47145666e-01] [ 1.57498607e-02 2.97611796e-03 9.99871534e-01 8.12484970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782557844 meters Centerline goodness [0,1] 0.2496019195113971 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99876088e-01 -5.53375596e-04 -1.57321941e-02 1.71621860e+00] [ 5.08319954e-04 9.99995759e-01 -2.86776795e-03 1.46471412e-01] [ 1.57337143e-02 2.85941561e-03 9.99872129e-01 8.12266625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.812557844 meters Centerline goodness [0,1] 0.24629363940698235 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99876269e-01 -5.14532759e-04 -1.57220129e-02 1.71626128e+00] [ 4.72197717e-04 9.99996253e-01 -2.69631757e-03 1.45489357e-01] [ 1.57233413e-02 2.68856006e-03 9.99872766e-01 8.12115626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842557844 meters Centerline goodness [0,1] 0.24742849702703873 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99876511e-01 -4.49843310e-04 -1.57086035e-02 1.71608066e+00] [ 4.10401896e-04 9.99996756e-01 -2.51394947e-03 1.44631955e-01] [ 1.57096834e-02 2.50719218e-03 9.99873452e-01 8.12302476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.872557844 meters Centerline goodness [0,1] 0.24407975394145354 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:0.81 [[ 9.99852803e-01 -8.64910446e-03 -1.48177079e-02 1.73598297e+00] [ 8.63255451e-03 9.99962042e-01 -1.18050183e-03 1.46002426e-01] [ 1.48273558e-02 1.05241340e-03 9.99889515e-01 8.14509050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902557844 meters Centerline goodness [0,1] 0.24708154320184006 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99904209e-01 -1.04832293e-03 -1.38012143e-02 1.71603572e+00] [ 1.01970331e-03 9.99997316e-01 -2.08057670e-03 1.40745242e-01] [ 1.38033583e-02 2.06630425e-03 9.99902594e-01 8.12675003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.932557844 meters Centerline goodness [0,1] 0.24633462699439412 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99904344e-01 -1.04059381e-03 -1.37919915e-02 1.71590811e+00] [ 1.01360170e-03 9.99997558e-01 -1.96393166e-03 1.40018684e-01] [ 1.37940015e-02 1.94976422e-03 9.99902957e-01 8.12809790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962557844 meters Centerline goodness [0,1] 0.24633462699439412 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99904344e-01 -1.04059381e-03 -1.37919915e-02 1.71590811e+00] [ 1.01360170e-03 9.99997558e-01 -1.96393166e-03 1.40018684e-01] [ 1.37940015e-02 1.94976422e-03 9.99902957e-01 8.12809790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.992557844 meters Centerline goodness [0,1] 0.2500435123139848 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99902947e-01 -1.02606186e-03 -1.38939917e-02 1.71625187e+00] [ 1.00056319e-03 9.99997803e-01 -1.84205695e-03 1.39378876e-01] [ 1.38958512e-02 1.82797636e-03 9.99901777e-01 8.12621619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.022557844 meters Centerline goodness [0,1] 0.24485694528481283 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99895586e-01 -1.10959239e-03 -1.44078677e-02 1.71803005e+00] [ 1.08465584e-03 9.99997901e-01 -1.73845848e-03 1.38826363e-01] [ 1.44097664e-02 1.72264938e-03 9.99894690e-01 8.11660521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.052557844 meters Centerline goodness [0,1] 0.24695837316416092 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99894138e-01 -1.09416267e-03 -1.45091591e-02 1.71844107e+00] [ 1.07081598e-03 9.99998120e-01 -1.61677147e-03 1.38188016e-01] [ 1.45109008e-02 1.60106368e-03 9.99893429e-01 8.11321913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.082557844 meters Centerline goodness [0,1] 0.24706009745533297 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99894749e-01 -1.07522431e-03 -1.44683851e-02 1.71833984e+00] [ 1.05353086e-03 9.99998310e-01 -1.50690804e-03 1.37595863e-01] [ 1.44699809e-02 1.49150654e-03 9.99894192e-01 8.11305918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.112557844 meters Centerline goodness [0,1] 0.2489250714800183 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99895619e-01 -1.06791018e-03 -1.44087195e-02 1.71811356e+00] [ 1.04691518e-03 9.99998380e-01 -1.46456783e-03 1.37271605e-01] [ 1.44102601e-02 1.44933025e-03 9.99895116e-01 8.11443011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.142557844 meters Centerline goodness [0,1] 0.24819798173954832 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99895310e-01 -1.10907511e-03 -1.44270229e-02 1.71830376e+00] [ 1.08646124e-03 9.99998169e-01 -1.57520928e-03 1.37775565e-01] [ 1.44287436e-02 1.55936997e-03 9.99894684e-01 8.11194980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.172557844 meters Centerline goodness [0,1] 0.24880152354267449 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99892053e-01 -1.12562880e-03 -1.46497300e-02 1.71917436e+00] [ 1.10099494e-03 9.99997967e-01 -1.68947950e-03 1.38529791e-01] [ 1.46516020e-02 1.67316784e-03 9.99891260e-01 8.10633669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.202557844 meters Centerline goodness [0,1] 0.24460947169565506 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99887051e-01 -1.12735283e-03 -1.49871584e-02 1.72030764e+00] [ 1.10056915e-03 9.99997783e-01 -1.79523638e-03 1.39305245e-01] [ 1.49891490e-02 1.77853921e-03 9.99886075e-01 8.10146540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.232557844 meters Centerline goodness [0,1] 0.24815999299044944 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99886600e-01 -1.20343256e-03 -1.50113187e-02 1.72047971e+00] [ 1.17380520e-03 9.99997346e-01 -1.98232249e-03 1.40116055e-01] [ 1.50136645e-02 1.96447733e-03 9.99885359e-01 8.09981079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.262557844 meters Centerline goodness [0,1] 0.2471868376778028 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99887749e-01 -1.27639696e-03 -1.49285083e-02 1.72016740e+00] [ 1.24456045e-03 9.99996932e-01 -2.14169359e-03 1.40686939e-01] [ 1.49311961e-02 2.12287375e-03 9.99886270e-01 8.10203847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29255784400002 meters Centerline goodness [0,1] 0.24603589475518384 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99887636e-01 -1.43930773e-03 -1.49212660e-02 1.72008736e+00] [ 1.40176570e-03 9.99995827e-01 -2.52616177e-03 1.42329597e-01] [ 1.49248397e-02 2.50496180e-03 9.99885481e-01 8.10336055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32255784400002 meters Centerline goodness [0,1] 0.24723911563879075 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99885276e-01 -1.48136134e-03 -1.50744692e-02 1.72060098e+00] [ 1.44087767e-03 9.99995327e-01 -2.69608519e-03 1.43325414e-01] [ 1.50783926e-02 2.67405542e-03 9.99882739e-01 8.10103433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35255784400002 meters Centerline goodness [0,1] 0.24415252216513839 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:0.81 [[ 9.99865441e-01 -7.43430139e-03 -1.46229716e-02 1.74402358e+00] [ 7.43828434e-03 9.99972312e-01 2.18006062e-04 1.44777309e-01] [ 1.46209460e-02 -3.26746548e-04 9.99893055e-01 8.09753987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38255784400002 meters Centerline goodness [0,1] 0.24861299200559173 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:0.81 [[ 9.99864469e-01 -7.50980439e-03 -1.46508170e-02 1.74402702e+00] [ 7.51100147e-03 9.99971792e-01 2.66842426e-05 1.45633030e-01] [ 1.46502033e-02 -1.36722934e-04 9.99892671e-01 8.09878526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41255784400002 meters Centerline goodness [0,1] 0.24270646076541547 Centerline is valid? [False, False] Translation: X:1.76, Y:0.14, Z:0.81 [[ 9.99911344e-01 3.17601687e-04 -1.33118023e-02 1.76234491e+00] [-3.39503532e-04 9.99998593e-01 -1.64306770e-03 1.41769687e-01] [ 1.33112617e-02 1.64744144e-03 9.99910044e-01 8.11406048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44255784400002 meters Centerline goodness [0,1] 0.24135850357727784 Centerline is valid? [False, False] Translation: X:1.76, Y:0.14, Z:0.81 [[ 9.99910448e-01 3.26409694e-04 -1.33786988e-02 1.76265821e+00] [-3.47744380e-04 9.99998672e-01 -1.59238039e-03 1.41666952e-01] [ 1.33781612e-02 1.59689016e-03 9.99909233e-01 8.11114981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472557844 meters Centerline goodness [0,1] 0.2473583620746469 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99867698e-01 -2.44564839e-05 -1.62661235e-02 1.71856636e+00] [ 4.76480756e-07 9.99998913e-01 -1.47423199e-03 1.43872269e-01] [ 1.62661419e-02 1.47402919e-03 9.99866611e-01 8.11320993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502557844 meters Centerline goodness [0,1] 0.24510768557997153 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99864740e-01 -4.61433084e-05 -1.64468415e-02 1.71931357e+00] [ 2.31092454e-05 9.99999019e-01 -1.40070320e-03 1.43318660e-01] [ 1.64468900e-02 1.40013367e-03 9.99863760e-01 8.10777066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.532557844 meters Centerline goodness [0,1] 0.2417290144012455 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:0.81 [[ 9.99833195e-01 -8.20126379e-03 -1.63193674e-02 1.73976783e+00] [ 8.19325582e-03 9.99966279e-01 -5.57503087e-04 1.45933357e-01] [ 1.63233893e-02 4.23701341e-04 9.99866675e-01 8.12104688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562557844 meters Centerline goodness [0,1] 0.24637966057270166 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:0.81 [[ 9.99900676e-01 4.17970039e-06 -1.40938714e-02 1.71735673e+00] [-1.87663875e-05 9.99999464e-01 -1.03483457e-03 1.44767569e-01] [ 1.40938595e-02 1.03499628e-03 9.99900141e-01 8.10918235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.592557844 meters Centerline goodness [0,1] 0.24859547491529133 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:0.81 [[ 9.99904463e-01 -7.16125874e-05 -1.38224188e-02 1.71646144e+00] [ 5.17216618e-05 9.99998963e-01 -1.43938575e-03 1.46950413e-01] [ 1.38225075e-02 1.43853332e-03 9.99903430e-01 8.11404925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622557844 meters Centerline goodness [0,1] 0.2427513547356377 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:0.81 [[ 9.99914788e-01 -5.69304337e-03 -1.17475859e-02 1.73944191e+00] [ 5.70828266e-03 9.99982909e-01 1.26410442e-03 1.49310404e-01] [ 1.17401886e-02 -1.33105524e-03 9.99930196e-01 8.10695310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.652557844 meters Centerline goodness [0,1] 0.23960528013071336 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:0.81 [[ 9.99914263e-01 -5.92104472e-03 -1.16794139e-02 1.73908253e+00] [ 5.92817932e-03 9.99982262e-01 5.76343661e-04 1.52538302e-01] [ 1.16757941e-02 -6.45531907e-04 9.99931627e-01 8.11101109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682557844 meters Centerline goodness [0,1] 0.24854309819953035 Centerline is valid? [False, False] Translation: X:1.72, Y:0.16, Z:0.81 [[ 9.99922397e-01 3.06875571e-03 -1.20740739e-02 1.71607335e+00] [-3.07547406e-03 9.99995126e-01 -5.37899633e-04 1.57448627e-01] [ 1.20723644e-02 5.74991391e-04 9.99926961e-01 8.10946750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.712557844 meters Centerline goodness [0,1] 0.23838796346050506 Centerline is valid? [False, False] Translation: X:1.74, Y:0.16, Z:0.81 [[ 0.99993632 -0.00319815 -0.01082285 1.73777865] [ 0.00321933 0.99999294 0.00194003 0.16156371] [ 0.01081656 -0.00197475 0.99993955 0.81095804] [ 0. 0. 0. 1. ]] SLAMing on 157.742557844 meters Centerline goodness [0,1] 0.24678607696130328 Centerline is valid? [False, False] Translation: X:1.74, Y:0.16, Z:0.81 [[ 9.99937024e-01 -3.42754954e-03 -1.06864731e-02 1.73733274e+00] [ 3.44264904e-03 9.99993101e-01 1.39487882e-03 1.64127146e-01] [ 1.06816183e-02 -1.43158075e-03 9.99941925e-01 8.11123416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.772557844 meters Centerline goodness [0,1] 0.24793084819016753 Centerline is valid? [False, False] Translation: X:1.74, Y:0.17, Z:0.81 [[ 9.99937998e-01 -3.81069561e-03 -1.04631651e-02 1.73679467e+00] [ 3.81674934e-03 9.99992560e-01 5.58668367e-04 1.67971115e-01] [ 1.04609583e-02 -5.98569007e-04 9.99945104e-01 8.11054649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802557844 meters Centerline goodness [0,1] 0.25080413805094326 Centerline is valid? [False, False] Translation: X:1.74, Y:0.17, Z:0.81 [[ 9.99937270e-01 -3.93800035e-03 -1.04855998e-02 1.73687941e+00] [ 3.94183735e-03 9.99992171e-01 3.45288843e-04 1.68921955e-01] [ 1.04841580e-02 -3.86599712e-04 9.99944965e-01 8.10949071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.832557844 meters Centerline goodness [0,1] 0.24223897686275353 Centerline is valid? [False, False] Translation: X:1.74, Y:0.17, Z:0.81 [[ 9.99933098e-01 -4.10406814e-03 -1.08146038e-02 1.73791327e+00] [ 4.10657607e-03 9.99991546e-01 2.09706591e-04 1.69344089e-01] [ 1.08136517e-02 -2.54103554e-04 9.99941498e-01 8.10511758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862557844 meters Centerline goodness [0,1] 0.24956985734509418 Centerline is valid? [False, False] Translation: X:1.74, Y:0.17, Z:0.81 [[ 9.99927195e-01 -4.23458690e-03 -1.12992296e-02 1.73950525e+00] [ 4.23625714e-03 9.99991019e-01 1.23888872e-04 1.69589046e-01] [ 1.12986035e-02 -1.71746295e-04 9.99936154e-01 8.09759289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.892557844 meters Centerline goodness [0,1] 0.248680479825518 Centerline is valid? [False, False] Translation: X:1.74, Y:0.17, Z:0.81 [[ 9.99912472e-01 -4.65618702e-03 -1.23841776e-02 1.74286737e+00] [ 4.65509931e-03 9.99989158e-01 -1.16654976e-04 1.69907895e-01] [ 1.23845865e-02 5.89951895e-05 9.99923306e-01 8.08470797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922557844 meters Centerline goodness [0,1] 0.24540063200727247 Centerline is valid? [False, False] Translation: X:1.74, Y:0.17, Z:0.81 [[ 9.99913378e-01 -4.69690275e-03 -1.22953377e-02 1.74255918e+00] [ 4.69550342e-03 9.99988966e-01 -1.42675241e-04 1.69919820e-01] [ 1.22958721e-02 8.49300823e-05 9.99924399e-01 8.08597049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.952557844 meters Centerline goodness [0,1] 0.2516040028904899 Centerline is valid? [False, False] Translation: X:1.72, Y:0.17, Z:0.81 [[ 9.99930749e-01 3.49005344e-03 -1.12390653e-02 1.72155347e+00] [-3.50270843e-03 9.99993253e-01 -1.10649556e-03 1.67054461e-01] [ 1.12351277e-02 1.14578610e-03 9.99936228e-01 8.07086170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982557844 meters Centerline goodness [0,1] 0.24941053183128115 Centerline is valid? [False, False] Translation: X:1.72, Y:0.17, Z:0.81 [[ 9.99931750e-01 3.43292375e-03 -1.11673421e-02 1.72139425e+00] [-3.44720238e-03 9.99993265e-01 -1.25960795e-03 1.67813356e-01] [ 1.11629427e-02 1.29801807e-03 9.99936850e-01 8.07082638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.012557844 meters Centerline goodness [0,1] 0.2474289433716641 Centerline is valid? [False, False] Translation: X:1.72, Y:0.17, Z:0.81 [[ 0.99993046 0.00324059 -0.01133919 1.72181495] [-0.00326127 0.99999305 -0.00180594 0.17029318] [ 0.01133326 0.0018428 0.99993408 0.80723202] [ 0. 0. 0. 1. ]] SLAMing on 158.04255784400002 meters Centerline goodness [0,1] 0.24278591932316063 Centerline is valid? [False, False] Translation: X:1.72, Y:0.17, Z:0.81 [[ 0.99992956 0.00311065 -0.01145437 1.72198666] [-0.00313641 0.99999259 -0.00223164 0.17236204] [ 0.01144734 0.00226741 0.99993191 0.80751976] [ 0. 0. 0. 1. ]] SLAMing on 158.07255784400002 meters Centerline goodness [0,1] 0.24613681743206872 Centerline is valid? [False, False] Translation: X:1.72, Y:0.17, Z:0.81 [[ 0.99992884 0.00300319 -0.01154516 1.72215571] [-0.00303432 0.99999181 -0.00267949 0.17472188] [ 0.01153702 0.00271433 0.99992976 0.80772213] [ 0. 0. 0. 1. ]] SLAMing on 158.10255784400002 meters Centerline goodness [0,1] 0.24834199482484942 Centerline is valid? [False, False] Translation: X:1.72, Y:0.18, Z:0.81 [[ 0.99992775 0.00291839 -0.01166133 1.72249526] [-0.00295517 0.99999071 -0.00313805 0.17726278] [ 0.01165207 0.00317228 0.99992708 0.80773381] [ 0. 0. 0. 1. ]] SLAMing on 158.13255784400002 meters Centerline goodness [0,1] 0.2467433616771415 Centerline is valid? [False, False] Translation: X:1.72, Y:0.18, Z:0.81 [[ 0.99992455 0.0027726 -0.01196692 1.72340913] [-0.00281786 0.99998893 -0.00376703 0.18048286] [ 0.01195634 0.00380047 0.9999213 0.80754109] [ 0. 0. 0. 1. ]] SLAMing on 158.16255784400002 meters Centerline goodness [0,1] 0.24540288251690834 Centerline is valid? [False, False] Translation: X:1.72, Y:0.18, Z:0.81 [[ 0.99992429 0.00267998 -0.01200931 1.72353478] [-0.00272683 0.99998873 -0.00388652 0.18077407] [ 0.01199876 0.00391897 0.99992033 0.80749039] [ 0. 0. 0. 1. ]] SLAMing on 158.19255784400002 meters Centerline goodness [0,1] 0.2495611340296673 Centerline is valid? [False, False] Translation: X:1.70, Y:0.19, Z:0.81 [[ 0.99990272 -0.00613793 -0.01252497 1.70207049] [ 0.0060976 0.99997611 -0.00325602 0.18607883] [ 0.01254466 0.00317933 0.99991626 0.80724187] [ 0. 0. 0. 1. ]] SLAMing on 158.222557844 meters Centerline goodness [0,1] 0.2475266857589169 Centerline is valid? [False, False] Translation: X:1.72, Y:0.18, Z:0.81 [[ 9.99941219e-01 1.57831865e-03 -1.07269164e-02 1.71988532e+00] [-1.62642676e-03 9.99988653e-01 -4.47756029e-03 1.79996122e-01] [ 1.07197276e-02 4.49474364e-03 9.99932440e-01 8.08423416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252557844 meters Centerline goodness [0,1] 0.2468529653501752 Centerline is valid? [False, False] Translation: X:1.72, Y:0.18, Z:0.81 [[ 9.99943265e-01 1.58298811e-03 -1.05337552e-02 1.71917568e+00] [-1.62780531e-03 9.99989655e-01 -4.24741383e-03 1.78702892e-01] [ 1.05269226e-02 4.26431976e-03 9.99935498e-01 8.08734387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282557844 meters Centerline goodness [0,1] 0.25035986913849506 Centerline is valid? [False, False] Translation: X:1.72, Y:0.18, Z:0.81 [[ 9.99941215e-01 1.60100354e-03 -1.07239340e-02 1.71974296e+00] [-1.64358739e-03 9.99990795e-01 -3.96328081e-03 1.77203538e-01] [ 1.07174900e-02 3.98067356e-03 9.99934643e-01 8.08474092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312557844 meters Centerline goodness [0,1] 0.24647288427571468 Centerline is valid? [False, False] Translation: X:1.72, Y:0.18, Z:0.81 [[ 9.99931741e-01 1.53240872e-03 -1.15829707e-02 1.72270659e+00] [-1.57510854e-03 9.99991995e-01 -3.67820784e-03 1.75671998e-01] [ 1.15772415e-02 3.69620121e-03 9.99926150e-01 8.06844838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342557844 meters Centerline goodness [0,1] 0.2505813698389715 Centerline is valid? [False, False] Translation: X:1.72, Y:0.18, Z:0.81 [[ 9.99930038e-01 1.52408974e-03 -1.17301793e-02 1.72327142e+00] [-1.56728958e-03 9.99992021e-01 -3.67448321e-03 1.75776405e-01] [ 1.17244854e-02 3.69261072e-03 9.99924448e-01 8.06444865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372557844 meters Centerline goodness [0,1] 0.25061641423036285 Centerline is valid? [False, False] Translation: X:1.72, Y:0.18, Z:0.81 [[ 9.99929561e-01 1.51677255e-03 -1.17716710e-02 1.72332616e+00] [-1.56057123e-03 9.99991891e-01 -3.71239132e-03 1.76013991e-01] [ 1.17659447e-02 3.73050036e-03 9.99923820e-01 8.06559187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402557844 meters Centerline goodness [0,1] 0.24365932236372678 Centerline is valid? [False, False] Translation: X:1.74, Y:0.18, Z:0.81 [[ 0.99992055 -0.00671682 -0.01066671 1.74363959] [ 0.0066866 0.99997354 -0.0028662 0.17898094] [ 0.01068568 0.00279465 0.999939 0.80774474] [ 0. 0. 0. 1. ]] SLAMing on 158.432557844 meters Centerline goodness [0,1] 0.24541617058123177 Centerline is valid? [False, False] Translation: X:1.74, Y:0.18, Z:0.81 [[ 0.99992233 -0.00688567 -0.01038833 1.74243289] [ 0.00685041 0.99997067 -0.00342587 0.18162014] [ 0.01041161 0.00335444 0.99994017 0.80872275] [ 0. 0. 0. 1. ]] SLAMing on 158.462557844 meters Centerline goodness [0,1] 0.2445011019402792 Centerline is valid? [False, False] Translation: X:1.74, Y:0.18, Z:0.81 [[ 9.99946907e-01 -3.72370264e-03 -9.60819467e-03 1.73995198e+00] [ 3.72125418e-03 9.99993039e-01 -2.72694921e-04 1.82502510e-01] [ 9.60914322e-03 2.36925908e-04 9.99953803e-01 8.09293174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.492557844 meters Centerline goodness [0,1] 0.2433331174019131 Centerline is valid? [False, False] Translation: X:1.74, Y:0.18, Z:0.81 [[ 9.99947938e-01 -3.84774208e-03 -9.45070269e-03 1.73959939e+00] [ 3.84111440e-03 9.99992364e-01 -7.19340051e-04 1.84856981e-01] [ 9.45339836e-03 6.83001370e-04 9.99955082e-01 8.09278074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.522557844 meters Centerline goodness [0,1] 0.24718636393321292 Centerline is valid? [False, False] Translation: X:1.74, Y:0.19, Z:0.81 [[ 9.99948527e-01 -4.01955833e-03 -9.31590885e-03 1.73921103e+00] [ 4.00819275e-03 9.99991200e-01 -1.23836777e-03 1.87330078e-01] [ 9.32080457e-03 1.20096407e-03 9.99955839e-01 8.09460861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.552557844 meters Centerline goodness [0,1] 0.24702464826898485 Centerline is valid? [False, False] Translation: X:1.74, Y:0.19, Z:0.81 [[ 0.99994533 -0.0043358 -0.00951534 1.7397791 ] [ 0.00431556 0.99998838 -0.00214639 0.1916181 ] [ 0.00952453 0.00210521 0.99995242 0.8094073 ] [ 0. 0. 0. 1. ]] SLAMing on 158.582557844 meters Centerline goodness [0,1] 0.2434344308397871 Centerline is valid? [False, False] Translation: X:1.74, Y:0.19, Z:0.81 [[ 0.9999444 -0.00444541 -0.00956168 1.73993222] [ 0.00442227 0.99998725 -0.00243986 0.19309287] [ 0.00957241 0.00239744 0.99995131 0.80933063] [ 0. 0. 0. 1. ]] SLAMing on 158.612557844 meters Centerline goodness [0,1] 0.2447464397360195 Centerline is valid? [False, False] Translation: X:1.74, Y:0.19, Z:0.81 [[ 0.9999438 -0.00450955 -0.00959436 1.73999906] [ 0.00448519 0.99998667 -0.00255843 0.19369058] [ 0.00960577 0.00251526 0.9999507 0.80932857] [ 0. 0. 0. 1. ]] SLAMing on 158.642557844 meters Centerline goodness [0,1] 0.24958377146862953 Centerline is valid? [False, False] Translation: X:1.74, Y:0.19, Z:0.81 [[ 0.99994466 -0.00455439 -0.00948295 1.73972348] [ 0.00452997 0.99998637 -0.00259487 0.19379577] [ 0.00949464 0.00255177 0.99995167 0.80929223] [ 0. 0. 0. 1. ]] SLAMing on 158.672557844 meters Centerline goodness [0,1] 0.24491117490880043 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.81 [[ 9.99956039e-01 5.88152344e-04 -9.35814739e-03 1.76189737e+00] [-6.42283541e-04 9.99983075e-01 -5.78243894e-03 1.90264244e-01] [ 9.35458805e-03 5.78819532e-03 9.99939492e-01 8.08498834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.702557844 meters Centerline goodness [0,1] 0.24677572924781443 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.81 [[ 9.99954987e-01 5.84416754e-04 -9.47011563e-03 1.76232636e+00] [-6.39033601e-04 9.99983176e-01 -5.76528484e-03 1.90291696e-01] [ 9.46658698e-03 5.77107705e-03 9.99938537e-01 8.08235205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.732557844 meters Centerline goodness [0,1] 0.2469892613364636 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.81 [[ 9.99955520e-01 5.47384511e-04 -9.41589857e-03 1.76198745e+00] [-6.02658159e-04 9.99982599e-01 -5.86841146e-03 1.90861088e-01] [ 9.41252245e-03 5.87382500e-03 9.99938449e-01 8.08604539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.762557844 meters Centerline goodness [0,1] 0.24815937635339969 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.81 [[ 9.99957314e-01 4.67147775e-04 -9.22772992e-03 1.76107194e+00] [-5.23419153e-04 9.99981279e-01 -6.09660040e-03 1.91859245e-01] [ 9.22470915e-03 6.10117013e-03 9.99938838e-01 8.09469492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79255784400002 meters Centerline goodness [0,1] 0.2508707009142359 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.81 [[ 9.99959202e-01 3.57043451e-04 -9.02589431e-03 1.76009039e+00] [-4.14548233e-04 9.99979625e-01 -6.37002195e-03 1.92954837e-01] [ 9.02343604e-03 6.37350373e-03 9.99938976e-01 8.10332609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82255784400002 meters Centerline goodness [0,1] 0.2501412367997914 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.81 [[ 9.99959599e-01 2.66129139e-04 -8.98500470e-03 1.75989307e+00] [-3.26007727e-04 9.99977746e-01 -6.66347343e-03 1.94336712e-01] [ 8.98303140e-03 6.66613340e-03 9.99937432e-01 8.10573305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85255784400002 meters Centerline goodness [0,1] 0.2488867753231594 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:0.81 [[ 9.99958289e-01 2.20936604e-04 -9.13081158e-03 1.76043235e+00] [-2.84042045e-04 9.99976082e-01 -6.91054430e-03 1.95792477e-01] [ 9.12906639e-03 6.91284959e-03 9.99934434e-01 8.10300049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88255784400002 meters Centerline goodness [0,1] 0.2488867753231594 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:0.81 [[ 9.99958289e-01 2.20936604e-04 -9.13081158e-03 1.76043235e+00] [-2.84042045e-04 9.99976082e-01 -6.91054430e-03 1.95792477e-01] [ 9.12906639e-03 6.91284959e-03 9.99934434e-01 8.10300049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91255784400002 meters Centerline goodness [0,1] 0.24814935417345052 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:0.81 [[ 9.99956916e-01 1.77393603e-04 -9.28092277e-03 1.76118934e+00] [-2.43945637e-04 9.99974264e-01 -7.17020186e-03 1.97445644e-01] [ 9.27941197e-03 7.17215698e-03 9.99931224e-01 8.09727945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94255784400002 meters Centerline goodness [0,1] 0.2450845119006554 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:0.81 [[ 9.99956080e-01 1.51649310e-04 -9.37100984e-03 1.76139572e+00] [-2.18861605e-04 9.99974259e-01 -7.17175497e-03 1.97310303e-01] [ 9.36968103e-03 7.17349094e-03 9.99930373e-01 8.09751814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972557844 meters Centerline goodness [0,1] 0.24707105268856788 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:0.81 [[ 9.99954807e-01 1.93362158e-04 -9.50506403e-03 1.76172601e+00] [-2.59865020e-04 9.99975495e-01 -6.99583467e-03 1.96338605e-01] [ 9.50347838e-03 6.99798854e-03 9.99930354e-01 8.09699151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002557844 meters Centerline goodness [0,1] 0.24929338609383833 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.81 [[ 9.99944483e-01 -3.59033295e-05 -1.05370529e-02 1.76467382e+00] [-3.34002553e-05 9.99978372e-01 -6.57688202e-03 1.93181048e-01] [ 1.05370612e-02 6.57686883e-03 9.99922855e-01 8.08733700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.032557844 meters Centerline goodness [0,1] 0.2454977543278245 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:0.81 [[ 9.99942963e-01 1.16151095e-04 -1.06797370e-02 1.76523888e+00] [-1.79754836e-04 9.99982254e-01 -5.95478610e-03 1.90087753e-01] [ 1.06788558e-02 5.95636620e-03 9.99925239e-01 8.08198408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062557844 meters Centerline goodness [0,1] 0.24862900417827294 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:0.81 [[ 9.99943146e-01 2.76354258e-04 -1.06596544e-02 1.76520070e+00] [-3.33004433e-04 9.99985830e-01 -5.31303888e-03 1.86872403e-01] [ 1.06580351e-02 5.31628653e-03 9.99929069e-01 8.07996722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092557844 meters Centerline goodness [0,1] 0.24631738800303715 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 9.99944361e-01 4.81645293e-04 -1.05376484e-02 1.76462516e+00] [-5.30797942e-04 9.99988991e-01 -4.66218048e-03 1.83683359e-01] [ 1.05352869e-02 4.66751444e-03 9.99933609e-01 8.08306263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122557844 meters Centerline goodness [0,1] 0.2455766639134026 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 9.99946361e-01 7.07535253e-04 -1.03332050e-02 1.76381354e+00] [-7.49758807e-04 9.99991384e-01 -4.08289908e-03 1.80991190e-01] [ 1.03302272e-02 4.09042749e-03 9.99938275e-01 8.08758539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152557844 meters Centerline goodness [0,1] 0.25094692846880573 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 9.99948215e-01 9.77453727e-04 -1.01297873e-02 1.76290701e+00] [-1.01238721e-03 9.99993557e-01 -3.44403586e-03 1.77884786e-01] [ 1.01263556e-02 3.45411278e-03 9.99942761e-01 8.09444903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182557844 meters Centerline goodness [0,1] 0.249564421987978 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 9.99946414e-01 1.06378925e-03 -1.02974330e-02 1.76342973e+00] [-1.09844673e-03 9.99993750e-01 -3.36057190e-03 1.77558240e-01] [ 1.02937937e-02 3.37170301e-03 9.99941333e-01 8.09334645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212557844 meters Centerline goodness [0,1] 0.2465219087244832 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 9.99943078e-01 1.20293078e-03 -1.06015961e-02 1.76420466e+00] [-1.23906978e-03 9.99993442e-01 -3.40291766e-03 1.78109575e-01] [ 1.05974331e-02 3.41586008e-03 9.99938011e-01 8.09377155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.242557844 meters Centerline goodness [0,1] 0.24455158271340993 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 9.99940096e-01 1.33386885e-03 -1.08639027e-02 1.76487227e+00] [-1.37242526e-03 9.99992784e-01 -3.54235753e-03 1.79273802e-01] [ 1.08590993e-02 3.55705522e-03 9.99934712e-01 8.09466184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.272557844 meters Centerline goodness [0,1] 0.24990676757705388 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:0.81 [[ 0.99993463 0.00211454 -0.0112368 1.76584903] [-0.00215305 0.99999185 -0.00341558 0.18110761] [ 0.01122949 0.00343955 0.99993103 0.80951304] [ 0. 0. 0. 1. ]] SLAMing on 159.302557844 meters Centerline goodness [0,1] 0.24826650917601767 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:0.81 [[ 0.99993589 0.00208006 -0.0111305 1.76545725] [-0.00212158 0.99999083 -0.00372031 0.18273651] [ 0.01112266 0.00374369 0.99993113 0.80980363] [ 0. 0. 0. 1. ]] SLAMing on 159.332557844 meters Centerline goodness [0,1] 0.2489762848446362 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 0.99993879 0.00203077 -0.01087584 1.76460988] [-0.00207343 0.9999902 -0.00391275 0.18373459] [ 0.01086779 0.00393506 0.9999332 0.81019754] [ 0. 0. 0. 1. ]] SLAMing on 159.362557844 meters Centerline goodness [0,1] 0.24853794765085968 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 0.99994222 0.00199113 -0.01056346 1.76363832] [-0.00203326 0.99999001 -0.00397947 0.18396392] [ 0.01055544 0.00400072 0.99993629 0.81052289] [ 0. 0. 0. 1. ]] SLAMing on 159.392557844 meters Centerline goodness [0,1] 0.24673688782712566 Centerline is valid? [False, False] Translation: X:1.78, Y:0.18, Z:0.81 [[ 0.99993403 -0.00680504 -0.0092532 1.78412775] [ 0.00677649 0.99997219 -0.00311331 0.18482615] [ 0.00927413 0.0030504 0.99995234 0.81155381] [ 0. 0. 0. 1. ]] SLAMing on 159.422557844 meters Centerline goodness [0,1] 0.24797158019385113 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 9.99962139e-01 7.38752584e-04 -8.67036219e-03 1.76356575e+00] [-7.77338636e-04 9.99989806e-01 -4.44781328e-03 1.79264722e-01] [ 8.66698797e-03 4.45438468e-03 9.99952520e-01 8.09590840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.452557844 meters Centerline goodness [0,1] 0.2481267067176406 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 9.99958520e-01 2.23244439e-04 -9.10538554e-03 1.76485711e+00] [-2.60871406e-04 9.99991432e-01 -4.13140762e-03 1.76055258e-01] [ 9.10438521e-03 4.13361158e-03 9.99950010e-01 8.08884165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.482557844 meters Centerline goodness [0,1] 0.25049924290636183 Centerline is valid? [False, False] Translation: X:1.77, Y:0.17, Z:0.81 [[ 9.99956408e-01 3.20830897e-04 -9.33160062e-03 1.76566629e+00] [-3.55801411e-04 9.99992920e-01 -3.74611782e-03 1.74353063e-01] [ 9.33033268e-03 3.74927472e-03 9.99949443e-01 8.08263431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.512557844 meters Centerline goodness [0,1] 0.24334913522523105 Centerline is valid? [False, False] Translation: X:1.79, Y:0.18, Z:0.81 [[ 0.99992326 -0.00822998 -0.00925994 1.78777265] [ 0.0082056 0.99996277 -0.00266833 0.17501916] [ 0.00928156 0.00259214 0.99995357 0.80862377] [ 0. 0. 0. 1. ]] SLAMing on 159.54255784400002 meters Centerline goodness [0,1] 0.2495344914455957 Centerline is valid? [False, False] Translation: X:1.77, Y:0.17, Z:0.81 [[ 9.99952995e-01 2.60876792e-04 -9.69223298e-03 1.76747202e+00] [-2.93150824e-04 9.99994417e-01 -3.32861466e-03 1.69261097e-01] [ 9.69131051e-03 3.33129948e-03 9.99947489e-01 8.06819421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57255784400002 meters Centerline goodness [0,1] 0.24915546062811933 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:0.81 [[ 9.99954735e-01 2.21467486e-04 -9.51202850e-03 1.76695505e+00] [-2.46886095e-04 9.99996402e-01 -2.67116851e-03 1.64658277e-01] [ 9.51140270e-03 2.67339599e-03 9.99951192e-01 8.06722045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60255784400002 meters Centerline goodness [0,1] 0.24429179357570263 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:0.81 [[ 9.99956154e-01 3.29659791e-04 -9.35846938e-03 1.76644691e+00] [-3.50993840e-04 9.99997344e-01 -2.27810066e-03 1.62592742e-01] [ 9.35769352e-03 2.28128554e-03 9.99953614e-01 8.06854136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63255784400002 meters Centerline goodness [0,1] 0.24510735732492328 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:0.81 [[ 9.99957937e-01 4.74831841e-04 -9.15957637e-03 1.76581323e+00] [-4.92190799e-04 9.99998087e-01 -1.89300930e-03 1.60745560e-01] [ 9.15865999e-03 1.89743794e-03 9.99956258e-01 8.06997147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66255784400002 meters Centerline goodness [0,1] 0.25275887134077846 Centerline is valid? [False, False] Translation: X:1.72, Y:0.16, Z:0.81 [[ 9.99940111e-01 7.65721565e-04 -1.09173369e-02 1.71846645e+00] [-7.77972645e-04 9.99999072e-01 -1.11796475e-03 1.61101108e-01] [ 1.09164707e-02 1.12639118e-03 9.99939779e-01 8.08001997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69255784400002 meters Centerline goodness [0,1] 0.23996723996724 Centerline is valid? [False, False] Translation: X:1.76, Y:0.16, Z:0.81 [[ 9.99962084e-01 5.67069044e-04 -8.68957197e-03 1.76321333e+00] [-5.75803766e-04 9.99999331e-01 -1.00272701e-03 1.55499895e-01] [ 8.68899754e-03 1.00769248e-03 9.99961742e-01 8.07227283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722557844 meters Centerline goodness [0,1] 0.24581054093948074 Centerline is valid? [False, False] Translation: X:1.76, Y:0.15, Z:0.81 [[ 9.99961725e-01 6.66083796e-04 -8.72381260e-03 1.76341320e+00] [-6.72864075e-04 9.99999474e-01 -7.74303062e-04 1.54404580e-01] [ 8.72329226e-03 7.80143366e-04 9.99961647e-01 8.07001522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.752557844 meters Centerline goodness [0,1] 0.2410442443479951 Centerline is valid? [False, False] Translation: X:1.76, Y:0.15, Z:0.81 [[ 9.99960528e-01 7.67916673e-04 -8.85169000e-03 1.76382362e+00] [-7.72916138e-04 9.99999544e-01 -5.61396382e-04 1.53415101e-01] [ 8.85125485e-03 5.68215837e-04 9.99960665e-01 8.06856431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782557844 meters Centerline goodness [0,1] 0.24578150821953548 Centerline is valid? [False, False] Translation: X:1.76, Y:0.15, Z:0.81 [[ 9.99958919e-01 8.72844268e-04 -9.02210085e-03 1.76426133e+00] [-8.76363195e-04 9.99999541e-01 -3.86088035e-04 1.52731179e-01] [ 9.02175972e-03 3.93978811e-04 9.99959225e-01 8.06838312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.812557844 meters Centerline goodness [0,1] 0.24676710062263252 Centerline is valid? [False, False] Translation: X:1.76, Y:0.15, Z:0.81 [[ 9.99958214e-01 9.58737036e-04 -9.09131745e-03 1.76445992e+00] [-9.61198957e-04 9.99999503e-01 -2.66433611e-04 1.52279771e-01] [ 9.09105748e-03 2.75161042e-04 9.99958638e-01 8.06814781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842557844 meters Centerline goodness [0,1] 0.24848830076242223 Centerline is valid? [False, False] Translation: X:1.76, Y:0.15, Z:0.81 [[ 9.99957166e-01 1.05945624e-03 -9.19473552e-03 1.76452885e+00] [-1.06107032e-03 9.99999423e-01 -1.70667033e-04 1.51785437e-01] [ 9.19454939e-03 1.80415983e-04 9.99957713e-01 8.07215877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.872557844 meters Centerline goodness [0,1] 0.24421471516934123 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:0.81 [[ 9.99940016e-01 -7.31589621e-03 -8.15115483e-03 1.78516353e+00] [ 7.31912250e-03 9.99973148e-01 3.66047491e-04 1.53312054e-01] [ 8.14825799e-03 -4.25684834e-04 9.99966712e-01 8.07645994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902557844 meters Centerline goodness [0,1] 0.2397558661145618 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:0.81 [[ 9.99939553e-01 -7.28635290e-03 -8.23400382e-03 1.78538129e+00] [ 7.29005233e-03 9.99973339e-01 4.19362393e-04 1.52949566e-01] [ 8.23072868e-03 -4.79363363e-04 9.99966012e-01 8.07648459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.932557844 meters Centerline goodness [0,1] 0.24199495439549779 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:0.81 [[ 9.99937678e-01 -7.14597882e-03 -8.57755823e-03 1.78632368e+00] [ 7.15095552e-03 9.99974281e-01 5.49669854e-04 1.52770727e-01] [ 8.57340969e-03 -6.10973335e-04 9.99963061e-01 8.07492423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962557844 meters Centerline goodness [0,1] 0.24215051895600814 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:0.81 [[ 9.99937465e-01 -7.08533043e-03 -8.65242805e-03 1.78647002e+00] [ 7.09116441e-03 9.99974650e-01 6.43766930e-04 1.52466147e-01] [ 8.64764741e-03 -7.05082462e-04 9.99962360e-01 8.07579443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.992557844 meters Centerline goodness [0,1] 0.24824140424692653 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:0.81 [[ 9.99965623e-01 1.10242894e-03 -8.21809749e-03 1.76580739e+00] [-1.10570690e-03 9.99999311e-01 -3.94338506e-04 1.48095027e-01] [ 8.21765710e-03 4.03411757e-04 9.99966153e-01 8.05894301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.022557844 meters Centerline goodness [0,1] 0.23970553414985896 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:0.81 [[ 9.99983773e-01 4.47086683e-04 -5.67917148e-03 1.80903516e+00] [-4.52847416e-04 9.99999384e-01 -1.01311614e-03 1.43592209e-01] [ 5.67871504e-03 1.01567150e-03 9.99983360e-01 8.05975295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.052557844 meters Centerline goodness [0,1] 0.24080648978977037 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:0.81 [[ 9.99985380e-01 5.55458122e-04 -5.37874562e-03 1.80787320e+00] [-5.59466627e-04 9.99999567e-01 -7.43773072e-04 1.42259080e-01] [ 5.37833016e-03 7.46771427e-04 9.99985258e-01 8.06616168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.082557844 meters Centerline goodness [0,1] 0.24479267845194153 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:0.81 [[ 9.99986445e-01 6.65565062e-04 -5.16404272e-03 1.80702205e+00] [-6.68116275e-04 9.99999656e-01 -4.92324811e-04 1.41159447e-01] [ 5.16371327e-03 4.95768318e-04 9.99986545e-01 8.07086287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.112557844 meters Centerline goodness [0,1] 0.24372604638070283 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:0.81 [[ 9.99986046e-01 8.63133098e-04 -5.21184474e-03 1.80728885e+00] [-8.62762210e-04 9.99999625e-01 7.34104432e-05 1.38519996e-01] [ 5.21190615e-03 -6.89128361e-05 9.99986416e-01 8.06690249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.142557844 meters Centerline goodness [0,1] 0.24556649178337597 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:0.81 [[ 9.99985088e-01 9.50366828e-04 -5.37778449e-03 1.80793644e+00] [-9.48198035e-04 9.99999468e-01 4.05822764e-04 1.36769397e-01] [ 5.37816731e-03 -4.00717508e-04 9.99985457e-01 8.06212599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.172557844 meters Centerline goodness [0,1] 0.2407498978780126 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:0.81 [[ 9.99984126e-01 1.05531115e-03 -5.53487298e-03 1.80845639e+00] [-1.05140984e-03 9.99999197e-01 7.07720663e-04 1.35272089e-01] [ 5.53561540e-03 -7.01890008e-04 9.99984432e-01 8.05971308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.202557844 meters Centerline goodness [0,1] 0.24613947831375016 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:0.81 [[ 9.99984210e-01 1.12529745e-03 -5.50582703e-03 1.80819717e+00] [-1.12047233e-03 9.99998986e-01 8.79372514e-04 1.34440443e-01] [ 5.50681100e-03 -8.73189502e-04 9.99984456e-01 8.06300047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.232557844 meters Centerline goodness [0,1] 0.24907119734069139 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:0.81 [[ 9.99987945e-01 1.32983396e-03 -4.72657821e-03 1.80532783e+00] [-1.32487530e-03 9.99998569e-01 1.05207620e-03 1.34145124e-01] [ 4.72797053e-03 -1.04580139e-03 9.99988276e-01 8.07996371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.262557844 meters Centerline goodness [0,1] 0.24542923133377947 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 9.99989109e-01 1.37285366e-03 -4.46055310e-03 1.80417461e+00] [-1.36790745e-03 9.99998446e-01 1.11173861e-03 1.34036436e-01] [ 4.46207242e-03 -1.10562488e-03 9.99989434e-01 8.08803301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29255784400002 meters Centerline goodness [0,1] 0.24575758884235066 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 9.99990097e-01 1.43813989e-03 -4.21167466e-03 1.80340548e+00] [-1.43274137e-03 9.99998149e-01 1.28453456e-03 1.33288627e-01] [ 4.21351420e-03 -1.27848760e-03 9.99990306e-01 8.09011207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32255784400002 meters Centerline goodness [0,1] 0.24759397522765525 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 9.99989979e-01 1.53712506e-03 -4.20465117e-03 1.80345553e+00] [-1.53050663e-03 9.99997586e-01 1.57683848e-03 1.31917227e-01] [ 4.20706482e-03 -1.57038743e-03 9.99989917e-01 8.08821603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35255784400002 meters Centerline goodness [0,1] 0.25077668426426813 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.81 [[ 9.99988869e-01 1.57443078e-03 -4.44773630e-03 1.80442292e+00] [-1.56591995e-03 9.99996938e-01 1.91635420e-03 1.29982687e-01] [ 4.45073985e-03 -1.90936807e-03 9.99988273e-01 8.08078002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38255784400002 meters Centerline goodness [0,1] 0.247472546627157 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:0.80 [[ 9.99982556e-01 -5.31868306e-04 -5.88258643e-03 1.81103071e+00] [ 5.34022220e-04 9.99999791e-01 3.64586275e-04 1.25577226e-01] [ 5.88239129e-03 -3.67721347e-04 9.99982631e-01 8.04250412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41255784400002 meters Centerline goodness [0,1] 0.25106150142263073 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:0.80 [[ 9.99982647e-01 -4.28773801e-04 -5.87558806e-03 1.81093566e+00] [ 4.32595962e-04 9.99999696e-01 6.49260092e-04 1.24275253e-01] [ 5.87530788e-03 -6.51790581e-04 9.99982528e-01 8.04306666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44255784400002 meters Centerline goodness [0,1] 0.2482670201438536 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:0.80 [[ 9.99983423e-01 -3.64469028e-04 -5.74638790e-03 1.81023003e+00] [ 3.69081823e-04 9.99999611e-01 8.01689367e-04 1.23639587e-01] [ 5.74609347e-03 -8.03796964e-04 9.99983168e-01 8.04977548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.472557844 meters Centerline goodness [0,1] 0.24713417281806338 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:0.81 [[ 9.99983678e-01 -3.55339055e-04 -5.70234130e-03 1.80989746e+00] [ 3.59878444e-04 9.99999619e-01 7.95050701e-04 1.23694821e-01] [ 5.70205661e-03 -7.97089874e-04 9.99983425e-01 8.05382778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502557844 meters Centerline goodness [0,1] 0.24785547179620482 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:0.80 [[ 9.99980431e-01 -3.80937806e-04 -6.24434067e-03 1.81177399e+00] [ 3.85018361e-04 9.99999713e-01 6.52291434e-04 1.24406285e-01] [ 6.24409040e-03 -6.54682856e-04 9.99980291e-01 8.04540860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.532557844 meters Centerline goodness [0,1] 0.24411910562970307 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:0.80 [[ 9.99979713e-01 -3.96405851e-04 -6.35732490e-03 1.81235351e+00] [ 3.99880876e-04 9.99999771e-01 5.45355673e-04 1.25005353e-01] [ 6.35710727e-03 -5.47886783e-04 9.99979643e-01 8.04064470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562557844 meters Centerline goodness [0,1] 0.24870579022925998 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:0.80 [[ 9.99981199e-01 -4.04917042e-04 -6.11866681e-03 1.81162996e+00] [ 4.07206347e-04 9.99999848e-01 3.72909893e-04 1.25976931e-01] [ 6.11851488e-03 -3.75394442e-04 9.99981211e-01 8.04339566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.592557844 meters Centerline goodness [0,1] 0.25188927848073694 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:0.81 [[ 9.99986752e-01 -2.74252823e-04 -5.14015024e-03 1.80841323e+00] [ 2.75222011e-04 9.99999944e-01 1.87846074e-04 1.27030944e-01] [ 5.14009844e-03 -1.89258268e-04 9.99986772e-01 8.05981955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622557844 meters Centerline goodness [0,1] 0.2479747386759582 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:0.81 [[ 9.99986645e-01 -2.92154907e-04 -5.15989269e-03 1.80820370e+00] [ 2.92791058e-04 9.99999950e-01 1.22532703e-04 1.27225988e-01] [ 5.15985663e-03 -1.24041837e-04 9.99986680e-01 8.06505095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.652557844 meters Centerline goodness [0,1] 0.248319965315413 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:0.81 [[ 9.99985659e-01 -3.15183203e-04 -5.34632595e-03 1.80871919e+00] [ 3.15662503e-04 9.99999946e-01 8.88067633e-05 1.27244360e-01] [ 5.34629767e-03 -9.04931243e-05 9.99985704e-01 8.06412043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682557844 meters Centerline goodness [0,1] 0.2460695723435916 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:0.81 [[ 9.99984110e-01 -3.19274110e-04 -5.62822510e-03 1.80985748e+00] [ 3.20061817e-04 9.99999939e-01 1.39056434e-04 1.26882700e-01] [ 5.62818036e-03 -1.40855604e-04 9.99984152e-01 8.05629403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.712557844 meters Centerline goodness [0,1] 0.2503496503496504 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.81 [[ 9.99957350e-01 -4.44456967e-04 -9.22495351e-03 1.76666851e+00] [ 4.47188633e-04 9.99999857e-01 2.94056400e-04 1.29470894e-01] [ 9.22482149e-03 -2.98169153e-04 9.99957406e-01 8.05847321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.742557844 meters Centerline goodness [0,1] 0.24567174515235457 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.80 [[ 9.99952676e-01 -3.88803116e-04 -9.72081487e-03 1.76860312e+00] [ 3.93854562e-04 9.99999788e-01 5.17743558e-04 1.28473642e-01] [ 9.72061151e-03 -5.21547643e-04 9.99952618e-01 8.04544543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.772557844 meters Centerline goodness [0,1] 0.24567962958937462 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.80 [[ 9.99952428e-01 -3.69691865e-04 -9.74710536e-03 1.76863336e+00] [ 3.74894150e-04 9.99999788e-01 5.31904408e-04 1.28507244e-01] [ 9.74690665e-03 -5.35533237e-04 9.99952354e-01 8.04625329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.802557844 meters Centerline goodness [0,1] 0.24567962958937462 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.80 [[ 9.99952428e-01 -3.69691865e-04 -9.74710536e-03 1.76863336e+00] [ 3.74894150e-04 9.99999788e-01 5.31904408e-04 1.28507244e-01] [ 9.74690665e-03 -5.35533237e-04 9.99952354e-01 8.04625329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.832557844 meters Centerline goodness [0,1] 0.24781956195489052 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.81 [[ 9.99952730e-01 -4.23526328e-04 -9.71381428e-03 1.76830102e+00] [ 4.26349974e-04 9.99999867e-01 2.88614669e-04 1.29777781e-01] [ 9.71369075e-03 -2.92742511e-04 9.99952778e-01 8.05140644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.862557844 meters Centerline goodness [0,1] 0.2468095248412887 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.80 [[ 9.99947532e-01 -4.75514687e-04 -1.02326446e-02 1.76974481e+00] [ 4.72804067e-04 9.99999852e-01 -2.67316715e-04 1.33012308e-01] [ 1.02327702e-02 2.62464654e-04 9.99947609e-01 8.04995033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.892557844 meters Centerline goodness [0,1] 0.24622133425990267 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.80 [[ 9.99946204e-01 -5.65591260e-04 -1.03570888e-02 1.77037282e+00] [ 5.60165004e-04 9.99999704e-01 -5.26810569e-04 1.34226045e-01] [ 1.03573837e-02 5.20980550e-04 9.99946225e-01 8.04490332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.922557844 meters Centerline goodness [0,1] 0.24427051803165267 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:0.80 [[ 9.99947171e-01 -6.40111026e-04 -1.02589185e-02 1.77028885e+00] [ 6.32977376e-04 9.99999556e-01 -6.98592699e-04 1.34942007e-01] [ 1.02593611e-02 6.92062130e-04 9.99947132e-01 8.04220740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.952557844 meters Centerline goodness [0,1] 0.24626541601528573 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:0.80 [[ 9.99950157e-01 -6.86160828e-04 -9.96051469e-03 1.76936308e+00] [ 6.78216759e-04 9.99999449e-01 -8.00911917e-04 1.35313181e-01] [ 9.96105875e-03 7.94116609e-04 9.99950072e-01 8.04516902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.982557844 meters Centerline goodness [0,1] 0.2503061046003149 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:0.81 [[ 9.99952172e-01 -7.63170287e-04 -9.75048138e-03 1.76850198e+00] [ 7.53660370e-04 9.99999237e-01 -9.78965078e-04 1.36111827e-01] [ 9.75122106e-03 9.71569704e-04 9.99951984e-01 8.05115214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.012557844 meters Centerline goodness [0,1] 0.24942363739179607 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:0.81 [[ 9.99954714e-01 -9.18605018e-04 -9.47236474e-03 1.76727268e+00] [ 9.05036830e-04 9.99998559e-01 -1.43658418e-03 1.38619546e-01] [ 9.47367074e-03 1.42794628e-03 9.99954104e-01 8.06042406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04255784400002 meters Centerline goodness [0,1] 0.24870859920996657 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:0.81 [[ 9.99954570e-01 -1.06038168e-03 -9.47277305e-03 1.76728840e+00] [ 1.04313293e-03 9.99997789e-01 -1.82563195e-03 1.40619525e-01] [ 9.47468797e-03 1.81566765e-03 9.99953466e-01 8.06071990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07255784400002 meters Centerline goodness [0,1] 0.2473778681256893 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:0.81 [[ 9.99954116e-01 -1.21937875e-03 -9.50152673e-03 1.76737452e+00] [ 1.19776259e-03 9.99996683e-01 -2.28037817e-03 1.42853373e-01] [ 9.50427586e-03 2.26889297e-03 9.99952259e-01 8.06119113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10255784400002 meters Centerline goodness [0,1] 0.24791554454378972 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:0.81 [[ 9.99952907e-01 -1.40288975e-03 -9.60289413e-03 1.76755030e+00] [ 1.37606911e-03 9.99995136e-01 -2.79901200e-03 1.45364613e-01] [ 9.60677412e-03 2.78566594e-03 9.99949974e-01 8.06382489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13255784400002 meters Centerline goodness [0,1] 0.2518347524989656 Centerline is valid? [False, False] Translation: X:1.76, Y:0.15, Z:0.81 [[ 9.99961595e-01 8.08824284e-04 -8.72666898e-03 1.76322199e+00] [-8.20675354e-04 9.99998746e-01 -1.35453351e-03 1.51712090e-01] [ 8.72556246e-03 1.36164326e-03 9.99961004e-01 8.08895033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16255784400002 meters Centerline goodness [0,1] 0.24903898360299703 Centerline is valid? [False, False] Translation: X:1.76, Y:0.15, Z:0.81 [[ 9.99964034e-01 6.52032210e-04 -8.45608117e-03 1.76236980e+00] [-6.68264298e-04 9.99997939e-01 -1.91689221e-03 1.54561748e-01] [ 8.45481387e-03 1.92247416e-03 9.99962409e-01 8.09331255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19255784400002 meters Centerline goodness [0,1] 0.25343511450381684 Centerline is valid? [False, False] Translation: X:1.76, Y:0.16, Z:0.81 [[ 9.99965310e-01 4.55274965e-04 -8.31692278e-03 1.76188438e+00] [-4.75986087e-04 9.99996791e-01 -2.48842885e-03 1.57311703e-01] [ 8.31576317e-03 2.49230127e-03 9.99962318e-01 8.09665555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222557844 meters Centerline goodness [0,1] 0.25140272280457565 Centerline is valid? [False, False] Translation: X:1.76, Y:0.16, Z:0.81 [[ 9.99965622e-01 2.69754175e-04 -8.28743539e-03 1.76183892e+00] [-2.94395449e-04 9.99995540e-01 -2.97225328e-03 1.59561118e-01] [ 8.28659665e-03 2.97459088e-03 9.99961241e-01 8.09682438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.252557844 meters Centerline goodness [0,1] 0.25141965408123457 Centerline is valid? [False, False] Translation: X:1.76, Y:0.16, Z:0.81 [[ 9.99960691e-01 -1.12124896e-04 -8.86588147e-03 1.76399742e+00] [ 7.83021522e-05 9.99992719e-01 -3.81518814e-03 1.63151039e-01] [ 8.86624470e-03 3.81434395e-03 9.99953419e-01 8.08514449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282557844 meters Centerline goodness [0,1] 0.2519830892608089 Centerline is valid? [False, False] Translation: X:1.76, Y:0.16, Z:0.81 [[ 9.99958382e-01 -2.32781624e-04 -9.12030202e-03 1.76497558e+00] [ 1.95097432e-04 9.99991442e-01 -4.13257361e-03 1.64704628e-01] [ 9.12118596e-03 4.13062228e-03 9.99949870e-01 8.07956245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.312557844 meters Centerline goodness [0,1] 0.2511426509502045 Centerline is valid? [False, False] Translation: X:1.77, Y:0.17, Z:0.81 [[ 9.99956390e-01 -3.63661035e-04 -9.33200683e-03 1.76571413e+00] [ 3.21879137e-04 9.99989920e-01 -4.47837969e-03 1.66519177e-01] [ 9.33354137e-03 4.47518061e-03 9.99946427e-01 8.07616302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342557844 meters Centerline goodness [0,1] 0.2531964270076189 Centerline is valid? [False, False] Translation: X:1.77, Y:0.17, Z:0.81 [[ 9.99955889e-01 -5.94840979e-04 -9.37367334e-03 1.76601051e+00] [ 5.46010149e-04 9.99986273e-01 -5.21105741e-03 1.70471805e-01] [ 9.37664442e-03 5.20570942e-03 9.99942488e-01 8.07466520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.372557844 meters Centerline goodness [0,1] 0.24811720914127422 Centerline is valid? [False, False] Translation: X:1.79, Y:0.18, Z:0.81 [[ 0.99992813 -0.00887551 -0.00805942 1.78586285] [ 0.00883936 0.99995076 -0.00451103 0.17519385] [ 0.00809906 0.00443947 0.99995735 0.80852016] [ 0. 0. 0. 1. ]] SLAMing on 161.402557844 meters Centerline goodness [0,1] 0.24947653114639678 Centerline is valid? [False, False] Translation: X:1.76, Y:0.17, Z:0.81 [[ 9.99970928e-01 -6.79702112e-04 -7.59486343e-03 1.76492622e+00] [ 6.34885047e-04 9.99982383e-01 -5.90182412e-03 1.73742116e-01] [ 7.59874111e-03 5.89683067e-03 9.99953742e-01 8.06954515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432557844 meters Centerline goodness [0,1] 0.2471743202221791 Centerline is valid? [False, False] Translation: X:1.79, Y:0.18, Z:0.81 [[ 0.9999378 -0.00890157 -0.00672002 1.78500399] [ 0.00886824 0.9999483 -0.00497436 0.17819108] [ 0.00676395 0.00491446 0.99996505 0.80826984] [ 0. 0. 0. 1. ]] SLAMing on 161.462557844 meters Centerline goodness [0,1] 0.24950632554304186 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:0.81 [[ 9.99974125e-01 -3.42748551e-04 -7.18554739e-03 1.76441238e+00] [ 2.99132424e-04 9.99981532e-01 -6.07017603e-03 1.77589952e-01] [ 7.18749523e-03 6.06786953e-03 9.99955759e-01 8.07079877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.492557844 meters Centerline goodness [0,1] 0.25105402703525015 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:0.81 [[ 9.99972889e-01 -4.83886049e-04 -7.34765301e-03 1.76500850e+00] [ 4.36321952e-04 9.99978951e-01 -6.47359654e-03 1.79671712e-01] [ 7.35063083e-03 6.47021509e-03 9.99952051e-01 8.06826104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.522557844 meters Centerline goodness [0,1] 0.2498912097476066 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:0.81 [[ 9.99969418e-01 -8.06844489e-04 -7.77892107e-03 1.76623047e+00] [ 7.49081664e-04 9.99972149e-01 -7.42561351e-03 1.84185525e-01] [ 7.78469573e-03 7.41955938e-03 9.99942173e-01 8.06761993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.552557844 meters Centerline goodness [0,1] 0.2500324970752632 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:0.81 [[ 9.99968773e-01 -9.73430058e-04 -7.84250845e-03 1.76632352e+00] [ 9.10539885e-04 9.99967435e-01 -8.01872350e-03 1.87218323e-01] [ 7.85005872e-03 8.01133218e-03 9.99937096e-01 8.07024503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.582557844 meters Centerline goodness [0,1] 0.24766092003811835 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:0.81 [[ 9.99969508e-01 -1.08661725e-03 -7.73323924e-03 1.76586273e+00] [ 1.02013236e-03 9.99962533e-01 -8.59604676e-03 1.90493111e-01] [ 7.74229011e-03 8.58789572e-03 9.99933150e-01 8.07442138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.612557844 meters Centerline goodness [0,1] 0.24766426047560208 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:0.81 [[ 0.99996761 0.00269293 -0.00758522 1.76565217] [-0.00273275 0.99998251 -0.00524422 0.19335019] [ 0.00757097 0.00526478 0.99995748 0.80735744] [ 0. 0. 0. 1. ]] SLAMing on 161.642557844 meters Centerline goodness [0,1] 0.2486645472436687 Centerline is valid? [False, False] Translation: X:1.77, Y:0.20, Z:0.81 [[ 0.99996624 0.00249839 -0.00782822 1.76654467] [-0.0025439 0.99997989 -0.00580898 0.19594394] [ 0.00781354 0.0058287 0.99995249 0.8069782 ] [ 0. 0. 0. 1. ]] SLAMing on 161.672557844 meters Centerline goodness [0,1] 0.24810384432020105 Centerline is valid? [False, False] Translation: X:1.77, Y:0.20, Z:0.81 [[ 0.99996459 0.00232452 -0.00808752 1.76738164] [-0.00237611 0.99997685 -0.00637532 0.19862457] [ 0.00807251 0.00639431 0.99994697 0.80675774] [ 0. 0. 0. 1. ]] SLAMing on 161.702557844 meters Centerline goodness [0,1] 0.24734591085734137 Centerline is valid? [False, False] Translation: X:1.77, Y:0.20, Z:0.81 [[ 0.99996404 0.00221748 -0.00818598 1.76768154] [-0.00227426 0.99997337 -0.00693388 0.20163889] [ 0.00817039 0.00695225 0.99994245 0.80681959] [ 0. 0. 0. 1. ]] SLAMing on 161.732557844 meters Centerline goodness [0,1] 0.24632265073329707 Centerline is valid? [False, False] Translation: X:1.77, Y:0.20, Z:0.81 [[ 0.99996502 0.00223345 -0.00805998 1.7671617 ] [-0.00229328 0.99996983 -0.00742149 0.20468661] [ 0.00804316 0.00743972 0.99993998 0.80733855] [ 0. 0. 0. 1. ]] SLAMing on 161.762557844 meters Centerline goodness [0,1] 0.2527814279456855 Centerline is valid? [False, False] Translation: X:1.77, Y:0.21, Z:0.81 [[ 0.99996937 0.0023161 -0.00747619 1.76541218] [-0.0023773 0.99996365 -0.00818775 0.20936653] [ 0.00745695 0.00820527 0.99993853 0.80817433] [ 0. 0. 0. 1. ]] SLAMing on 161.79255784400002 meters Centerline goodness [0,1] 0.24971746500912806 Centerline is valid? [False, False] Translation: X:1.78, Y:0.21, Z:0.81 [[ 0.99995836 -0.00537694 -0.00737349 1.7840538 ] [ 0.0053255 0.99996147 -0.00697824 0.2148843 ] [ 0.00741073 0.00693868 0.99994847 0.81014204] [ 0. 0. 0. 1. ]] SLAMing on 161.82255784400002 meters Centerline goodness [0,1] 0.24447463182180817 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.81 [[ 0.99995825 -0.00544418 -0.00733891 1.78379867] [ 0.00539037 0.9999586 -0.00733139 0.2167735 ] [ 0.00737852 0.00729152 0.99994619 0.81048638] [ 0. 0. 0. 1. ]] SLAMing on 161.85255784400002 meters Centerline goodness [0,1] 0.24844707053654524 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.81 [[ 0.99997568 -0.00190792 -0.00670818 1.78194772] [ 0.00188269 0.99999114 -0.0037659 0.21656673] [ 0.0067153 0.00375318 0.99997041 0.81081053] [ 0. 0. 0. 1. ]] SLAMing on 161.88255784400002 meters Centerline goodness [0,1] 0.24715183019276588 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.81 [[ 0.99997652 -0.00196621 -0.00656443 1.7814798 ] [ 0.00193936 0.99998974 -0.00409341 0.21835006] [ 0.00657242 0.00408058 0.99997008 0.81105606] [ 0. 0. 0. 1. ]] SLAMing on 161.91255784400002 meters Centerline goodness [0,1] 0.2444784416815704 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.81 [[ 0.9999766 -0.00205235 -0.00652647 1.78154776] [ 0.00202188 0.99998704 -0.00467166 0.22130047] [ 0.00653597 0.00465835 0.99996779 0.81082207] [ 0. 0. 0. 1. ]] SLAMing on 161.94255784400002 meters Centerline goodness [0,1] 0.24844949473045064 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.81 [[ 0.99997584 -0.00213475 -0.00661586 1.78177691] [ 0.0021021 0.9999856 -0.00493836 0.22258376] [ 0.0066263 0.00492433 0.99996592 0.81086176] [ 0. 0. 0. 1. ]] SLAMing on 161.972557844 meters Centerline goodness [0,1] 0.24582452203185012 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.81 [[ 0.99997415 -0.00215571 -0.00685998 1.78255911] [ 0.00212046 0.99998453 -0.00514243 0.22378811] [ 0.00687096 0.00512775 0.99996325 0.81059472] [ 0. 0. 0. 1. ]] SLAMing on 162.002557844 meters Centerline goodness [0,1] 0.24762298470442334 Centerline is valid? [False, False] Translation: X:1.78, Y:0.23, Z:0.81 [[ 0.999973 -0.00217365 -0.00701969 1.78297134] [ 0.00213569 0.99998308 -0.00541079 0.22537671] [ 0.00703133 0.00539565 0.99996072 0.81059918] [ 0. 0. 0. 1. ]] SLAMing on 162.032557844 meters Centerline goodness [0,1] 0.2447044626888185 Centerline is valid? [False, False] Translation: X:1.78, Y:0.23, Z:0.81 [[ 9.99974908e-01 1.71238945e-03 -6.87398673e-03 1.78229006e+00] [-1.72530448e-03 9.99996757e-01 -1.87333717e-03 2.27191028e-01] [ 6.87075656e-03 1.88514989e-03 9.99974619e-01 8.11127088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062557844 meters Centerline goodness [0,1] 0.24522567573393106 Centerline is valid? [False, False] Translation: X:1.78, Y:0.23, Z:0.81 [[ 9.99978392e-01 1.69581165e-03 -6.35134516e-03 1.78076960e+00] [-1.71079245e-03 9.99995766e-01 -2.35399085e-03 2.29832332e-01] [ 6.34732635e-03 2.36480582e-03 9.99977059e-01 8.11575771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.092557844 meters Centerline goodness [0,1] 0.25298303229337715 Centerline is valid? [False, False] Translation: X:1.73, Y:0.24, Z:0.81 [[ 9.99953680e-01 4.25873678e-03 -8.63145265e-03 1.73450914e+00] [-4.27331286e-03 9.99989473e-01 -1.67097783e-03 2.36542118e-01] [ 8.62424553e-03 1.70778533e-03 9.99961352e-01 8.13418079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122557844 meters Centerline goodness [0,1] 0.2514164923291492 Centerline is valid? [False, False] Translation: X:1.74, Y:0.24, Z:0.81 [[ 0.99994917 0.00424194 -0.00914647 1.73592272] [-0.00426164 0.99998864 -0.0021362 0.23922075] [ 0.0091373 0.00217507 0.99995589 0.81313094] [ 0. 0. 0. 1. ]] SLAMing on 162.152557844 meters Centerline goodness [0,1] 0.2514942629030147 Centerline is valid? [False, False] Translation: X:1.74, Y:0.24, Z:0.81 [[ 0.99994539 0.00419093 -0.00957342 1.73728115] [-0.00421608 0.99998771 -0.00260876 0.24190639] [ 0.00956237 0.00264898 0.99995077 0.81257732] [ 0. 0. 0. 1. ]] SLAMing on 162.182557844 meters Centerline goodness [0,1] 0.2497771593799596 Centerline is valid? [False, False] Translation: X:1.74, Y:0.24, Z:0.81 [[ 0.99994327 0.00412539 -0.00982016 1.73815667] [-0.00415488 0.99998691 -0.00298488 0.24403365] [ 0.00980772 0.00302551 0.99994733 0.81210537] [ 0. 0. 0. 1. ]] SLAMing on 162.212557844 meters Centerline goodness [0,1] 0.2515558467081559 Centerline is valid? [False, False] Translation: X:1.74, Y:0.25, Z:0.81 [[ 0.99994332 0.00401701 -0.00985954 1.73843804] [-0.00404962 0.99998639 -0.00328932 0.24548008] [ 0.00984619 0.00332906 0.99994598 0.81178392] [ 0. 0. 0. 1. ]] SLAMing on 162.242557844 meters Centerline goodness [0,1] 0.24868487110645454 Centerline is valid? [False, False] Translation: X:1.74, Y:0.25, Z:0.81 [[ 0.99994561 0.00386316 -0.00968785 1.73785527] [-0.00389729 0.99998626 -0.00350632 0.24606282] [ 0.00967417 0.00354389 0.99994692 0.81198745] [ 0. 0. 0. 1. ]] SLAMing on 162.272557844 meters Centerline goodness [0,1] 0.25014175426353213 Centerline is valid? [False, False] Translation: X:1.74, Y:0.25, Z:0.81 [[ 0.9999457 0.00383379 -0.00969023 1.73763709] [-0.00386775 0.99998644 -0.00348793 0.24583336] [ 0.00967673 0.00352522 0.99994697 0.81239293] [ 0. 0. 0. 1. ]] SLAMing on 162.302557844 meters Centerline goodness [0,1] 0.2513189868429694 Centerline is valid? [False, False] Translation: X:1.74, Y:0.25, Z:0.81 [[ 0.99994471 0.00382388 -0.00979568 1.73769756] [-0.00385811 0.99998651 -0.0034786 0.24583685] [ 0.00978225 0.0035162 0.99994597 0.81273855] [ 0. 0. 0. 1. ]] SLAMing on 162.332557844 meters Centerline goodness [0,1] 0.24869735128093795 Centerline is valid? [False, False] Translation: X:1.76, Y:0.25, Z:0.81 [[ 0.99994516 -0.0040311 -0.00966627 1.75747399] [ 0.00401337 0.99999023 -0.00185305 0.25064096] [ 0.00967365 0.00181415 0.99995156 0.81464073] [ 0. 0. 0. 1. ]] SLAMing on 162.362557844 meters Centerline goodness [0,1] 0.24509231002315868 Centerline is valid? [False, False] Translation: X:1.76, Y:0.25, Z:0.81 [[ 0.99994371 -0.00413395 -0.00977137 1.7576486 ] [ 0.00411245 0.99998908 -0.00221921 0.25275844] [ 0.00978044 0.0021789 0.9999498 0.81485745] [ 0. 0. 0. 1. ]] SLAMing on 162.392557844 meters Centerline goodness [0,1] 0.25032111989201666 Centerline is valid? [False, False] Translation: X:1.76, Y:0.25, Z:0.82 [[ 0.99994523 -0.00421983 -0.00957748 1.75691275] [ 0.00419652 0.99998819 -0.00245298 0.2537517 ] [ 0.00958772 0.00241265 0.99995113 0.81530663] [ 0. 0. 0. 1. ]] SLAMing on 162.422557844 meters Centerline goodness [0,1] 0.24861687413554634 Centerline is valid? [False, False] Translation: X:1.76, Y:0.25, Z:0.82 [[ 0.99994769 -0.0042939 -0.00928333 1.75577761] [ 0.00426888 0.99998721 -0.00271344 0.25493943] [ 0.00929486 0.00267366 0.99995323 0.81598075] [ 0. 0. 0. 1. ]] SLAMing on 162.452557844 meters Centerline goodness [0,1] 0.24499731903485256 Centerline is valid? [False, False] Translation: X:1.75, Y:0.26, Z:0.82 [[ 0.99994964 -0.00429817 -0.00906827 1.75485828] [ 0.0042717 0.99998656 -0.00293675 0.2562625 ] [ 0.00908077 0.00289787 0.99995457 0.81658532] [ 0. 0. 0. 1. ]] SLAMing on 162.482557844 meters Centerline goodness [0,1] 0.253816248984164 Centerline is valid? [False, False] Translation: X:1.71, Y:0.26, Z:0.82 [[ 0.99992631 -0.0025197 -0.01187575 1.70884647] [ 0.00249268 0.99999427 -0.00228963 0.25631469] [ 0.01188145 0.00225986 0.99992686 0.81825545] [ 0. 0. 0. 1. ]] SLAMing on 162.512557844 meters Centerline goodness [0,1] 0.25002166377816293 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:0.82 [[ 0.99991392 0.00573475 -0.0118009 1.72963191] [-0.0057722 0.9999784 -0.00314186 0.25132018] [ 0.01178263 0.00320971 0.99992543 0.81939871] [ 0. 0. 0. 1. ]] SLAMing on 162.54255784400002 meters Centerline goodness [0,1] 0.2517813174122415 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:0.82 [[ 0.99991318 0.00580472 -0.0118292 1.72971321] [-0.00584096 0.99997835 -0.00303142 0.25086806] [ 0.01181134 0.00310025 0.99992544 0.81937316] [ 0. 0. 0. 1. ]] SLAMing on 162.57255784400002 meters Centerline goodness [0,1] 0.25162972620599744 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:0.82 [[ 0.99991207 0.00590577 -0.01187293 1.72954682] [-0.00594096 0.99997806 -0.0029302 0.25071699] [ 0.01185536 0.00300048 0.99992522 0.81983603] [ 0. 0. 0. 1. ]] SLAMing on 162.60255784400002 meters Centerline goodness [0,1] 0.2522276422764228 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:0.82 [[ 0.99991265 0.00601226 -0.0117701 1.72907117] [-0.00604569 0.99997779 -0.00280609 0.25036423] [ 0.01175296 0.00287701 0.99992679 0.82020522] [ 0. 0. 0. 1. ]] SLAMing on 162.63255784400002 meters Centerline goodness [0,1] 0.2542380305751456 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:0.82 [[ 0.99991706 0.00637614 -0.01119017 1.72718051] [-0.00640284 0.99997674 -0.00235208 0.24851851] [ 0.01117491 0.00242354 0.99993462 0.82098502] [ 0. 0. 0. 1. ]] SLAMing on 162.66255784400002 meters Centerline goodness [0,1] 0.2532825715459993 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:0.82 [[ 9.99955831e-01 -1.50311521e-03 -9.27776584e-03 1.74602023e+00] [ 1.49298904e-03 9.99998282e-01 -1.09827402e-03 2.50882676e-01] [ 9.27940073e-03 1.08437391e-03 9.99956357e-01 8.21622864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69255784400002 meters Centerline goodness [0,1] 0.2532825715459993 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:0.82 [[ 9.99955831e-01 -1.50311521e-03 -9.27776584e-03 1.74602023e+00] [ 1.49298904e-03 9.99998282e-01 -1.09827402e-03 2.50882676e-01] [ 9.27940073e-03 1.08437391e-03 9.99956357e-01 8.21622864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722557844 meters Centerline goodness [0,1] 0.25402034075104307 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:0.82 [[ 9.99957956e-01 -1.33161897e-03 -9.07262003e-03 1.74543393e+00] [ 1.32452463e-03 9.99998812e-01 -7.87913596e-04 2.49520513e-01] [ 9.07365846e-03 7.75863561e-04 9.99958533e-01 8.21706282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752557844 meters Centerline goodness [0,1] 0.25007561681718016 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:0.82 [[ 9.99954370e-01 -8.91069620e-04 -9.51121769e-03 1.74705809e+00] [ 8.91264294e-04 9.99999603e-01 1.62291979e-05 2.46096044e-01] [ 9.51119944e-03 -2.47054660e-05 9.99954767e-01 8.20724905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782557844 meters Centerline goodness [0,1] 0.2514475495444316 Centerline is valid? [False, False] Translation: X:1.73, Y:0.24, Z:0.82 [[ 9.99912792e-01 7.33373750e-03 -1.09829507e-02 1.72847379e+00] [-7.34660676e-03 9.99972373e-01 -1.13186195e-03 2.39120177e-01] [ 1.09743465e-02 1.21245066e-03 9.99939045e-01 8.18921289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.812557844 meters Centerline goodness [0,1] 0.2527019060719198 Centerline is valid? [False, False] Translation: X:1.73, Y:0.24, Z:0.82 [[ 9.99909190e-01 7.49683150e-03 -1.11986420e-02 1.72925541e+00] [-7.50515539e-03 9.99971590e-01 -7.01454482e-04 2.37036649e-01] [ 1.11930651e-02 7.85438331e-04 9.99937047e-01 8.18486752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842557844 meters Centerline goodness [0,1] 0.24968534351807647 Centerline is valid? [False, False] Translation: X:1.75, Y:0.24, Z:0.82 [[ 9.99939020e-01 -7.32805258e-04 -1.10190260e-02 1.74962701e+00] [ 7.42946809e-04 9.99999304e-01 9.16302121e-04 2.35453582e-01] [ 1.10183469e-02 -9.24432795e-04 9.99938869e-01 8.19754357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.872557844 meters Centerline goodness [0,1] 0.2553594224589515 Centerline is valid? [False, False] Translation: X:1.70, Y:0.23, Z:0.82 [[ 9.99908316e-01 -1.12251290e-03 -1.34944037e-02 1.70372236e+00] [ 1.13671685e-03 9.99998808e-01 1.04495728e-03 2.30532302e-01] [ 1.34932146e-02 -1.06020079e-03 9.99908400e-01 8.20828213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902557844 meters Centerline goodness [0,1] 0.25189241072402435 Centerline is valid? [False, False] Translation: X:1.70, Y:0.23, Z:0.82 [[ 9.99907964e-01 -8.77983656e-04 -1.35385456e-02 1.70393714e+00] [ 9.01796491e-04 9.99998057e-01 1.75288716e-03 2.27100556e-01] [ 1.35369803e-02 -1.76493484e-03 9.99906813e-01 8.20691712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.932557844 meters Centerline goodness [0,1] 0.2533558519038428 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:0.82 [[ 9.99907103e-01 -6.42075837e-04 -1.36151962e-02 1.70431557e+00] [ 6.76365261e-04 9.99996611e-01 2.51401211e-03 2.23291131e-01] [ 1.36135359e-02 -2.52298741e-03 9.99904148e-01 8.20389064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962557844 meters Centerline goodness [0,1] 0.2521128902600648 Centerline is valid? [False, False] Translation: X:1.73, Y:0.22, Z:0.82 [[ 9.99898869e-01 4.76548215e-03 -1.33993129e-02 1.72659172e+00] [-4.77714074e-03 9.99988238e-01 -8.38216681e-04 2.18331529e-01] [ 1.33951608e-02 9.02142315e-04 9.99909874e-01 8.20245196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.992557844 meters Centerline goodness [0,1] 0.2528725569587008 Centerline is valid? [False, False] Translation: X:1.73, Y:0.22, Z:0.82 [[ 9.99896174e-01 4.98127137e-03 -1.35213677e-02 1.72707462e+00] [-4.98435501e-03 9.99987559e-01 -1.94367100e-04 2.15148673e-01] [ 1.35202313e-02 2.61742216e-04 9.99908563e-01 8.19929769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.022557844 meters Centerline goodness [0,1] 0.2506319735006973 Centerline is valid? [False, False] Translation: X:1.73, Y:0.21, Z:0.82 [[ 9.99892074e-01 5.36418229e-03 -1.36772196e-02 1.72744971e+00] [-5.35421181e-03 9.99985373e-01 7.65497541e-04 2.10667186e-01] [ 1.36811259e-02 -6.92184193e-04 9.99906169e-01 8.19983612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.052557844 meters Centerline goodness [0,1] 0.250417036764228 Centerline is valid? [False, False] Translation: X:1.73, Y:0.21, Z:0.82 [[ 9.99891154e-01 5.48528015e-03 -1.36964127e-02 1.72743734e+00] [-5.47156289e-03 9.99984491e-01 1.03879359e-03 2.09358414e-01] [ 1.37018983e-02 -9.63739734e-04 9.99905660e-01 8.20096862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082557844 meters Centerline goodness [0,1] 0.25440021068340424 Centerline is valid? [False, False] Translation: X:1.71, Y:0.21, Z:0.82 [[ 0.99988947 -0.00296758 -0.01456855 1.70690885] [ 0.00299748 0.99999345 0.00203092 0.21278056] [ 0.01456243 -0.00207436 0.99989181 0.81954765] [ 0. 0. 0. 1. ]] SLAMing on 163.112557844 meters Centerline goodness [0,1] 0.2537440882816605 Centerline is valid? [False, False] Translation: X:1.71, Y:0.21, Z:0.82 [[ 0.99989124 -0.00286327 -0.01446776 1.7066345 ] [ 0.0028951 0.99999343 0.0021799 0.21223023] [ 0.01446142 -0.00222155 0.99989296 0.81956006] [ 0. 0. 0. 1. ]] SLAMing on 163.142557844 meters Centerline goodness [0,1] 0.2525201942128067 Centerline is valid? [False, False] Translation: X:1.71, Y:0.21, Z:0.82 [[ 0.99989365 -0.0026114 -0.01434826 1.7062328 ] [ 0.00264723 0.99999342 0.00247869 0.21113317] [ 0.01434169 -0.0025164 0.99989399 0.81972702] [ 0. 0. 0. 1. ]] SLAMing on 163.172557844 meters Centerline goodness [0,1] 0.2515125324114088 Centerline is valid? [False, False] Translation: X:1.73, Y:0.21, Z:0.82 [[ 9.99886161e-01 5.54151833e-03 -1.40341166e-02 1.72565075e+00] [-5.52474679e-03 9.99983978e-01 1.23354236e-03 2.05894805e-01] [ 1.40407274e-02 -1.15586699e-03 9.99900756e-01 8.21675058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202557844 meters Centerline goodness [0,1] 0.2501352843135133 Centerline is valid? [False, False] Translation: X:1.73, Y:0.20, Z:0.82 [[ 9.99885077e-01 5.64107428e-03 -1.40716053e-02 1.72572912e+00] [-5.62106181e-03 9.99983134e-01 1.46133417e-03 2.04782697e-01] [ 1.40796115e-02 -1.38206886e-03 9.99899922e-01 8.21690165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.232557844 meters Centerline goodness [0,1] 0.25452346927558533 Centerline is valid? [False, False] Translation: X:1.68, Y:0.20, Z:0.82 [[ 0.99981968 0.00598671 -0.01802154 1.68392711] [-0.00594904 0.99998001 0.00214347 0.19982539] [ 0.01803402 -0.00203587 0.9998353 0.82135036] [ 0. 0. 0. 1. ]] SLAMing on 163.262557844 meters Centerline goodness [0,1] 0.24806853985929478 Centerline is valid? [False, False] Translation: X:1.73, Y:0.20, Z:0.82 [[ 0.999845 0.00639805 -0.01640276 1.73016222] [-0.00636261 0.99997731 0.00221229 0.199744 ] [ 0.01641654 -0.00210758 0.99986302 0.82049757] [ 0. 0. 0. 1. ]] SLAMing on 163.29255784400002 meters Centerline goodness [0,1] 0.2517359604201024 Centerline is valid? [False, False] Translation: X:1.73, Y:0.20, Z:0.82 [[ 0.9998427 0.00651712 -0.01649551 1.73045112] [-0.00647708 0.99997595 0.00247968 0.19847662] [ 0.01651127 -0.00237245 0.99986086 0.82041086] [ 0. 0. 0. 1. ]] SLAMing on 163.32255784400002 meters Centerline goodness [0,1] 0.25182450043440485 Centerline is valid? [False, False] Translation: X:1.73, Y:0.20, Z:0.82 [[ 0.99984224 0.0066473 -0.01647164 1.73039076] [-0.00660275 0.9999744 0.00275731 0.19716664] [ 0.01648955 -0.00264812 0.99986053 0.82041698] [ 0. 0. 0. 1. ]] SLAMing on 163.35255784400002 meters Centerline goodness [0,1] 0.24838828713451566 Centerline is valid? [False, False] Translation: X:1.73, Y:0.20, Z:0.82 [[ 0.99984309 0.00672055 -0.01638983 1.73007172] [-0.00667404 0.99997355 0.00289084 0.19653373] [ 0.01640883 -0.002781 0.9998615 0.82060467] [ 0. 0. 0. 1. ]] SLAMing on 163.38255784400002 meters Centerline goodness [0,1] 0.2509964498072441 Centerline is valid? [False, False] Translation: X:1.73, Y:0.20, Z:0.82 [[ 0.9998452 0.00676616 -0.016242 1.7295838 ] [-0.00671964 0.99997317 0.00291741 0.1964398 ] [ 0.01626131 -0.00280781 0.99986383 0.82078425] [ 0. 0. 0. 1. ]] SLAMing on 163.41255784400002 meters Centerline goodness [0,1] 0.25174120636033115 Centerline is valid? [False, False] Translation: X:1.73, Y:0.20, Z:0.82 [[ 0.99984732 0.00693652 -0.01603833 1.72929889] [-0.00689131 0.99997213 0.00287265 0.19691991] [ 0.01605781 -0.00276169 0.99986725 0.82032312] [ 0. 0. 0. 1. ]] SLAMing on 163.44255784400002 meters Centerline goodness [0,1] 0.2508368473677346 Centerline is valid? [False, False] Translation: X:1.73, Y:0.20, Z:0.82 [[ 0.99984718 0.00695055 -0.01604097 1.72945986] [-0.00690683 0.99997229 0.0027793 0.19749658] [ 0.01605984 -0.00266808 0.99986747 0.82001156] [ 0. 0. 0. 1. ]] SLAMing on 163.472557844 meters Centerline goodness [0,1] 0.2506629570056079 Centerline is valid? [False, False] Translation: X:1.73, Y:0.20, Z:0.82 [[ 0.99984834 0.00700559 -0.01594445 1.72919809] [-0.00696205 0.99997189 0.00278455 0.19773362] [ 0.01596351 -0.00267313 0.999869 0.82001247] [ 0. 0. 0. 1. ]] SLAMing on 163.502557844 meters Centerline goodness [0,1] 0.24603755706779218 Centerline is valid? [False, False] Translation: X:1.75, Y:0.20, Z:0.82 [[ 9.99896743e-01 -5.89748310e-04 -1.43581291e-02 1.74767731e+00] [ 6.49417177e-04 9.99991172e-01 4.15144727e-03 2.02946922e-01] [ 1.43555541e-02 -4.16034302e-03 9.99888299e-01 8.21056656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.532557844 meters Centerline goodness [0,1] 0.2516791003959833 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:0.82 [[ 9.99864013e-01 -4.16849263e-04 -1.64857844e-02 1.70037394e+00] [ 4.94920617e-04 9.99988682e-01 4.73188097e-03 1.99864931e-01] [ 1.64836254e-02 -4.73939665e-03 9.99852903e-01 8.22454332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562557844 meters Centerline goodness [0,1] 0.25013046881795253 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:0.82 [[ 9.99863749e-01 -5.06405721e-04 -1.64993198e-02 1.70071977e+00] [ 5.83296249e-04 9.99988992e-01 4.65574515e-03 1.99573954e-01] [ 1.64967805e-02 -4.66473479e-03 9.99853037e-01 8.21951911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.592557844 meters Centerline goodness [0,1] 0.252147681815201 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:0.82 [[ 9.99861097e-01 -5.41551812e-04 -1.66581564e-02 1.70137657e+00] [ 6.18213441e-04 9.99989242e-01 4.59724243e-03 1.99744176e-01] [ 1.66554875e-02 -4.60690216e-03 9.99850674e-01 8.21467531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622557844 meters Centerline goodness [0,1] 0.24971778395276134 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:0.82 [[ 9.99854330e-01 -4.67269324e-04 -1.70616859e-02 1.70244999e+00] [ 5.40443206e-04 9.99990676e-01 4.28442494e-03 2.02642240e-01] [ 1.70595248e-02 -4.29302170e-03 9.99845259e-01 8.21181109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.652557844 meters Centerline goodness [0,1] 0.24958526150353622 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:0.82 [[ 9.99854679e-01 -5.66827334e-04 -1.70381663e-02 1.70225790e+00] [ 6.34423799e-04 9.99991949e-01 3.96221236e-03 2.04358007e-01] [ 1.70357832e-02 -3.97244598e-03 9.99846989e-01 8.21383894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682557844 meters Centerline goodness [0,1] 0.24969078875990014 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:0.82 [[ 9.99855669e-01 -6.83407336e-04 -1.69756709e-02 1.70194260e+00] [ 7.46123986e-04 9.99992919e-01 3.68844332e-03 2.05562838e-01] [ 1.69730300e-02 -3.70057692e-03 9.99849100e-01 8.21618378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.712557844 meters Centerline goodness [0,1] 0.25120699404114655 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:0.82 [[ 9.99854238e-01 -7.82624003e-04 -1.70555225e-02 1.70204243e+00] [ 8.41975806e-04 9.99993615e-01 3.47301423e-03 2.06475624e-01] [ 1.70526955e-02 -3.48686833e-03 9.99848512e-01 8.21763488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.742557844 meters Centerline goodness [0,1] 0.24777303365916037 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:0.82 [[ 9.99852648e-01 -8.45891016e-04 -1.71454699e-02 1.70234179e+00] [ 9.04230437e-04 9.99993828e-01 3.39514765e-03 2.06816552e-01] [ 1.71424921e-02 -3.41015082e-03 9.99847241e-01 8.21614706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.772557844 meters Centerline goodness [0,1] 0.25241783729377265 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:0.82 [[ 9.99854185e-01 -8.25883661e-04 -1.70565616e-02 1.70201968e+00] [ 8.86253893e-04 9.99993369e-01 3.53215850e-03 2.06097926e-01] [ 1.70535313e-02 -3.54675991e-03 9.99848287e-01 8.21803580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.802557844 meters Centerline goodness [0,1] 0.251753463089602 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:0.82 [[ 9.99856574e-01 -7.98675369e-04 -1.69172462e-02 1.70147120e+00] [ 8.62527512e-04 9.99992531e-01 3.76742169e-03 2.04767937e-01] [ 1.69141109e-02 -3.78147294e-03 9.99849795e-01 8.22227097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.832557844 meters Centerline goodness [0,1] 0.24567451681713381 Centerline is valid? [False, False] Translation: X:1.74, Y:0.21, Z:0.82 [[ 9.99896528e-01 -1.29678857e-03 -1.43266067e-02 1.74459627e+00] [ 1.34147615e-03 9.99994264e-01 3.11003249e-03 2.06264678e-01] [ 1.43224915e-02 -3.12892949e-03 9.99892532e-01 8.22704651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.862557844 meters Centerline goodness [0,1] 0.25056977274207204 Centerline is valid? [False, False] Translation: X:1.74, Y:0.21, Z:0.82 [[ 9.99895621e-01 -1.17563950e-03 -1.44001811e-02 1.74478406e+00] [ 1.22427489e-03 9.99993575e-01 3.36906565e-03 2.05345600e-01] [ 1.43961278e-02 -3.38634377e-03 9.99890636e-01 8.22755277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.892557844 meters Centerline goodness [0,1] 0.25074879541606976 Centerline is valid? [False, False] Translation: X:1.75, Y:0.21, Z:0.82 [[ 9.99892189e-01 -1.18759550e-03 -1.46355684e-02 1.74567664e+00] [ 1.23474024e-03 9.99994077e-01 3.21262936e-03 2.06176615e-01] [ 1.46316664e-02 -3.23035413e-03 9.99887733e-01 8.22201071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.922557844 meters Centerline goodness [0,1] 0.25199772935679665 Centerline is valid? [False, False] Translation: X:1.75, Y:0.21, Z:0.82 [[ 9.99887593e-01 -1.24652733e-03 -1.49414715e-02 1.74676811e+00] [ 1.28934336e-03 9.99995090e-01 2.85629295e-03 2.07868000e-01] [ 1.49378377e-02 -2.87523657e-03 9.99884290e-01 8.21590372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.952557844 meters Centerline goodness [0,1] 0.25046467385362225 Centerline is valid? [False, False] Translation: X:1.75, Y:0.21, Z:0.82 [[ 9.99879621e-01 -5.54471627e-04 -1.55059799e-02 1.74880088e+00] [ 5.93999376e-04 9.99996586e-01 2.54470455e-03 2.11735128e-01] [ 1.55045160e-02 -2.55360876e-03 9.99876537e-01 8.20205508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.982557844 meters Centerline goodness [0,1] 0.2514683489232108 Centerline is valid? [False, False] Translation: X:1.75, Y:0.21, Z:0.82 [[ 9.99881462e-01 -2.19197185e-04 -1.53952358e-02 1.74856555e+00] [ 2.54424286e-04 9.99997354e-01 2.28626068e-03 2.14241049e-01] [ 1.53946939e-02 -2.28990660e-03 9.99878873e-01 8.19911419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.012557844 meters Centerline goodness [0,1] 0.2472780796121128 Centerline is valid? [False, False] Translation: X:1.75, Y:0.22, Z:0.82 [[ 9.99884836e-01 -6.48056587e-05 -1.51759546e-02 1.74796380e+00] [ 9.40320629e-05 9.99998143e-01 1.92513066e-03 2.16792627e-01] [ 1.51758016e-02 -1.92633598e-03 9.99882985e-01 8.19799028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04255784400002 meters Centerline goodness [0,1] 0.2496133824138006 Centerline is valid? [False, False] Translation: X:1.75, Y:0.22, Z:0.82 [[ 9.99888916e-01 -1.07420143e-04 -1.49045163e-02 1.74708426e+00] [ 1.30234237e-04 9.99998821e-01 1.52972113e-03 2.18966705e-01] [ 1.49043344e-02 -1.53149228e-03 9.99887751e-01 8.20035766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07255784400002 meters Centerline goodness [0,1] 0.24908896502062106 Centerline is valid? [False, False] Translation: X:1.75, Y:0.22, Z:0.82 [[ 9.99892482e-01 -2.05848624e-04 -1.46622432e-02 1.74628249e+00] [ 2.23432608e-04 9.99999258e-01 1.19764172e-03 2.20557879e-01] [ 1.46619858e-02 -1.20078898e-03 9.99891786e-01 8.20305749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10255784400002 meters Centerline goodness [0,1] 0.25045225692552475 Centerline is valid? [False, False] Translation: X:1.75, Y:0.22, Z:0.82 [[ 9.99896809e-01 -3.57298404e-04 -1.43611705e-02 1.74532352e+00] [ 3.69002624e-04 9.99999602e-01 8.12349199e-04 2.22388536e-01] [ 1.43608745e-02 -8.17564682e-04 9.99896543e-01 8.20572141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13255784400002 meters Centerline goodness [0,1] 0.25010334849111204 Centerline is valid? [False, False] Translation: X:1.75, Y:0.22, Z:0.82 [[ 9.99896914e-01 -3.87021791e-04 -1.43530728e-02 1.74531698e+00] [ 3.98313129e-04 9.99999613e-01 7.83834070e-04 2.22476909e-01] [ 1.43527639e-02 -7.89470285e-04 9.99896682e-01 8.20548258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16255784400002 meters Centerline goodness [0,1] 0.2478359908883827 Centerline is valid? [False, False] Translation: X:1.75, Y:0.22, Z:0.82 [[ 9.99894940e-01 -4.35056487e-04 -1.44885889e-02 1.74563442e+00] [ 4.46537352e-04 9.99999589e-01 7.89181823e-04 2.22321187e-01] [ 1.44882396e-02 -7.95568608e-04 9.99894723e-01 8.20619414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19255784400002 meters Centerline goodness [0,1] 0.25171534130893736 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:0.82 [[ 9.99849082e-01 -1.75499490e-03 -1.72838923e-02 1.70032484e+00] [ 1.75882938e-03 9.99998432e-01 2.06654107e-04 2.18626908e-01] [ 1.72835025e-02 -2.37022336e-04 9.99850601e-01 8.21521525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222557844 meters Centerline goodness [0,1] 0.24881161685224984 Centerline is valid? [False, False] Translation: X:1.72, Y:0.22, Z:0.82 [[ 0.99985548 0.00349793 -0.01663664 1.72255265] [-0.00354271 0.99999018 -0.00266273 0.21610153] [ 0.01662717 0.00272128 0.99985806 0.8217608 ] [ 0. 0. 0. 1. ]] SLAMing on 164.252557844 meters Centerline goodness [0,1] 0.24963465439396249 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:0.82 [[ 0.99985554 0.00357332 -0.01661734 1.72239452] [-0.00361097 0.99999098 -0.00223629 0.21404656] [ 0.0166092 0.00229597 0.99985942 0.82202299] [ 0. 0. 0. 1. ]] SLAMing on 164.282557844 meters Centerline goodness [0,1] 0.2499836112142998 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:0.82 [[ 0.99985631 0.003611 -0.01656243 1.72214597] [-0.00364169 0.99999171 -0.00182312 0.21182721] [ 0.01655571 0.00188318 0.99986117 0.82232833] [ 0. 0. 0. 1. ]] SLAMing on 164.312557844 meters Centerline goodness [0,1] 0.2473591357567574 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:0.82 [[ 9.99855664e-01 3.50822463e-03 -1.66235803e-02 1.72219304e+00] [-3.53372680e-03 9.99992624e-01 -1.50497100e-03 2.09558123e-01] [ 1.66181779e-02 1.56349697e-03 9.99860686e-01 8.22590817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342557844 meters Centerline goodness [0,1] 0.2511494504532119 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:0.82 [[ 9.99861272e-01 -2.69167615e-04 -1.66542809e-02 1.72183351e+00] [ 1.91856121e-04 9.99989200e-01 -4.64356308e-03 2.05683049e-01] [ 1.66553509e-02 4.63972366e-03 9.99850525e-01 8.23201196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.372557844 meters Centerline goodness [0,1] 0.24573651788609097 Centerline is valid? [False, False] Translation: X:1.74, Y:0.21, Z:0.82 [[ 0.99984522 -0.00838519 -0.01546672 1.74190786] [ 0.00833523 0.99995984 -0.00329184 0.20802326] [ 0.01549371 0.00316241 0.99987496 0.82430141] [ 0. 0. 0. 1. ]] SLAMing on 164.402557844 meters Centerline goodness [0,1] 0.24903708832821225 Centerline is valid? [False, False] Translation: X:1.74, Y:0.21, Z:0.82 [[ 0.99984978 -0.00821418 -0.0152626 1.74105926] [ 0.00817261 0.99996273 -0.00278399 0.20566858] [ 0.0152849 0.00265883 0.99987964 0.82494532] [ 0. 0. 0. 1. ]] SLAMing on 164.432557844 meters Centerline goodness [0,1] 0.2501476604029488 Centerline is valid? [False, False] Translation: X:1.72, Y:0.20, Z:0.82 [[ 9.99900564e-01 -5.17745836e-04 -1.40923699e-02 1.72056150e+00] [ 4.69841078e-04 9.99994101e-01 -3.40243857e-03 1.97627138e-01] [ 1.40940484e-02 3.39547907e-03 9.99894909e-01 8.23631190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462557844 meters Centerline goodness [0,1] 0.24889167621807484 Centerline is valid? [False, False] Translation: X:1.74, Y:0.20, Z:0.82 [[ 0.99988647 -0.00873639 -0.01227715 1.74068056] [ 0.00870719 0.99995914 -0.00242957 0.19865252] [ 0.01229787 0.00232239 0.99992168 0.82439519] [ 0. 0. 0. 1. ]] SLAMing on 164.492557844 meters Centerline goodness [0,1] 0.2492629205688519 Centerline is valid? [False, False] Translation: X:1.74, Y:0.20, Z:0.82 [[ 0.99988585 -0.00866568 -0.01237742 1.7411567 ] [ 0.00863762 0.99996001 -0.0023187 0.19831462] [ 0.01239702 0.00221153 0.99992071 0.82396442] [ 0. 0. 0. 1. ]] SLAMing on 164.522557844 meters Centerline goodness [0,1] 0.24999453109618708 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99914116e-01 -1.31915061e-04 -1.31051116e-02 1.72138772e+00] [ 9.31049488e-05 9.99995609e-01 -2.96201439e-03 1.93660241e-01] [ 1.31054448e-02 2.96053985e-03 9.99909737e-01 8.22368997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.552557844 meters Centerline goodness [0,1] 0.2464888097770639 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99911540e-01 -1.13168718e-04 -1.33003754e-02 1.72214085e+00] [ 7.32887439e-05 9.99995501e-01 -2.99885880e-03 1.93948986e-01] [ 1.33006550e-02 2.99761876e-03 9.99907049e-01 8.21888766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.582557844 meters Centerline goodness [0,1] 0.24883396538947733 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99907184e-01 -1.78694783e-04 -1.36232282e-02 1.72320375e+00] [ 1.36391238e-04 9.99995167e-01 -3.10611704e-03 1.93971338e-01] [ 1.36237174e-02 3.10397065e-03 9.99902375e-01 8.21419317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.612557844 meters Centerline goodness [0,1] 0.24883396538947733 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99907184e-01 -1.78694783e-04 -1.36232282e-02 1.72320375e+00] [ 1.36391238e-04 9.99995167e-01 -3.10611704e-03 1.93971338e-01] [ 1.36237174e-02 3.10397065e-03 9.99902375e-01 8.21419317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.642557844 meters Centerline goodness [0,1] 0.24548978840447877 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99905254e-01 -1.95767891e-04 -1.37638671e-02 1.72347527e+00] [ 1.52884712e-04 9.99995132e-01 -3.11661768e-03 1.93882620e-01] [ 1.37644102e-02 3.11421811e-03 9.99900416e-01 8.21545436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.672557844 meters Centerline goodness [0,1] 0.2443390122924305 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99903000e-01 -2.11683344e-04 -1.39264220e-02 1.72404149e+00] [ 1.67363776e-04 9.99994919e-01 -3.18349731e-03 1.94294859e-01] [ 1.39270251e-02 3.18085774e-03 9.99897955e-01 8.21239272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.702557844 meters Centerline goodness [0,1] 0.24625551618443076 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99901824e-01 -2.04200376e-04 -1.40107380e-02 1.72462674e+00] [ 1.59073877e-04 9.99994797e-01 -3.22188977e-03 1.94721854e-01] [ 1.40113230e-02 3.21934471e-03 9.99896654e-01 8.20594138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.732557844 meters Centerline goodness [0,1] 0.24935389197949975 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99905917e-01 -2.59786429e-04 -1.37146026e-02 1.72384673e+00] [ 2.17705992e-04 9.99995265e-01 -3.06969806e-03 1.93789772e-01] [ 1.37153351e-02 3.06642350e-03 9.99901238e-01 8.20733763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.762557844 meters Centerline goodness [0,1] 0.246125340599455 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99910292e-01 -3.20629452e-04 -1.33904680e-02 1.72261578e+00] [ 2.81922511e-04 9.99995777e-01 -2.89242149e-03 1.92574265e-01] [ 1.33913388e-02 2.88838694e-03 9.99906160e-01 8.21530543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79255784400002 meters Centerline goodness [0,1] 0.251438611904239 Centerline is valid? [False, False] Translation: X:1.72, Y:0.19, Z:0.82 [[ 9.99913485e-01 -3.59347610e-04 -1.31488945e-02 1.72157274e+00] [ 3.23983586e-04 9.99996325e-01 -2.69153674e-03 1.91353176e-01] [ 1.31498134e-02 2.68704386e-03 9.99909927e-01 8.22388684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82255784400002 meters Centerline goodness [0,1] 0.24651958343256763 Centerline is valid? [False, False] Translation: X:1.74, Y:0.20, Z:0.82 [[ 9.99889255e-01 -8.39981894e-03 -1.22849961e-02 1.74150243e+00] [ 8.38318993e-03 9.99963874e-01 -1.40447440e-03 1.95202602e-01] [ 1.22963496e-02 1.30133140e-03 9.99923550e-01 8.23906261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85255784400002 meters Centerline goodness [0,1] 0.24557646549859402 Centerline is valid? [False, False] Translation: X:1.74, Y:0.19, Z:0.82 [[ 9.99891206e-01 -8.40659684e-03 -1.21204308e-02 1.74130720e+00] [ 8.39331171e-03 9.99964118e-01 -1.14654575e-03 1.93894609e-01] [ 1.21296344e-02 1.04469046e-03 9.99925888e-01 8.23612070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88255784400002 meters Centerline goodness [0,1] 0.24872501573384842 Centerline is valid? [False, False] Translation: X:1.74, Y:0.19, Z:0.82 [[ 9.99893602e-01 -8.43402827e-03 -1.19017755e-02 1.74058480e+00] [ 8.42121285e-03 9.99963906e-01 -1.12647057e-03 1.93594944e-01] [ 1.19108466e-02 1.02612333e-03 9.99928537e-01 8.23895566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91255784400002 meters Centerline goodness [0,1] 0.24408958046767537 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99948694e-01 -1.95008928e-04 -1.01278002e-02 1.75937072e+00] [ 1.70786450e-04 9.99997123e-01 -2.39249196e-03 1.90627518e-01] [ 1.01282376e-02 2.39063952e-03 9.99945850e-01 8.25246570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94255784400002 meters Centerline goodness [0,1] 0.2494480758408727 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99949620e-01 -2.50584697e-04 -1.00346470e-02 1.75884169e+00] [ 2.24943455e-04 9.99996707e-01 -2.55631811e-03 1.91512835e-01] [ 1.00352545e-02 2.55393209e-03 9.99946384e-01 8.25733899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.972557844 meters Centerline goodness [0,1] 0.25053106453802865 Centerline is valid? [False, False] Translation: X:1.74, Y:0.19, Z:0.83 [[ 9.99895097e-01 -6.14916563e-03 -1.31142510e-02 1.73741053e+00] [ 6.15856110e-03 9.99980807e-01 6.76168049e-04 1.94280703e-01] [ 1.31098414e-02 -7.56862033e-04 9.99913776e-01 8.26436649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002557844 meters Centerline goodness [0,1] 0.2454417648967233 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99914286e-01 2.16144326e-03 -1.29131474e-02 1.75831078e+00] [-2.16619691e-03 9.99997591e-01 -3.54149386e-04 1.91127412e-01] [ 1.29123508e-02 3.82091451e-04 9.99916559e-01 8.27267798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.032557844 meters Centerline goodness [0,1] 0.24557440430938982 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99915484e-01 2.14123184e-03 -1.28234329e-02 1.75791547e+00] [-2.14629211e-03 9.99997624e-01 -3.80861885e-04 1.91203772e-01] [ 1.28225870e-02 4.08352529e-04 9.99917704e-01 8.27548731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062557844 meters Centerline goodness [0,1] 0.25091809904604623 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99919603e-01 2.07553309e-03 -1.25091596e-02 1.75683398e+00] [-2.08105200e-03 9.99997743e-01 -4.28189443e-04 1.91380120e-01] [ 1.25082426e-02 4.54187230e-04 9.99921666e-01 8.28070195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.092557844 meters Centerline goodness [0,1] 0.2497329816683741 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99920531e-01 1.99761829e-03 -1.24475415e-02 1.75678722e+00] [-2.00508271e-03 9.99997817e-01 -5.87219406e-04 1.92129282e-01] [ 1.24463412e-02 6.12131090e-04 9.99922354e-01 8.27864228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122557844 meters Centerline goodness [0,1] 0.24960406135421864 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99919434e-01 1.89095909e-03 -1.25518671e-02 1.75722267e+00] [-1.90115176e-03 9.99997873e-01 -8.00161766e-04 1.93061265e-01] [ 1.25503274e-02 8.23960304e-04 9.99920902e-01 8.27540599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.152557844 meters Centerline goodness [0,1] 0.24564885496183209 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99918090e-01 1.78138383e-03 -1.26743904e-02 1.75786219e+00] [-1.79437678e-03 9.99997876e-01 -1.01383620e-03 1.94011340e-01] [ 1.26725574e-02 1.03649579e-03 9.99919163e-01 8.26934636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182557844 meters Centerline goodness [0,1] 0.25079546202628866 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99917725e-01 1.69983810e-03 -1.27143465e-02 1.75817900e+00] [-1.71495768e-03 9.99997835e-01 -1.17836655e-03 1.94803931e-01] [ 1.27123160e-02 1.20007416e-03 9.99918475e-01 8.26523723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.212557844 meters Centerline goodness [0,1] 0.24327625695277566 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:0.83 [[ 9.99919062e-01 1.41337779e-03 -1.26440583e-02 1.75814097e+00] [-1.43104077e-03 9.99998013e-01 -1.38800015e-03 1.95392055e-01] [ 1.26420714e-02 1.40598197e-03 9.99919097e-01 8.26286898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.242557844 meters Centerline goodness [0,1] 0.2457791429754047 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99917267e-01 1.35103808e-03 -1.27919139e-02 1.75849290e+00] [-1.36783446e-03 9.99998214e-01 -1.30438912e-03 1.94676463e-01] [ 1.27901287e-02 1.32177842e-03 9.99917329e-01 8.26307372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.272557844 meters Centerline goodness [0,1] 0.24463407201010057 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99913054e-01 1.25934917e-03 -1.31262224e-02 1.75940341e+00] [-1.27596159e-03 9.99998396e-01 -1.25729282e-03 1.94075480e-01] [ 1.31246180e-02 1.27393206e-03 9.99913057e-01 8.26136331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.302557844 meters Centerline goodness [0,1] 0.24442951274492808 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:0.83 [[ 9.99903120e-01 1.00355115e-03 -1.38832207e-02 1.76162017e+00] [-1.02375740e-03 9.99998427e-01 -1.44841328e-03 1.94571999e-01] [ 1.38817453e-02 1.46248601e-03 9.99902574e-01 8.25514179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.332557844 meters Centerline goodness [0,1] 0.24308484180021195 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:0.83 [[ 9.99901308e-01 8.90299044e-04 -1.40207799e-02 1.76208403e+00] [-9.14241686e-04 9.99998135e-01 -1.70133711e-03 1.95799771e-01] [ 1.40192391e-02 1.71398758e-03 9.99900257e-01 8.25290678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.362557844 meters Centerline goodness [0,1] 0.24147764378074799 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:0.83 [[ 9.99901927e-01 7.12165587e-04 -1.39867321e-02 1.76199150e+00] [-7.42066167e-04 9.99997450e-01 -2.13270827e-03 1.97822426e-01] [ 1.39851776e-02 2.14287819e-03 9.99899906e-01 8.25302782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.392557844 meters Centerline goodness [0,1] 0.24502070167792545 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:0.83 [[ 9.99904177e-01 4.69737548e-04 -1.38352959e-02 1.76130971e+00] [-5.07727371e-04 9.99996111e-01 -2.74247822e-03 2.00671908e-01] [ 1.38339539e-02 2.74923998e-03 9.99900527e-01 8.25865174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.422557844 meters Centerline goodness [0,1] 0.246040218741149 Centerline is valid? [False, False] Translation: X:1.76, Y:0.21, Z:0.83 [[ 9.99912020e-01 7.07544497e-05 -1.32644794e-02 1.75949166e+00] [-1.24168904e-04 9.99991888e-01 -4.02609873e-03 2.07466020e-01] [ 1.32640869e-02 4.02739155e-03 9.99903917e-01 8.26570623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.452557844 meters Centerline goodness [0,1] 0.24655108332057984 Centerline is valid? [False, False] Translation: X:1.76, Y:0.21, Z:0.83 [[ 9.99911813e-01 -2.03279369e-04 -1.32787360e-02 1.75961999e+00] [ 1.40302084e-04 9.99988740e-01 -4.74347624e-03 2.10865939e-01] [ 1.32795507e-02 4.74119489e-03 9.99900582e-01 8.26388187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.482557844 meters Centerline goodness [0,1] 0.24737315462741571 Centerline is valid? [False, False] Translation: X:1.76, Y:0.21, Z:0.83 [[ 9.99911549e-01 -4.64264308e-04 -1.32920277e-02 1.75977646e+00] [ 3.92482227e-04 9.99985329e-01 -5.40248534e-03 2.13994120e-01] [ 1.32943408e-02 5.39679060e-03 9.99897062e-01 8.26165630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.512557844 meters Centerline goodness [0,1] 0.24321195307892263 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:0.83 [[ 9.99912337e-01 -6.99864007e-04 -1.32222493e-02 1.75963970e+00] [ 6.21426358e-04 9.99982192e-01 -5.93542446e-03 2.16454071e-01] [ 1.32261678e-02 5.92668749e-03 9.99894966e-01 8.26097596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54255784400002 meters Centerline goodness [0,1] 0.24428376001563412 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:0.83 [[ 9.99913179e-01 -8.87532754e-04 -1.31471423e-02 1.75941338e+00] [ 8.04952640e-04 9.99979924e-01 -6.28518207e-03 2.17951983e-01] [ 1.31524567e-02 6.27405355e-03 9.99893819e-01 8.26142468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57255784400002 meters Centerline goodness [0,1] 0.24517378718958804 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:0.83 [[ 9.99917236e-01 -1.62584763e-03 -1.27623300e-02 1.75791728e+00] [ 1.53892076e-03 9.99975572e-01 -6.81807461e-03 2.18872956e-01] [ 1.27731034e-02 6.79787011e-03 9.99895313e-01 8.27061486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60255784400002 meters Centerline goodness [0,1] 0.24089889579020018 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.83 [[ 0.9998708 -0.01039702 -0.0122591 1.77900956] [ 0.0103245 0.99992892 -0.00596373 0.22194369] [ 0.01232023 0.00583639 0.99990707 0.82815155] [ 0. 0. 0. 1. ]] SLAMing on 165.63255784400002 meters Centerline goodness [0,1] 0.24399240692005697 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.83 [[ 0.99987231 -0.01035979 -0.01216707 1.77867549] [ 0.01029025 0.99993044 -0.00576361 0.22099797] [ 0.01222593 0.00563768 0.99990937 0.82830073] [ 0. 0. 0. 1. ]] SLAMing on 165.66255784400002 meters Centerline goodness [0,1] 0.24432188300690494 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.83 [[ 0.99987547 -0.01031836 -0.01194015 1.77794547] [ 0.010252 0.99993173 -0.00560577 0.22025856] [ 0.01199718 0.00548266 0.999913 0.82859757] [ 0. 0. 0. 1. ]] SLAMing on 165.69255784400002 meters Centerline goodness [0,1] 0.24471200780995772 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.83 [[ 0.99987861 -0.01032606 -0.01166762 1.77704502] [ 0.01026032 0.99993123 -0.00567996 0.22064064] [ 0.01172547 0.00555955 0.9999158 0.82904744] [ 0. 0. 0. 1. ]] SLAMing on 165.722557844 meters Centerline goodness [0,1] 0.24572408404236845 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:0.83 [[ 0.99987746 -0.01036524 -0.0117311 1.7772183 ] [ 0.0102963 0.99992946 -0.00592187 0.22178034] [ 0.01179165 0.00580036 0.99991365 0.82908467] [ 0. 0. 0. 1. ]] SLAMing on 165.752557844 meters Centerline goodness [0,1] 0.24843000436109897 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:0.83 [[ 9.99923207e-01 -1.36302880e-03 -1.23175826e-02 1.75612139e+00] [ 1.27856120e-03 9.99975634e-01 -6.86275676e-03 2.19501431e-01] [ 1.23266366e-02 6.84648096e-03 9.99900585e-01 8.27938825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782557844 meters Centerline goodness [0,1] 0.2483951264247347 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:0.83 [[ 0.99991231 0.00295301 -0.01290903 1.75786442] [-0.00299318 0.99999073 -0.00309384 0.2217121 ] [ 0.01289978 0.0031322 0.99991189 0.82746307] [ 0. 0. 0. 1. ]] SLAMing on 165.812557844 meters Centerline goodness [0,1] 0.24315105459726694 Centerline is valid? [False, False] Translation: X:1.78, Y:0.23, Z:0.83 [[ 9.99912959e-01 -1.86831651e-03 -1.30607372e-02 1.77909821e+00] [ 1.87097398e-03 9.99998231e-01 1.91254172e-04 2.26241708e-01] [ 1.30603568e-02 -2.15673824e-04 9.99914687e-01 8.27411657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842557844 meters Centerline goodness [0,1] 0.24481696738376124 Centerline is valid? [False, False] Translation: X:1.78, Y:0.23, Z:0.83 [[ 9.99915591e-01 -1.45538087e-03 -1.29109860e-02 1.77879831e+00] [ 1.45591645e-03 9.99998940e-01 3.20835187e-05 2.28155119e-01] [ 1.29109256e-02 -5.08781275e-05 9.99916649e-01 8.27271950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.872557844 meters Centerline goodness [0,1] 0.24134299163854434 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:0.83 [[ 9.99904442e-01 7.44731431e-03 -1.16466573e-02 1.79896720e+00] [-7.46141179e-03 9.99971482e-01 -1.16744790e-03 2.27520136e-01] [ 1.16376308e-02 1.25423685e-03 9.99931494e-01 8.28441306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.902557844 meters Centerline goodness [0,1] 0.2507890211784167 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:0.83 [[ 9.99908546e-01 7.69685469e-03 -1.11202005e-02 1.79738969e+00] [-7.71329673e-03 9.99969220e-01 -1.43644258e-03 2.29588018e-01] [ 1.11088022e-02 1.52208462e-03 9.99937137e-01 8.28925791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.932557844 meters Centerline goodness [0,1] 0.24952198852772467 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:0.83 [[ 9.99907078e-01 8.60752120e-03 -1.05710010e-02 1.79561704e+00] [-8.62182212e-03 9.99961976e-01 -1.30801817e-03 2.32176816e-01] [ 1.05593403e-02 1.39903792e-03 9.99943270e-01 8.29472202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962557844 meters Centerline goodness [0,1] 0.2476944492778841 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:0.83 [[ 9.99905689e-01 8.60452670e-03 -1.07040211e-02 1.79629607e+00] [-8.62115581e-03 9.99961700e-01 -1.50836787e-03 2.33346101e-01] [ 1.06906323e-02 1.60050665e-03 9.99941573e-01 8.28773176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.992557844 meters Centerline goodness [0,1] 0.24611286759928974 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:0.83 [[ 9.99912177e-01 1.69916097e-03 -1.31434707e-02 1.81535057e+00] [-1.70998222e-03 9.99998208e-01 -8.12123144e-04 2.37972280e-01] [ 1.31420672e-02 8.34526922e-04 9.99913291e-01 8.29971389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.022557844 meters Centerline goodness [0,1] 0.2460763798064347 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:0.83 [[ 9.99908985e-01 1.74438102e-03 -1.33783009e-02 1.81653689e+00] [-1.75381629e-03 9.99998222e-01 -6.93567143e-04 2.37328401e-01] [ 1.33770672e-02 7.16967100e-04 9.99910266e-01 8.28872094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.052557844 meters Centerline goodness [0,1] 0.24526659412404783 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:0.83 [[ 9.99902340e-01 1.78948891e-03 -1.38602750e-02 1.81811187e+00] [-1.79670624e-03 9.99998257e-01 -5.08286129e-04 2.36368645e-01] [ 1.38593413e-02 5.33139332e-04 9.99903813e-01 8.28224164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.082557844 meters Centerline goodness [0,1] 0.24621775251421074 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:0.83 [[ 9.99900504e-01 1.80142386e-03 -1.39905769e-02 1.81842022e+00] [-1.80887682e-03 9.99998229e-01 -5.20076496e-04 2.36539375e-01] [ 1.39896152e-02 5.45331981e-04 9.99901992e-01 8.28234231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.112557844 meters Centerline goodness [0,1] 0.24633207990088468 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:0.83 [[ 9.99900994e-01 1.81238162e-03 -1.39541239e-02 1.81817848e+00] [-1.81993040e-03 9.99998204e-01 -5.28291632e-04 2.36642949e-01] [ 1.39531414e-02 5.53634862e-04 9.99902497e-01 8.28506061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.142557844 meters Centerline goodness [0,1] 0.24588086185044356 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:0.83 [[ 9.99904808e-01 1.78487012e-03 -1.36817094e-02 1.81732584e+00] [-1.79334998e-03 9.99998207e-01 -6.07551616e-04 2.36996653e-01] [ 1.36806004e-02 6.32029876e-04 9.99906216e-01 8.28799341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.172557844 meters Centerline goodness [0,1] 0.24489972524500792 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.83 [[ 9.99920345e-01 -6.28207241e-03 -1.09470720e-02 1.83576354e+00] [ 6.28679194e-03 9.99980159e-01 3.96763859e-04 2.42680644e-01] [ 1.09443623e-02 -4.65554219e-04 9.99940000e-01 8.29396011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.202557844 meters Centerline goodness [0,1] 0.2457258012091269 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.83 [[ 9.99920581e-01 -6.29799561e-03 -1.09163440e-02 1.83577549e+00] [ 6.30223080e-03 9.99980078e-01 3.53610429e-04 2.42926172e-01] [ 1.09138995e-02 -4.22379665e-04 9.99940352e-01 8.29224547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.232557844 meters Centerline goodness [0,1] 0.24570943814847845 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.83 [[ 9.99919400e-01 -6.27845923e-03 -1.10351397e-02 1.83632139e+00] [ 6.28356219e-03 9.99980167e-01 4.27817618e-04 2.42537975e-01] [ 1.10322348e-02 -4.97123122e-04 9.99939019e-01 8.28789416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.262557844 meters Centerline goodness [0,1] 0.25038110598060226 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:0.83 [[ 9.99923244e-01 1.81718825e-03 -1.22558046e-02 1.81711533e+00] [-1.82777350e-03 9.99997966e-01 -8.52547745e-04 2.37025928e-01] [ 1.22542305e-02 8.74883142e-04 9.99924531e-01 8.27463730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29255784400002 meters Centerline goodness [0,1] 0.24514795474325501 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.83 [[ 9.99901110e-01 -6.94554841e-03 -1.22282172e-02 1.83879971e+00] [ 6.93951523e-03 9.99975778e-01 -5.35743582e-04 2.41105248e-01] [ 1.22316420e-02 4.50832703e-04 9.99925089e-01 8.27760658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32255784400002 meters Centerline goodness [0,1] 0.24464024775904558 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.83 [[ 9.99899875e-01 -6.97934499e-03 -1.23097193e-02 1.83916917e+00] [ 6.97225402e-03 9.99975502e-01 -6.18868101e-04 2.41446218e-01] [ 1.23137370e-02 5.32979647e-04 9.99924041e-01 8.27440399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35255784400002 meters Centerline goodness [0,1] 0.2463252933222838 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.83 [[ 9.99900070e-01 -7.08280614e-03 -1.22345714e-02 1.83884407e+00] [ 7.07241825e-03 9.99974592e-01 -8.92117881e-04 2.42731638e-01] [ 1.22405792e-02 8.05500726e-04 9.99924757e-01 8.27643456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38255784400002 meters Centerline goodness [0,1] 0.23955101689072733 Centerline is valid? [False, False] Translation: X:1.86, Y:0.24, Z:0.83 [[ 9.99943656e-01 1.30161159e-03 -1.05351847e-02 1.85889139e+00] [-1.32035916e-03 9.99997557e-01 -1.77276092e-03 2.40799465e-01] [ 1.05328515e-02 1.78657127e-03 9.99942932e-01 8.28603320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41255784400002 meters Centerline goodness [0,1] 0.24635600226254184 Centerline is valid? [False, False] Translation: X:1.86, Y:0.24, Z:0.83 [[ 9.99944797e-01 1.27035959e-03 -1.04301806e-02 1.85833164e+00] [-1.29006235e-03 9.99997396e-01 -1.88250377e-03 2.41447020e-01] [ 1.04277620e-02 1.89585543e-03 9.99943832e-01 8.29143178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44255784400002 meters Centerline goodness [0,1] 0.24609110931809752 Centerline is valid? [False, False] Translation: X:1.86, Y:0.24, Z:0.83 [[ 9.99946377e-01 1.23987306e-03 -1.02813586e-02 1.85769257e+00] [-1.26058756e-03 9.99997188e-01 -2.00852684e-03 2.42147042e-01] [ 1.02788393e-02 2.02137969e-03 9.99945128e-01 8.29590379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47255784400002 meters Centerline goodness [0,1] 0.24866472708324283 Centerline is valid? [False, False] Translation: X:1.86, Y:0.24, Z:0.83 [[ 9.99947175e-01 1.23262944e-03 -1.02043475e-02 1.85732709e+00] [-1.25368027e-03 9.99997099e-01 -2.05678824e-03 2.42367363e-01] [ 1.02017826e-02 2.06947258e-03 9.99945819e-01 8.29891430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502557844 meters Centerline goodness [0,1] 0.24866472708324283 Centerline is valid? [False, False] Translation: X:1.86, Y:0.24, Z:0.83 [[ 9.99947175e-01 1.23262944e-03 -1.02043475e-02 1.85732709e+00] [-1.25368027e-03 9.99997099e-01 -2.05678824e-03 2.42367363e-01] [ 1.02017826e-02 2.06947258e-03 9.99945819e-01 8.29891430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.532557844 meters Centerline goodness [0,1] 0.24897347324512809 Centerline is valid? [False, False] Translation: X:1.86, Y:0.24, Z:0.83 [[ 9.99953923e-01 1.34653528e-03 -9.50464669e-03 1.85520674e+00] [-1.36630822e-03 9.99996916e-01 -2.07415765e-03 2.42846390e-01] [ 9.50182445e-03 2.08704835e-03 9.99952679e-01 8.30537671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562557844 meters Centerline goodness [0,1] 0.25027845115639125 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.83 [[ 9.99955401e-01 1.35374904e-03 -9.34687772e-03 1.85466252e+00] [-1.37383622e-03 9.99996760e-01 -2.14299320e-03 2.43408777e-01] [ 9.34394636e-03 2.15573870e-03 9.99954021e-01 8.30795389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.592557844 meters Centerline goodness [0,1] 0.250546710986704 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.83 [[ 9.99955219e-01 1.35101109e-03 -9.36664229e-03 1.85478382e+00] [-1.37172960e-03 9.99996626e-01 -2.20587447e-03 2.43792515e-01] [ 9.36363052e-03 2.21862419e-03 9.99953699e-01 8.30625845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622557844 meters Centerline goodness [0,1] 0.25024693254900243 Centerline is valid? [False, False] Translation: X:1.86, Y:0.24, Z:0.83 [[ 9.99950606e-01 1.23279221e-03 -9.86231321e-03 1.85710859e+00] [-1.25648549e-03 9.99996339e-01 -2.39657089e-03 2.43782671e-01] [ 9.85932263e-03 2.40884437e-03 9.99948494e-01 8.28775863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.652557844 meters Centerline goodness [0,1] 0.24245503286060188 Centerline is valid? [False, False] Translation: X:1.88, Y:0.25, Z:0.83 [[ 9.99922209e-01 -6.45201338e-03 -1.06746369e-02 1.87739347e+00] [ 6.43443309e-03 9.99977887e-01 -1.68044649e-03 2.49341489e-01] [ 1.06852432e-02 1.61163053e-03 9.99941612e-01 8.29527617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682557844 meters Centerline goodness [0,1] 0.25016327774633174 Centerline is valid? [False, False] Translation: X:1.88, Y:0.25, Z:0.83 [[ 9.99921191e-01 -6.44662334e-03 -1.07727963e-02 1.87750895e+00] [ 6.42763369e-03 9.99977729e-01 -1.79643631e-03 2.50036266e-01] [ 1.07841374e-02 1.72705115e-03 9.99940358e-01 8.29698322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.712557844 meters Centerline goodness [0,1] 0.249316387023385 Centerline is valid? [False, False] Translation: X:1.88, Y:0.25, Z:0.83 [[ 0.99992232 -0.00642589 -0.01068007 1.8769703 ] [ 0.00640499 0.99997751 -0.00199055 0.25129783] [ 0.01069263 0.00192199 0.99994099 0.83017363] [ 0. 0. 0. 1. ]] SLAMing on 166.742557844 meters Centerline goodness [0,1] 0.24532395955387754 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 0.9999277 0.00291184 -0.01166722 1.90099642] [-0.00293959 0.99999289 -0.00236188 0.2507105 ] [ 0.01166026 0.00239601 0.99992915 0.83040389] [ 0. 0. 0. 1. ]] SLAMing on 166.772557844 meters Centerline goodness [0,1] 0.24473570190641247 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 0.99992471 0.0028706 -0.01193075 1.90233377] [-0.00290251 0.99999225 -0.00265851 0.25208071] [ 0.01192303 0.00269294 0.99992529 0.82915105] [ 0. 0. 0. 1. ]] SLAMing on 166.802557844 meters Centerline goodness [0,1] 0.2445436615444635 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 0.99992353 0.00285637 -0.01203232 1.90297042] [-0.00289087 0.99999176 -0.00285116 0.25294697] [ 0.01202408 0.00288573 0.99992354 0.82838333] [ 0. 0. 0. 1. ]] SLAMing on 166.832557844 meters Centerline goodness [0,1] 0.2473854717022156 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 0.99992508 0.00284345 -0.01190559 1.90275024] [-0.00287887 0.99999148 -0.0029588 0.25349578] [ 0.01189708 0.00299286 0.99992475 0.82814234] [ 0. 0. 0. 1. ]] SLAMing on 166.862557844 meters Centerline goodness [0,1] 0.2445376872404722 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 0.99992919 0.00294809 -0.0115293 1.90110418] [-0.00298056 0.99999164 -0.00280029 0.25301485] [ 0.01152095 0.00283445 0.99992961 0.82933051] [ 0. 0. 0. 1. ]] SLAMing on 166.892557844 meters Centerline goodness [0,1] 0.24391665767030124 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 0.99992832 0.00299287 -0.0115929 1.90093485] [-0.00302408 0.99999185 -0.00267536 0.25246976] [ 0.0115848 0.00271023 0.99992922 0.82989175] [ 0. 0. 0. 1. ]] SLAMing on 166.922557844 meters Centerline goodness [0,1] 0.24599844263713444 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 0.99992747 0.00304094 -0.01165354 1.90107196] [-0.00307064 0.99999208 -0.00253156 0.25182505] [ 0.01164575 0.00256716 0.99992889 0.82994869] [ 0. 0. 0. 1. ]] SLAMing on 166.952557844 meters Centerline goodness [0,1] 0.2439155950634332 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 0.99992799 0.00308491 -0.01159743 1.90104833] [-0.00311256 0.99999236 -0.00236668 0.25104387] [ 0.01159004 0.0024026 0.99992995 0.8297784 ] [ 0. 0. 0. 1. ]] SLAMing on 166.982557844 meters Centerline goodness [0,1] 0.2465893291623219 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 0.99992852 0.00313533 -0.01153824 1.90095335] [-0.00316064 0.99999264 -0.00217653 0.25007771] [ 0.01153133 0.00221285 0.99993106 0.82971363] [ 0. 0. 0. 1. ]] SLAMing on 167.012557844 meters Centerline goodness [0,1] 0.24701316160367748 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 9.99934948e-01 3.03583300e-03 -1.09946705e-02 1.89951432e+00] [-3.05637986e-03 9.99993613e-01 -1.85248159e-03 2.47799078e-01] [ 1.09889765e-02 1.88596498e-03 9.99937841e-01 8.29995360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04255784400002 meters Centerline goodness [0,1] 0.2506621719239104 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:0.83 [[ 9.99936505e-01 3.07404994e-03 -1.08413687e-02 1.89879856e+00] [-3.09217499e-03 9.99993849e-01 -1.65547558e-03 2.46760927e-01] [ 1.08362130e-02 1.68889388e-03 9.99939860e-01 8.30635546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07255784400002 meters Centerline goodness [0,1] 0.24587219493194257 Centerline is valid? [False, False] Translation: X:1.92, Y:0.25, Z:0.83 [[ 9.99938784e-01 -4.99003270e-03 -9.87558370e-03 1.91796601e+00] [ 4.98581718e-03 9.99987469e-01 -4.51436827e-04 2.51236901e-01] [ 9.87771263e-03 4.02171337e-04 9.99951133e-01 8.31994660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10255784400002 meters Centerline goodness [0,1] 0.24833804040842933 Centerline is valid? [False, False] Translation: X:1.92, Y:0.25, Z:0.83 [[ 9.99938867e-01 -5.02039430e-03 -9.85179526e-03 1.91786117e+00] [ 5.01512382e-03 9.99987268e-01 -5.59609175e-04 2.51800249e-01] [ 9.85447928e-03 5.10166991e-04 9.99951313e-01 8.32096057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13255784400002 meters Centerline goodness [0,1] 0.25078041432906195 Centerline is valid? [False, False] Translation: X:1.92, Y:0.25, Z:0.83 [[ 9.99939526e-01 -5.05918686e-03 -9.76467865e-03 1.91764288e+00] [ 5.05282712e-03 9.99987006e-01 -6.75861300e-04 2.52404103e-01] [ 9.76797107e-03 6.26481194e-04 9.99952096e-01 8.32049214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16255784400002 meters Centerline goodness [0,1] 0.24847812853291595 Centerline is valid? [False, False] Translation: X:1.92, Y:0.25, Z:0.83 [[ 9.99940664e-01 -5.08408544e-03 -9.63429287e-03 1.91727612e+00] [ 5.07669160e-03 9.99986800e-01 -7.91750517e-04 2.53000248e-01] [ 9.63819103e-03 7.42793204e-04 9.99953276e-01 8.32109612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19255784400002 meters Centerline goodness [0,1] 0.24961782048482206 Centerline is valid? [False, False] Translation: X:1.92, Y:0.25, Z:0.83 [[ 9.99941431e-01 -5.13719301e-03 -9.52600454e-03 1.91701876e+00] [ 5.12849073e-03 9.99986410e-01 -9.37732193e-04 2.53651593e-01] [ 9.53069238e-03 8.88823245e-04 9.99954187e-01 8.32050365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22255784400002 meters Centerline goodness [0,1] 0.24541526024982263 Centerline is valid? [False, False] Translation: X:1.94, Y:0.25, Z:0.83 [[ 0.99996064 0.00306191 -0.00832715 1.93737016] [-0.00308149 0.99999252 -0.00233947 0.25185807] [ 0.00831992 0.00236504 0.99996259 0.83298006] [ 0. 0. 0. 1. ]] SLAMing on 167.252557844 meters Centerline goodness [0,1] 0.2500327410835116 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:0.83 [[ 0.99993205 0.002402 -0.01140769 1.89269499] [-0.0024378 0.99999214 -0.00312558 0.25018831] [ 0.01140009 0.00315318 0.99993005 0.83371967] [ 0. 0. 0. 1. ]] SLAMing on 167.282557844 meters Centerline goodness [0,1] 0.24658721560130015 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:0.83 [[ 0.99992992 0.00238431 -0.01159656 1.89325211] [-0.00242097 0.99999211 -0.0031486 0.25026358] [ 0.01158896 0.00317645 0.9999278 0.8335502 ] [ 0. 0. 0. 1. ]] SLAMing on 167.312557844 meters Centerline goodness [0,1] 0.2508871851040526 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:0.83 [[ 0.99992831 0.00240398 -0.01173005 1.89362354] [-0.00244086 0.99999212 -0.00313094 0.25030117] [ 0.01172243 0.00315935 0.9999263 0.83345275] [ 0. 0. 0. 1. ]] SLAMing on 167.342557844 meters Centerline goodness [0,1] 0.24844814863046405 Centerline is valid? [False, False] Translation: X:1.91, Y:0.25, Z:0.83 [[ 9.99915577e-01 -5.55191027e-03 -1.17480044e-02 1.91353400e+00] [ 5.53186470e-03 9.99983189e-01 -1.73810423e-03 2.54629054e-01] [ 1.17574567e-02 1.67296913e-03 9.99929479e-01 8.34843023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372557844 meters Centerline goodness [0,1] 0.24543137339612042 Centerline is valid? [False, False] Translation: X:1.91, Y:0.25, Z:0.83 [[ 9.99913256e-01 -5.42061591e-03 -1.20040488e-02 1.91429501e+00] [ 5.40500249e-03 9.99984505e-01 -1.33274009e-03 2.52696683e-01] [ 1.20110871e-02 1.26774257e-03 9.99927061e-01 8.34706345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402557844 meters Centerline goodness [0,1] 0.24922989535315576 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:0.83 [[ 9.99948371e-01 -5.11365384e-04 -1.01485742e-02 1.89427161e+00] [ 4.69529951e-04 9.99991385e-01 -4.12425112e-03 2.42049704e-01] [ 1.01505958e-02 4.11927313e-03 9.99939997e-01 8.32580030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.432557844 meters Centerline goodness [0,1] 0.2439841016114399 Centerline is valid? [False, False] Translation: X:1.92, Y:0.24, Z:0.83 [[ 0.9999198 -0.00932921 -0.00856555 1.91516554] [ 0.00930086 0.99995116 -0.00334306 0.24218706] [ 0.00859632 0.00326312 0.99995773 0.83279815] [ 0. 0. 0. 1. ]] SLAMing on 167.462557844 meters Centerline goodness [0,1] 0.24975556762629003 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:0.83 [[ 0.99992467 -0.00915469 -0.00817629 1.91393484] [ 0.00913362 0.99995488 -0.00260946 0.23850681] [ 0.00819981 0.00253459 0.99996317 0.83343651] [ 0. 0. 0. 1. ]] SLAMing on 167.492557844 meters Centerline goodness [0,1] 0.2464297288538403 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:0.83 [[ 9.99927538e-01 -8.87384880e-03 -8.13476006e-03 1.91363606e+00] [ 8.85904520e-03 9.99959039e-01 -1.85402728e-03 2.35089582e-01] [ 8.15087921e-03 1.78182672e-03 9.99965194e-01 8.33858362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.522557844 meters Centerline goodness [0,1] 0.25011407339808356 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:0.83 [[ 9.99929797e-01 -8.40934357e-03 -8.34774256e-03 1.91445313e+00] [ 8.40315970e-03 9.99964392e-01 -7.75581872e-04 2.30384126e-01] [ 8.35396745e-03 7.05380009e-04 9.99964856e-01 8.33491659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.552557844 meters Centerline goodness [0,1] 0.2469908209213717 Centerline is valid? [False, False] Translation: X:1.92, Y:0.23, Z:0.83 [[ 9.99929367e-01 -8.22720837e-03 -8.57752001e-03 1.91545322e+00] [ 8.22401375e-03 9.99966099e-01 -4.07646719e-04 2.28646564e-01] [ 8.58058302e-03 3.37076284e-04 9.99963129e-01 8.32756083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.582557844 meters Centerline goodness [0,1] 0.24931506849315066 Centerline is valid? [False, False] Translation: X:1.92, Y:0.23, Z:0.83 [[ 9.99930312e-01 -8.04573791e-03 -8.63933869e-03 1.91591164e+00] [ 8.04605936e-03 9.99967630e-01 2.45075992e-06 2.26663900e-01] [ 8.63903932e-03 -7.19632211e-05 9.99962680e-01 8.32239506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.612557844 meters Centerline goodness [0,1] 0.24968968445809103 Centerline is valid? [False, False] Translation: X:1.92, Y:0.22, Z:0.83 [[ 9.99935645e-01 -7.62618986e-03 -8.39919713e-03 1.91515442e+00] [ 7.63381972e-03 9.99970478e-01 8.76718336e-04 2.22579262e-01] [ 8.39226315e-03 -9.40779872e-04 9.99964342e-01 8.32594699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642557844 meters Centerline goodness [0,1] 0.25023516286395553 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:0.83 [[ 9.99938225e-01 -7.40272541e-03 -8.29130701e-03 1.91468835e+00] [ 7.41437178e-03 9.99971568e-01 1.37479113e-03 2.20334634e-01] [ 8.28089407e-03 -1.43618104e-03 9.99964681e-01 8.32985313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.672557844 meters Centerline goodness [0,1] 0.24679757198712549 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:0.83 [[ 9.99967927e-01 1.17003672e-03 -7.92307740e-03 1.93533992e+00] [-1.16425795e-03 9.99999053e-01 7.33933124e-04 2.14494042e-01] [ 7.92392862e-03 -7.24685079e-04 9.99968343e-01 8.34350478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702557844 meters Centerline goodness [0,1] 0.24889189720299565 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:0.83 [[ 9.99963644e-01 1.45731433e-03 -8.40162573e-03 1.93730611e+00] [-1.44517472e-03 9.99997903e-01 1.45080252e-03 2.10648679e-01] [ 8.40372239e-03 -1.43860796e-03 9.99963653e-01 8.33085800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.732557844 meters Centerline goodness [0,1] 0.24428666997561455 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:0.83 [[ 9.99962373e-01 1.63164441e-03 -8.52001979e-03 1.93788778e+00] [-1.61595210e-03 9.99996986e-01 1.84837465e-03 2.08717546e-01] [ 8.52301000e-03 -1.83453715e-03 9.99961996e-01 8.32568411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.762557844 meters Centerline goodness [0,1] 0.24790854539879992 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:0.83 [[ 9.99934912e-01 1.31820624e-03 -1.13328896e-02 1.89230054e+00] [-1.29267191e-03 9.99996610e-01 2.26014719e-03 2.02774501e-01] [ 1.13358305e-02 -2.24535038e-03 9.99933226e-01 8.33713797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79255784400002 meters Centerline goodness [0,1] 0.2492597753200383 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:0.83 [[ 9.99935920e-01 1.52609061e-03 -1.12173017e-02 1.89193013e+00] [-1.49472773e-03 9.99994952e-01 2.80379008e-03 2.00272286e-01] [ 1.12215239e-02 -2.78684360e-03 9.99933153e-01 8.33891561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82255784400002 meters Centerline goodness [0,1] 0.24540196269578218 Centerline is valid? [False, False] Translation: X:1.89, Y:0.19, Z:0.83 [[ 9.99934512e-01 1.75046863e-03 -1.13095981e-02 1.89171816e+00] [-1.70748670e-03 9.99991288e-01 3.80902065e-03 1.94759094e-01] [ 1.13161672e-02 -3.78946021e-03 9.99928790e-01 8.34756984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85255784400002 meters Centerline goodness [0,1] 0.24332867433609284 Centerline is valid? [False, False] Translation: X:1.89, Y:0.19, Z:0.84 [[ 0.99993143 0.00195303 -0.01154613 1.89218587] [-0.00190203 0.99998839 0.00442677 0.19165502] [ 0.01155464 -0.00440451 0.99992354 0.83506852] [ 0. 0. 0. 1. ]] SLAMing on 167.88255784400002 meters Centerline goodness [0,1] 0.2483933511970895 Centerline is valid? [False, False] Translation: X:1.85, Y:0.19, Z:0.84 [[ 9.99888901e-01 9.02469582e-04 -1.48785167e-02 1.84795923e+00] [-8.37652014e-04 9.99990135e-01 4.36211007e-03 1.85293280e-01] [ 1.48823066e-02 -4.34916242e-03 9.99879794e-01 8.35908008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91255784400002 meters Centerline goodness [0,1] 0.2421591498185588 Centerline is valid? [False, False] Translation: X:1.85, Y:0.18, Z:0.84 [[ 9.99886363e-01 1.11209188e-03 -1.50341275e-02 1.84849746e+00] [-1.03660671e-03 9.99986823e-01 5.02778186e-03 1.81990065e-01] [ 1.50395208e-02 -5.01162604e-03 9.99874340e-01 8.35752512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94255784400002 meters Centerline goodness [0,1] 0.2441805328045521 Centerline is valid? [False, False] Translation: X:1.84, Y:0.18, Z:0.84 [[ 9.99909311e-01 -8.60719723e-04 -1.34398508e-02 1.84207822e+00] [ 9.11499365e-04 9.99992468e-01 3.77262080e-03 1.75609139e-01] [ 1.34365024e-02 -3.78452908e-03 9.99902564e-01 8.38659103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97255784400002 meters Centerline goodness [0,1] 0.24576689486447623 Centerline is valid? [False, False] Translation: X:1.84, Y:0.17, Z:0.84 [[ 9.99916568e-01 -7.45141520e-04 -1.28957797e-02 1.84011957e+00] [ 7.99427371e-04 9.99990840e-01 4.20493997e-03 1.73460807e-01] [ 1.28925283e-02 -4.21489839e-03 9.99908004e-01 8.39705870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002557844 meters Centerline goodness [0,1] 0.24951422773004017 Centerline is valid? [False, False] Translation: X:1.84, Y:0.17, Z:0.84 [[ 9.99919286e-01 -6.03687206e-04 -1.26908123e-02 1.83915518e+00] [ 6.61968760e-04 9.99989253e-01 4.58872216e-03 1.71644369e-01] [ 1.26879058e-02 -4.59675270e-03 9.99908939e-01 8.40510056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.032557844 meters Centerline goodness [0,1] 0.2464099357453965 Centerline is valid? [False, False] Translation: X:1.84, Y:0.17, Z:0.84 [[ 9.99913975e-01 -3.72877287e-04 -1.31112080e-02 1.84053110e+00] [ 4.40289013e-04 9.99986698e-01 5.13902387e-03 1.69037449e-01] [ 1.31091173e-02 -5.14435451e-03 9.99900838e-01 8.40077609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062557844 meters Centerline goodness [0,1] 0.2521093116521663 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.84 [[ 9.99860322e-01 -5.90894034e-04 -1.67029097e-02 1.79760207e+00] [ 6.84315077e-04 9.99984153e-01 5.58793797e-03 1.64529156e-01] [ 1.66993431e-02 -5.59858751e-03 9.99844882e-01 8.39895290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.092557844 meters Centerline goodness [0,1] 0.2480618466898955 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.84 [[ 9.99855607e-01 -4.74711021e-04 -1.69864886e-02 1.79872110e+00] [ 5.73678843e-04 9.99982888e-01 5.82186891e-03 1.63471291e-01] [ 1.69834343e-02 -5.83077305e-03 9.99838770e-01 8.39172316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122557844 meters Centerline goodness [0,1] 0.2467962594163997 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.84 [[ 9.99850792e-01 -3.32972763e-04 -1.72708880e-02 1.79975191e+00] [ 4.38137573e-04 9.99981386e-01 6.08571103e-03 1.62285665e-01] [ 1.72685401e-02 -6.09237002e-03 9.99832326e-01 8.38640100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.152557844 meters Centerline goodness [0,1] 0.24536318150448588 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.84 [[ 9.99846695e-01 -2.14687314e-04 -1.75082669e-02 1.80079553e+00] [ 3.24789935e-04 9.99980190e-01 6.28600664e-03 1.61193467e-01] [ 1.75065705e-02 -6.29072947e-03 9.99826958e-01 8.37889026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182557844 meters Centerline goodness [0,1] 0.24686020622122307 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.84 [[ 9.99846775e-01 -1.61023437e-04 -1.75043131e-02 1.80085851e+00] [ 2.72406028e-04 9.99979732e-01 6.36095310e-03 1.60854034e-01] [ 1.75029341e-02 -6.36474672e-03 9.99826554e-01 8.37751167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.212557844 meters Centerline goodness [0,1] 0.24768946395563773 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.84 [[ 9.99845346e-01 -1.34537273e-04 -1.75859446e-02 1.80113314e+00] [ 2.46452742e-04 9.99979733e-01 6.36190345e-03 1.60887157e-01] [ 1.75847322e-02 -6.36525366e-03 9.99825115e-01 8.37629464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.242557844 meters Centerline goodness [0,1] 0.251220477635572 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.84 [[ 9.99845099e-01 -1.34066356e-04 -1.75999777e-02 1.80148294e+00] [ 2.45194150e-04 9.99980049e-01 6.31208119e-03 1.61060896e-01] [ 1.75987803e-02 -6.31541886e-03 9.99825184e-01 8.37049055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.272557844 meters Centerline goodness [0,1] 0.25146672504378287 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.84 [[ 9.99843731e-01 -1.43718699e-04 -1.76774510e-02 1.80181300e+00] [ 2.52640562e-04 9.99980998e-01 6.15954839e-03 1.61776486e-01] [ 1.76762298e-02 -6.16305188e-03 9.99824768e-01 8.36721663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302557844 meters Centerline goodness [0,1] 0.24769054366873633 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:0.84 [[ 0.99982092 0.0097373 -0.01622692 1.82343805] [-0.00964033 0.99993527 0.00604322 0.16100746] [ 0.01628472 -0.00588571 0.99985007 0.83691667] [ 0. 0. 0. 1. ]] SLAMing on 168.332557844 meters Centerline goodness [0,1] 0.2447602361949257 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:0.84 [[ 0.99982173 0.00974297 -0.01617378 1.82335826] [-0.00964823 0.9999359 0.00592564 0.16184885] [ 0.01623048 -0.00576854 0.99985164 0.83675567] [ 0. 0. 0. 1. ]] SLAMing on 168.362557844 meters Centerline goodness [0,1] 0.24847537817132193 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:0.84 [[ 0.99982143 0.00971127 -0.01621131 1.82357909] [-0.00961848 0.99993697 0.00579184 0.16260243] [ 0.01626653 -0.00563488 0.99985181 0.8364913 ] [ 0. 0. 0. 1. ]] SLAMing on 168.392557844 meters Centerline goodness [0,1] 0.24931072661355103 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:0.84 [[ 0.99982196 0.00961348 -0.01623675 1.82378609] [-0.00952367 0.99993897 0.00559948 0.16331699] [ 0.01628959 -0.00544385 0.9998525 0.83621012] [ 0. 0. 0. 1. ]] SLAMing on 168.422557844 meters Centerline goodness [0,1] 0.24931072661355103 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:0.84 [[ 0.99982196 0.00961348 -0.01623675 1.82378609] [-0.00952367 0.99993897 0.00559948 0.16331699] [ 0.01628959 -0.00544385 0.9998525 0.83621012] [ 0. 0. 0. 1. ]] SLAMing on 168.452557844 meters Centerline goodness [0,1] 0.24618726917227896 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:0.84 [[ 0.99982242 0.0094634 -0.0162961 1.8240897 ] [-0.00937856 0.99994211 0.00527474 0.16453065] [ 0.01634507 -0.00512097 0.9998533 0.83590701] [ 0. 0. 0. 1. ]] SLAMing on 168.482557844 meters Centerline goodness [0,1] 0.24632797649904958 Centerline is valid? [False, False] Translation: X:1.82, Y:0.17, Z:0.84 [[ 0.9998235 0.00936544 -0.0162865 1.82419382] [-0.00928443 0.99994418 0.00504305 0.16563042] [ 0.01633282 -0.00489095 0.99985465 0.83564252] [ 0. 0. 0. 1. ]] SLAMing on 168.512557844 meters Centerline goodness [0,1] 0.24821801112656472 Centerline is valid? [False, False] Translation: X:1.82, Y:0.17, Z:0.84 [[ 0.99982469 0.00930711 -0.01624735 1.82418801] [-0.00922893 0.9999455 0.00488058 0.16651074] [ 0.01629189 -0.00472978 0.99985609 0.83544549] [ 0. 0. 0. 1. ]] SLAMing on 168.54255784400002 meters Centerline goodness [0,1] 0.24725477031036802 Centerline is valid? [False, False] Translation: X:1.82, Y:0.17, Z:0.84 [[ 0.99982629 0.00925446 -0.0161784 1.82399875] [-0.00917925 0.99994674 0.00471709 0.16736149] [ 0.01622119 -0.00456777 0.99985799 0.8354103 ] [ 0. 0. 0. 1. ]] SLAMing on 168.57255784400002 meters Centerline goodness [0,1] 0.249032173399532 Centerline is valid? [False, False] Translation: X:1.80, Y:0.17, Z:0.83 [[ 9.99903743e-01 2.42728877e-04 -1.38724732e-02 1.80096856e+00] [-1.79113778e-04 9.99989465e-01 4.58676559e-03 1.71718529e-01] [ 1.38734404e-02 -4.58383933e-03 9.99893252e-01 8.34806688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60255784400002 meters Centerline goodness [0,1] 0.24806318651675696 Centerline is valid? [False, False] Translation: X:1.82, Y:0.17, Z:0.84 [[ 0.99989654 0.00851682 -0.01159158 1.82002526] [-0.00848019 0.9999589 0.00320599 0.16994131] [ 0.01161841 -0.00310736 0.99992768 0.83597857] [ 0. 0. 0. 1. ]] SLAMing on 168.63255784400002 meters Centerline goodness [0,1] 0.24779969650986344 Centerline is valid? [False, False] Translation: X:1.82, Y:0.17, Z:0.84 [[ 0.99989841 0.00850763 -0.01143608 1.8195067 ] [-0.00847203 0.99995913 0.00315774 0.17032198] [ 0.01146248 -0.00306053 0.99992962 0.83617475] [ 0. 0. 0. 1. ]] SLAMing on 168.66255784400002 meters Centerline goodness [0,1] 0.2464779574320517 Centerline is valid? [False, False] Translation: X:1.82, Y:0.17, Z:0.84 [[ 0.99989825 0.00844333 -0.01149776 1.81994841] [-0.0084098 0.99996025 0.00296099 0.17132717] [ 0.0115223 -0.002864 0.99992951 0.83565412] [ 0. 0. 0. 1. ]] SLAMing on 168.69255784400002 meters Centerline goodness [0,1] 0.24840611353711795 Centerline is valid? [False, False] Translation: X:1.82, Y:0.17, Z:0.83 [[ 0.99989642 0.00816891 -0.01184954 1.82124669] [-0.00814262 0.99996428 0.00226464 0.17424171] [ 0.01186761 -0.00216792 0.99992723 0.8348361 ] [ 0. 0. 0. 1. ]] SLAMing on 168.72255784400002 meters Centerline goodness [0,1] 0.2449867533978073 Centerline is valid? [False, False] Translation: X:1.84, Y:0.18, Z:0.84 [[ 9.99927943e-01 4.52579026e-04 -1.19959917e-02 1.84018247e+00] [-4.22182001e-04 9.99996694e-01 2.53634306e-03 1.82011168e-01] [ 1.19970999e-02 -2.53109581e-03 9.99924829e-01 8.36111167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.752557844 meters Centerline goodness [0,1] 0.24708730518989253 Centerline is valid? [False, False] Translation: X:1.84, Y:0.18, Z:0.84 [[ 9.99929604e-01 3.37133520e-04 -1.18605783e-02 1.83976330e+00] [-3.12990536e-04 9.99997876e-01 2.03736278e-03 1.84545074e-01] [ 1.18612400e-02 -2.03350711e-03 9.99927585e-01 8.36118585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782557844 meters Centerline goodness [0,1] 0.2492284956752293 Centerline is valid? [False, False] Translation: X:1.84, Y:0.19, Z:0.84 [[ 9.99936828e-01 8.36648140e-04 -1.12089141e-02 1.83772151e+00] [-8.16472548e-04 9.99998039e-01 1.80441467e-03 1.88644017e-01] [ 1.12104018e-02 -1.79514891e-03 9.99935550e-01 8.36416293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.812557844 meters Centerline goodness [0,1] 0.24599172485130594 Centerline is valid? [False, False] Translation: X:1.84, Y:0.19, Z:0.84 [[ 9.99939357e-01 7.09056459e-04 -1.09900108e-02 1.83699386e+00] [-6.93668440e-04 9.99998774e-01 1.40393087e-03 1.90705175e-01] [ 1.09909927e-02 -1.39622230e-03 9.99938622e-01 8.36595195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842557844 meters Centerline goodness [0,1] 0.24814438120793747 Centerline is valid? [False, False] Translation: X:1.84, Y:0.19, Z:0.84 [[ 9.99941185e-01 6.11470736e-04 -1.08282881e-02 1.83634690e+00] [-5.98332277e-04 9.99999081e-01 1.21654388e-03 1.91532965e-01] [ 1.08290220e-02 -1.20999341e-03 9.99940632e-01 8.36986233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872557844 meters Centerline goodness [0,1] 0.24890479288657563 Centerline is valid? [False, False] Translation: X:1.84, Y:0.19, Z:0.84 [[ 9.99942025e-01 5.87270777e-04 -1.07518293e-02 1.83589293e+00] [-5.73418275e-04 9.99999002e-01 1.29142299e-03 1.91025840e-01] [ 1.07525770e-02 -1.28518282e-03 9.99941363e-01 8.37474400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902557844 meters Centerline goodness [0,1] 0.24645769788219007 Centerline is valid? [False, False] Translation: X:1.84, Y:0.19, Z:0.84 [[ 9.99944114e-01 5.53806687e-04 -1.05575950e-02 1.83511752e+00] [-5.37523912e-04 9.99998662e-01 1.54505591e-03 1.89558343e-01] [ 1.05584366e-02 -1.53929461e-03 9.99943073e-01 8.38073486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.932557844 meters Centerline goodness [0,1] 0.2455358104469575 Centerline is valid? [False, False] Translation: X:1.83, Y:0.19, Z:0.84 [[ 9.99948210e-01 -2.77216053e-04 -1.01735104e-02 1.83382322e+00] [ 2.93368888e-04 9.99998699e-01 1.58627671e-03 1.86373102e-01] [ 1.01730574e-02 -1.58917915e-03 9.99946990e-01 8.38947434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.962557844 meters Centerline goodness [0,1] 0.2469410696528168 Centerline is valid? [False, False] Translation: X:1.83, Y:0.18, Z:0.84 [[ 9.99945480e-01 -2.95329495e-04 -1.04378609e-02 1.83461591e+00] [ 3.16444170e-04 9.99997907e-01 2.02129925e-03 1.83796937e-01] [ 1.04372421e-02 -2.02449205e-03 9.99943481e-01 8.38842074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.992557844 meters Centerline goodness [0,1] 0.2579216131284916 Centerline is valid? [False, False] Translation: X:1.84, Y:0.18, Z:0.84 [[ 9.99942055e-01 -1.86221547e-04 -1.07634371e-02 1.83556755e+00] [ 2.13117440e-04 9.99996858e-01 2.49772713e-03 1.81387461e-01] [ 1.07629382e-02 -2.49987628e-03 9.99938953e-01 8.38700570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.022557844 meters Centerline goodness [0,1] 0.24595664143152096 Centerline is valid? [False, False] Translation: X:1.86, Y:0.18, Z:0.84 [[ 9.99907209e-01 8.00492426e-03 -1.10224794e-02 1.85585069e+00] [-7.98603642e-03 9.99966568e-01 1.75652444e-03 1.75838233e-01] [ 1.10361717e-02 -1.66833553e-03 9.99937708e-01 8.40091253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.052557844 meters Centerline goodness [0,1] 0.24476411645809137 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:0.84 [[ 0.99990343 0.00828548 -0.01115755 1.85634393] [-0.00825993 0.99996316 0.00233457 0.17358431] [ 0.01117648 -0.00224219 0.99993503 0.83987914] [ 0. 0. 0. 1. ]] SLAMing on 169.082557844 meters Centerline goodness [0,1] 0.2586520547945206 Centerline is valid? [False, False] Translation: X:1.81, Y:0.17, Z:0.84 [[ 0.99986871 0.00808187 -0.01404436 1.81116951] [-0.00804074 0.99996322 0.00298285 0.16951595] [ 0.01406795 -0.00286953 0.99989692 0.84063753] [ 0. 0. 0. 1. ]] SLAMing on 169.112557844 meters Centerline goodness [0,1] 0.2482395510584361 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:0.84 [[ 9.99900511e-01 3.76231917e-04 -1.41005772e-02 1.83101085e+00] [-3.23051900e-04 9.99992828e-01 3.77356598e-03 1.74566504e-01] [ 1.41018958e-02 -3.76863533e-03 9.99893461e-01 8.41286551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.142557844 meters Centerline goodness [0,1] 0.24735501144362393 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:0.84 [[ 9.99897713e-01 3.96175556e-04 -1.42970867e-02 1.83185249e+00] [-3.42214080e-04 9.99992810e-01 3.77654784e-03 1.74511152e-01] [ 1.42984801e-02 -3.77126889e-03 9.99890660e-01 8.40659174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.172557844 meters Centerline goodness [0,1] 0.24919411047220774 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:0.84 [[ 9.99890675e-01 5.08818309e-04 -1.47776571e-02 1.83383537e+00] [-4.52307868e-04 9.99992574e-01 3.82713652e-03 1.74207744e-01] [ 1.47794947e-02 -3.82003406e-03 9.99883480e-01 8.39242961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202557844 meters Centerline goodness [0,1] 0.24723771780568182 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:0.84 [[ 9.99870109e-01 7.69987596e-03 -1.41590039e-02 1.85605392e+00] [-7.68183013e-03 9.99969612e-01 1.32845847e-03 1.72406584e-01] [ 1.41688026e-02 -1.21951885e-03 9.99898874e-01 8.38955255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.232557844 meters Centerline goodness [0,1] 0.2472359852008914 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:0.84 [[ 9.99868736e-01 7.76192453e-03 -1.42219034e-02 1.85624825e+00] [-7.74071667e-03 9.99968846e-01 1.54565266e-03 1.71167481e-01] [ 1.42334576e-02 -1.43536204e-03 9.99897669e-01 8.38896497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262557844 meters Centerline goodness [0,1] 0.24881027401725375 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:0.84 [[ 9.99866925e-01 7.89205889e-03 -1.42775211e-02 1.85609037e+00] [-7.86588193e-03 9.99967280e-01 1.88866727e-03 1.69576848e-01] [ 1.42919594e-02 -1.77611064e-03 9.99896287e-01 8.39421012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29255784400002 meters Centerline goodness [0,1] 0.24760105944162214 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:0.84 [[ 0.99986744 0.00797361 -0.01419607 1.8556169 ] [-0.00794496 0.99996629 0.00207381 0.1689768 ] [ 0.01421213 -0.00196075 0.99989708 0.83984588] [ 0. 0. 0. 1. ]] SLAMing on 169.32255784400002 meters Centerline goodness [0,1] 0.24889024284097838 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:0.84 [[ 0.99986841 0.00802881 -0.01409635 1.85524884] [-0.00799794 0.9999655 0.00224534 0.16825965] [ 0.01411389 -0.0021323 0.99989812 0.8401027 ] [ 0. 0. 0. 1. ]] SLAMing on 169.35255784400002 meters Centerline goodness [0,1] 0.2505659063207383 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:0.84 [[ 0.9998682 0.00801712 -0.0141177 1.85522272] [-0.00798374 0.9999652 0.00241928 0.16715473] [ 0.01413661 -0.00230625 0.99989741 0.84030694] [ 0. 0. 0. 1. ]] SLAMing on 169.38255784400002 meters Centerline goodness [0,1] 0.24900746040748656 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:0.84 [[ 9.99894943e-01 3.83206296e-03 -1.39792089e-02 1.85490675e+00] [-3.85449067e-03 9.99991327e-01 -1.57777176e-03 1.66232556e-01] [ 1.39730416e-02 1.63148874e-03 9.99901041e-01 8.40147668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41255784400002 meters Centerline goodness [0,1] 0.24931746205089 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:0.84 [[ 9.99894200e-01 3.90334694e-03 -1.40125826e-02 1.85490128e+00] [-3.92232040e-03 9.99991427e-01 -1.32680299e-03 1.65038452e-01] [ 1.40072835e-02 1.38162446e-03 9.99900939e-01 8.40320458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44255784400002 meters Centerline goodness [0,1] 0.24918910682021034 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:0.84 [[ 9.99894639e-01 3.98061190e-03 -1.39594373e-02 1.85468077e+00] [-3.99611462e-03 9.99991429e-01 -1.08283752e-03 1.63971114e-01] [ 1.39550073e-02 1.13850694e-03 9.99901976e-01 8.40491929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47255784400002 meters Centerline goodness [0,1] 0.24471038980606552 Centerline is valid? [False, False] Translation: X:1.88, Y:0.16, Z:0.84 [[ 9.99907656e-01 -5.81653698e-03 -1.22819746e-02 1.87585663e+00] [ 5.79849097e-03 9.99982057e-01 -1.50440702e-03 1.64898125e-01] [ 1.22905046e-02 1.43305118e-03 9.99923442e-01 8.40365911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502557844 meters Centerline goodness [0,1] 0.2465318979094302 Centerline is valid? [False, False] Translation: X:1.88, Y:0.16, Z:0.84 [[ 9.99910466e-01 -5.77463452e-03 -1.20712095e-02 1.87509044e+00] [ 5.76245991e-03 9.99982853e-01 -1.04310425e-03 1.62305870e-01] [ 1.20770261e-02 9.73450992e-04 9.99926596e-01 8.40881594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.532557844 meters Centerline goodness [0,1] 0.24533604271601206 Centerline is valid? [False, False] Translation: X:1.87, Y:0.16, Z:0.84 [[ 9.99914834e-01 -5.58784595e-03 -1.17941193e-02 1.87407526e+00] [ 5.58209442e-03 9.99984285e-01 -5.20523722e-04 1.60031076e-01] [ 1.17968425e-02 4.54643503e-04 9.99930311e-01 8.41476015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562557844 meters Centerline goodness [0,1] 0.2455409198877132 Centerline is valid? [False, False] Translation: X:1.87, Y:0.16, Z:0.84 [[ 9.99916660e-01 -5.38275823e-03 -1.17345280e-02 1.87378986e+00] [ 5.38219492e-03 9.99985513e-01 -7.95836462e-05 1.58328435e-01] [ 1.17347864e-02 1.64194965e-05 9.99931145e-01 8.41733201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.592557844 meters Centerline goodness [0,1] 0.2522065891811588 Centerline is valid? [False, False] Translation: X:1.85, Y:0.15, Z:0.84 [[ 9.99921396e-01 2.77806970e-03 -1.22263495e-02 1.85433811e+00] [-2.78629765e-03 9.99995903e-01 -6.55985900e-04 1.51611652e-01] [ 1.22244770e-02 6.90000586e-04 9.99925040e-01 8.40233101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622557844 meters Centerline goodness [0,1] 0.24851019567902577 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:0.84 [[ 9.99916899e-01 2.76813937e-03 -1.25909913e-02 1.85576586e+00] [-2.77419318e-03 9.99996045e-01 -4.63365019e-04 1.49862475e-01] [ 1.25896589e-02 4.98256355e-04 9.99920623e-01 8.39484220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.652557844 meters Centerline goodness [0,1] 0.25134626329845455 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:0.84 [[ 9.99917820e-01 2.84269035e-03 -1.25008627e-02 1.85537846e+00] [-2.84596646e-03 9.99995920e-01 -2.44288809e-04 1.48634737e-01] [ 1.25001173e-02 2.79845769e-04 9.99921831e-01 8.39759440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682557844 meters Centerline goodness [0,1] 0.2477807127701035 Centerline is valid? [False, False] Translation: X:1.87, Y:0.15, Z:0.84 [[ 9.99937498e-01 -4.49586178e-03 -1.02366127e-02 1.87367763e+00] [ 4.51003446e-03 9.99988902e-01 1.36184564e-03 1.52191426e-01] [ 1.02303764e-02 -1.40792800e-03 9.99946677e-01 8.41250997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.712557844 meters Centerline goodness [0,1] 0.2533978245168633 Centerline is valid? [False, False] Translation: X:1.85, Y:0.15, Z:0.84 [[ 9.99939464e-01 3.49268942e-03 -1.04340110e-02 1.85422661e+00] [-3.48782882e-03 9.99993800e-01 4.84002166e-04 1.46425940e-01] [ 1.04356368e-02 -4.47580822e-04 9.99945447e-01 8.39649127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.742557844 meters Centerline goodness [0,1] 0.25284494244588607 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:0.84 [[ 9.99936615e-01 3.48784434e-03 -1.07051752e-02 1.85522436e+00] [-3.48289062e-03 9.99993819e-01 4.81348940e-04 1.46379690e-01] [ 1.07067879e-02 -4.44033476e-04 9.99942582e-01 8.39045883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.772557844 meters Centerline goodness [0,1] 0.2486383264978409 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:0.84 [[ 9.99933363e-01 3.47050251e-03 -1.10102739e-02 1.85641609e+00] [-3.46623470e-03 9.99993910e-01 4.06679679e-04 1.46680181e-01] [ 1.10116182e-02 -3.68488386e-04 9.99939302e-01 8.38298396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802557844 meters Centerline goodness [0,1] 0.24746071707613504 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:0.84 [[ 9.99929328e-01 3.45965684e-03 -1.13740535e-02 1.85749029e+00] [-3.45825054e-03 9.99994010e-01 1.43306239e-04 1.48068147e-01] [ 1.13744812e-02 -1.03961784e-04 9.99935303e-01 8.37953934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.832557844 meters Centerline goodness [0,1] 0.2504379817799579 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:0.84 [[ 9.99930778e-01 3.41818883e-03 -1.12585354e-02 1.85706021e+00] [-3.41865901e-03 9.99994156e-01 -2.25168097e-05 1.48909689e-01] [ 1.12583926e-02 6.10043444e-05 9.99936620e-01 8.38199553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.862557844 meters Centerline goodness [0,1] 0.25044703214270136 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:0.84 [[ 9.99931728e-01 3.35480827e-03 -1.11930975e-02 1.85681564e+00] [-3.35769483e-03 9.99994334e-01 -2.39105354e-04 1.49939673e-01] [ 1.11922319e-02 2.76672035e-04 9.99937327e-01 8.38314577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.892557844 meters Centerline goodness [0,1] 0.25319855028164706 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:0.84 [[ 9.99932533e-01 3.27261046e-03 -1.11454099e-02 1.85686312e+00] [-3.27829379e-03 9.99994505e-01 -4.91694707e-04 1.51145627e-01] [ 1.11437395e-02 5.28199462e-04 9.99937767e-01 8.37957142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.922557844 meters Centerline goodness [0,1] 0.24988002268661924 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:0.84 [[ 9.99932349e-01 3.29195814e-03 -1.11562200e-02 1.85741272e+00] [-3.30226335e-03 9.99994138e-01 -9.05424133e-04 1.53994213e-01] [ 1.11531740e-02 9.42203656e-04 9.99937358e-01 8.36966824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.952557844 meters Centerline goodness [0,1] 0.2544474275860563 Centerline is valid? [False, False] Translation: X:1.86, Y:0.16, Z:0.84 [[ 9.99933441e-01 3.19818508e-03 -1.10853240e-02 1.85733070e+00] [-3.21207395e-03 9.99994078e-01 -1.23532826e-03 1.55707330e-01] [ 1.10813076e-02 1.27085292e-03 9.99937793e-01 8.36743706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982557844 meters Centerline goodness [0,1] 0.24913996408403472 Centerline is valid? [False, False] Translation: X:1.88, Y:0.16, Z:0.84 [[ 9.99931815e-01 -3.94284199e-03 -1.09918060e-02 1.87526381e+00] [ 3.94104682e-03 9.99992217e-01 -1.84974905e-04 1.63717450e-01] [ 1.09924498e-02 1.41643071e-04 9.99939571e-01 8.38616344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.012557844 meters Centerline goodness [0,1] 0.2536715620827771 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:0.84 [[ 9.99930605e-01 4.05537917e-03 -1.10606619e-02 1.85470387e+00] [-4.06990143e-03 9.99990885e-01 -1.29077232e-03 1.60003598e-01] [ 1.10553265e-02 1.33569855e-03 9.99937996e-01 8.37835816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04255784400002 meters Centerline goodness [0,1] 0.2521570507233746 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:0.84 [[ 0.99993474 0.0037346 -0.01079702 1.85373313] [-0.00375764 0.99999071 -0.00211377 0.16403824] [ 0.01078902 0.0021542 0.99993948 0.83833383] [ 0. 0. 0. 1. ]] SLAMing on 170.07255784400002 meters Centerline goodness [0,1] 0.24994005972231303 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:0.84 [[ 0.99993595 0.00355717 -0.01074481 1.85359667] [-0.00358483 0.99999031 -0.0025565 0.16607137] [ 0.01073562 0.00259485 0.999939 0.83831025] [ 0. 0. 0. 1. ]] SLAMing on 170.10255784400002 meters Centerline goodness [0,1] 0.2544573345906709 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:0.84 [[ 0.99993641 0.00340945 -0.01074978 1.85356041] [-0.00344041 0.99998998 -0.00286291 0.16738689] [ 0.01073991 0.00289971 0.99993812 0.83838922] [ 0. 0. 0. 1. ]] SLAMing on 170.13255784400002 meters Centerline goodness [0,1] 0.25063882761482514 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:0.84 [[ 0.99993624 0.00327535 -0.01080709 1.85355973] [-0.00330916 0.99998968 -0.00311158 0.16842027] [ 0.01079679 0.00314714 0.99993676 0.83861455] [ 0. 0. 0. 1. ]] SLAMing on 170.16255784400002 meters Centerline goodness [0,1] 0.24908925318761388 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.84 [[ 9.99933626e-01 -4.35784572e-03 -1.06655196e-02 1.87245032e+00] [ 4.33831448e-03 9.99988871e-01 -1.85370194e-03 1.74411054e-01] [ 1.06734790e-02 1.80730853e-03 9.99941404e-01 8.40626467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19255784400002 meters Centerline goodness [0,1] 0.2490664594530424 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.84 [[ 9.99936495e-01 -4.33229127e-03 -1.04037389e-02 1.87121148e+00] [ 4.31622928e-03 9.99989459e-01 -1.56582484e-03 1.73320020e-01] [ 1.04104128e-02 1.52082048e-03 9.99944654e-01 8.41684298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22255784400002 meters Centerline goodness [0,1] 0.2505648735552273 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.84 [[ 9.99936639e-01 -4.30840165e-03 -1.03997691e-02 1.87098553e+00] [ 4.29416174e-03 9.99989812e-01 -1.39119352e-03 1.72386246e-01] [ 1.04056570e-02 1.34644708e-03 9.99944953e-01 8.42144707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.252557844 meters Centerline goodness [0,1] 0.2506977758395116 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.84 [[ 9.99934641e-01 -4.33195787e-03 -1.05805767e-02 1.87138985e+00] [ 4.31909900e-03 9.99989906e-01 -1.23787602e-03 1.71294712e-01] [ 1.05858324e-02 1.19209656e-03 9.99943258e-01 8.42283054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282557844 meters Centerline goodness [0,1] 0.2506977758395116 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.84 [[ 9.99934641e-01 -4.33195787e-03 -1.05805767e-02 1.87138985e+00] [ 4.31909900e-03 9.99989906e-01 -1.23787602e-03 1.71294712e-01] [ 1.05858324e-02 1.19209656e-03 9.99943258e-01 8.42283054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.312557844 meters Centerline goodness [0,1] 0.24755531570426337 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 9.99943239e-01 1.25483092e-03 -1.05803257e-02 1.89408331e+00] [-1.30621852e-03 9.99987379e-01 -4.85139040e-03 1.68665290e-01] [ 1.05741045e-02 4.86493525e-03 9.99932258e-01 8.42416588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342557844 meters Centerline goodness [0,1] 0.25099827620065895 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 9.99944559e-01 1.32397722e-03 -1.04463186e-02 1.89350706e+00] [-1.37259123e-03 9.99988256e-01 -4.64790119e-03 1.67727532e-01] [ 1.04400422e-02 4.66198203e-03 9.99934634e-01 8.42846790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372557844 meters Centerline goodness [0,1] 0.24907601530248347 Centerline is valid? [False, False] Translation: X:1.91, Y:0.17, Z:0.84 [[ 0.99993859 -0.00634724 -0.00908445 1.91230202] [ 0.00631748 0.9999746 -0.00330044 0.17247956] [ 0.00910516 0.00324285 0.99995329 0.84415594] [ 0. 0. 0. 1. ]] SLAMing on 170.402557844 meters Centerline goodness [0,1] 0.24794223206034682 Centerline is valid? [False, False] Translation: X:1.91, Y:0.17, Z:0.84 [[ 0.99994138 -0.00626372 -0.00883241 1.91145765] [ 0.00623623 0.99997563 -0.00313677 0.17183912] [ 0.00885184 0.00308151 0.99995607 0.84453581] [ 0. 0. 0. 1. ]] SLAMing on 170.432557844 meters Centerline goodness [0,1] 0.25203057291553255 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 0.99995754 0.00224141 -0.00893872 1.88988377] [-0.00227467 0.99999052 -0.00371225 0.16649336] [ 0.00893032 0.00373243 0.99995316 0.84383009] [ 0. 0. 0. 1. ]] SLAMing on 170.462557844 meters Centerline goodness [0,1] 0.2508978408550041 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 0.99995559 0.00224681 -0.0091522 1.89069857] [-0.00228223 0.99998994 -0.00386096 0.16744897] [ 0.00914343 0.00388167 0.99995066 0.8433059 ] [ 0. 0. 0. 1. ]] SLAMing on 170.492557844 meters Centerline goodness [0,1] 0.2537326522110894 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.84 [[ 9.99930285e-01 -4.14470961e-03 -1.10564778e-02 1.86898314e+00] [ 4.13800020e-03 9.99991240e-01 -6.29638576e-04 1.68695709e-01] [ 1.10589906e-02 5.83842973e-04 9.99938677e-01 8.43540502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.522557844 meters Centerline goodness [0,1] 0.25366076876143995 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.84 [[ 9.99927353e-01 -4.11430620e-03 -1.13296568e-02 1.86989061e+00] [ 4.10537599e-03 9.99991244e-01 -8.11359188e-04 1.69728248e-01] [ 1.13328958e-02 7.64787745e-04 9.99935488e-01 8.43033212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.552557844 meters Centerline goodness [0,1] 0.24608751886182367 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 0.99993247 0.00471016 -0.01062378 1.89107581] [-0.00473457 0.99998621 -0.00227405 0.16860688] [ 0.01061292 0.0023242 0.99994098 0.84403273] [ 0. 0. 0. 1. ]] SLAMing on 170.582557844 meters Centerline goodness [0,1] 0.24910731675647602 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 0.99993419 0.00466537 -0.01048086 1.89073413] [-0.00469184 0.99998586 -0.00250183 0.16977736] [ 0.01046904 0.00255084 0.99994194 0.84395056] [ 0. 0. 0. 1. ]] SLAMing on 170.612557844 meters Centerline goodness [0,1] 0.24821898881740856 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 0.99993417 0.00464731 -0.01049061 1.8910227 ] [-0.0046765 0.99998526 -0.00275978 0.17139159] [ 0.01047763 0.00280866 0.99994116 0.84338859] [ 0. 0. 0. 1. ]] SLAMing on 170.642557844 meters Centerline goodness [0,1] 0.25042334245147846 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 0.99993407 0.00466892 -0.01049081 1.89102214] [-0.00469758 0.9999853 -0.00270884 0.17119696] [ 0.01047801 0.00275795 0.9999413 0.84337569] [ 0. 0. 0. 1. ]] SLAMing on 170.672557844 meters Centerline goodness [0,1] 0.2494156350099559 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 0.99993268 0.00472265 -0.01059821 1.89121119] [-0.00474946 0.99998558 -0.00250618 0.17019628] [ 0.01058622 0.00255634 0.9999407 0.8435756 ] [ 0. 0. 0. 1. ]] SLAMing on 170.702557844 meters Centerline goodness [0,1] 0.25095868921038866 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 0.99993146 0.00478657 -0.01068486 1.89122699] [-0.00481091 0.99998589 -0.00225376 0.16889477] [ 0.01067392 0.00230501 0.99994038 0.84395372] [ 0. 0. 0. 1. ]] SLAMing on 170.732557844 meters Centerline goodness [0,1] 0.25101760954267427 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:0.84 [[ 9.99928907e-01 4.79671159e-03 -1.09165838e-02 1.89182028e+00] [-4.81591273e-03 9.99986901e-01 -1.73328934e-03 1.65788265e-01] [ 1.09081267e-02 1.78573943e-03 9.99938910e-01 8.44009812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.762557844 meters Centerline goodness [0,1] 0.24852569502948607 Centerline is valid? [False, False] Translation: X:1.91, Y:0.17, Z:0.85 [[ 9.99932440e-01 -3.04666676e-03 -1.12175812e-02 1.91187231e+00] [ 3.03875219e-03 9.99995122e-01 -7.22526955e-04 1.69544206e-01] [ 1.12197277e-02 6.88390691e-04 9.99936820e-01 8.45068404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79255784400002 meters Centerline goodness [0,1] 0.2540577294262151 Centerline is valid? [False, False] Translation: X:1.89, Y:0.16, Z:0.84 [[ 9.99912902e-01 4.84301335e-03 -1.22773828e-02 1.89294728e+00] [-4.86317058e-03 9.99986875e-01 -1.61249525e-03 1.62333726e-01] [ 1.22694123e-02 1.67206181e-03 9.99923330e-01 8.43778313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82255784400002 meters Centerline goodness [0,1] 0.2519790072162694 Centerline is valid? [False, False] Translation: X:1.89, Y:0.16, Z:0.84 [[ 9.99910013e-01 4.93917531e-03 -1.24727725e-02 1.89347741e+00] [-4.95571661e-03 9.99986881e-01 -1.29563410e-03 1.60730799e-01] [ 1.24662095e-02 1.35732903e-03 9.99921373e-01 8.43743384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85255784400002 meters Centerline goodness [0,1] 0.2481265249215755 Centerline is valid? [False, False] Translation: X:1.89, Y:0.16, Z:0.84 [[ 9.99904028e-01 5.06289598e-03 -1.28958097e-02 1.89445112e+00] [-5.07034995e-03 9.99986997e-01 -5.45386029e-04 1.56555857e-01] [ 1.28928808e-02 6.10719955e-04 9.99916697e-01 8.43947208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88255784400002 meters Centerline goodness [0,1] 0.24960681520314543 Centerline is valid? [False, False] Translation: X:1.89, Y:0.15, Z:0.84 [[ 9.99904085e-01 5.23810473e-03 -1.28212056e-02 1.89411510e+00] [-5.23902626e-03 9.99986275e-01 -3.82897825e-05 1.54117444e-01] [ 1.28208290e-02 1.05456743e-04 9.99917804e-01 8.44271932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91255784400002 meters Centerline goodness [0,1] 0.24720931242670374 Centerline is valid? [False, False] Translation: X:1.89, Y:0.15, Z:0.84 [[ 9.99905007e-01 5.43190374e-03 -1.26677021e-02 1.89355568e+00] [-5.42578890e-03 9.99985147e-01 5.17029041e-04 1.51462748e-01] [ 1.26703224e-02 -4.48247650e-04 9.99919628e-01 8.44585682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94255784400002 meters Centerline goodness [0,1] 0.2520045319853582 Centerline is valid? [False, False] Translation: X:1.89, Y:0.15, Z:0.84 [[ 9.99906001e-01 5.63228996e-03 -1.25006553e-02 1.89301087e+00] [-5.61937310e-03 9.99983641e-01 1.06817851e-03 1.48914185e-01] [ 1.25064671e-02 -9.97832259e-04 9.99921293e-01 8.44858949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97255784400002 meters Centerline goodness [0,1] 0.25008118816168357 Centerline is valid? [False, False] Translation: X:1.89, Y:0.14, Z:0.85 [[ 9.99903689e-01 5.90932322e-03 -1.25575430e-02 1.89297558e+00] [-5.88608265e-03 9.99980897e-01 1.88687976e-03 1.44877293e-01] [ 1.25684533e-02 -1.81278330e-03 9.99919371e-01 8.45255517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002557844 meters Centerline goodness [0,1] 0.25026737967914436 Centerline is valid? [False, False] Translation: X:1.89, Y:0.14, Z:0.85 [[ 0.99990135 0.00602632 -0.01268761 1.89341062] [-0.00599864 0.99997955 0.00221829 0.14320841] [ 0.01270072 -0.00214196 0.99991705 0.84507984] [ 0. 0. 0. 1. ]] SLAMing on 171.032557844 meters Centerline goodness [0,1] 0.24912000345520113 Centerline is valid? [False, False] Translation: X:1.91, Y:0.15, Z:0.85 [[ 9.99924805e-01 -1.81999603e-03 -1.21272945e-02 1.91363468e+00] [ 1.85708907e-03 9.99993630e-01 3.04808215e-03 1.46708597e-01] [ 1.21216698e-02 -3.07037441e-03 9.99921816e-01 8.45589399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062557844 meters Centerline goodness [0,1] 0.24901849589949399 Centerline is valid? [False, False] Translation: X:1.91, Y:0.15, Z:0.85 [[ 9.99925609e-01 -1.72707562e-03 -1.20744708e-02 1.91345116e+00] [ 1.76595743e-03 9.99993288e-01 3.21024626e-03 1.46034043e-01] [ 1.20688454e-02 -3.23133044e-03 9.99921948e-01 8.45667901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.092557844 meters Centerline goodness [0,1] 0.249989153542453 Centerline is valid? [False, False] Translation: X:1.91, Y:0.15, Z:0.85 [[ 9.99930031e-01 -1.45128394e-03 -1.17399694e-02 1.91275005e+00] [ 1.49047437e-03 9.99993344e-01 3.33014524e-03 1.46221374e-01] [ 1.17350583e-02 -3.34741036e-03 9.99925539e-01 8.45420945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122557844 meters Centerline goodness [0,1] 0.24766718506998442 Centerline is valid? [False, False] Translation: X:1.91, Y:0.15, Z:0.85 [[ 9.99931134e-01 -1.43859180e-03 -1.16472219e-02 1.91255415e+00] [ 1.47721146e-03 9.99993438e-01 3.30785901e-03 1.46387820e-01] [ 1.16423868e-02 -3.32483662e-03 9.99926697e-01 8.45315129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.152557844 meters Centerline goodness [0,1] 0.2476276938374079 Centerline is valid? [False, False] Translation: X:1.91, Y:0.15, Z:0.85 [[ 9.99931955e-01 -1.37802088e-03 -1.15838866e-02 1.91235228e+00] [ 1.41803395e-03 9.99993055e-01 3.44669709e-03 1.45732465e-01] [ 1.15790565e-02 -3.46288891e-03 9.99926964e-01 8.45380674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182557844 meters Centerline goodness [0,1] 0.24628070704243543 Centerline is valid? [False, False] Translation: X:1.91, Y:0.14, Z:0.85 [[ 9.99933213e-01 -1.26963635e-03 -1.14872531e-02 1.91173736e+00] [ 1.31650304e-03 9.99990838e-01 4.07324546e-03 1.42107553e-01] [ 1.14819763e-02 -4.08809642e-03 9.99925723e-01 8.46076830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.212557844 meters Centerline goodness [0,1] 0.2487667065087471 Centerline is valid? [False, False] Translation: X:1.91, Y:0.14, Z:0.85 [[ 9.99933151e-01 -1.13760467e-03 -1.15065293e-02 1.91165207e+00] [ 1.19027297e-03 9.99988843e-01 4.57144175e-03 1.39610522e-01] [ 1.15012004e-02 -4.58483206e-03 9.99923348e-01 8.46378581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.242557844 meters Centerline goodness [0,1] 0.24993987099595494 Centerline is valid? [False, False] Translation: X:1.91, Y:0.14, Z:0.85 [[ 9.99930582e-01 -1.04512658e-03 -1.17362487e-02 1.91220056e+00] [ 1.10499993e-03 9.99986404e-01 5.09624983e-03 1.36898342e-01] [ 1.17307629e-02 -5.10886461e-03 9.99918141e-01 8.46471820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.272557844 meters Centerline goodness [0,1] 0.250081683330066 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:0.85 [[ 9.99923810e-01 -1.46245266e-03 -1.22570947e-02 1.91369964e+00] [ 1.53192826e-03 9.99982805e-01 5.66072407e-03 1.32097656e-01] [ 1.22486054e-02 -5.67906977e-03 9.99908856e-01 8.46414517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.302557844 meters Centerline goodness [0,1] 0.24957654723127032 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:0.85 [[ 9.99919456e-01 -1.39202535e-03 -1.26152171e-02 1.91470345e+00] [ 1.46926783e-03 9.99980219e-01 6.11576329e-03 1.29675460e-01] [ 1.26064543e-02 -6.13380584e-03 9.99901722e-01 8.46294415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.332557844 meters Centerline goodness [0,1] 0.2503721215305139 Centerline is valid? [False, False] Translation: X:1.92, Y:0.13, Z:0.85 [[ 9.99917382e-01 -1.27793585e-03 -1.27904970e-02 1.91521440e+00] [ 1.36109060e-03 9.99977983e-01 6.49469969e-03 1.27860992e-01] [ 1.27819156e-02 -6.51157213e-03 9.99897106e-01 8.46193802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.362557844 meters Centerline goodness [0,1] 0.2473552731617248 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:0.85 [[ 0.99989341 0.00718895 -0.01270792 1.93444471] [-0.00712145 0.99996034 0.005349 0.12344653] [ 0.01274587 -0.00525793 0.99990494 0.84794025] [ 0. 0. 0. 1. ]] SLAMing on 171.392557844 meters Centerline goodness [0,1] 0.24955057657736657 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:0.85 [[ 9.99913403e-01 -1.81857724e-03 -1.30337977e-02 1.91382211e+00] [ 1.90390324e-03 9.99976820e-01 6.53710302e-03 1.26028132e-01] [ 1.30216074e-02 -6.56135202e-03 9.99893688e-01 8.46736871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.422557844 meters Centerline goodness [0,1] 0.24880682431702839 Centerline is valid? [False, False] Translation: X:1.94, Y:0.13, Z:0.85 [[ 0.9999449 0.00360859 -0.00985779 1.93585593] [-0.00357892 0.99998902 0.00302613 0.12560035] [ 0.0098686 -0.00299068 0.99994683 0.84590549] [ 0. 0. 0. 1. ]] SLAMing on 171.452557844 meters Centerline goodness [0,1] 0.2510538438138281 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:0.85 [[ 0.99994478 0.00361492 -0.00986775 1.93589905] [-0.0035841 0.99998865 0.00313968 0.12488421] [ 0.00987898 -0.00310414 0.99994638 0.84586915] [ 0. 0. 0. 1. ]] SLAMing on 171.482557844 meters Centerline goodness [0,1] 0.25122516846066334 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:0.85 [[ 0.99994186 0.00358711 -0.01016915 1.93681612] [-0.00355446 0.99998847 0.00322743 0.12415627] [ 0.01018061 -0.00319109 0.99994308 0.8455562 ] [ 0. 0. 0. 1. ]] SLAMing on 171.512557844 meters Centerline goodness [0,1] 0.2492200964244421 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:0.85 [[ 0.99993493 0.00327343 -0.01092788 1.93889184] [-0.00323739 0.99998927 0.00331334 0.12277643] [ 0.01093861 -0.00327775 0.9999348 0.84516179] [ 0. 0. 0. 1. ]] SLAMing on 171.54255784400002 meters Centerline goodness [0,1] 0.2479534964730471 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:0.85 [[ 0.9999341 0.00332528 -0.01098805 1.93887996] [-0.00328552 0.99998799 0.00363531 0.12124478] [ 0.01100001 -0.00359897 0.99993302 0.84543549] [ 0. 0. 0. 1. ]] SLAMing on 171.57255784400002 meters Centerline goodness [0,1] 0.24315372459030593 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:0.85 [[ 0.99993364 0.00331345 -0.0110331 1.9387029 ] [-0.00327018 0.9999869 0.00393812 0.11959016] [ 0.01104601 -0.00390178 0.99993138 0.84593377] [ 0. 0. 0. 1. ]] SLAMing on 171.60255784400002 meters Centerline goodness [0,1] 0.24617051240385657 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:0.85 [[ 0.99993597 0.0031957 -0.01085592 1.93799028] [-0.00315034 0.99998625 0.00419218 0.11783812] [ 0.01086917 -0.00415772 0.99993228 0.84647529] [ 0. 0. 0. 1. ]] SLAMing on 171.63255784400002 meters Centerline goodness [0,1] 0.24586539503630644 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:0.85 [[ 0.99994248 0.00284576 -0.01034097 1.93646601] [-0.00280141 0.99998683 0.00430087 0.11607962] [ 0.01035308 -0.00427165 0.99993728 0.84703247] [ 0. 0. 0. 1. ]] SLAMing on 171.66255784400002 meters Centerline goodness [0,1] 0.24972634528657123 Centerline is valid? [False, False] Translation: X:1.93, Y:0.11, Z:0.85 [[ 9.99950027e-01 -6.18237594e-04 -9.97803722e-03 1.93484446e+00] [ 6.32602799e-04 9.99998768e-01 1.43659052e-03 1.12748074e-01] [ 9.97713678e-03 -1.44283087e-03 9.99949186e-01 8.47917538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69255784400002 meters Centerline goodness [0,1] 0.24841737611875137 Centerline is valid? [False, False] Translation: X:1.93, Y:0.11, Z:0.85 [[ 9.99949384e-01 -6.27377445e-04 -1.00417289e-02 1.93498956e+00] [ 6.45255985e-04 9.99998212e-01 1.77728365e-03 1.10919166e-01] [ 1.00405959e-02 -1.78367317e-03 9.99948001e-01 8.47938683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72255784400002 meters Centerline goodness [0,1] 0.24722596927896956 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99947481e-01 -6.57772782e-04 -1.02275071e-02 1.93540387e+00] [ 6.79074989e-04 9.99997607e-01 2.07950153e-03 1.09090865e-01] [ 1.02261148e-02 -2.08633756e-03 9.99945535e-01 8.48022476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.752557844 meters Centerline goodness [0,1] 0.24264452113891288 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99942589e-01 -7.47695487e-04 -1.06892292e-02 1.93656010e+00] [ 7.72147686e-04 9.99997094e-01 2.28361097e-03 1.07571706e-01] [ 1.06874907e-02 -2.29173352e-03 9.99940261e-01 8.48038236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782557844 meters Centerline goodness [0,1] 0.2437206674778376 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99934397e-01 -8.96059449e-04 -1.14192455e-02 1.93863523e+00] [ 9.23736460e-04 9.99996648e-01 2.41867245e-03 1.06301556e-01] [ 1.14170399e-02 -2.42906215e-03 9.99931873e-01 8.47515931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812557844 meters Centerline goodness [0,1] 0.2477184402427841 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99933979e-01 -8.87298630e-04 -1.14564781e-02 1.93877509e+00] [ 9.16582261e-04 9.99996326e-01 2.55107867e-03 1.05605801e-01] [ 1.14541724e-02 -2.56141105e-03 9.99931118e-01 8.47384208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842557844 meters Centerline goodness [0,1] 0.2427314874994584 Centerline is valid? [False, False] Translation: X:1.94, Y:0.10, Z:0.85 [[ 9.99933232e-01 -9.09628967e-04 -1.15197354e-02 1.93893389e+00] [ 9.40968279e-04 9.99995871e-01 2.71536113e-03 1.04598912e-01] [ 1.15172179e-02 -2.72601954e-03 9.99929959e-01 8.47293390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872557844 meters Centerline goodness [0,1] 0.24259639269899558 Centerline is valid? [False, False] Translation: X:1.94, Y:0.10, Z:0.85 [[ 9.99929673e-01 -9.87707167e-04 -1.18183515e-02 1.93976994e+00] [ 1.02217862e-03 9.99995240e-01 2.91108850e-03 1.03218642e-01] [ 1.18154200e-02 -2.92296424e-03 9.99925923e-01 8.47070019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902557844 meters Centerline goodness [0,1] 0.24413074166576176 Centerline is valid? [False, False] Translation: X:1.94, Y:0.10, Z:0.85 [[ 9.99918323e-01 -1.78397428e-03 -1.26555928e-02 1.94231670e+00] [ 1.81992259e-03 9.99994341e-01 2.82956011e-03 1.00651963e-01] [ 1.26504733e-02 -2.85236120e-03 9.99915911e-01 8.46342491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.932557844 meters Centerline goodness [0,1] 0.24044410908698932 Centerline is valid? [False, False] Translation: X:1.94, Y:0.10, Z:0.85 [[ 9.99916924e-01 -1.81151880e-03 -1.27618135e-02 1.94240969e+00] [ 1.85275384e-03 9.99993099e-01 3.22004551e-03 9.83214496e-02] [ 1.27558923e-02 -3.24342250e-03 9.99913380e-01 8.46561198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.962557844 meters Centerline goodness [0,1] 0.24727654547840927 Centerline is valid? [False, False] Translation: X:1.92, Y:0.09, Z:0.85 [[ 9.99926318e-01 3.60430000e-03 -1.15916798e-02 1.91738906e+00] [-3.59660687e-03 9.99993298e-01 6.84454526e-04 9.40678033e-02] [ 1.15940691e-02 -6.42713379e-04 9.99932580e-01 8.47079955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.992557844 meters Centerline goodness [0,1] 0.24249557292791435 Centerline is valid? [False, False] Translation: X:1.94, Y:0.09, Z:0.85 [[ 9.99956705e-01 -5.69552060e-03 -7.35867262e-03 1.93574893e+00] [ 5.70039396e-03 9.99983547e-01 6.41455558e-04 9.07331064e-02] [ 7.35489813e-03 -6.83375119e-04 9.99972719e-01 8.47630265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.022557844 meters Centerline goodness [0,1] 0.24200254195299542 Centerline is valid? [False, False] Translation: X:1.93, Y:0.09, Z:0.85 [[ 9.99960640e-01 -5.58633196e-03 -6.89284795e-03 1.93420224e+00] [ 5.59387965e-03 9.99983775e-01 1.07621015e-03 8.83759055e-02] [ 6.88672404e-03 -1.11472555e-03 9.99975665e-01 8.48246013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.052557844 meters Centerline goodness [0,1] 0.2488113072363708 Centerline is valid? [False, False] Translation: X:1.93, Y:0.09, Z:0.85 [[ 9.99963055e-01 -5.46213595e-03 -6.63723780e-03 1.93356800e+00] [ 5.47146073e-03 9.99984069e-01 1.38757454e-03 8.69921988e-02] [ 6.62955294e-03 -1.42383867e-03 9.99977011e-01 8.48154850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.082557844 meters Centerline goodness [0,1] 0.24223001312025472 Centerline is valid? [False, False] Translation: X:1.95, Y:0.08, Z:0.85 [[ 9.99960267e-01 2.87193856e-03 -8.43901460e-03 1.95396737e+00] [-2.85882225e-03 9.99994688e-01 1.56589931e-03 8.04450338e-02] [ 8.44346694e-03 -1.54171144e-03 9.99963165e-01 8.48174104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.112557844 meters Centerline goodness [0,1] 0.24690093897736431 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:0.85 [[ 0.99993097 -0.00575695 -0.01024289 1.9347877 ] [ 0.00578836 0.99997863 0.00303978 0.08373137] [ 0.01022518 -0.00309886 0.99994292 0.84731137] [ 0. 0. 0. 1. ]] SLAMing on 172.142557844 meters Centerline goodness [0,1] 0.24563455955630664 Centerline is valid? [False, False] Translation: X:1.95, Y:0.08, Z:0.85 [[ 9.99942544e-01 1.84245536e-03 -1.05600089e-02 1.95271821e+00] [-1.83083962e-03 9.99997708e-01 1.10953617e-03 7.73269569e-02] [ 1.05620289e-02 -1.09013873e-03 9.99943626e-01 8.49910322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.172557844 meters Centerline goodness [0,1] 0.2444165783841048 Centerline is valid? [False, False] Translation: X:1.95, Y:0.08, Z:0.85 [[ 9.99941172e-01 1.86970686e-03 -1.06843764e-02 1.95281150e+00] [-1.85591199e-03 9.99997432e-01 1.30089465e-03 7.60706960e-02] [ 1.06867812e-02 -1.28098886e-03 9.99942074e-01 8.50258517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202557844 meters Centerline goodness [0,1] 0.24546773809265954 Centerline is valid? [False, False] Translation: X:1.95, Y:0.07, Z:0.85 [[ 9.99942077e-01 1.97838035e-03 -1.05796733e-02 1.95228434e+00] [-1.96176367e-03 9.99996826e-01 1.58076967e-03 7.47683843e-02] [ 1.05827671e-02 -1.55992328e-03 9.99942784e-01 8.50627471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.232557844 meters Centerline goodness [0,1] 0.24546773809265954 Centerline is valid? [False, False] Translation: X:1.95, Y:0.07, Z:0.85 [[ 9.99942077e-01 1.97838035e-03 -1.05796733e-02 1.95228434e+00] [-1.96176367e-03 9.99996826e-01 1.58076967e-03 7.47683843e-02] [ 1.05827671e-02 -1.55992328e-03 9.99942784e-01 8.50627471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262557844 meters Centerline goodness [0,1] 0.24390033623588236 Centerline is valid? [False, False] Translation: X:1.95, Y:0.07, Z:0.85 [[ 9.99943155e-01 2.05964802e-03 -1.04615377e-02 1.95190166e+00] [-2.04128013e-03 9.99996357e-01 1.76612899e-03 7.39989705e-02] [ 1.04651372e-02 -1.74467366e-03 9.99943717e-01 8.50748106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29255784400002 meters Centerline goodness [0,1] 0.24878550483609785 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:0.85 [[ 9.99915821e-01 1.01304425e-03 -1.29353934e-02 1.90619651e+00] [-9.86984769e-04 9.99997471e-01 2.02081262e-03 7.36984719e-02] [ 1.29374078e-02 -2.00787548e-03 9.99914292e-01 8.51580880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32255784400002 meters Centerline goodness [0,1] 0.2482174882988496 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:0.85 [[ 9.99914503e-01 1.05021482e-03 -1.30339783e-02 1.90652036e+00] [-1.02088468e-03 9.99996932e-01 2.25673257e-03 7.22749867e-02] [ 1.30363084e-02 -2.24323343e-03 9.99912507e-01 8.51398387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35255784400002 meters Centerline goodness [0,1] 0.24520708010559567 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:0.85 [[ 9.99912177e-01 1.15775130e-03 -1.32021754e-02 1.90727753e+00] [-1.12226991e-03 9.99995740e-01 2.69463318e-03 6.99555140e-02] [ 1.32052388e-02 -2.67958013e-03 9.99909217e-01 8.50708089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38255784400002 meters Centerline goodness [0,1] 0.24752886634009796 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:0.85 [[ 9.99911703e-01 1.19861580e-03 -1.32343834e-02 1.90763305e+00] [-1.16288193e-03 9.99995659e-01 2.70744306e-03 7.01389182e-02] [ 1.32375711e-02 -2.69181397e-03 9.99908756e-01 8.50280673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41255784400002 meters Centerline goodness [0,1] 0.24288092715518173 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:0.85 [[ 9.99909025e-01 1.41762751e-03 -1.34138499e-02 1.90832051e+00] [-1.38343575e-03 9.99995772e-01 2.55792500e-03 7.15579429e-02] [ 1.34174193e-02 -2.53913509e-03 9.99906758e-01 8.49934126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44255784400002 meters Centerline goodness [0,1] 0.2459703697267237 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:0.85 [[ 9.99906735e-01 1.31991122e-03 -1.35933222e-02 1.90886838e+00] [-1.28947389e-03 9.99996643e-01 2.24765969e-03 7.29261324e-02] [ 1.35962432e-02 -2.22992183e-03 9.99905080e-01 8.49796740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47255784400002 meters Centerline goodness [0,1] 0.2467879156176751 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:0.85 [[ 9.99903140e-01 1.22668313e-03 -1.38638103e-02 1.90974265e+00] [-1.19939094e-03 9.99997327e-01 1.97673568e-03 7.41806191e-02] [ 1.38661981e-02 -1.95991609e-03 9.99901939e-01 8.49482278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502557844 meters Centerline goodness [0,1] 0.2379610710829121 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:0.85 [[ 9.99897627e-01 1.18473867e-03 -1.42594161e-02 1.91103436e+00] [-1.15879303e-03 9.99997658e-01 1.82766907e-03 7.49910773e-02] [ 1.42615480e-02 -1.81095826e-03 9.99896659e-01 8.48998488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.532557844 meters Centerline goodness [0,1] 0.24350826617746624 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:0.85 [[ 9.99843850e-01 6.41274787e-04 -1.76596732e-02 1.86786386e+00] [-6.00875147e-04 9.99997191e-01 2.29288870e-03 7.61255851e-02] [ 1.76610940e-02 -2.28191941e-03 9.99841427e-01 8.49046486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562557844 meters Centerline goodness [0,1] 0.24783545027029408 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:0.85 [[ 9.99843304e-01 6.04854667e-04 -1.76918651e-02 1.86785306e+00] [-5.64652648e-04 9.99997248e-01 2.27725191e-03 7.59415700e-02] [ 1.76931938e-02 -2.26690531e-03 9.99840893e-01 8.49202845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.592557844 meters Centerline goodness [0,1] 0.2458898434433736 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:0.85 [[ 9.99847081e-01 5.58910362e-04 -1.74786389e-02 1.86711065e+00] [-5.21014131e-04 9.99997504e-01 2.17262394e-03 7.63305642e-02] [ 1.74798095e-02 -2.16318508e-03 9.99844876e-01 8.49575805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622557844 meters Centerline goodness [0,1] 0.246725794852797 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:0.85 [[ 9.99851688e-01 5.75628631e-04 -1.72125154e-02 1.86622984e+00] [-5.39587615e-04 9.99997653e-01 2.09845516e-03 7.69282778e-02] [ 1.72136829e-02 -2.08885627e-03 9.99849652e-01 8.49967611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.652557844 meters Centerline goodness [0,1] 0.24518886550519625 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:0.85 [[ 9.99850848e-01 5.05294543e-04 -1.72634520e-02 1.86655948e+00] [-4.72702928e-04 9.99998099e-01 1.89192517e-03 7.79474908e-02] [ 1.72643751e-02 -1.88348250e-03 9.99849186e-01 8.49638995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682557844 meters Centerline goodness [0,1] 0.2482853523218732 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:0.85 [[ 9.99849534e-01 5.41035958e-04 -1.73383285e-02 1.86685594e+00] [-5.05613015e-04 9.99997776e-01 2.04736099e-03 7.70420801e-02] [ 1.73393976e-02 -2.03828645e-03 9.99847584e-01 8.49420820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.712557844 meters Centerline goodness [0,1] 0.24575389948006932 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:0.85 [[ 9.99849598e-01 5.69624700e-04 -1.73336924e-02 1.86679288e+00] [-5.30489900e-04 9.99997300e-01 2.26224441e-03 7.57408288e-02] [ 1.73349342e-02 -2.25270882e-03 9.99847201e-01 8.49447040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.742557844 meters Centerline goodness [0,1] 0.24640501675856852 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:0.85 [[ 9.99862261e-01 6.33647538e-04 -1.65848296e-02 1.86447335e+00] [-5.90633018e-04 9.99996450e-01 2.59837601e-03 7.41764210e-02] [ 1.65864171e-02 -2.58822256e-03 9.99859086e-01 8.50131114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.772557844 meters Centerline goodness [0,1] 0.24553784687540714 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:0.85 [[ 9.99866178e-01 6.35043452e-04 -1.63469342e-02 1.86373811e+00] [-5.92705341e-04 9.99996458e-01 2.59468708e-03 7.42820769e-02] [ 1.63485240e-02 -2.58465094e-03 9.99863013e-01 8.50346146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.802557844 meters Centerline goodness [0,1] 0.24724330672698402 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:0.85 [[ 9.99865961e-01 6.05519165e-04 -1.63613322e-02 1.86388110e+00] [-5.63959788e-04 9.99996603e-01 2.54459183e-03 7.44782178e-02] [ 1.63628174e-02 -2.53502362e-03 9.99862907e-01 8.50122181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.832557844 meters Centerline goodness [0,1] 0.2464386843824875 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:0.85 [[ 9.99863330e-01 5.32533553e-04 -1.65238429e-02 1.86456389e+00] [-4.92520638e-04 9.99996937e-01 2.42550097e-03 7.49079967e-02] [ 1.65250839e-02 -2.41703114e-03 9.99860530e-01 8.49636768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.862557844 meters Centerline goodness [0,1] 0.24457336549116748 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:0.85 [[ 9.99861144e-01 4.55642692e-04 -1.66578756e-02 1.86506763e+00] [-4.18555194e-04 9.99997426e-01 2.22984279e-03 7.58655786e-02] [ 1.66588488e-02 -2.22256093e-03 9.99858762e-01 8.49357789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.892557844 meters Centerline goodness [0,1] 0.2512063519915775 Centerline is valid? [False, False] Translation: X:1.86, Y:0.08, Z:0.85 [[ 9.99862499e-01 2.87732828e-04 -1.65801230e-02 1.86484531e+00] [-2.62923937e-04 9.99998843e-01 1.49846353e-03 8.01747500e-02] [ 1.65805349e-02 -1.49389818e-03 9.99861417e-01 8.49431291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.922557844 meters Centerline goodness [0,1] 0.24854761852955898 Centerline is valid? [False, False] Translation: X:1.86, Y:0.08, Z:0.85 [[ 9.99865988e-01 6.90672799e-05 -1.63707434e-02 1.86420335e+00] [-5.58827808e-05 9.99999674e-01 8.05825687e-04 8.36564731e-02] [ 1.63707938e-02 -8.04802854e-04 9.99865666e-01 8.49703248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.952557844 meters Centerline goodness [0,1] 0.2446172898516088 Centerline is valid? [False, False] Translation: X:1.86, Y:0.09, Z:0.85 [[ 9.99871319e-01 -1.43055359e-04 -1.60413443e-02 1.86323870e+00] [ 1.44483991e-04 9.99999986e-01 8.79005009e-05 8.72523808e-02] [ 1.60413315e-02 -9.02069072e-05 9.99871325e-01 8.50028939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.982557844 meters Centerline goodness [0,1] 0.24334773218142547 Centerline is valid? [False, False] Translation: X:1.86, Y:0.09, Z:0.85 [[ 9.99879502e-01 -6.76439446e-04 -1.55088210e-02 1.86187597e+00] [ 6.57048716e-04 9.99998996e-01 -1.25536453e-03 9.38388682e-02] [ 1.55096546e-02 1.24502321e-03 9.99878943e-01 8.50132374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.012557844 meters Centerline goodness [0,1] 0.2430557056700028 Centerline is valid? [False, False] Translation: X:1.86, Y:0.10, Z:0.85 [[ 9.99882606e-01 -9.12096691e-04 -1.52951418e-02 1.86141640e+00] [ 8.85254129e-04 9.99998056e-01 -1.76165170e-03 9.60484616e-02] [ 1.52967189e-02 1.74790480e-03 9.99881471e-01 8.49973877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04255784400002 meters Centerline goodness [0,1] 0.2474875735278158 Centerline is valid? [False, False] Translation: X:1.86, Y:0.10, Z:0.85 [[ 9.99885811e-01 -1.13673803e-03 -1.50689081e-02 1.86094956e+00] [ 1.10491810e-03 9.99997143e-01 -2.11978548e-03 9.75012637e-02] [ 1.50712746e-02 2.10289351e-03 9.99884211e-01 8.49751255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07255784400002 meters Centerline goodness [0,1] 0.24476402936908448 Centerline is valid? [False, False] Translation: X:1.86, Y:0.10, Z:0.85 [[ 9.99886741e-01 -1.35258828e-03 -1.49891582e-02 1.86081393e+00] [ 1.31746121e-03 9.99996364e-01 -2.35312516e-03 9.84050142e-02] [ 1.49922865e-02 2.33311102e-03 9.99884887e-01 8.49561036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10255784400002 meters Centerline goodness [0,1] 0.23999482769767888 Centerline is valid? [False, False] Translation: X:1.86, Y:0.10, Z:0.85 [[ 0.99986874 -0.00218 -0.01605445 1.86443091] [ 0.00213117 0.99999305 -0.00305852 0.10042763] [ 0.01606101 0.0030239 0.99986644 0.84793872] [ 0. 0. 0. 1. ]] SLAMing on 173.13255784400002 meters Centerline goodness [0,1] 0.24371134020618557 Centerline is valid? [False, False] Translation: X:1.87, Y:0.10, Z:0.85 [[ 0.99985776 -0.00241042 -0.01669259 1.86660652] [ 0.00235611 0.99999187 -0.00327257 0.1010197 ] [ 0.01670034 0.00323277 0.99985531 0.84688751] [ 0. 0. 0. 1. ]] SLAMing on 173.16255784400002 meters Centerline goodness [0,1] 0.23892220736074554 Centerline is valid? [False, False] Translation: X:1.87, Y:0.10, Z:0.85 [[ 0.99984991 -0.00258302 -0.01713121 1.86820387] [ 0.00252452 0.99999091 -0.00343586 0.10153365] [ 0.01713993 0.00339209 0.99984735 0.84597447] [ 0. 0. 0. 1. ]] SLAMing on 173.19255784400002 meters Centerline goodness [0,1] 0.24397094643523298 Centerline is valid? [False, False] Translation: X:1.82, Y:0.10, Z:0.85 [[ 0.99979363 -0.0032787 -0.02004882 1.82372203] [ 0.00321496 0.99998968 -0.00321031 0.10389267] [ 0.02005914 0.00314519 0.99979385 0.8459737 ] [ 0. 0. 0. 1. ]] SLAMing on 173.22255784400002 meters Centerline goodness [0,1] 0.2431294230017801 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:0.85 [[ 0.99976003 -0.01152492 -0.01862948 1.84393311] [ 0.01148387 0.99993139 -0.00230887 0.10813757] [ 0.01865481 0.00209438 0.99982379 0.84726881] [ 0. 0. 0. 1. ]] SLAMing on 173.252557844 meters Centerline goodness [0,1] 0.2405167022492506 Centerline is valid? [False, False] Translation: X:1.86, Y:0.10, Z:0.85 [[ 0.99984849 -0.00322285 -0.01710597 1.86205516] [ 0.00315999 0.99998816 -0.00370037 0.10383172] [ 0.01711769 0.00364575 0.99984683 0.84852878] [ 0. 0. 0. 1. ]] SLAMing on 173.282557844 meters Centerline goodness [0,1] 0.24388242154597095 Centerline is valid? [False, False] Translation: X:1.86, Y:0.10, Z:0.85 [[ 0.99985099 -0.00331773 -0.01694065 1.8615871 ] [ 0.00325195 0.99998707 -0.00390881 0.10469783] [ 0.0169534 0.00385314 0.99984886 0.84861979] [ 0. 0. 0. 1. ]] SLAMing on 173.312557844 meters Centerline goodness [0,1] 0.24876647441942068 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:0.85 [[ 0.99983815 0.00536424 -0.01717267 1.83817549] [-0.00544787 0.99997351 -0.00482687 0.10659907] [ 0.01714632 0.00491964 0.99984089 0.84816609] [ 0. 0. 0. 1. ]] SLAMing on 173.342557844 meters Centerline goodness [0,1] 0.24559300982720678 Centerline is valid? [False, False] Translation: X:1.86, Y:0.11, Z:0.85 [[ 9.99848950e-01 -1.45508057e-03 -1.73193633e-02 1.85618929e+00] [ 1.39684008e-03 9.99993331e-01 -3.37436029e-03 1.13282397e-01] [ 1.73241577e-02 3.34965821e-03 9.99844315e-01 8.50822532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372557844 meters Centerline goodness [0,1] 0.246805355663134 Centerline is valid? [False, False] Translation: X:1.86, Y:0.12, Z:0.85 [[ 9.99847716e-01 -1.61602224e-03 -1.73762304e-02 1.85651891e+00] [ 1.54728978e-03 9.99990929e-01 -3.96826155e-03 1.16299405e-01] [ 1.73824855e-02 3.94077119e-03 9.99841147e-01 8.50599117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402557844 meters Centerline goodness [0,1] 0.23977643022076434 Centerline is valid? [False, False] Translation: X:1.86, Y:0.12, Z:0.85 [[ 9.99844396e-01 -1.76050790e-03 -1.75523391e-02 1.85713466e+00] [ 1.68152297e-03 9.99988399e-01 -4.51370934e-03 1.19045275e-01] [ 1.75600819e-02 4.48349232e-03 9.99835757e-01 8.50394504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.432557844 meters Centerline goodness [0,1] 0.24562089798756903 Centerline is valid? [False, False] Translation: X:1.86, Y:0.12, Z:0.85 [[ 0.9998357 -0.00199072 -0.01801687 1.85862588] [ 0.00189306 0.99998343 -0.00543597 0.12384646] [ 0.0180274 0.00540097 0.99982291 0.84991522] [ 0. 0. 0. 1. ]] SLAMing on 173.462557844 meters Centerline goodness [0,1] 0.24586935113250907 Centerline is valid? [False, False] Translation: X:1.86, Y:0.13, Z:0.85 [[ 0.99983315 -0.00214808 -0.01813983 1.85913861] [ 0.0020428 0.99998097 -0.00582045 0.12564908] [ 0.01815199 0.00578242 0.99981852 0.84959164] [ 0. 0. 0. 1. ]] SLAMing on 173.492557844 meters Centerline goodness [0,1] 0.24160492222366658 Centerline is valid? [False, False] Translation: X:1.86, Y:0.13, Z:0.85 [[ 0.9998317 -0.00224824 -0.01820784 1.85939389] [ 0.00213859 0.99997947 -0.0060396 0.1266454 ] [ 0.01822104 0.00599964 0.99981598 0.8494385 ] [ 0. 0. 0. 1. ]] SLAMing on 173.522557844 meters Centerline goodness [0,1] 0.24384080859128232 Centerline is valid? [False, False] Translation: X:1.86, Y:0.13, Z:0.85 [[ 0.99983101 -0.00230105 -0.0182387 1.85926287] [ 0.00219152 0.99997946 -0.00602297 0.1266033 ] [ 0.01825219 0.00598199 0.99981552 0.84963149] [ 0. 0. 0. 1. ]] SLAMing on 173.552557844 meters Centerline goodness [0,1] 0.2436688979874786 Centerline is valid? [False, False] Translation: X:1.86, Y:0.13, Z:0.85 [[ 0.99982835 -0.00226136 -0.01838898 1.8594579 ] [ 0.00215645 0.9999813 -0.00572307 0.12518475] [ 0.01840157 0.00568243 0.99981453 0.84978837] [ 0. 0. 0. 1. ]] SLAMing on 173.582557844 meters Centerline goodness [0,1] 0.24474565945781301 Centerline is valid? [False, False] Translation: X:1.86, Y:0.12, Z:0.85 [[ 0.99982491 -0.00223101 -0.01857878 1.85993328] [ 0.00213179 0.99998337 -0.00535873 0.12324521] [ 0.01859043 0.00531819 0.99981304 0.84965464] [ 0. 0. 0. 1. ]] SLAMing on 173.612557844 meters Centerline goodness [0,1] 0.2456320433301301 Centerline is valid? [False, False] Translation: X:1.86, Y:0.12, Z:0.85 [[ 0.99982773 -0.00268427 -0.01836573 1.85963856] [ 0.0025883 0.99998288 -0.00524754 0.12085858] [ 0.0183795 0.0051991 0.99981757 0.84915671] [ 0. 0. 0. 1. ]] SLAMing on 173.642557844 meters Centerline goodness [0,1] 0.249029200763476 Centerline is valid? [False, False] Translation: X:1.86, Y:0.12, Z:0.85 [[ 0.99983194 -0.00263377 -0.01814287 1.85894121] [ 0.00254146 0.99998372 -0.00510917 0.12015874] [ 0.01815604 0.0050622 0.99982235 0.84937453] [ 0. 0. 0. 1. ]] SLAMing on 173.672557844 meters Centerline goodness [0,1] 0.24511803506335705 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:0.85 [[ 0.99981716 -0.01036786 -0.01606688 1.87800119] [ 0.01030692 0.99993939 -0.00387108 0.12328592] [ 0.01610604 0.00370478 0.99986343 0.85074438] [ 0. 0. 0. 1. ]] SLAMing on 173.702557844 meters Centerline goodness [0,1] 0.2468859372622334 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:0.85 [[ 9.99855047e-01 -6.50813821e-03 -1.57330276e-02 1.87653789e+00] [ 6.50557697e-03 9.99978816e-01 -2.13968271e-04 1.23936586e-01] [ 1.57340868e-02 1.11584833e-04 9.99876205e-01 8.51536930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.732557844 meters Centerline goodness [0,1] 0.24377562028047461 Centerline is valid? [False, False] Translation: X:1.90, Y:0.12, Z:0.85 [[ 9.99879250e-01 2.04324261e-03 -1.54048957e-02 1.89640439e+00] [-2.06596145e-03 9.99996802e-01 -1.45901106e-03 1.20680646e-01] [ 1.54018653e-02 1.49066080e-03 9.99880273e-01 8.52854409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762557844 meters Centerline goodness [0,1] 0.24441081081081084 Centerline is valid? [False, False] Translation: X:1.90, Y:0.12, Z:0.85 [[ 9.99879565e-01 1.96501094e-03 -1.53945849e-02 1.89635628e+00] [-1.99120565e-03 9.99996596e-01 -1.68641062e-03 1.21778308e-01] [ 1.53912187e-02 1.71686131e-03 9.99880074e-01 8.52903162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79255784400002 meters Centerline goodness [0,1] 0.24670760018224813 Centerline is valid? [False, False] Translation: X:1.90, Y:0.12, Z:0.85 [[ 9.99881382e-01 1.94049268e-03 -1.52792843e-02 1.89591759e+00] [-1.96856223e-03 9.99996402e-01 -1.82227273e-03 1.22596454e-01] [ 1.52756932e-02 1.85213480e-03 9.99881604e-01 8.53191379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82255784400002 meters Centerline goodness [0,1] 0.2460565781239885 Centerline is valid? [False, False] Translation: X:1.89, Y:0.12, Z:0.85 [[ 9.99887401e-01 1.88220327e-03 -1.48876713e-02 1.89466220e+00] [-1.91091161e-03 9.99996342e-01 -1.91433956e-03 1.22870358e-01] [ 1.48840137e-02 1.94257303e-03 9.99887340e-01 8.53621115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85255784400002 meters Centerline goodness [0,1] 0.246083466401968 Centerline is valid? [False, False] Translation: X:1.89, Y:0.12, Z:0.85 [[ 9.99887957e-01 1.87739211e-03 -1.48508589e-02 1.89459822e+00] [-1.90479436e-03 9.99996509e-01 -1.83123330e-03 1.22202623e-01] [ 1.48473691e-02 1.85931596e-03 9.99888043e-01 8.53487718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88255784400002 meters Centerline goodness [0,1] 0.244574236513718 Centerline is valid? [False, False] Translation: X:1.89, Y:0.12, Z:0.85 [[ 9.99887133e-01 1.92189417e-03 -1.49006064e-02 1.89484784e+00] [-1.94652411e-03 9.99996763e-01 -1.63862211e-03 1.21157085e-01] [ 1.48974089e-02 1.66744155e-03 9.99887637e-01 8.53213056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91255784400002 meters Centerline goodness [0,1] 0.24905866900175133 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:0.85 [[ 9.99847364e-01 -6.66735183e-03 -1.61491523e-02 1.87505193e+00] [ 6.66130468e-03 9.99977722e-01 -4.28218800e-04 1.25973479e-01] [ 1.61516476e-02 3.20579015e-04 9.99869502e-01 8.52176775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94255784400002 meters Centerline goodness [0,1] 0.25141980046047585 Centerline is valid? [False, False] Translation: X:1.87, Y:0.13, Z:0.85 [[ 9.99849304e-01 -6.55404272e-03 -1.60752789e-02 1.87468157e+00] [ 6.55135385e-03 9.99978515e-01 -2.19922745e-04 1.25507020e-01] [ 1.60763749e-02 1.14574763e-04 9.99870760e-01 8.52395918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97255784400002 meters Centerline goodness [0,1] 0.24819518135165697 Centerline is valid? [False, False] Translation: X:1.89, Y:0.12, Z:0.85 [[ 9.99880706e-01 1.32551517e-03 -1.53888680e-02 1.89301083e+00] [-1.35134292e-03 9.99997696e-01 -1.66806314e-03 1.19952506e-01] [ 1.53866215e-02 1.68865978e-03 9.99880193e-01 8.53902968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002557844 meters Centerline goodness [0,1] 0.2486461699711765 Centerline is valid? [False, False] Translation: X:1.89, Y:0.12, Z:0.85 [[ 9.99878834e-01 1.28154384e-03 -1.55137268e-02 1.89350587e+00] [-1.30768185e-03 9.99997742e-01 -1.67480440e-03 1.19713240e-01] [ 1.55115454e-02 1.69488849e-03 9.99878252e-01 8.53577359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.032557844 meters Centerline goodness [0,1] 0.24476761748586717 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99843334e-01 -7.23399368e-03 -1.61547568e-02 1.91596945e+00] [ 7.21058689e-03 9.99972868e-01 -1.50668739e-03 1.22705983e-01] [ 1.61652178e-02 1.38996607e-03 9.99868368e-01 8.53730464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062557844 meters Centerline goodness [0,1] 0.2452348499599749 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99844617e-01 -7.27329307e-03 -1.60574495e-02 1.91575323e+00] [ 7.24863821e-03 9.99972459e-01 -1.59308396e-03 1.23117722e-01] [ 1.60685943e-02 1.47644178e-03 9.99869802e-01 8.53638254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.092557844 meters Centerline goodness [0,1] 0.2452348499599749 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99844617e-01 -7.27329307e-03 -1.60574495e-02 1.91575323e+00] [ 7.24863821e-03 9.99972459e-01 -1.59308396e-03 1.23117722e-01] [ 1.60685943e-02 1.47644178e-03 9.99869802e-01 8.53638254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122557844 meters Centerline goodness [0,1] 0.24897415749956342 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99846310e-01 -7.28700830e-03 -1.59453807e-02 1.91536222e+00] [ 7.26151209e-03 9.99972263e-01 -1.65628562e-03 1.23602060e-01] [ 1.59570078e-02 1.54024349e-03 9.99871493e-01 8.53766054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.152557844 meters Centerline goodness [0,1] 0.24932361668703085 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99846887e-01 -7.24844611e-03 -1.59267900e-02 1.91528615e+00] [ 7.22539755e-03 9.99972765e-01 -1.50422330e-03 1.22975509e-01] [ 1.59372595e-02 1.38891560e-03 9.99872029e-01 8.53715191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182557844 meters Centerline goodness [0,1] 0.24584392724427928 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99831323e-01 -7.75908919e-03 -1.66469792e-02 1.91734851e+00] [ 7.73779579e-03 9.99969161e-01 -1.34314448e-03 1.20323498e-01] [ 1.66568874e-02 1.21410699e-03 9.99860527e-01 8.53040044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.212557844 meters Centerline goodness [0,1] 0.24212071496416543 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99821732e-01 -7.86893205e-03 -1.71634544e-02 1.91891278e+00] [ 7.85340032e-03 9.99968689e-01 -9.72144486e-04 1.17744427e-01] [ 1.71705668e-02 8.37179705e-04 9.99852224e-01 8.52402754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.242557844 meters Centerline goodness [0,1] 0.23837884325951408 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99817207e-01 -7.80165669e-03 -1.74552606e-02 1.91995564e+00] [ 7.79398329e-03 9.99969498e-01 -5.07590203e-04 1.15187753e-01] [ 1.74586882e-02 3.71451410e-04 9.99847516e-01 8.51766070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.272557844 meters Centerline goodness [0,1] 0.24564872558179962 Centerline is valid? [False, False] Translation: X:1.90, Y:0.11, Z:0.85 [[ 9.99844161e-01 2.53586896e-04 -1.76518859e-02 1.90020997e+00] [-2.78637719e-04 9.99998958e-01 -1.41671350e-03 1.10123213e-01] [ 1.76515083e-02 1.42141120e-03 9.99843190e-01 8.49306140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.302557844 meters Centerline goodness [0,1] 0.24394725464764377 Centerline is valid? [False, False] Translation: X:1.90, Y:0.11, Z:0.85 [[ 9.99843916e-01 4.04088420e-04 -1.76629754e-02 1.90021265e+00] [-4.24497062e-04 9.99999247e-01 -1.15171361e-03 1.09191397e-01] [ 1.76624967e-02 1.15903173e-03 9.99843334e-01 8.49350087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.332557844 meters Centerline goodness [0,1] 0.24422106198141202 Centerline is valid? [False, False] Translation: X:1.90, Y:0.11, Z:0.85 [[ 9.99846243e-01 4.40802104e-04 -1.75298649e-02 1.89956963e+00] [-4.62696156e-04 9.99999118e-01 -1.24492106e-03 1.09876449e-01] [ 1.75293007e-02 1.25284064e-03 9.99845565e-01 8.49988257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.362557844 meters Centerline goodness [0,1] 0.2413748490598585 Centerline is valid? [False, False] Translation: X:1.90, Y:0.11, Z:0.85 [[ 9.99841138e-01 9.74795146e-04 -1.77974112e-02 1.90026866e+00] [-9.97111453e-04 9.99998728e-01 -1.24507686e-03 1.11648412e-01] [ 1.77961749e-02 1.26262507e-03 9.99840838e-01 8.50071141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.392557844 meters Centerline goodness [0,1] 0.24618503662364843 Centerline is valid? [False, False] Translation: X:1.90, Y:0.11, Z:0.85 [[ 9.99838426e-01 9.01779667e-04 -1.79529634e-02 1.90091845e+00] [-9.30813681e-04 9.99998272e-01 -1.60893639e-03 1.13477582e-01] [ 1.79514815e-02 1.62538730e-03 9.99837538e-01 8.49723392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.422557844 meters Centerline goodness [0,1] 0.24529936747248937 Centerline is valid? [False, False] Translation: X:1.90, Y:0.12, Z:0.85 [[ 9.99838027e-01 8.26799698e-04 -1.79787647e-02 1.90112925e+00] [-8.61854391e-04 9.99997743e-01 -1.94212243e-03 1.15155999e-01] [ 1.79771184e-02 1.95730294e-03 9.99836483e-01 8.49574284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.452557844 meters Centerline goodness [0,1] 0.2491796105884927 Centerline is valid? [False, False] Translation: X:1.90, Y:0.12, Z:0.85 [[ 9.99843332e-01 7.58839484e-04 -1.76843473e-02 1.90011088e+00] [-7.97801368e-04 9.99997270e-01 -2.19623403e-03 1.16387849e-01] [ 1.76826325e-02 2.20999854e-03 9.99841208e-01 8.50089568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482557844 meters Centerline goodness [0,1] 0.24757344657249325 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99852768e-01 -7.07330085e-03 -1.56336394e-02 1.91905311e+00] [ 7.05782306e-03 9.99974547e-01 -1.04498302e-03 1.19631738e-01] [ 1.56406329e-02 9.34489706e-04 9.99877241e-01 8.52015271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.512557844 meters Centerline goodness [0,1] 0.24608544784211672 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99856727e-01 -7.13208658e-03 -1.53511557e-02 1.91815462e+00] [ 7.11514859e-03 9.99974017e-01 -1.15770316e-03 1.20165185e-01] [ 1.53590137e-02 1.04831154e-03 9.99881494e-01 8.52260577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54255784400002 meters Centerline goodness [0,1] 0.24337458692412361 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99854588e-01 -7.17544669e-03 -1.54698208e-02 1.91885790e+00] [ 7.15962825e-03 9.99973789e-01 -1.07767625e-03 1.19556714e-01] [ 1.54771481e-02 9.66761375e-04 9.99879754e-01 8.51489840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57255784400002 meters Centerline goodness [0,1] 0.2461912409392769 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99850672e-01 -7.21265110e-03 -1.57038515e-02 1.91977421e+00] [ 7.19875354e-03 9.99973646e-01 -9.41326476e-04 1.18678121e-01] [ 1.57102271e-02 8.28137752e-04 9.99876244e-01 8.50792826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60255784400002 meters Centerline goodness [0,1] 0.24798729274555031 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99846907e-01 -7.31106807e-03 -1.58968939e-02 1.92040613e+00] [ 7.29984888e-03 9.99973064e-01 -7.63660253e-04 1.17759063e-01] [ 1.59020489e-02 6.47498419e-04 9.99873345e-01 8.50347604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63255784400002 meters Centerline goodness [0,1] 0.24800907642964676 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99848345e-01 -7.29346249e-03 -1.58143173e-02 1.92008256e+00] [ 7.28356308e-03 9.99973241e-01 -6.83483512e-04 1.17494307e-01] [ 1.58188790e-02 5.68195281e-04 9.99874712e-01 8.50482455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66255784400002 meters Centerline goodness [0,1] 0.2483227324213645 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.85 [[ 9.99849057e-01 -7.30917042e-03 -1.57619401e-02 1.91985190e+00] [ 7.29928417e-03 9.99973125e-01 -6.84661198e-04 1.17457661e-01] [ 1.57665209e-02 5.69506973e-04 9.99875538e-01 8.50632674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69255784400002 meters Centerline goodness [0,1] 0.24479650722977497 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99892898e-01 7.10563337e-04 -1.46180265e-02 1.93832632e+00] [-7.40724357e-04 9.99997608e-01 -2.05796501e-03 1.11699475e-01] [ 1.46165292e-02 2.06857253e-03 9.99891033e-01 8.51621420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72255784400002 meters Centerline goodness [0,1] 0.24626881836889414 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99893360e-01 6.17764072e-04 -1.45906312e-02 1.93863636e+00] [-6.49435610e-04 9.99997443e-01 -2.16603806e-03 1.11727138e-01] [ 1.45892558e-02 2.17528275e-03 9.99891205e-01 8.50950025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752557844 meters Centerline goodness [0,1] 0.24425905407460513 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99892536e-01 5.99328368e-04 -1.46477535e-02 1.93904676e+00] [-6.32016932e-04 9.99997320e-01 -2.22711638e-03 1.12076161e-01] [ 1.46463794e-02 2.23613468e-03 9.99890236e-01 8.50508463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782557844 meters Centerline goodness [0,1] 0.2473895757787583 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99892318e-01 5.91776550e-04 -1.46629396e-02 1.93914981e+00] [-6.25337932e-04 9.99997195e-01 -2.28437850e-03 1.12456581e-01] [ 1.46615466e-02 2.29330180e-03 9.99889884e-01 8.50394755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.812557844 meters Centerline goodness [0,1] 0.24541378787550627 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99892464e-01 5.33255510e-04 -1.46552150e-02 1.93889259e+00] [-5.69040200e-04 9.99996867e-01 -2.43771028e-03 1.13095041e-01] [ 1.46538692e-02 2.44578755e-03 9.99889635e-01 8.50872814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842557844 meters Centerline goodness [0,1] 0.23974763406940058 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.85 [[ 9.99868701e-01 -7.42582613e-03 -1.44027236e-02 1.95873008e+00] [ 7.40523547e-03 9.99971482e-01 -1.48244125e-03 1.15859777e-01] [ 1.44133213e-02 1.37559105e-03 9.99895176e-01 8.52655291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.872557844 meters Centerline goodness [0,1] 0.24681386916780645 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99887826e-01 1.03193524e-03 -1.49422128e-02 1.93802391e+00] [-1.06888902e-03 9.99996390e-01 -2.46533806e-03 1.13900071e-01] [ 1.49396147e-02 2.48103308e-03 9.99885320e-01 8.51013345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902557844 meters Centerline goodness [0,1] 0.24724361218060908 Centerline is valid? [False, False] Translation: X:1.94, Y:0.11, Z:0.85 [[ 9.99883649e-01 9.64612813e-04 -1.52235782e-02 1.93906762e+00] [-1.00521290e-03 9.99995958e-01 -2.65949486e-03 1.14877423e-01] [ 1.52209512e-02 2.67448837e-03 9.99880578e-01 8.50475047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.932557844 meters Centerline goodness [0,1] 0.24194974657608115 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.85 [[ 9.99852086e-01 -4.86290877e-03 -1.64971926e-02 1.96445286e+00] [ 4.85659798e-03 9.99988117e-01 -4.22578237e-04 1.17862739e-01] [ 1.64990516e-02 3.42395500e-04 9.99863823e-01 8.49679616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.962557844 meters Centerline goodness [0,1] 0.24672132930250767 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.85 [[ 9.99852524e-01 -4.96565041e-03 -1.64399498e-02 1.96432839e+00] [ 4.95423980e-03 9.99987458e-01 -7.34732374e-04 1.19404975e-01] [ 1.64433920e-02 6.53176565e-04 9.99864585e-01 8.49710306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.992557844 meters Centerline goodness [0,1] 0.25153830993934356 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.85 [[ 9.99851649e-01 -5.05246502e-03 -1.64667087e-02 1.96445100e+00] [ 5.03540852e-03 9.99986742e-01 -1.07711434e-03 1.21214438e-01] [ 1.64719324e-02 9.94037940e-04 9.99863834e-01 8.49693049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.022557844 meters Centerline goodness [0,1] 0.24619902120717785 Centerline is valid? [False, False] Translation: X:1.97, Y:0.12, Z:0.85 [[ 9.99847551e-01 -5.06048007e-03 -1.67112683e-02 1.96531130e+00] [ 5.03834719e-03 9.99986374e-01 -1.36626439e-03 1.23041112e-01] [ 1.67179545e-02 1.28185893e-03 9.99859424e-01 8.49386301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.052557844 meters Centerline goodness [0,1] 0.24041586843747986 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:0.85 [[ 0.99986271 0.00415453 -0.01604047 1.98678918] [-0.00419108 0.9999887 -0.00224549 0.12245558] [ 0.01603096 0.00231241 0.99986882 0.85002241] [ 0. 0. 0. 1. ]] SLAMing on 175.082557844 meters Centerline goodness [0,1] 0.24601909088923357 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.85 [[ 9.99866847e-01 -2.30660289e-03 -1.61544735e-02 1.96313610e+00] [ 2.30960511e-03 9.99997319e-01 1.67190061e-04 1.29051749e-01] [ 1.61540446e-02 -2.04478254e-04 9.99869494e-01 8.51093770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.112557844 meters Centerline goodness [0,1] 0.24676428291279906 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.85 [[ 9.99868776e-01 -2.42830351e-03 -1.60167013e-02 1.96253242e+00] [ 2.42370335e-03 9.99997016e-01 -3.06614988e-04 1.31450320e-01] [ 1.60173980e-02 2.67755020e-04 9.99871677e-01 8.51665096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142557844 meters Centerline goodness [0,1] 0.24714108344769004 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.85 [[ 9.99875818e-01 -2.59686958e-03 -1.55436601e-02 1.96091058e+00] [ 2.58244764e-03 9.99996216e-01 -9.47833749e-04 1.34879070e-01] [ 1.55460627e-02 9.07575356e-04 9.99878741e-01 8.52457783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.172557844 meters Centerline goodness [0,1] 0.24652377325644648 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:0.85 [[ 9.99877677e-01 -2.67358575e-03 -1.54104755e-02 1.96060040e+00] [ 2.65668379e-03 9.99995847e-01 -1.11715097e-03 1.35650508e-01] [ 1.54133983e-02 1.07607356e-03 9.99880627e-01 8.52386191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.202557844 meters Centerline goodness [0,1] 0.24644838464048735 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:0.85 [[ 9.99876613e-01 -2.73860985e-03 -1.54679871e-02 1.96084989e+00] [ 2.71973530e-03 9.99995531e-01 -1.24113752e-03 1.36192395e-01] [ 1.54713170e-02 1.19891555e-03 9.99879593e-01 8.52179809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.232557844 meters Centerline goodness [0,1] 0.24577706370228847 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:0.85 [[ 9.99874610e-01 -2.78870678e-03 -1.55880608e-02 1.96128574e+00] [ 2.76858244e-03 9.99995306e-01 -1.31244022e-03 1.36599106e-01] [ 1.55916476e-02 1.26911882e-03 9.99877637e-01 8.51907108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.262557844 meters Centerline goodness [0,1] 0.24176988089834206 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:0.85 [[ 9.99871901e-01 -2.94266731e-03 -1.57328460e-02 1.96178729e+00] [ 2.91797572e-03 9.99994475e-01 -1.59215449e-03 1.37999029e-01] [ 1.57374442e-02 1.54604247e-03 9.99874963e-01 8.51675260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29255784400002 meters Centerline goodness [0,1] 0.24519742125941524 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:0.85 [[ 9.99872036e-01 -3.04299927e-03 -1.57051624e-02 1.96164890e+00] [ 3.01444960e-03 9.99993762e-01 -1.84120559e-03 1.39199694e-01] [ 1.57106672e-02 1.79362756e-03 9.99874971e-01 8.51830486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32255784400002 meters Centerline goodness [0,1] 0.24619613445014388 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:0.85 [[ 0.99987377 -0.00310316 -0.01558272 1.96116572] [ 0.0030713 0.99999314 -0.00206825 0.14041251] [ 0.01558903 0.00202013 0.99987644 0.85215973] [ 0. 0. 0. 1. ]] SLAMing on 175.35255784400002 meters Centerline goodness [0,1] 0.24635704232976074 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:0.85 [[ 0.99987673 -0.00325195 -0.0153604 1.96035533] [ 0.00321113 0.99999125 -0.00268145 0.14349982] [ 0.01536899 0.0026318 0.99987843 0.85273999] [ 0. 0. 0. 1. ]] SLAMing on 175.38255784400002 meters Centerline goodness [0,1] 0.24728567706071403 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:0.85 [[ 0.99987555 -0.00338807 -0.01540819 1.96065121] [ 0.00334053 0.99998959 -0.00310969 0.14556191] [ 0.01541857 0.00305783 0.99987645 0.85253507] [ 0. 0. 0. 1. ]] SLAMing on 175.41255784400002 meters Centerline goodness [0,1] 0.248767398228544 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:0.85 [[ 0.99987119 -0.00352675 -0.01565778 1.9614898 ] [ 0.0034714 0.99998763 -0.0035611 0.14777234] [ 0.01567014 0.00350629 0.99987107 0.85224494] [ 0. 0. 0. 1. ]] SLAMing on 175.44255784400002 meters Centerline goodness [0,1] 0.24467231773148046 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:0.85 [[ 0.99986229 -0.00360658 -0.01619862 1.96303009] [ 0.00354076 0.99998537 -0.00408996 0.15058626] [ 0.01621314 0.00403204 0.99986043 0.85200339] [ 0. 0. 0. 1. ]] SLAMing on 175.47255784400002 meters Centerline goodness [0,1] 0.24654463139107152 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:0.85 [[ 0.99986122 -0.00364791 -0.01625535 1.96332099] [ 0.00357954 0.99998463 -0.00423346 0.15137129] [ 0.01627054 0.00417469 0.99985891 0.85176162] [ 0. 0. 0. 1. ]] SLAMing on 175.502557844 meters Centerline goodness [0,1] 0.24941883415939292 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:0.85 [[ 0.99986235 -0.00368965 -0.01617614 1.9632038 ] [ 0.00361905 0.99998381 -0.00439146 0.15224508] [ 0.01619208 0.00433231 0.99985951 0.85165045] [ 0. 0. 0. 1. ]] SLAMing on 175.532557844 meters Centerline goodness [0,1] 0.24829790494537973 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:0.85 [[ 0.99986299 -0.00374758 -0.01612288 1.96310331] [ 0.00367394 0.99998269 -0.00459479 0.15332524] [ 0.01613982 0.00453493 0.99985946 0.85164616] [ 0. 0. 0. 1. ]] SLAMing on 175.562557844 meters Centerline goodness [0,1] 0.24195324137037755 Centerline is valid? [False, False] Translation: X:1.98, Y:0.15, Z:0.85 [[ 0.99987944 0.00441695 -0.01488602 1.9828709 ] [-0.00450427 0.99997282 -0.00583753 0.14972333] [ 0.01485984 0.00590388 0.99987216 0.85230188] [ 0. 0. 0. 1. ]] SLAMing on 175.592557844 meters Centerline goodness [0,1] 0.24494420823171392 Centerline is valid? [False, False] Translation: X:1.98, Y:0.15, Z:0.85 [[ 0.99988413 0.00422664 -0.01462422 1.98197995] [-0.00432481 0.99996829 -0.00668756 0.15415186] [ 0.01459549 0.00675003 0.9998707 0.85290765] [ 0. 0. 0. 1. ]] SLAMing on 175.622557844 meters Centerline goodness [0,1] 0.2451525954264846 Centerline is valid? [False, False] Translation: X:1.98, Y:0.16, Z:0.85 [[ 0.99988467 0.00404974 -0.01463687 1.98199199] [-0.00415683 0.99996477 -0.00729296 0.15727951] [ 0.01460682 0.00735297 0.99986628 0.85306858] [ 0. 0. 0. 1. ]] SLAMing on 175.652557844 meters Centerline goodness [0,1] 0.2507849379734328 Centerline is valid? [False, False] Translation: X:1.98, Y:0.16, Z:0.85 [[ 0.99988676 0.00393645 -0.01452506 1.98200613] [-0.004056 0.99995807 -0.00821035 0.16258225] [ 0.01449213 0.00826833 0.9998608 0.8528607 ] [ 0. 0. 0. 1. ]] SLAMing on 175.682557844 meters Centerline goodness [0,1] 0.24894496315570813 Centerline is valid? [False, False] Translation: X:1.98, Y:0.16, Z:0.85 [[ 0.99988782 0.00377998 -0.0144935 1.98214953] [-0.00390559 0.99995497 -0.00864851 0.16465616] [ 0.01446015 0.00870415 0.99985756 0.85251563] [ 0. 0. 0. 1. ]] SLAMing on 175.712557844 meters Centerline goodness [0,1] 0.25214276295547444 Centerline is valid? [False, False] Translation: X:1.98, Y:0.17, Z:0.85 [[ 0.99988973 0.00362857 -0.01440024 1.98209331] [-0.00375859 0.99995232 -0.00901261 0.16630113] [ 0.01436685 0.00906574 0.99985569 0.85223341] [ 0. 0. 0. 1. ]] SLAMing on 175.742557844 meters Centerline goodness [0,1] 0.24830408332968623 Centerline is valid? [False, False] Translation: X:1.98, Y:0.17, Z:0.85 [[ 0.99989175 0.00351263 -0.01428797 1.98193841] [-0.0036448 0.99995071 -0.00923498 0.1672354 ] [ 0.01425483 0.00928606 0.99985527 0.85200386] [ 0. 0. 0. 1. ]] SLAMing on 175.772557844 meters Centerline goodness [0,1] 0.24824442796702573 Centerline is valid? [False, False] Translation: X:1.98, Y:0.17, Z:0.85 [[ 0.99988727 0.00322877 -0.01466395 1.98322653] [-0.00337012 0.999948 -0.00962473 0.16876339] [ 0.01463211 0.00967306 0.99984615 0.8513363 ] [ 0. 0. 0. 1. ]] SLAMing on 175.802557844 meters Centerline goodness [0,1] 0.24639200017466867 Centerline is valid? [False, False] Translation: X:1.98, Y:0.17, Z:0.85 [[ 0.99988137 0.00311865 -0.01508347 1.9845605 ] [-0.00326604 0.99994706 -0.00975712 0.16930316] [ 0.01505224 0.00980523 0.99983863 0.85078912] [ 0. 0. 0. 1. ]] SLAMing on 175.832557844 meters Centerline goodness [0,1] 0.24225309443434606 Centerline is valid? [False, False] Translation: X:2.01, Y:0.17, Z:0.85 [[ 0.9998575 -0.00508323 -0.01609755 2.00603813] [ 0.00494326 0.99994973 -0.00872339 0.17273997] [ 0.01614109 0.00864257 0.99983237 0.85261129] [ 0. 0. 0. 1. ]] SLAMing on 175.862557844 meters Centerline goodness [0,1] 0.2493262341418524 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.85 [[ 0.99984322 0.00343735 -0.01737002 1.98594042] [-0.00360368 0.99994787 -0.00955336 0.17033052] [ 0.01733628 0.00961446 0.99980349 0.85153805] [ 0. 0. 0. 1. ]] SLAMing on 175.892557844 meters Centerline goodness [0,1] 0.24251011269982048 Centerline is valid? [False, False] Translation: X:2.01, Y:0.17, Z:0.85 [[ 0.99984558 -0.005007 -0.01684452 2.00683285] [ 0.00486366 0.99995171 -0.00853947 0.1735452 ] [ 0.01688646 0.00845623 0.99982165 0.85292897] [ 0. 0. 0. 1. ]] SLAMing on 175.922557844 meters Centerline goodness [0,1] 0.24141812042768707 Centerline is valid? [False, False] Translation: X:2.01, Y:0.17, Z:0.85 [[ 0.99984789 -0.00514962 -0.01666361 2.00651119] [ 0.00500376 0.99994891 -0.00878343 0.17476723] [ 0.01670799 0.00869871 0.99982257 0.85271169] [ 0. 0. 0. 1. ]] SLAMing on 175.952557844 meters Centerline goodness [0,1] 0.2461176060024428 Centerline is valid? [False, False] Translation: X:2.01, Y:0.18, Z:0.85 [[ 0.99984876 -0.00527335 -0.01657272 2.00629796] [ 0.00512317 0.99994555 -0.00909108 0.17615412] [ 0.01661975 0.0090048 0.99982133 0.85273706] [ 0. 0. 0. 1. ]] SLAMing on 175.982557844 meters Centerline goodness [0,1] 0.24111039101317777 Centerline is valid? [False, False] Translation: X:2.01, Y:0.18, Z:0.85 [[ 0.99984797 -0.00542226 -0.01657227 2.00622852] [ 0.00526601 0.99994141 -0.00945791 0.17781908] [ 0.01662258 0.0093692 0.99981794 0.85289401] [ 0. 0. 0. 1. ]] SLAMing on 176.012557844 meters Centerline goodness [0,1] 0.24820568927789932 Centerline is valid? [False, False] Translation: X:1.98, Y:0.18, Z:0.85 [[ 0.99984667 0.0036889 -0.01711819 1.98367042] [-0.0038613 0.99994205 -0.01004874 0.17726327] [ 0.01708012 0.0101133 0.99980298 0.85259851] [ 0. 0. 0. 1. ]] SLAMing on 176.04255784400002 meters Centerline goodness [0,1] 0.24820568927789932 Centerline is valid? [False, False] Translation: X:1.98, Y:0.18, Z:0.85 [[ 0.99984667 0.0036889 -0.01711819 1.98367042] [-0.0038613 0.99994205 -0.01004874 0.17726327] [ 0.01708012 0.0101133 0.99980298 0.85259851] [ 0. 0. 0. 1. ]] SLAMing on 176.07255784400002 meters Centerline goodness [0,1] 0.24521305432071994 Centerline is valid? [False, False] Translation: X:2.01, Y:0.18, Z:0.85 [[ 9.99845989e-01 -1.86693715e-03 -1.74503102e-02 2.00642452e+00] [ 1.74735516e-03 9.99974906e-01 -6.86545110e-03 1.81642749e-01] [ 1.74626897e-02 6.83390186e-03 9.99824161e-01 8.53280075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10255784400002 meters Centerline goodness [0,1] 0.24304488081577869 Centerline is valid? [False, False] Translation: X:2.01, Y:0.18, Z:0.85 [[ 9.99844037e-01 -2.01640190e-03 -1.75452573e-02 2.00682619e+00] [ 1.88977849e-03 9.99972074e-01 -7.23054878e-03 1.83384312e-01] [ 1.75593470e-02 7.19626443e-03 9.99819925e-01 8.53059509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13255784400002 meters Centerline goodness [0,1] 0.24699176694110192 Centerline is valid? [False, False] Translation: X:2.01, Y:0.18, Z:0.85 [[ 0.99984452 -0.00215107 -0.01750145 2.0067489 ] [ 0.00201881 0.9999693 -0.00757126 0.18498947] [ 0.0175172 0.00753475 0.99981817 0.85304435] [ 0. 0. 0. 1. ]] SLAMing on 176.16255784400002 meters Centerline goodness [0,1] 0.2476690484489369 Centerline is valid? [False, False] Translation: X:2.01, Y:0.19, Z:0.85 [[ 0.9998465 -0.00227375 -0.01737246 2.00636583] [ 0.00213716 0.99996669 -0.00787718 0.18641446] [ 0.01738979 0.00783885 0.99981806 0.85317792] [ 0. 0. 0. 1. ]] SLAMing on 176.19255784400002 meters Centerline goodness [0,1] 0.24911234822250472 Centerline is valid? [False, False] Translation: X:2.01, Y:0.19, Z:0.85 [[ 0.99984874 -0.00248123 -0.01721436 2.00578732] [ 0.00233723 0.99996215 -0.00838048 0.18870775] [ 0.0172345 0.00833898 0.9998167 0.85357788] [ 0. 0. 0. 1. ]] SLAMing on 176.22255784400002 meters Centerline goodness [0,1] 0.24646997298004014 Centerline is valid? [False, False] Translation: X:2.01, Y:0.19, Z:0.85 [[ 0.99984872 -0.0025478 -0.01720601 2.00574013] [ 0.00240157 0.99996087 -0.00851412 0.18923646] [ 0.01722703 0.00847151 0.99981571 0.85363958] [ 0. 0. 0. 1. ]] SLAMing on 176.252557844 meters Centerline goodness [0,1] 0.25037215411558666 Centerline is valid? [False, False] Translation: X:2.01, Y:0.19, Z:0.85 [[ 0.99985115 -0.00257512 -0.01706011 2.00519506] [ 0.0024301 0.99996079 -0.00851586 0.18907169] [ 0.01708137 0.00847313 0.9998182 0.85388511] [ 0. 0. 0. 1. ]] SLAMing on 176.282557844 meters Centerline goodness [0,1] 0.2468142478145523 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.85 [[ 0.99985834 -0.00261603 -0.01662675 2.00359399] [ 0.00247545 0.99996107 -0.00846978 0.18878498] [ 0.01664826 0.00842743 0.99982589 0.85468212] [ 0. 0. 0. 1. ]] SLAMing on 176.312557844 meters Centerline goodness [0,1] 0.2464805535671677 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.85 [[ 0.99985906 -0.00259144 -0.01658745 2.00356464] [ 0.00245285 0.99996196 -0.00836995 0.18835756] [ 0.01660851 0.00832808 0.99982739 0.85451281] [ 0. 0. 0. 1. ]] SLAMing on 176.342557844 meters Centerline goodness [0,1] 0.2437619961612284 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.85 [[ 0.99985859 -0.00256937 -0.01661931 2.00385847] [ 0.00243332 0.99996341 -0.00820121 0.18737002] [ 0.01663977 0.00815961 0.99982825 0.85409487] [ 0. 0. 0. 1. ]] SLAMing on 176.372557844 meters Centerline goodness [0,1] 0.2497315068493151 Centerline is valid? [False, False] Translation: X:1.96, Y:0.19, Z:0.85 [[ 0.99980435 -0.00294024 -0.01956066 1.95947121] [ 0.00276561 0.99995614 -0.00894843 0.1906704 ] [ 0.01958612 0.00889259 0.99976863 0.85396103] [ 0. 0. 0. 1. ]] SLAMing on 176.402557844 meters Centerline goodness [0,1] 0.24468707350360697 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:0.86 [[ 0.99973797 -0.01106554 -0.02003848 1.98085675] [ 0.01090399 0.99990731 -0.00815328 0.19384008] [ 0.02012685 0.00793264 0.99976596 0.85510339] [ 0. 0. 0. 1. ]] SLAMing on 176.432557844 meters Centerline goodness [0,1] 0.24407818095525735 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:0.86 [[ 0.99977442 -0.00732267 -0.0199371 1.98042829] [ 0.00723878 0.99996466 -0.00427644 0.19273989] [ 0.01996771 0.00413116 0.99979209 0.85505782] [ 0. 0. 0. 1. ]] SLAMing on 176.462557844 meters Centerline goodness [0,1] 0.243375985524105 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:0.86 [[ 9.99799434e-01 -3.54731507e-03 -1.97106280e-02 1.97953707e+00] [ 3.54004028e-03 9.99993652e-01 -4.03959151e-04 1.91708525e-01] [ 1.97119358e-02 3.34101714e-04 9.99805645e-01 8.55310232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.492557844 meters Centerline goodness [0,1] 0.2452487120654574 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:0.86 [[ 9.99799977e-01 -3.58052736e-03 -1.96770423e-02 1.97936455e+00] [ 3.56962237e-03 9.99993455e-01 -5.89294089e-04 1.92725296e-01] [ 1.96790235e-02 5.18936606e-04 9.99806215e-01 8.55534769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.522557844 meters Centerline goodness [0,1] 0.24473338077064066 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:0.86 [[ 9.99803953e-01 -3.58846810e-03 -1.94725030e-02 1.97847902e+00] [ 3.57511606e-03 9.99993350e-01 -7.20455418e-04 1.93291553e-01] [ 1.94749589e-02 6.50697717e-04 9.99810133e-01 8.56139685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.552557844 meters Centerline goodness [0,1] 0.24554382625248772 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:0.86 [[ 9.99802971e-01 -3.59037046e-03 -1.95225262e-02 1.97864242e+00] [ 3.57615245e-03 9.99993314e-01 -7.63149777e-04 1.93594879e-01] [ 1.95251356e-02 6.93183885e-04 9.99809126e-01 8.56115217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.582557844 meters Centerline goodness [0,1] 0.24743342087556708 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:0.86 [[ 9.99794035e-01 -3.52420468e-03 -1.99866943e-02 1.98040379e+00] [ 3.51077175e-03 9.99993587e-01 -7.07141659e-04 1.93508939e-01] [ 1.99890583e-02 6.36827291e-04 9.99799996e-01 8.55136063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.612557844 meters Centerline goodness [0,1] 0.2474249301675978 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:0.85 [[ 9.99788127e-01 -3.53667821e-03 -2.02778790e-02 1.98137503e+00] [ 3.52140341e-03 9.99993489e-01 -7.88931857e-04 1.93953558e-01] [ 2.02805371e-02 7.17358112e-04 9.99794071e-01 8.54749360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.642557844 meters Centerline goodness [0,1] 0.2426400759734093 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.86 [[ 9.99780651e-01 4.84692911e-03 -2.03753899e-02 2.00242527e+00] [-4.88123555e-03 9.99986751e-01 -1.63432291e-03 1.89813324e-01] [ 2.03671985e-02 1.73342150e-03 9.99791064e-01 8.55706620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.672557844 meters Centerline goodness [0,1] 0.23676280671545413 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.86 [[ 0.99977623 0.00485222 -0.02059018 2.00297002] [-0.00489548 0.99998591 -0.00205132 0.19234289] [ 0.02057993 0.00215166 0.9997859 0.85587916] [ 0. 0. 0. 1. ]] SLAMing on 176.702557844 meters Centerline goodness [0,1] 0.24490639065863573 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:0.86 [[ 0.99977524 0.00500922 -0.02060027 2.00302375] [-0.00506152 0.9999841 -0.00248741 0.19543737] [ 0.02058748 0.00259111 0.9997847 0.85604204] [ 0. 0. 0. 1. ]] SLAMing on 176.732557844 meters Centerline goodness [0,1] 0.2478808004893821 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:0.86 [[ 9.99762653e-01 8.53029859e-03 -2.00467370e-02 2.00104196e+00] [-8.53478884e-03 9.99963568e-01 -1.38442376e-04 2.02487536e-01] [ 2.00448257e-02 3.09504184e-04 9.99799034e-01 8.57155538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.762557844 meters Centerline goodness [0,1] 0.2447311361665221 Centerline is valid? [False, False] Translation: X:2.02, Y:0.21, Z:0.86 [[ 9.99810701e-01 1.20497836e-03 -1.94193049e-02 2.01936397e+00] [-1.18525515e-03 9.99998770e-01 1.02712730e-03 2.10199813e-01] [ 1.94205187e-02 -1.00391604e-03 9.99810900e-01 8.59554099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79255784400002 meters Centerline goodness [0,1] 0.24926673379153352 Centerline is valid? [False, False] Translation: X:2.02, Y:0.21, Z:0.86 [[ 9.99810595e-01 9.71980037e-04 -1.94378508e-02 2.01934930e+00] [-9.67145296e-04 9.99999499e-01 2.58127096e-04 2.13988698e-01] [ 1.94380920e-02 -2.39278980e-04 9.99811034e-01 8.59707811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82255784400002 meters Centerline goodness [0,1] 0.2413420147526445 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.86 [[ 0.999757 -0.00478897 -0.02151778 2.04418904] [ 0.00484311 0.99998523 0.00246459 0.22222122] [ 0.02150565 -0.00256821 0.99976543 0.85959088] [ 0. 0. 0. 1. ]] SLAMing on 176.85255784400002 meters Centerline goodness [0,1] 0.24591276181304855 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.86 [[ 9.99754297e-01 -5.02900329e-03 -2.15882990e-02 2.04445221e+00] [ 5.07134865e-03 9.99985322e-01 1.90719670e-03 2.24886277e-01] [ 2.15783908e-02 -2.01620989e-03 9.99765126e-01 8.59451812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88255784400002 meters Centerline goodness [0,1] 0.24563743713098618 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.86 [[ 9.99755525e-01 -5.27427104e-03 -2.14725817e-02 2.04385528e+00] [ 5.30467087e-03 9.99985007e-01 1.35903800e-03 2.27504753e-01] [ 2.14650919e-02 -1.47261073e-03 9.99768514e-01 8.59973609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91255784400002 meters Centerline goodness [0,1] 0.2441714335240076 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.86 [[ 9.99844301e-01 1.71847887e-03 -1.75619193e-02 2.06253971e+00] [-1.72480579e-03 9.99998453e-01 -3.45123067e-04 2.31575797e-01] [ 1.75612990e-02 3.75360232e-04 9.99845718e-01 8.59970390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94255784400002 meters Centerline goodness [0,1] 0.24734727741146678 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.86 [[ 9.99846016e-01 1.47888758e-03 -1.74859125e-02 2.06239754e+00] [-1.49513943e-03 9.99998462e-01 -9.16388451e-04 2.34296876e-01] [ 1.74845303e-02 9.42391219e-04 9.99846690e-01 8.59924060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97255784400002 meters Centerline goodness [0,1] 0.24631386940565891 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:0.86 [[ 9.99847522e-01 1.23125736e-03 -1.74188681e-02 2.06242546e+00] [-1.25741175e-03 9.99998098e-01 -1.49062568e-03 2.36974011e-01] [ 1.74169996e-02 1.51230109e-03 9.99847169e-01 8.59644269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002557844 meters Centerline goodness [0,1] 0.24374162307060399 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:0.86 [[ 9.99849763e-01 9.67411685e-04 -1.73064942e-02 2.06224403e+00] [-1.00323289e-03 9.99997372e-01 -2.06125049e-03 2.39493592e-01] [ 1.73044547e-02 2.07830326e-03 9.99848107e-01 8.59502882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032557844 meters Centerline goodness [0,1] 0.24954689376569494 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:0.86 [[ 9.99853123e-01 6.86193054e-04 -1.71248854e-02 2.06169912e+00] [-7.32231742e-04 9.99996135e-01 -2.68228324e-03 2.42240949e-01] [ 1.71229787e-02 2.69442865e-03 9.99849761e-01 8.59686554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062557844 meters Centerline goodness [0,1] 0.24602608187893338 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.86 [[ 9.99834324e-01 -7.65677293e-03 -1.65135877e-02 2.08109078e+00] [ 7.62993523e-03 9.99969468e-01 -1.68758156e-03 2.51286782e-01] [ 1.65260050e-02 1.56130436e-03 9.99862217e-01 8.62249188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.092557844 meters Centerline goodness [0,1] 0.24728467884117278 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.86 [[ 9.99830951e-01 -7.79426681e-03 -1.66529079e-02 2.08157124e+00] [ 7.76244443e-03 9.99967922e-01 -1.97470565e-03 2.52636790e-01] [ 1.66677651e-02 1.84510455e-03 9.99859381e-01 8.62037651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122557844 meters Centerline goodness [0,1] 0.24521852012115963 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.86 [[ 9.99828824e-01 -7.96348396e-03 -1.67004769e-02 2.08186440e+00] [ 7.92773096e-03 9.99966142e-01 -2.20594916e-03 2.53383627e-01] [ 1.67174785e-02 2.07317466e-03 9.99858104e-01 8.61726861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152557844 meters Centerline goodness [0,1] 0.24661428943484676 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.86 [[ 0.99982914 -0.0083789 -0.01647672 2.08140275] [ 0.00833764 0.99996194 -0.00257092 0.25407536] [ 0.01649764 0.0024331 0.99986094 0.86151767] [ 0. 0. 0. 1. ]] SLAMing on 177.182557844 meters Centerline goodness [0,1] 0.24657267655581028 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.86 [[ 0.99982834 -0.00842215 -0.01650327 2.08149729] [ 0.0083794 0.99996136 -0.00265774 0.25463391] [ 0.01652502 0.00251899 0.99986028 0.8614571 ] [ 0. 0. 0. 1. ]] SLAMing on 177.212557844 meters Centerline goodness [0,1] 0.2474070545438798 Centerline is valid? [False, False] Translation: X:2.08, Y:0.26, Z:0.86 [[ 9.99855564e-01 -5.75810949e-03 -1.59904977e-02 2.07972962e+00] [ 5.76039553e-03 9.99983404e-01 9.69068890e-05 2.55620928e-01] [ 1.59896743e-02 -1.89004483e-04 9.99872139e-01 8.61849833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.242557844 meters Centerline goodness [0,1] 0.2485670864090317 Centerline is valid? [False, False] Translation: X:2.08, Y:0.26, Z:0.86 [[ 9.99848592e-01 -5.98056069e-03 -1.63409048e-02 2.08074204e+00] [ 5.97242542e-03 9.99982016e-01 -5.46603023e-04 2.58702786e-01] [ 1.63438799e-02 4.48925428e-04 9.99866329e-01 8.61763901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.272557844 meters Centerline goodness [0,1] 0.2467929934231946 Centerline is valid? [False, False] Translation: X:2.08, Y:0.26, Z:0.86 [[ 9.99845927e-01 -6.13783519e-03 -1.64453645e-02 2.08100967e+00] [ 6.12097586e-03 9.99980688e-01 -1.07531109e-03 2.61282880e-01] [ 1.64516470e-02 9.74483737e-04 9.99864188e-01 8.61816603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.302557844 meters Centerline goodness [0,1] 0.24877718578041752 Centerline is valid? [False, False] Translation: X:2.08, Y:0.26, Z:0.86 [[ 9.99843389e-01 -6.26739386e-03 -1.65504369e-02 2.08126133e+00] [ 6.24071653e-03 9.99979144e-01 -1.66303600e-03 2.64349635e-01] [ 1.65605146e-02 1.55948896e-03 9.99861649e-01 8.61923042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.332557844 meters Centerline goodness [0,1] 0.24699032526375697 Centerline is valid? [False, False] Translation: X:2.08, Y:0.27, Z:0.86 [[ 0.99983992 -0.00639966 -0.01670853 2.08165331] [ 0.00636238 0.99997715 -0.00228307 0.2675866 ] [ 0.01672276 0.0021764 0.9998578 0.86199849] [ 0. 0. 0. 1. ]] SLAMing on 177.362557844 meters Centerline goodness [0,1] 0.24513905447293693 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99865592e-01 1.78490564e-03 -1.62975984e-02 2.10267400e+00] [-1.83908094e-03 9.99992832e-01 -3.30974634e-03 2.65627601e-01] [ 1.62915740e-02 3.33927409e-03 9.99861707e-01 8.62686243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.392557844 meters Centerline goodness [0,1] 0.24579410739191077 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99860578e-01 1.50869181e-03 -1.66297533e-02 2.10364159e+00] [-1.57797431e-03 9.99990128e-01 -4.15384288e-03 2.69799900e-01] [ 1.66233223e-02 4.17950507e-03 9.99853088e-01 8.62519299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422557844 meters Centerline goodness [0,1] 0.24364259677139388 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99859210e-01 1.44306739e-03 -1.67176068e-02 2.10396123e+00] [-1.51590498e-03 9.99989411e-01 -4.34508589e-03 2.70895721e-01] [ 1.67111595e-02 4.36981645e-03 9.99850810e-01 8.62339262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.452557844 meters Centerline goodness [0,1] 0.24444106662034226 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99857667e-01 1.41739236e-03 -1.68117822e-02 2.10435556e+00] [-1.49136306e-03 9.99989260e-01 -4.38821158e-03 2.71209261e-01] [ 1.68053818e-02 4.41265947e-03 9.99849042e-01 8.62051276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482557844 meters Centerline goodness [0,1] 0.24837790442788255 Centerline is valid? [False, False] Translation: X:2.11, Y:0.27, Z:0.86 [[ 9.99853907e-01 1.03178014e-03 -1.70616603e-02 2.10542812e+00] [-1.10802987e-03 9.99989439e-01 -4.46021901e-03 2.70459113e-01] [ 1.70568781e-02 4.47847223e-03 9.99844491e-01 8.61142589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.512557844 meters Centerline goodness [0,1] 0.24214858132986783 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:0.86 [[ 0.99984448 -0.00817585 -0.01562585 2.12665281] [ 0.0081182 0.99996002 -0.00374962 0.27104357] [ 0.01565588 0.00362219 0.99987088 0.86181424] [ 0. 0. 0. 1. ]] SLAMing on 177.54255784400002 meters Centerline goodness [0,1] 0.250054788516327 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99893201e-01 3.85634676e-04 -1.46095378e-02 2.10440251e+00] [-4.51622253e-04 9.99989711e-01 -4.51371647e-03 2.66390224e-01] [ 1.46076468e-02 4.51983240e-03 9.99883087e-01 8.60951362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57255784400002 meters Centerline goodness [0,1] 0.2445561501960869 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 0.99987794 -0.00820692 -0.01329448 2.12440123] [ 0.00816727 0.99996204 -0.00303457 0.26773041] [ 0.01331888 0.00292562 0.99990702 0.86255765] [ 0. 0. 0. 1. ]] SLAMing on 177.60255784400002 meters Centerline goodness [0,1] 0.24809641909237268 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 0.9998807 -0.00811011 -0.01314582 2.12405281] [ 0.00807521 0.99996373 -0.00270597 0.26616024] [ 0.01316728 0.00259949 0.99990993 0.86250029] [ 0. 0. 0. 1. ]] SLAMing on 177.63255784400002 meters Centerline goodness [0,1] 0.24452467948024992 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 0.99988186 -0.00810192 -0.01306204 2.12393527] [ 0.00806859 0.99996406 -0.00260278 0.26543171] [ 0.01308266 0.00249708 0.9999113 0.86230336] [ 0. 0. 0. 1. ]] SLAMing on 177.66255784400002 meters Centerline goodness [0,1] 0.24683351468988035 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 0.9998827 -0.00811877 -0.01298761 2.12376526] [ 0.0080857 0.99996394 -0.00259695 0.26525152] [ 0.01300822 0.00249164 0.99991229 0.86226484] [ 0. 0. 0. 1. ]] SLAMing on 177.69255784400002 meters Centerline goodness [0,1] 0.24771421107628 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 0.99988188 -0.00810544 -0.01305854 2.12392787] [ 0.00807221 0.99996405 -0.00259494 0.26533635] [ 0.01307911 0.00248922 0.99991137 0.86226682] [ 0. 0. 0. 1. ]] SLAMing on 177.72255784400002 meters Centerline goodness [0,1] 0.24455839716127914 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 0.99987985 -0.00810502 -0.01321316 2.1242388 ] [ 0.00806897 0.99996358 -0.0027796 0.26659243] [ 0.01323521 0.00267265 0.99990884 0.86244133] [ 0. 0. 0. 1. ]] SLAMing on 177.752557844 meters Centerline goodness [0,1] 0.24548767788962167 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 0.99987851 -0.0081373 -0.0132945 2.12456964] [ 0.00809926 0.99996296 -0.00291228 0.26726554] [ 0.0133177 0.00280425 0.99990738 0.86226138] [ 0. 0. 0. 1. ]] SLAMing on 177.782557844 meters Centerline goodness [0,1] 0.24359112567646235 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:0.86 [[ 0.9998766 -0.0081517 -0.01342886 2.12513265] [ 0.00811194 0.99996256 -0.00301293 0.26778533] [ 0.01345292 0.00290362 0.99990529 0.86187779] [ 0. 0. 0. 1. ]] SLAMing on 177.812557844 meters Centerline goodness [0,1] 0.2478840756293379 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99901906e-01 8.30590295e-04 -1.39817438e-02 2.10465400e+00] [-8.88660725e-04 9.99991004e-01 -4.14760349e-03 2.65717816e-01] [ 1.39781731e-02 4.15962166e-03 9.99893648e-01 8.60355359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842557844 meters Centerline goodness [0,1] 0.24777775351082187 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99901977e-01 7.67083114e-04 -1.39803063e-02 2.10419277e+00] [-8.31051082e-04 9.99989211e-01 -4.57034209e-03 2.68170933e-01] [ 1.39766496e-02 4.58151243e-03 9.99891826e-01 8.61223737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872557844 meters Centerline goodness [0,1] 0.24464227554011508 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99898276e-01 7.07458491e-04 -1.42455714e-02 2.10486319e+00] [-7.75948287e-04 9.99988165e-01 -4.80284254e-03 2.69388192e-01] [ 1.42420050e-02 4.81340780e-03 9.99886992e-01 8.61276313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902557844 meters Centerline goodness [0,1] 0.24464227554011508 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99898276e-01 7.07458491e-04 -1.42455714e-02 2.10486319e+00] [-7.75948287e-04 9.99988165e-01 -4.80284254e-03 2.69388192e-01] [ 1.42420050e-02 4.81340780e-03 9.99886992e-01 8.61276313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.932557844 meters Centerline goodness [0,1] 0.24864532830221797 Centerline is valid? [False, False] Translation: X:2.11, Y:0.27, Z:0.86 [[ 9.99895070e-01 6.20063577e-04 -1.44728633e-02 2.10574012e+00] [-6.93217728e-04 9.99987008e-01 -5.05010422e-03 2.70597549e-01] [ 1.44695439e-02 5.05960716e-03 9.99882509e-01 8.60716399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.962557844 meters Centerline goodness [0,1] 0.24705034084950184 Centerline is valid? [False, False] Translation: X:2.11, Y:0.27, Z:0.86 [[ 9.99892735e-01 5.44707087e-04 -1.46363068e-02 2.10656671e+00] [-6.22273996e-04 9.99985785e-01 -5.29559171e-03 2.71835898e-01] [ 1.46332141e-02 5.30413147e-03 9.99878860e-01 8.60020389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.992557844 meters Centerline goodness [0,1] 0.24763258611262984 Centerline is valid? [False, False] Translation: X:2.11, Y:0.27, Z:0.86 [[ 9.99897301e-01 4.51804299e-04 -1.43242121e-02 2.10593617e+00] [-5.32945138e-04 9.99983833e-01 -5.66128245e-03 2.73900750e-01] [ 1.43214227e-02 5.66833506e-03 9.99881376e-01 8.59807326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.022557844 meters Centerline goodness [0,1] 0.2488481294504089 Centerline is valid? [False, False] Translation: X:2.11, Y:0.27, Z:0.86 [[ 9.99899064e-01 4.34237420e-04 -1.42011799e-02 2.10542105e+00] [-5.15208820e-04 9.99983630e-01 -5.69857612e-03 2.74053327e-01] [ 1.41984729e-02 5.70531750e-03 9.99882920e-01 8.60196814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.052557844 meters Centerline goodness [0,1] 0.24617830233874827 Centerline is valid? [False, False] Translation: X:2.13, Y:0.28, Z:0.86 [[ 0.99988032 -0.00854371 -0.01289763 2.12604201] [ 0.00848064 0.99995185 -0.00493734 0.27541864] [ 0.01293919 0.00482737 0.99990463 0.86098589] [ 0. 0. 0. 1. ]] SLAMing on 178.082557844 meters Centerline goodness [0,1] 0.24728651758859688 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:0.86 [[ 0.99987854 -0.00845826 -0.01309066 2.12642656] [ 0.00839996 0.99995458 -0.00450224 0.27288119] [ 0.01312815 0.00439173 0.99990418 0.86102776] [ 0. 0. 0. 1. ]] SLAMing on 178.112557844 meters Centerline goodness [0,1] 0.24329634267455413 Centerline is valid? [False, False] Translation: X:2.15, Y:0.27, Z:0.86 [[ 9.99906999e-01 -8.55623335e-04 -1.36110965e-02 2.14651056e+00] [ 7.87669212e-04 9.99987204e-01 -4.99713074e-03 2.65334170e-01] [ 1.36151980e-02 4.98594496e-03 9.99894878e-01 8.61883108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.142557844 meters Centerline goodness [0,1] 0.2439837979509173 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99905406e-01 -7.56561095e-04 -1.37333893e-02 2.14700948e+00] [ 6.91061624e-04 9.99988368e-01 -4.77347867e-03 2.64310683e-01] [ 1.37368410e-02 4.76353651e-03 9.99894298e-01 8.61544511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.172557844 meters Centerline goodness [0,1] 0.24425517196653623 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99900781e-01 -4.69869395e-04 -1.40786133e-02 2.14812666e+00] [ 4.07230114e-04 9.99990008e-01 -4.45178720e-03 2.63432269e-01] [ 1.40805644e-02 4.44561226e-03 9.99890981e-01 8.61128468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.202557844 meters Centerline goodness [0,1] 0.2441827684167155 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99900677e-01 -3.48772267e-04 -1.40895178e-02 2.14800455e+00] [ 2.87220435e-04 9.99990408e-01 -4.37041318e-03 2.63404218e-01] [ 1.40909069e-02 4.36593230e-03 9.99891187e-01 8.61411205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.232557844 meters Centerline goodness [0,1] 0.24717271918209638 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99902260e-01 -2.39927488e-04 -1.39790345e-02 2.14754338e+00] [ 1.80621251e-04 9.99990979e-01 -4.24362122e-03 2.62986911e-01] [ 1.39799266e-02 4.24068154e-03 9.99893283e-01 8.61736733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262557844 meters Centerline goodness [0,1] 0.24644354190647877 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99905463e-01 -1.59438535e-04 -1.37491590e-02 2.14671728e+00] [ 1.03063866e-04 9.99991586e-01 -4.10083773e-03 2.62011239e-01] [ 1.37496972e-02 4.09903301e-03 9.99897067e-01 8.62121206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29255784400002 meters Centerline goodness [0,1] 0.24749679633370258 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99907867e-01 -8.71467001e-05 -1.35738801e-02 2.14616527e+00] [ 3.34389092e-05 9.99992171e-01 -3.95687814e-03 2.61312262e-01] [ 1.35741187e-02 3.95605969e-03 9.99900041e-01 8.62258758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32255784400002 meters Centerline goodness [0,1] 0.2474534215566777 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99909825e-01 -6.02222050e-05 -1.34290202e-02 2.14560179e+00] [ 7.03786211e-06 9.99992157e-01 -3.96041591e-03 2.61412510e-01] [ 1.34291534e-02 3.95996427e-03 9.99901983e-01 8.62605384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35255784400002 meters Centerline goodness [0,1] 0.2478517489801233 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99910851e-01 -1.35825967e-05 -1.33525396e-02 2.14524887e+00] [-3.91568691e-05 9.99992200e-01 -3.94950104e-03 2.61549062e-01] [ 1.33524891e-02 3.94967179e-03 9.99903051e-01 8.62890345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38255784400002 meters Centerline goodness [0,1] 0.2468090648606408 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99905920e-01 5.02296074e-05 -1.37167127e-02 2.14636607e+00] [-1.05065948e-04 9.99992006e-01 -3.99708433e-03 2.62241789e-01] [ 1.37164022e-02 3.99814944e-03 9.99897932e-01 8.62547397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41255784400002 meters Centerline goodness [0,1] 0.24636522715980036 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99901149e-01 8.18656879e-05 -1.40600648e-02 2.14742731e+00] [-1.38745835e-04 9.99991811e-01 -4.04458322e-03 2.62754512e-01] [ 1.40596185e-02 4.04613418e-03 9.99892972e-01 8.62235690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44255784400002 meters Centerline goodness [0,1] 0.24426951185132173 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:0.86 [[ 9.99899824e-01 1.45355911e-05 -1.41542209e-02 2.14777438e+00] [-7.47757354e-05 9.99990943e-01 -4.25546454e-03 2.63803498e-01] [ 1.41540309e-02 4.25609663e-03 9.99890769e-01 8.62065400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47255784400002 meters Centerline goodness [0,1] 0.2523376794415909 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:0.86 [[ 9.99934885e-01 1.12200738e-03 -1.13563853e-02 2.10149576e+00] [-1.18075662e-03 9.99985949e-01 -5.16785253e-03 2.68008561e-01] [ 1.13504274e-02 5.18092515e-03 9.99922160e-01 8.61683155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502557844 meters Centerline goodness [0,1] 0.2501850319996517 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 0.9999319 -0.00721974 -0.00916867 2.12022474] [ 0.00718358 0.99996631 -0.00397155 0.2717436 ] [ 0.00919704 0.00390542 0.99995008 0.86326013] [ 0. 0. 0. 1. ]] SLAMing on 178.532557844 meters Centerline goodness [0,1] 0.24836785598091315 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 9.99955747e-01 -3.87042999e-03 -8.57455031e-03 2.11843920e+00] [ 3.86604008e-03 9.99992387e-01 -5.28485133e-04 2.71940822e-01] [ 8.57653050e-03 4.95312191e-04 9.99963098e-01 8.63564266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562557844 meters Centerline goodness [0,1] 0.2472536977770089 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:0.86 [[ 9.99953583e-01 -3.93662278e-03 -8.79403244e-03 2.11916384e+00] [ 3.92910171e-03 9.99991901e-01 -8.72359575e-04 2.73880239e-01] [ 8.79739537e-03 8.37766435e-04 9.99960951e-01 8.63277042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.592557844 meters Centerline goodness [0,1] 0.24780697004483532 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:0.86 [[ 9.99951468e-01 -4.01228973e-03 -8.99794456e-03 2.11995087e+00] [ 4.00152481e-03 9.99991257e-01 -1.21405977e-03 2.75806584e-01] [ 9.00273705e-03 1.17799535e-03 9.99958781e-01 8.62819435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622557844 meters Centerline goodness [0,1] 0.24967291757522891 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:0.86 [[ 0.99995266 -0.00430896 -0.00872426 2.11919698] [ 0.00428897 0.99998814 -0.002308 0.28114249] [ 0.0087341 0.00227047 0.99995928 0.86306633] [ 0. 0. 0. 1. ]] SLAMing on 178.652557844 meters Centerline goodness [0,1] 0.2506396658429374 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:0.86 [[ 0.99995299 -0.00458515 -0.00854368 2.1185388 ] [ 0.00455854 0.99998471 -0.00313139 0.2849165 ] [ 0.0085579 0.0030923 0.9999586 0.8635177 ] [ 0. 0. 0. 1. ]] SLAMing on 178.682557844 meters Centerline goodness [0,1] 0.25019572025052195 Centerline is valid? [False, False] Translation: X:2.12, Y:0.29, Z:0.86 [[ 0.99995182 -0.00480761 -0.00855774 2.11843383] [ 0.00477389 0.99998078 -0.00395578 0.28911704] [ 0.0085766 0.00391474 0.99995556 0.86379908] [ 0. 0. 0. 1. ]] SLAMing on 178.712557844 meters Centerline goodness [0,1] 0.2500545589454847 Centerline is valid? [False, False] Translation: X:2.12, Y:0.30, Z:0.86 [[ 9.99961713e-01 -1.13113019e-03 -8.67716493e-03 2.11898212e+00] [ 1.12130366e-03 9.99998725e-01 -1.13724048e-03 2.95478818e-01] [ 8.67844023e-03 1.12746720e-03 9.99961706e-01 8.63338432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.742557844 meters Centerline goodness [0,1] 0.24714198446635827 Centerline is valid? [False, False] Translation: X:2.12, Y:0.30, Z:0.86 [[ 9.99961046e-01 -1.38312484e-03 -8.71738617e-03 2.11921376e+00] [ 1.36783720e-03 9.99997517e-01 -1.75941362e-03 2.98275652e-01] [ 8.71979801e-03 1.74742112e-03 9.99960455e-01 8.63127187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.772557844 meters Centerline goodness [0,1] 0.2496904663640116 Centerline is valid? [False, False] Translation: X:2.12, Y:0.30, Z:0.86 [[ 9.99962042e-01 -1.60536428e-03 -8.56377243e-03 2.11880628e+00] [ 1.58646292e-03 9.99996292e-01 -2.21346656e-03 3.00132590e-01] [ 8.56729409e-03 2.19979643e-03 9.99960880e-01 8.63160217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.802557844 meters Centerline goodness [0,1] 0.24896698708190157 Centerline is valid? [False, False] Translation: X:2.12, Y:0.30, Z:0.86 [[ 9.99965411e-01 -1.79756395e-03 -8.12069454e-03 2.11743786e+00] [ 1.77731290e-03 9.99995295e-01 -2.50028681e-03 3.01208251e-01] [ 8.12515076e-03 2.48576731e-03 9.99963901e-01 8.63604127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.832557844 meters Centerline goodness [0,1] 0.25353104237250845 Centerline is valid? [False, False] Translation: X:2.10, Y:0.31, Z:0.86 [[ 9.99962072e-01 -7.51616782e-03 -4.40014214e-03 2.09954576e+00] [ 7.50911596e-03 9.99970499e-01 -1.61697618e-03 3.06660746e-01] [ 4.41216580e-03 1.58387368e-03 9.99989012e-01 8.60347843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.862557844 meters Centerline goodness [0,1] 0.249462412302613 Centerline is valid? [False, False] Translation: X:2.12, Y:0.30, Z:0.86 [[ 9.99992148e-01 -1.05753352e-03 -3.81911351e-03 2.11835392e+00] [ 1.04668158e-03 9.99995413e-01 -2.84236220e-03 3.03082666e-01] [ 3.82210188e-03 2.83834249e-03 9.99988668e-01 8.60560914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.892557844 meters Centerline goodness [0,1] 0.247293939721292 Centerline is valid? [False, False] Translation: X:2.12, Y:0.30, Z:0.86 [[ 9.99989784e-01 -1.17539942e-03 -4.36464355e-03 2.12031549e+00] [ 1.16323390e-03 9.99995435e-01 -2.78878181e-03 3.02581128e-01] [ 4.36790156e-03 2.78367622e-03 9.99986586e-01 8.59417988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.922557844 meters Centerline goodness [0,1] 0.24598039427841856 Centerline is valid? [False, False] Translation: X:2.12, Y:0.30, Z:0.86 [[ 9.99986837e-01 -1.22575129e-03 -4.98238794e-03 2.12264149e+00] [ 1.21238588e-03 9.99995661e-01 -2.68466649e-03 3.01995715e-01] [ 4.98565706e-03 2.67859057e-03 9.99983984e-01 8.57980440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.952557844 meters Centerline goodness [0,1] 0.24321638437608017 Centerline is valid? [False, False] Translation: X:2.13, Y:0.30, Z:0.86 [[ 9.99983029e-01 -9.47715318e-04 -5.74834377e-03 2.12578897e+00] [ 9.34427373e-04 9.99996886e-01 -2.31385817e-03 3.01775876e-01] [ 5.75051875e-03 2.30844749e-03 9.99980801e-01 8.56040316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.982557844 meters Centerline goodness [0,1] 0.24347826086956526 Centerline is valid? [False, False] Translation: X:2.13, Y:0.30, Z:0.86 [[ 9.99982774e-01 -9.69967832e-04 -5.78886122e-03 2.12571381e+00] [ 9.55944024e-04 9.99996603e-01 -2.42482585e-03 3.02450656e-01] [ 5.79119356e-03 2.41925026e-03 9.99980304e-01 8.56413204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.012557844 meters Centerline goodness [0,1] 0.2434263206873417 Centerline is valid? [False, False] Translation: X:2.12, Y:0.30, Z:0.86 [[ 9.99983680e-01 -1.07127531e-03 -5.61180960e-03 2.12486284e+00] [ 1.05609726e-03 9.99995779e-01 -2.70692726e-03 3.03652997e-01] [ 5.61468578e-03 2.70095646e-03 9.99980590e-01 8.57187132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04255784400002 meters Centerline goodness [0,1] 0.24391353318315712 Centerline is valid? [False, False] Translation: X:2.12, Y:0.31, Z:0.86 [[ 9.99984220e-01 -1.24608884e-03 -5.47792042e-03 2.12411895e+00] [ 1.22908311e-03 9.99994419e-01 -3.10668616e-03 3.05162746e-01] [ 5.48176106e-03 3.09990432e-03 9.99980170e-01 8.57946360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07255784400002 meters Centerline goodness [0,1] 0.24320702103283542 Centerline is valid? [False, False] Translation: X:2.12, Y:0.31, Z:0.86 [[ 9.99982396e-01 -1.40330145e-03 -5.76531104e-03 2.12492984e+00] [ 1.38184586e-03 9.99992112e-01 -3.72379741e-03 3.08152848e-01] [ 5.77049117e-03 3.71576508e-03 9.99976447e-01 8.57807363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10255784400002 meters Centerline goodness [0,1] 0.24852161724122823 Centerline is valid? [False, False] Translation: X:2.10, Y:0.31, Z:0.86 [[ 9.99945750e-01 -6.37081437e-03 -8.24070035e-03 2.10337844e+00] [ 6.37022470e-03 9.99979705e-01 -9.78013325e-05 3.12023466e-01] [ 8.24115618e-03 4.53009138e-05 9.99966040e-01 8.57825103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13255784400002 meters Centerline goodness [0,1] 0.24330255296034764 Centerline is valid? [False, False] Translation: X:2.12, Y:0.31, Z:0.86 [[ 9.99951870e-01 9.96610458e-04 -9.76036813e-03 2.12357593e+00] [-1.00159056e-03 9.99999371e-01 -5.05362401e-04 3.07350531e-01] [ 9.75985834e-03 5.15113971e-04 9.99952239e-01 8.58760722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16255784400002 meters Centerline goodness [0,1] 0.24351310374702184 Centerline is valid? [False, False] Translation: X:2.12, Y:0.31, Z:0.86 [[ 9.99955476e-01 9.16232328e-04 -9.39178702e-03 2.12210173e+00] [-9.21330954e-04 9.99999431e-01 -5.38569226e-04 3.06997643e-01] [ 9.39128822e-03 5.47198191e-04 9.99955751e-01 8.59669871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19255784400002 meters Centerline goodness [0,1] 0.24616956077630237 Centerline is valid? [False, False] Translation: X:2.12, Y:0.31, Z:0.86 [[ 9.99960159e-01 8.29981846e-04 -8.88768457e-03 2.12018870e+00] [-8.34592115e-04 9.99999519e-01 -5.15029200e-04 3.06446765e-01] [ 8.88725283e-03 5.22426272e-04 9.99960371e-01 8.60777992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22255784400002 meters Centerline goodness [0,1] 0.24602060430660244 Centerline is valid? [False, False] Translation: X:2.12, Y:0.31, Z:0.86 [[ 9.99963368e-01 8.49817199e-04 -8.51708238e-03 2.11867826e+00] [-8.53337021e-04 9.99999552e-01 -4.09640736e-04 3.05913651e-01] [ 8.51673044e-03 4.16893672e-04 9.99963645e-01 8.61761914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252557844 meters Centerline goodness [0,1] 0.25542328042328044 Centerline is valid? [False, False] Translation: X:2.07, Y:0.31, Z:0.86 [[ 9.99946556e-01 1.50182379e-03 -1.02288534e-02 2.07026173e+00] [-1.50992831e-03 9.99998552e-01 -7.84642615e-04 3.09095325e-01] [ 1.02276602e-02 8.00045516e-04 9.99947376e-01 8.63972480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282557844 meters Centerline goodness [0,1] 0.24975567379737218 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:0.86 [[ 9.99923605e-01 -7.53640389e-03 -9.79723700e-03 2.09146176e+00] [ 7.53590883e-03 9.99971601e-01 -8.74472156e-05 3.11502248e-01] [ 9.79761780e-03 1.36094503e-05 9.99952002e-01 8.64351693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.312557844 meters Centerline goodness [0,1] 0.2500762095545007 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:0.86 [[ 9.99921794e-01 -7.54579075e-03 -9.97330830e-03 2.09222804e+00] [ 7.54532385e-03 9.99971530e-01 -8.44419512e-05 3.11402456e-01] [ 9.97366154e-03 9.18350642e-06 9.99950262e-01 8.63763382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342557844 meters Centerline goodness [0,1] 0.24618589813146985 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:0.86 [[ 9.99920100e-01 -7.53212382e-03 -1.01518410e-02 2.09290919e+00] [ 7.53144201e-03 9.99971633e-01 -1.05389415e-04 3.11571604e-01] [ 1.01523468e-02 2.89229928e-05 9.99948463e-01 8.63336234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.372557844 meters Centerline goodness [0,1] 0.24645451400899343 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:0.86 [[ 0.99994402 -0.00376152 -0.00988977 2.09228969] [ 0.00379964 0.99998541 0.00383901 0.31117935] [ 0.00987518 -0.00387637 0.99994373 0.8630771 ] [ 0. 0. 0. 1. ]] SLAMing on 179.402557844 meters Centerline goodness [0,1] 0.24484619187858725 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:0.86 [[ 0.99994399 -0.00378876 -0.00988216 2.09204962] [ 0.0038255 0.99998583 0.00370091 0.31193818] [ 0.009868 -0.00373851 0.99994432 0.86350486] [ 0. 0. 0. 1. ]] SLAMing on 179.432557844 meters Centerline goodness [0,1] 0.2489860541783243 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:0.86 [[ 0.99994367 -0.00384362 -0.00989336 2.0918723 ] [ 0.00387898 0.99998615 0.00355679 0.3125645 ] [ 0.00987955 -0.00359496 0.99994473 0.86387122] [ 0. 0. 0. 1. ]] SLAMing on 179.462557844 meters Centerline goodness [0,1] 0.2478430008910525 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:0.86 [[ 0.99994301 -0.00388304 -0.00994515 2.09187963] [ 0.00391733 0.99998644 0.00343034 0.313063 ] [ 0.0099317 -0.00346911 0.99994466 0.86410196] [ 0. 0. 0. 1. ]] SLAMing on 179.492557844 meters Centerline goodness [0,1] 0.2456250541453695 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:0.86 [[ 0.9999332 -0.00362131 -0.01097606 2.09491984] [ 0.00365957 0.99998729 0.00346824 0.31366599] [ 0.01096336 -0.00350818 0.99993375 0.86333704] [ 0. 0. 0. 1. ]] SLAMing on 179.522557844 meters Centerline goodness [0,1] 0.2442432250936898 Centerline is valid? [False, False] Translation: X:2.10, Y:0.31, Z:0.86 [[ 0.99992793 -0.00351036 -0.01148111 2.09660504] [ 0.00354975 0.99998788 0.00341221 0.31433939] [ 0.01146899 -0.00345272 0.99992827 0.86261267] [ 0. 0. 0. 1. ]] SLAMing on 179.552557844 meters Centerline goodness [0,1] 0.24764739353087928 Centerline is valid? [False, False] Translation: X:2.08, Y:0.31, Z:0.86 [[ 0.99990601 0.00583601 -0.012406 2.07632393] [-0.00580876 0.99998064 0.00223147 0.31247748] [ 0.01241878 -0.0021592 0.99992055 0.86102874] [ 0. 0. 0. 1. ]] SLAMing on 179.582557844 meters Centerline goodness [0,1] 0.24816623240130498 Centerline is valid? [False, False] Translation: X:2.08, Y:0.31, Z:0.86 [[ 9.99904971e-01 6.35449002e-03 -1.22339412e-02 2.07559021e+00] [-6.32978813e-03 9.99977851e-01 2.05679070e-03 3.14653452e-01] [ 1.22467400e-02 -1.97915699e-03 9.99923047e-01 8.61702842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.612557844 meters Centerline goodness [0,1] 0.2480810024711877 Centerline is valid? [False, False] Translation: X:2.08, Y:0.32, Z:0.86 [[ 9.99903886e-01 6.50590046e-03 -1.22430032e-02 2.07520770e+00] [-6.48375133e-03 9.99977273e-01 1.84794957e-03 3.16164691e-01] [ 1.22547475e-02 -1.76839137e-03 9.99923344e-01 8.62475822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.642557844 meters Centerline goodness [0,1] 0.24428670360110805 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.86 [[ 9.99931843e-01 -7.66737929e-04 -1.16499416e-02 2.09486141e+00] [ 8.10587766e-04 9.99992604e-01 3.75969791e-03 3.20919694e-01] [ 1.16469727e-02 -3.76888496e-03 9.99925069e-01 8.63836767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.672557844 meters Centerline goodness [0,1] 0.24888439471543822 Centerline is valid? [False, False] Translation: X:2.07, Y:0.32, Z:0.86 [[ 0.99987097 0.01029403 -0.01233173 2.07232043] [-0.01024501 0.99993939 0.00403098 0.3209125 ] [ 0.01237248 -0.00390412 0.99991584 0.86398441] [ 0. 0. 0. 1. ]] SLAMing on 179.702557844 meters Centerline goodness [0,1] 0.2472662985354781 Centerline is valid? [False, False] Translation: X:2.09, Y:0.33, Z:0.87 [[ 0.99992829 0.00246937 -0.01171834 2.09048179] [-0.00240519 0.99998205 0.00548759 0.3256677 ] [ 0.01173168 -0.00545901 0.99991628 0.86562669] [ 0. 0. 0. 1. ]] SLAMing on 179.732557844 meters Centerline goodness [0,1] 0.2454766875434934 Centerline is valid? [False, False] Translation: X:2.09, Y:0.33, Z:0.87 [[ 0.99992792 0.00254618 -0.0117332 2.09024511] [-0.00248363 0.99998264 0.00534255 0.32655856] [ 0.0117466 -0.00531302 0.99991689 0.86603085] [ 0. 0. 0. 1. ]] SLAMing on 179.762557844 meters Centerline goodness [0,1] 0.24372060767613724 Centerline is valid? [False, False] Translation: X:2.09, Y:0.33, Z:0.87 [[ 0.99992036 0.0027708 -0.01231212 2.09187781] [-0.00270439 0.99998172 0.00540716 0.3266351 ] [ 0.01232688 -0.00537343 0.99990958 0.86556361] [ 0. 0. 0. 1. ]] SLAMing on 179.79255784400002 meters Centerline goodness [0,1] 0.24736842105263157 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:0.87 [[ 0.99987049 0.00370728 -0.01566044 2.04880839] [-0.00362503 0.99997951 0.00527675 0.32659641] [ 0.01567968 -0.0052193 0.99986344 0.86533835] [ 0. 0. 0. 1. ]] SLAMing on 179.82255784400002 meters Centerline goodness [0,1] 0.24147549136197544 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.86 [[ 0.99989932 0.00340266 -0.01377568 2.09430617] [-0.00331553 0.99997439 0.00634304 0.32386014] [ 0.01379691 -0.00629673 0.99988499 0.86424387] [ 0. 0. 0. 1. ]] SLAMing on 179.85255784400002 meters Centerline goodness [0,1] 0.24147549136197544 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.86 [[ 0.99989932 0.00340266 -0.01377568 2.09430617] [-0.00331553 0.99997439 0.00634304 0.32386014] [ 0.01379691 -0.00629673 0.99988499 0.86424387] [ 0. 0. 0. 1. ]] SLAMing on 179.88255784400002 meters Centerline goodness [0,1] 0.24705216899447413 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.86 [[ 0.99990395 0.00363837 -0.01337388 2.09306265] [-0.00354682 0.99997016 0.00686222 0.32161063] [ 0.01339845 -0.00681413 0.99988702 0.86464469] [ 0. 0. 0. 1. ]] SLAMing on 179.91255784400002 meters Centerline goodness [0,1] 0.242537474620934 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.87 [[ 0.9999068 0.00371545 -0.01313739 2.09209311] [-0.00362172 0.99996787 0.00715089 0.32002161] [ 0.01316353 -0.00710265 0.99988813 0.86524037] [ 0. 0. 0. 1. ]] SLAMing on 179.94255784400002 meters Centerline goodness [0,1] 0.2490552023942154 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.87 [[ 0.99990824 0.00382087 -0.012997 2.09148252] [-0.00372433 0.99996536 0.00744339 0.31855139] [ 0.01302499 -0.0073943 0.99988783 0.86569087] [ 0. 0. 0. 1. ]] SLAMing on 179.97255784400002 meters Centerline goodness [0,1] 0.24216849312119193 Centerline is valid? [False, False] Translation: X:2.11, Y:0.31, Z:0.87 [[ 0.99985061 0.01219697 -0.01224737 2.11230511] [-0.01210891 0.99990048 0.00723846 0.31203075] [ 0.01233444 -0.00708907 0.9998988 0.86650655] [ 0. 0. 0. 1. ]] SLAMing on 180.002557844 meters Centerline goodness [0,1] 0.2503662242823097 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.87 [[ 0.99990996 0.00389497 -0.01284122 2.09152323] [-0.0037959 0.99996291 0.00773053 0.31663212] [ 0.01287085 -0.00768109 0.99988766 0.86566701] [ 0. 0. 0. 1. ]] SLAMing on 180.032557844 meters Centerline goodness [0,1] 0.2492746667830108 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.87 [[ 0.99990998 0.00389432 -0.0128399 2.0914829 ] [-0.00379553 0.99996308 0.00770901 0.3166233 ] [ 0.01286944 -0.00765958 0.99988785 0.86568338] [ 0. 0. 0. 1. ]] SLAMing on 180.062557844 meters Centerline goodness [0,1] 0.2499671067058462 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.87 [[ 0.99990847 0.00389724 -0.01295601 2.0918203 ] [-0.00379887 0.99996384 0.00760897 0.31715727] [ 0.0129852 -0.00755906 0.99988712 0.8655362 ] [ 0. 0. 0. 1. ]] SLAMing on 180.092557844 meters Centerline goodness [0,1] 0.24536603428372283 Centerline is valid? [False, False] Translation: X:2.09, Y:0.32, Z:0.86 [[ 0.99989405 0.0046632 -0.01378922 2.0944473 ] [-0.00455605 0.99995927 0.00779168 0.31901526] [ 0.01382499 -0.00772803 0.99987457 0.86459712] [ 0. 0. 0. 1. ]] SLAMing on 180.122557844 meters Centerline goodness [0,1] 0.24077992744860943 Centerline is valid? [False, False] Translation: X:2.10, Y:0.32, Z:0.86 [[ 0.99988837 0.00471786 -0.01417732 2.09555158] [-0.00461349 0.99996209 0.0073853 0.32149905] [ 0.01421162 -0.00731907 0.99987222 0.86429366] [ 0. 0. 0. 1. ]] SLAMing on 180.152557844 meters Centerline goodness [0,1] 0.24743758212877798 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:0.87 [[ 0.99983627 0.00646583 -0.01690028 2.0503939 ] [-0.0063425 0.99995294 0.00734115 0.32532524] [ 0.01694695 -0.00723276 0.99983023 0.86511261] [ 0. 0. 0. 1. ]] SLAMing on 180.182557844 meters Centerline goodness [0,1] 0.24609093095982681 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:0.87 [[ 0.99983672 0.00673402 -0.01676889 2.04999334] [-0.00662605 0.99995701 0.00648625 0.33128931] [ 0.01681185 -0.00637408 0.99983835 0.86510094] [ 0. 0. 0. 1. ]] SLAMing on 180.212557844 meters Centerline goodness [0,1] 0.2411218593780432 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:0.87 [[ 0.99983553 0.00656696 -0.0169053 2.05025265] [-0.00647012 0.99996238 0.00577709 0.33480807] [ 0.0169426 -0.00566676 0.99984041 0.86512099] [ 0. 0. 0. 1. ]] SLAMing on 180.242557844 meters Centerline goodness [0,1] 0.24264626189495586 Centerline is valid? [False, False] Translation: X:2.05, Y:0.34, Z:0.87 [[ 0.99983562 0.0063429 -0.01698532 2.05044641] [-0.00625663 0.99996728 0.00512761 0.33789829] [ 0.01701729 -0.00502049 0.99984259 0.86505227] [ 0. 0. 0. 1. ]] SLAMing on 180.272557844 meters Centerline goodness [0,1] 0.2457779138956948 Centerline is valid? [False, False] Translation: X:2.05, Y:0.34, Z:0.87 [[ 0.99983816 0.00612914 -0.01691383 2.05013229] [-0.00605256 0.99997122 0.00457504 0.34041561] [ 0.01694138 -0.00447193 0.99984648 0.86522886] [ 0. 0. 0. 1. ]] SLAMing on 180.302557844 meters Centerline goodness [0,1] 0.24786380964900745 Centerline is valid? [False, False] Translation: X:2.05, Y:0.34, Z:0.87 [[ 0.99984761 0.00578698 -0.01646997 2.04832188] [-0.00572497 0.99997635 0.00381006 0.34373808] [ 0.01649163 -0.00371519 0.9998571 0.8664508 ] [ 0. 0. 0. 1. ]] SLAMing on 180.332557844 meters Centerline goodness [0,1] 0.24267492474608576 Centerline is valid? [False, False] Translation: X:2.07, Y:0.35, Z:0.87 [[ 0.99987553 -0.0032087 -0.01544758 2.06822849] [ 0.00327808 0.99998464 0.00446812 0.34905829] [ 0.015433 -0.0045182 0.9998707 0.86751176] [ 0. 0. 0. 1. ]] SLAMing on 180.362557844 meters Centerline goodness [0,1] 0.24413625198356625 Centerline is valid? [False, False] Translation: X:2.07, Y:0.35, Z:0.87 [[ 0.99987201 -0.00326584 -0.01566222 2.06892398] [ 0.00333432 0.99998499 0.00434844 0.34963091] [ 0.01564779 -0.0044001 0.99986788 0.86725371] [ 0. 0. 0. 1. ]] SLAMing on 180.392557844 meters Centerline goodness [0,1] 0.24248596875203154 Centerline is valid? [False, False] Translation: X:2.07, Y:0.35, Z:0.87 [[ 0.99986671 -0.00330013 -0.01598954 2.07008661] [ 0.00336834 0.99998533 0.00424082 0.35026065] [ 0.01597531 -0.00429412 0.99986317 0.86668129] [ 0. 0. 0. 1. ]] SLAMing on 180.422557844 meters Centerline goodness [0,1] 0.24111493730102007 Centerline is valid? [False, False] Translation: X:2.07, Y:0.35, Z:0.87 [[ 0.99986299 -0.00333794 -0.01621323 2.07096654] [ 0.00340484 0.9999858 0.00410066 0.35096716] [ 0.01619931 -0.0041553 0.99986015 0.86615024] [ 0. 0. 0. 1. ]] SLAMing on 180.452557844 meters Centerline goodness [0,1] 0.2438705744022993 Centerline is valid? [False, False] Translation: X:2.07, Y:0.35, Z:0.87 [[ 0.99986546 -0.00336369 -0.01605456 2.07023939] [ 0.00342949 0.99998583 0.00407281 0.35088984] [ 0.01604063 -0.00412732 0.99986282 0.86669924] [ 0. 0. 0. 1. ]] SLAMing on 180.482557844 meters Centerline goodness [0,1] 0.24176939185250745 Centerline is valid? [False, False] Translation: X:2.09, Y:0.35, Z:0.87 [[ 0.99988658 0.00433692 -0.01442275 2.08921176] [-0.00429719 0.99998689 0.00278451 0.34711105] [ 0.01443463 -0.00272221 0.99989211 0.86892545] [ 0. 0. 0. 1. ]] SLAMing on 180.512557844 meters Centerline goodness [0,1] 0.24688810201377276 Centerline is valid? [False, False] Translation: X:2.09, Y:0.35, Z:0.87 [[ 0.99988856 0.00440343 -0.01426445 2.08824286] [-0.00436285 0.99998635 0.00287479 0.34676841] [ 0.01427691 -0.00281224 0.99989412 0.86987088] [ 0. 0. 0. 1. ]] SLAMing on 180.54255784400002 meters Centerline goodness [0,1] 0.24598430673593152 Centerline is valid? [False, False] Translation: X:2.09, Y:0.35, Z:0.87 [[ 0.99987974 0.00484708 -0.01473144 2.08941526] [-0.00479698 0.9999826 0.00343414 0.34502038] [ 0.01474783 -0.00336306 0.99988559 0.86981174] [ 0. 0. 0. 1. ]] SLAMing on 180.57255784400002 meters Centerline goodness [0,1] 0.24604779611629368 Centerline is valid? [False, False] Translation: X:2.09, Y:0.34, Z:0.87 [[ 0.99987703 0.00498141 -0.01486989 2.09016841] [-0.00492652 0.99998093 0.00372528 0.34363499] [ 0.01488817 -0.00365157 0.9998825 0.86905375] [ 0. 0. 0. 1. ]] SLAMing on 180.60255784400002 meters Centerline goodness [0,1] 0.24741571073406898 Centerline is valid? [False, False] Translation: X:2.09, Y:0.34, Z:0.87 [[ 0.99987636 0.00511466 -0.0148699 2.09027579] [-0.00505539 0.99997914 0.00402044 0.3421654 ] [ 0.01489015 -0.00394477 0.99988135 0.86879639] [ 0. 0. 0. 1. ]] SLAMing on 180.63255784400002 meters Centerline goodness [0,1] 0.24726672028169627 Centerline is valid? [False, False] Translation: X:2.09, Y:0.34, Z:0.87 [[ 0.99987912 0.00556916 -0.01451665 2.08894386] [-0.00549882 0.99997297 0.00488098 0.33850596] [ 0.01454344 -0.00480056 0.99988271 0.86952691] [ 0. 0. 0. 1. ]] SLAMing on 180.66255784400002 meters Centerline goodness [0,1] 0.24628739663159716 Centerline is valid? [False, False] Translation: X:2.09, Y:0.34, Z:0.87 [[ 0.99987857 0.00579089 -0.0144676 2.08861738] [-0.00571407 0.99996939 0.00534497 0.33650754] [ 0.01449811 -0.00526166 0.99988105 0.86987561] [ 0. 0. 0. 1. ]] SLAMing on 180.69255784400002 meters Centerline goodness [0,1] 0.24484353156253358 Centerline is valid? [False, False] Translation: X:2.09, Y:0.33, Z:0.87 [[ 0.99987618 0.00598222 -0.01455479 2.08893533] [-0.0058991 0.99996609 0.00574705 0.33462404] [ 0.01458868 -0.00566048 0.99987756 0.86970618] [ 0. 0. 0. 1. ]] SLAMing on 180.72255784400002 meters Centerline goodness [0,1] 0.24870034438132005 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:0.87 [[ 0.99979663 0.00659406 -0.01905824 2.04888528] [-0.00650299 0.99996716 0.00483659 0.32897648] [ 0.0190895 -0.00471167 0.99980668 0.86929714] [ 0. 0. 0. 1. ]] SLAMing on 180.75255784400002 meters Centerline goodness [0,1] 0.2478312860093489 Centerline is valid? [False, False] Translation: X:2.07, Y:0.33, Z:0.87 [[ 9.99809407e-01 -1.06396742e-03 -1.94940211e-02 2.06755855e+00] [ 1.19125956e-03 9.99978039e-01 6.51935570e-03 3.32810556e-01] [ 1.94866566e-02 -6.54133560e-03 9.99788718e-01 8.71018652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782557844 meters Centerline goodness [0,1] 0.24580460517757252 Centerline is valid? [False, False] Translation: X:2.07, Y:0.33, Z:0.87 [[ 9.99810952e-01 -8.91806246e-04 -1.94233350e-02 2.06741040e+00] [ 1.02273815e-03 9.99976816e-01 6.73206897e-03 3.32183339e-01] [ 1.94168810e-02 -6.75066127e-03 9.99788684e-01 8.70917212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812557844 meters Centerline goodness [0,1] 0.24788223252977937 Centerline is valid? [False, False] Translation: X:2.07, Y:0.33, Z:0.87 [[ 9.99813685e-01 -7.71111058e-04 -1.92873067e-02 2.06700193e+00] [ 9.05534067e-04 9.99975357e-01 6.96174432e-03 3.31175457e-01] [ 1.92814631e-02 -6.97791255e-03 9.99789745e-01 8.70999823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842557844 meters Centerline goodness [0,1] 0.24778991724407573 Centerline is valid? [False, False] Translation: X:2.07, Y:0.32, Z:0.87 [[ 0.99981308 -0.00221331 -0.01920681 2.06693833] [ 0.00232637 0.99998009 0.00586626 0.32435536] [ 0.01919344 -0.00590985 0.99979832 0.87083731] [ 0. 0. 0. 1. ]] SLAMing on 180.872557844 meters Centerline goodness [0,1] 0.24808422880712033 Centerline is valid? [False, False] Translation: X:2.07, Y:0.32, Z:0.87 [[ 9.99811820e-01 -2.05621207e-03 -1.92897885e-02 2.06734731e+00] [ 2.17779798e-03 9.99977883e-01 6.28423506e-03 3.22383935e-01] [ 1.92764401e-02 -6.32506176e-03 9.99794185e-01 8.70524203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902557844 meters Centerline goodness [0,1] 0.24750989517637334 Centerline is valid? [False, False] Translation: X:2.07, Y:0.32, Z:0.87 [[ 9.99811608e-01 -1.87643154e-03 -1.93190749e-02 2.06765156e+00] [ 2.00807741e-03 9.99974883e-01 6.79715212e-03 3.20031448e-01] [ 1.93058353e-02 -6.83466580e-03 9.99790264e-01 8.70206104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932557844 meters Centerline goodness [0,1] 0.24420588807050136 Centerline is valid? [False, False] Translation: X:2.07, Y:0.32, Z:0.87 [[ 0.99979928 -0.00563995 -0.01922458 2.06712688] [ 0.00571333 0.99997659 0.0037643 0.31537306] [ 0.0192029 -0.00387338 0.9998081 0.8708601 ] [ 0. 0. 0. 1. ]] SLAMing on 180.962557844 meters Centerline goodness [0,1] 0.2442902697578212 Centerline is valid? [False, False] Translation: X:2.07, Y:0.31, Z:0.87 [[ 0.99979708 -0.00555417 -0.01936353 2.06743787] [ 0.00564147 0.99997416 0.00445656 0.31158974] [ 0.01933828 -0.0045649 0.99980258 0.87107697] [ 0. 0. 0. 1. ]] SLAMing on 180.992557844 meters Centerline goodness [0,1] 0.2463755515465038 Centerline is valid? [False, False] Translation: X:2.07, Y:0.31, Z:0.87 [[ 0.9997932 -0.00537625 -0.01961251 2.06817168] [ 0.00547878 0.99997159 0.00517766 0.30803808] [ 0.01958411 -0.00528404 0.99979425 0.87105044] [ 0. 0. 0. 1. ]] SLAMing on 181.022557844 meters Centerline goodness [0,1] 0.2460492227979275 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.87 [[ 0.99978475 -0.00526156 -0.02006907 2.06960673] [ 0.00538813 0.9999659 0.0062577 0.30215525] [ 0.02003546 -0.00636449 0.99977901 0.87081616] [ 0. 0. 0. 1. ]] SLAMing on 181.052557844 meters Centerline goodness [0,1] 0.2451674351148343 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.87 [[ 0.99978823 -0.00508568 -0.01994091 2.06932772] [ 0.00522375 0.9999627 0.00687799 0.29901235] [ 0.01990519 -0.0069807 0.9997775 0.87085089] [ 0. 0. 0. 1. ]] SLAMing on 181.082557844 meters Centerline goodness [0,1] 0.2473355384049981 Centerline is valid? [False, False] Translation: X:2.07, Y:0.29, Z:0.87 [[ 0.99978597 -0.00760604 -0.0192395 2.06554945] [ 0.00770748 0.99995675 0.0052042 0.29184911] [ 0.01919908 -0.00535138 0.99980136 0.87329708] [ 0. 0. 0. 1. ]] SLAMing on 181.112557844 meters Centerline goodness [0,1] 0.2471091055040896 Centerline is valid? [False, False] Translation: X:2.07, Y:0.29, Z:0.87 [[ 0.99978884 -0.00732548 -0.01919907 2.06540711] [ 0.00744137 0.99995448 0.00597195 0.28838669] [ 0.01915445 -0.00611356 0.99979785 0.87350893] [ 0. 0. 0. 1. ]] SLAMing on 181.142557844 meters Centerline goodness [0,1] 0.25371069734761986 Centerline is valid? [False, False] Translation: X:2.05, Y:0.28, Z:0.87 [[ 9.99819539e-01 9.34150708e-04 -1.89740941e-02 2.04637250e+00] [-8.33142843e-04 9.99985445e-01 5.33066909e-03 2.79025719e-01] [ 1.89787976e-02 -5.31389898e-03 9.99805765e-01 8.71770402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.172557844 meters Centerline goodness [0,1] 0.2503146564819235 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:0.87 [[ 0.99981602 0.00678745 -0.01794062 2.06893887] [-0.00674193 0.9999739 0.00259635 0.27457638] [ 0.01795777 -0.00247492 0.99983568 0.87166153] [ 0. 0. 0. 1. ]] SLAMing on 181.202557844 meters Centerline goodness [0,1] 0.2461132042787233 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:0.87 [[ 9.99834366e-01 3.11771445e-03 -1.79309654e-02 2.06877781e+00] [-3.13013714e-03 9.99994880e-01 -6.64782308e-04 2.70749749e-01] [ 1.79288010e-02 7.20798579e-04 9.99839006e-01 8.71767692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.232557844 meters Centerline goodness [0,1] 0.24833808167141502 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:0.87 [[ 9.99832280e-01 3.30745975e-03 -1.80131036e-02 2.06893071e+00] [-3.31303533e-03 9.99994473e-01 -2.79695992e-04 2.69100251e-01] [ 1.80120789e-02 3.39327130e-04 9.99837712e-01 8.71842716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262557844 meters Centerline goodness [0,1] 0.2503646298191001 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:0.87 [[ 9.99832475e-01 3.50881973e-03 -1.79641484e-02 2.06878586e+00] [-3.50945616e-03 9.99993842e-01 -3.90260934e-06 2.68315995e-01] [ 1.79640241e-02 6.69463468e-05 9.99838632e-01 8.71869568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29255784400002 meters Centerline goodness [0,1] 0.2489384748700173 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:0.87 [[ 9.99829544e-01 4.25095439e-03 -1.79669882e-02 2.06885139e+00] [-4.23932469e-03 9.99990779e-01 6.85319097e-04 2.66544615e-01] [ 1.79697358e-02 -6.09034384e-04 9.99838346e-01 8.71760489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32255784400002 meters Centerline goodness [0,1] 0.24704992435703477 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:0.87 [[ 9.99828954e-01 4.27906473e-03 -1.79931417e-02 2.06898205e+00] [-4.26630223e-03 9.99990620e-01 7.47623725e-04 2.65926809e-01] [ 1.79961720e-02 -6.70731666e-04 9.99837831e-01 8.71593194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35255784400002 meters Centerline goodness [0,1] 0.24674765227879725 Centerline is valid? [False, False] Translation: X:2.07, Y:0.26, Z:0.87 [[ 9.99827730e-01 4.34355985e-03 -1.80456236e-02 2.06921113e+00] [-4.32769879e-03 9.99990214e-01 9.17900963e-04 2.64853419e-01] [ 1.80494340e-02 -8.39646813e-04 9.99836743e-01 8.71375474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38255784400002 meters Centerline goodness [0,1] 0.2505124514806577 Centerline is valid? [False, False] Translation: X:2.05, Y:0.27, Z:0.87 [[ 0.99980199 -0.00336862 -0.01961209 2.04945298] [ 0.00342264 0.99999044 0.00272135 0.26544928] [ 0.01960273 -0.00278794 0.99980396 0.87061825] [ 0. 0. 0. 1. ]] SLAMing on 181.41255784400002 meters Centerline goodness [0,1] 0.2475631846804106 Centerline is valid? [False, False] Translation: X:2.07, Y:0.26, Z:0.87 [[ 0.99980682 0.00502535 -0.01900159 2.06970012] [-0.00498035 0.99998468 0.00241459 0.25938836] [ 0.01901344 -0.00231948 0.99981654 0.87178383] [ 0. 0. 0. 1. ]] SLAMing on 181.44255784400002 meters Centerline goodness [0,1] 0.2504341408352869 Centerline is valid? [False, False] Translation: X:2.07, Y:0.26, Z:0.87 [[ 0.9998061 0.00526886 -0.0189737 2.0696872 ] [-0.00521146 0.9999817 0.00307345 0.25627604] [ 0.01898955 -0.00297398 0.99981526 0.87176261] [ 0. 0. 0. 1. ]] SLAMing on 181.47255784400002 meters Centerline goodness [0,1] 0.24914350145279496 Centerline is valid? [False, False] Translation: X:2.07, Y:0.25, Z:0.87 [[ 9.99813647e-01 1.46684280e-03 -1.92488860e-02 2.07055724e+00] [-1.47795957e-03 9.99998749e-01 -5.63315169e-04 2.54814201e-01] [ 1.92480356e-02 5.91659269e-04 9.99814564e-01 8.71380285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50255784400002 meters Centerline goodness [0,1] 0.249361757838923 Centerline is valid? [False, False] Translation: X:2.07, Y:0.25, Z:0.87 [[ 9.99806654e-01 1.63248133e-03 -1.95956608e-02 2.07177343e+00] [-1.63091039e-03 9.99998665e-01 9.61485291e-05 2.51367086e-01] [ 1.95957916e-02 -6.41711724e-05 9.99807982e-01 8.70847189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532557844 meters Centerline goodness [0,1] 0.25132534851757315 Centerline is valid? [False, False] Translation: X:2.07, Y:0.24, Z:0.87 [[ 9.99797106e-01 2.05678005e-03 -2.00378894e-02 2.07322298e+00] [-2.02840180e-03 9.99996911e-01 1.43645100e-03 2.44925939e-01] [ 2.00407820e-02 -1.39551466e-03 9.99798189e-01 8.70347633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562557844 meters Centerline goodness [0,1] 0.2543504698728579 Centerline is valid? [False, False] Translation: X:2.07, Y:0.24, Z:0.87 [[ 0.99979774 0.0022971 -0.01997994 2.07303963] [-0.00225501 0.99999519 0.00212869 0.24167668] [ 0.01998473 -0.00208321 0.99979812 0.87052436] [ 0. 0. 0. 1. ]] SLAMing on 181.592557844 meters Centerline goodness [0,1] 0.2502274992416692 Centerline is valid? [False, False] Translation: X:2.11, Y:0.24, Z:0.87 [[ 9.99853819e-01 6.05754238e-04 -1.70872108e-02 2.11301666e+00] [-5.89775943e-04 9.99999384e-01 9.40126299e-04 2.37578976e-01] [ 1.70877697e-02 -9.29911245e-04 9.99853561e-01 8.72496105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622557844 meters Centerline goodness [0,1] 0.2523692294285528 Centerline is valid? [False, False] Translation: X:2.11, Y:0.24, Z:0.87 [[ 9.99854472e-01 8.12393917e-04 -1.70403621e-02 2.11288227e+00] [-7.87639711e-04 9.99998625e-01 1.45934179e-03 2.35243717e-01] [ 1.70415242e-02 -1.44570775e-03 9.99853737e-01 8.72561594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652557844 meters Centerline goodness [0,1] 0.2501740644038294 Centerline is valid? [False, False] Translation: X:2.11, Y:0.23, Z:0.87 [[ 9.99852416e-01 1.00359296e-03 -1.71504966e-02 2.11339469e+00] [-9.70675856e-04 9.99997671e-01 1.92752583e-03 2.33163937e-01] [ 1.71523911e-02 -1.91059379e-03 9.99851061e-01 8.72158578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682557844 meters Centerline goodness [0,1] 0.2480707534899853 Centerline is valid? [False, False] Translation: X:2.11, Y:0.23, Z:0.87 [[ 9.99848685e-01 1.16399097e-03 -1.73566113e-02 2.11426983e+00] [-1.12321811e-03 9.99996587e-01 2.35868932e-03 2.31115137e-01] [ 1.73592975e-02 -2.33883716e-03 9.99846581e-01 8.71568273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.712557844 meters Centerline goodness [0,1] 0.2480707534899853 Centerline is valid? [False, False] Translation: X:2.11, Y:0.23, Z:0.87 [[ 9.99848685e-01 1.16399097e-03 -1.73566113e-02 2.11426983e+00] [-1.12321811e-03 9.99996587e-01 2.35868932e-03 2.31115137e-01] [ 1.73592975e-02 -2.33883716e-03 9.99846581e-01 8.71568273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.742557844 meters Centerline goodness [0,1] 0.250439997392608 Centerline is valid? [False, False] Translation: X:2.12, Y:0.23, Z:0.87 [[ 9.99841204e-01 1.19975382e-03 -1.77799966e-02 2.11536664e+00] [-1.14586340e-03 9.99994720e-01 3.04083553e-03 2.26361328e-01] [ 1.77835510e-02 -3.01997921e-03 9.99837299e-01 8.71587889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.772557844 meters Centerline goodness [0,1] 0.24768930353655894 Centerline is valid? [False, False] Translation: X:2.11, Y:0.22, Z:0.87 [[ 9.99842851e-01 1.32749384e-03 -1.76780047e-02 2.11476890e+00] [-1.26465552e-03 9.99992845e-01 3.56530976e-03 2.23686960e-01] [ 1.76826112e-02 -3.54239289e-03 9.99837375e-01 8.72206171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.802557844 meters Centerline goodness [0,1] 0.25449673862912614 Centerline is valid? [False, False] Translation: X:2.11, Y:0.22, Z:0.87 [[ 9.99844850e-01 1.51548535e-03 -1.75493537e-02 2.11413320e+00] [-1.44333526e-03 9.99990458e-01 4.12320403e-03 2.21184744e-01] [ 1.75554349e-02 -4.09723471e-03 9.99837496e-01 8.72870986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.832557844 meters Centerline goodness [0,1] 0.2499292817198686 Centerline is valid? [False, False] Translation: X:2.11, Y:0.22, Z:0.87 [[ 9.99844956e-01 1.67636003e-03 -1.75286430e-02 2.11389674e+00] [-1.59541339e-03 9.99988005e-01 4.63092815e-03 2.18924099e-01] [ 1.75361958e-02 -4.60224473e-03 9.99835637e-01 8.73229527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.862557844 meters Centerline goodness [0,1] 0.2530679208137373 Centerline is valid? [False, False] Translation: X:2.11, Y:0.22, Z:0.87 [[ 9.99842491e-01 1.70673878e-03 -1.76658131e-02 2.11463391e+00] [-1.61281292e-03 9.99984496e-01 5.32969711e-03 2.15144937e-01] [ 1.76746357e-02 -5.30036598e-03 9.99829742e-01 8.72635424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.892557844 meters Centerline goodness [0,1] 0.24921135646687698 Centerline is valid? [False, False] Translation: X:2.14, Y:0.21, Z:0.87 [[ 9.99823061e-01 7.22889290e-03 -1.73663660e-02 2.13775436e+00] [-7.19481341e-03 9.99972069e-01 2.02406332e-03 2.12584409e-01] [ 1.73805127e-02 -1.89875742e-03 9.99847145e-01 8.72141735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.922557844 meters Centerline goodness [0,1] 0.24899615827057064 Centerline is valid? [False, False] Translation: X:2.14, Y:0.21, Z:0.87 [[ 0.99981885 0.0073078 -0.01757435 2.13827374] [-0.00726808 0.99997089 0.00232328 0.21109048] [ 0.01759082 -0.00219513 0.99984286 0.87212897] [ 0. 0. 0. 1. ]] SLAMing on 181.952557844 meters Centerline goodness [0,1] 0.25147813233631855 Centerline is valid? [False, False] Translation: X:2.14, Y:0.21, Z:0.87 [[ 0.99981978 0.00736929 -0.01749585 2.1377767 ] [-0.00732294 0.99996951 0.00271189 0.20912434] [ 0.0175153 -0.00258328 0.99984326 0.87274121] [ 0. 0. 0. 1. ]] SLAMing on 181.982557844 meters Centerline goodness [0,1] 0.251703056768559 Centerline is valid? [False, False] Translation: X:2.14, Y:0.21, Z:0.87 [[ 0.99982185 0.00741478 -0.01735777 2.13714561] [-0.00736486 0.99996856 0.00293799 0.20794774] [ 0.01737901 -0.00280963 0.99984503 0.87327073] [ 0. 0. 0. 1. ]] SLAMing on 182.012557844 meters Centerline goodness [0,1] 0.2541034103410341 Centerline is valid? [False, False] Translation: X:2.14, Y:0.21, Z:0.87 [[ 0.9998238 0.00744376 -0.01723255 2.13657505] [-0.00738927 0.9999675 0.00322381 0.20633923] [ 0.01725599 -0.00309591 0.99984631 0.87375531] [ 0. 0. 0. 1. ]] SLAMing on 182.04255784400002 meters Centerline goodness [0,1] 0.2518665244552796 Centerline is valid? [False, False] Translation: X:2.16, Y:0.21, Z:0.87 [[ 9.99855594e-01 -1.62465862e-03 -1.69160085e-02 2.15806204e+00] [ 1.69192678e-03 9.99990716e-01 3.96304595e-03 2.07262763e-01] [ 1.69094128e-02 -3.99109431e-03 9.99849060e-01 8.74924160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07255784400002 meters Centerline goodness [0,1] 0.25278688524590165 Centerline is valid? [False, False] Translation: X:2.16, Y:0.21, Z:0.87 [[ 9.99856959e-01 -1.51355656e-03 -1.68455127e-02 2.15789216e+00] [ 1.58603785e-03 9.99989539e-01 4.29017833e-03 2.05826195e-01] [ 1.68388430e-02 -4.31628228e-03 9.99848900e-01 8.74925542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10255784400002 meters Centerline goodness [0,1] 0.2506293949127528 Centerline is valid? [False, False] Translation: X:2.16, Y:0.20, Z:0.88 [[ 9.99858435e-01 -1.46046639e-03 -1.67623416e-02 2.15739084e+00] [ 1.53588561e-03 9.99988752e-01 4.48733353e-03 2.04844932e-01] [ 1.67555995e-02 -4.51244332e-03 9.99849433e-01 8.75475919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13255784400002 meters Centerline goodness [0,1] 0.25147004175137166 Centerline is valid? [False, False] Translation: X:2.16, Y:0.20, Z:0.88 [[ 9.99870961e-01 -1.64706850e-03 -1.59796243e-02 2.15514236e+00] [ 1.72235771e-03 9.99987477e-01 4.69895799e-03 2.02841928e-01] [ 1.59716846e-02 -4.72587427e-03 9.99861276e-01 8.76066437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16255784400002 meters Centerline goodness [0,1] 0.24660025985275014 Centerline is valid? [False, False] Translation: X:2.17, Y:0.20, Z:0.88 [[ 0.99986351 0.00614079 -0.01533778 2.17401605] [-0.00608672 0.99997511 0.00356943 0.19757892] [ 0.01535932 -0.00347558 0.999876 0.87740381] [ 0. 0. 0. 1. ]] SLAMing on 182.19255784400002 meters Centerline goodness [0,1] 0.2519710834953153 Centerline is valid? [False, False] Translation: X:2.15, Y:0.20, Z:0.88 [[ 0.9998563 -0.00231127 -0.01679405 2.15432117] [ 0.00239967 0.99998336 0.00524553 0.19988295] [ 0.01678164 -0.00528507 0.99984521 0.87592316] [ 0. 0. 0. 1. ]] SLAMing on 182.22255784400002 meters Centerline goodness [0,1] 0.2503164695097997 Centerline is valid? [False, False] Translation: X:2.15, Y:0.20, Z:0.88 [[ 0.99985214 -0.00226932 -0.01704554 2.15497335] [ 0.00236388 0.99998192 0.0055298 0.19842233] [ 0.01703269 -0.00556927 0.99983942 0.87589012] [ 0. 0. 0. 1. ]] SLAMing on 182.25255784400002 meters Centerline goodness [0,1] 0.2516071194297459 Centerline is valid? [False, False] Translation: X:2.16, Y:0.20, Z:0.88 [[ 0.99984837 -0.00229531 -0.01726204 2.15550948] [ 0.00239678 0.99997996 0.00585964 0.19639962] [ 0.01724824 -0.00590013 0.99983383 0.87589323] [ 0. 0. 0. 1. ]] SLAMing on 182.282557844 meters Centerline goodness [0,1] 0.2445575956331313 Centerline is valid? [False, False] Translation: X:2.18, Y:0.19, Z:0.88 [[ 0.99985832 0.00266171 -0.01662092 2.17708504] [-0.00262304 0.9999938 0.00234833 0.19150947] [ 0.01662707 -0.0023044 0.99985911 0.8758754 ] [ 0. 0. 0. 1. ]] SLAMing on 182.312557844 meters Centerline goodness [0,1] 0.2532593375616632 Centerline is valid? [False, False] Translation: X:2.13, Y:0.18, Z:0.88 [[ 9.99811577e-01 -9.81009887e-04 -1.93867813e-02 2.13368755e+00] [ 9.98221719e-04 9.99999116e-01 8.78155651e-04 1.83536898e-01] [ 1.93859027e-02 -8.97342493e-04 9.99811673e-01 8.75699361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342557844 meters Centerline goodness [0,1] 0.24815912160690168 Centerline is valid? [False, False] Translation: X:2.14, Y:0.18, Z:0.88 [[ 9.99798091e-01 -1.20518114e-03 -2.00580569e-02 2.13567314e+00] [ 1.23391383e-03 9.99998230e-01 1.42016181e-03 1.79883788e-01] [ 2.00563098e-02 -1.44462498e-03 9.99797808e-01 8.75066812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372557844 meters Centerline goodness [0,1] 0.24648209961384904 Centerline is valid? [False, False] Translation: X:2.14, Y:0.18, Z:0.87 [[ 9.99787104e-01 -1.38725200e-03 -2.05869250e-02 2.13724615e+00] [ 1.42889491e-03 9.99996963e-01 2.00821230e-03 1.75947261e-01] [ 2.05840766e-02 -2.03720132e-03 9.99786050e-01 8.74551471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402557844 meters Centerline goodness [0,1] 0.2505226480836237 Centerline is valid? [False, False] Translation: X:2.14, Y:0.17, Z:0.87 [[ 9.99776398e-01 -1.47911475e-03 -2.10942423e-02 2.13868718e+00] [ 1.53454824e-03 9.99995411e-01 2.61195205e-03 1.72136938e-01] [ 2.10902821e-02 -2.64373815e-03 9.99774080e-01 8.74169294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432557844 meters Centerline goodness [0,1] 0.24844530755635075 Centerline is valid? [False, False] Translation: X:2.14, Y:0.17, Z:0.87 [[ 9.99783669e-01 -1.57900654e-03 -2.07393957e-02 2.13777373e+00] [ 1.65207460e-03 9.99992488e-01 3.50649221e-03 1.66231259e-01] [ 2.07337031e-02 -3.53999668e-03 9.99778767e-01 8.74202966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.462557844 meters Centerline goodness [0,1] 0.245123959778086 Centerline is valid? [False, False] Translation: X:2.16, Y:0.16, Z:0.88 [[ 9.99792524e-01 6.20655220e-03 -1.94006961e-02 2.15533147e+00] [-6.16745088e-03 9.99978829e-01 2.07464272e-03 1.58941595e-01] [ 1.94131617e-02 -1.95455944e-03 9.99809636e-01 8.76407303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.492557844 meters Centerline goodness [0,1] 0.24878527072665868 Centerline is valid? [False, False] Translation: X:2.15, Y:0.16, Z:0.88 [[ 0.99979363 0.00633096 -0.01930327 2.15476549] [-0.0062853 0.99997731 0.00242541 0.15699912] [ 0.01931818 -0.00230358 0.99981073 0.87690113] [ 0. 0. 0. 1. ]] SLAMing on 182.522557844 meters Centerline goodness [0,1] 0.24558964108803338 Centerline is valid? [False, False] Translation: X:2.16, Y:0.16, Z:0.88 [[ 0.999788 0.00638109 -0.01957628 2.1558112 ] [-0.00633373 0.99997687 0.00248015 0.15687389] [ 0.01959165 -0.00235564 0.99980529 0.8762669 ] [ 0. 0. 0. 1. ]] SLAMing on 182.552557844 meters Centerline goodness [0,1] 0.24302159518760547 Centerline is valid? [False, False] Translation: X:2.16, Y:0.16, Z:0.88 [[ 0.99978115 0.00645232 -0.01990014 2.15712168] [-0.00640371 0.99997636 0.00250524 0.15709085] [ 0.01991584 -0.00237725 0.99979883 0.87540814] [ 0. 0. 0. 1. ]] SLAMing on 182.582557844 meters Centerline goodness [0,1] 0.24510760028606726 Centerline is valid? [False, False] Translation: X:2.16, Y:0.16, Z:0.88 [[ 0.99978079 0.00644925 -0.01991928 2.15738329] [-0.00640147 0.99997648 0.00246168 0.15736259] [ 0.01993469 -0.00233363 0.99979856 0.87502938] [ 0. 0. 0. 1. ]] SLAMing on 182.612557844 meters Centerline goodness [0,1] 0.2516888927882085 Centerline is valid? [False, False] Translation: X:2.14, Y:0.16, Z:0.87 [[ 0.9998182 -0.00241933 -0.01891313 2.13572434] [ 0.00247103 0.99999327 0.00271039 0.16153585] [ 0.01890644 -0.00275663 0.99981746 0.87457045] [ 0. 0. 0. 1. ]] SLAMing on 182.642557844 meters Centerline goodness [0,1] 0.24393353356814107 Centerline is valid? [False, False] Translation: X:2.16, Y:0.16, Z:0.87 [[ 9.99858800e-01 3.61688315e-03 -1.64103304e-02 2.15677567e+00] [-3.62010616e-03 9.99993433e-01 -1.66699739e-04 1.59166986e-01] [ 1.64096197e-02 2.26083339e-04 9.99865328e-01 8.74323644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.672557844 meters Centerline goodness [0,1] 0.25272403090536877 Centerline is valid? [False, False] Translation: X:2.11, Y:0.16, Z:0.87 [[ 9.99810967e-01 2.85395548e-03 -1.92323911e-02 2.11175517e+00] [-2.85651677e-03 9.99995915e-01 -1.05705726e-04 1.58871153e-01] [ 1.92320109e-02 1.60623392e-04 9.99815035e-01 8.74968770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702557844 meters Centerline goodness [0,1] 0.24602915223217203 Centerline is valid? [False, False] Translation: X:2.13, Y:0.16, Z:0.88 [[ 9.99776728e-01 -5.62930276e-03 -2.03667614e-02 2.13457949e+00] [ 5.64075757e-03 9.99983963e-01 5.05021935e-04 1.61246063e-01] [ 2.03635919e-02 -6.19793141e-04 9.99792448e-01 8.75716638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.732557844 meters Centerline goodness [0,1] 0.25000548546352164 Centerline is valid? [False, False] Translation: X:2.14, Y:0.16, Z:0.88 [[ 9.99768755e-01 -5.59867905e-03 -2.07627406e-02 2.13590337e+00] [ 5.61500231e-03 9.99983971e-01 7.27965451e-04 1.60057990e-01] [ 2.07583321e-02 -8.44379949e-04 9.99784166e-01 8.75080795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762557844 meters Centerline goodness [0,1] 0.24450180019954015 Centerline is valid? [False, False] Translation: X:2.15, Y:0.15, Z:0.88 [[ 9.99795144e-01 2.45721793e-03 -2.00905870e-02 2.15496253e+00] [-2.46094662e-03 9.99996959e-01 -1.60872596e-04 1.53938961e-01] [ 2.00901306e-02 2.10281502e-04 9.99798151e-01 8.76048913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79255784400002 meters Centerline goodness [0,1] 0.2507826696149047 Centerline is valid? [False, False] Translation: X:2.15, Y:0.15, Z:0.88 [[ 9.99815749e-01 2.43587708e-03 -1.90403526e-02 2.15172075e+00] [-2.43708402e-03 9.99997029e-01 -4.01850207e-05 1.53398916e-01] [ 1.90401981e-02 8.65805555e-05 9.99818715e-01 8.77177672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82255784400002 meters Centerline goodness [0,1] 0.2502349778137227 Centerline is valid? [False, False] Translation: X:2.15, Y:0.15, Z:0.88 [[ 9.99821779e-01 2.42125325e-03 -1.87229446e-02 2.15054870e+00] [-2.42184466e-03 9.99997067e-01 -8.91361001e-06 1.53072724e-01] [ 1.87228681e-02 5.42560849e-05 9.99824710e-01 8.77861335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85255784400002 meters Centerline goodness [0,1] 0.2433998018863861 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.88 [[ 9.99822510e-01 -6.08979713e-03 -1.78287087e-02 2.17097740e+00] [ 6.10019530e-03 9.99981254e-01 5.28900431e-04 1.55734273e-01] [ 1.78251536e-02 -6.37565161e-04 9.99840916e-01 8.78961438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88255784400002 meters Centerline goodness [0,1] 0.2437885176775868 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.88 [[ 9.99818590e-01 -6.14029307e-03 -1.80300623e-02 2.17181227e+00] [ 6.14853262e-03 9.99981017e-01 4.01590870e-04 1.56361527e-01] [ 1.80272541e-02 -5.12376444e-04 9.99837365e-01 8.78370593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91255784400002 meters Centerline goodness [0,1] 0.24892619214586253 Centerline is valid? [False, False] Translation: X:2.15, Y:0.15, Z:0.88 [[ 9.99823138e-01 2.51966627e-03 -1.86371562e-02 2.15084936e+00] [-2.52544104e-03 9.99996770e-01 -2.86323488e-04 1.53408539e-01] [ 1.86363746e-02 3.33339887e-04 9.99826272e-01 8.77047250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94255784400002 meters Centerline goodness [0,1] 0.24073274932032973 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.88 [[ 9.99825684e-01 -5.64158667e-03 -1.77981504e-02 2.17141487e+00] [ 5.65384203e-03 9.99983813e-01 6.38331572e-04 1.57157743e-01] [ 1.77942611e-02 -7.38848231e-04 9.99841397e-01 8.78266798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97255784400002 meters Centerline goodness [0,1] 0.24664280290703977 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.88 [[ 9.99831404e-01 -5.77154463e-03 -1.74313784e-02 2.16969880e+00] [ 5.77999007e-03 9.99983201e-01 4.34154560e-04 1.57870961e-01] [ 1.74285798e-02 -5.34834557e-04 9.99847968e-01 8.79636067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00255784400002 meters Centerline goodness [0,1] 0.24663192266937695 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.88 [[ 9.99833088e-01 -5.83666535e-03 -1.73127153e-02 2.16905070e+00] [ 5.84308184e-03 9.99982878e-01 3.20062110e-04 1.58342162e-01] [ 1.73105507e-02 -4.21168300e-04 9.99850072e-01 8.80211504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.032557844 meters Centerline goodness [0,1] 0.24377423524342956 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.88 [[ 9.99832726e-01 -5.89385525e-03 -1.73142425e-02 2.16911081e+00] [ 5.89860511e-03 9.99982578e-01 2.23276082e-04 1.58751981e-01] [ 1.73126249e-02 -3.25368613e-04 9.99850072e-01 8.80106719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062557844 meters Centerline goodness [0,1] 0.24733007069059276 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.88 [[ 9.99832348e-01 -5.93856569e-03 -1.73207646e-02 2.16938117e+00] [ 5.94186175e-03 9.99982337e-01 1.38838300e-04 1.59178235e-01] [ 1.73196341e-02 -2.41732612e-04 9.99849975e-01 8.79645135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.092557844 meters Centerline goodness [0,1] 0.24849568326502136 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.88 [[ 9.99832107e-01 -5.97466336e-03 -1.73222733e-02 2.16961092e+00] [ 5.97680104e-03 9.99982136e-01 7.16383422e-05 1.59491380e-01] [ 1.73215358e-02 -1.75158096e-04 9.99849956e-01 8.79238384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122557844 meters Centerline goodness [0,1] 0.25008205509726267 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.88 [[ 9.99834734e-01 -6.07095604e-03 -1.71361683e-02 2.16895200e+00] [ 6.06957313e-03 9.99981571e-01 -1.32708960e-04 1.60367669e-01] [ 1.71366582e-02 2.86778008e-05 9.99853156e-01 8.79581753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.152557844 meters Centerline goodness [0,1] 0.24444636342047887 Centerline is valid? [False, False] Translation: X:2.19, Y:0.16, Z:0.88 [[ 9.99869775e-01 2.08429929e-03 -1.60028038e-02 2.18822846e+00] [-2.10464044e-03 9.99996999e-01 -1.25436324e-03 1.56077554e-01] [ 1.60001413e-02 1.28788004e-03 9.99871160e-01 8.80779920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182557844 meters Centerline goodness [0,1] 0.24205037977942756 Centerline is valid? [False, False] Translation: X:2.19, Y:0.16, Z:0.88 [[ 9.99865222e-01 1.98184866e-03 -1.62975558e-02 2.18931970e+00] [-2.00740814e-03 9.99996781e-01 -1.55209202e-03 1.57647669e-01] [ 1.62944273e-02 1.58459868e-03 9.99865981e-01 8.80273575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.212557844 meters Centerline goodness [0,1] 0.24696206926482078 Centerline is valid? [False, False] Translation: X:2.19, Y:0.16, Z:0.88 [[ 9.99862066e-01 1.94381472e-03 -1.64945766e-02 2.19021839e+00] [-1.97113453e-03 9.99996712e-01 -1.64019446e-03 1.58070101e-01] [ 1.64913341e-02 1.67248125e-03 9.99862610e-01 8.79562280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.242557844 meters Centerline goodness [0,1] 0.24533217542336083 Centerline is valid? [False, False] Translation: X:2.19, Y:0.16, Z:0.88 [[ 9.99858827e-01 1.91728039e-03 -1.66928179e-02 2.19107533e+00] [-1.94513000e-03 9.99996743e-01 -1.65228273e-03 1.58045433e-01] [ 1.66895956e-02 1.68451917e-03 9.99859300e-01 8.78909848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.272557844 meters Centerline goodness [0,1] 0.24535162203352934 Centerline is valid? [False, False] Translation: X:2.19, Y:0.16, Z:0.88 [[ 9.99856077e-01 1.86053997e-03 -1.68630827e-02 2.19174279e+00] [-1.89079008e-03 9.99996632e-01 -1.77810005e-03 1.58542952e-01] [ 1.68597177e-02 1.80972869e-03 9.99856227e-01 8.78519043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.302557844 meters Centerline goodness [0,1] 0.25082146768893754 Centerline is valid? [False, False] Translation: X:2.19, Y:0.16, Z:0.88 [[ 9.99855220e-01 1.72779255e-03 -1.69278943e-02 2.19184908e+00] [-1.76717408e-03 9.99995766e-01 -2.31174630e-03 1.61443752e-01] [ 1.69238284e-02 2.34132614e-03 9.99854040e-01 8.78654628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.332557844 meters Centerline goodness [0,1] 0.24325439034449825 Centerline is valid? [False, False] Translation: X:2.21, Y:0.16, Z:0.88 [[ 9.99865014e-01 -3.78193082e-03 -1.59890998e-02 2.21320130e+00] [ 3.79968385e-03 9.99992198e-01 1.08008805e-03 1.64521985e-01] [ 1.59848903e-02 -1.14069577e-03 9.99871583e-01 8.79165008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.362557844 meters Centerline goodness [0,1] 0.24478475560679558 Centerline is valid? [False, False] Translation: X:2.21, Y:0.17, Z:0.88 [[ 9.99864633e-01 -3.99263028e-03 -1.59616439e-02 2.21300685e+00] [ 4.00020257e-03 9.99991901e-01 4.42506461e-04 1.67557538e-01] [ 1.59597478e-02 -5.06296369e-04 9.99872507e-01 8.79429640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.392557844 meters Centerline goodness [0,1] 0.2507739258348519 Centerline is valid? [False, False] Translation: X:2.21, Y:0.17, Z:0.88 [[ 9.99865974e-01 -4.23815615e-03 -1.58136418e-02 2.21243776e+00] [ 4.23445712e-03 9.99990999e-01 -2.67389950e-04 1.70828357e-01] [ 1.58146327e-02 2.00391925e-04 9.99874921e-01 8.79882960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.422557844 meters Centerline goodness [0,1] 0.24603501768241087 Centerline is valid? [False, False] Translation: X:2.23, Y:0.17, Z:0.88 [[ 9.99887037e-01 4.38597016e-03 -1.43762159e-02 2.23355536e+00] [-4.41028997e-03 9.99988896e-01 -1.66040269e-03 1.74621308e-01] [ 1.43687738e-02 1.72361841e-03 9.99895278e-01 8.80503840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.452557844 meters Centerline goodness [0,1] 0.2456163279531247 Centerline is valid? [False, False] Translation: X:2.23, Y:0.18, Z:0.88 [[ 0.99988464 0.00416904 -0.0146059 2.23440842] [-0.00420426 0.99998833 -0.00238178 0.1783571 ] [ 0.0145958 0.00244291 0.99989049 0.88009608] [ 0. 0. 0. 1. ]] SLAMing on 183.482557844 meters Centerline goodness [0,1] 0.24464208242950114 Centerline is valid? [False, False] Translation: X:2.24, Y:0.19, Z:0.88 [[ 0.99987241 0.00438176 -0.01536144 2.23707838] [-0.00442751 0.99998586 -0.00294511 0.18604803] [ 0.01534831 0.00301274 0.99987767 0.87927761] [ 0. 0. 0. 1. ]] SLAMing on 183.512557844 meters Centerline goodness [0,1] 0.24587706146926536 Centerline is valid? [False, False] Translation: X:2.24, Y:0.19, Z:0.88 [[ 0.9998771 0.00416068 -0.01511547 2.23608776] [-0.00421559 0.99998462 -0.00360282 0.1890947 ] [ 0.01510025 0.00366609 0.99987926 0.88001564] [ 0. 0. 0. 1. ]] SLAMing on 183.54255784400002 meters Centerline goodness [0,1] 0.2427035330261137 Centerline is valid? [False, False] Translation: X:2.24, Y:0.19, Z:0.88 [[ 0.99988096 0.00393497 -0.01491914 2.23513298] [-0.00399763 0.99998331 -0.00417219 0.19164206] [ 0.01490247 0.00423133 0.99988 0.88087701] [ 0. 0. 0. 1. ]] SLAMing on 183.57255784400002 meters Centerline goodness [0,1] 0.24606555951656373 Centerline is valid? [False, False] Translation: X:2.23, Y:0.20, Z:0.88 [[ 0.99988644 0.00371369 -0.01460526 2.23356558] [-0.00378535 0.99998092 -0.00488217 0.19519876] [ 0.01458685 0.0049369 0.99988142 0.88229102] [ 0. 0. 0. 1. ]] SLAMing on 183.60255784400002 meters Centerline goodness [0,1] 0.24750429543922225 Centerline is valid? [False, False] Translation: X:2.23, Y:0.20, Z:0.88 [[ 0.99988825 0.00360322 -0.01450883 2.2332707 ] [-0.00367904 0.9999797 -0.00520245 0.19669463] [ 0.01448979 0.00525524 0.99988121 0.88242805] [ 0. 0. 0. 1. ]] SLAMing on 183.63255784400002 meters Centerline goodness [0,1] 0.2504977573569631 Centerline is valid? [False, False] Translation: X:2.23, Y:0.20, Z:0.88 [[ 0.99989111 0.00347785 -0.0143411 2.23288016] [-0.00355769 0.99997829 -0.00554575 0.1982773 ] [ 0.0143215 0.00559617 0.99988178 0.88241379] [ 0. 0. 0. 1. ]] SLAMing on 183.66255784400002 meters Centerline goodness [0,1] 0.2504977573569631 Centerline is valid? [False, False] Translation: X:2.23, Y:0.20, Z:0.88 [[ 0.99989111 0.00347785 -0.0143411 2.23288016] [-0.00355769 0.99997829 -0.00554575 0.1982773 ] [ 0.0143215 0.00559617 0.99988178 0.88241379] [ 0. 0. 0. 1. ]] SLAMing on 183.69255784400002 meters Centerline goodness [0,1] 0.25036131914334514 Centerline is valid? [False, False] Translation: X:2.23, Y:0.20, Z:0.88 [[ 0.99990475 0.00380965 -0.01326557 2.22997412] [-0.00388894 0.99997469 -0.00595715 0.20161615] [ 0.01324254 0.00600817 0.99989426 0.88309966] [ 0. 0. 0. 1. ]] SLAMing on 183.72255784400002 meters Centerline goodness [0,1] 0.24921759540989308 Centerline is valid? [False, False] Translation: X:2.25, Y:0.21, Z:0.88 [[ 9.99931632e-01 -1.65800451e-03 -1.15750917e-02 2.24909194e+00] [ 1.62632428e-03 9.99994908e-01 -2.74580718e-03 2.05662314e-01] [ 1.15795853e-02 2.72679460e-03 9.99929236e-01 8.84387013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75255784400002 meters Centerline goodness [0,1] 0.2503060510668066 Centerline is valid? [False, False] Translation: X:2.25, Y:0.21, Z:0.88 [[ 9.99936952e-01 -1.47185764e-03 -1.11321792e-02 2.24776025e+00] [ 1.43725501e-03 9.99994113e-01 -3.11570432e-03 2.08174353e-01] [ 1.11366996e-02 3.09950810e-03 9.99933181e-01 8.84914427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782557844 meters Centerline goodness [0,1] 0.24992383025027198 Centerline is valid? [False, False] Translation: X:2.25, Y:0.21, Z:0.89 [[ 9.99934280e-01 -1.28765819e-03 -1.13920346e-02 2.24827750e+00] [ 1.24809004e-03 9.99993167e-01 -3.47974444e-03 2.10689992e-01] [ 1.13964374e-02 3.46529746e-03 9.99929054e-01 8.85131307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.812557844 meters Centerline goodness [0,1] 0.24922874958976038 Centerline is valid? [False, False] Translation: X:2.25, Y:0.21, Z:0.88 [[ 9.99922609e-01 -4.36421450e-04 -1.24332490e-02 2.25183272e+00] [ 3.94348194e-04 9.99994189e-01 -3.38618162e-03 2.13566368e-01] [ 1.24346546e-02 3.38101653e-03 9.99916971e-01 8.83565254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842557844 meters Centerline goodness [0,1] 0.24926654113937907 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99921018e-01 -5.02022504e-04 -1.25580869e-02 2.25237698e+00] [ 4.55589064e-04 9.99993051e-01 -3.70008060e-03 2.15139432e-01] [ 1.25598572e-02 3.69406703e-03 9.99914298e-01 8.83109817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.872557844 meters Centerline goodness [0,1] 0.2438425785152687 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99921636e-01 -5.64607289e-04 -1.25061458e-02 2.25220353e+00] [ 5.15168203e-04 9.99992042e-01 -3.95605202e-03 2.16398014e-01] [ 1.25082799e-02 3.94929924e-03 9.99913969e-01 8.83163972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902557844 meters Centerline goodness [0,1] 0.24474415776214054 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99922021e-01 -6.85199497e-04 -1.24692869e-02 2.25205494e+00] [ 6.32116162e-04 9.99990724e-01 -4.26057016e-03 2.17669188e-01] [ 1.24720906e-02 4.25235588e-03 9.99913178e-01 8.83204499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932557844 meters Centerline goodness [0,1] 0.24739062364094977 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99920280e-01 -6.75605167e-04 -1.26086445e-02 2.25250610e+00] [ 6.22261026e-04 9.99990842e-01 -4.23420306e-03 2.17557321e-01] [ 1.26113897e-02 4.22601963e-03 9.99911543e-01 8.83038808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.962557844 meters Centerline goodness [0,1] 0.24256688186902164 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99918045e-01 -6.35530550e-04 -1.27867239e-02 2.25329869e+00] [ 5.82678480e-04 9.99991274e-01 -4.13665598e-03 2.17139925e-01] [ 1.27892413e-02 4.12886641e-03 9.99909690e-01 8.82401603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.992557844 meters Centerline goodness [0,1] 0.24269195790567755 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99914951e-01 -5.92249645e-04 -1.30284542e-02 2.25434933e+00] [ 5.39646367e-04 9.99991691e-01 -4.04071365e-03 2.16722741e-01] [ 1.30307390e-02 4.03333923e-03 9.99906962e-01 8.81634621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.022557844 meters Centerline goodness [0,1] 0.24490635487712464 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.88 [[ 9.99906388e-01 -5.06746953e-04 -1.36732732e-02 2.25661929e+00] [ 4.52172741e-04 9.99991921e-01 -3.99410191e-03 2.16617680e-01] [ 1.36751867e-02 3.98754533e-03 9.99898539e-01 8.80474762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.052557844 meters Centerline goodness [0,1] 0.24079970541728946 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.88 [[ 9.99903403e-01 -5.32180499e-04 -1.38888883e-02 2.25731375e+00] [ 4.73823550e-04 9.99991048e-01 -4.20465299e-03 2.17772329e-01] [ 1.38910016e-02 4.19766595e-03 9.99894704e-01 8.80209741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082557844 meters Centerline goodness [0,1] 0.2455426145640579 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.88 [[ 9.99902367e-01 -5.02599313e-04 -1.39643802e-02 2.25756951e+00] [ 4.41261823e-04 9.99990244e-01 -4.39515879e-03 2.19039988e-01] [ 1.39664530e-02 4.38856773e-03 9.99892834e-01 8.80124156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.112557844 meters Centerline goodness [0,1] 0.24514757866886427 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.88 [[ 9.99903542e-01 2.08720102e-05 -1.38891035e-02 2.25714878e+00] [-8.14879013e-05 9.99990476e-01 -4.36372511e-03 2.20298720e-01] [ 1.38888801e-02 4.36443599e-03 9.99894020e-01 8.80533134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142557844 meters Centerline goodness [0,1] 0.2447593420424461 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.88 [[ 9.99903308e-01 4.54887710e-05 -1.39058408e-02 2.25706148e+00] [-1.07958550e-04 9.99989907e-01 -4.49162334e-03 2.21032001e-01] [ 1.39054961e-02 4.49269029e-03 9.99893221e-01 8.80765739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.172557844 meters Centerline goodness [0,1] 0.24321107865411662 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.88 [[ 9.99901852e-01 4.10989745e-04 -1.40041755e-02 2.25744107e+00] [-4.73991445e-04 9.99989782e-01 -4.49575763e-03 2.21924978e-01] [ 1.40021847e-02 4.50195424e-03 9.99891830e-01 8.80397453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.202557844 meters Centerline goodness [0,1] 0.24346454651514493 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.88 [[ 9.99905673e-01 4.12264451e-04 -1.37286528e-02 2.25668399e+00] [-4.75345754e-04 9.99989344e-01 -4.59191874e-03 2.22448924e-01] [ 1.37266134e-02 4.59801145e-03 9.99895214e-01 8.80469835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.232557844 meters Centerline goodness [0,1] 0.24562353756824684 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.88 [[ 9.99909708e-01 4.16721171e-04 -1.34314109e-02 2.25562982e+00] [-4.78871948e-04 9.99989193e-01 -4.62438699e-03 2.22690929e-01] [ 1.34293386e-02 4.63040137e-03 9.99899101e-01 8.80969461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262557844 meters Centerline goodness [0,1] 0.24889102550095055 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99914949e-01 5.35104596e-04 -1.30310850e-02 2.25399050e+00] [-5.94722296e-04 9.99989373e-01 -4.57159208e-03 2.23027530e-01] [ 1.30285002e-02 4.57895314e-03 9.99904641e-01 8.82074650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29255784400002 meters Centerline goodness [0,1] 0.24995060698526994 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99914022e-01 5.27672657e-04 -1.31023298e-02 2.25423293e+00] [-5.88105539e-04 9.99989206e-01 -4.60895236e-03 2.23171386e-01] [ 1.30997564e-02 4.61626164e-03 9.99903539e-01 8.81966578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32255784400002 meters Centerline goodness [0,1] 0.2473964007146281 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99913292e-01 4.79262618e-04 -1.31597554e-02 2.25453373e+00] [-5.41366621e-04 9.99988733e-01 -4.71608019e-03 2.23443320e-01] [ 1.31573468e-02 4.72279552e-03 9.99902285e-01 8.81680022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35255784400002 meters Centerline goodness [0,1] 0.24999452582714754 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.88 [[ 9.99911875e-01 4.52855851e-04 -1.32679251e-02 2.25507228e+00] [-5.17026872e-04 9.99988185e-01 -4.83352200e-03 2.23897105e-01] [ 1.32655794e-02 4.83995592e-03 9.99900295e-01 8.81163066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38255784400002 meters Centerline goodness [0,1] 0.24480779642663775 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.88 [[ 9.99909194e-01 -4.54833545e-03 -1.26852741e-02 2.27638384e+00] [ 4.53211403e-03 9.99988876e-01 -1.30721373e-03 2.28560247e-01] [ 1.26910786e-02 1.24960392e-03 9.99918684e-01 8.81077777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41255784400002 meters Centerline goodness [0,1] 0.24699984809357434 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.88 [[ 9.99911850e-01 -4.51294025e-03 -1.24870364e-02 2.27565237e+00] [ 4.49442317e-03 9.99988759e-01 -1.51056910e-03 2.30023941e-01] [ 1.24937132e-02 1.45431392e-03 9.99920893e-01 8.81420026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44255784400002 meters Centerline goodness [0,1] 0.2501099674496349 Centerline is valid? [False, False] Translation: X:2.25, Y:0.23, Z:0.88 [[ 9.99908188e-01 4.41352639e-03 -1.28115529e-02 2.25409443e+00] [-4.44037969e-03 9.99988002e-01 -2.06833441e-03 2.26263534e-01] [ 1.28022705e-02 2.12503268e-03 9.99915790e-01 8.81046236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47255784400002 meters Centerline goodness [0,1] 0.250675156438687 Centerline is valid? [False, False] Translation: X:2.25, Y:0.23, Z:0.88 [[ 9.99909025e-01 4.36007952e-03 -1.27644507e-02 2.25403740e+00] [-4.38881884e-03 9.99987895e-01 -2.22436707e-03 2.26997781e-01] [ 1.27545978e-02 2.28018557e-03 9.99916057e-01 8.80908430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50255784400002 meters Centerline goodness [0,1] 0.2494649019350893 Centerline is valid? [False, False] Translation: X:2.25, Y:0.23, Z:0.88 [[ 0.99991044 0.00429269 -0.01267594 2.2539633 ] [-0.00432314 0.99998783 -0.00237558 0.22760106] [ 0.01266559 0.00243017 0.99991684 0.88061015] [ 0. 0. 0. 1. ]] SLAMing on 184.532557844 meters Centerline goodness [0,1] 0.2500383057896465 Centerline is valid? [False, False] Translation: X:2.25, Y:0.23, Z:0.88 [[ 0.99991289 0.00428097 -0.01248566 2.2533533 ] [-0.00431117 0.99998785 -0.00239231 0.22769024] [ 0.01247527 0.00244593 0.99991919 0.88084013] [ 0. 0. 0. 1. ]] SLAMing on 184.562557844 meters Centerline goodness [0,1] 0.2501367884266048 Centerline is valid? [False, False] Translation: X:2.25, Y:0.23, Z:0.88 [[ 0.99991542 0.00427301 -0.0122839 2.25266285] [-0.00430236 0.99998795 -0.00236433 0.22749981] [ 0.01227364 0.00241698 0.99992175 0.88118873] [ 0. 0. 0. 1. ]] SLAMing on 184.592557844 meters Centerline goodness [0,1] 0.251009657594381 Centerline is valid? [False, False] Translation: X:2.25, Y:0.23, Z:0.88 [[ 9.99919132e-01 4.29433917e-03 -1.19702764e-02 2.25147738e+00] [-4.32028449e-03 9.99988372e-01 -2.14246348e-03 2.26233115e-01] [ 1.19609368e-02 2.19400523e-03 9.99926058e-01 8.81945542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622557844 meters Centerline goodness [0,1] 0.25183449061397933 Centerline is valid? [False, False] Translation: X:2.25, Y:0.23, Z:0.88 [[ 9.99919597e-01 4.38620197e-03 -1.18979002e-02 2.25115971e+00] [-4.40888667e-03 9.99988512e-01 -1.88105472e-03 2.25062265e-01] [ 1.18895128e-02 1.93335998e-03 9.99927448e-01 8.82201186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652557844 meters Centerline goodness [0,1] 0.2517735183961225 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99918832e-01 4.46473087e-03 -1.19329796e-02 2.25120347e+00] [-4.48491549e-03 9.99988556e-01 -1.66527376e-03 2.24062943e-01] [ 1.19254081e-02 1.71865700e-03 9.99927413e-01 8.82309352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682557844 meters Centerline goodness [0,1] 0.2500328040939509 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99916219e-01 4.50876019e-03 -1.21336429e-02 2.25186429e+00] [-4.52786644e-03 9.99988552e-01 -1.54764010e-03 2.23479474e-01] [ 1.21265260e-02 1.60244995e-03 9.99925187e-01 8.82007679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.712557844 meters Centerline goodness [0,1] 0.2523370667607373 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:0.88 [[ 9.99912806e-01 4.56875843e-03 -1.23897784e-02 2.25300847e+00] [-4.58792475e-03 9.99988322e-01 -1.51896413e-03 2.23323289e-01] [ 1.23826939e-02 1.57567505e-03 9.99922090e-01 8.81027637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.742557844 meters Centerline goodness [0,1] 0.24988006454708012 Centerline is valid? [False, False] Translation: X:2.27, Y:0.23, Z:0.88 [[ 9.99929606e-01 -3.27652433e-03 -1.14038023e-02 2.27228267e+00] [ 3.27243196e-03 9.99994574e-01 -3.77501233e-04 2.27795695e-01] [ 1.14049773e-02 3.40156492e-04 9.99934903e-01 8.81644809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.772557844 meters Centerline goodness [0,1] 0.2453783690393918 Centerline is valid? [False, False] Translation: X:2.29, Y:0.22, Z:0.88 [[ 9.99931112e-01 4.96649464e-03 -1.06350758e-02 2.29201752e+00] [-4.98362725e-03 9.99986325e-01 -1.58505754e-03 2.23127488e-01] [ 1.06270582e-02 1.63794960e-03 9.99942190e-01 8.83113816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.802557844 meters Centerline goodness [0,1] 0.24852854939947444 Centerline is valid? [False, False] Translation: X:2.29, Y:0.22, Z:0.88 [[ 9.99927179e-01 5.17328544e-03 -1.09029222e-02 2.29328066e+00] [-5.18431227e-03 9.99986078e-01 -9.83344670e-04 2.19892156e-01] [ 1.08976833e-02 1.03979721e-03 9.99940078e-01 8.82126595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.832557844 meters Centerline goodness [0,1] 0.24976984788040857 Centerline is valid? [False, False] Translation: X:2.27, Y:0.22, Z:0.88 [[ 9.99913100e-01 -3.22761084e-03 -1.27818088e-02 2.27410730e+00] [ 3.23380869e-03 9.99994663e-01 4.64258594e-04 2.20500558e-01] [ 1.27802422e-02 -5.05552175e-04 9.99918202e-01 8.80673772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.862557844 meters Centerline goodness [0,1] 0.24596292190997804 Centerline is valid? [False, False] Translation: X:2.27, Y:0.22, Z:0.88 [[ 9.99911337e-01 -2.97739861e-03 -1.29789803e-02 2.27478847e+00] [ 2.99140646e-03 9.99994964e-01 1.05999200e-03 2.17857900e-01] [ 1.29757589e-02 -1.09872342e-03 9.99915208e-01 8.80380955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.892557844 meters Centerline goodness [0,1] 0.24363133082479127 Centerline is valid? [False, False] Translation: X:2.27, Y:0.22, Z:0.88 [[ 9.99911518e-01 -2.71720231e-03 -1.30220248e-02 2.27487376e+00] [ 2.73923257e-03 9.99994847e-01 1.67423210e-03 2.15154141e-01] [ 1.30174085e-02 -1.70975432e-03 9.99913808e-01 8.80435764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.922557844 meters Centerline goodness [0,1] 0.2459546223591167 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.88 [[ 0.99991507 -0.00227872 -0.01283174 2.27419728] [ 0.00231449 0.99999348 0.00277354 0.21004079] [ 0.01282534 -0.002803 0.99991382 0.88088149] [ 0. 0. 0. 1. ]] SLAMing on 184.952557844 meters Centerline goodness [0,1] 0.24583477959042 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.88 [[ 9.99914789e-01 -2.13208670e-03 -1.28789930e-02 2.27434547e+00] [ 2.17305443e-03 9.99992621e-01 3.16781740e-03 2.08029298e-01] [ 1.28721439e-02 -3.19553423e-03 9.99912044e-01 8.80854353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982557844 meters Centerline goodness [0,1] 0.24363958360330007 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.88 [[ 9.99912083e-01 -2.06090040e-03 -1.30988124e-02 2.27510703e+00] [ 2.10469733e-03 9.99992238e-01 3.33067553e-03 2.07064788e-01] [ 1.30918465e-02 -3.35795174e-03 9.99908660e-01 8.80523829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.012557844 meters Centerline goodness [0,1] 0.2485457199503257 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.88 [[ 9.99903754e-01 -1.57410333e-03 -1.37841920e-02 2.27724675e+00] [ 1.62443271e-03 9.99992053e-01 3.64080461e-03 2.06519616e-01] [ 1.37783514e-02 -3.66284569e-03 9.99898365e-01 8.79609978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04255784400002 meters Centerline goodness [0,1] 0.24937104854411407 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.88 [[ 9.99905202e-01 -1.44855511e-03 -1.36926414e-02 2.27709902e+00] [ 1.49833422e-03 9.99992304e-01 3.62590505e-03 2.07014144e-01] [ 1.36872837e-02 -3.64607748e-03 9.99899677e-01 8.79398930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07255784400002 meters Centerline goodness [0,1] 0.24903315517316305 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.88 [[ 9.99907834e-01 -1.29034115e-03 -1.35151040e-02 2.27657146e+00] [ 1.33873921e-03 9.99992722e-01 3.57260030e-03 2.07816237e-01] [ 1.35103958e-02 -3.59036422e-03 9.99902284e-01 8.79472722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10255784400002 meters Centerline goodness [0,1] 0.24884090463855812 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.88 [[ 9.99917962e-01 -9.05768305e-04 -1.27769216e-02 2.27437406e+00] [ 9.50920871e-04 9.99993323e-01 3.52828350e-03 2.09109822e-01] [ 1.27736404e-02 -3.54014388e-03 9.99912147e-01 8.80000308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13255784400002 meters Centerline goodness [0,1] 0.2495890951326949 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.88 [[ 9.99914844e-01 -1.00678510e-03 -1.30111761e-02 2.27502075e+00] [ 1.04929308e-03 9.99994134e-01 3.26062252e-03 2.10143272e-01] [ 1.30078170e-02 -3.27399740e-03 9.99910035e-01 8.79803297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16255784400002 meters Centerline goodness [0,1] 0.2449085935125277 Centerline is valid? [False, False] Translation: X:2.30, Y:0.21, Z:0.88 [[ 9.99889655e-01 7.11730196e-03 -1.30392392e-02 2.29587359e+00] [-7.09319532e-03 9.99973049e-01 1.89409261e-03 2.07695805e-01] [ 1.30523686e-02 -1.80139374e-03 9.99913192e-01 8.81043331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19255784400002 meters Centerline goodness [0,1] 0.24382595908481464 Centerline is valid? [False, False] Translation: X:2.30, Y:0.21, Z:0.88 [[ 9.99889654e-01 7.06014147e-03 -1.30703579e-02 2.29593612e+00] [-7.03788985e-03 9.99973707e-01 1.74766347e-03 2.08422646e-01] [ 1.30823530e-02 -1.65548289e-03 9.99913052e-01 8.81019940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22255784400002 meters Centerline goodness [0,1] 0.25004385195579726 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.88 [[ 9.99935139e-01 3.74090246e-04 -1.13832369e-02 2.27002559e+00] [-3.25270592e-04 9.99990744e-01 4.29028134e-03 2.12187897e-01] [ 1.13847364e-02 -4.28630043e-03 9.99926005e-01 8.81522076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25255784400002 meters Centerline goodness [0,1] 0.2473269860547832 Centerline is valid? [False, False] Translation: X:2.29, Y:0.21, Z:0.88 [[ 0.99992826 0.00843202 -0.00850717 2.28880773] [-0.00840548 0.99995971 0.00315078 0.21081273] [ 0.0085334 -0.00307904 0.99995885 0.8821651 ] [ 0. 0. 0. 1. ]] SLAMing on 185.282557844 meters Centerline goodness [0,1] 0.2478584039932864 Centerline is valid? [False, False] Translation: X:2.29, Y:0.21, Z:0.88 [[ 0.99993078 0.00831343 -0.00832645 2.28811773] [-0.00828935 0.99996137 0.00292251 0.21171661] [ 0.00835043 -0.00285329 0.99996106 0.88260094] [ 0. 0. 0. 1. ]] SLAMing on 185.312557844 meters Centerline goodness [0,1] 0.24544118917984614 Centerline is valid? [False, False] Translation: X:2.31, Y:0.22, Z:0.88 [[ 9.99967428e-01 -2.13418077e-04 -8.06829398e-03 2.30787566e+00] [ 2.39102095e-04 9.99994907e-01 3.18249643e-03 2.18197680e-01] [ 8.06757368e-03 -3.18432191e-03 9.99962386e-01 8.83501772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342557844 meters Centerline goodness [0,1] 0.24961287649124342 Centerline is valid? [False, False] Translation: X:2.31, Y:0.22, Z:0.88 [[ 9.99965918e-01 -4.61172354e-04 -8.24320240e-03 2.30853550e+00] [ 4.81745844e-04 9.99996774e-01 2.49400146e-03 2.21580231e-01] [ 8.24202564e-03 -2.49788759e-03 9.99962914e-01 8.82975220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372557844 meters Centerline goodness [0,1] 0.24660658051905748 Centerline is valid? [False, False] Translation: X:2.31, Y:0.22, Z:0.88 [[ 9.99965353e-01 -5.65513359e-04 -8.30493869e-03 2.30889028e+00] [ 5.83043773e-04 9.99997607e-01 2.10857268e-03 2.23685508e-01] [ 8.30372639e-03 -2.11334177e-03 9.99963290e-01 8.82588937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402557844 meters Centerline goodness [0,1] 0.24678980533119677 Centerline is valid? [False, False] Translation: X:2.31, Y:0.23, Z:0.88 [[ 9.99967504e-01 -8.43585690e-04 -8.01745214e-03 2.30851041e+00] [ 8.54477896e-04 9.99998717e-01 1.35523366e-03 2.27288899e-01] [ 8.01629860e-03 -1.36204035e-03 9.99966941e-01 8.81917036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432557844 meters Centerline goodness [0,1] 0.24790335897101634 Centerline is valid? [False, False] Translation: X:2.31, Y:0.23, Z:0.88 [[ 9.99968942e-01 -9.66658492e-04 -7.82181536e-03 2.30775992e+00] [ 9.75005623e-04 9.99998959e-01 1.06341755e-03 2.28566844e-01] [ 7.82077926e-03 -1.07101084e-03 9.99968844e-01 8.82334898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.462557844 meters Centerline goodness [0,1] 0.24671166493596397 Centerline is valid? [False, False] Translation: X:2.31, Y:0.23, Z:0.88 [[ 9.99970815e-01 -1.07305206e-03 -7.56419393e-03 2.30669302e+00] [ 1.07928963e-03 9.99999081e-01 8.20584218e-04 2.29709108e-01] [ 7.56330645e-03 -8.28724226e-04 9.99971054e-01 8.83043764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.492557844 meters Centerline goodness [0,1] 0.2509166758151279 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.88 [[ 9.99948930e-01 -5.55341589e-04 -1.00910327e-02 2.26108075e+00] [ 5.69267015e-04 9.99998890e-01 1.37716031e-03 2.29944385e-01] [ 1.00902567e-02 -1.38283447e-03 9.99948136e-01 8.84115423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.522557844 meters Centerline goodness [0,1] 0.2470776344504224 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.88 [[ 9.99919792e-01 8.01698505e-03 -9.80495491e-03 2.28327136e+00] [-8.01079212e-03 9.99967688e-01 6.70723711e-04 2.28785927e-01] [ 9.81001528e-03 -5.92124458e-04 9.99951705e-01 8.83926330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.552557844 meters Centerline goodness [0,1] 0.2470776344504224 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.88 [[ 9.99919792e-01 8.01698505e-03 -9.80495491e-03 2.28327136e+00] [-8.01079212e-03 9.99967688e-01 6.70723711e-04 2.28785927e-01] [ 9.81001528e-03 -5.92124458e-04 9.99951705e-01 8.83926330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582557844 meters Centerline goodness [0,1] 0.2507079976290312 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.88 [[ 9.99939239e-01 -7.76244481e-04 -1.09962002e-02 2.26260543e+00] [ 7.88747652e-04 9.99999047e-01 1.13275356e-03 2.33902227e-01] [ 1.09953104e-02 -1.14135796e-03 9.99938898e-01 8.82743504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.612557844 meters Centerline goodness [0,1] 0.24805411616763873 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.88 [[ 9.99921708e-01 7.60652658e-03 -9.93575693e-03 2.28343982e+00] [-7.60944897e-03 9.99971015e-01 -2.56357617e-04 2.34034070e-01] [ 9.93351894e-03 3.31943182e-04 9.99950606e-01 8.83440591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642557844 meters Centerline goodness [0,1] 0.24717688623014067 Centerline is valid? [False, False] Translation: X:2.28, Y:0.24, Z:0.88 [[ 9.99923297e-01 7.67041869e-03 -9.72448874e-03 2.28295935e+00] [-7.68198141e-03 9.99969829e-01 -1.15223564e-03 2.39424838e-01] [ 9.71535722e-03 1.22685060e-03 9.99952052e-01 8.83134753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.672557844 meters Centerline goodness [0,1] 0.24889431142290686 Centerline is valid? [False, False] Translation: X:2.28, Y:0.24, Z:0.88 [[ 9.99924729e-01 7.45474970e-03 -9.74485932e-03 2.28300501e+00] [-7.47369592e-03 9.99970249e-01 -1.90925891e-03 2.43091249e-01] [ 9.73033635e-03 1.98194532e-03 9.99950695e-01 8.82992772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702557844 meters Centerline goodness [0,1] 0.25098203645672423 Centerline is valid? [False, False] Translation: X:2.26, Y:0.25, Z:0.88 [[ 9.99944112e-01 -9.53591535e-04 -1.05291378e-02 2.26285788e+00] [ 9.40471014e-04 9.99998775e-01 -1.25099637e-03 2.50403222e-01] [ 1.05303178e-02 1.24102411e-03 9.99943785e-01 8.81678560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.732557844 meters Centerline goodness [0,1] 0.24915671040891385 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.88 [[ 0.99992181 0.00751712 -0.00999383 2.28435092] [-0.0075407 0.99996887 -0.00232342 0.25080624] [ 0.00997605 0.0023986 0.99994736 0.88216137] [ 0. 0. 0. 1. ]] SLAMing on 185.762557844 meters Centerline goodness [0,1] 0.2447902014671831 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.88 [[ 9.99932308e-01 3.52812796e-05 -1.16351796e-02 2.30289153e+00] [-5.50327251e-05 9.99998558e-01 -1.69724678e-03 2.59808897e-01] [ 1.16351029e-02 1.69777221e-03 9.99930869e-01 8.84673113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79255784400002 meters Centerline goodness [0,1] 0.2442590076977812 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.88 [[ 9.99931352e-01 -3.14789543e-05 -1.17170839e-02 2.30303004e+00] [ 1.02853615e-05 9.99998364e-01 -1.80883294e-03 2.60244932e-01] [ 1.17171217e-02 1.80858825e-03 9.99929717e-01 8.84806333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82255784400002 meters Centerline goodness [0,1] 0.2484667913531382 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.89 [[ 9.99932602e-01 -7.90056857e-05 -1.16096721e-02 2.30253237e+00] [ 5.73456683e-05 9.99998257e-01 -1.86600832e-03 2.60458690e-01] [ 1.16097993e-02 1.86521679e-03 9.99930864e-01 8.85213212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85255784400002 meters Centerline goodness [0,1] 0.2512912544865622 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.89 [[ 9.99933926e-01 -1.18687827e-04 -1.14947559e-02 2.30203741e+00] [ 9.68037116e-05 9.99998182e-01 -1.90437244e-03 2.60617682e-01] [ 1.14949610e-02 1.90313387e-03 9.99932120e-01 8.85620016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88255784400002 meters Centerline goodness [0,1] 0.24650549830405943 Centerline is valid? [False, False] Translation: X:2.32, Y:0.27, Z:0.89 [[ 9.99903264e-01 -8.54012834e-03 -1.09785854e-02 2.32223910e+00] [ 8.53026778e-03 9.99963170e-01 -9.44676760e-04 2.66127455e-01] [ 1.09862487e-02 8.50935102e-04 9.99939287e-01 8.86865496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91255784400002 meters Centerline goodness [0,1] 0.24645032624482455 Centerline is valid? [False, False] Translation: X:2.32, Y:0.27, Z:0.89 [[ 9.99900121e-01 -8.54314307e-03 -1.12589216e-02 2.32329621e+00] [ 8.53304487e-03 9.99963147e-01 -9.44640109e-04 2.66094741e-01] [ 1.12665769e-02 8.48472876e-04 9.99936170e-01 8.86276321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94255784400002 meters Centerline goodness [0,1] 0.24652988635377804 Centerline is valid? [False, False] Translation: X:2.32, Y:0.27, Z:0.89 [[ 9.99895620e-01 -8.53453311e-03 -1.16581016e-02 2.32460720e+00] [ 8.52371391e-03 9.99963195e-01 -9.77413711e-04 2.66295830e-01] [ 1.16660143e-02 8.77941366e-04 9.99931564e-01 8.85709010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97255784400002 meters Centerline goodness [0,1] 0.2509906083758401 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:0.88 [[ 9.99920085e-01 1.57166890e-04 -1.26411685e-02 2.30518358e+00] [-1.80485505e-04 9.99998284e-01 -1.84353694e-03 2.61470263e-01] [ 1.26408570e-02 1.84567116e-03 9.99918398e-01 8.84567254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00255784400002 meters Centerline goodness [0,1] 0.2462246137823294 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.89 [[ 9.99926442e-01 2.37976102e-04 -1.21266186e-02 2.30347839e+00] [-2.64015450e-04 9.99997663e-01 -2.14573283e-03 2.63459724e-01] [ 1.21260797e-02 2.14877661e-03 9.99924168e-01 8.85212663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.032557844 meters Centerline goodness [0,1] 0.2504245960893612 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.89 [[ 9.99931232e-01 1.84952818e-04 -1.17258737e-02 2.30218768e+00] [-2.12370564e-04 9.99997247e-01 -2.33702422e-03 2.64339550e-01] [ 1.17254091e-02 2.33935374e-03 9.99928519e-01 8.85652357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062557844 meters Centerline goodness [0,1] 0.2481681995086209 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.89 [[ 9.99934375e-01 1.20913656e-04 -1.14556203e-02 2.30132089e+00] [-1.50003179e-04 9.99996767e-01 -2.53849804e-03 2.65281066e-01] [ 1.14552763e-02 2.54004983e-03 9.99931160e-01 8.85933164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.092557844 meters Centerline goodness [0,1] 0.2495865610584037 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.89 [[ 9.99935134e-01 5.77425863e-05 -1.13896945e-02 2.30115252e+00] [-8.89263246e-05 9.99996249e-01 -2.73740324e-03 2.66295925e-01] [ 1.13894937e-02 2.73823852e-03 9.99931388e-01 8.85875088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122557844 meters Centerline goodness [0,1] 0.24443344878772888 Centerline is valid? [False, False] Translation: X:2.32, Y:0.27, Z:0.89 [[ 9.99924822e-01 -5.62129463e-03 -1.08973229e-02 2.32324129e+00] [ 5.62668821e-03 9.99984062e-01 4.64349970e-04 2.72223124e-01] [ 1.08945390e-02 -5.25630899e-04 9.99940515e-01 8.85643135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.152557844 meters Centerline goodness [0,1] 0.2494996519317786 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.88 [[ 9.99940940e-01 2.10967296e-03 -1.06613709e-02 2.30356091e+00] [-2.12183695e-03 9.99997111e-01 -1.12975852e-03 2.66587936e-01] [ 1.06589567e-02 1.15231348e-03 9.99942528e-01 8.84433390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182557844 meters Centerline goodness [0,1] 0.2498640269770478 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.89 [[ 9.99945959e-01 1.89908021e-03 -1.02212158e-02 2.30195370e+00] [-1.91251880e-03 9.99997319e-01 -1.30516035e-03 2.66865093e-01] [ 1.02187098e-02 1.32463809e-03 9.99946910e-01 8.85329518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.212557844 meters Centerline goodness [0,1] 0.24929086460385852 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.89 [[ 9.99946290e-01 1.91946271e-03 -1.01848837e-02 2.30179986e+00] [-1.93261275e-03 9.99997311e-01 -1.28144826e-03 2.67025032e-01] [ 1.01823967e-02 1.30106287e-03 9.99947312e-01 8.85443182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.242557844 meters Centerline goodness [0,1] 0.25051164816024385 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.89 [[ 9.99946613e-01 1.93194228e-03 -1.01507811e-02 2.30176595e+00] [-1.94454200e-03 9.99997351e-01 -1.23153320e-03 2.66881182e-01] [ 1.01483750e-02 1.25120607e-03 9.99947721e-01 8.85381193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.272557844 meters Centerline goodness [0,1] 0.2516543231517595 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.89 [[ 9.99945281e-01 1.92806015e-03 -1.02818931e-02 2.30210834e+00] [-1.93967470e-03 9.99997492e-01 -1.11975933e-03 2.66156096e-01] [ 1.02797084e-02 1.13964158e-03 9.99946513e-01 8.85419001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302557844 meters Centerline goodness [0,1] 0.24848918058353364 Centerline is valid? [False, False] Translation: X:2.33, Y:0.27, Z:0.89 [[ 9.99909196e-01 -7.21269252e-03 -1.13831795e-02 2.32521808e+00] [ 7.19956565e-03 9.99973370e-01 -1.19373940e-03 2.69999334e-01] [ 1.13914864e-02 1.11167705e-03 9.99934497e-01 8.85135386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.332557844 meters Centerline goodness [0,1] 0.24640252742734725 Centerline is valid? [False, False] Translation: X:2.33, Y:0.27, Z:0.88 [[ 9.99904250e-01 -7.16707063e-03 -1.18373937e-02 2.32670697e+00] [ 7.15512244e-03 9.99973849e-01 -1.05140271e-03 2.69311259e-01] [ 1.18446196e-02 9.66604038e-04 9.99929383e-01 8.84575104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362557844 meters Centerline goodness [0,1] 0.25081533040033266 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:0.88 [[ 9.99910678e-01 1.27514205e-03 -1.33045474e-02 2.30836242e+00] [-1.30262240e-03 9.99997036e-01 -2.05702495e-03 2.63267148e-01] [ 1.33018849e-02 2.07417201e-03 9.99909375e-01 8.83029126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.392557844 meters Centerline goodness [0,1] 0.2504486365824835 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:0.88 [[ 9.99908886e-01 1.31051132e-03 -1.34351224e-02 2.30889342e+00] [-1.33710622e-03 9.99997164e-01 -1.97071368e-03 2.62892112e-01] [ 1.34325017e-02 1.98849831e-03 9.99907803e-01 8.82666755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422557844 meters Centerline goodness [0,1] 0.24878928051773186 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:0.88 [[ 9.99914274e-01 1.31228965e-03 -1.30277303e-02 2.30776192e+00] [-1.33907424e-03 9.99997007e-01 -2.04745748e-03 2.63225168e-01] [ 1.30250044e-02 2.06472706e-03 9.99913039e-01 8.82823315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.452557844 meters Centerline goodness [0,1] 0.2483928416297455 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:0.88 [[ 9.99919025e-01 1.29990010e-03 -1.26591382e-02 2.30659590e+00] [-1.32708641e-03 9.99996831e-01 -2.13940001e-03 2.63636509e-01] [ 1.26563171e-02 2.15602655e-03 9.99917581e-01 8.83223823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482557844 meters Centerline goodness [0,1] 0.2514519016636828 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:0.88 [[ 9.99923318e-01 1.28236247e-03 -1.23172429e-02 2.30552546e+00] [-1.31040103e-03 9.99996568e-01 -2.26856579e-03 2.64357530e-01] [ 1.23142915e-02 2.28453236e-03 9.99921566e-01 8.83541267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.512557844 meters Centerline goodness [0,1] 0.2505350513212492 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.88 [[ 9.99926538e-01 1.29640675e-03 -1.20514870e-02 2.30467034e+00] [-1.32501921e-03 9.99996322e-01 -2.36650358e-03 2.65081249e-01] [ 1.20483747e-02 2.38229818e-03 9.99924578e-01 8.83819533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54255784400002 meters Centerline goodness [0,1] 0.2506633917410469 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.88 [[ 9.99928348e-01 1.28163826e-03 -1.19019102e-02 2.30444500e+00] [-1.31170713e-03 9.99995967e-01 -2.51892711e-03 2.65939840e-01] [ 1.18986338e-02 2.53435845e-03 9.99925997e-01 8.83513351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57255784400002 meters Centerline goodness [0,1] 0.2522571999736385 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.88 [[ 9.99928125e-01 1.28437583e-03 -1.19203548e-02 2.30472583e+00] [-1.31383163e-03 9.99996102e-01 -2.46354853e-03 2.65527804e-01] [ 1.19171442e-02 2.47903280e-03 9.99925915e-01 8.83069564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60255784400002 meters Centerline goodness [0,1] 0.25059240418269957 Centerline is valid? [False, False] Translation: X:2.32, Y:0.27, Z:0.88 [[ 9.99905640e-01 -7.06312608e-03 -1.17823489e-02 2.32474992e+00] [ 7.04514986e-03 9.99973956e-01 -1.56650028e-03 2.70173427e-01] [ 1.17931064e-02 1.48334405e-03 9.99929359e-01 8.83801325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63255784400002 meters Centerline goodness [0,1] 0.2489648258728152 Centerline is valid? [False, False] Translation: X:2.33, Y:0.27, Z:0.88 [[ 9.99900900e-01 -7.05119175e-03 -1.21848477e-02 2.32587987e+00] [ 7.03606676e-03 9.99974423e-01 -1.28371814e-03 2.68727089e-01] [ 1.21935877e-02 1.19785752e-03 9.99924938e-01 8.83626148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66255784400002 meters Centerline goodness [0,1] 0.24964100778904308 Centerline is valid? [False, False] Translation: X:2.33, Y:0.27, Z:0.88 [[ 9.99897878e-01 -7.00689148e-03 -1.24553933e-02 2.32646679e+00] [ 6.99463170e-03 9.99975009e-01 -1.02758535e-03 2.67432542e-01] [ 1.24622822e-02 9.40359520e-04 9.99921901e-01 8.83864210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69255784400002 meters Centerline goodness [0,1] 0.2492462529553391 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:0.88 [[ 9.99893192e-01 -7.14669778e-03 -1.27487020e-02 2.32705547e+00] [ 7.13957268e-03 9.99974330e-01 -6.04313538e-04 2.64744766e-01] [ 1.27526936e-02 5.13228709e-04 9.99918549e-01 8.84306708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72255784400002 meters Centerline goodness [0,1] 0.24578906452448823 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:0.88 [[ 9.99892490e-01 -7.02880975e-03 -1.28687558e-02 2.32744168e+00] [ 7.02692637e-03 9.99975292e-01 -1.91563899e-04 2.62782691e-01] [ 1.28697843e-02 1.01115505e-04 9.99917176e-01 8.84226095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75255784400002 meters Centerline goodness [0,1] 0.2495436766623207 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:0.88 [[ 9.99893935e-01 -6.85705211e-03 -1.28491372e-02 2.32744371e+00] [ 6.86081219e-03 9.99976433e-01 2.48575641e-04 2.60821821e-01] [ 1.28471299e-02 -3.36704793e-04 9.99917416e-01 8.84203443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782557844 meters Centerline goodness [0,1] 0.24806083979720073 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:0.88 [[ 9.99894674e-01 -6.68573758e-03 -1.28818197e-02 2.32752287e+00] [ 6.69545736e-03 9.99977332e-01 7.11555566e-04 2.58722331e-01] [ 1.28767705e-02 -7.97730296e-04 9.99916773e-01 8.84284370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.812557844 meters Centerline goodness [0,1] 0.2479209640647052 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:0.88 [[ 9.99896299e-01 -6.45507745e-03 -1.28733773e-02 2.32756822e+00] [ 6.47413069e-03 9.99978007e-01 1.43892543e-03 2.55023272e-01] [ 1.28638058e-02 -1.52212014e-03 9.99916099e-01 8.84273094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842557844 meters Centerline goodness [0,1] 0.2518114360541248 Centerline is valid? [False, False] Translation: X:2.33, Y:0.25, Z:0.88 [[ 9.99897716e-01 -6.32310989e-03 -1.28286823e-02 2.32738622e+00] [ 6.34649481e-03 9.99978271e-01 1.78297129e-03 2.53417971e-01] [ 1.28171296e-02 -1.86420608e-03 9.99916119e-01 8.84442984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.872557844 meters Centerline goodness [0,1] 0.2513192899821187 Centerline is valid? [False, False] Translation: X:2.33, Y:0.25, Z:0.88 [[ 9.99898296e-01 -6.19641754e-03 -1.28453294e-02 2.32730365e+00] [ 6.22347781e-03 9.99978496e-01 2.06772150e-03 2.52139047e-01] [ 1.28322407e-02 -2.14745383e-03 9.99915357e-01 8.84690332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902557844 meters Centerline goodness [0,1] 0.24954442901770224 Centerline is valid? [False, False] Translation: X:2.35, Y:0.25, Z:0.89 [[ 9.99874099e-01 7.09331147e-04 -1.58519393e-02 2.34569385e+00] [-6.88643422e-04 9.99998904e-01 1.31048000e-03 2.48073116e-01] [ 1.58528515e-02 -1.29939868e-03 9.99873491e-01 8.87850502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.932557844 meters Centerline goodness [0,1] 0.2483678621169917 Centerline is valid? [False, False] Translation: X:2.35, Y:0.25, Z:0.89 [[ 9.99876431e-01 7.39507965e-04 -1.57027617e-02 2.34544946e+00] [-7.20040374e-04 9.99998965e-01 1.24537333e-03 2.48497105e-01] [ 1.57036665e-02 -1.23391281e-03 9.99875928e-01 8.87570437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.962557844 meters Centerline goodness [0,1] 0.2506848123831471 Centerline is valid? [False, False] Translation: X:2.34, Y:0.25, Z:0.89 [[ 9.99881851e-01 7.36274586e-04 -1.53538822e-02 2.34457608e+00] [-7.19392681e-04 9.99999131e-01 1.10501435e-03 2.49196720e-01] [ 1.53546824e-02 -1.09383832e-03 9.99881512e-01 8.87510756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.992557844 meters Centerline goodness [0,1] 0.24976250107954057 Centerline is valid? [False, False] Translation: X:2.34, Y:0.25, Z:0.89 [[ 9.99899102e-01 1.04705232e-03 -1.41664807e-02 2.34111444e+00] [-1.03179676e-03 9.99998880e-01 1.08414283e-03 2.50140485e-01] [ 1.41676000e-02 -1.06941652e-03 9.99899063e-01 8.88201355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.022557844 meters Centerline goodness [0,1] 0.25222363405336723 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.89 [[ 9.99856003e-01 1.67217852e-03 -1.68871741e-02 2.29511397e+00] [-1.64638625e-03 9.99997457e-01 1.54111599e-03 2.47629850e-01] [ 1.68897082e-02 -1.51309126e-03 9.99856214e-01 8.89080141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.052557844 meters Centerline goodness [0,1] 0.2509092492976458 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.89 [[ 9.99849800e-01 1.67966671e-03 -1.72498393e-02 2.29645608e+00] [-1.65521095e-03 9.99997605e-01 1.43191794e-03 2.48210855e-01] [ 1.72522031e-02 -1.40315075e-03 9.99850185e-01 8.88235295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082557844 meters Centerline goodness [0,1] 0.24423823910228748 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.88 [[ 9.99828457e-01 5.03308665e-04 -1.85149639e-02 2.30252392e+00] [-5.02131529e-04 9.99999872e-01 6.82263397e-05 2.50284306e-01] [ 1.85149959e-02 -5.89176888e-05 9.99828581e-01 8.84223289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.112557844 meters Centerline goodness [0,1] 0.24606546715803168 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.88 [[ 9.99826281e-01 5.62037509e-04 -1.86304150e-02 2.30315164e+00] [-5.58033644e-04 9.99999820e-01 2.20108101e-04 2.49538833e-01] [ 1.86305354e-02 -2.09673465e-04 9.99826415e-01 8.83628229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142557844 meters Centerline goodness [0,1] 0.24178302900107407 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.88 [[ 9.99826915e-01 6.11362959e-04 -1.85948175e-02 2.30300561e+00] [-6.03458438e-04 9.99999725e-01 4.30700799e-04 2.48502113e-01] [ 1.85950757e-02 -4.19405051e-04 9.99827009e-01 8.83736302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.172557844 meters Centerline goodness [0,1] 0.24616283852531773 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.88 [[ 9.99828094e-01 6.70192567e-04 -1.85292440e-02 2.30256142e+00] [-6.58210656e-04 9.99999570e-01 6.52739737e-04 2.47422845e-01] [ 1.85296735e-02 -6.40431381e-04 9.99828106e-01 8.84290199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.202557844 meters Centerline goodness [0,1] 0.2486105965172286 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.88 [[ 9.99830710e-01 7.21308099e-04 -1.83856172e-02 2.30189662e+00] [-7.05196762e-04 9.99999362e-01 8.82769339e-04 2.46329455e-01] [ 1.83862422e-02 -8.69654417e-04 9.99830581e-01 8.84863394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.232557844 meters Centerline goodness [0,1] 0.2487924274914982 Centerline is valid? [False, False] Translation: X:2.30, Y:0.24, Z:0.89 [[ 9.99840245e-01 6.80543602e-04 -1.78611624e-02 2.30024757e+00] [-6.58178174e-04 9.99998992e-01 1.25803062e-03 2.44285246e-01] [ 1.78620006e-02 -1.24607381e-03 9.99839685e-01 8.85574830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.262557844 meters Centerline goodness [0,1] 0.24891652942706077 Centerline is valid? [False, False] Translation: X:2.30, Y:0.24, Z:0.89 [[ 9.99843261e-01 7.99365733e-04 -1.76865877e-02 2.29980224e+00] [-7.71174524e-04 9.99998422e-01 1.60069437e-03 2.42773344e-01] [ 1.76878393e-02 -1.58680403e-03 9.99842299e-01 8.85643193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29255784400002 meters Centerline goodness [0,1] 0.2497389488339714 Centerline is valid? [False, False] Translation: X:2.30, Y:0.24, Z:0.89 [[ 9.99845938e-01 9.44780351e-04 -1.75273520e-02 2.29950410e+00] [-9.05702312e-04 9.99997087e-01 2.23735007e-03 2.39673878e-01] [ 1.75294147e-02 -2.22113081e-03 9.99843881e-01 8.85602751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32255784400002 meters Centerline goodness [0,1] 0.25088739356721323 Centerline is valid? [False, False] Translation: X:2.30, Y:0.24, Z:0.89 [[ 9.99843810e-01 1.03931385e-03 -1.76430191e-02 2.29975828e+00] [-9.93051973e-04 9.99996047e-01 2.63066512e-03 2.37622050e-01] [ 1.76456834e-02 -2.61273380e-03 9.99840889e-01 8.85720151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35255784400002 meters Centerline goodness [0,1] 0.25229790501261384 Centerline is valid? [False, False] Translation: X:2.30, Y:0.24, Z:0.89 [[ 9.99843679e-01 1.12073690e-03 -1.76454169e-02 2.29960420e+00] [-1.06740136e-03 9.99994835e-01 3.03175651e-03 2.35429739e-01] [ 1.76487236e-02 -3.01244784e-03 9.99839711e-01 8.86078854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38255784400002 meters Centerline goodness [0,1] 0.24734180497925307 Centerline is valid? [False, False] Translation: X:2.32, Y:0.23, Z:0.89 [[ 9.99850010e-01 6.68520231e-03 -1.59770576e-02 2.32195156e+00] [-6.69075739e-03 9.99977573e-01 -2.94262902e-04 2.33596032e-01] [ 1.59747321e-02 4.01117382e-04 9.99872315e-01 8.86075560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41255784400002 meters Centerline goodness [0,1] 0.2518012313872756 Centerline is valid? [False, False] Translation: X:2.30, Y:0.23, Z:0.88 [[ 9.99867782e-01 -1.80018834e-03 -1.61609838e-02 2.30078126e+00] [ 1.81881687e-03 9.99997698e-01 1.13806103e-03 2.33769235e-01] [ 1.61588979e-02 -1.16730443e-03 9.99868755e-01 8.84964633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44255784400002 meters Centerline goodness [0,1] 0.2533085420540304 Centerline is valid? [False, False] Translation: X:2.30, Y:0.23, Z:0.88 [[ 9.99865347e-01 -1.73827466e-03 -1.63176580e-02 2.30135716e+00] [ 1.75842739e-03 9.99997709e-01 1.22075933e-03 2.33488268e-01] [ 1.63154986e-02 -1.24928837e-03 9.99866113e-01 8.84609421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47255784400002 meters Centerline goodness [0,1] 0.2533085420540304 Centerline is valid? [False, False] Translation: X:2.30, Y:0.23, Z:0.88 [[ 9.99865347e-01 -1.73827466e-03 -1.63176580e-02 2.30135716e+00] [ 1.75842739e-03 9.99997709e-01 1.22075933e-03 2.33488268e-01] [ 1.63154986e-02 -1.24928837e-03 9.99866113e-01 8.84609421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50255784400002 meters Centerline goodness [0,1] 0.25134999234822153 Centerline is valid? [False, False] Translation: X:2.30, Y:0.23, Z:0.88 [[ 9.99861044e-01 -1.69772126e-03 -1.65834328e-02 2.30244428e+00] [ 1.71775416e-03 9.99997812e-01 1.19383788e-03 2.33675658e-01] [ 1.65813697e-02 -1.22215825e-03 9.99861773e-01 8.83803919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.532557844 meters Centerline goodness [0,1] 0.2516751424143877 Centerline is valid? [False, False] Translation: X:2.30, Y:0.23, Z:0.88 [[ 9.99855303e-01 -1.66223651e-03 -1.69295646e-02 2.30382140e+00] [ 1.68027193e-03 9.99998036e-01 1.05115247e-03 2.34489927e-01] [ 1.69277841e-02 -1.07944664e-03 9.99856132e-01 8.82818015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562557844 meters Centerline goodness [0,1] 0.2495713138416792 Centerline is valid? [False, False] Translation: X:2.31, Y:0.24, Z:0.88 [[ 9.99849166e-01 -8.35957311e-04 -1.73477972e-02 2.30549147e+00] [ 8.56498049e-04 9.99998941e-01 1.17665856e-03 2.36214980e-01] [ 1.73467952e-02 -1.19133943e-03 9.99848823e-01 8.81508921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.592557844 meters Centerline goodness [0,1] 0.2515115136963877 Centerline is valid? [False, False] Translation: X:2.31, Y:0.24, Z:0.88 [[ 9.99851088e-01 -8.20851059e-04 -1.72373781e-02 2.30525624e+00] [ 8.34999019e-04 9.99999320e-01 8.13591036e-04 2.38131283e-01] [ 1.72366985e-02 -8.27863077e-04 9.99851094e-01 8.81290386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622557844 meters Centerline goodness [0,1] 0.2479353137025987 Centerline is valid? [False, False] Translation: X:2.33, Y:0.24, Z:0.88 [[ 9.99832860e-01 7.80691456e-03 -1.65319104e-02 2.32610754e+00] [-7.81705823e-03 9.99969296e-01 -5.49049152e-04 2.38082224e-01] [ 1.65271164e-02 6.78188290e-04 9.99863188e-01 8.82726772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.652557844 meters Centerline goodness [0,1] 0.24735158040385696 Centerline is valid? [False, False] Translation: X:2.33, Y:0.24, Z:0.88 [[ 9.99822492e-01 7.98789304e-03 -1.70639321e-02 2.32751146e+00] [-8.00542482e-03 9.99967496e-01 -9.59356144e-04 2.40904363e-01] [ 1.70557143e-02 1.09578988e-03 9.99853940e-01 8.82361165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682557844 meters Centerline goodness [0,1] 0.24812322869567094 Centerline is valid? [False, False] Translation: X:2.33, Y:0.24, Z:0.88 [[ 9.99822517e-01 7.88223355e-03 -1.71115451e-02 2.32778610e+00] [-7.90503047e-03 9.99967955e-01 -1.26502361e-03 2.42352250e-01] [ 1.71010256e-02 1.40006637e-03 9.99852787e-01 8.82029461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.712557844 meters Centerline goodness [0,1] 0.25098133286810886 Centerline is valid? [False, False] Translation: X:2.33, Y:0.24, Z:0.88 [[ 9.99823667e-01 7.75464980e-03 -1.71026518e-02 2.32792800e+00] [-7.78278768e-03 9.99968467e-01 -1.57929039e-03 2.43743227e-01] [ 1.70898656e-02 1.71211821e-03 9.99852492e-01 8.81676023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.742557844 meters Centerline goodness [0,1] 0.249972862074206 Centerline is valid? [False, False] Translation: X:2.33, Y:0.24, Z:0.88 [[ 9.99824631e-01 7.65427007e-03 -1.70915222e-02 2.32788205e+00] [-7.68642947e-03 9.99968809e-01 -1.81670092e-03 2.44785641e-01] [ 1.70770836e-02 1.94775511e-03 9.99852279e-01 8.81665367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.772557844 meters Centerline goodness [0,1] 0.25270267306975414 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.88 [[ 9.99861799e-01 -6.02617536e-04 -1.66138465e-02 2.30680305e+00] [ 5.87234177e-04 9.99999394e-01 -9.30798924e-04 2.50916549e-01] [ 1.66143974e-02 9.20914068e-04 9.99861547e-01 8.80110598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802557844 meters Centerline goodness [0,1] 0.24915342537119045 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.88 [[ 9.99861036e-01 -6.35537774e-04 -1.66584503e-02 2.30672779e+00] [ 6.18171401e-04 9.99999260e-01 -1.04762486e-03 2.51620443e-01] [ 1.66591038e-02 1.03718151e-03 9.99860690e-01 8.80422915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.832557844 meters Centerline goodness [0,1] 0.24793030211087508 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.88 [[ 9.99860709e-01 -6.64930180e-04 -1.66769334e-02 2.30662105e+00] [ 6.46674018e-04 9.99999186e-01 -1.10006416e-03 2.51929508e-01] [ 1.66776513e-02 1.08912639e-03 9.99860325e-01 8.80692760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862557844 meters Centerline goodness [0,1] 0.2476504569753406 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.88 [[ 9.99859917e-01 -6.71482369e-04 -1.67240810e-02 2.30660927e+00] [ 6.53514232e-04 9.99999203e-01 -1.07982905e-03 2.51818300e-01] [ 1.67247927e-02 1.06874836e-03 9.99859560e-01 8.80955242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.892557844 meters Centerline goodness [0,1] 0.2512549709889823 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.88 [[ 9.99867118e-01 -8.08026471e-04 -1.62816722e-02 2.30522229e+00] [ 7.90373375e-04 9.99999093e-01 -1.09063667e-03 2.51523939e-01] [ 1.62825387e-02 1.07762314e-03 9.99866850e-01 8.81530736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922557844 meters Centerline goodness [0,1] 0.25325949505080014 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.88 [[ 9.99867373e-01 -8.30763356e-04 -1.62648985e-02 2.30509986e+00] [ 8.14348658e-04 9.99999152e-01 -1.01580706e-03 2.51035203e-01] [ 1.62657286e-02 1.00242704e-03 9.99867202e-01 8.81713028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.952557844 meters Centerline goodness [0,1] 0.24895510752106031 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.88 [[ 9.99866708e-01 -8.13893761e-04 -1.63065722e-02 2.30522925e+00] [ 7.99528637e-04 9.99999287e-01 -8.87440589e-04 2.50391845e-01] [ 1.63072829e-02 8.74284728e-04 9.99866645e-01 8.81717312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982557844 meters Centerline goodness [0,1] 0.2486470169688868 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.88 [[ 9.99866187e-01 -8.18885658e-04 -1.63382207e-02 2.30527333e+00] [ 8.06399820e-04 9.99999378e-01 -7.70783773e-04 2.49836076e-01] [ 1.63388417e-02 7.57505494e-04 9.99866225e-01 8.81861281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.012557844 meters Centerline goodness [0,1] 0.25345894078817954 Centerline is valid? [False, False] Translation: X:2.26, Y:0.25, Z:0.88 [[ 9.99823186e-01 -1.27278559e-03 -1.87610228e-02 2.25848203e+00] [ 1.25664899e-03 9.99998830e-01 -8.71876758e-04 2.45594601e-01] [ 1.87621106e-02 8.48146578e-04 9.99823616e-01 8.83366936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04255784400002 meters Centerline goodness [0,1] 0.25112720020809853 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.88 [[ 9.99824875e-01 -1.22786222e-03 -1.86738063e-02 2.25796399e+00] [ 1.21544460e-03 9.99999033e-01 -6.76310622e-04 2.44594061e-01] [ 1.86746186e-02 6.53495206e-04 9.99825401e-01 8.83929342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07255784400002 meters Centerline goodness [0,1] 0.25524391047464257 Centerline is valid? [False, False] Translation: X:2.23, Y:0.24, Z:0.88 [[ 0.99982322 0.00449636 -0.01825659 2.23478157] [-0.00456245 0.99998319 -0.00357953 0.23841325] [ 0.01824018 0.0036622 0.99982693 0.88414007] [ 0. 0. 0. 1. ]] SLAMing on 188.10255784400002 meters Centerline goodness [0,1] 0.2475427188870407 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.88 [[ 0.99983382 -0.00374236 -0.01784146 2.25522672] [ 0.0036969 0.99998984 -0.00258026 0.24265655] [ 0.01785093 0.00251387 0.9998375 0.88492133] [ 0. 0. 0. 1. ]] SLAMing on 188.13255784400002 meters Centerline goodness [0,1] 0.2486855714531977 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.88 [[ 0.99983164 -0.00362829 -0.01798707 2.25580764] [ 0.00358707 0.99999087 -0.00232356 0.24153546] [ 0.01799533 0.00225865 0.99983552 0.88461729] [ 0. 0. 0. 1. ]] SLAMing on 188.16255784400002 meters Centerline goodness [0,1] 0.2512085710552676 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.88 [[ 9.99826927e-01 -3.40991014e-03 -1.82890229e-02 2.25667762e+00] [ 3.37699837e-03 9.99992623e-01 -1.83011858e-03 2.39324914e-01] [ 1.82951285e-02 1.76803984e-03 9.99831067e-01 8.84495047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19255784400002 meters Centerline goodness [0,1] 0.25229487822427665 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.88 [[ 9.99825939e-01 -3.29062692e-03 -1.83647323e-02 2.25686508e+00] [ 3.26249126e-03 9.99993458e-01 -1.56179805e-03 2.38054587e-01] [ 1.83697515e-02 1.50161142e-03 9.99830134e-01 8.84528449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22255784400002 meters Centerline goodness [0,1] 0.2481890717235713 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.89 [[ 0.99983058 0.00477655 -0.01777629 2.27637205] [-0.00482861 0.99998418 -0.00288678 0.23348214] [ 0.01776222 0.00297213 0.99983782 0.88657007] [ 0. 0. 0. 1. ]] SLAMing on 188.25255784400002 meters Centerline goodness [0,1] 0.2502934910213488 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.89 [[ 0.99983164 0.00503073 -0.01764595 2.27604533] [-0.00507194 0.99998451 -0.00229146 0.23066005] [ 0.01763414 0.00238057 0.99984167 0.88655631] [ 0. 0. 0. 1. ]] SLAMing on 188.282557844 meters Centerline goodness [0,1] 0.25200208913649025 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.89 [[ 9.99831066e-01 5.20352697e-03 -1.76284386e-02 2.27610524e+00] [-5.23720111e-03 9.99984547e-01 -1.86458959e-03 2.28706121e-01] [ 1.76184637e-02 1.95659827e-03 9.99842868e-01 8.86388129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312557844 meters Centerline goodness [0,1] 0.25054945054945055 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.89 [[ 9.99828606e-01 5.38772242e-03 -1.77124403e-02 2.27655616e+00] [-5.41270489e-03 9.99984423e-01 -1.36281024e-03 2.26276978e-01] [ 1.77048219e-02 1.45844888e-03 9.99842194e-01 8.86007853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342557844 meters Centerline goodness [0,1] 0.25043595779928507 Centerline is valid? [False, False] Translation: X:2.28, Y:0.22, Z:0.89 [[ 9.99832231e-01 1.67364221e-03 -1.82403135e-02 2.27818360e+00] [-1.75976300e-03 9.99987376e-01 -4.70642607e-03 2.23014908e-01] [ 1.82322064e-02 4.73773511e-03 9.99822555e-01 8.85365454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.372557844 meters Centerline goodness [0,1] 0.25011958081488894 Centerline is valid? [False, False] Translation: X:2.28, Y:0.22, Z:0.89 [[ 9.99826873e-01 1.84420430e-03 -1.85154963e-02 2.27908384e+00] [-1.92352368e-03 9.99989046e-01 -4.26705101e-03 2.20888519e-01] [ 1.85074241e-02 4.30192726e-03 9.99819468e-01 8.85037287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402557844 meters Centerline goodness [0,1] 0.25109284840006996 Centerline is valid? [False, False] Translation: X:2.28, Y:0.22, Z:0.88 [[ 9.99822095e-01 1.99190525e-03 -1.87566042e-02 2.27993375e+00] [-2.06592422e-03 9.99990152e-01 -3.92773946e-03 2.19353952e-01] [ 1.87485958e-02 3.96579042e-03 9.99816364e-01 8.84638170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.432557844 meters Centerline goodness [0,1] 0.25063291139240507 Centerline is valid? [False, False] Translation: X:2.28, Y:0.22, Z:0.88 [[ 9.99818874e-01 2.10649777e-03 -1.89150986e-02 2.28068358e+00] [-2.17665435e-03 9.99990826e-01 -3.68920385e-03 2.18306138e-01] [ 1.89071538e-02 3.72970727e-03 9.99814287e-01 8.84025331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.462557844 meters Centerline goodness [0,1] 0.24310359737115184 Centerline is valid? [False, False] Translation: X:2.30, Y:0.22, Z:0.88 [[ 0.99981932 -0.00598526 -0.01804167 2.30055814] [ 0.00594032 0.99997912 -0.00254387 0.2203201 ] [ 0.01805652 0.00243623 0.999834 0.88460008] [ 0. 0. 0. 1. ]] SLAMing on 188.492557844 meters Centerline goodness [0,1] 0.25198070585153987 Centerline is valid? [False, False] Translation: X:2.30, Y:0.22, Z:0.88 [[ 9.99821779e-01 -5.77120181e-03 -1.79750760e-02 2.30021653e+00] [ 5.73706463e-03 9.99981641e-01 -1.95012722e-03 2.17514990e-01] [ 1.79860006e-02 1.84665550e-03 9.99836533e-01 8.84973693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.522557844 meters Centerline goodness [0,1] 0.24846752906786496 Centerline is valid? [False, False] Translation: X:2.30, Y:0.21, Z:0.89 [[ 9.99820538e-01 -5.88655471e-03 -1.80066491e-02 2.29982179e+00] [ 5.86921098e-03 9.99982260e-01 -1.01588025e-03 2.10970369e-01] [ 1.80123097e-02 9.10013119e-04 9.99837351e-01 8.85971375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.552557844 meters Centerline goodness [0,1] 0.24817693550499975 Centerline is valid? [False, False] Translation: X:2.30, Y:0.21, Z:0.89 [[ 9.99819106e-01 -5.76431674e-03 -1.81253597e-02 2.30007931e+00] [ 5.76167211e-03 9.99983382e-01 -1.98125675e-04 2.06582497e-01] [ 1.81262006e-02 9.36574558e-05 9.99835703e-01 8.86202263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582557844 meters Centerline goodness [0,1] 0.24761780446416914 Centerline is valid? [False, False] Translation: X:2.30, Y:0.20, Z:0.89 [[ 9.99818799e-01 -5.60961822e-03 -1.81906828e-02 2.30017101e+00] [ 5.62303511e-03 9.99983955e-01 6.86505563e-04 2.01753720e-01] [ 1.81865399e-02 -7.88668016e-04 9.99834300e-01 8.86516493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.612557844 meters Centerline goodness [0,1] 0.25180364037506897 Centerline is valid? [False, False] Translation: X:2.28, Y:0.19, Z:0.89 [[ 9.99853232e-01 1.52958218e-04 -1.71315776e-02 2.27720992e+00] [-1.80932307e-04 9.99998653e-01 -1.63135820e-03 1.92997048e-01] [ 1.71313050e-02 1.63421842e-03 9.99851913e-01 8.86213367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642557844 meters Centerline goodness [0,1] 0.2506727248665579 Centerline is valid? [False, False] Translation: X:2.28, Y:0.19, Z:0.89 [[ 9.99854818e-01 4.15451638e-04 -1.70343943e-02 2.27689454e+00] [-4.29528042e-04 9.99999569e-01 -8.22701591e-04 1.89132917e-01] [ 1.70340451e-02 8.29898900e-04 9.99854566e-01 8.86441091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.672557844 meters Centerline goodness [0,1] 0.25001087949867273 Centerline is valid? [False, False] Translation: X:2.30, Y:0.19, Z:0.89 [[ 9.99856903e-01 -7.24099161e-03 -1.52885947e-02 2.29698158e+00] [ 7.26061731e-03 9.99972887e-01 1.22856661e-03 1.87066098e-01] [ 1.52792841e-02 -1.33939544e-03 9.99882368e-01 8.87164133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702557844 meters Centerline goodness [0,1] 0.2464814614636256 Centerline is valid? [False, False] Translation: X:2.32, Y:0.18, Z:0.89 [[ 9.99885319e-01 1.21798075e-03 -1.50952340e-02 2.31673110e+00] [-1.21303407e-03 9.99999208e-01 3.36849883e-04 1.81484787e-01] [ 1.50956323e-02 -3.18500219e-04 9.99886004e-01 8.88950590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.732557844 meters Centerline goodness [0,1] 0.2488394900294214 Centerline is valid? [False, False] Translation: X:2.32, Y:0.18, Z:0.89 [[ 9.99883012e-01 1.37086258e-03 -1.52342415e-02 2.31724482e+00] [-1.36065414e-03 9.99998843e-01 6.80443086e-04 1.79850094e-01] [ 1.52351567e-02 -6.59634949e-04 9.99883721e-01 8.88678553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.762557844 meters Centerline goodness [0,1] 0.24897460511388425 Centerline is valid? [False, False] Translation: X:2.32, Y:0.18, Z:0.89 [[ 9.99879998e-01 1.63823469e-03 -1.54047440e-02 2.31801135e+00] [-1.61864050e-03 9.99997865e-01 1.28434016e-03 1.76741270e-01] [ 1.54068152e-02 -1.25925129e-03 9.99880515e-01 8.88142230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79255784400002 meters Centerline goodness [0,1] 0.25026883490245133 Centerline is valid? [False, False] Translation: X:2.32, Y:0.18, Z:0.89 [[ 9.99880768e-01 1.79680565e-03 -1.53369010e-02 2.31788057e+00] [-1.77245297e-03 9.99997147e-01 1.60129375e-03 1.75385222e-01] [ 1.53397345e-02 -1.57391889e-03 9.99881101e-01 8.88069006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82255784400002 meters Centerline goodness [0,1] 0.25169280503254554 Centerline is valid? [False, False] Translation: X:2.32, Y:0.17, Z:0.89 [[ 9.99881857e-01 1.96747702e-03 -1.52446948e-02 2.31764746e+00] [-1.93895605e-03 9.99996343e-01 1.88543320e-03 1.74316085e-01] [ 1.52483485e-02 -1.85565165e-03 9.99882015e-01 8.88087563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85255784400002 meters Centerline goodness [0,1] 0.24697456694781805 Centerline is valid? [False, False] Translation: X:2.34, Y:0.17, Z:0.89 [[ 9.99832286e-01 1.11065143e-02 -1.45617758e-02 2.33865445e+00] [-1.10864926e-02 9.99937484e-01 1.45495637e-03 1.68115020e-01] [ 1.45770250e-02 -1.29327334e-03 9.99892913e-01 8.89274171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88255784400002 meters Centerline goodness [0,1] 0.24773163496771944 Centerline is valid? [False, False] Translation: X:2.32, Y:0.17, Z:0.89 [[ 9.99878186e-01 2.10732392e-03 -1.54652070e-02 2.31811441e+00] [-2.07333607e-03 9.99995401e-01 2.21340176e-03 1.69933685e-01] [ 1.54698002e-02 -2.18106757e-03 9.99877957e-01 8.88407129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91255784400002 meters Centerline goodness [0,1] 0.2429466072696752 Centerline is valid? [False, False] Translation: X:2.34, Y:0.16, Z:0.89 [[ 9.99831465e-01 1.05887386e-02 -1.49973409e-02 2.33846669e+00] [-1.05715091e-02 9.99943366e-01 1.22765440e-03 1.64771804e-01] [ 1.50094908e-02 -1.06890297e-03 9.99886780e-01 8.89705729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94255784400002 meters Centerline goodness [0,1] 0.2510002198285337 Centerline is valid? [False, False] Translation: X:2.29, Y:0.16, Z:0.89 [[ 9.99794627e-01 9.95277190e-03 -1.76535128e-02 2.29289153e+00] [-9.92602177e-03 9.99949452e-01 1.60226345e-03 1.59569793e-01] [ 1.76685674e-02 -1.42670523e-03 9.99842881e-01 8.90584370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97255784400002 meters Centerline goodness [0,1] 0.24967906177244936 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.89 [[ 9.99872892e-01 1.92926811e-03 -1.58264614e-02 2.31249120e+00] [-1.88499522e-03 9.99994270e-01 2.81183737e-03 1.60087326e-01] [ 1.58317955e-02 -2.78164716e-03 9.99870800e-01 8.91120490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00255784400002 meters Centerline goodness [0,1] 0.2503384722889461 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.89 [[ 9.99872284e-01 2.06084133e-03 -1.58483241e-02 2.31230794e+00] [-2.01109160e-03 9.99993003e-01 3.15441338e-03 1.58469429e-01] [ 1.58547140e-02 -3.12213808e-03 9.99869432e-01 8.91554211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.032557844 meters Centerline goodness [0,1] 0.25433791955131013 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.89 [[ 9.99870363e-01 2.19788462e-03 -1.59507721e-02 2.31236186e+00] [-2.14247800e-03 9.99991615e-01 3.48985857e-03 1.56942551e-01] [ 1.59583087e-02 -3.45523198e-03 9.99866688e-01 8.91943465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062557844 meters Centerline goodness [0,1] 0.24146744850398438 Centerline is valid? [False, False] Translation: X:2.36, Y:0.16, Z:0.89 [[ 0.99988342 0.00254314 -0.01505556 2.360046 ] [-0.00249382 0.99999147 0.003294 0.15743109] [ 0.01506381 -0.00325607 0.99988123 0.89050682] [ 0. 0. 0. 1. ]] SLAMing on 189.092557844 meters Centerline goodness [0,1] 0.24451704236088423 Centerline is valid? [False, False] Translation: X:2.32, Y:0.15, Z:0.89 [[ 9.99834476e-01 1.43106394e-03 -1.81375976e-02 2.31600426e+00] [-1.37601090e-03 9.99994410e-01 3.04741580e-03 1.52829882e-01] [ 1.81418572e-02 -3.02195385e-03 9.99830856e-01 8.90569005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122557844 meters Centerline goodness [0,1] 0.2409977089007046 Centerline is valid? [False, False] Translation: X:2.32, Y:0.15, Z:0.89 [[ 9.99832876e-01 1.50265436e-03 -1.82198118e-02 2.31631626e+00] [-1.44365084e-03 9.99993673e-01 3.25114693e-03 1.51732070e-01] [ 1.82245819e-02 -3.22430054e-03 9.99828720e-01 8.90412582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.152557844 meters Centerline goodness [0,1] 0.24709931595809165 Centerline is valid? [False, False] Translation: X:2.32, Y:0.15, Z:0.89 [[ 9.99836062e-01 1.59036648e-03 -1.80366437e-02 2.31569616e+00] [-1.53159004e-03 9.99993474e-01 3.27206938e-03 1.51966573e-01] [ 1.80417298e-02 -3.24390822e-03 9.99831972e-01 8.90646501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182557844 meters Centerline goodness [0,1] 0.24444396262006463 Centerline is valid? [False, False] Translation: X:2.32, Y:0.15, Z:0.89 [[ 9.99835043e-01 1.53192797e-03 -1.80980707e-02 2.31600176e+00] [-1.47601313e-03 9.99994098e-01 3.10250114e-03 1.52761770e-01] [ 1.81027167e-02 -3.07527637e-03 9.99831403e-01 8.90339718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.212557844 meters Centerline goodness [0,1] 0.24509359414469845 Centerline is valid? [False, False] Translation: X:2.32, Y:0.15, Z:0.89 [[ 9.99833158e-01 1.46044837e-03 -1.82077873e-02 2.31627659e+00] [-1.40772787e-03 9.99994781e-01 2.90797262e-03 1.53655434e-01] [ 1.82119392e-02 -2.88185583e-03 9.99829996e-01 8.90309635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.242557844 meters Centerline goodness [0,1] 0.24268206000818493 Centerline is valid? [False, False] Translation: X:2.32, Y:0.16, Z:0.89 [[ 9.99839193e-01 1.36720578e-03 -1.78806602e-02 2.31505102e+00] [-1.32059367e-03 9.99995700e-01 2.61839264e-03 1.55386411e-01] [ 1.78841632e-02 -2.59435850e-03 9.99836700e-01 8.90889120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.272557844 meters Centerline goodness [0,1] 0.2487255688843576 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.89 [[ 9.99844600e-01 1.39710900e-03 -1.75733984e-02 2.31380442e+00] [-1.35021688e-03 9.99995497e-01 2.67993992e-03 1.55256595e-01] [ 1.75770634e-02 -2.65579556e-03 9.99841984e-01 8.91707740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302557844 meters Centerline goodness [0,1] 0.24778317610405454 Centerline is valid? [False, False] Translation: X:2.31, Y:0.15, Z:0.89 [[ 9.99850427e-01 1.43219145e-03 -1.72358188e-02 2.31252397e+00] [-1.38284408e-03 9.99994912e-01 2.87464824e-03 1.54244934e-01] [ 1.72398481e-02 -2.85038382e-03 9.99847320e-01 8.92500592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.332557844 meters Centerline goodness [0,1] 0.25104282687981827 Centerline is valid? [False, False] Translation: X:2.31, Y:0.15, Z:0.89 [[ 9.99850672e-01 -2.65028388e-03 -1.70765780e-02 2.31193800e+00] [ 2.63642526e-03 9.99996177e-01 -8.34018417e-04 1.52208149e-01] [ 1.70787231e-02 7.88872753e-04 9.99853837e-01 8.92860930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362557844 meters Centerline goodness [0,1] 0.25104282687981827 Centerline is valid? [False, False] Translation: X:2.31, Y:0.15, Z:0.89 [[ 9.99850672e-01 -2.65028388e-03 -1.70765780e-02 2.31193800e+00] [ 2.63642526e-03 9.99996177e-01 -8.34018417e-04 1.52208149e-01] [ 1.70787231e-02 7.88872753e-04 9.99853837e-01 8.92860930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.392557844 meters Centerline goodness [0,1] 0.2508168155086038 Centerline is valid? [False, False] Translation: X:2.31, Y:0.15, Z:0.89 [[ 9.99843589e-01 -2.57465583e-03 -1.74977015e-02 2.31311332e+00] [ 2.56873755e-03 9.99996636e-01 -3.60698765e-04 1.49664573e-01] [ 1.74985713e-02 3.15695344e-04 9.99846838e-01 8.92718525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422557844 meters Centerline goodness [0,1] 0.25056103884785497 Centerline is valid? [False, False] Translation: X:2.31, Y:0.15, Z:0.89 [[ 9.99840174e-01 -2.43393670e-03 -1.77116551e-02 2.31380908e+00] [ 2.43689067e-03 9.99997020e-01 1.45200711e-04 1.47192032e-01] [ 1.77112489e-02 -1.88338871e-04 9.99843126e-01 8.92525415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.452557844 meters Centerline goodness [0,1] 0.24338362068965513 Centerline is valid? [False, False] Translation: X:2.33, Y:0.14, Z:0.89 [[ 9.99822513e-01 5.66169515e-03 -1.79690836e-02 2.33393261e+00] [-5.67595870e-03 9.99983616e-01 -7.42881612e-04 1.41124120e-01] [ 1.79645832e-02 8.44741537e-04 9.99838267e-01 8.94150174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.482557844 meters Centerline goodness [0,1] 0.24849088037387224 Centerline is valid? [False, False] Translation: X:2.33, Y:0.14, Z:0.89 [[ 9.99818711e-01 5.96499313e-03 -1.80821636e-02 2.33420875e+00] [-5.96097733e-03 9.99982195e-01 2.75976613e-04 1.36051549e-01] [ 1.80834879e-02 -1.68139214e-04 9.99836466e-01 8.94322933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.512557844 meters Centerline goodness [0,1] 0.24563488633416886 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:0.89 [[ 9.99819662e-01 6.19638479e-03 -1.79512818e-02 2.33363198e+00] [-6.18168110e-03 9.99980511e-01 8.74462337e-04 1.33271467e-01] [ 1.79563504e-02 -7.63335539e-04 9.99838480e-01 8.94797248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54255784400002 meters Centerline goodness [0,1] 0.25003797990320553 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:0.90 [[ 9.99819965e-01 6.43564406e-03 -1.78499437e-02 2.33311477e+00] [-6.41038476e-03 9.99978370e-01 1.47194867e-03 1.30531283e-01] [ 1.78590305e-02 -1.35725866e-03 9.99839594e-01 8.95286071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57255784400002 meters Centerline goodness [0,1] 0.2496303383491345 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:0.90 [[ 9.99816092e-01 6.80624316e-03 -1.79292184e-02 2.33329426e+00] [-6.76502418e-03 9.99974335e-01 2.35863279e-03 1.26296283e-01] [ 1.79448116e-02 -2.23690743e-03 9.99836477e-01 8.95401497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60255784400002 meters Centerline goodness [0,1] 0.2504258943781942 Centerline is valid? [False, False] Translation: X:2.33, Y:0.12, Z:0.89 [[ 0.99981144 0.00694867 -0.01813292 2.33409624] [-0.00690118 0.9999726 0.0026799 0.12478728] [ 0.01815105 -0.00255426 0.99983199 0.89492279] [ 0. 0. 0. 1. ]] SLAMing on 189.63255784400002 meters Centerline goodness [0,1] 0.24971156148638352 Centerline is valid? [False, False] Translation: X:2.34, Y:0.12, Z:0.89 [[ 0.99980468 0.00707378 -0.01845442 2.33528507] [-0.00702056 0.99997101 0.0029475 0.12353556] [ 0.01847473 -0.00281737 0.99982536 0.89428587] [ 0. 0. 0. 1. ]] SLAMing on 189.66255784400002 meters Centerline goodness [0,1] 0.2452251317950047 Centerline is valid? [False, False] Translation: X:2.34, Y:0.12, Z:0.89 [[ 0.99980094 0.00732315 -0.01855941 2.33581669] [-0.0072607 0.99996776 0.00342955 0.12126111] [ 0.01858393 -0.00329411 0.99982188 0.89386119] [ 0. 0. 0. 1. ]] SLAMing on 189.69255784400002 meters Centerline goodness [0,1] 0.24635135428187283 Centerline is valid? [False, False] Translation: X:2.33, Y:0.12, Z:0.89 [[ 0.99980425 0.00744039 -0.01833297 2.33495515] [-0.0073736 0.99996594 0.0037079 0.1198657 ] [ 0.01835994 -0.003572 0.99982506 0.89436931] [ 0. 0. 0. 1. ]] SLAMing on 189.72255784400002 meters Centerline goodness [0,1] 0.24809085568827105 Centerline is valid? [False, False] Translation: X:2.33, Y:0.12, Z:0.90 [[ 9.99835066e-01 4.97122215e-03 -1.74678906e-02 2.33120058e+00] [-4.94634709e-03 9.99986691e-01 1.46696127e-03 1.16167186e-01] [ 1.74749507e-02 -1.38031707e-03 9.99846349e-01 8.96046120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75255784400002 meters Centerline goodness [0,1] 0.25061301339872144 Centerline is valid? [False, False] Translation: X:2.33, Y:0.12, Z:0.90 [[ 9.99830255e-01 5.03098233e-03 -1.77242824e-02 2.33207350e+00] [-5.00284172e-03 9.99986155e-01 1.63166905e-03 1.15357211e-01] [ 1.77322459e-02 -1.54272030e-03 9.99841581e-01 8.95662957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782557844 meters Centerline goodness [0,1] 0.24499956892835584 Centerline is valid? [False, False] Translation: X:2.35, Y:0.12, Z:0.90 [[ 9.99832176e-01 -2.19639796e-03 -1.81878163e-02 2.35215048e+00] [ 2.24631761e-03 9.99993765e-01 2.72470059e-03 1.20548862e-01] [ 1.81817184e-02 -2.76509893e-03 9.99830875e-01 8.96787755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.812557844 meters Centerline goodness [0,1] 0.25174320750180335 Centerline is valid? [False, False] Translation: X:2.33, Y:0.11, Z:0.90 [[ 9.99806024e-01 5.52985636e-03 -1.89033116e-02 2.33253157e+00] [-5.50040758e-03 9.99983577e-01 1.60950143e-03 1.13771046e-01] [ 1.89119014e-02 -1.50521330e-03 9.99820021e-01 8.95268398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842557844 meters Centerline goodness [0,1] 0.24639057340785986 Centerline is valid? [False, False] Translation: X:2.35, Y:0.12, Z:0.90 [[ 9.99840708e-01 -2.24848913e-03 -1.77059976e-02 2.35198451e+00] [ 2.29178581e-03 9.99994433e-01 2.42540022e-03 1.18757085e-01] [ 1.77004456e-02 -2.46559223e-03 9.99840295e-01 8.96165698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.872557844 meters Centerline goodness [0,1] 0.2448351553757424 Centerline is valid? [False, False] Translation: X:2.35, Y:0.12, Z:0.90 [[ 9.99841897e-01 -2.20725050e-03 -1.76439516e-02 2.35161098e+00] [ 2.25184804e-03 9.99994319e-01 2.50817115e-03 1.18475612e-01] [ 1.76383152e-02 -2.54750610e-03 9.99841187e-01 8.96543737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902557844 meters Centerline goodness [0,1] 0.24825434232347032 Centerline is valid? [False, False] Translation: X:2.33, Y:0.11, Z:0.90 [[ 9.99823986e-01 5.61263734e-03 -1.79023929e-02 2.33171073e+00] [-5.58410659e-03 9.99983059e-01 1.64327456e-03 1.12401189e-01] [ 1.79113127e-02 -1.54301645e-03 9.99838389e-01 8.95248914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.932557844 meters Centerline goodness [0,1] 0.25081956535898053 Centerline is valid? [False, False] Translation: X:2.33, Y:0.11, Z:0.89 [[ 9.99821391e-01 5.59435013e-03 -1.80523983e-02 2.33225793e+00] [-5.56553444e-03 9.99983157e-01 1.64607050e-03 1.12161326e-01] [ 1.80613030e-02 -1.54530526e-03 9.99835687e-01 8.94984952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.962557844 meters Centerline goodness [0,1] 0.24526592761937627 Centerline is valid? [False, False] Translation: X:2.33, Y:0.11, Z:0.89 [[ 9.99818333e-01 5.52616963e-03 -1.82417857e-02 2.33284316e+00] [-5.49882369e-03 9.99983682e-01 1.54890088e-03 1.12389833e-01] [ 1.82500475e-02 -1.44831113e-03 9.99832405e-01 8.94813129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.992557844 meters Centerline goodness [0,1] 0.24957529293897285 Centerline is valid? [False, False] Translation: X:2.33, Y:0.11, Z:0.89 [[ 9.99816214e-01 5.46683442e-03 -1.83753285e-02 2.33320953e+00] [-5.44152920e-03 9.99984177e-01 1.42684782e-03 1.12854470e-01] [ 1.83828381e-02 -1.32659570e-03 9.99830141e-01 8.94765929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.022557844 meters Centerline goodness [0,1] 0.2495851890664571 Centerline is valid? [False, False] Translation: X:2.33, Y:0.11, Z:0.89 [[ 9.99815271e-01 5.41539374e-03 -1.84417250e-02 2.33331977e+00] [-5.39227436e-03 9.99984612e-01 1.30314078e-03 1.13466765e-01] [ 1.84484982e-02 -1.20345721e-03 9.99829088e-01 8.94858194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.052557844 meters Centerline goodness [0,1] 0.24435871462747039 Centerline is valid? [False, False] Translation: X:2.35, Y:0.12, Z:0.90 [[ 9.99824918e-01 -1.53853888e-03 -1.86484755e-02 2.35221202e+00] [ 1.58561424e-03 9.99995593e-01 2.50983113e-03 1.20892695e-01] [ 1.86445319e-02 -2.53896099e-03 9.99822952e-01 8.96725852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.082557844 meters Centerline goodness [0,1] 0.24876545907442205 Centerline is valid? [False, False] Translation: X:2.33, Y:0.12, Z:0.90 [[ 9.99801312e-01 6.30764078e-03 -1.89089968e-02 2.33181919e+00] [-6.27999276e-03 9.99979124e-01 1.52118608e-03 1.15734382e-01] [ 1.89181972e-02 -1.40213547e-03 9.99820052e-01 8.95558403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.112557844 meters Centerline goodness [0,1] 0.24814283852469698 Centerline is valid? [False, False] Translation: X:2.35, Y:0.12, Z:0.90 [[ 9.99820132e-01 -4.90028347e-04 -1.89595168e-02 2.34864099e+00] [ 5.47091816e-04 9.99995336e-01 3.00468364e-03 1.22807245e-01] [ 1.89579560e-02 -3.01451579e-03 9.99815737e-01 8.98671465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142557844 meters Centerline goodness [0,1] 0.24608951860999173 Centerline is valid? [False, False] Translation: X:2.35, Y:0.12, Z:0.90 [[ 9.99819382e-01 -5.58172209e-04 -1.89971518e-02 2.34877469e+00] [ 6.11906912e-04 9.99995828e-01 2.82287110e-03 1.23708923e-01] [ 1.89954969e-02 -2.83398573e-03 9.99815553e-01 8.98597065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.172557844 meters Centerline goodness [0,1] 0.24867724867724872 Centerline is valid? [False, False] Translation: X:2.35, Y:0.12, Z:0.90 [[ 9.99817622e-01 -6.62220020e-04 -1.90862055e-02 2.34923009e+00] [ 7.11158731e-04 9.99996477e-01 2.55741480e-03 1.24920090e-01] [ 1.90844447e-02 -2.57052171e-03 9.99814571e-01 8.98171647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202557844 meters Centerline goodness [0,1] 0.24679563384848158 Centerline is valid? [False, False] Translation: X:2.35, Y:0.13, Z:0.90 [[ 9.99814692e-01 -7.89714757e-04 -1.92342791e-02 2.34986229e+00] [ 8.32661173e-04 9.99997178e-01 2.22489991e-03 1.26456082e-01] [ 1.92324678e-02 -2.24050325e-03 9.99812529e-01 8.97688595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.232557844 meters Centerline goodness [0,1] 0.250016398102193 Centerline is valid? [False, False] Translation: X:2.35, Y:0.13, Z:0.90 [[ 9.99817782e-01 -9.55225777e-04 -1.90654219e-02 2.34925298e+00] [ 9.89232289e-04 9.99997937e-01 1.77432356e-03 1.28800548e-01] [ 1.90636877e-02 -1.79286038e-03 9.99816664e-01 8.97914702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.262557844 meters Centerline goodness [0,1] 0.24883554669728547 Centerline is valid? [False, False] Translation: X:2.37, Y:0.13, Z:0.90 [[ 9.99832152e-01 7.51206693e-03 -1.67103746e-02 2.36843167e+00] [-7.50207459e-03 9.99971641e-01 6.60578364e-04 1.27302931e-01] [ 1.67148630e-02 -5.35105010e-04 9.99860154e-01 8.98642134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29255784400002 meters Centerline goodness [0,1] 0.2493042010913633 Centerline is valid? [False, False] Translation: X:2.35, Y:0.13, Z:0.90 [[ 9.99866396e-01 -1.69789566e-03 -1.62575544e-02 2.34616251e+00] [ 1.72123546e-03 9.99997508e-01 1.42174371e-03 1.30961895e-01] [ 1.62550999e-02 -1.44953684e-03 9.99866826e-01 8.97875027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32255784400002 meters Centerline goodness [0,1] 0.24813582903976172 Centerline is valid? [False, False] Translation: X:2.37, Y:0.13, Z:0.90 [[ 9.99877894e-01 4.95752557e-03 -1.48195884e-02 2.36660714e+00] [-4.97882115e-03 9.99986625e-01 -1.40043965e-03 1.29874135e-01] [ 1.48124474e-02 1.47405272e-03 9.99889203e-01 8.98379623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35255784400002 meters Centerline goodness [0,1] 0.2430940417915597 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:0.90 [[ 9.99892765e-01 -4.09644308e-03 -1.40598022e-02 2.38745927e+00] [ 4.08232915e-03 9.99991134e-01 -1.03240356e-03 1.32856749e-01] [ 1.40639067e-02 9.74896109e-04 9.99900623e-01 8.99252358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38255784400002 meters Centerline goodness [0,1] 0.24075749741468455 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:0.90 [[ 9.99893455e-01 -4.06969284e-03 -1.40184180e-02 2.38736722e+00] [ 4.06021268e-03 9.99991509e-01 -7.04658526e-04 1.31155445e-01] [ 1.40211668e-02 6.47665689e-04 9.99901489e-01 8.99282697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41255784400002 meters Centerline goodness [0,1] 0.24824779069261238 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:0.90 [[ 9.99894340e-01 -4.05982269e-03 -1.39580089e-02 2.38710793e+00] [ 4.05577234e-03 9.99991725e-01 -3.18475195e-04 1.29059530e-01] [ 1.39591864e-02 2.61831039e-04 9.99902532e-01 8.99555492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44255784400002 meters Centerline goodness [0,1] 0.23928809692900332 Centerline is valid? [False, False] Translation: X:2.41, Y:0.13, Z:0.90 [[ 9.99918695e-01 1.59298600e-03 -1.26516758e-02 2.40913740e+00] [-1.63878774e-03 9.99992139e-01 -3.61066968e-03 1.26324870e-01] [ 1.26458246e-02 3.63110953e-03 9.99913445e-01 8.99005197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47255784400002 meters Centerline goodness [0,1] 0.24745081770344335 Centerline is valid? [False, False] Translation: X:2.36, Y:0.12, Z:0.90 [[ 9.99885001e-01 -1.54740099e-03 -1.50861253e-02 2.36370715e+00] [ 1.48111130e-03 9.99989204e-01 -4.40426566e-03 1.18057941e-01] [ 1.50927776e-02 4.38141495e-03 9.99876498e-01 9.00199843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50255784400002 meters Centerline goodness [0,1] 0.2449931651007876 Centerline is valid? [False, False] Translation: X:2.36, Y:0.12, Z:0.90 [[ 9.99884069e-01 -1.44569999e-03 -1.51577984e-02 2.36379468e+00] [ 1.38615007e-03 9.99991284e-01 -3.93843595e-03 1.15696028e-01] [ 1.51633601e-02 3.91696837e-03 9.99877357e-01 9.00417572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.532557844 meters Centerline goodness [0,1] 0.2454847753798005 Centerline is valid? [False, False] Translation: X:2.36, Y:0.11, Z:0.90 [[ 9.99885435e-01 -1.30744355e-03 -1.50800071e-02 2.36354699e+00] [ 1.25526721e-03 9.99993195e-01 -3.46891445e-03 1.13402221e-01] [ 1.50844399e-02 3.44958759e-03 9.99880273e-01 9.00524657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562557844 meters Centerline goodness [0,1] 0.2450607570591835 Centerline is valid? [False, False] Translation: X:2.36, Y:0.11, Z:0.90 [[ 9.99886325e-01 -1.17150267e-03 -1.50320964e-02 2.36332335e+00] [ 1.12608031e-03 9.99994776e-01 -3.02979977e-03 1.11202488e-01] [ 1.50355673e-02 3.01252801e-03 9.99882421e-01 9.00736596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.592557844 meters Centerline goodness [0,1] 0.24746290248339653 Centerline is valid? [False, False] Translation: X:2.36, Y:0.11, Z:0.90 [[ 9.99888114e-01 -1.02908501e-03 -1.49231563e-02 2.36280987e+00] [ 9.94495314e-04 9.99996802e-01 -2.32508967e-03 1.07493695e-01] [ 1.49255013e-02 2.30998852e-03 9.99885940e-01 9.01203600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622557844 meters Centerline goodness [0,1] 0.24908721222589036 Centerline is valid? [False, False] Translation: X:2.36, Y:0.11, Z:0.90 [[ 9.99887700e-01 -8.99806577e-04 -1.49592163e-02 2.36289834e+00] [ 8.70547714e-04 9.99997696e-01 -1.96230549e-03 1.05839552e-01] [ 1.49609475e-02 1.94906242e-03 9.99886179e-01 9.01195021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.652557844 meters Centerline goodness [0,1] 0.24229676691892366 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99885363e-01 -8.02213566e-04 -1.51201281e-02 2.36329486e+00] [ 7.78174762e-04 9.99998424e-01 -1.59567087e-03 1.03970057e-01] [ 1.51213844e-02 1.58372184e-03 9.99884411e-01 9.01193410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682557844 meters Centerline goodness [0,1] 0.24291797010775118 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99878120e-01 -9.34169600e-04 -1.55843774e-02 2.36472172e+00] [ 9.17420588e-04 9.99998994e-01 -1.08184545e-03 9.99984789e-02] [ 1.55853723e-02 1.06741616e-03 9.99877971e-01 9.00841486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.712557844 meters Centerline goodness [0,1] 0.24162886152516738 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99876862e-01 -7.76351542e-04 -1.56735012e-02 2.36494182e+00] [ 7.66478947e-04 9.99999504e-01 -6.35888114e-04 9.77894550e-02] [ 1.56739871e-02 6.23796404e-04 9.99876961e-01 9.00846894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.742557844 meters Centerline goodness [0,1] 0.24824036600387123 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99821577e-01 -1.10009520e-03 -1.88574422e-02 2.32069807e+00] [ 1.10591781e-03 9.99999344e-01 2.98344122e-04 9.41421591e-02] [ 1.88571017e-02 -3.19145672e-04 9.99822138e-01 9.01208385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.772557844 meters Centerline goodness [0,1] 0.2482253917324132 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99818961e-01 -1.10128577e-03 -1.89956097e-02 2.32132200e+00] [ 1.10621580e-03 9.99999357e-01 2.49029680e-04 9.44612345e-02] [ 1.89953232e-02 -2.69997839e-04 9.99819536e-01 9.00709694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802557844 meters Centerline goodness [0,1] 0.2437633331882102 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.90 [[ 9.99796896e-01 7.63075249e-03 -1.86531287e-02 2.34199886e+00] [-7.65093354e-03 9.99970220e-01 -1.01078785e-03 9.15881250e-02] [ 1.86448601e-02 1.15329640e-03 9.99825504e-01 9.01791690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.832557844 meters Centerline goodness [0,1] 0.24661252544710288 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.90 [[ 9.99807417e-01 7.78436700e-03 -1.80148034e-02 2.34016019e+00] [-7.80837470e-03 9.99968717e-01 -1.26270909e-03 9.35353302e-02] [ 1.80044105e-02 1.40313225e-03 9.99836923e-01 9.02258831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862557844 meters Centerline goodness [0,1] 0.2460770639002703 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.90 [[ 9.99811363e-01 7.76364718e-03 -1.78034898e-02 2.33956199e+00] [-7.79233634e-03 9.99968449e-01 -1.54262892e-03 9.52883735e-02] [ 1.77909516e-02 1.68106871e-03 9.99840315e-01 9.02350849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.892557844 meters Centerline goodness [0,1] 0.24495872835154253 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.90 [[ 9.99814758e-01 7.69246439e-03 -1.76429851e-02 2.33922454e+00] [-7.72564058e-03 9.99968513e-01 -1.81303170e-03 9.66964697e-02] [ 1.76284829e-02 1.94899921e-03 9.99842707e-01 9.02263313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922557844 meters Centerline goodness [0,1] 0.24948476211357162 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.90 [[ 9.99817075e-01 7.54808041e-03 -1.75739046e-02 2.33908251e+00] [-7.58630448e-03 9.99968999e-01 -2.10939712e-03 9.77820917e-02] [ 1.75574379e-02 2.24233225e-03 9.99843342e-01 9.02189536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.952557844 meters Centerline goodness [0,1] 0.24365934161382785 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99856539e-01 -2.87530441e-04 -1.69357161e-02 2.35900074e+00] [ 2.65428135e-04 9.99999110e-01 -1.30730391e-03 1.02805598e-01] [ 1.69360769e-02 1.30262115e-03 9.99855726e-01 9.03334090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982557844 meters Centerline goodness [0,1] 0.2414317362408236 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99856465e-01 -2.67520615e-04 -1.69404290e-02 2.35902694e+00] [ 2.46205407e-04 9.99999175e-01 -1.26031791e-03 1.02732805e-01] [ 1.69407522e-02 1.25596619e-03 9.99855706e-01 9.03280016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.012557844 meters Centerline goodness [0,1] 0.24203752654157817 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99857023e-01 -2.66992419e-04 -1.69074553e-02 2.35873559e+00] [ 2.46975770e-04 9.99999266e-01 -1.18597182e-03 1.02534234e-01] [ 1.69077596e-02 1.18162652e-03 9.99856355e-01 9.03661091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04255784400002 meters Centerline goodness [0,1] 0.24464738267936725 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99859645e-01 -2.47606137e-04 -1.67520014e-02 2.35815745e+00] [ 2.28942682e-04 9.99999351e-01 -1.11601162e-03 1.02182777e-01] [ 1.67522668e-02 1.11201973e-03 9.99859053e-01 9.04005314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07255784400002 meters Centerline goodness [0,1] 0.24610348789317382 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99862771e-01 -2.53625898e-04 -1.65642407e-02 2.35742068e+00] [ 2.35736710e-04 9.99999387e-01 -1.08193201e-03 1.01957029e-01] [ 1.65645049e-02 1.07787874e-03 9.99862218e-01 9.04453611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10255784400002 meters Centerline goodness [0,1] 0.24218395523194258 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99865845e-01 -2.70867981e-04 -1.63773921e-02 2.35697244e+00] [ 2.52201066e-04 9.99999316e-01 -1.14185235e-03 1.02299568e-01] [ 1.63776902e-02 1.13756877e-03 9.99865230e-01 9.04389959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13255784400002 meters Centerline goodness [0,1] 0.24965872561539482 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:0.90 [[ 9.99811805e-01 -1.06405808e-03 -1.93706662e-02 2.31309740e+00] [ 1.04800709e-03 9.99999099e-01 -8.38755859e-04 1.00633481e-01] [ 1.93715413e-02 8.18297414e-04 9.99812019e-01 9.04325092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16255784400002 meters Centerline goodness [0,1] 0.24425485961123106 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99835831e-01 -1.83994330e-04 -1.81184219e-02 2.35907869e+00] [ 1.59440254e-04 9.99999067e-01 -1.35663471e-03 1.02990120e-01] [ 1.81186546e-02 1.35352319e-03 9.99834928e-01 9.03713197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19255784400002 meters Centerline goodness [0,1] 0.2464844091187003 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99833033e-01 -1.36628494e-04 -1.82726004e-02 2.35951048e+00] [ 1.12892779e-04 9.99999149e-01 -1.30000368e-03 1.02804265e-01] [ 1.82727625e-02 1.29772378e-03 9.99832197e-01 9.03629322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22255784400002 meters Centerline goodness [0,1] 0.24558269243338637 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99831796e-01 -1.06102003e-04 -1.83403424e-02 2.35960497e+00] [ 8.36276337e-05 9.99999245e-01 -1.22616883e-03 1.02433618e-01] [ 1.83404586e-02 1.22442882e-03 9.99831050e-01 9.03754248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25255784400002 meters Centerline goodness [0,1] 0.24470486111111112 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99831631e-01 -4.72046370e-05 -1.83496079e-02 2.35958968e+00] [ 2.75212431e-05 9.99999424e-01 -1.07293848e-03 1.01696708e-01] [ 1.83496479e-02 1.07225283e-03 9.99831056e-01 9.03818107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282557844 meters Centerline goodness [0,1] 0.24470486111111112 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99831631e-01 -4.72046370e-05 -1.83496079e-02 2.35958968e+00] [ 2.75212431e-05 9.99999424e-01 -1.07293848e-03 1.01696708e-01] [ 1.83496479e-02 1.07225283e-03 9.99831056e-01 9.03818107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312557844 meters Centerline goodness [0,1] 0.24526205724741867 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99830140e-01 2.81437184e-05 -1.84306924e-02 2.35981636e+00] [-4.42442744e-05 9.99999618e-01 -8.73165863e-04 1.00714193e-01] [ 1.84306608e-02 8.73832999e-04 9.99829759e-01 9.03797783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342557844 meters Centerline goodness [0,1] 0.24613573437397807 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99827716e-01 2.24591125e-04 -1.85603822e-02 2.36025983e+00] [-2.31424144e-04 9.99999906e-01 -3.66003756e-04 9.82999325e-02] [ 1.85602983e-02 3.70236020e-04 9.99827674e-01 9.03601980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372557844 meters Centerline goodness [0,1] 0.24571106339601367 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99826852e-01 3.14298415e-04 -1.86055579e-02 2.36038867e+00] [-3.17739967e-04 9.99999933e-01 -1.82018560e-04 9.75281221e-02] [ 1.86054994e-02 1.87898773e-04 9.99826885e-01 9.03592938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402557844 meters Centerline goodness [0,1] 0.24779493433804478 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99833488e-01 5.24492081e-04 -1.82406251e-02 2.35936396e+00] [-5.22709148e-04 9.99999858e-01 1.02512705e-04 9.65296245e-02] [ 1.82406762e-02 -9.29610937e-05 9.99833621e-01 9.03821962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432557844 meters Centerline goodness [0,1] 0.25390711471200245 Centerline is valid? [False, False] Translation: X:2.31, Y:0.09, Z:0.90 [[ 9.99790739e-01 -3.24812205e-04 -2.04541629e-02 2.31312976e+00] [ 3.35316222e-04 9.99999814e-01 5.10111759e-04 9.31853625e-02] [ 2.04539934e-02 -5.16863625e-04 9.99790662e-01 9.04798363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.462557844 meters Centerline goodness [0,1] 0.2452294659621851 Centerline is valid? [False, False] Translation: X:2.33, Y:0.09, Z:0.91 [[ 9.99777989e-01 8.24525929e-03 -1.93904182e-02 2.33313451e+00] [-8.26323919e-03 9.99965500e-01 -8.47316801e-04 8.93279507e-02] [ 1.93827629e-02 1.00735635e-03 9.99811629e-01 9.06046368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.492557844 meters Centerline goodness [0,1] 0.2529200853478806 Centerline is valid? [False, False] Translation: X:2.33, Y:0.09, Z:0.91 [[ 9.99777141e-01 8.25781370e-03 -1.94287655e-02 2.33333478e+00] [-8.27577707e-03 9.99965399e-01 -8.44355066e-04 8.91944223e-02] [ 1.94211207e-02 1.00495503e-03 9.99810887e-01 9.05865798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.522557844 meters Centerline goodness [0,1] 0.24716429630922254 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.90 [[ 9.99764737e-01 8.46944294e-03 -1.99684375e-02 2.33511099e+00] [-8.49144949e-03 9.99963429e-01 -1.01753398e-03 9.05014536e-02] [ 1.99590893e-02 1.18685557e-03 9.99800093e-01 9.04997329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.552557844 meters Centerline goodness [0,1] 0.24544901594473645 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.90 [[ 9.99760672e-01 8.37585749e-03 -2.02099898e-02 2.33609140e+00] [-8.40715150e-03 9.99963588e-01 -1.46397568e-03 9.27202128e-02] [ 2.01969918e-02 1.63353375e-03 9.99794685e-01 9.04283068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.582557844 meters Centerline goodness [0,1] 0.24668607936025033 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.90 [[ 9.99758957e-01 8.23385318e-03 -2.03526550e-02 2.33669037e+00] [-8.27503138e-03 9.99963880e-01 -1.93984393e-03 9.50646673e-02] [ 2.03359475e-02 2.10779520e-03 9.99790981e-01 9.03820216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.612557844 meters Centerline goodness [0,1] 0.23850136415390233 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.90 [[ 0.9997583 0.00812924 -0.02042677 2.33705401] [-0.00817995 0.99996366 -0.00240004 0.09750394] [ 0.02040652 0.00256655 0.99978847 0.90346699] [ 0. 0. 0. 1. ]] SLAMing on 191.642557844 meters Centerline goodness [0,1] 0.24326678133641055 Centerline is valid? [False, False] Translation: X:2.32, Y:0.11, Z:0.90 [[ 9.99787301e-01 5.65517132e-05 -2.06240188e-02 2.31676294e+00] [-8.04185801e-05 9.99999328e-01 -1.15640895e-03 1.06618903e-01] [ 2.06239395e-02 1.15782154e-03 9.99786634e-01 9.01365602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.672557844 meters Centerline goodness [0,1] 0.24214888519565736 Centerline is valid? [False, False] Translation: X:2.32, Y:0.11, Z:0.90 [[ 9.99788189e-01 -1.04710906e-04 -2.05807355e-02 2.31675885e+00] [ 7.32289782e-05 9.99998826e-01 -1.53042710e-03 1.08326499e-01] [ 2.05808716e-02 1.52859583e-03 9.99787023e-01 9.01143364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.702557844 meters Centerline goodness [0,1] 0.24194071479535573 Centerline is valid? [False, False] Translation: X:2.32, Y:0.11, Z:0.90 [[ 9.99789055e-01 -2.10849989e-04 -2.05377933e-02 2.31669267e+00] [ 1.74701454e-04 9.99998433e-01 -1.76187657e-03 1.09405221e-01] [ 2.05381326e-02 1.75791692e-03 9.99787525e-01 9.01039515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.732557844 meters Centerline goodness [0,1] 0.24747419643441637 Centerline is valid? [False, False] Translation: X:2.32, Y:0.11, Z:0.90 [[ 9.99797681e-01 -3.07188889e-04 -2.01122632e-02 2.31504420e+00] [ 2.70505220e-04 9.99998295e-01 -1.82664049e-03 1.09869191e-01] [ 2.01127900e-02 1.82083046e-03 9.99796059e-01 9.01963916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.762557844 meters Centerline goodness [0,1] 0.24802289509328435 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:0.90 [[ 9.99802962e-01 -3.10726263e-04 -1.98479178e-02 2.31386134e+00] [ 2.75914238e-04 9.99998419e-01 -1.75665274e-03 1.09672359e-01] [ 1.98484323e-02 1.75083030e-03 9.99801467e-01 9.02897091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79255784400002 meters Centerline goodness [0,1] 0.24543535505212077 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:0.90 [[ 9.99808571e-01 -3.01977164e-04 -1.95634783e-02 2.31268461e+00] [ 2.70475640e-04 9.99998663e-01 -1.61284699e-03 1.09072551e-01] [ 1.95639391e-02 1.60724680e-03 9.99807316e-01 9.03751560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82255784400002 meters Centerline goodness [0,1] 0.24894217207334268 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:0.90 [[ 9.99810547e-01 -2.70336930e-04 -1.94627109e-02 2.31208994e+00] [ 2.41514307e-04 9.99998871e-01 -1.48325037e-03 1.08504545e-01] [ 1.94630899e-02 1.47826885e-03 9.99809483e-01 9.04379931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85255784400002 meters Centerline goodness [0,1] 0.25124509674291506 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:0.90 [[ 9.99814159e-01 -2.06634690e-04 -1.92770414e-02 2.31143412e+00] [ 1.85780599e-04 9.99999396e-01 -1.08359429e-03 1.06441939e-01] [ 1.92772536e-02 1.07981161e-03 9.99813593e-01 9.04780683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88255784400002 meters Centerline goodness [0,1] 0.2472770926552439 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:0.90 [[ 9.99813003e-01 -1.58344228e-04 -1.93373908e-02 2.31164500e+00] [ 1.42096077e-04 9.99999636e-01 -8.41616355e-04 1.05129216e-01] [ 1.93375170e-02 8.38711208e-04 9.99812661e-01 9.04691787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91255784400002 meters Centerline goodness [0,1] 0.24912149696916452 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:0.90 [[ 9.99811446e-01 -7.13611813e-05 -1.94182032e-02 2.31188985e+00] [ 5.99195416e-05 9.99999824e-01 -5.89803555e-04 1.03903471e-01] [ 1.94182418e-02 5.88528815e-04 9.99811275e-01 9.04618174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94255784400002 meters Centerline goodness [0,1] 0.24510654919491337 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:0.90 [[ 9.99799681e-01 7.21743519e-05 -2.00148100e-02 2.31349351e+00] [-7.78117040e-05 9.99999958e-01 -2.80880406e-04 1.02440528e-01] [ 2.00147889e-02 2.82381526e-04 9.99799644e-01 9.04467161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97255784400002 meters Centerline goodness [0,1] 0.24448305821025196 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:0.90 [[ 9.99794712e-01 1.09464078e-04 -2.02613367e-02 2.31405333e+00] [-1.14330621e-04 9.99999965e-01 -2.39030445e-04 1.02245588e-01] [ 2.02613098e-02 2.41297866e-04 9.99794689e-01 9.04578880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00255784400002 meters Centerline goodness [0,1] 0.24699467910398742 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:0.90 [[ 9.99792363e-01 1.17593236e-04 -2.03768926e-02 2.31432484e+00] [-1.24084210e-04 9.99999942e-01 -3.17281767e-04 1.02624624e-01] [ 2.03768541e-02 3.19744338e-04 9.99792319e-01 9.04610600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.032557844 meters Centerline goodness [0,1] 0.24307878212459266 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:0.91 [[ 9.99773200e-01 9.72152488e-03 -1.89483445e-02 2.33483047e+00] [-9.74290227e-03 9.99952000e-01 -1.03620344e-03 1.00541685e-01] [ 1.89373615e-02 1.22058029e-03 9.99819927e-01 9.05619686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062557844 meters Centerline goodness [0,1] 0.24493638016099717 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:0.91 [[ 9.99780285e-01 9.84716385e-03 -1.85044726e-02 2.33366307e+00] [-9.86729924e-03 9.99950820e-01 -9.97146670e-04 1.00740493e-01] [ 1.84937435e-02 1.17951675e-03 9.99828280e-01 9.05653414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092557844 meters Centerline goodness [0,1] 0.24601406165494866 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:0.91 [[ 9.99784747e-01 9.91654857e-03 -1.82242304e-02 2.33296107e+00] [-9.93526337e-03 9.99950205e-01 -9.36664260e-04 1.00632430e-01] [ 1.82140344e-02 1.11752517e-03 9.99833486e-01 9.05633319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122557844 meters Centerline goodness [0,1] 0.24468039190297375 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:0.91 [[ 9.99787609e-01 1.00645290e-02 -1.79844834e-02 2.33216284e+00] [-1.00780683e-02 9.99948996e-01 -6.62353020e-04 9.92903892e-02] [ 1.79768998e-02 8.43461193e-04 9.99838047e-01 9.05924288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152557844 meters Centerline goodness [0,1] 0.24779185658517433 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:0.90 [[ 9.99832885e-01 1.01957918e-03 -1.82527518e-02 2.31165106e+00] [-1.01133445e-03 9.99999382e-01 4.60923259e-04 1.01744548e-01] [ 1.82532105e-02 -4.42386595e-04 9.99833298e-01 9.04702350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182557844 meters Centerline goodness [0,1] 0.24474966578981416 Centerline is valid? [False, False] Translation: X:2.33, Y:0.11, Z:0.91 [[ 9.99822708e-01 -6.55898146e-03 -1.76502632e-02 2.33126579e+00] [ 6.58824926e-03 9.99977016e-01 1.60057168e-03 1.05991997e-01] [ 1.76393594e-02 -1.71657224e-03 9.99842941e-01 9.06000247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.212557844 meters Centerline goodness [0,1] 0.24662867583086823 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:0.90 [[ 9.99866661e-01 -6.92400390e-04 -1.63150777e-02 2.31679398e+00] [ 6.97114379e-04 9.99999717e-01 2.83249167e-04 9.83932092e-02] [ 1.63148770e-02 -2.94584874e-04 9.99866860e-01 9.01360053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.242557844 meters Centerline goodness [0,1] 0.24742559200521397 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:0.90 [[ 9.99865398e-01 -6.28538282e-04 -1.63948573e-02 2.31710112e+00] [ 6.37618962e-04 9.99999646e-01 5.48652375e-04 9.68811050e-02] [ 1.63945067e-02 -5.59032197e-04 9.99865445e-01 9.01214371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.272557844 meters Centerline goodness [0,1] 0.24635518061864592 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99866211e-01 -5.21868026e-04 -1.63489183e-02 2.31672909e+00] [ 5.37165416e-04 9.99999422e-01 9.31304713e-04 9.48539487e-02] [ 1.63484228e-02 -9.39962188e-04 9.99865914e-01 9.01691503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.302557844 meters Centerline goodness [0,1] 0.24244187299329845 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99868195e-01 -2.94854206e-04 -1.62328671e-02 2.31613827e+00] [ 3.23393561e-04 9.99998407e-01 1.75552472e-03 9.08870224e-02] [ 1.62323236e-02 -1.76054294e-03 9.99866697e-01 9.02252317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.332557844 meters Centerline goodness [0,1] 0.2448913605794102 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99864208e-01 -1.91309159e-04 -1.64781299e-02 2.31694607e+00] [ 2.26534580e-04 9.99997693e-01 2.13586740e-03 8.90011613e-02] [ 1.64776833e-02 -2.13931023e-03 9.99861945e-01 9.01954080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.362557844 meters Centerline goodness [0,1] 0.2475406283856988 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99858501e-01 -1.02599767e-04 -1.68216139e-02 2.31828634e+00] [ 1.44091322e-04 9.99996951e-01 2.46536860e-03 8.72720633e-02] [ 1.68213097e-02 -2.46744360e-03 9.99855467e-01 9.01177253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.392557844 meters Centerline goodness [0,1] 0.24560332991914924 Centerline is valid? [False, False] Translation: X:2.32, Y:0.08, Z:0.90 [[ 9.99852846e-01 2.91772358e-05 -1.71547782e-02 2.31964360e+00] [ 2.13181740e-05 9.99995668e-01 2.94332844e-03 8.47433102e-02] [ 1.71547897e-02 -2.94326102e-03 9.99848514e-01 9.00315086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.422557844 meters Centerline goodness [0,1] 0.25120059919813187 Centerline is valid? [False, False] Translation: X:2.32, Y:0.08, Z:0.90 [[ 9.99852402e-01 6.95687921e-05 -1.71805042e-02 2.31964841e+00] [-1.73509599e-05 9.99995381e-01 3.03949587e-03 8.42499732e-02] [ 1.71806363e-02 -3.03874915e-03 9.99847784e-01 9.00444391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.452557844 meters Centerline goodness [0,1] 0.2463599938694634 Centerline is valid? [False, False] Translation: X:2.32, Y:0.08, Z:0.90 [[ 9.99851081e-01 1.28086086e-04 -1.72568513e-02 2.31973025e+00] [-7.45972983e-05 9.99995192e-01 3.10017629e-03 8.39807004e-02] [ 1.72571654e-02 -3.09842730e-03 9.99846283e-01 9.00601807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.482557844 meters Centerline goodness [0,1] 0.24763469119579495 Centerline is valid? [False, False] Translation: X:2.32, Y:0.08, Z:0.90 [[ 9.99850123e-01 1.31929490e-04 -1.73122653e-02 2.31995691e+00] [-7.94908147e-05 9.99995407e-01 3.02964298e-03 8.44358087e-02] [ 1.73125855e-02 -3.02781274e-03 9.99845541e-01 9.00399650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.512557844 meters Centerline goodness [0,1] 0.24814053202660136 Centerline is valid? [False, False] Translation: X:2.32, Y:0.08, Z:0.90 [[ 9.99851393e-01 1.25580937e-04 -1.72388210e-02 2.31996380e+00] [-7.43407646e-05 9.99995578e-01 2.97297971e-03 8.47905509e-02] [ 1.72391181e-02 -2.97125635e-03 9.99846981e-01 9.00048757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54255784400002 meters Centerline goodness [0,1] 0.24576749435665912 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99851610e-01 9.59338536e-05 -1.72264110e-02 2.32003716e+00] [-4.65329157e-05 9.99995886e-01 2.86812199e-03 8.53042862e-02] [ 1.72266153e-02 -2.86689479e-03 9.99847501e-01 8.99875818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57255784400002 meters Centerline goodness [0,1] 0.24509973980919342 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99851150e-01 4.54711087e-05 -1.72532852e-02 2.32011417e+00] [ 2.06470819e-06 9.99996205e-01 2.75514701e-03 8.57737160e-02] [ 1.72533450e-02 -2.75477252e-03 9.99847355e-01 8.99830851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60255784400002 meters Centerline goodness [0,1] 0.24384225791091296 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99849565e-01 2.39549497e-05 -1.73449176e-02 2.32027058e+00] [ 2.35479880e-05 9.99996250e-01 2.73851433e-03 8.58150666e-02] [ 1.73449182e-02 -2.73851080e-03 9.99845815e-01 8.99950944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63255784400002 meters Centerline goodness [0,1] 0.2511067550602383 Centerline is valid? [False, False] Translation: X:2.28, Y:0.08, Z:0.90 [[ 9.99797326e-01 -1.26120505e-03 -2.00926992e-02 2.27538980e+00] [ 1.32379657e-03 9.99994312e-01 3.10214152e-03 8.26564667e-02] [ 2.00886725e-02 -3.12811145e-03 9.99793309e-01 9.00511065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66255784400002 meters Centerline goodness [0,1] 0.24425963926989958 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.90 [[ 9.99850835e-01 -1.27201343e-03 -1.72246730e-02 2.31706236e+00] [ 1.30680818e-03 9.99997128e-01 2.00894838e-03 8.63424981e-02] [ 1.72220682e-02 -2.03115806e-03 9.99849626e-01 9.01253653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69255784400002 meters Centerline goodness [0,1] 0.24818301225919437 Centerline is valid? [False, False] Translation: X:2.29, Y:0.08, Z:0.90 [[ 9.99864914e-01 4.45844002e-03 -1.58201248e-02 2.29285981e+00] [-4.46500722e-03 9.99989960e-01 -3.79820255e-04 8.23314692e-02] [ 1.58182725e-02 4.50405918e-04 9.99874782e-01 9.01066600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72255784400002 meters Centerline goodness [0,1] 0.24754720272096975 Centerline is valid? [False, False] Translation: X:2.29, Y:0.08, Z:0.90 [[ 9.99866789e-01 4.46887973e-03 -1.56981968e-02 2.29222951e+00] [-4.47471436e-03 9.99989932e-01 -3.36569873e-04 8.21982717e-02] [ 1.56965347e-02 4.06769984e-04 9.99876719e-01 9.01693653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75255784400002 meters Centerline goodness [0,1] 0.24707835470412198 Centerline is valid? [False, False] Translation: X:2.29, Y:0.08, Z:0.90 [[ 9.99869407e-01 4.45821575e-03 -1.55336029e-02 2.29163552e+00] [-4.46464957e-03 9.99989961e-01 -3.79533529e-04 8.24532427e-02] [ 1.55317549e-02 4.48836058e-04 9.99879274e-01 9.01999678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782557844 meters Centerline goodness [0,1] 0.24670167520180541 Centerline is valid? [False, False] Translation: X:2.29, Y:0.08, Z:0.90 [[ 9.99869187e-01 4.47000745e-03 -1.55443580e-02 2.29189227e+00] [-4.47618143e-03 9.99989916e-01 -3.62415376e-04 8.23847343e-02] [ 1.55425813e-02 4.31947334e-04 9.99879113e-01 9.01619107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.812557844 meters Centerline goodness [0,1] 0.24623137502999626 Centerline is valid? [False, False] Translation: X:2.29, Y:0.08, Z:0.90 [[ 9.99868399e-01 4.48972238e-03 -1.55893089e-02 2.29224852e+00] [-4.49518648e-03 9.99989847e-01 -3.15479773e-04 8.21502972e-02] [ 1.55877342e-02 3.85515107e-04 9.99878430e-01 9.01187109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842557844 meters Centerline goodness [0,1] 0.24772727272727268 Centerline is valid? [False, False] Translation: X:2.29, Y:0.08, Z:0.90 [[ 9.99865216e-01 4.59697564e-03 -1.57612544e-02 2.29299427e+00] [-4.59876966e-03 9.99989423e-01 -7.75827364e-05 8.11114814e-02] [ 1.57607310e-02 1.50054658e-04 9.99875781e-01 9.00590043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.872557844 meters Centerline goodness [0,1] 0.2454105437579035 Centerline is valid? [False, False] Translation: X:2.29, Y:0.08, Z:0.90 [[ 9.99865027e-01 4.67125209e-03 -1.57514394e-02 2.29283656e+00] [-4.66989880e-03 9.99989088e-01 1.22695665e-04 8.01217082e-02] [ 1.57518406e-02 -4.91214771e-05 9.99875931e-01 9.00850291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902557844 meters Centerline goodness [0,1] 0.24513333477051757 Centerline is valid? [False, False] Translation: X:2.31, Y:0.08, Z:0.90 [[ 9.99914801e-01 -2.98211815e-03 -1.27082041e-02 2.31265596e+00] [ 2.99534937e-03 9.99994991e-01 1.02224917e-03 8.09921185e-02] [ 1.27050920e-02 -1.06022759e-03 9.99918725e-01 9.01322154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.932557844 meters Centerline goodness [0,1] 0.24612963042822023 Centerline is valid? [False, False] Translation: X:2.31, Y:0.08, Z:0.90 [[ 9.99916892e-01 -2.85289126e-03 -1.25725979e-02 2.31230144e+00] [ 2.86943437e-03 9.99995041e-01 1.29796444e-03 7.98166718e-02] [ 1.25688326e-02 -1.33393281e-03 9.99920119e-01 9.01346036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.962557844 meters Centerline goodness [0,1] 0.2456329756223954 Centerline is valid? [False, False] Translation: X:2.31, Y:0.08, Z:0.90 [[ 9.99916726e-01 -2.74454147e-03 -1.26098695e-02 2.31267351e+00] [ 2.76424138e-03 9.99994986e-01 1.54509805e-03 7.87518022e-02] [ 1.26055657e-02 -1.57982610e-03 9.99919299e-01 9.00838413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.992557844 meters Centerline goodness [0,1] 0.24716225969424577 Centerline is valid? [False, False] Translation: X:2.29, Y:0.07, Z:0.90 [[ 9.99892566e-01 4.79011633e-03 -1.38531893e-02 2.29407816e+00] [-4.78448035e-03 9.99988458e-01 4.39948913e-04 7.17146469e-02] [ 1.38551368e-02 -3.73621336e-04 9.99903943e-01 8.98866217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.022557844 meters Centerline goodness [0,1] 0.24632113556452662 Centerline is valid? [False, False] Translation: X:2.30, Y:0.07, Z:0.90 [[ 9.99888866e-01 4.82108347e-03 -1.41071736e-02 2.29501787e+00] [-4.81280735e-03 9.99988226e-01 6.20551035e-04 7.05516325e-02] [ 1.41099992e-02 -5.52586962e-04 9.99900296e-01 8.98357661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.052557844 meters Centerline goodness [0,1] 0.2438077155432813 Centerline is valid? [False, False] Translation: X:2.30, Y:0.07, Z:0.90 [[ 9.99882374e-01 4.86530517e-03 -1.45453481e-02 2.29612180e+00] [-4.85065267e-03 9.99987692e-01 1.04247594e-03 6.78841333e-02] [ 1.45502410e-02 -9.71798882e-04 9.99893667e-01 8.98376495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082557844 meters Centerline goodness [0,1] 0.24491929686989478 Centerline is valid? [False, False] Translation: X:2.30, Y:0.07, Z:0.90 [[ 9.99880704e-01 4.94751945e-03 -1.46321475e-02 2.29640340e+00] [-4.92934967e-03 9.99987035e-01 1.27757657e-03 6.67458746e-02] [ 1.46382786e-02 -1.20529719e-03 9.99892128e-01 8.98261737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.112557844 meters Centerline goodness [0,1] 0.24602079912424735 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.90 [[ 9.99877712e-01 5.10927793e-03 -1.47802830e-02 2.29669965e+00] [-5.08344339e-03 9.99985486e-01 1.78494735e-03 6.44120723e-02] [ 1.47891883e-02 -1.70959434e-03 9.99889172e-01 8.98351820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142557844 meters Centerline goodness [0,1] 0.24416117532677972 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.90 [[ 0.99990015 -0.00291949 -0.01382655 2.31754166] [ 0.00295471 0.99999244 0.00252724 0.06707479] [ 0.01381907 -0.00256784 0.99990121 0.89897259] [ 0. 0. 0. 1. ]] SLAMing on 193.172557844 meters Centerline goodness [0,1] 0.24416117532677972 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.90 [[ 0.99990015 -0.00291949 -0.01382655 2.31754166] [ 0.00295471 0.99999244 0.00252724 0.06707479] [ 0.01381907 -0.00256784 0.99990121 0.89897259] [ 0. 0. 0. 1. ]] SLAMing on 193.202557844 meters Centerline goodness [0,1] 0.24662096407949652 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.90 [[ 0.99989899 -0.00291379 -0.0139114 2.31764502] [ 0.00295581 0.99999113 0.00300103 0.06427419] [ 0.01390253 -0.00304185 0.99989873 0.89922226] [ 0. 0. 0. 1. ]] SLAMing on 193.232557844 meters Centerline goodness [0,1] 0.24714008672346544 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.90 [[ 0.99989871 -0.00293922 -0.01392623 2.31752319] [ 0.00298899 0.99998922 0.00355426 0.06105376] [ 0.01391564 -0.00359553 0.99989671 0.89959371] [ 0. 0. 0. 1. ]] SLAMing on 193.262557844 meters Centerline goodness [0,1] 0.246760353734349 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:0.90 [[ 0.99990632 -0.00357938 -0.01321145 2.31512684] [ 0.00363235 0.99998545 0.00398763 0.05426513] [ 0.01319699 -0.00403524 0.99990477 0.90076831] [ 0. 0. 0. 1. ]] SLAMing on 193.29255784400002 meters Centerline goodness [0,1] 0.24747419643441637 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:0.90 [[ 0.99990592 -0.00357492 -0.01324244 2.31515193] [ 0.00363539 0.99998306 0.00454476 0.0511739 ] [ 0.01322597 -0.00459247 0.99990199 0.9009777 ] [ 0. 0. 0. 1. ]] SLAMing on 193.32255784400002 meters Centerline goodness [0,1] 0.2467898322851153 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:0.90 [[ 0.99990089 -0.00360034 -0.01361057 2.31617649] [ 0.00366928 0.99998055 0.00504366 0.04815777] [ 0.01359215 -0.00509311 0.99989465 0.90076908] [ 0. 0. 0. 1. ]] SLAMing on 193.35255784400002 meters Centerline goodness [0,1] 0.24239095315024228 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.90 [[ 9.99915506e-01 2.24198849e-03 -1.28044605e-02 2.33831135e+00] [-2.21925116e-03 9.99995936e-01 1.78966848e-03 4.38927702e-02] [ 1.28084209e-02 -1.76110095e-03 9.99916418e-01 8.99882130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38255784400002 meters Centerline goodness [0,1] 0.24471865530096581 Centerline is valid? [False, False] Translation: X:2.32, Y:0.04, Z:0.90 [[ 0.99986951 -0.00813388 -0.01395703 2.31691409] [ 0.00817028 0.99996337 0.00255239 0.04092688] [ 0.01393576 -0.00266609 0.99989934 0.89970011] [ 0. 0. 0. 1. ]] SLAMing on 193.41255784400002 meters Centerline goodness [0,1] 0.247664775207333 Centerline is valid? [False, False] Translation: X:2.32, Y:0.04, Z:0.90 [[ 0.9998699 -0.00798562 -0.01401478 2.31682081] [ 0.00803032 0.99996284 0.00313643 0.03803116] [ 0.01398921 -0.00324857 0.99989687 0.90012846] [ 0. 0. 0. 1. ]] SLAMing on 193.44255784400002 meters Centerline goodness [0,1] 0.2406991799741044 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.90 [[ 9.99874887e-01 -1.84708477e-03 -1.57098312e-02 2.33932766e+00] [ 1.86202952e-03 9.99997828e-01 9.36725600e-04 3.03016180e-02] [ 1.57080668e-02 -9.65860573e-04 9.99876154e-01 9.00502817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47255784400002 meters Centerline goodness [0,1] 0.24547419911340163 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.90 [[ 9.99871188e-01 -1.67278259e-03 -1.59627255e-02 2.34020952e+00] [ 1.69632956e-03 9.99997493e-01 1.46169642e-03 2.78164371e-02] [ 1.59602404e-02 -1.48858618e-03 9.99871519e-01 9.00042380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50255784400002 meters Centerline goodness [0,1] 0.2499780547752809 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:0.90 [[ 9.99872723e-01 -1.45826370e-03 -1.58874693e-02 2.33988775e+00] [ 1.49139292e-03 9.99996738e-01 2.07359366e-03 2.49830468e-02] [ 1.58843937e-02 -2.09702420e-03 9.99871636e-01 9.00245480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.532557844 meters Centerline goodness [0,1] 0.2443124122285838 Centerline is valid? [False, False] Translation: X:2.38, Y:0.02, Z:0.90 [[ 9.99912352e-01 -2.90499005e-03 -1.29170078e-02 2.37588469e+00] [ 2.90812809e-03 9.99995746e-01 2.24162343e-04 1.86785838e-02] [ 1.29163017e-02 -2.61707009e-04 9.99916547e-01 9.03839302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562557844 meters Centerline goodness [0,1] 0.2503453265802802 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:0.90 [[ 9.99927731e-01 2.23706517e-03 -1.18122308e-02 2.35252540e+00] [-2.26637201e-03 9.99994386e-01 -2.46825592e-03 1.26798436e-02] [ 1.18066429e-02 2.49484845e-03 9.99927187e-01 9.03105866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.592557844 meters Centerline goodness [0,1] 0.24466327550976041 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:0.90 [[ 9.99922499e-01 2.21776043e-03 -1.22506542e-02 2.35390280e+00] [-2.24307476e-03 9.99995377e-01 -2.05301212e-03 1.01111388e-02] [ 1.22460444e-02 2.08033214e-03 9.99922850e-01 9.02552868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622557844 meters Centerline goodness [0,1] 0.2522432480454868 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:0.90 [[ 9.99884891e-01 -5.76167796e-04 -1.51615483e-02 2.31244990e+00] [ 5.40409203e-04 9.99997063e-01 -2.36249658e-03 4.77646797e-03] [ 1.51628650e-02 2.35403120e-03 9.99882266e-01 9.01280928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.652557844 meters Centerline goodness [0,1] 0.24702290076335875 Centerline is valid? [False, False] Translation: X:2.36, Y:0.00, Z:0.90 [[ 9.99909541e-01 -4.69827721e-05 -1.34502064e-02 2.35616573e+00] [ 5.90939421e-06 9.99995337e-01 -3.05375935e-03 3.24047883e-03] [ 1.34502871e-02 3.05340362e-03 9.99904879e-01 9.01238832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682557844 meters Centerline goodness [0,1] 0.24436587640717522 Centerline is valid? [False, False] Translation: X:2.36, Y:0.00, Z:0.90 [[ 9.99909534e-01 9.13296549e-05 -1.34504605e-02 2.35606189e+00] [-1.26357370e-04 9.99996603e-01 -2.60337512e-03 1.01745867e-03] [ 1.34501770e-02 2.60483917e-03 9.99906149e-01 9.01370726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.712557844 meters Centerline goodness [0,1] 0.24960010517781628 Centerline is valid? [False, False] Translation: X:2.36, Y:0.00, Z:0.90 [[ 9.99910685e-01 1.33041426e-04 -1.33642985e-02 2.35581309e+00] [-1.66725154e-04 9.99996813e-01 -2.51934369e-03 6.16854732e-04] [ 1.33639207e-02 2.52134684e-03 9.99907520e-01 9.01429612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.742557844 meters Centerline goodness [0,1] 0.24324500010834005 Centerline is valid? [False, False] Translation: X:2.38, Y:0.00, Z:0.90 [[ 9.99887617e-01 -7.41570486e-03 -1.30292427e-02 2.37571192e+00] [ 7.39385687e-03 9.99971179e-01 -1.72421483e-03 4.48056521e-03] [ 1.30416534e-02 1.62768470e-03 9.99913629e-01 9.02704043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.772557844 meters Centerline goodness [0,1] 0.2406596740638003 Centerline is valid? [False, False] Translation: X:2.38, Y:0.00, Z:0.90 [[ 9.99883941e-01 -7.41191951e-03 -1.33104213e-02 2.37680704e+00] [ 7.39054238e-03 9.99971321e-01 -1.65451534e-03 4.08571053e-03] [ 1.33223027e-02 1.55595208e-03 9.99910044e-01 9.01973724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.802557844 meters Centerline goodness [0,1] 0.24551395536904685 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:0.90 [[ 9.99909193e-01 -2.17122695e-04 -1.34743463e-02 2.35882387e+00] [ 1.79761852e-04 9.99996137e-01 -2.77388801e-03 -1.06115164e-03] [ 1.34748965e-02 2.77121395e-03 9.99905369e-01 8.99428609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.832557844 meters Centerline goodness [0,1] 0.2447503243255129 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:0.90 [[ 9.99904401e-01 -2.25896860e-04 -1.38252371e-02 2.35986059e+00] [ 1.90448450e-04 9.99996691e-01 -2.56529918e-03 -2.39194242e-03] [ 1.38257709e-02 2.56242094e-03 9.99901136e-01 8.99044370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862557844 meters Centerline goodness [0,1] 0.2395632487705539 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.90 [[ 9.99860488e-01 -9.19454130e-03 -1.39450963e-02 2.38369191e+00] [ 9.15674708e-03 9.99954235e-01 -2.77164892e-03 -2.13105415e-03] [ 1.39699421e-02 2.64357052e-03 9.99898921e-01 8.98782094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.892557844 meters Centerline goodness [0,1] 0.2393356227996285 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.90 [[ 0.99986216 -0.00913602 -0.01386354 2.38316401] [ 0.00910057 0.99995516 -0.00261731 -0.00275043] [ 0.01388683 0.00249079 0.99990047 0.89926034] [ 0. 0. 0. 1. ]] SLAMing on 193.922557844 meters Centerline goodness [0,1] 0.24723029521665973 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99924246e-01 -1.45768795e-03 -1.22220095e-02 2.36168010e+00] [ 1.42431928e-03 9.99995236e-01 -2.73847146e-03 -5.80799812e-03] [ 1.22259431e-02 2.72085597e-03 9.99921559e-01 8.98368476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.952557844 meters Centerline goodness [0,1] 0.2460817088525159 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99924230e-01 -1.50116267e-03 -1.22180475e-02 2.36175217e+00] [ 1.46648682e-03 9.99994873e-01 -2.84654922e-03 -5.19874790e-03] [ 1.22222580e-02 2.82841593e-03 9.99921305e-01 8.98201115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.982557844 meters Centerline goodness [0,1] 0.24762384477245847 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:0.90 [[ 9.99925415e-01 -1.50627769e-03 -1.21200885e-02 2.36153686e+00] [ 1.47137403e-03 9.99994747e-01 -2.88822085e-03 -4.90806337e-03] [ 1.21243753e-02 2.87017225e-03 9.99922378e-01 8.98131631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.012557844 meters Centerline goodness [0,1] 0.24597415615262253 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99926658e-01 -1.55889199e-03 -1.20103330e-02 2.36099511e+00] [ 1.52565431e-03 9.99994983e-01 -2.77608925e-03 -5.76433002e-03] [ 1.20146003e-02 2.75756203e-03 9.99924020e-01 8.98521236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04255784400002 meters Centerline goodness [0,1] 0.24273000887772556 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99925981e-01 -1.55617132e-03 -1.20669037e-02 2.36093211e+00] [ 1.52520073e-03 9.99995521e-01 -2.57535136e-03 -6.91206595e-03] [ 1.20708573e-02 2.55675628e-03 9.99923876e-01 8.98779595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07255784400002 meters Centerline goodness [0,1] 0.24572841234767773 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99925264e-01 -1.50263012e-03 -1.21329188e-02 2.36101691e+00] [ 1.47516647e-03 9.99996330e-01 -2.27219717e-03 -8.42121666e-03] [ 1.21362885e-02 2.25412928e-03 9.99923812e-01 8.98752425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10255784400002 meters Centerline goodness [0,1] 0.24481201701832078 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99922446e-01 -1.50613432e-03 -1.23625668e-02 2.36165872e+00] [ 1.48206710e-03 9.99996989e-01 -1.95571319e-03 -1.00947835e-02] [ 1.23654752e-02 1.93723937e-03 9.99921668e-01 8.98470123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13255784400002 meters Centerline goodness [0,1] 0.2468862865273066 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99917186e-01 -1.78774300e-03 -1.27446291e-02 2.36264399e+00] [ 1.76664727e-03 9.99997051e-01 -1.66633030e-03 -1.24687986e-02] [ 1.27475705e-02 1.64367704e-03 9.99917395e-01 8.98288187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16255784400002 meters Centerline goodness [0,1] 0.2453553459804413 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99918061e-01 -1.72147661e-03 -1.26849585e-02 2.36225947e+00] [ 1.70324522e-03 9.99997501e-01 -1.44790784e-03 -1.34591195e-02] [ 1.26874194e-02 1.42618360e-03 9.99918494e-01 8.98614710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19255784400002 meters Centerline goodness [0,1] 0.248323467091898 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99920644e-01 -1.58147399e-03 -1.24982171e-02 2.36167453e+00] [ 1.56640312e-03 9.99998034e-01 -1.21553905e-03 -1.39947615e-02] [ 1.25001149e-02 1.19586534e-03 9.99921155e-01 8.98757361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22255784400002 meters Centerline goodness [0,1] 0.24040517483423685 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99921109e-01 -1.56856214e-03 -1.24625703e-02 2.36177034e+00] [ 1.55359836e-03 9.99998061e-01 -1.21028834e-03 -1.39136960e-02] [ 1.24644445e-02 1.19083103e-03 9.99921607e-01 8.98442230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25255784400002 meters Centerline goodness [0,1] 0.24169217077988325 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99920335e-01 -1.60041710e-03 -1.25204957e-02 2.36207173e+00] [ 1.58437560e-03 9.99997911e-01 -1.29103326e-03 -1.35818277e-02] [ 1.25225357e-02 1.27109324e-03 9.99920782e-01 8.98204346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282557844 meters Centerline goodness [0,1] 0.24275182150347008 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99913488e-01 -1.73513166e-03 -1.30386014e-02 2.36362354e+00] [ 1.71142492e-03 9.99996863e-01 -1.82913466e-03 -1.12885847e-02] [ 1.30417343e-02 1.80666184e-03 9.99913321e-01 8.97892827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.312557844 meters Centerline goodness [0,1] 0.2462952050459416 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99913947e-01 -1.80627198e-03 -1.29936712e-02 2.36345146e+00] [ 1.77803472e-03 9.99996034e-01 -2.18437932e-03 -9.40638978e-03] [ 1.29975653e-02 2.16108815e-03 9.99913193e-01 8.98074581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342557844 meters Centerline goodness [0,1] 0.24223778048356237 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.90 [[ 9.99915358e-01 -1.89125215e-03 -1.28724497e-02 2.36304986e+00] [ 1.85876341e-03 9.99995058e-01 -2.53539279e-03 -7.49532544e-03] [ 1.28771812e-02 2.51125135e-03 9.99913932e-01 8.98257423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.372557844 meters Centerline goodness [0,1] 0.2453737082432108 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:0.90 [[ 9.99917456e-01 -2.10462066e-03 -1.26748295e-02 2.36223927e+00] [ 2.06534443e-03 9.99993028e-01 -3.11105048e-03 -4.62934458e-03] [ 1.26812887e-02 3.08461580e-03 9.99914831e-01 8.98796290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402557844 meters Centerline goodness [0,1] 0.24548350497469018 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:0.90 [[ 9.99915807e-01 -2.24312787e-03 -1.27807646e-02 2.36267510e+00] [ 2.19984595e-03 9.99991802e-01 -3.39954146e-03 -3.38256991e-03] [ 1.27882854e-02 3.37113953e-03 9.99912544e-01 8.98491617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.432557844 meters Centerline goodness [0,1] 0.2464513024649505 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:0.90 [[ 9.99911634e-01 -2.36989113e-03 -1.30808139e-02 2.36380237e+00] [ 2.32273219e-03 9.99990753e-01 -3.61921512e-03 -2.45162141e-03] [ 1.30892701e-02 3.58851207e-03 9.99907893e-01 8.97773573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.462557844 meters Centerline goodness [0,1] 0.24471535865897465 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.00, Z:0.90 [[ 9.99899592e-01 -2.69888160e-03 -1.39111962e-02 2.36647766e+00] [ 2.64376001e-03 9.99988588e-01 -3.97925885e-03 -1.22798144e-03] [ 1.39217770e-02 3.94208144e-03 9.99895317e-01 8.96615195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.492557844 meters Centerline goodness [0,1] 0.2416311888142113 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.00, Z:0.90 [[ 9.99897741e-01 -2.75229436e-03 -1.40332454e-02 2.36685625e+00] [ 2.69639367e-03 9.99988361e-01 -4.00081266e-03 -1.24567867e-03] [ 1.40440935e-02 3.96256439e-03 9.99893525e-01 8.96452589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.522557844 meters Centerline goodness [0,1] 0.24230527297572824 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.00, Z:0.90 [[ 9.99901014e-01 -2.87916039e-03 -1.37721803e-02 2.36569647e+00] [ 2.82462408e-03 9.99988100e-01 -3.97770317e-03 -1.78442293e-03] [ 1.37834688e-02 3.93840820e-03 9.99897247e-01 8.97227706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.552557844 meters Centerline goodness [0,1] 0.24629275687075725 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.90 [[ 0.99989905 0.00466186 -0.01342262 2.34462235] [-0.00472818 0.99997675 -0.00491336 -0.00623195] [ 0.0133994 0.00497633 0.99989784 0.89607538] [ 0. 0. 0. 1. ]] SLAMing on 194.582557844 meters Centerline goodness [0,1] 0.2527209451820983 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.90 [[ 0.99990016 0.00460795 -0.01335806 2.34422267] [-0.00467341 0.99997721 -0.00487326 -0.00677147] [ 0.0133353 0.0049352 0.9998989 0.89646401] [ 0. 0. 0. 1. ]] SLAMing on 194.612557844 meters Centerline goodness [0,1] 0.24515196003242978 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.00, Z:0.90 [[ 0.99990642 -0.00312194 -0.01331896 2.36547244] [ 0.00307255 0.99998833 -0.0037272 -0.00392829] [ 0.01333044 0.00368593 0.99990435 0.89767692] [ 0. 0. 0. 1. ]] SLAMing on 194.642557844 meters Centerline goodness [0,1] 0.2448952707153208 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.00, Z:0.90 [[ 0.99990611 -0.00313174 -0.01334026 2.36578103] [ 0.00308046 0.99998779 -0.00386283 -0.00293031] [ 0.01335219 0.00382138 0.99990355 0.89727542] [ 0. 0. 0. 1. ]] SLAMing on 194.672557844 meters Centerline goodness [0,1] 0.24741320849648896 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.00, Z:0.90 [[ 9.99905176e-01 -3.21394070e-03 -1.33906277e-02 2.36607287e+00] [ 3.15822722e-03 9.99986278e-01 -4.17970353e-03 -1.33396024e-03] [ 1.34038773e-02 4.13701655e-03 9.99901606e-01 8.97103922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.702557844 meters Centerline goodness [0,1] 0.24561555825664183 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:0.90 [[ 9.99904078e-01 -3.29953950e-03 -1.34516906e-02 2.36615299e+00] [ 3.23776239e-03 9.99984124e-01 -4.61171053e-03 7.93414355e-04] [ 1.34666935e-02 4.56771479e-03 9.99898887e-01 8.97391970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.732557844 meters Centerline goodness [0,1] 0.24527109483960952 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:0.90 [[ 0.99990528 -0.00340238 -0.01333646 2.3657258 ] [ 0.00333362 0.99998106 -0.0051745 0.00357449] [ 0.01335381 0.00512955 0.99989768 0.89780275] [ 0. 0. 0. 1. ]] SLAMing on 194.762557844 meters Centerline goodness [0,1] 0.24532465262605962 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:0.90 [[ 9.99908112e-01 3.71257537e-04 -1.35510344e-02 2.36564981e+00] [-3.99111966e-04 9.99997813e-01 -2.05287402e-03 7.59468167e-03] [ 1.35502426e-02 2.05809376e-03 9.99906073e-01 8.98659293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79255784400002 meters Centerline goodness [0,1] 0.24468131295588746 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:0.90 [[ 9.99910134e-01 2.43926975e-04 -1.34038876e-02 2.36535971e+00] [-2.80051319e-04 9.99996334e-01 -2.69325381e-03 1.11663931e-02] [ 1.34031815e-02 2.69676556e-03 9.99906537e-01 8.98598375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82255784400002 meters Centerline goodness [0,1] 0.24774607609858323 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:0.90 [[ 9.99925103e-01 2.07056668e-03 -1.20623705e-02 2.36053059e+00] [-2.09087145e-03 9.99996418e-01 -1.67094785e-03 1.88654978e-02] [ 1.20588675e-02 1.69604356e-03 9.99925851e-01 9.00359656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85255784400002 meters Centerline goodness [0,1] 0.2383611859838275 Centerline is valid? [False, False] Translation: X:2.38, Y:0.03, Z:0.90 [[ 9.99910140e-01 -5.44158063e-03 -1.22515602e-02 2.38033404e+00] [ 5.42774418e-03 9.99984594e-01 -1.16232973e-03 2.61166412e-02] [ 1.22576964e-02 1.09572695e-03 9.99924271e-01 9.01814526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88255784400002 meters Centerline goodness [0,1] 0.24679194397320459 Centerline is valid? [False, False] Translation: X:2.38, Y:0.03, Z:0.90 [[ 9.99909346e-01 -5.64320380e-03 -1.22251118e-02 2.38045892e+00] [ 5.62364491e-03 9.99982853e-01 -1.63368042e-03 2.83705194e-02] [ 1.22341213e-02 1.56478264e-03 9.99923936e-01 9.01483193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91255784400002 meters Centerline goodness [0,1] 0.24781659388646293 Centerline is valid? [False, False] Translation: X:2.38, Y:0.03, Z:0.90 [[ 9.99906259e-01 -6.01568181e-03 -1.22998169e-02 2.38076991e+00] [ 5.98595486e-03 9.99979077e-01 -2.45224872e-03 3.23628499e-02] [ 1.23143115e-02 2.37839269e-03 9.99921347e-01 9.01266378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94255784400002 meters Centerline goodness [0,1] 0.24550535025776543 Centerline is valid? [False, False] Translation: X:2.38, Y:0.03, Z:0.90 [[ 0.99990425 -0.00624667 -0.01234759 2.38082388] [ 0.00621101 0.99997644 -0.002924 0.03442198] [ 0.01236557 0.00284703 0.99991949 0.90134751] [ 0. 0. 0. 1. ]] SLAMing on 194.97255784400002 meters Centerline goodness [0,1] 0.24226949126869057 Centerline is valid? [False, False] Translation: X:2.38, Y:0.04, Z:0.90 [[ 0.9999015 -0.00649806 -0.01244019 2.3811753 ] [ 0.00645551 0.99997319 -0.00345756 0.03685648] [ 0.01246232 0.00337691 0.99991664 0.90114116] [ 0. 0. 0. 1. ]] SLAMing on 195.00255784400002 meters Centerline goodness [0,1] 0.24498604813393787 Centerline is valid? [False, False] Translation: X:2.39, Y:0.04, Z:0.90 [[ 9.99901694e-01 -4.52089606e-03 -1.32726972e-02 2.38570719e+00] [ 4.49639296e-03 9.99988133e-01 -1.87538921e-03 4.27407276e-02] [ 1.32810181e-02 1.81552559e-03 9.99910155e-01 8.98057625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032557844 meters Centerline goodness [0,1] 0.24322794181691487 Centerline is valid? [False, False] Translation: X:2.39, Y:0.05, Z:0.90 [[ 0.99989846 -0.00475357 -0.01343413 2.38664035] [ 0.00472058 0.99998577 -0.00248626 0.04577021] [ 0.01344576 0.00242259 0.99990667 0.89719302] [ 0. 0. 0. 1. ]] SLAMing on 195.062557844 meters Centerline goodness [0,1] 0.24322794181691487 Centerline is valid? [False, False] Translation: X:2.39, Y:0.05, Z:0.90 [[ 0.99989846 -0.00475357 -0.01343413 2.38664035] [ 0.00472058 0.99998577 -0.00248626 0.04577021] [ 0.01344576 0.00242259 0.99990667 0.89719302] [ 0. 0. 0. 1. ]] SLAMing on 195.092557844 meters Centerline goodness [0,1] 0.23885689449092684 Centerline is valid? [False, False] Translation: X:2.39, Y:0.05, Z:0.90 [[ 0.99989557 -0.00499586 -0.01356036 2.38714842] [ 0.00495405 0.99998288 -0.00311499 0.04874634] [ 0.01357569 0.00304749 0.9999032 0.89694942] [ 0. 0. 0. 1. ]] SLAMing on 195.122557844 meters Centerline goodness [0,1] 0.24969760946537356 Centerline is valid? [False, False] Translation: X:2.36, Y:0.05, Z:0.90 [[ 0.99989983 0.00308723 -0.01381293 2.36484382] [-0.00315196 0.99998414 -0.00466723 0.05186775] [ 0.01379831 0.0047103 0.9998937 0.8966375 ] [ 0. 0. 0. 1. ]] SLAMing on 195.152557844 meters Centerline goodness [0,1] 0.24390349641254638 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99990769 -0.00468693 -0.01275322 2.38429005] [ 0.00463693 0.99998146 -0.00394794 0.05816281] [ 0.01277148 0.00388844 0.99991088 0.8982995 ] [ 0. 0. 0. 1. ]] SLAMing on 195.182557844 meters Centerline goodness [0,1] 0.2458311506897154 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99990821 -0.00507614 -0.01256199 2.38376427] [ 0.00501544 0.99997562 -0.00485836 0.0625469 ] [ 0.01258635 0.00479491 0.99990929 0.89840426] [ 0. 0. 0. 1. ]] SLAMing on 195.212557844 meters Centerline goodness [0,1] 0.24454462302365088 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99990831 -0.0052197 -0.01249473 2.38367634] [ 0.00515619 0.99997365 -0.00510973 0.06355553] [ 0.01252107 0.00504484 0.99990888 0.8982055 ] [ 0. 0. 0. 1. ]] SLAMing on 195.242557844 meters Centerline goodness [0,1] 0.24611523352247922 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99990565 -0.00538319 -0.0126378 2.38404412] [ 0.00531717 0.99997207 -0.00525182 0.06383423] [ 0.01266572 0.00518413 0.99990635 0.89810781] [ 0. 0. 0. 1. ]] SLAMing on 195.272557844 meters Centerline goodness [0,1] 0.24471403812824954 Centerline is valid? [False, False] Translation: X:2.39, Y:0.06, Z:0.90 [[ 0.99989516 -0.00592865 -0.01321043 2.38560309] [ 0.00585511 0.99996719 -0.00559837 0.0643064 ] [ 0.01324318 0.00552043 0.99989707 0.89774548] [ 0. 0. 0. 1. ]] SLAMing on 195.302557844 meters Centerline goodness [0,1] 0.24421621621621625 Centerline is valid? [False, False] Translation: X:2.39, Y:0.06, Z:0.90 [[ 0.99989336 -0.00597122 -0.01332719 2.38593088] [ 0.00589708 0.99996696 -0.0055952 0.06420318] [ 0.01336016 0.00551601 0.99989553 0.89761458] [ 0. 0. 0. 1. ]] SLAMing on 195.332557844 meters Centerline goodness [0,1] 0.24500389307033477 Centerline is valid? [False, False] Translation: X:2.39, Y:0.06, Z:0.90 [[ 0.99989156 -0.00596382 -0.01346446 2.38623887] [ 0.00588974 0.99996734 -0.00553437 0.06392278] [ 0.01349702 0.00545447 0.99989403 0.89761746] [ 0. 0. 0. 1. ]] SLAMing on 195.362557844 meters Centerline goodness [0,1] 0.24828490277474324 Centerline is valid? [False, False] Translation: X:2.39, Y:0.06, Z:0.90 [[ 0.99989045 -0.00597295 -0.01354297 2.38629952] [ 0.00589926 0.99996761 -0.00547468 0.06354496] [ 0.01357523 0.00539419 0.9998933 0.89780204] [ 0. 0. 0. 1. ]] SLAMing on 195.392557844 meters Centerline goodness [0,1] 0.2476223639252214 Centerline is valid? [False, False] Translation: X:2.39, Y:0.06, Z:0.90 [[ 0.9998934 -0.00598949 -0.01331574 2.38527105] [ 0.00591791 0.99996786 -0.00540887 0.06301167] [ 0.01334771 0.00532949 0.99989671 0.89858414] [ 0. 0. 0. 1. ]] SLAMing on 195.422557844 meters Centerline goodness [0,1] 0.24411306380399966 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99989553 -0.0059295 -0.01318235 2.38464592] [ 0.00585912 0.99996841 -0.00537122 0.06311988] [ 0.01321378 0.00529342 0.99989868 0.8991012 ] [ 0. 0. 0. 1. ]] SLAMing on 195.452557844 meters Centerline goodness [0,1] 0.24441507226278958 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99989746 -0.00589649 -0.01304978 2.38414902] [ 0.0058262 0.99996835 -0.00541769 0.06360199] [ 0.01308131 0.00534111 0.99990017 0.89942832] [ 0. 0. 0. 1. ]] SLAMing on 195.482557844 meters Centerline goodness [0,1] 0.24456840231806043 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99989692 -0.0058594 -0.01310788 2.38428331] [ 0.00578836 0.99996839 -0.0054505 0.06375326] [ 0.0131394 0.00537407 0.99989923 0.89954991] [ 0. 0. 0. 1. ]] SLAMing on 195.512557844 meters Centerline goodness [0,1] 0.24115534335548527 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.9998959 -0.00583819 -0.01319457 2.38448673] [ 0.00576674 0.99996854 -0.00544659 0.06363658] [ 0.01322595 0.00536993 0.99989811 0.89961933] [ 0. 0. 0. 1. ]] SLAMing on 195.54255784400002 meters Centerline goodness [0,1] 0.23978985146909393 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99990065 -0.00563029 -0.01292245 2.38337875] [ 0.00556144 0.99997018 -0.0053583 0.06391518] [ 0.01295223 0.0052859 0.99990214 0.90039307] [ 0. 0. 0. 1. ]] SLAMing on 195.57255784400002 meters Centerline goodness [0,1] 0.24508166496757255 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99990036 -0.0055653 -0.01297328 2.38319434] [ 0.00549597 0.99997046 -0.00537345 0.06440727] [ 0.0130028 0.00530162 0.99990141 0.90095149] [ 0. 0. 0. 1. ]] SLAMing on 195.60255784400002 meters Centerline goodness [0,1] 0.24245042554110685 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.90 [[ 0.99990106 -0.00551568 -0.01294017 2.38283941] [ 0.00544632 0.99997065 -0.00538877 0.06475138] [ 0.01296951 0.00531776 0.99990175 0.90147061] [ 0. 0. 0. 1. ]] SLAMing on 195.63255784400002 meters Centerline goodness [0,1] 0.24610598677340756 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.99990436 -0.00551457 -0.01268316 2.38171226] [ 0.00544577 0.9999703 -0.00545305 0.06501376] [ 0.01271286 0.00538345 0.9999047 0.90230676] [ 0. 0. 0. 1. ]] SLAMing on 195.66255784400002 meters Centerline goodness [0,1] 0.24880967981479052 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.99990487 -0.00557734 -0.01261545 2.38153989] [ 0.00550699 0.99996913 -0.00560439 0.06564169] [ 0.01264632 0.00553438 0.99990472 0.90230699] [ 0. 0. 0. 1. ]] SLAMing on 195.69255784400002 meters Centerline goodness [0,1] 0.2509117910415165 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.9999052 -0.00566836 -0.01254846 2.38135997] [ 0.00559565 0.99996739 -0.00582229 0.0666082 ] [ 0.01258105 0.00575152 0.99990431 0.90233158] [ 0. 0. 0. 1. ]] SLAMing on 195.72255784400002 meters Centerline goodness [0,1] 0.24427679500520294 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.99990467 -0.00579814 -0.0125311 2.38129778] [ 0.00572187 0.99996494 -0.00611406 0.06799439] [ 0.01256611 0.00604178 0.99990279 0.90236013] [ 0. 0. 0. 1. ]] SLAMing on 195.75255784400002 meters Centerline goodness [0,1] 0.25155970507394965 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.99991851 -0.00330912 -0.01232954 2.3801263 ] [ 0.00326521 0.99998826 -0.00358004 0.07032653] [ 0.01234124 0.00353949 0.99991758 0.90297414] [ 0. 0. 0. 1. ]] SLAMing on 195.78255784400002 meters Centerline goodness [0,1] 0.24324032013843822 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.99991602 -0.00344458 -0.01249354 2.38058622] [ 0.00339897 0.99998749 -0.00367046 0.07046884] [ 0.01250603 0.00362769 0.99991522 0.90282721] [ 0. 0. 0. 1. ]] SLAMing on 195.812557844 meters Centerline goodness [0,1] 0.24230453740879854 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.99991205 -0.00358421 -0.01276903 2.38138445] [ 0.00353761 0.99998701 -0.00366984 0.06998591] [ 0.01278202 0.00362435 0.99991174 0.90254516] [ 0. 0. 0. 1. ]] SLAMing on 195.842557844 meters Centerline goodness [0,1] 0.2461052449368184 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.99990193 -0.0040829 -0.01339652 2.38354381] [ 0.0040333 0.99998492 -0.00372747 0.06902445] [ 0.01341154 0.00367307 0.99990331 0.9013569 ] [ 0. 0. 0. 1. ]] SLAMing on 195.872557844 meters Centerline goodness [0,1] 0.2441143254278516 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.99989998 -0.00406486 -0.01354667 2.38411155] [ 0.00401569 0.99998526 -0.00365495 0.06885627] [ 0.01356133 0.00360019 0.99990156 0.90096456] [ 0. 0. 0. 1. ]] SLAMing on 195.902557844 meters Centerline goodness [0,1] 0.2461401682713158 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.99989773 -0.0041132 -0.01369677 2.38479108] [ 0.00406187 0.99998463 -0.00377292 0.06944952] [ 0.01371208 0.0037169 0.99989908 0.90045642] [ 0. 0. 0. 1. ]] SLAMing on 195.932557844 meters Centerline goodness [0,1] 0.24616720955483173 Centerline is valid? [False, False] Translation: X:2.39, Y:0.07, Z:0.90 [[ 0.99989474 -0.00421085 -0.01388471 2.38540617] [ 0.00415493 0.99998315 -0.00405379 0.07080325] [ 0.01390154 0.00399567 0.99989539 0.90029594] [ 0. 0. 0. 1. ]] SLAMing on 195.962557844 meters Centerline goodness [0,1] 0.2439426476649097 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:0.90 [[ 0.9999017 -0.0042409 -0.01336395 2.38369752] [ 0.00418001 0.99998077 -0.00458131 0.07356556] [ 0.01338313 0.004525 0.9999002 0.9012025 ] [ 0. 0. 0. 1. ]] SLAMing on 195.992557844 meters Centerline goodness [0,1] 0.24507941988950277 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:0.90 [[ 0.99990236 -0.004284 -0.01330105 2.38333021] [ 0.00421964 0.99997927 -0.00486303 0.07504276] [ 0.0133216 0.00480643 0.99989971 0.90168515] [ 0. 0. 0. 1. ]] SLAMing on 196.022557844 meters Centerline goodness [0,1] 0.24298582079903464 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:0.90 [[ 0.99989842 -0.00433198 -0.01357887 2.38410701] [ 0.0042623 0.99997762 -0.00515602 0.07667119] [ 0.01360091 0.00509762 0.99989451 0.90166288] [ 0. 0. 0. 1. ]] SLAMing on 196.052557844 meters Centerline goodness [0,1] 0.24669526775408868 Centerline is valid? [False, False] Translation: X:2.36, Y:0.08, Z:0.90 [[ 0.99986199 0.00435761 -0.01603168 2.36492593] [-0.00445836 0.99997051 -0.00625379 0.07719725] [ 0.01600396 0.0063244 0.99985193 0.89995022] [ 0. 0. 0. 1. ]] SLAMing on 196.082557844 meters Centerline goodness [0,1] 0.2479304545355263 Centerline is valid? [False, False] Translation: X:2.37, Y:0.08, Z:0.90 [[ 0.99986068 0.00428526 -0.01613252 2.36520926] [-0.00439086 0.99996913 -0.00651605 0.07843589] [ 0.0161041 0.00658598 0.99984863 0.8999851 ] [ 0. 0. 0. 1. ]] SLAMing on 196.112557844 meters Centerline goodness [0,1] 0.251780275641447 Centerline is valid? [False, False] Translation: X:2.36, Y:0.08, Z:0.90 [[ 0.99986292 0.00426401 -0.01599882 2.36477465] [-0.00437306 0.9999674 -0.00678733 0.07996915] [ 0.01596935 0.00685636 0.99984897 0.90026762] [ 0. 0. 0. 1. ]] SLAMing on 196.142557844 meters Centerline goodness [0,1] 0.24889453176305765 Centerline is valid? [False, False] Translation: X:2.36, Y:0.08, Z:0.90 [[ 0.99986732 0.00434483 -0.01569916 2.36384498] [-0.00445663 0.99996491 -0.00709328 0.08209177] [ 0.01566779 0.0071623 0.9998516 0.90075348] [ 0. 0. 0. 1. ]] SLAMing on 196.172557844 meters Centerline goodness [0,1] 0.2519060488212159 Centerline is valid? [False, False] Translation: X:2.36, Y:0.09, Z:0.90 [[ 0.99984415 0.00823126 -0.01561832 2.36323914] [-0.00829096 0.99995855 -0.00376158 0.08534492] [ 0.01558671 0.00389048 0.99987095 0.90160472] [ 0. 0. 0. 1. ]] SLAMing on 196.202557844 meters Centerline goodness [0,1] 0.24230046035142316 Centerline is valid? [False, False] Translation: X:2.36, Y:0.09, Z:0.90 [[ 0.99984313 0.00805631 -0.01577381 2.36386046] [-0.0081281 0.99995687 -0.00449246 0.08883721] [ 0.01573693 0.00461996 0.99986549 0.9014199 ] [ 0. 0. 0. 1. ]] SLAMing on 196.232557844 meters Centerline goodness [0,1] 0.24037344576861852 Centerline is valid? [False, False] Translation: X:2.36, Y:0.09, Z:0.90 [[ 0.99984207 0.00782742 -0.01595507 2.3645653 ] [-0.00791249 0.99995478 -0.00527561 0.09264116] [ 0.01591305 0.00540102 0.99985879 0.90115346] [ 0. 0. 0. 1. ]] SLAMing on 196.262557844 meters Centerline goodness [0,1] 0.24541443156255405 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 9.99806610e-01 1.15541146e-02 -1.59136815e-02 2.36484101e+00] [-1.15930329e-02 9.99930024e-01 -2.35550651e-03 9.84322936e-02] [ 1.58853522e-02 2.53953881e-03 9.99870595e-01 9.00854889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29255784400002 meters Centerline goodness [0,1] 0.24604809506255831 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:0.90 [[ 0.9998111 0.01129088 -0.01582042 2.36461695] [-0.01134104 0.99993093 -0.00308398 0.1020889 ] [ 0.01578451 0.00326282 0.99987009 0.90093677] [ 0. 0. 0. 1. ]] SLAMing on 196.32255784400002 meters Centerline goodness [0,1] 0.24265308764510418 Centerline is valid? [False, False] Translation: X:2.38, Y:0.11, Z:0.90 [[ 9.99867503e-01 3.70846944e-03 -1.58500138e-02 2.38304826e+00] [-3.74058731e-03 9.99991010e-01 -1.99719650e-03 1.08840677e-01] [ 1.58424648e-02 2.05622024e-03 9.99872386e-01 9.03754612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35255784400002 meters Centerline goodness [0,1] 0.25107018198581876 Centerline is valid? [False, False] Translation: X:2.36, Y:0.12, Z:0.90 [[ 9.99859904e-01 -3.55439962e-03 -1.63565903e-02 2.36053272e+00] [ 3.55495575e-03 9.99993681e-01 4.92497798e-06 1.15879272e-01] [ 1.63564694e-02 -6.30712428e-05 9.99866222e-01 9.04217334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38255784400002 meters Centerline goodness [0,1] 0.2466078107332348 Centerline is valid? [False, False] Translation: X:2.38, Y:0.12, Z:0.90 [[ 9.99904258e-01 4.05428547e-03 -1.32301953e-02 2.37980775e+00] [-4.07655893e-03 9.99990318e-01 -1.65699844e-03 1.18183214e-01] [ 1.32233492e-02 1.71077347e-03 9.99911104e-01 9.02762658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41255784400002 meters Centerline goodness [0,1] 0.24729426623984674 Centerline is valid? [False, False] Translation: X:2.38, Y:0.12, Z:0.90 [[ 9.99907007e-01 3.81757895e-03 -1.30921043e-02 2.37969104e+00] [-3.84684020e-03 9.99990158e-01 -2.21057580e-03 1.20849756e-01] [ 1.30835364e-02 2.26073347e-03 9.99911851e-01 9.02408880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44255784400002 meters Centerline goodness [0,1] 0.25094732230861894 Centerline is valid? [False, False] Translation: X:2.38, Y:0.12, Z:0.90 [[ 0.99990723 0.00359247 -0.01313848 2.37995989] [-0.00362885 0.99998965 -0.00274605 0.12330542] [ 0.01312847 0.00279347 0.99990992 0.90219307] [ 0. 0. 0. 1. ]] SLAMing on 196.47255784400002 meters Centerline goodness [0,1] 0.2472431297041835 Centerline is valid? [False, False] Translation: X:2.38, Y:0.13, Z:0.90 [[ 0.99990517 0.0031956 -0.01339522 2.38067735] [-0.00324242 0.9999887 -0.00347517 0.12643359] [ 0.01338397 0.00351827 0.99990424 0.90202301] [ 0. 0. 0. 1. ]] SLAMing on 196.50255784400002 meters Centerline goodness [0,1] 0.24242228118999853 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:0.90 [[ 0.99989541 -0.00507247 -0.013544 2.40186643] [ 0.00503721 0.99998384 -0.00263594 0.13038154] [ 0.01355715 0.00256745 0.9999048 0.9035515 ] [ 0. 0. 0. 1. ]] SLAMing on 196.53255784400002 meters Centerline goodness [0,1] 0.2478033927794694 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:0.90 [[ 0.99989309 -0.00516475 -0.0136798 2.40223794] [ 0.00512724 0.999983 -0.00277579 0.13100098] [ 0.0136939 0.00270535 0.99990257 0.90346768] [ 0. 0. 0. 1. ]] SLAMing on 196.562557844 meters Centerline goodness [0,1] 0.25074554863608456 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:0.90 [[ 0.99988858 -0.00544533 -0.0138985 2.40301145] [ 0.00540218 0.99998048 -0.00314034 0.13226717] [ 0.01391533 0.00306491 0.99989848 0.90300555] [ 0. 0. 0. 1. ]] SLAMing on 196.592557844 meters Centerline goodness [0,1] 0.24826218648536746 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:0.90 [[ 0.99988754 -0.00553485 -0.01393817 2.40317271] [ 0.00548956 0.99997954 -0.00328538 0.13284041] [ 0.01395606 0.0032085 0.99989746 0.90289505] [ 0. 0. 0. 1. ]] SLAMing on 196.622557844 meters Centerline goodness [0,1] 0.246716124809077 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:0.90 [[ 0.99988678 -0.00564059 -0.01395008 2.40325801] [ 0.00559159 0.99997807 -0.0035494 0.13405774] [ 0.01396979 0.00347099 0.99989639 0.902809 ] [ 0. 0. 0. 1. ]] SLAMing on 196.652557844 meters Centerline goodness [0,1] 0.25142555205741834 Centerline is valid? [False, False] Translation: X:2.40, Y:0.14, Z:0.90 [[ 0.99988531 -0.00578431 -0.01399677 2.40332813] [ 0.00572967 0.99997582 -0.00394071 0.13589776] [ 0.01401922 0.00386006 0.99989428 0.90299655] [ 0. 0. 0. 1. ]] SLAMing on 196.682557844 meters Centerline goodness [0,1] 0.2449379631225228 Centerline is valid? [False, False] Translation: X:2.45, Y:0.14, Z:0.90 [[ 0.99990079 -0.00506177 -0.01314527 2.45109397] [ 0.00500728 0.99997875 -0.00417472 0.13767616] [ 0.01316612 0.00410848 0.99990488 0.90174935] [ 0. 0. 0. 1. ]] SLAMing on 196.712557844 meters Centerline goodness [0,1] 0.24872254007075167 Centerline is valid? [False, False] Translation: X:2.43, Y:0.14, Z:0.90 [[ 0.99987834 0.00363448 -0.01516875 2.43004696] [-0.00371209 0.99998015 -0.00509147 0.13726903] [ 0.01514994 0.00514716 0.99987198 0.90102488] [ 0. 0. 0. 1. ]] SLAMing on 196.742557844 meters Centerline goodness [0,1] 0.24319975647409275 Centerline is valid? [False, False] Translation: X:2.43, Y:0.14, Z:0.90 [[ 0.99987373 0.00350832 -0.01549902 2.43106971] [-0.00359443 0.99997824 -0.00553147 0.13951144] [ 0.01547927 0.00558648 0.99986458 0.90078451] [ 0. 0. 0. 1. ]] SLAMing on 196.772557844 meters Centerline goodness [0,1] 0.24706579207160562 Centerline is valid? [False, False] Translation: X:2.43, Y:0.14, Z:0.90 [[ 0.99987411 0.00341027 -0.01549611 2.43091472] [-0.00350219 0.99997641 -0.00590899 0.14147167] [ 0.01547559 0.00596251 0.99986247 0.9011398 ] [ 0. 0. 0. 1. ]] SLAMing on 196.802557844 meters Centerline goodness [0,1] 0.2469344425668356 Centerline is valid? [False, False] Translation: X:2.45, Y:0.14, Z:0.90 [[ 9.99949762e-01 -6.60978957e-05 -1.00233816e-02 2.45273274e+00] [ 3.96845908e-05 9.99996527e-01 -2.63534504e-03 1.39603848e-01] [ 1.00235210e-02 2.63481488e-03 9.99946292e-01 8.99917937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.832557844 meters Centerline goodness [0,1] 0.24751763783642544 Centerline is valid? [False, False] Translation: X:2.45, Y:0.14, Z:0.90 [[ 9.99953007e-01 -1.26511277e-04 -9.69373092e-03 2.45139961e+00] [ 9.99246972e-05 9.99996233e-01 -2.74309230e-03 1.39875595e-01] [ 9.69404143e-03 2.74199475e-03 9.99949252e-01 9.00783215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.862557844 meters Centerline goodness [0,1] 0.24976992856829838 Centerline is valid? [False, False] Translation: X:2.45, Y:0.14, Z:0.90 [[ 9.99954938e-01 -1.12572828e-04 -9.49261071e-03 2.45063766e+00] [ 8.71564969e-05 9.99996411e-01 -2.67785708e-03 1.39483259e-01] [ 9.49287809e-03 2.67690906e-03 9.99951359e-01 9.01205034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.892557844 meters Centerline goodness [0,1] 0.2526433554161366 Centerline is valid? [False, False] Translation: X:2.45, Y:0.14, Z:0.90 [[ 9.99954991e-01 -4.85893157e-05 -9.48757565e-03 2.45056455e+00] [ 2.52665324e-05 9.99996978e-01 -2.45834916e-03 1.38448252e-01] [ 9.48766643e-03 2.45799880e-03 9.99951970e-01 9.01234205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.922557844 meters Centerline goodness [0,1] 0.24606166249046735 Centerline is valid? [False, False] Translation: X:2.45, Y:0.14, Z:0.90 [[ 9.99949173e-01 -2.11046276e-04 -1.00799810e-02 2.45232138e+00] [ 1.91654095e-04 9.99998129e-01 -1.92475836e-03 1.35034560e-01] [ 1.00803684e-02 1.92272866e-03 9.99947343e-01 9.00448667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.952557844 meters Centerline goodness [0,1] 0.25226662005986067 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99952148e-01 -1.10918049e-04 -9.78209044e-03 2.45134304e+00] [ 9.60019893e-05 9.99998832e-01 -1.52528991e-03 1.33014948e-01] [ 9.78224820e-03 1.52427782e-03 9.99950991e-01 9.00752740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982557844 meters Centerline goodness [0,1] 0.25226662005986067 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99952148e-01 -1.10918049e-04 -9.78209044e-03 2.45134304e+00] [ 9.60019893e-05 9.99998832e-01 -1.52528991e-03 1.33014948e-01] [ 9.78224820e-03 1.52427782e-03 9.99950991e-01 9.00752740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.012557844 meters Centerline goodness [0,1] 0.2521330964444737 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99955578e-01 -2.23234915e-05 -9.42555318e-03 2.45016231e+00] [ 1.07186029e-05 9.99999242e-01 -1.23126437e-03 1.31587948e-01] [ 9.42557352e-03 1.23110865e-03 9.99954820e-01 9.01224924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04255784400002 meters Centerline goodness [0,1] 0.2523245614035088 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99955329e-01 7.04318922e-05 -9.45167909e-03 2.44999367e+00] [-8.03887756e-05 9.99999442e-01 -1.05307550e-03 1.30949097e-01] [ 9.45159965e-03 1.05378827e-03 9.99954777e-01 9.01681619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07255784400002 meters Centerline goodness [0,1] 0.2502673563368908 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99953673e-01 1.03684596e-04 -9.62506880e-03 2.45049125e+00] [-1.13893578e-04 9.99999432e-01 -1.06012376e-03 1.31115636e-01] [ 9.62495341e-03 1.06117088e-03 9.99953116e-01 9.01610614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10255784400002 meters Centerline goodness [0,1] 0.25101497358885927 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99948522e-01 1.63496505e-04 -1.01452453e-02 2.45210854e+00] [-1.75283890e-04 9.99999311e-01 -1.16098467e-03 1.31762554e-01] [ 1.01450485e-02 1.16270320e-03 9.99947862e-01 9.01074339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13255784400002 meters Centerline goodness [0,1] 0.24552352048558423 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99949652e-01 1.83538124e-04 -1.00329507e-02 2.45157676e+00] [-1.95023371e-04 9.99999327e-01 -1.14378627e-03 1.31628030e-01] [ 1.00327340e-02 1.14568534e-03 9.99949015e-01 9.01495077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16255784400002 meters Centerline goodness [0,1] 0.2451414859811064 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99953752e-01 2.47368883e-04 -9.61421765e-03 2.45008249e+00] [-2.56285301e-04 9.99999538e-01 -9.26199025e-04 1.30422001e-01] [ 9.61398410e-03 9.28620173e-04 9.99953353e-01 9.02206479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19255784400002 meters Centerline goodness [0,1] 0.2510558217904112 Centerline is valid? [False, False] Translation: X:2.43, Y:0.13, Z:0.90 [[ 9.99924372e-01 -8.95700812e-03 -8.42746122e-03 2.42504168e+00] [ 8.95515112e-03 9.99959869e-01 -2.58061655e-04 1.32072126e-01] [ 8.42943448e-03 1.82572949e-04 9.99964455e-01 9.02861242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22255784400002 meters Centerline goodness [0,1] 0.24574456580512594 Centerline is valid? [False, False] Translation: X:2.44, Y:0.12, Z:0.90 [[ 9.99968286e-01 -1.47774246e-03 -7.82576318e-03 2.44358427e+00] [ 1.46800641e-03 9.99998142e-01 -1.24970087e-03 1.23724897e-01] [ 7.82759538e-03 1.23817296e-03 9.99968597e-01 9.03735923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25255784400002 meters Centerline goodness [0,1] 0.24864431044206325 Centerline is valid? [False, False] Translation: X:2.44, Y:0.12, Z:0.90 [[ 9.99968110e-01 -1.38254083e-03 -7.86563916e-03 2.44373926e+00] [ 1.37646097e-03 9.99998750e-01 -7.78324487e-04 1.21297445e-01] [ 7.86670539e-03 7.67472921e-04 9.99968762e-01 9.03467748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28255784400002 meters Centerline goodness [0,1] 0.24657117395178996 Centerline is valid? [False, False] Translation: X:2.44, Y:0.12, Z:0.90 [[ 9.99966890e-01 -1.30200828e-03 -8.03264233e-03 2.44420960e+00] [ 1.29877941e-03 9.99999074e-01 -4.07171887e-04 1.19378257e-01] [ 8.03316503e-03 3.96725775e-04 9.99967655e-01 9.03286728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312557844 meters Centerline goodness [0,1] 0.24666637710115968 Centerline is valid? [False, False] Translation: X:2.44, Y:0.12, Z:0.90 [[ 9.99967066e-01 -1.15480329e-03 -8.03327998e-03 2.44394442e+00] [ 1.15564396e-03 9.99999327e-01 1.00007058e-04 1.16964060e-01] [ 8.03315909e-03 -1.09287376e-04 9.99967728e-01 9.03609956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342557844 meters Centerline goodness [0,1] 0.24737608379147746 Centerline is valid? [False, False] Translation: X:2.44, Y:0.12, Z:0.90 [[ 9.99966567e-01 -1.06827768e-03 -8.10702573e-03 2.44405614e+00] [ 1.07060195e-03 9.99999387e-01 2.82363979e-04 1.16249454e-01] [ 8.10671911e-03 -2.91033936e-04 9.99967098e-01 9.03714848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372557844 meters Centerline goodness [0,1] 0.2471155726484584 Centerline is valid? [False, False] Translation: X:2.44, Y:0.12, Z:0.90 [[ 9.99965036e-01 -9.87653160e-04 -8.30364697e-03 2.44473854e+00] [ 9.91490227e-04 9.99999404e-01 4.57990399e-04 1.15473001e-01] [ 8.30318968e-03 -4.66207371e-04 9.99965419e-01 9.03366421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402557844 meters Centerline goodness [0,1] 0.24963388778387363 Centerline is valid? [False, False] Translation: X:2.45, Y:0.11, Z:0.90 [[ 9.99962308e-01 -9.34158696e-04 -8.63195937e-03 2.44588144e+00] [ 9.39266101e-04 9.99999386e-01 5.87650500e-04 1.14820064e-01] [ 8.63140511e-03 -5.95736057e-04 9.99962571e-01 9.02814175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432557844 meters Centerline goodness [0,1] 0.24967234600262123 Centerline is valid? [False, False] Translation: X:2.45, Y:0.12, Z:0.90 [[ 9.99956666e-01 -9.56893743e-04 -9.26015068e-03 2.44773687e+00] [ 9.59995980e-04 9.99999485e-01 3.30570175e-04 1.15890510e-01] [ 9.25982959e-03 -3.39445557e-04 9.99957069e-01 9.02355609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.462557844 meters Centerline goodness [0,1] 0.2453543717806611 Centerline is valid? [False, False] Translation: X:2.45, Y:0.12, Z:0.90 [[ 9.99955238e-01 -1.03620327e-03 -9.40472700e-03 2.44801904e+00] [ 1.03613316e-03 9.99999463e-01 -1.23269849e-05 1.17565470e-01] [ 9.40473473e-03 2.58188360e-06 9.99955775e-01 9.02570459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.492557844 meters Centerline goodness [0,1] 0.24769723232367225 Centerline is valid? [False, False] Translation: X:2.45, Y:0.12, Z:0.90 [[ 9.99956248e-01 -1.10656208e-03 -9.28857480e-03 2.44764181e+00] [ 1.10300110e-03 9.99999316e-01 -3.88485757e-04 1.19532405e-01] [ 9.28899833e-03 3.78223452e-04 9.99956785e-01 9.02833377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.522557844 meters Centerline goodness [0,1] 0.24904942965779464 Centerline is valid? [False, False] Translation: X:2.45, Y:0.12, Z:0.90 [[ 9.99957741e-01 -1.03064053e-03 -9.13536817e-03 2.44743177e+00] [ 1.02138166e-03 9.99998960e-01 -1.01812662e-03 1.23581278e-01] [ 9.13640800e-03 1.00875290e-03 9.99957753e-01 9.02740852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.552557844 meters Centerline goodness [0,1] 0.24758821484442894 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99955931e-01 -1.16017996e-03 -9.31613619e-03 2.44816662e+00] [ 1.14724440e-03 9.99998371e-01 -1.39373475e-03 1.25366260e-01] [ 9.31773800e-03 1.38298545e-03 9.99955633e-01 9.02293047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.582557844 meters Centerline goodness [0,1] 0.2408523461041756 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99954587e-01 -1.24243323e-03 -9.44880781e-03 2.44871589e+00] [ 1.22746990e-03 9.99997984e-01 -1.58925532e-03 1.26248082e-01] [ 9.45076330e-03 1.57758502e-03 9.99954096e-01 9.01893606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.612557844 meters Centerline goodness [0,1] 0.25001647736010724 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:0.90 [[ 9.99926964e-01 -1.39557372e-03 -1.20049820e-02 2.40227397e+00] [ 1.37656185e-03 9.99997786e-01 -1.59178213e-03 1.29914477e-01] [ 1.20071769e-02 1.57514027e-03 9.99926671e-01 9.03442325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.642557844 meters Centerline goodness [0,1] 0.24506950477845357 Centerline is valid? [False, False] Translation: X:2.42, Y:0.13, Z:0.90 [[ 9.99882967e-01 -9.64517661e-03 -1.18753040e-02 2.42338915e+00] [ 9.64052921e-03 9.99953428e-01 -4.48533601e-04 1.33362249e-01] [ 1.18790771e-02 3.33996893e-04 9.99929385e-01 9.04526693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.672557844 meters Centerline goodness [0,1] 0.24621303197884103 Centerline is valid? [False, False] Translation: X:2.42, Y:0.13, Z:0.90 [[ 9.99881888e-01 -9.67497611e-03 -1.19417056e-02 2.42381249e+00] [ 9.66952945e-03 9.99953117e-01 -5.13759269e-04 1.33719420e-01] [ 1.19461163e-02 3.98227914e-04 9.99928563e-01 9.04043086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.702557844 meters Centerline goodness [0,1] 0.240948517671428 Centerline is valid? [False, False] Translation: X:2.44, Y:0.13, Z:0.90 [[ 9.99933054e-01 -1.48478065e-03 -1.14753473e-02 2.44400809e+00] [ 1.46994357e-03 9.99998073e-01 -1.30127853e-03 1.28000451e-01] [ 1.14772573e-02 1.28432330e-03 9.99933309e-01 9.04129412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.732557844 meters Centerline goodness [0,1] 0.24784797437182648 Centerline is valid? [False, False] Translation: X:2.44, Y:0.13, Z:0.90 [[ 9.99932118e-01 -1.52724298e-03 -1.15510505e-02 2.44432623e+00] [ 1.51116360e-03 9.99997877e-01 -1.40062808e-03 1.28462537e-01] [ 1.15531651e-02 1.38307748e-03 9.99932303e-01 9.03893449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.762557844 meters Centerline goodness [0,1] 0.24473151954067984 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99928426e-01 -1.54194759e-03 -1.18644328e-02 2.44519074e+00] [ 1.52365844e-03 9.99997637e-01 -1.55039454e-03 1.29506176e-01] [ 1.18667954e-02 1.53220623e-03 9.99928413e-01 9.03778923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79255784400002 meters Centerline goodness [0,1] 0.2450858476776403 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99926064e-01 -1.51599942e-03 -1.20651620e-02 2.44574174e+00] [ 1.49736930e-03 9.99997673e-01 -1.55300863e-03 1.29752918e-01] [ 1.20674883e-02 1.53482781e-03 9.99926007e-01 9.03695594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82255784400002 meters Centerline goodness [0,1] 0.24870319515278327 Centerline is valid? [False, False] Translation: X:2.45, Y:0.13, Z:0.90 [[ 9.99925050e-01 -1.50156898e-03 -1.21507261e-02 2.44605723e+00] [ 1.48280771e-03 9.99997695e-01 -1.55290618e-03 1.29851821e-01] [ 1.21530299e-02 1.53477260e-03 9.99924971e-01 9.03518239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85255784400002 meters Centerline goodness [0,1] 0.24987361248488849 Centerline is valid? [False, False] Translation: X:2.44, Y:0.13, Z:0.90 [[ 9.99930136e-01 -1.56899729e-03 -1.17158996e-02 2.44463270e+00] [ 1.54917775e-03 9.99997354e-01 -1.70056206e-03 1.30099589e-01] [ 1.17185367e-02 1.68229324e-03 9.99929920e-01 9.04200587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88255784400002 meters Centerline goodness [0,1] 0.24765674270926208 Centerline is valid? [False, False] Translation: X:2.46, Y:0.12, Z:0.91 [[ 0.99992972 0.00642147 -0.00996587 2.46310513] [-0.00645267 0.99997437 -0.00310153 0.12472054] [ 0.0099457 0.00316562 0.99994553 0.90549127] [ 0. 0. 0. 1. ]] SLAMing on 197.91255784400002 meters Centerline goodness [0,1] 0.24826001170833245 Centerline is valid? [False, False] Translation: X:2.46, Y:0.13, Z:0.91 [[ 0.9999311 0.00641279 -0.0098318 2.46242449] [-0.00644446 0.99997414 -0.00319305 0.12525411] [ 0.00981107 0.00325619 0.99994657 0.90610984] [ 0. 0. 0. 1. ]] SLAMing on 197.94255784400002 meters Centerline goodness [0,1] 0.24442577392877918 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.91 [[ 9.99949218e-01 -6.51999886e-04 -1.00566287e-02 2.48059117e+00] [ 6.37446707e-04 9.99998745e-01 -1.45026051e-03 1.29868714e-01] [ 1.00575616e-02 1.44377630e-03 9.99948379e-01 9.08929171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97255784400002 meters Centerline goodness [0,1] 0.24572347686221663 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.91 [[ 9.99947014e-01 -7.52938017e-04 -1.02665938e-02 2.48129060e+00] [ 7.35256264e-04 9.99998240e-01 -1.72592648e-03 1.31116043e-01] [ 1.02678753e-02 1.71828645e-03 9.99945808e-01 9.08674366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00255784400002 meters Centerline goodness [0,1] 0.24689281579694633 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.91 [[ 9.99943899e-01 -8.69520873e-04 -1.05566183e-02 2.48218507e+00] [ 8.47520584e-04 9.99997460e-01 -2.08832286e-03 1.32835473e-01] [ 1.05584073e-02 2.07925875e-03 9.99942097e-01 9.08433751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03255784400002 meters Centerline goodness [0,1] 0.25062925430628813 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.91 [[ 9.99942037e-01 -9.77980028e-04 -1.07222384e-02 2.48276161e+00] [ 9.50474418e-04 9.99996246e-01 -2.57008191e-03 1.35347713e-01] [ 1.07247116e-02 2.55974173e-03 9.99939212e-01 9.08236710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062557844 meters Centerline goodness [0,1] 0.24681286168037242 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.91 [[ 9.99946708e-01 -6.53809092e-04 -1.03030509e-02 2.48154020e+00] [ 6.22452816e-04 9.99995166e-01 -3.04631010e-03 1.39642475e-01] [ 1.03049928e-02 3.03973460e-03 9.99942282e-01 9.08768719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.092557844 meters Centerline goodness [0,1] 0.25000544674175906 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.91 [[ 9.99948272e-01 -8.07248888e-04 -1.01391197e-02 2.48091812e+00] [ 7.71312406e-04 9.99993409e-01 -3.54774983e-03 1.42029104e-01] [ 1.01419168e-02 3.53974588e-03 9.99942304e-01 9.09250662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122557844 meters Centerline goodness [0,1] 0.24917538609406065 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.91 [[ 9.99949649e-01 -9.75437655e-04 -9.98740429e-03 2.48029198e+00] [ 9.35281294e-04 9.99991464e-01 -4.02458191e-03 1.44253057e-01] [ 9.99124476e-03 4.01503823e-03 9.99942026e-01 9.09754361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.152557844 meters Centerline goodness [0,1] 0.2479372937293729 Centerline is valid? [False, False] Translation: X:2.48, Y:0.15, Z:0.91 [[ 9.99949696e-01 -1.13567518e-03 -9.96574607e-03 2.47995568e+00] [ 1.09122346e-03 9.99989438e-01 -4.46475544e-03 1.46360901e-01] [ 9.97071131e-03 4.45365599e-03 9.99940373e-01 9.10297181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182557844 meters Centerline goodness [0,1] 0.2473632918245804 Centerline is valid? [False, False] Translation: X:2.48, Y:0.15, Z:0.91 [[ 9.99948920e-01 -1.47929448e-03 -9.99846597e-03 2.48007987e+00] [ 1.42510750e-03 9.99984272e-01 -5.42448281e-03 1.51119308e-01] [ 1.00063331e-02 5.40995684e-03 9.99935301e-01 9.10367770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.212557844 meters Centerline goodness [0,1] 0.252800875273523 Centerline is valid? [False, False] Translation: X:2.48, Y:0.15, Z:0.91 [[ 9.99949371e-01 -1.68613712e-03 -9.92025241e-03 2.47986318e+00] [ 1.62735398e-03 9.99981089e-01 -5.93066004e-03 1.53377100e-01] [ 9.93006472e-03 5.91421602e-03 9.99933206e-01 9.10428211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.242557844 meters Centerline goodness [0,1] 0.2518034363660211 Centerline is valid? [False, False] Translation: X:2.48, Y:0.16, Z:0.91 [[ 9.99949499e-01 -1.88609305e-03 -9.87125737e-03 2.47967127e+00] [ 1.82243213e-03 9.99977511e-01 -6.45414702e-03 1.55769514e-01] [ 9.88320849e-03 6.43583138e-03 9.99930449e-01 9.10624980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.272557844 meters Centerline goodness [0,1] 0.24767499837412477 Centerline is valid? [False, False] Translation: X:2.48, Y:0.16, Z:0.91 [[ 9.99948591e-01 -2.14054982e-03 -9.91128171e-03 2.47974033e+00] [ 2.06998805e-03 9.99972481e-01 -7.12413293e-03 1.58927822e-01] [ 9.92625852e-03 7.10325045e-03 9.99925504e-01 9.10776660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302557844 meters Centerline goodness [0,1] 0.24962988766001915 Centerline is valid? [False, False] Translation: X:2.48, Y:0.16, Z:0.91 [[ 9.99951231e-01 1.33228649e-03 -9.78578079e-03 2.47930421e+00] [-1.36940993e-03 9.99991888e-01 -3.78789019e-03 1.60719932e-01] [ 9.78065486e-03 3.80110621e-03 9.99944944e-01 9.10903019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.332557844 meters Centerline goodness [0,1] 0.24936874183717894 Centerline is valid? [False, False] Translation: X:2.48, Y:0.17, Z:0.91 [[ 9.99938625e-01 4.97904924e-03 -9.89720427e-03 2.47971455e+00] [-4.98831790e-03 9.99987142e-01 -9.12027441e-04 1.66407486e-01] [ 9.89253599e-03 9.61341867e-04 9.99950606e-01 9.10869655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362557844 meters Centerline goodness [0,1] 0.24918797549756933 Centerline is valid? [False, False] Translation: X:2.48, Y:0.17, Z:0.91 [[ 9.99939582e-01 4.66466577e-03 -9.95357382e-03 2.47988856e+00] [-4.68224769e-03 9.99987518e-01 -1.74382135e-03 1.70200678e-01] [ 9.94531523e-03 1.79032109e-03 9.99948941e-01 9.10951529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.392557844 meters Centerline goodness [0,1] 0.2511609568036449 Centerline is valid? [False, False] Translation: X:2.48, Y:0.17, Z:0.91 [[ 0.99994077 0.00435687 -0.00997357 2.48008561] [-0.00438221 0.99998722 -0.00251972 0.17371247] [ 0.00996247 0.00256327 0.99994709 0.9107831 ] [ 0. 0. 0. 1. ]] SLAMing on 198.422557844 meters Centerline goodness [0,1] 0.245446698316789 Centerline is valid? [False, False] Translation: X:2.51, Y:0.18, Z:0.91 [[ 9.99924890e-01 -1.24813742e-03 -1.21924664e-02 2.50549084e+00] [ 1.24739279e-03 9.99999220e-01 -6.86770333e-05 1.81541985e-01] [ 1.21925426e-02 5.34630803e-05 9.99925667e-01 9.09945598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.452557844 meters Centerline goodness [0,1] 0.24626946483875856 Centerline is valid? [False, False] Translation: X:2.51, Y:0.18, Z:0.91 [[ 9.99923511e-01 -1.39108745e-03 -1.22896960e-02 2.50605868e+00] [ 1.38556669e-03 9.99998935e-01 -4.57721530e-04 1.83641700e-01] [ 1.22903196e-02 4.40658326e-04 9.99924374e-01 9.09458130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482557844 meters Centerline goodness [0,1] 0.25058496796343677 Centerline is valid? [False, False] Translation: X:2.51, Y:0.19, Z:0.91 [[ 9.99923474e-01 -1.55184918e-03 -1.22734478e-02 2.50602946e+00] [ 1.54170845e-03 9.99998462e-01 -8.35651772e-04 1.85411188e-01] [ 1.22747258e-02 8.16665745e-04 9.99924329e-01 9.09461155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.512557844 meters Centerline goodness [0,1] 0.24781176878412337 Centerline is valid? [False, False] Translation: X:2.51, Y:0.19, Z:0.91 [[ 9.99925737e-01 -1.72512201e-03 -1.20641979e-02 2.50515195e+00] [ 1.71101858e-03 9.99997841e-01 -1.17925600e-03 1.86789873e-01] [ 1.20662062e-02 1.15852636e-03 9.99926530e-01 9.10090429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54255784400002 meters Centerline goodness [0,1] 0.24855629369111198 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:0.91 [[ 9.99940141e-01 -2.78071531e-03 -1.05821846e-02 2.50003221e+00] [ 2.75430382e-03 9.99993058e-01 -2.50960050e-03 1.90401474e-01] [ 1.05890896e-02 2.48030372e-03 9.99940858e-01 9.12400020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57255784400002 meters Centerline goodness [0,1] 0.2497181510710259 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:0.91 [[ 0.99994012 -0.00284548 -0.01056708 2.49990095] [ 0.00281785 0.99999257 -0.00262924 0.19094455] [ 0.01057448 0.00259931 0.99994071 0.91254269] [ 0. 0. 0. 1. ]] SLAMing on 198.60255784400002 meters Centerline goodness [0,1] 0.2511353711790393 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:0.91 [[ 0.99993736 -0.00287361 -0.01081777 2.50089576] [ 0.00284495 0.99999241 -0.00266375 0.1912362 ] [ 0.01082535 0.00263281 0.99993794 0.91188175] [ 0. 0. 0. 1. ]] SLAMing on 198.63255784400002 meters Centerline goodness [0,1] 0.24775925525005416 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:0.91 [[ 0.99993296 -0.00287178 -0.01121749 2.50246273] [ 0.00284258 0.99999253 -0.00261774 0.19122826] [ 0.01122493 0.00258568 0.99993366 0.91087813] [ 0. 0. 0. 1. ]] SLAMing on 198.66255784400002 meters Centerline goodness [0,1] 0.2476223639252214 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:0.91 [[ 0.99993107 -0.00294454 -0.01136572 2.50281055] [ 0.00291321 0.99999192 -0.00277183 0.19202398] [ 0.01137379 0.00273853 0.99993157 0.91094471] [ 0. 0. 0. 1. ]] SLAMing on 198.69255784400002 meters Centerline goodness [0,1] 0.24795334269359537 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:0.91 [[ 0.99993297 -0.0030302 -0.01117459 2.50173325] [ 0.00299712 0.99999108 -0.00297596 0.19292633] [ 0.01118351 0.00294227 0.99993313 0.91200198] [ 0. 0. 0. 1. ]] SLAMing on 198.72255784400002 meters Centerline goodness [0,1] 0.2507317925641138 Centerline is valid? [False, False] Translation: X:2.48, Y:0.19, Z:0.91 [[ 0.9999341 0.00543525 -0.01011196 2.48014334] [-0.00547516 0.99997731 -0.00392359 0.19073369] [ 0.01009041 0.0039787 0.99994118 0.9109654 ] [ 0. 0. 0. 1. ]] SLAMing on 198.75255784400002 meters Centerline goodness [0,1] 0.24750010822042334 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:0.91 [[ 9.99948530e-01 -1.47673917e-03 -1.00377704e-02 2.50374165e+00] [ 1.46293655e-03 9.99997975e-01 -1.38227156e-03 1.92159300e-01] [ 1.00397913e-02 1.36751579e-03 9.99948665e-01 9.09863572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78255784400002 meters Centerline goodness [0,1] 0.251795874431581 Centerline is valid? [False, False] Translation: X:2.46, Y:0.20, Z:0.91 [[ 9.99911092e-01 -1.20843700e-03 -1.32796068e-02 2.46061440e+00] [ 1.18656404e-03 9.99997927e-01 -1.65486433e-03 1.95623211e-01] [ 1.32815791e-02 1.63896010e-03 9.99910453e-01 9.09625948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812557844 meters Centerline goodness [0,1] 0.2471749577867256 Centerline is valid? [False, False] Translation: X:2.51, Y:0.19, Z:0.91 [[ 9.99929554e-01 -2.23965452e-03 -1.16563761e-02 2.50707362e+00] [ 2.21463013e-03 9.99995216e-01 -2.15930652e-03 1.92168686e-01] [ 1.16611564e-02 2.13333984e-03 9.99929731e-01 9.08371537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842557844 meters Centerline goodness [0,1] 0.24920977481307083 Centerline is valid? [False, False] Translation: X:2.51, Y:0.19, Z:0.91 [[ 9.99929601e-01 -2.25514047e-03 -1.16493629e-02 2.50704276e+00] [ 2.22999620e-03 9.99995157e-01 -2.17096279e-03 1.92090518e-01] [ 1.16542023e-02 2.14483192e-03 9.99929787e-01 9.08385203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872557844 meters Centerline goodness [0,1] 0.24920977481307083 Centerline is valid? [False, False] Translation: X:2.51, Y:0.19, Z:0.91 [[ 9.99929601e-01 -2.25514047e-03 -1.16493629e-02 2.50704276e+00] [ 2.22999620e-03 9.99995157e-01 -2.17096279e-03 1.92090518e-01] [ 1.16542023e-02 2.14483192e-03 9.99929787e-01 9.08385203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902557844 meters Centerline goodness [0,1] 0.2504653250706199 Centerline is valid? [False, False] Translation: X:2.51, Y:0.19, Z:0.91 [[ 9.99928726e-01 -2.28118867e-03 -1.17191615e-02 2.50697538e+00] [ 2.25473771e-03 9.99994882e-01 -2.26978612e-03 1.92574860e-01] [ 1.17242794e-02 2.24320071e-03 9.99928752e-01 9.08829718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932557844 meters Centerline goodness [0,1] 0.24796703892442806 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 9.99921344e-01 -2.28128668e-03 -1.23329342e-02 2.50834628e+00] [ 2.24888572e-03 9.99993985e-01 -2.64042030e-03 1.95043023e-01] [ 1.23388835e-02 2.61247725e-03 9.99920460e-01 9.09189856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.962557844 meters Centerline goodness [0,1] 0.2502459177650993 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 9.99919904e-01 -2.39430538e-03 -1.24278863e-02 2.50861276e+00] [ 2.35743807e-03 9.99992780e-01 -2.98030139e-03 1.96619232e-01] [ 1.24349323e-02 2.95076470e-03 9.99918329e-01 9.09206194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.992557844 meters Centerline goodness [0,1] 0.2477901092457051 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99992179 -0.00258847 -0.01223536 2.50811215] [ 0.00254602 0.99999069 -0.0034835 0.19884592] [ 0.01224426 0.00345208 0.99991908 0.90926741] [ 0. 0. 0. 1. ]] SLAMing on 199.022557844 meters Centerline goodness [0,1] 0.2522520543129586 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99992187 -0.00262869 -0.01222078 2.50824657] [ 0.00258493 0.9999902 -0.00359467 0.19945086] [ 0.01223011 0.0035628 0.99991886 0.90897815] [ 0. 0. 0. 1. ]] SLAMing on 199.052557844 meters Centerline goodness [0,1] 0.25019594182704863 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99992015 -0.00265564 -0.01235486 2.5088302 ] [ 0.00261064 0.99998991 -0.00365646 0.19982478] [ 0.01236445 0.00362391 0.99991699 0.90854595] [ 0. 0. 0. 1. ]] SLAMing on 199.082557844 meters Centerline goodness [0,1] 0.24675606946467 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99991837 -0.00267449 -0.01249421 2.5094166 ] [ 0.0026289 0.99998983 -0.00366421 0.19982866] [ 0.01250388 0.00363107 0.99991523 0.90809964] [ 0. 0. 0. 1. ]] SLAMing on 199.112557844 meters Centerline goodness [0,1] 0.2472978252376612 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99991504 -0.00273549 -0.01274516 2.51023838] [ 0.00268961 0.99998985 -0.00361563 0.19929133] [ 0.01275492 0.00358104 0.99991224 0.90770243] [ 0. 0. 0. 1. ]] SLAMing on 199.142557844 meters Centerline goodness [0,1] 0.2516604195436313 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99991421 -0.00273082 -0.01281079 2.51045912] [ 0.002685 0.99998994 -0.00359219 0.19922299] [ 0.01282047 0.00355748 0.99991149 0.90757633] [ 0. 0. 0. 1. ]] SLAMing on 199.172557844 meters Centerline goodness [0,1] 0.2482915717539863 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99991373 -0.00272186 -0.01284993 2.5105294 ] [ 0.00267646 0.99999012 -0.00354931 0.19907077] [ 0.01285946 0.00351461 0.99991114 0.90759614] [ 0. 0. 0. 1. ]] SLAMing on 199.202557844 meters Centerline goodness [0,1] 0.2460482439045516 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99991544 -0.00270514 -0.01272021 2.510031 ] [ 0.00266113 0.99999042 -0.00347534 0.19867797] [ 0.01272949 0.00344119 0.99991306 0.90784027] [ 0. 0. 0. 1. ]] SLAMing on 199.232557844 meters Centerline goodness [0,1] 0.2517494713435504 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99992351 -0.00268497 -0.01207347 2.50762587] [ 0.00264608 0.99999126 -0.00323606 0.19721177] [ 0.01208205 0.00320386 0.99992188 0.90919951] [ 0. 0. 0. 1. ]] SLAMing on 199.262557844 meters Centerline goodness [0,1] 0.24905766647892202 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99992606 -0.00262206 -0.01187401 2.50667766] [ 0.00258533 0.99999183 -0.0031074 0.19662889] [ 0.01188206 0.00307647 0.99992467 0.90999652] [ 0. 0. 0. 1. ]] SLAMing on 199.29255784400002 meters Centerline goodness [0,1] 0.2505665475464133 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 0.99992707 -0.00257308 -0.01180015 2.50635231] [ 0.00253738 0.99999216 -0.0030401 0.19636952] [ 0.01180788 0.00300993 0.99992575 0.91025622] [ 0. 0. 0. 1. ]] SLAMing on 199.32255784400002 meters Centerline goodness [0,1] 0.2543342349133153 Centerline is valid? [False, False] Translation: X:2.46, Y:0.20, Z:0.91 [[ 9.99888057e-01 -1.36820856e-03 -1.48997232e-02 2.46212243e+00] [ 1.32665187e-03 9.99995204e-01 -2.79861778e-03 1.99158092e-01] [ 1.49034808e-02 2.77853775e-03 9.99885076e-01 9.11164373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35255784400002 meters Centerline goodness [0,1] 0.25151779864599255 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.91 [[ 9.99865125e-01 -7.64005663e-03 -1.45382464e-02 2.48613408e+00] [ 7.64185194e-03 9.99970798e-01 6.79391911e-05 1.98789318e-01] [ 1.45373028e-02 -1.79029155e-04 9.99894312e-01 9.10461361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38255784400002 meters Centerline goodness [0,1] 0.25256196899360606 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.91 [[ 9.99859521e-01 -7.60526810e-03 -1.49364453e-02 2.48717545e+00] [ 7.60500167e-03 9.99971079e-01 -7.46374635e-05 1.99747556e-01] [ 1.49365810e-02 -3.89647131e-05 9.99888442e-01 9.10390683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41255784400002 meters Centerline goodness [0,1] 0.24865262656652454 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 9.99891339e-01 7.48164851e-04 -1.47224782e-02 2.50849324e+00] [-7.61057386e-04 9.99999332e-01 -8.70120990e-04 1.95947376e-01] [ 1.47218174e-02 8.81231092e-04 9.99891240e-01 9.10957301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44255784400002 meters Centerline goodness [0,1] 0.24431179167748074 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.91 [[ 9.99900957e-01 1.11485556e-03 -1.40297024e-02 2.50627518e+00] [-1.13368279e-03 9.99998468e-01 -1.33407392e-03 1.99924219e-01] [ 1.40281936e-02 1.34984702e-03 9.99900689e-01 9.12015697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47255784400002 meters Centerline goodness [0,1] 0.24763348857359468 Centerline is valid? [False, False] Translation: X:2.50, Y:0.20, Z:0.91 [[ 9.99906131e-01 1.00797411e-03 -1.36642773e-02 2.50484709e+00] [-1.03251871e-03 9.99997866e-01 -1.78932482e-03 2.02236711e-01] [ 1.36624446e-02 1.80326548e-03 9.99905038e-01 9.12966741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50255784400002 meters Centerline goodness [0,1] 0.2487288688018774 Centerline is valid? [False, False] Translation: X:2.50, Y:0.20, Z:0.91 [[ 9.99909464e-01 8.72837882e-04 -1.34276498e-02 2.50386832e+00] [-9.01796071e-04 9.99997281e-01 -2.15070531e-03 2.03897654e-01] [ 1.34257360e-02 2.16261960e-03 9.99907532e-01 9.13646573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53255784400002 meters Centerline goodness [0,1] 0.24380985247174536 Centerline is valid? [False, False] Translation: X:2.50, Y:0.20, Z:0.91 [[ 9.99912515e-01 7.78506924e-04 -1.32044101e-02 2.50301242e+00] [-8.09815807e-04 9.99996873e-01 -2.36591183e-03 2.04861741e-01] [ 1.32025269e-02 2.37639798e-03 9.99910019e-01 9.14160386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562557844 meters Centerline goodness [0,1] 0.2432438247697737 Centerline is valid? [False, False] Translation: X:2.50, Y:0.21, Z:0.91 [[ 9.99916648e-01 5.91559463e-04 -1.28975416e-02 2.50223770e+00] [-6.24950269e-04 9.99996463e-01 -2.58505136e-03 2.05628051e-01] [ 1.28959668e-02 2.59289621e-03 9.99913482e-01 9.14097864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.592557844 meters Centerline goodness [0,1] 0.25537444933920705 Centerline is valid? [False, False] Translation: X:2.46, Y:0.21, Z:0.91 [[ 9.99876827e-01 1.03114418e-03 -1.56610070e-02 2.45680602e+00] [-1.07243763e-03 9.99995970e-01 -2.62853526e-03 2.09603262e-01] [ 1.56582335e-02 2.64500695e-03 9.99873904e-01 9.14740804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622557844 meters Centerline goodness [0,1] 0.2513013428983859 Centerline is valid? [False, False] Translation: X:2.46, Y:0.21, Z:0.91 [[ 9.99877348e-01 9.51523318e-04 -1.56327470e-02 2.45689061e+00] [-9.94745524e-04 9.99995704e-01 -2.75730727e-03 2.10220979e-01] [ 1.56300562e-02 2.77251969e-03 9.99873999e-01 9.14464717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.652557844 meters Centerline goodness [0,1] 0.24550498967653134 Centerline is valid? [False, False] Translation: X:2.48, Y:0.22, Z:0.92 [[ 9.99873917e-01 -7.45843719e-03 -1.40186187e-02 2.47610662e+00] [ 7.43526191e-03 9.99970905e-01 -1.70457143e-03 2.15065097e-01] [ 1.40309243e-02 1.60012441e-03 9.99900281e-01 9.16690442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682557844 meters Centerline goodness [0,1] 0.2536714742887204 Centerline is valid? [False, False] Translation: X:2.43, Y:0.22, Z:0.92 [[ 9.99839328e-01 -6.85060161e-03 -1.65646347e-02 2.42897106e+00] [ 6.81748765e-03 9.99974650e-01 -2.05471901e-03 2.20620285e-01] [ 1.65782909e-02 1.94145969e-03 9.99860686e-01 9.18844432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.712557844 meters Centerline goodness [0,1] 0.24779126953039998 Centerline is valid? [False, False] Translation: X:2.45, Y:0.22, Z:0.92 [[ 9.99857004e-01 1.07614252e-03 -1.68764022e-02 2.44863088e+00] [-1.12888249e-03 9.99994509e-01 -3.11585733e-03 2.17984385e-01] [ 1.68729565e-02 3.13446325e-03 9.99852728e-01 9.20199144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.742557844 meters Centerline goodness [0,1] 0.24773335072728464 Centerline is valid? [False, False] Translation: X:2.45, Y:0.22, Z:0.92 [[ 9.99846614e-01 9.16763707e-04 -1.74902358e-02 2.45075223e+00] [-9.84605347e-04 9.99992024e-01 -3.87061258e-03 2.22068855e-01] [ 1.74865479e-02 3.88723986e-03 9.99839542e-01 9.19330751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.772557844 meters Centerline goodness [0,1] 0.24856418369779587 Centerline is valid? [False, False] Translation: X:2.45, Y:0.22, Z:0.92 [[ 9.99847246e-01 7.33052989e-04 -1.74627283e-02 2.45072311e+00] [-8.09143652e-04 9.99990209e-01 -4.35065127e-03 2.24209307e-01] [ 1.74593681e-02 4.36411655e-03 9.99838049e-01 9.19298620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.802557844 meters Centerline goodness [0,1] 0.24912044477261863 Centerline is valid? [False, False] Translation: X:2.45, Y:0.23, Z:0.92 [[ 9.99846318e-01 5.65321347e-04 -1.75220050e-02 2.45083163e+00] [-6.49147631e-04 9.99988371e-01 -4.77873938e-03 2.26217364e-01] [ 1.75190998e-02 4.78937934e-03 9.99835058e-01 9.19384928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.832557844 meters Centerline goodness [0,1] 0.2524291009584805 Centerline is valid? [False, False] Translation: X:2.45, Y:0.23, Z:0.92 [[ 9.99841686e-01 4.52001880e-04 -1.77875808e-02 2.45162841e+00] [-5.43212398e-04 9.99986728e-01 -5.12326661e-03 2.28132759e-01] [ 1.77850290e-02 5.13211796e-03 9.99828662e-01 9.19147136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.862557844 meters Centerline goodness [0,1] 0.24679753421064132 Centerline is valid? [False, False] Translation: X:2.46, Y:0.23, Z:0.92 [[ 9.99820326e-01 1.77961254e-03 -1.88718946e-02 2.45706665e+00] [-1.85333521e-03 9.99990718e-01 -3.88970995e-03 2.29447258e-01] [ 1.88647973e-02 3.92398702e-03 9.99814344e-01 9.16043503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.892557844 meters Centerline goodness [0,1] 0.24819728558046317 Centerline is valid? [False, False] Translation: X:2.46, Y:0.23, Z:0.92 [[ 9.99815717e-01 1.66363722e-03 -1.91249536e-02 2.45793368e+00] [-1.74202358e-03 9.99990148e-01 -4.08271451e-03 2.30074550e-01] [ 1.91179730e-02 4.11527826e-03 9.99808766e-01 9.15614336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.922557844 meters Centerline goodness [0,1] 0.2484840553156219 Centerline is valid? [False, False] Translation: X:2.46, Y:0.23, Z:0.92 [[ 9.99816065e-01 1.54240264e-03 -1.91169508e-02 2.45783942e+00] [-1.62451700e-03 9.99989519e-01 -4.28058425e-03 2.30666418e-01] [ 1.91101481e-02 4.31085271e-03 9.99808091e-01 9.15706425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.952557844 meters Centerline goodness [0,1] 0.2526912305268686 Centerline is valid? [False, False] Translation: X:2.46, Y:0.23, Z:0.92 [[ 9.99819732e-01 1.43956891e-03 -1.89322826e-02 2.45716029e+00] [-1.52540012e-03 9.99988622e-01 -4.51993057e-03 2.31773348e-01] [ 1.89255604e-02 4.54799508e-03 9.99810552e-01 9.16103636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.982557844 meters Centerline goodness [0,1] 0.2474725560810518 Centerline is valid? [False, False] Translation: X:2.48, Y:0.23, Z:0.92 [[ 9.99850147e-01 -4.26683890e-03 -1.67773117e-02 2.47758720e+00] [ 4.25796548e-03 9.99990775e-01 -5.64580080e-04 2.34010855e-01] [ 1.67795659e-02 4.93058262e-04 9.99859092e-01 9.16511300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.012557844 meters Centerline goodness [0,1] 0.2494714587737844 Centerline is valid? [False, False] Translation: X:2.43, Y:0.24, Z:0.92 [[ 9.99803012e-01 -3.34622307e-03 -1.95637362e-02 2.43279517e+00] [ 3.33182612e-03 9.99994154e-01 -7.68448215e-04 2.38326941e-01] [ 1.95661933e-02 7.03113872e-04 9.99808316e-01 9.17148818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04255784400002 meters Centerline goodness [0,1] 0.24462394698659506 Centerline is valid? [False, False] Translation: X:2.45, Y:0.24, Z:0.92 [[ 0.99982133 0.00348958 -0.01857778 2.45466566] [-0.00355001 0.99998851 -0.0032209 0.23661653] [ 0.01856633 0.00328627 0.99982223 0.91718958] [ 0. 0. 0. 1. ]] SLAMing on 200.07255784400002 meters Centerline goodness [0,1] 0.2512473349891201 Centerline is valid? [False, False] Translation: X:2.43, Y:0.24, Z:0.92 [[ 9.99836814e-01 -1.85316539e-03 -1.79697440e-02 2.43064044e+00] [ 1.84809954e-03 9.99998248e-01 -2.98512120e-04 2.42753395e-01] [ 1.79702657e-02 2.65253531e-04 9.99838487e-01 9.18147668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10255784400002 meters Centerline goodness [0,1] 0.25245135843818167 Centerline is valid? [False, False] Translation: X:2.43, Y:0.25, Z:0.92 [[ 9.99841825e-01 -1.81377522e-03 -1.76927987e-02 2.42950597e+00] [ 1.80284520e-03 9.99998174e-01 -6.33697312e-04 2.45120149e-01] [ 1.76939158e-02 6.01699700e-04 9.99843269e-01 9.19001388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13255784400002 meters Centerline goodness [0,1] 0.24876495773410912 Centerline is valid? [False, False] Translation: X:2.43, Y:0.25, Z:0.92 [[ 9.99842790e-01 -1.85526374e-03 -1.76338819e-02 2.42906010e+00] [ 1.83756718e-03 9.99997792e-01 -1.01970465e-03 2.47349988e-01] [ 1.76357347e-02 9.87140904e-04 9.99843991e-01 9.19634357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16255784400002 meters Centerline goodness [0,1] 0.24188567603170152 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99878553e-01 -2.03830470e-03 -1.54507226e-02 2.47318208e+00] [ 2.02610288e-03 9.99997623e-01 -8.05337553e-04 2.46392578e-01] [ 1.54523274e-02 7.73934994e-04 9.99880306e-01 9.19567377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19255784400002 meters Centerline goodness [0,1] 0.24782390540805865 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99879750e-01 -2.30126308e-03 -1.53358704e-02 2.47310677e+00] [ 2.28078883e-03 9.99996484e-01 -1.35241228e-03 2.48488636e-01] [ 1.53389287e-02 1.31727177e-03 9.99881484e-01 9.19192473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22255784400002 meters Centerline goodness [0,1] 0.24837612799163 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99880979e-01 -2.36237103e-03 -1.52462145e-02 2.47278942e+00] [ 2.33982348e-03 9.99996143e-01 -1.49656381e-03 2.49258294e-01] [ 1.52496911e-02 1.46071223e-03 9.99882650e-01 9.19320907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25255784400002 meters Centerline goodness [0,1] 0.2488632388947184 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99883707e-01 -2.41021529e-03 -1.50586594e-02 2.47199972e+00] [ 2.38641676e-03 9.99995875e-01 -1.59815768e-03 2.49830553e-01] [ 1.50624492e-02 1.56203559e-03 9.99885335e-01 9.19898225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28255784400002 meters Centerline goodness [0,1] 0.24743875760791878 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99886694e-01 -2.63678083e-03 -1.48204897e-02 2.47071088e+00] [ 2.61118587e-03 9.99995066e-01 -1.74608310e-03 2.50048711e-01] [ 1.48250206e-02 1.70718620e-03 9.99888646e-01 9.21090331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.312557844 meters Centerline goodness [0,1] 0.24961131670571746 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99885419e-01 -2.67457993e-03 -1.48995164e-02 2.47102035e+00] [ 2.64836682e-03 9.99994911e-01 -1.77877869e-03 2.50118437e-01] [ 1.49041980e-02 1.73911549e-03 9.99887414e-01 9.20879092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342557844 meters Centerline goodness [0,1] 0.24345680081397614 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99881661e-01 -2.73124779e-03 -1.51394998e-02 2.47182139e+00] [ 2.70342420e-03 9.99994620e-01 -1.85797519e-03 2.50557681e-01] [ 1.51444929e-02 1.81682683e-03 9.99883665e-01 9.20498918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.372557844 meters Centerline goodness [0,1] 0.24771000651182984 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99883515e-01 -2.82194120e-03 -1.49997659e-02 2.47165455e+00] [ 2.79092214e-03 9.99993924e-01 -2.08850013e-03 2.52027217e-01] [ 1.50055684e-02 2.04639367e-03 9.99885316e-01 9.20246996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402557844 meters Centerline goodness [0,1] 0.24986897274633124 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99886397e-01 -2.90435044e-03 -1.47904487e-02 2.47086208e+00] [ 2.87167859e-03 9.99993391e-01 -2.22974197e-03 2.52573207e-01] [ 1.47968269e-02 2.18701525e-03 9.99888129e-01 9.20703258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.432557844 meters Centerline goodness [0,1] 0.24844680019116305 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99888625e-01 -2.97256910e-03 -1.46253876e-02 2.47025763e+00] [ 2.93908684e-03 9.99993012e-01 -2.31028604e-03 2.52741392e-01] [ 1.46321529e-02 2.26704345e-03 9.99890374e-01 9.21030523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.462557844 meters Centerline goodness [0,1] 0.24918862780734774 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99887133e-01 -3.00251696e-03 -1.47209213e-02 2.47048544e+00] [ 2.96831746e-03 9.99992846e-01 -2.34448943e-03 2.52799580e-01] [ 1.47278554e-02 2.30052845e-03 9.99888893e-01 9.21035107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.492557844 meters Centerline goodness [0,1] 0.24489265927977844 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99885923e-01 -3.07045186e-03 -1.47889352e-02 2.47096215e+00] [ 3.03427253e-03 9.99992351e-01 -2.46819584e-03 2.53290861e-01] [ 1.47964005e-02 2.42304061e-03 9.99887591e-01 9.20532444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.522557844 meters Centerline goodness [0,1] 0.24970625353583709 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 0.99988234 -0.00313315 -0.01501607 2.47210404] [ 0.00309407 0.99999177 -0.00262508 0.25417442] [ 0.01502417 0.00257831 0.99988381 0.91954353] [ 0. 0. 0. 1. ]] SLAMing on 200.552557844 meters Centerline goodness [0,1] 0.24753595439611842 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 0.99988108 -0.00313806 -0.01509919 2.47231105] [ 0.00309809 0.99999164 -0.00266983 0.25453402] [ 0.01510745 0.00262273 0.99988244 0.9195617 ] [ 0. 0. 0. 1. ]] SLAMing on 200.582557844 meters Centerline goodness [0,1] 0.24416213993550762 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 0.99988069 -0.00311672 -0.01512902 2.47216978] [ 0.00307711 0.99999178 -0.0026405 0.25444232] [ 0.01513713 0.00259364 0.99988206 0.91994836] [ 0. 0. 0. 1. ]] SLAMing on 200.612557844 meters Centerline goodness [0,1] 0.24857763300760038 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99880410e-01 -3.06833672e-03 -1.51575688e-02 2.47181310e+00] [ 3.03101761e-03 9.99992320e-01 -2.48443739e-03 2.53510597e-01] [ 1.51650755e-02 2.43819742e-03 9.99882031e-01 9.20646610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642557844 meters Centerline goodness [0,1] 0.25319004574405213 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99880439e-01 -3.00118612e-03 -1.51690818e-02 2.47196176e+00] [ 2.96669132e-03 9.99992964e-01 -2.29601122e-03 2.52530326e-01] [ 1.51758658e-02 2.25073472e-03 9.99882307e-01 9.20403507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.672557844 meters Centerline goodness [0,1] 0.2502390888541123 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99884006e-01 -2.91375450e-03 -1.49493818e-02 2.47172238e+00] [ 2.88407150e-03 9.99993828e-01 -2.00674168e-03 2.50999411e-01] [ 1.49551367e-02 1.96339382e-03 9.99886238e-01 9.19796971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702557844 meters Centerline goodness [0,1] 0.25343172783378354 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:0.92 [[ 9.99884626e-01 -2.86645888e-03 -1.49170429e-02 2.47169526e+00] [ 2.83818729e-03 9.99994137e-01 -1.91607932e-03 2.50604912e-01] [ 1.49224478e-02 1.87352089e-03 9.99886899e-01 9.19685647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.732557844 meters Centerline goodness [0,1] 0.2448360318182803 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:0.92 [[ 0.999879 0.00478523 -0.01480177 2.49123002] [-0.00482577 0.9999847 -0.00270451 0.24422062] [ 0.0147886 0.00277561 0.99988679 0.92091012] [ 0. 0. 0. 1. ]] SLAMing on 200.762557844 meters Centerline goodness [0,1] 0.24265308764510418 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:0.92 [[ 9.99869507e-01 4.95002374e-03 -1.53774559e-02 2.49290135e+00] [-4.98821067e-03 9.99984567e-01 -2.44594409e-03 2.43277309e-01] [ 1.53651111e-02 2.52233090e-03 9.99878768e-01 9.20541180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79255784400002 meters Centerline goodness [0,1] 0.24265308764510418 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:0.92 [[ 9.99869507e-01 4.95002374e-03 -1.53774559e-02 2.49290135e+00] [-4.98821067e-03 9.99984567e-01 -2.44594409e-03 2.43277309e-01] [ 1.53651111e-02 2.52233090e-03 9.99878768e-01 9.20541180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82255784400002 meters Centerline goodness [0,1] 0.24434957852081396 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:0.92 [[ 9.99868235e-01 5.01688759e-03 -1.54383630e-02 2.49306907e+00] [-5.05325571e-03 9.99984547e-01 -2.31759068e-03 2.42711151e-01] [ 1.54264974e-02 2.39529930e-03 9.99878135e-01 9.20504513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85255784400002 meters Centerline goodness [0,1] 0.24978772506585967 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:0.92 [[ 9.99870289e-01 5.06436679e-03 -1.52891291e-02 2.49256985e+00] [-5.09897430e-03 9.99984524e-01 -2.22540446e-03 2.42231058e-01] [ 1.52776222e-02 2.30307468e-03 9.99880638e-01 9.20697892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88255784400002 meters Centerline goodness [0,1] 0.2531306296410212 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:0.92 [[ 9.99875502e-01 5.10537040e-03 -1.49303506e-02 2.49147262e+00] [-5.13699964e-03 9.99984640e-01 -2.08086906e-03 2.41347751e-01] [ 1.49194977e-02 2.15730720e-03 9.99886371e-01 9.20986378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91255784400002 meters Centerline goodness [0,1] 0.24991265612717273 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:0.92 [[ 9.99903356e-01 -3.66819693e-03 -1.34098117e-02 2.51088819e+00] [ 3.65459361e-03 9.99992782e-01 -1.03879439e-03 2.41933538e-01] [ 1.34135254e-02 9.89686581e-04 9.99909545e-01 9.22001850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94255784400002 meters Centerline goodness [0,1] 0.2522558037669733 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:0.92 [[ 9.99905815e-01 -3.46697797e-03 -1.32793885e-02 2.51070042e+00] [ 3.46182999e-03 9.99993924e-01 -4.10633781e-04 2.38741224e-01] [ 1.32807315e-02 3.64624119e-04 9.99911741e-01 9.21639216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97255784400002 meters Centerline goodness [0,1] 0.24476626235593735 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:0.92 [[ 9.99892698e-01 3.85767717e-03 -1.41318921e-02 2.53016194e+00] [-3.87351343e-03 9.99991900e-01 -1.09340400e-03 2.31683261e-01] [ 1.41275597e-02 1.14802675e-03 9.99899542e-01 9.23043317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00255784400002 meters Centerline goodness [0,1] 0.2521421980050095 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:0.92 [[ 9.99841444e-01 4.70063014e-03 -1.71752945e-02 2.48550029e+00] [-4.71930100e-03 9.99988316e-01 -1.04670734e-03 2.34658626e-01] [ 1.71701736e-02 1.12759676e-03 9.99851946e-01 9.23752946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03255784400002 meters Centerline goodness [0,1] 0.24134669131874276 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:0.92 [[ 9.99889746e-01 3.22210135e-03 -1.44953265e-02 2.52851290e+00] [-3.23953632e-03 9.99994057e-01 -1.17947964e-03 2.28021652e-01] [ 1.44914399e-02 1.22630773e-03 9.99894242e-01 9.24162179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062557844 meters Centerline goodness [0,1] 0.24858159853306006 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:0.92 [[ 9.99895642e-01 3.27423655e-03 -1.40707199e-02 2.52701089e+00] [-3.28748194e-03 9.99994175e-01 -9.18317650e-04 2.26384635e-01] [ 1.40676311e-02 9.64479053e-04 9.99900581e-01 9.24805954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092557844 meters Centerline goodness [0,1] 0.24422222699083707 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:0.93 [[ 9.99899369e-01 3.32751550e-03 -1.37905664e-02 2.52599759e+00] [-3.33710317e-03 9.99994206e-01 -6.72281211e-04 2.24946426e-01] [ 1.37882495e-02 7.18234102e-04 9.99904680e-01 9.25225190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122557844 meters Centerline goodness [0,1] 0.25111833635193226 Centerline is valid? [False, False] Translation: X:2.48, Y:0.23, Z:0.93 [[ 9.99859546e-01 4.16904442e-03 -1.62329279e-02 2.47954165e+00] [-4.17848495e-03 9.99991120e-01 -5.47693428e-04 2.28067068e-01] [ 1.62305004e-02 6.15445547e-04 9.99868087e-01 9.26438054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152557844 meters Centerline goodness [0,1] 0.24411656851959707 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99871472e-01 -2.89926187e-03 -1.57680967e-02 2.50207578e+00] [ 2.93484403e-03 9.99993198e-01 2.23391996e-03 2.27520897e-01] [ 1.57615127e-02 -2.27990974e-03 9.99873180e-01 9.26212969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.182557844 meters Centerline goodness [0,1] 0.2508705459801581 Centerline is valid? [False, False] Translation: X:2.46, Y:0.23, Z:0.93 [[ 9.99820871e-01 -2.12533496e-03 -1.88071342e-02 2.45856842e+00] [ 2.16563169e-03 9.99995402e-01 2.12252290e-03 2.29834305e-01] [ 1.88025366e-02 -2.16287202e-03 9.99820877e-01 9.25965823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.212557844 meters Centerline goodness [0,1] 0.24343866010532678 Centerline is valid? [False, False] Translation: X:2.48, Y:0.22, Z:0.93 [[ 9.99823455e-01 5.29353639e-03 -1.80288182e-02 2.47732800e+00] [-5.28162612e-03 9.99985801e-01 7.08175077e-04 2.23736542e-01] [ 1.80323109e-02 -6.12828575e-04 9.99837217e-01 9.27771272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.242557844 meters Centerline goodness [0,1] 0.2495731734010419 Centerline is valid? [False, False] Translation: X:2.46, Y:0.23, Z:0.93 [[ 9.99841407e-01 -2.36457816e-03 -1.76513567e-02 2.45693748e+00] [ 2.39104175e-03 9.99996049e-01 1.47828417e-03 2.31234274e-01] [ 1.76477914e-02 -1.52025486e-03 9.99843110e-01 9.27128793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.272557844 meters Centerline goodness [0,1] 0.24797178893624383 Centerline is valid? [False, False] Translation: X:2.48, Y:0.23, Z:0.93 [[ 9.99850064e-01 6.55657948e-03 -1.60268734e-02 2.47865161e+00] [-6.53358499e-03 9.99977551e-01 1.48668539e-03 2.29230562e-01] [ 1.60362612e-02 -1.38174954e-03 9.99870456e-01 9.26820080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.302557844 meters Centerline goodness [0,1] 0.24848907992058122 Centerline is valid? [False, False] Translation: X:2.48, Y:0.23, Z:0.93 [[ 9.99849587e-01 6.46423670e-03 -1.60940121e-02 2.47897049e+00] [-6.44580668e-03 9.99978509e-01 1.19675774e-03 2.30658131e-01] [ 1.61014024e-02 -1.09283885e-03 9.99869767e-01 9.26587742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.332557844 meters Centerline goodness [0,1] 0.2444039167155171 Centerline is valid? [False, False] Translation: X:2.48, Y:0.23, Z:0.93 [[ 9.99848908e-01 6.34464010e-03 -1.61835196e-02 2.47934339e+00] [-6.33083567e-03 9.99979551e-01 9.04081964e-04 2.31861511e-01] [ 1.61889247e-02 -8.01490161e-04 9.99868630e-01 9.26353099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362557844 meters Centerline goodness [0,1] 0.2500712359993863 Centerline is valid? [False, False] Translation: X:2.48, Y:0.23, Z:0.93 [[ 9.99846617e-01 6.22456955e-03 -1.63705948e-02 2.47984100e+00] [-6.21549670e-03 9.99980501e-01 6.05037114e-04 2.33219731e-01] [ 1.63740416e-02 -5.03192934e-04 9.99865810e-01 9.26255956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.392557844 meters Centerline goodness [0,1] 0.24900480737856479 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:0.93 [[ 9.99867668e-01 -1.92965273e-03 -1.61531105e-02 2.49913118e+00] [ 1.96663834e-03 9.99995480e-01 2.27411820e-03 2.36528982e-01] [ 1.61486492e-02 -2.30558459e-03 9.99866944e-01 9.28456232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422557844 meters Centerline goodness [0,1] 0.2496934396076027 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:0.93 [[ 9.99870471e-01 -1.90213401e-03 -1.59819519e-02 2.49851174e+00] [ 1.94040843e-03 9.99995286e-01 2.37968702e-03 2.36038779e-01] [ 1.59773501e-02 -2.41039029e-03 9.99869449e-01 9.28768531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.452557844 meters Centerline goodness [0,1] 0.24960164145548203 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:0.93 [[ 9.99874254e-01 -1.89195517e-03 -1.57447171e-02 2.49765092e+00] [ 1.93202503e-03 9.99994933e-01 2.53015047e-03 2.35105078e-01] [ 1.57398504e-02 -2.56025150e-03 9.99872843e-01 9.29198574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482557844 meters Centerline goodness [0,1] 0.2488856030789971 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99884669e-01 -2.23306877e-03 -1.50220781e-02 2.49555974e+00] [ 2.27232194e-03 9.99994047e-01 2.59647172e-03 2.33125238e-01] [ 1.50161906e-02 -2.63030726e-03 9.99883791e-01 9.29600177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.512557844 meters Centerline goodness [0,1] 0.2507758206215307 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99883912e-01 -2.11267276e-03 -1.50897299e-02 2.49597307e+00] [ 2.15795080e-03 9.99993217e-01 2.98493421e-03 2.31225630e-01] [ 1.50833214e-02 -3.01715058e-03 9.99881688e-01 9.29057704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54255784400002 meters Centerline goodness [0,1] 0.24983032293377117 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99881438e-01 -1.97364177e-03 -1.52713920e-02 2.49654994e+00] [ 2.02530843e-03 9.99992276e-01 3.36850604e-03 2.29435898e-01] [ 1.52646258e-02 -3.39903594e-03 9.99877711e-01 9.28780815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57255784400002 meters Centerline goodness [0,1] 0.24626234132581104 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99879600e-01 -1.83359119e-03 -1.54085576e-02 2.49698142e+00] [ 1.89071386e-03 9.99991392e-01 3.69345506e-03 2.28045408e-01] [ 1.54016527e-02 -3.72214354e-03 9.99874459e-01 9.28596573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60255784400002 meters Centerline goodness [0,1] 0.24903846153846154 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99881140e-01 -1.77407051e-03 -1.53153024e-02 2.49621102e+00] [ 1.83194843e-03 9.99991231e-01 3.76588945e-03 2.27713013e-01] [ 1.53084871e-02 -3.79349868e-03 9.99875622e-01 9.29581641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63255784400002 meters Centerline goodness [0,1] 0.24748407850979204 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99880442e-01 -1.78806288e-03 -1.53592033e-02 2.49613501e+00] [ 1.84494470e-03 9.99991490e-01 3.69006502e-03 2.28069570e-01] [ 1.53524745e-02 -3.71796073e-03 9.99875231e-01 9.29914433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66255784400002 meters Centerline goodness [0,1] 0.24549583485804072 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99864659e-01 5.84258448e-03 -1.53794696e-02 2.51551055e+00] [-5.80437358e-03 9.99979959e-01 2.52800534e-03 2.22989849e-01] [ 1.53939315e-02 -2.43839501e-03 9.99878533e-01 9.31588350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69255784400002 meters Centerline goodness [0,1] 0.2487987069718679 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99859042e-01 -2.30090336e-03 -1.66313809e-02 2.49586115e+00] [ 2.35793585e-03 9.99991405e-01 3.41041418e-03 2.28600012e-01] [ 1.66233909e-02 -3.44914918e-03 9.99855873e-01 9.30155049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72255784400002 meters Centerline goodness [0,1] 0.2483246463142219 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99860888e-01 -2.25616952e-03 -1.65261685e-02 2.49569440e+00] [ 2.31590731e-03 9.99990851e-01 3.59649374e-03 2.27685310e-01] [ 1.65179030e-02 -3.63426650e-03 9.99856965e-01 9.29925744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75255784400002 meters Centerline goodness [0,1] 0.24926443345029747 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.93 [[ 9.99862909e-01 -2.20217106e-03 -1.64107508e-02 2.49537532e+00] [ 2.26654380e-03 9.99989807e-01 3.90502938e-03 2.26025036e-01] [ 1.64019840e-02 -3.94168972e-03 9.99857709e-01 9.29894641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78255784400002 meters Centerline goodness [0,1] 0.2470239383576469 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:0.93 [[ 9.99864706e-01 -2.12955039e-03 -1.63105489e-02 2.49503386e+00] [ 2.19907899e-03 9.99988567e-01 4.24605145e-03 2.24265086e-01] [ 1.63013203e-02 -4.28134517e-03 9.99857958e-01 9.29963941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812557844 meters Centerline goodness [0,1] 0.24674260074208298 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:0.93 [[ 9.99864397e-01 -2.33808381e-03 -1.63009639e-02 2.49522254e+00] [ 2.41544989e-03 9.99985906e-01 4.72803252e-03 2.20789667e-01] [ 1.62896796e-02 -4.76676554e-03 9.99855952e-01 9.29409829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842557844 meters Centerline goodness [0,1] 0.2442489705279952 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:0.93 [[ 9.99864238e-01 -2.21922834e-03 -1.63272884e-02 2.49556004e+00] [ 2.30350490e-03 9.99984113e-01 5.14470518e-03 2.18638019e-01] [ 1.63156117e-02 -5.18161672e-03 9.99853465e-01 9.28883208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872557844 meters Centerline goodness [0,1] 0.24766273481869816 Centerline is valid? [False, False] Translation: X:2.48, Y:0.21, Z:0.93 [[ 0.99982754 0.00647667 -0.01740519 2.47549532] [-0.00640413 0.99997059 0.00422015 0.21408981] [ 0.01743201 -0.00410796 0.99983961 0.92713205] [ 0. 0. 0. 1. ]] SLAMing on 201.902557844 meters Centerline goodness [0,1] 0.24750451253724204 Centerline is valid? [False, False] Translation: X:2.48, Y:0.21, Z:0.93 [[ 0.99982252 0.00661729 -0.01763937 2.47616759] [-0.00654016 0.99996882 0.00442657 0.21355856] [ 0.01766811 -0.00431042 0.99983462 0.92700745] [ 0. 0. 0. 1. ]] SLAMing on 201.932557844 meters Centerline goodness [0,1] 0.2458324312621779 Centerline is valid? [False, False] Translation: X:2.48, Y:0.21, Z:0.93 [[ 0.99981417 0.00710939 -0.01791864 2.47680982] [-0.00702502 0.99996396 0.004767 0.21319766] [ 0.01795188 -0.00464024 0.99982808 0.92727495] [ 0. 0. 0. 1. ]] SLAMing on 201.962557844 meters Centerline goodness [0,1] 0.24570067143166563 Centerline is valid? [False, False] Translation: X:2.48, Y:0.21, Z:0.93 [[ 9.99827726e-01 4.24451461e-03 -1.80693808e-02 2.47715985e+00] [-4.21658458e-03 9.99989856e-01 1.58352902e-03 2.13023913e-01] [ 1.80759188e-02 -1.50706515e-03 9.99835481e-01 9.27463316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.992557844 meters Centerline goodness [0,1] 0.24943310657596374 Centerline is valid? [False, False] Translation: X:2.47, Y:0.21, Z:0.93 [[ 9.99838737e-01 4.16651552e-03 -1.74682340e-02 2.47461545e+00] [-4.14373765e-03 9.99990517e-01 1.33995153e-03 2.12946166e-01] [ 1.74736512e-02 -1.26735167e-03 9.99846521e-01 9.28979241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.022557844 meters Centerline goodness [0,1] 0.24962102071753411 Centerline is valid? [False, False] Translation: X:2.47, Y:0.21, Z:0.93 [[ 9.99846100e-01 4.25604379e-03 -1.70194707e-02 2.47308155e+00] [-4.23281333e-03 9.99990061e-01 1.40072435e-03 2.12875716e-01] [ 1.70252631e-02 -1.32846854e-03 9.99854177e-01 9.29747751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.052557844 meters Centerline goodness [0,1] 0.24875708678587005 Centerline is valid? [False, False] Translation: X:2.49, Y:0.21, Z:0.93 [[ 0.99988079 -0.00384867 -0.01495325 2.49135696] [ 0.00389474 0.99998776 0.00305293 0.21434351] [ 0.01494132 -0.0031108 0.99988353 0.93126633] [ 0. 0. 0. 1. ]] SLAMing on 202.082557844 meters Centerline goodness [0,1] 0.2467484689129823 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:0.93 [[ 9.99839088e-01 1.77292193e-03 -1.78508957e-02 2.51329526e+00] [-1.74630073e-03 9.99997340e-01 1.50678647e-03 2.05258278e-01] [ 1.78535196e-02 -1.47537098e-03 9.99839525e-01 9.32368516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.112557844 meters Centerline goodness [0,1] 0.2454291105472054 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.93 [[ 9.99831287e-01 1.87314679e-03 -1.82726491e-02 2.51499273e+00] [-1.84036564e-03 9.99996667e-01 1.81065116e-03 2.03740601e-01] [ 1.82759798e-02 -1.77671732e-03 9.99831402e-01 9.31215188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.142557844 meters Centerline goodness [0,1] 0.24607602631179037 Centerline is valid? [False, False] Translation: X:2.52, Y:0.20, Z:0.93 [[ 9.99824970e-01 1.93227832e-03 -1.86090287e-02 2.51618132e+00] [-1.89663254e-03 9.99996333e-01 1.93296810e-03 2.03207685e-01] [ 1.86126955e-02 -1.89733528e-03 9.99824969e-01 9.30607386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.172557844 meters Centerline goodness [0,1] 0.24673995863720477 Centerline is valid? [False, False] Translation: X:2.52, Y:0.20, Z:0.93 [[ 9.99825419e-01 2.00015477e-03 -1.85777174e-02 2.51591351e+00] [-1.96682977e-03 9.99996424e-01 1.81191339e-03 2.04192538e-01] [ 1.85812751e-02 -1.77505786e-03 9.99825778e-01 9.31020148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.202557844 meters Centerline goodness [0,1] 0.24444492431276854 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:0.93 [[ 9.99827498e-01 1.92186624e-03 -1.84737968e-02 2.51532670e+00] [-1.89399844e-03 9.99997042e-01 1.52588218e-03 2.05595423e-01] [ 1.84766747e-02 -1.49062962e-03 9.99828180e-01 9.31627162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.232557844 meters Centerline goodness [0,1] 0.24680473116416102 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:0.93 [[ 9.99830584e-01 1.79042736e-03 -1.83193073e-02 2.51485461e+00] [-1.76967903e-03 9.99997774e-01 1.14874197e-03 2.07369279e-01] [ 1.83213233e-02 -1.11612806e-03 9.99831527e-01 9.31817281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.262557844 meters Centerline goodness [0,1] 0.244528855699918 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:0.93 [[ 9.99831285e-01 1.68561544e-03 -1.82909796e-02 2.51505884e+00] [-1.67444862e-03 9.99998402e-01 6.25807204e-04 2.10466906e-01] [ 1.82920052e-02 -5.95074315e-04 9.99832510e-01 9.31407978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29255784400002 meters Centerline goodness [0,1] 0.24634299172446572 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:0.93 [[ 9.99832171e-01 1.60976231e-03 -1.82493248e-02 2.51510039e+00] [-1.60211690e-03 9.99998623e-01 4.33554144e-04 2.11478121e-01] [ 1.82499976e-02 -4.04243830e-04 9.99833373e-01 9.31166292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32255784400002 meters Centerline goodness [0,1] 0.2462062088102671 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:0.93 [[ 9.99832777e-01 1.54875890e-03 -1.82214019e-02 2.51522093e+00] [-1.54275815e-03 9.99998751e-01 3.43376180e-04 2.11836046e-01] [ 1.82219109e-02 -3.15207543e-04 9.99833918e-01 9.30834626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35255784400002 meters Centerline goodness [0,1] 0.24236076619085667 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:0.93 [[ 9.99831541e-01 1.44472624e-03 -1.82975981e-02 2.51552683e+00] [-1.44081491e-03 9.99998936e-01 2.26943327e-04 2.12051348e-01] [ 1.82979066e-02 -2.00541644e-04 9.99832559e-01 9.30583691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38255784400002 meters Centerline goodness [0,1] 0.2460531466098378 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:0.93 [[ 9.99824451e-01 1.30221419e-03 -1.86915001e-02 2.51675131e+00] [-1.30100951e-03 9.99999151e-01 7.66104506e-05 2.12463370e-01] [ 1.86915840e-02 -5.22791823e-05 9.99825296e-01 9.30098208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41255784400002 meters Centerline goodness [0,1] 0.24783282747778235 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:0.93 [[ 9.99820941e-01 1.25858064e-03 -1.88812841e-02 2.51729096e+00] [-1.26021301e-03 9.99999203e-01 -7.45563903e-05 2.13464265e-01] [ 1.88811752e-02 9.83374802e-05 9.99821730e-01 9.29996835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44255784400002 meters Centerline goodness [0,1] 0.24523327014011465 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:0.93 [[ 9.99818147e-01 1.17865643e-03 -1.90337668e-02 2.51775034e+00] [-1.18517293e-03 9.99999243e-01 -3.31088769e-04 2.14927620e-01] [ 1.90333621e-02 3.53586864e-04 9.99818787e-01 9.29901403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47255784400002 meters Centerline goodness [0,1] 0.24367806069061737 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99817619e-01 1.10225523e-03 -1.90660580e-02 2.51786406e+00] [-1.11253261e-03 9.99999242e-01 -5.28442289e-04 2.15958127e-01] [ 1.90654611e-02 5.49557522e-04 9.99818087e-01 9.29846134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50255784400002 meters Centerline goodness [0,1] 0.24825473246525875 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99822866e-01 9.82792316e-04 -1.87954988e-02 2.51692661e+00] [-9.97762754e-04 9.99999192e-01 -7.87129606e-04 2.17105216e-01] [ 1.87947101e-02 8.05743627e-04 9.99823039e-01 9.30307028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53255784400002 meters Centerline goodness [0,1] 0.24509590235396683 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99826375e-01 9.42127907e-04 -1.86100139e-02 2.51635191e+00] [-9.58091767e-04 9.99999181e-01 -8.48912998e-04 2.17365170e-01] [ 1.86091988e-02 8.66595706e-04 9.99826458e-01 9.30507232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562557844 meters Centerline goodness [0,1] 0.24985827046356457 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99830476e-01 9.26881811e-04 -1.83891392e-02 2.51568006e+00] [-9.42622040e-04 9.99999197e-01 -8.47303179e-04 2.17285983e-01] [ 1.83883390e-02 8.64493549e-04 9.99830546e-01 9.30668604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.592557844 meters Centerline goodness [0,1] 0.2454350044510064 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99833958e-01 9.35790941e-04 -1.81983671e-02 2.51501010e+00] [-9.50272343e-04 9.99999239e-01 -7.87121644e-04 2.17062511e-01] [ 1.81976166e-02 8.04284353e-04 9.99834086e-01 9.30968541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622557844 meters Centerline goodness [0,1] 0.2466767074847751 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99831949e-01 9.24780478e-04 -1.83089497e-02 2.51525743e+00] [-9.39913513e-04 9.99999224e-01 -8.17949694e-04 2.17295708e-01] [ 1.83081790e-02 8.35021066e-04 9.99832043e-01 9.31011731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.652557844 meters Centerline goodness [0,1] 0.24821252869793375 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99830168e-01 9.03489060e-04 -1.84070305e-02 2.51556254e+00] [-9.19465539e-04 9.99999208e-01 -8.59510721e-04 2.17467273e-01] [ 1.84062393e-02 8.76289379e-04 9.99830207e-01 9.30915966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.682557844 meters Centerline goodness [0,1] 0.24821252869793375 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99830168e-01 9.03489060e-04 -1.84070305e-02 2.51556254e+00] [-9.19465539e-04 9.99999208e-01 -8.59510721e-04 2.17467273e-01] [ 1.84062393e-02 8.76289379e-04 9.99830207e-01 9.30915966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.712557844 meters Centerline goodness [0,1] 0.24679063927434897 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:0.93 [[ 9.99828567e-01 8.29834122e-04 -1.84972236e-02 2.51577664e+00] [-8.48777111e-04 9.99999123e-01 -1.01627192e-03 2.18069495e-01] [ 1.84963641e-02 1.03179772e-03 9.99828395e-01 9.30933047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.742557844 meters Centerline goodness [0,1] 0.2468671405139421 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:0.93 [[ 9.99836866e-01 8.18820840e-04 -1.80435857e-02 2.51428529e+00] [-8.44478803e-04 9.99998643e-01 -1.41442567e-03 2.20163371e-01] [ 1.80424030e-02 1.42943235e-03 9.99836201e-01 9.31733455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.772557844 meters Centerline goodness [0,1] 0.24500129276911142 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:0.93 [[ 9.99879769e-01 1.17805266e-03 -1.54615515e-02 2.55703580e+00] [-1.18778423e-03 9.99999102e-01 -6.20236128e-04 2.18356415e-01] [ 1.54608069e-02 6.38526544e-04 9.99880271e-01 9.32374633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.802557844 meters Centerline goodness [0,1] 0.24504768892149675 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:0.93 [[ 9.99878995e-01 1.11361896e-03 -1.55163153e-02 2.55723267e+00] [-1.12733935e-03 9.99998981e-01 -8.75536723e-04 2.19712806e-01] [ 1.55153245e-02 8.92922931e-04 9.99879231e-01 9.32296070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.832557844 meters Centerline goodness [0,1] 0.24689403959150924 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:0.93 [[ 9.99876578e-01 1.10927177e-03 -1.56715908e-02 2.55784497e+00] [-1.12498475e-03 9.99998873e-01 -9.93860533e-04 2.20485202e-01] [ 1.56704707e-02 1.01136817e-03 9.99876699e-01 9.31910686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.862557844 meters Centerline goodness [0,1] 0.24847370839624494 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:0.93 [[ 9.99877832e-01 1.11728785e-03 -1.55907901e-02 2.55758334e+00] [-1.13215358e-03 9.99998913e-01 -9.44700945e-04 2.20218682e-01] [ 1.55897177e-02 9.62236702e-04 9.99878010e-01 9.31952094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.892557844 meters Centerline goodness [0,1] 0.24767895878524948 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.93 [[ 9.99858714e-01 -7.58844260e-03 -1.49989023e-02 2.57773568e+00] [ 7.59237610e-03 9.99971156e-01 2.05327224e-04 2.22101940e-01] [ 1.49969116e-02 -3.19175522e-04 9.99887489e-01 9.33491604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.922557844 meters Centerline goodness [0,1] 0.24646070460704605 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.93 [[ 9.99857493e-01 -7.67450679e-03 -1.50364564e-02 2.57791854e+00] [ 7.68122312e-03 9.99970423e-01 3.88967634e-04 2.20628331e-01] [ 1.50330265e-02 -5.04410580e-04 9.99886870e-01 9.33223534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.952557844 meters Centerline goodness [0,1] 0.25169168374881523 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:0.93 [[ 9.99865410e-01 -5.01645459e-04 -1.63984647e-02 2.55539396e+00] [ 4.67919022e-04 9.99997768e-01 -2.06045476e-03 2.18937443e-01] [ 1.63994617e-02 2.05250429e-03 9.99863413e-01 9.33261067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.982557844 meters Centerline goodness [0,1] 0.2472683827522537 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.93 [[ 9.99831853e-01 -9.46770970e-03 -1.57043976e-02 2.57700359e+00] [ 9.44962012e-03 9.99954600e-01 -1.22568639e-03 2.19774026e-01] [ 1.57152891e-02 1.07707971e-03 9.99875927e-01 9.33599538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.012557844 meters Centerline goodness [0,1] 0.24992372401168117 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.93 [[ 9.99832832e-01 -9.39970712e-03 -1.56828830e-02 2.57703774e+00] [ 9.38486831e-03 9.99955441e-01 -1.01950784e-03 2.18819684e-01] [ 1.56917672e-02 8.72155623e-04 9.99876496e-01 9.33407795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04255784400002 meters Centerline goodness [0,1] 0.24710107303565243 Centerline is valid? [False, False] Translation: X:2.60, Y:0.21, Z:0.93 [[ 9.99889406e-01 -1.47121191e-03 -1.47990220e-02 2.59575350e+00] [ 1.44628883e-03 9.99997518e-01 -1.69466502e-03 2.12912999e-01] [ 1.48014785e-02 1.67307394e-03 9.99889052e-01 9.34410497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07255784400002 meters Centerline goodness [0,1] 0.25320259717469507 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:0.94 [[ 9.99858339e-01 -1.60203462e-03 -1.67551492e-02 2.54805105e+00] [ 1.56054511e-03 9.99995685e-01 -2.48900588e-03 2.15078929e-01] [ 1.67590644e-02 2.46250612e-03 9.99856525e-01 9.36145611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10255784400002 meters Centerline goodness [0,1] 0.24555620192618444 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.94 [[ 0.9998817 -0.00285275 -0.01511421 2.59326641] [ 0.00281263 0.99999247 -0.00267511 0.2101129 ] [ 0.01512173 0.00263229 0.9998822 0.93576692] [ 0. 0. 0. 1. ]] SLAMing on 203.13255784400002 meters Centerline goodness [0,1] 0.24882088287074267 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.93 [[ 9.99878072e-01 -2.62169244e-03 -1.53937398e-02 2.59445694e+00] [ 2.59006234e-03 9.99994494e-01 -2.07431509e-03 2.07383662e-01] [ 1.53990933e-02 2.03419143e-03 9.99879358e-01 9.34783470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16255784400002 meters Centerline goodness [0,1] 0.24985309160554547 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.93 [[ 9.99878458e-01 -2.49886471e-03 -1.53891212e-02 2.59440237e+00] [ 2.47122696e-03 9.99995300e-01 -1.81468210e-03 2.06266712e-01] [ 1.53935835e-02 1.77643152e-03 9.99879934e-01 9.34823280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19255784400002 meters Centerline goodness [0,1] 0.24707965366095908 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.94 [[ 9.99880422e-01 -2.40371245e-03 -1.52762397e-02 2.59386840e+00] [ 2.37945103e-03 9.99995879e-01 -1.60615721e-03 2.05228409e-01] [ 1.52800375e-02 1.56961608e-03 9.99882021e-01 9.35220239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22255784400002 meters Centerline goodness [0,1] 0.2501194042811862 Centerline is valid? [False, False] Translation: X:2.59, Y:0.20, Z:0.94 [[ 9.99882829e-01 -2.33135790e-03 -1.51291810e-02 2.59311508e+00] [ 2.31051610e-03 9.99996358e-01 -1.39492232e-03 2.04018703e-01] [ 1.51323780e-02 1.35980266e-03 9.99884574e-01 9.35824736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25255784400002 meters Centerline goodness [0,1] 0.24932243446586155 Centerline is valid? [False, False] Translation: X:2.59, Y:0.20, Z:0.94 [[ 9.99881970e-01 -2.12640985e-03 -1.52159457e-02 2.59302318e+00] [ 2.11304621e-03 9.99997368e-01 -8.94288119e-04 2.01633782e-01] [ 1.52178073e-02 8.62030570e-04 9.99883831e-01 9.36307939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28255784400002 meters Centerline goodness [0,1] 0.24873328259214966 Centerline is valid? [False, False] Translation: X:2.59, Y:0.20, Z:0.94 [[ 9.99879358e-01 -1.98393222e-03 -1.54056375e-02 2.59365986e+00] [ 1.97497743e-03 9.99997872e-01 -5.96458632e-04 2.00528864e-01] [ 1.54067881e-02 5.65960887e-04 9.99881148e-01 9.35975182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.312557844 meters Centerline goodness [0,1] 0.24659290977459947 Centerline is valid? [False, False] Translation: X:2.59, Y:0.20, Z:0.94 [[ 9.99879153e-01 -1.84173731e-03 -1.54365513e-02 2.59397304e+00] [ 1.83747230e-03 9.99998270e-01 -2.90471572e-04 1.99319349e-01] [ 1.54370595e-02 2.62072234e-04 9.99880807e-01 9.35517720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342557844 meters Centerline goodness [0,1] 0.2483853430466456 Centerline is valid? [False, False] Translation: X:2.59, Y:0.20, Z:0.94 [[ 9.99882435e-01 -1.73684968e-03 -1.52347920e-02 2.59355443e+00] [ 1.73691962e-03 9.99998492e-01 -8.64069860e-06 1.97933088e-01] [ 1.52347840e-02 -1.78219263e-05 9.99883944e-01 9.35339583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.372557844 meters Centerline goodness [0,1] 0.2508062407391266 Centerline is valid? [False, False] Translation: X:2.59, Y:0.20, Z:0.94 [[ 9.99898417e-01 -2.06503858e-03 -1.41028802e-02 2.59008641e+00] [ 2.06490059e-03 9.99997868e-01 -2.43461455e-05 1.95856272e-01] [ 1.41029004e-02 -4.77737326e-06 9.99900549e-01 9.36345503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402557844 meters Centerline goodness [0,1] 0.24842658101480097 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.94 [[ 9.99899841e-01 -1.98940857e-03 -1.40125065e-02 2.58961403e+00] [ 1.99206759e-03 9.99998000e-01 1.75805368e-04 1.94911047e-01] [ 1.40121287e-02 -2.03701619e-04 9.99901805e-01 9.36730932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.432557844 meters Centerline goodness [0,1] 0.24953120230255987 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.94 [[ 9.99891513e-01 -1.78087190e-03 -1.46215942e-02 2.59158389e+00] [ 1.78932950e-03 9.99998239e-01 5.65370318e-04 1.93685329e-01] [ 1.46205616e-02 -5.91471833e-04 9.99892939e-01 9.35883717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.462557844 meters Centerline goodness [0,1] 0.2459268901182341 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.93 [[ 9.99883452e-01 -1.73354938e-03 -1.51682789e-02 2.59350728e+00] [ 1.74472519e-03 9.99998216e-01 7.23585822e-04 1.92956382e-01] [ 1.51669975e-02 -7.49965968e-04 9.99884693e-01 9.34850911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.492557844 meters Centerline goodness [0,1] 0.24988023169722573 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.93 [[ 9.99879372e-01 -1.67732630e-03 -1.54410972e-02 2.59466687e+00] [ 1.69193665e-03 9.99998133e-01 9.33184057e-04 1.91803952e-01] [ 1.54395031e-02 -9.59196847e-04 9.99880344e-01 9.33981005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.522557844 meters Centerline goodness [0,1] 0.24599448703592042 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99894240e-01 5.92012373e-03 -1.32838815e-02 2.61199657e+00] [-5.92526507e-03 9.99982385e-01 -3.47712163e-04 1.83991624e-01] [ 1.32815890e-02 4.26385908e-04 9.99911705e-01 9.35621653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.552557844 meters Centerline goodness [0,1] 0.2504342162396873 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99898210e-01 5.97865043e-03 -1.29547569e-02 2.61064656e+00] [-5.98251250e-03 9.99982071e-01 -2.59387555e-04 1.83715598e-01] [ 1.29529738e-02 3.36863147e-04 9.99916050e-01 9.36526269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.582557844 meters Centerline goodness [0,1] 0.24658955788563397 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99900128e-01 6.02629466e-03 -1.27834759e-02 2.60991828e+00] [-6.02896433e-03 9.99981811e-01 -1.70310271e-04 1.83336303e-01] [ 1.27822171e-02 2.47364382e-04 9.99918274e-01 9.37062844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.612557844 meters Centerline goodness [0,1] 0.24774959525094442 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99896314e-01 6.12865705e-03 -1.30307872e-02 2.61106570e+00] [-6.12636752e-03 9.99981210e-01 2.15611628e-04 1.80972635e-01] [ 1.30318637e-02 -1.35757881e-04 9.99915072e-01 9.36159809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.642557844 meters Centerline goodness [0,1] 0.2487075893826839 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99893892e-01 6.22005351e-03 -1.31725404e-02 2.61164348e+00] [-6.21461977e-03 9.99980586e-01 4.53398251e-04 1.79777178e-01] [ 1.31751049e-02 -3.71487812e-04 9.99913136e-01 9.35721984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.672557844 meters Centerline goodness [0,1] 0.246307971327403 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99891981e-01 6.30752940e-03 -1.32756070e-02 2.61198254e+00] [-6.29989913e-03 9.99979965e-01 6.16500566e-04 1.79086280e-01] [ 1.32792296e-02 -5.32798987e-04 9.99911685e-01 9.35568075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.702557844 meters Centerline goodness [0,1] 0.2488623745346078 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99893692e-01 6.47632028e-03 -1.30637722e-02 2.61097996e+00] [-6.46718172e-03 9.99978813e-01 7.41658319e-04 1.78855867e-01] [ 1.30682986e-02 -6.57093686e-04 9.99914390e-01 9.36480354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.732557844 meters Centerline goodness [0,1] 0.24886161585498068 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99893078e-01 6.46671506e-03 -1.31153941e-02 2.61088644e+00] [-6.45851593e-03 9.99978921e-01 6.67412513e-04 1.79171602e-01] [ 1.31194336e-02 -5.82635170e-04 9.99913767e-01 9.36895040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.762557844 meters Centerline goodness [0,1] 0.24517686620249612 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99890481e-01 6.44489725e-03 -1.33224857e-02 2.61143739e+00] [-6.43800664e-03 9.99979119e-01 5.60039805e-04 1.79679581e-01] [ 1.33258169e-02 -4.74208219e-04 9.99911095e-01 9.36868624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79255784400002 meters Centerline goodness [0,1] 0.24717342146460253 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.93 [[ 9.99899492e-01 -1.16964279e-03 -1.41293338e-02 2.59405417e+00] [ 1.19740902e-03 9.99997368e-01 1.95684826e-03 1.85963201e-01] [ 1.41270078e-02 -1.97357017e-03 9.99898261e-01 9.34945797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82255784400002 meters Centerline goodness [0,1] 0.24759989621172807 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.93 [[ 9.99898087e-01 -1.17161710e-03 -1.42282558e-02 2.59428970e+00] [ 1.19765017e-03 9.99997624e-01 1.82129115e-03 1.86886943e-01] [ 1.42260881e-02 -1.83814601e-03 9.99897115e-01 9.34976723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85255784400002 meters Centerline goodness [0,1] 0.2447730309953874 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.93 [[ 9.99900445e-01 -1.13403600e-03 -1.40646548e-02 2.59383259e+00] [ 1.16141866e-03 9.99997446e-01 1.93889858e-03 1.86371869e-01] [ 1.40624201e-02 -1.95504051e-03 9.99899208e-01 9.34982699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88255784400002 meters Centerline goodness [0,1] 0.24778320861628966 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.94 [[ 9.99901724e-01 -1.08248235e-03 -1.39775057e-02 2.59354112e+00] [ 1.11237807e-03 9.99997110e-01 2.13124802e-03 1.85469213e-01] [ 1.39751583e-02 -2.14658684e-03 9.99900039e-01 9.35045518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91255784400002 meters Centerline goodness [0,1] 0.24782175213489965 Centerline is valid? [False, False] Translation: X:2.59, Y:0.18, Z:0.93 [[ 9.99902669e-01 -1.01794784e-03 -1.39146286e-02 2.59340927e+00] [ 1.05160962e-03 9.99996538e-01 2.41206188e-03 1.84100484e-01] [ 1.39121251e-02 -2.42645987e-03 9.99900278e-01 9.34923046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94255784400002 meters Centerline goodness [0,1] 0.24459889826131864 Centerline is valid? [False, False] Translation: X:2.59, Y:0.18, Z:0.93 [[ 9.99904440e-01 -1.54335010e-03 -1.37378580e-02 2.59288666e+00] [ 1.57740738e-03 9.99995709e-01 2.46859176e-03 1.81803082e-01] [ 1.37339892e-02 -2.49002606e-03 9.99902584e-01 9.34902519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97255784400002 meters Centerline goodness [0,1] 0.24164048715410769 Centerline is valid? [False, False] Translation: X:2.59, Y:0.18, Z:0.94 [[ 9.99906044e-01 -1.45275453e-03 -1.36306096e-02 2.59248986e+00] [ 1.49219691e-03 9.99994728e-01 2.88393875e-03 1.79566994e-01] [ 1.36263480e-02 -2.90400734e-03 9.99902940e-01 9.35042718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00255784400002 meters Centerline goodness [0,1] 0.24756705435556614 Centerline is valid? [False, False] Translation: X:2.59, Y:0.18, Z:0.94 [[ 9.99907630e-01 -1.34243853e-03 -1.35251593e-02 2.59216547e+00] [ 1.38675994e-03 9.99993698e-01 3.26811444e-03 1.77629831e-01] [ 1.35206868e-02 -3.28656871e-03 9.99903190e-01 9.35080584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03255784400002 meters Centerline goodness [0,1] 0.2469686201029485 Centerline is valid? [False, False] Translation: X:2.59, Y:0.17, Z:0.93 [[ 9.99909231e-01 -1.16419834e-03 -1.34229306e-02 2.59210848e+00] [ 1.21577384e-03 9.99991908e-01 3.83482278e-03 1.74940049e-01] [ 1.34183575e-02 -3.85079395e-03 9.99902555e-01 9.34630654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062557844 meters Centerline goodness [0,1] 0.25821059573532645 Centerline is valid? [False, False] Translation: X:2.55, Y:0.18, Z:0.94 [[ 9.99874268e-01 -1.10473378e-03 -1.58185668e-02 2.54673567e+00] [ 1.15995018e-03 9.99993266e-01 3.48185805e-03 1.77688579e-01] [ 1.58146138e-02 -3.49976902e-03 9.99868816e-01 9.35041877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092557844 meters Centerline goodness [0,1] 0.2478091949061083 Centerline is valid? [False, False] Translation: X:2.59, Y:0.17, Z:0.94 [[ 9.99903062e-01 -1.87585345e-03 -1.37966722e-02 2.59059382e+00] [ 1.92123370e-03 9.99992786e-01 3.27669826e-03 1.73733479e-01] [ 1.37904261e-02 -3.30288726e-03 9.99899452e-01 9.35086444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122557844 meters Centerline goodness [0,1] 0.24746165478505078 Centerline is valid? [False, False] Translation: X:2.59, Y:0.17, Z:0.94 [[ 9.99902908e-01 -1.87663631e-03 -1.38077420e-02 2.59047019e+00] [ 1.92177815e-03 9.99992850e-01 3.25677242e-03 1.73743899e-01] [ 1.38015315e-02 -3.28299163e-03 9.99899365e-01 9.35393517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152557844 meters Centerline goodness [0,1] 0.2483745123537061 Centerline is valid? [False, False] Translation: X:2.59, Y:0.18, Z:0.94 [[ 9.99897303e-01 -1.64240005e-03 -1.42368098e-02 2.59127173e+00] [ 1.68719957e-03 9.99993662e-01 3.13529881e-03 1.75242607e-01] [ 1.42315702e-02 -3.15899716e-03 9.99893736e-01 9.35935925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.182557844 meters Centerline goodness [0,1] 0.24758981453460727 Centerline is valid? [False, False] Translation: X:2.59, Y:0.18, Z:0.94 [[ 9.99892489e-01 -1.68255093e-03 -1.45663806e-02 2.59214275e+00] [ 1.72302325e-03 9.99994689e-01 2.76637083e-03 1.77312360e-01] [ 1.45616487e-02 -2.79117163e-03 9.99890078e-01 9.35943425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.212557844 meters Centerline goodness [0,1] 0.24809797333911343 Centerline is valid? [False, False] Translation: X:2.59, Y:0.18, Z:0.94 [[ 9.99890073e-01 -1.74706120e-03 -1.47237995e-02 2.59254773e+00] [ 1.78128432e-03 9.99995742e-01 2.31154654e-03 1.79703788e-01] [ 1.47196984e-02 -2.33751971e-03 9.99888927e-01 9.36043425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.242557844 meters Centerline goodness [0,1] 0.24691145452197494 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99891325e-01 7.45427469e-03 -1.27189584e-02 2.61124211e+00] [-7.43700553e-03 9.99971359e-01 1.40450767e-03 1.80921931e-01] [ 1.27290637e-02 -1.30976407e-03 9.99918124e-01 9.37004634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.272557844 meters Centerline goodness [0,1] 0.24786914960188167 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:0.94 [[ 9.99892270e-01 7.28111151e-03 -1.27449730e-02 2.61127883e+00] [-7.27090290e-03 9.99973208e-01 8.47143976e-04 1.83714336e-01] [ 1.27507997e-02 -7.54385252e-04 9.99918421e-01 9.37116979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302557844 meters Centerline goodness [0,1] 0.24737388146803263 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:0.94 [[ 9.99890977e-01 7.14329031e-03 -1.29231214e-02 2.61179827e+00] [-7.13848048e-03 9.99974433e-01 4.18277993e-04 1.85957333e-01] [ 1.29257788e-02 -3.25980941e-04 9.99916405e-01 9.37039368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.332557844 meters Centerline goodness [0,1] 0.24105968830161018 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:0.94 [[ 9.99881546e-01 6.97880751e-03 -1.37182128e-02 2.61471936e+00] [-6.97800753e-03 9.99975648e-01 1.06180151e-04 1.87302571e-01] [ 1.37186197e-02 -1.04417814e-05 9.99905895e-01 9.35421041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362557844 meters Centerline goodness [0,1] 0.24646359455003042 Centerline is valid? [False, False] Translation: X:2.62, Y:0.19, Z:0.93 [[ 9.99877023e-01 6.95481524e-03 -1.40559187e-02 2.61605365e+00] [-6.95297860e-03 9.99975812e-01 1.79530340e-04 1.86738170e-01] [ 1.40568273e-02 -8.17777599e-05 9.99901195e-01 9.34544557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.392557844 meters Centerline goodness [0,1] 0.24759955583618198 Centerline is valid? [False, False] Translation: X:2.62, Y:0.19, Z:0.93 [[ 9.99876062e-01 6.93856940e-03 -1.41320881e-02 2.61644574e+00] [-6.93668876e-03 9.99975924e-01 1.82089126e-04 1.86643440e-01] [ 1.41330113e-02 -8.40366615e-05 9.99900120e-01 9.34185682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422557844 meters Centerline goodness [0,1] 0.2512976631113253 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:0.94 [[ 9.99892860e-01 7.95181627e-03 -1.22897217e-02 2.61037574e+00] [-7.94398146e-03 9.99968211e-01 6.86194675e-04 1.88296140e-01] [ 1.22947875e-02 -5.88491835e-04 9.99924243e-01 9.36698910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.452557844 meters Centerline goodness [0,1] 0.24982042184541042 Centerline is valid? [False, False] Translation: X:2.63, Y:0.19, Z:0.94 [[ 9.99935446e-01 -1.41043322e-04 -1.13615335e-02 2.62864776e+00] [ 1.60388114e-04 9.99998539e-01 1.70176361e-03 1.94237081e-01] [ 1.13612769e-02 -1.70347601e-03 9.99934008e-01 9.38814782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.482557844 meters Centerline goodness [0,1] 0.2482307992879781 Centerline is valid? [False, False] Translation: X:2.63, Y:0.20, Z:0.94 [[ 9.99925213e-01 -7.16378072e-05 -1.22295938e-02 2.63123325e+00] [ 8.31101555e-05 9.99999557e-01 9.37575256e-04 1.99228233e-01] [ 1.22295212e-02 -9.38521541e-04 9.99924776e-01 9.38166169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.512557844 meters Centerline goodness [0,1] 0.248748825316345 Centerline is valid? [False, False] Translation: X:2.63, Y:0.20, Z:0.94 [[ 9.99924483e-01 -2.32018274e-04 -1.22871959e-02 2.63155335e+00] [ 2.37641481e-04 9.99999868e-01 4.56189667e-04 2.01606327e-01] [ 1.22870885e-02 -4.59075165e-04 9.99924405e-01 9.37865539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54255784400002 meters Centerline goodness [0,1] 0.24967185859292962 Centerline is valid? [False, False] Translation: X:2.63, Y:0.20, Z:0.94 [[ 9.99927113e-01 -3.88104757e-04 -1.20672495e-02 2.63090351e+00] [ 3.88702747e-04 9.99999923e-01 4.72094077e-05 2.03465760e-01] [ 1.20672303e-02 -5.18965398e-05 9.99927187e-01 9.38061722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57255784400002 meters Centerline goodness [0,1] 0.2467487652856557 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:0.94 [[ 9.99921481e-01 7.16010540e-03 -1.02842422e-02 2.64937959e+00] [-7.17630726e-03 9.99973065e-01 -1.53936875e-03 1.99666366e-01] [ 1.02729432e-02 1.61305076e-03 9.99945931e-01 9.39113394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60255784400002 meters Centerline goodness [0,1] 0.2467487652856557 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:0.94 [[ 9.99921481e-01 7.16010540e-03 -1.02842422e-02 2.64937959e+00] [-7.17630726e-03 9.99973065e-01 -1.53936875e-03 1.99666366e-01] [ 1.02729432e-02 1.61305076e-03 9.99945931e-01 9.39113394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63255784400002 meters Centerline goodness [0,1] 0.25007637585650067 Centerline is valid? [False, False] Translation: X:2.63, Y:0.21, Z:0.94 [[ 9.99954039e-01 -1.08385293e-03 -9.52605407e-03 2.62861358e+00] [ 1.07241889e-03 9.99998699e-01 -1.20531785e-03 2.06679168e-01] [ 9.52734806e-03 1.19504653e-03 9.99953900e-01 9.38078185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66255784400002 meters Centerline goodness [0,1] 0.24599381501265116 Centerline is valid? [False, False] Translation: X:2.63, Y:0.21, Z:0.94 [[ 9.99953492e-01 -1.25371278e-03 -9.56257846e-03 2.62873361e+00] [ 1.23967222e-03 9.99998145e-01 -1.47406802e-03 2.07883817e-01] [ 9.56440878e-03 1.46214500e-03 9.99953191e-01 9.38003452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69255784400002 meters Centerline goodness [0,1] 0.24185348063927925 Centerline is valid? [False, False] Translation: X:2.63, Y:0.21, Z:0.94 [[ 9.99953296e-01 -1.33560683e-03 -9.57196244e-03 2.62878083e+00] [ 1.31989579e-03 9.99997772e-01 -1.64748977e-03 2.08751437e-01] [ 9.57414151e-03 1.63477883e-03 9.99952831e-01 9.37949576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72255784400002 meters Centerline goodness [0,1] 0.24816049168975074 Centerline is valid? [False, False] Translation: X:2.63, Y:0.21, Z:0.94 [[ 9.99953934e-01 -1.53981047e-03 -9.47408312e-03 2.62842070e+00] [ 1.51929903e-03 9.99996487e-01 -2.17182144e-03 2.11428595e-01] [ 9.47739403e-03 2.15732743e-03 9.99952761e-01 9.38198733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75255784400002 meters Centerline goodness [0,1] 0.24879916915487477 Centerline is valid? [False, False] Translation: X:2.63, Y:0.21, Z:0.94 [[ 9.99954188e-01 -1.65759160e-03 -9.42726659e-03 2.62826344e+00] [ 1.63430297e-03 9.99995595e-01 -2.47751502e-03 2.12944185e-01] [ 9.43133177e-03 2.46199451e-03 9.99952493e-01 9.38298274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78255784400002 meters Centerline goodness [0,1] 0.2511446387302141 Centerline is valid? [False, False] Translation: X:2.63, Y:0.21, Z:0.94 [[ 9.99953644e-01 -1.78616580e-03 -9.46149705e-03 2.62832065e+00] [ 1.75975925e-03 9.99994536e-01 -2.79853829e-03 2.14407541e-01] [ 9.46644400e-03 2.78175860e-03 9.99951323e-01 9.38377116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812557844 meters Centerline goodness [0,1] 0.24831051810778026 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99949424e-01 -2.05529872e-03 -9.84505709e-03 2.62959143e+00] [ 2.02107985e-03 9.99991887e-01 -3.48443015e-03 2.17603103e-01] [ 9.85213876e-03 3.46435627e-03 9.99945465e-01 9.37870584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842557844 meters Centerline goodness [0,1] 0.24971012273294102 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99946470e-01 -2.16049539e-03 -1.01187970e-02 2.63054529e+00] [ 2.12191923e-03 9.99990447e-01 -3.82151187e-03 2.19378462e-01] [ 1.01269567e-02 3.79983603e-03 9.99941501e-01 9.37398426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.872557844 meters Centerline goodness [0,1] 0.24656407592580565 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99939571e-01 -2.23252057e-03 -1.07643092e-02 2.63241974e+00] [ 2.18661323e-03 9.99988473e-01 -4.27465813e-03 2.22191072e-01] [ 1.07737284e-02 4.25086243e-03 9.99932926e-01 9.36966892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902557844 meters Centerline goodness [0,1] 0.24527487701734707 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99938723e-01 -2.28044643e-03 -1.08328548e-02 2.63250210e+00] [ 2.23266939e-03 9.99987737e-01 -4.42043140e-03 2.22940401e-01] [ 1.08428025e-02 4.39597435e-03 9.99931552e-01 9.37159949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.932557844 meters Centerline goodness [0,1] 0.24680832553992038 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99939133e-01 -2.36528575e-03 -1.07766373e-02 2.63218780e+00] [ 2.31524197e-03 9.99986491e-01 -4.65383990e-03 2.24074610e-01] [ 1.07874994e-02 4.62860611e-03 9.99931101e-01 9.37497365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.962557844 meters Centerline goodness [0,1] 0.2490146120511313 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99940570e-01 -2.45740673e-03 -1.06215693e-02 2.63165573e+00] [ 2.40458314e-03 9.99984693e-01 -4.98315040e-03 2.25728021e-01] [ 1.06336523e-02 4.95731381e-03 9.99931173e-01 9.37827517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.992557844 meters Centerline goodness [0,1] 0.24927800577595383 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99948699e-01 -2.52909974e-03 -9.80828463e-03 2.62932601e+00] [ 2.47442256e-03 9.99981355e-01 -5.58272625e-03 2.28731973e-01] [ 9.82222102e-03 5.55817001e-03 9.99936313e-01 9.38555474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.022557844 meters Centerline goodness [0,1] 0.2506738544474394 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99951125e-01 -2.60577076e-03 -9.53712813e-03 2.62846551e+00] [ 2.55025800e-03 9.99979764e-01 -5.82823978e-03 2.29813340e-01] [ 9.55212220e-03 5.80363279e-03 9.99937535e-01 9.38896058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.052557844 meters Centerline goodness [0,1] 0.2516359051283723 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99951167e-01 -2.64712820e-03 -9.52136586e-03 2.62823316e+00] [ 2.59003522e-03 9.99978624e-01 -6.00364197e-03 2.30646198e-01] [ 9.53705474e-03 5.97868813e-03 9.99936648e-01 9.39246332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082557844 meters Centerline goodness [0,1] 0.25044970850219983 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99948678e-01 -2.60488145e-03 -9.79064754e-03 2.62901305e+00] [ 2.54586620e-03 9.99978546e-01 -6.03535428e-03 2.31039549e-01] [ 9.80615887e-03 6.01011886e-03 9.99933857e-01 9.39077905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.112557844 meters Centerline goodness [0,1] 0.2502554292297994 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99940909e-01 -2.38145365e-03 -1.06069198e-02 2.63167633e+00] [ 2.32134411e-03 9.99981199e-01 -5.67572244e-03 2.29668337e-01] [ 1.06202369e-02 5.65076475e-03 9.99927637e-01 9.37898618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142557844 meters Centerline goodness [0,1] 0.24719977468206344 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99939348e-01 -2.31447545e-03 -1.07676858e-02 2.63236046e+00] [ 2.25585457e-03 9.99982587e-01 -5.45311209e-03 2.28428348e-01] [ 1.07801194e-02 5.42849101e-03 9.99927158e-01 9.37389522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.172557844 meters Centerline goodness [0,1] 0.24723143272002257 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99938422e-01 -2.21443249e-03 -1.08741855e-02 2.63271354e+00] [ 2.15785477e-03 9.99984090e-01 -5.21191792e-03 2.27240981e-01] [ 1.08855539e-02 5.18813207e-03 9.99927291e-01 9.37208824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202557844 meters Centerline goodness [0,1] 0.24979945799457992 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99942887e-01 -2.02159264e-03 -1.04945488e-02 2.63135494e+00] [ 1.97041567e-03 9.99986129e-01 -4.88457976e-03 2.25932769e-01] [ 1.05042778e-02 4.86362217e-03 9.99933000e-01 9.37909887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.232557844 meters Centerline goodness [0,1] 0.24875794589200095 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:0.94 [[ 9.99947008e-01 -1.93398976e-03 -1.01114663e-02 2.63003711e+00] [ 1.88587427e-03 9.99986865e-01 -4.76587920e-03 2.25522194e-01] [ 1.01205506e-02 4.74655769e-03 9.99937520e-01 9.38575020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262557844 meters Centerline goodness [0,1] 0.24780886840225935 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99949324e-01 -1.83939183e-03 -9.89776631e-03 2.62922926e+00] [ 1.79390504e-03 9.99987799e-01 -4.60257991e-03 2.24804914e-01] [ 9.90611150e-03 4.58459102e-03 9.99940423e-01 9.39030691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29255784400002 meters Centerline goodness [0,1] 0.2519452933654117 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99948702e-01 -1.73600577e-03 -9.97892295e-03 2.62959794e+00] [ 1.69218393e-03 9.99988896e-01 -4.39820658e-03 2.23831626e-01] [ 9.98644745e-03 4.38109479e-03 9.99940537e-01 9.38734187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32255784400002 meters Centerline goodness [0,1] 0.2475348816960885 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99943591e-01 -1.43210938e-03 -1.05244637e-02 2.63162270e+00] [ 1.39194352e-03 9.99991724e-01 -3.82276297e-03 2.21348343e-01] [ 1.05298512e-02 3.80789787e-03 9.99937309e-01 9.37486208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35255784400002 meters Centerline goodness [0,1] 0.247049907978781 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99943658e-01 -1.31320246e-03 -1.05335374e-02 2.63180380e+00] [ 1.27589605e-03 9.99992893e-01 -3.54761712e-03 2.20134913e-01] [ 1.05381212e-02 3.53397754e-03 9.99938228e-01 9.37160780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38255784400002 meters Centerline goodness [0,1] 0.24562724554118887 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:0.94 [[ 9.99944418e-01 -1.17342065e-03 -1.04778215e-02 2.63154029e+00] [ 1.13957643e-03 9.99994117e-01 -3.23546779e-03 2.18678365e-01] [ 1.04815564e-02 3.22334767e-03 9.99939872e-01 9.37346153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41255784400002 meters Centerline goodness [0,1] 0.25225854318509144 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99928250e-01 -8.59521315e-04 -1.19480442e-02 2.58253558e+00] [ 8.20775582e-04 9.99994390e-01 -3.24737685e-03 2.17176137e-01] [ 1.19507684e-02 3.23733719e-03 9.99923346e-01 9.39918833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44255784400002 meters Centerline goodness [0,1] 0.2480827806701087 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99929745e-01 -7.64638518e-04 -1.18287849e-02 2.58212231e+00] [ 7.29741221e-04 9.99995370e-01 -2.95423622e-03 2.15549382e-01] [ 1.18309891e-02 2.94539672e-03 9.99925673e-01 9.40090598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47255784400002 meters Centerline goodness [0,1] 0.24928106553655216 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.94 [[ 9.99931717e-01 -6.83394699e-04 -1.16659047e-02 2.58160254e+00] [ 6.52186335e-04 9.99996199e-01 -2.67877201e-03 2.13937399e-01] [ 1.16676910e-02 2.67098075e-03 9.99928363e-01 9.40194720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50255784400002 meters Centerline goodness [0,1] 0.2507910183952692 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.94 [[ 9.99933583e-01 -5.83758353e-04 -1.15103689e-02 2.58124159e+00] [ 5.56667647e-04 9.99997068e-01 -2.35665484e-03 2.12185023e-01] [ 1.15117108e-02 2.35009087e-03 9.99930976e-01 9.40108927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53255784400002 meters Centerline goodness [0,1] 0.2495665742024965 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.94 [[ 9.99936004e-01 -4.03280217e-04 -1.13060223e-02 2.58054176e+00] [ 3.81479442e-04 9.99998064e-01 -1.93033478e-03 2.10448637e-01] [ 1.13067789e-02 1.92589823e-03 9.99934222e-01 9.40377997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562557844 meters Centerline goodness [0,1] 0.24672695951765722 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.94 [[ 9.99936376e-01 -3.28939344e-04 -1.12754880e-02 2.58039328e+00] [ 3.08399885e-04 9.99998290e-01 -1.82329296e-03 2.10218815e-01] [ 1.12760685e-02 1.81969960e-03 9.99934767e-01 9.40506712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592557844 meters Centerline goodness [0,1] 0.24960409571121767 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.94 [[ 9.99936784e-01 -2.99968074e-04 -1.12400378e-02 2.58024405e+00] [ 2.79991473e-04 9.99998379e-01 -1.77880310e-03 2.10066974e-01] [ 1.12405531e-02 1.77554354e-03 9.99935247e-01 9.40629003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622557844 meters Centerline goodness [0,1] 0.24775153671950823 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.94 [[ 9.99939058e-01 -3.41475949e-04 -1.10346403e-02 2.57955348e+00] [ 3.20214495e-04 9.99998089e-01 -1.92850112e-03 2.10578468e-01] [ 1.10352777e-02 1.92485014e-03 9.99937257e-01 9.40916500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652557844 meters Centerline goodness [0,1] 0.25184749198875156 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.94 [[ 9.99938118e-01 -3.80677930e-04 -1.11182588e-02 2.57979137e+00] [ 3.57219216e-04 9.99997706e-01 -2.11183666e-03 2.11571145e-01] [ 1.11190372e-02 2.10773432e-03 9.99935960e-01 9.40867641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.682557844 meters Centerline goodness [0,1] 0.24937272884582107 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.94 [[ 9.99937986e-01 -3.60200860e-04 -1.11307991e-02 2.57988112e+00] [ 3.34488613e-04 9.99997272e-01 -2.31178438e-03 2.12916065e-01] [ 1.11316014e-02 2.30791789e-03 9.99935378e-01 9.40769607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.712557844 meters Centerline goodness [0,1] 0.24527328979030594 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.94 [[ 9.99942457e-01 -4.04632691e-05 -1.07275635e-02 2.57884558e+00] [ 1.42345622e-05 9.99997011e-01 -2.44504777e-03 2.14688114e-01] [ 1.07276303e-02 2.44475437e-03 9.99939469e-01 9.40940421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.742557844 meters Centerline goodness [0,1] 0.2519495188652605 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99943758e-01 -7.86710760e-05 -1.06054213e-02 2.57852710e+00] [ 5.10045960e-05 9.99996595e-01 -2.60895629e-03 2.15402587e-01] [ 1.06055905e-02 2.60826864e-03 9.99940357e-01 9.40954207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.772557844 meters Centerline goodness [0,1] 0.2517938682322244 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99944263e-01 -1.04290214e-04 -1.05574503e-02 2.57833692e+00] [ 7.50970382e-05 9.99996173e-01 -2.76553160e-03 2.16167763e-01] [ 1.05576983e-02 2.76458463e-03 9.99940444e-01 9.41052083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802557844 meters Centerline goodness [0,1] 0.2520035618878005 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99939663e-01 1.52551990e-04 -1.09839831e-02 2.57956360e+00] [-1.83434862e-04 9.99996033e-01 -2.81067525e-03 2.17290385e-01] [ 1.09835108e-02 2.81252050e-03 9.99935724e-01 9.40771186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.832557844 meters Centerline goodness [0,1] 0.24912303494868127 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99935638e-01 2.11614980e-04 -1.13435258e-02 2.58066683e+00] [-2.44914068e-04 9.99995665e-01 -2.93420609e-03 2.18209118e-01] [ 1.13428557e-02 2.93679543e-03 9.99931355e-01 9.40401942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862557844 meters Centerline goodness [0,1] 0.249880657900447 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99932615e-01 2.74444981e-04 -1.16056256e-02 2.58151349e+00] [-3.09968337e-04 9.99995273e-01 -3.05918588e-03 2.19094200e-01] [ 1.16047311e-02 3.06257712e-03 9.99927973e-01 9.40080457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.892557844 meters Centerline goodness [0,1] 0.25177560698441837 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99928912e-01 7.63049863e-04 -1.18990964e-02 2.58257445e+00] [-7.98709289e-04 9.99995204e-01 -2.99235390e-03 2.19960572e-01] [ 1.18967560e-02 3.00164510e-03 9.99924726e-01 9.39432546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.922557844 meters Centerline goodness [0,1] 0.2497779510842486 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99928563e-01 8.84485721e-04 -1.19200093e-02 2.58267284e+00] [-9.21102236e-04 9.99994873e-01 -3.06671309e-03 2.20708912e-01] [ 1.19172358e-02 3.07747356e-03 9.99924251e-01 9.39307940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.952557844 meters Centerline goodness [0,1] 0.25000546722942685 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:0.94 [[ 9.99930311e-01 9.29444735e-04 -1.17689733e-02 2.58223592e+00] [-9.66354989e-04 9.99994632e-01 -3.13093575e-03 2.21196970e-01] [ 1.17660001e-02 3.14209056e-03 9.99925842e-01 9.39380026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.982557844 meters Centerline goodness [0,1] 0.24201492697825477 Centerline is valid? [False, False] Translation: X:2.60, Y:0.23, Z:0.94 [[ 9.99917255e-01 -6.92740001e-03 -1.08395202e-02 2.60107565e+00] [ 6.90777969e-03 9.99974436e-01 -1.84646718e-03 2.25314737e-01] [ 1.08520343e-02 1.77143737e-03 9.99939546e-01 9.40705784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.012557844 meters Centerline goodness [0,1] 0.2490700692041522 Centerline is valid? [False, False] Translation: X:2.60, Y:0.22, Z:0.94 [[ 9.99916937e-01 -6.72993503e-03 -1.09921718e-02 2.60147109e+00] [ 6.71395916e-03 9.99976352e-01 -1.48964198e-03 2.23760696e-01] [ 1.10019371e-02 1.41571725e-03 9.99938475e-01 9.40625679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04255784400002 meters Centerline goodness [0,1] 0.24991839843324992 Centerline is valid? [False, False] Translation: X:2.60, Y:0.22, Z:0.94 [[ 9.99916165e-01 -6.56186802e-03 -1.11626577e-02 2.60207266e+00] [ 6.54982253e-03 9.99977928e-01 -1.11530452e-03 2.22114206e-01] [ 1.11697298e-02 1.04209759e-03 9.99937074e-01 9.40316775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07255784400002 meters Centerline goodness [0,1] 0.2465892409981867 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:0.94 [[ 9.99918372e-01 6.19897673e-04 -1.27618795e-02 2.62163626e+00] [-6.38782244e-04 9.99998707e-01 -1.47574108e-03 2.12092706e-01] [ 1.27609482e-02 1.48377268e-03 9.99917475e-01 9.41762004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10255784400002 meters Centerline goodness [0,1] 0.25150181084773693 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:0.94 [[ 9.99919179e-01 7.73228337e-04 -1.26900873e-02 2.62169686e+00] [-7.86965783e-04 9.99999110e-01 -1.07757578e-03 2.10041022e-01] [ 1.26892428e-02 1.08747535e-03 9.99918897e-01 9.41314988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13255784400002 meters Centerline goodness [0,1] 0.24957354677863797 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:0.94 [[ 9.99919707e-01 1.12220976e-03 -1.26221899e-02 2.62168157e+00] [-1.12601780e-03 9.99999323e-01 -2.94591051e-04 2.06456721e-01] [ 1.26218508e-02 3.08780208e-04 9.99920294e-01 9.41020645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16255784400002 meters Centerline goodness [0,1] 0.24739679172168938 Centerline is valid? [False, False] Translation: X:2.64, Y:0.21, Z:0.94 [[ 0.99992398 -0.00450636 -0.01147703 2.64262549] [ 0.00454651 0.99998363 0.0034748 0.20671324] [ 0.01146118 -0.00352672 0.9999281 0.94105807] [ 0. 0. 0. 1. ]] SLAMing on 206.19255784400002 meters Centerline goodness [0,1] 0.25010342049685386 Centerline is valid? [False, False] Translation: X:2.64, Y:0.21, Z:0.94 [[ 0.99992543 -0.00437296 -0.01140218 2.64232848] [ 0.00441397 0.99998387 0.00357382 0.20667789] [ 0.01138636 -0.00362388 0.99992861 0.94126772] [ 0. 0. 0. 1. ]] SLAMing on 206.22255784400002 meters Centerline goodness [0,1] 0.25182187996258343 Centerline is valid? [False, False] Translation: X:2.64, Y:0.21, Z:0.94 [[ 0.99992666 -0.00424457 -0.01134268 2.64216789] [ 0.00428566 0.99998433 0.00360079 0.20686371] [ 0.01132722 -0.00364914 0.99992919 0.94127619] [ 0. 0. 0. 1. ]] SLAMing on 206.25255784400002 meters Centerline goodness [0,1] 0.24224084085377673 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 0.99992969 0.00487465 -0.0108095 2.66351088] [-0.0048416 0.99998353 0.00308118 0.20245473] [ 0.01082434 -0.00302863 0.99993683 0.9417267 ] [ 0. 0. 0. 1. ]] SLAMing on 206.28255784400002 meters Centerline goodness [0,1] 0.24882009092877244 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 0.99992868 0.00498616 -0.01085226 2.66391902] [-0.00495067 0.99998232 0.00329491 0.20147358] [ 0.0108685 -0.00324095 0.99993568 0.94116293] [ 0. 0. 0. 1. ]] SLAMing on 206.312557844 meters Centerline goodness [0,1] 0.246225068143469 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 0.99992518 0.0051345 -0.01110269 2.66487259] [-0.00509427 0.99998037 0.00364841 0.19980782] [ 0.0111212 -0.00359158 0.99993171 0.9405701 ] [ 0. 0. 0. 1. ]] SLAMing on 206.342557844 meters Centerline goodness [0,1] 0.2512245254963702 Centerline is valid? [False, False] Translation: X:2.64, Y:0.20, Z:0.94 [[ 0.99991716 -0.00367312 -0.01233603 2.64367005] [ 0.00373117 0.99998206 0.00468534 0.19792433] [ 0.01231859 -0.00473098 0.99991293 0.94003829] [ 0. 0. 0. 1. ]] SLAMing on 206.372557844 meters Centerline goodness [0,1] 0.24582586344687563 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:0.94 [[ 0.99993481 0.00409385 -0.01065947 2.66205019] [-0.00405918 0.99998641 0.00327148 0.19249855] [ 0.01067272 -0.00322799 0.99993783 0.94191649] [ 0. 0. 0. 1. ]] SLAMing on 206.402557844 meters Centerline goodness [0,1] 0.2514880305860886 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:0.94 [[ 0.99994553 0.00431766 -0.00950256 2.65832433] [-0.00428446 0.99998466 0.00351168 0.19165627] [ 0.00951758 -0.00347077 0.99994868 0.94345022] [ 0. 0. 0. 1. ]] SLAMing on 206.432557844 meters Centerline goodness [0,1] 0.25148819187393123 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:0.94 [[ 0.99994946 0.00434009 -0.00906836 2.65706559] [-0.00430999 0.99998514 0.00333696 0.19287292] [ 0.0090827 -0.0032977 0.99995331 0.94375829] [ 0. 0. 0. 1. ]] SLAMing on 206.462557844 meters Centerline goodness [0,1] 0.25062233478364393 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:0.94 [[ 0.99995102 0.00427129 -0.0089286 2.65674205] [-0.00424464 0.99998648 0.00300245 0.19468335] [ 0.00894131 -0.0029644 0.99995563 0.94366984] [ 0. 0. 0. 1. ]] SLAMing on 206.492557844 meters Centerline goodness [0,1] 0.25062233478364393 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:0.94 [[ 0.99995102 0.00427129 -0.0089286 2.65674205] [-0.00424464 0.99998648 0.00300245 0.19468335] [ 0.00894131 -0.0029644 0.99995563 0.94366984] [ 0. 0. 0. 1. ]] SLAMing on 206.522557844 meters Centerline goodness [0,1] 0.2534630570886325 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 9.99950423e-01 4.19739984e-03 -9.02958354e-03 2.65727725e+00] [-4.17323340e-03 9.99987664e-01 2.69354174e-03 1.96242553e-01] [ 9.04077802e-03 -2.65572564e-03 9.99955605e-01 9.43097102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.552557844 meters Centerline goodness [0,1] 0.24976745192203686 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 9.99946200e-01 4.21850396e-03 -9.47632505e-03 2.65861889e+00] [-4.19708741e-03 9.99988596e-01 2.27875695e-03 1.98916267e-01] [ 9.48582993e-03 -2.23886139e-03 9.99952502e-01 9.42592656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.582557844 meters Centerline goodness [0,1] 0.25173134718411083 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 9.99946011e-01 4.16800521e-03 -9.51857788e-03 2.65851063e+00] [-4.14776849e-03 9.99989098e-01 2.14477614e-03 1.99632581e-01] [ 9.52741355e-03 -2.10517949e-03 9.99952397e-01 9.42938427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.612557844 meters Centerline goodness [0,1] 0.25193882886023 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 9.99944348e-01 4.16700259e-03 -9.69209907e-03 2.65865773e+00] [-4.14571631e-03 9.99988953e-01 2.21530529e-03 1.99183971e-01] [ 9.70122318e-03 -2.17500131e-03 9.99950577e-01 9.43455897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.642557844 meters Centerline goodness [0,1] 0.25214856073627645 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 9.99943616e-01 4.16451316e-03 -9.76836542e-03 2.65877823e+00] [-4.14163062e-03 9.99988635e-01 2.36157442e-03 1.98174137e-01] [ 9.77808921e-03 -2.32098430e-03 9.99949500e-01 9.43536150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.672557844 meters Centerline goodness [0,1] 0.2509367375392123 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 9.99943965e-01 4.18796787e-03 -9.72258862e-03 2.65852918e+00] [-4.16321466e-03 9.99988045e-01 2.56479313e-03 1.96994451e-01] [ 9.73321365e-03 -2.52417219e-03 9.99949445e-01 9.43754256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.702557844 meters Centerline goodness [0,1] 0.24763158462634072 Centerline is valid? [False, False] Translation: X:2.66, Y:0.20, Z:0.94 [[ 0.99994551 0.00428545 -0.00951886 2.65799825] [-0.00425828 0.99998681 0.00287286 0.19555218] [ 0.00953105 -0.00283217 0.99995057 0.94381573] [ 0. 0. 0. 1. ]] SLAMing on 206.732557844 meters Centerline goodness [0,1] 0.2537010792543334 Centerline is valid? [False, False] Translation: X:2.64, Y:0.20, Z:0.94 [[ 0.99994722 -0.00357261 -0.0096329 2.63805597] [ 0.003621 0.99998089 0.00501133 0.19610509] [ 0.00961481 -0.00504595 0.99994105 0.94168442] [ 0. 0. 0. 1. ]] SLAMing on 206.762557844 meters Centerline goodness [0,1] 0.25196884653874607 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.94 [[ 0.99994594 -0.00346304 -0.00980442 2.63879609] [ 0.00351464 0.99998004 0.00525014 0.19496274] [ 0.00978604 -0.00528431 0.99993815 0.94115636] [ 0. 0. 0. 1. ]] SLAMing on 206.79255784400002 meters Centerline goodness [0,1] 0.24621635566256772 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:0.94 [[ 0.99993554 0.00472873 -0.01032256 2.66014368] [-0.00468437 0.99997971 0.00431728 0.1902666 ] [ 0.01034276 -0.00426865 0.9999374 0.94199489] [ 0. 0. 0. 1. ]] SLAMing on 206.82255784400002 meters Centerline goodness [0,1] 0.24527123098797876 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:0.94 [[ 0.99993348 0.00479435 -0.01048999 2.66088734] [-0.00474898 0.99997928 0.00434549 0.19013753] [ 0.01051061 -0.00429538 0.99993554 0.94140301] [ 0. 0. 0. 1. ]] SLAMing on 206.85255784400002 meters Centerline goodness [0,1] 0.2484354093832276 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:0.94 [[ 0.99993277 0.00535011 -0.01028771 2.66040758] [-0.00530348 0.99997557 0.00455407 0.19035008] [ 0.01031182 -0.00449921 0.99993671 0.94126266] [ 0. 0. 0. 1. ]] SLAMing on 206.88255784400002 meters Centerline goodness [0,1] 0.2538803388865781 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.94 [[ 9.99937498e-01 -2.41115767e-03 -1.09172903e-02 2.64102128e+00] [ 2.47633962e-03 9.99979167e-01 5.96094851e-03 1.94654307e-01] [ 1.09026900e-02 -5.98761086e-03 9.99922637e-01 9.39628666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91255784400002 meters Centerline goodness [0,1] 0.2550535734010825 Centerline is valid? [False, False] Translation: X:2.64, Y:0.20, Z:0.94 [[ 9.99936827e-01 -2.35921166e-03 -1.09898576e-02 2.64129846e+00] [ 2.42360694e-03 9.99979952e-01 5.84989107e-03 1.95437717e-01] [ 1.09758361e-02 -5.87615661e-03 9.99922498e-01 9.39364728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94255784400002 meters Centerline goodness [0,1] 0.2457846392686187 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.94 [[ 9.99960458e-01 -7.77205013e-04 -8.85882740e-03 2.68542254e+00] [ 8.34221575e-04 9.99978952e-01 6.43425264e-03 1.99578913e-01] [ 8.85364020e-03 -6.44138844e-03 9.99940059e-01 9.38594901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97255784400002 meters Centerline goodness [0,1] 0.24696940335464979 Centerline is valid? [False, False] Translation: X:2.68, Y:0.20, Z:0.94 [[ 9.99963442e-01 -7.82776294e-04 -8.51475848e-03 2.68446587e+00] [ 8.36883036e-04 9.99979471e-01 6.35276000e-03 2.00058679e-01] [ 8.50961089e-03 -6.35965361e-03 9.99943569e-01 9.38701095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00255784400002 meters Centerline goodness [0,1] 0.2518629234901655 Centerline is valid? [False, False] Translation: X:2.68, Y:0.20, Z:0.94 [[ 9.99963572e-01 -7.55932073e-04 -8.50190084e-03 2.68439884e+00] [ 8.10431661e-04 9.99979136e-01 6.40866543e-03 1.99786526e-01] [ 8.49687894e-03 -6.41532219e-03 9.99943322e-01 9.38713890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03255784400002 meters Centerline goodness [0,1] 0.25078696567744174 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.94 [[ 9.99960661e-01 -7.61530354e-04 -8.83722500e-03 2.68553100e+00] [ 8.18620225e-04 9.99978810e-01 6.45834008e-03 1.99435049e-01] [ 8.83211952e-03 -6.46532034e-03 9.99940095e-01 9.38186678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062557844 meters Centerline goodness [0,1] 0.25150769632709935 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.94 [[ 9.99956744e-01 -7.18194438e-04 -9.27330159e-03 2.68703894e+00] [ 7.79460145e-04 9.99977885e-01 6.60475377e-03 1.98659545e-01] [ 9.26835301e-03 -6.61169624e-03 9.99935189e-01 9.37442379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092557844 meters Centerline goodness [0,1] 0.2464930292877986 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.94 [[ 9.99953412e-01 -6.79949970e-04 -9.62872018e-03 2.68822510e+00] [ 7.45022526e-04 9.99976899e-01 6.75619944e-03 1.97848859e-01] [ 9.62390387e-03 -6.76305829e-03 9.99930818e-01 9.36949220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122557844 meters Centerline goodness [0,1] 0.25082522680074326 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.94 [[ 0.99993542 0.00666583 -0.00920486 2.66963956] [-0.00661607 0.99996339 0.00542563 0.18967693] [ 0.00924069 -0.00536438 0.99994291 0.93514075] [ 0. 0. 0. 1. ]] SLAMing on 207.152557844 meters Centerline goodness [0,1] 0.24578654700818003 Centerline is valid? [False, False] Translation: X:2.71, Y:0.19, Z:0.94 [[ 0.99995973 0.0059472 -0.0067215 2.71330092] [-0.00591572 0.99997148 0.00469438 0.19067984] [ 0.00674923 -0.00465443 0.99996639 0.93515279] [ 0. 0. 0. 1. ]] SLAMing on 207.182557844 meters Centerline goodness [0,1] 0.2524106636415201 Centerline is valid? [False, False] Translation: X:2.69, Y:0.19, Z:0.94 [[ 0.99997373 -0.00301889 -0.00658919 2.68963446] [ 0.00305552 0.99997989 0.00555646 0.18965779] [ 0.00657228 -0.00557645 0.99996285 0.93569015] [ 0. 0. 0. 1. ]] SLAMing on 207.212557844 meters Centerline goodness [0,1] 0.24789679098005202 Centerline is valid? [False, False] Translation: X:2.71, Y:0.18, Z:0.94 [[ 0.99995766 0.00371119 -0.00842037 2.70623069] [-0.00367584 0.99998438 0.00421015 0.18443294] [ 0.00843587 -0.00417902 0.99995568 0.93946644] [ 0. 0. 0. 1. ]] SLAMing on 207.242557844 meters Centerline goodness [0,1] 0.25204931399621666 Centerline is valid? [False, False] Translation: X:2.71, Y:0.18, Z:0.94 [[ 0.99995709 0.00383713 -0.00843162 2.70633639] [-0.00379884 0.99998242 0.00455281 0.18277635] [ 0.00844894 -0.00452058 0.99995409 0.93937017] [ 0. 0. 0. 1. ]] SLAMing on 207.272557844 meters Centerline goodness [0,1] 0.25219370226919624 Centerline is valid? [False, False] Translation: X:2.71, Y:0.18, Z:0.94 [[ 0.99995672 0.00394169 -0.0084271 2.7064731 ] [-0.00390102 0.99998069 0.00483649 0.1812719 ] [ 0.008446 -0.00480341 0.9999528 0.93913013] [ 0. 0. 0. 1. ]] SLAMing on 207.302557844 meters Centerline goodness [0,1] 0.24983754278040116 Centerline is valid? [False, False] Translation: X:2.71, Y:0.18, Z:0.94 [[ 0.99995686 0.00410965 -0.00833037 2.70644407] [-0.00406642 0.99997821 0.00520069 0.17939333] [ 0.00835156 -0.00516659 0.99995178 0.9387428 ] [ 0. 0. 0. 1. ]] SLAMing on 207.332557844 meters Centerline goodness [0,1] 0.2499837546299305 Centerline is valid? [False, False] Translation: X:2.71, Y:0.18, Z:0.94 [[ 0.99995762 0.00420304 -0.00819106 2.70605394] [-0.00415926 0.99997701 0.00535472 0.17891082] [ 0.00821338 -0.00532042 0.99995212 0.93880108] [ 0. 0. 0. 1. ]] SLAMing on 207.362557844 meters Centerline goodness [0,1] 0.2511401641836425 Centerline is valid? [False, False] Translation: X:2.71, Y:0.18, Z:0.94 [[ 0.99995885 0.00437871 -0.00794487 2.70507689] [-0.00433379 0.99997458 0.00566215 0.17781177] [ 0.00796946 -0.00562749 0.99995241 0.93943987] [ 0. 0. 0. 1. ]] SLAMing on 207.392557844 meters Centerline goodness [0,1] 0.250786351113907 Centerline is valid? [False, False] Translation: X:2.71, Y:0.18, Z:0.94 [[ 0.99995724 0.00443846 -0.00811308 2.70547631] [-0.0043911 0.99997327 0.00584573 0.17674698] [ 0.00813881 -0.00580986 0.99995 0.93948584] [ 0. 0. 0. 1. ]] SLAMing on 207.422557844 meters Centerline goodness [0,1] 0.24992959424622518 Centerline is valid? [False, False] Translation: X:2.71, Y:0.18, Z:0.94 [[ 0.99995529 0.00446997 -0.00833315 2.70607268] [-0.00442006 0.99997225 0.00599733 0.17575099] [ 0.00835972 -0.00596023 0.99994729 0.93942629] [ 0. 0. 0. 1. ]] SLAMing on 207.452557844 meters Centerline goodness [0,1] 0.24920507884320042 Centerline is valid? [False, False] Translation: X:2.71, Y:0.17, Z:0.94 [[ 0.99995687 0.00464048 -0.00804486 2.70508366] [-0.00458909 0.99996903 0.00639445 0.17395619] [ 0.00807429 -0.00635725 0.99994719 0.93987811] [ 0. 0. 0. 1. ]] SLAMing on 207.482557844 meters Centerline goodness [0,1] 0.24713236241783731 Centerline is valid? [False, False] Translation: X:2.70, Y:0.17, Z:0.94 [[ 0.99995976 0.00478045 -0.00759111 2.70372954] [-0.00472969 0.99996643 0.00669136 0.17273991] [ 0.00762284 -0.00665518 0.9999488 0.94025304] [ 0. 0. 0. 1. ]] SLAMing on 207.512557844 meters Centerline goodness [0,1] 0.2551901403809398 Centerline is valid? [False, False] Translation: X:2.66, Y:0.17, Z:0.94 [[ 0.99994482 0.00377374 -0.00980388 2.65721267] [-0.00371062 0.99997233 0.00644812 0.16810576] [ 0.00982794 -0.00641138 0.99993115 0.94139194] [ 0. 0. 0. 1. ]] SLAMing on 207.54255784400002 meters Centerline goodness [0,1] 0.25135211451160977 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:0.94 [[ 9.99938366e-01 1.77443286e-03 -1.09596965e-02 2.66266870e+00] [-1.72116699e-03 9.99986672e-01 4.86768096e-03 1.63793225e-01] [ 1.09681878e-02 -4.84851748e-03 9.99928093e-01 9.38480003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57255784400002 meters Centerline goodness [0,1] 0.2526820758831225 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:0.94 [[ 9.99933657e-01 1.89237665e-03 -1.13622765e-02 2.66396730e+00] [-1.83272404e-03 9.99984496e-01 5.25817682e-03 1.61772299e-01] [ 1.13720508e-02 -5.23700406e-03 9.99921622e-01 9.37989462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60255784400002 meters Centerline goodness [0,1] 0.2531237052705031 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:0.94 [[ 9.99930999e-01 2.15419932e-03 -1.15480176e-02 2.66467273e+00] [-2.08561747e-03 9.99980138e-01 5.94759858e-03 1.58562529e-01] [ 1.15606005e-02 -5.92310344e-03 9.99915631e-01 9.37615408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63255784400002 meters Centerline goodness [0,1] 0.25182553349172787 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:0.94 [[ 9.99931374e-01 2.25447828e-03 -1.14963185e-02 2.66450925e+00] [-2.18336642e-03 9.99978431e-01 6.19442363e-03 1.57355396e-01] [ 1.15100358e-02 -6.16889786e-03 9.99914728e-01 9.37670597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66255784400002 meters Centerline goodness [0,1] 0.24594948389450422 Centerline is valid? [False, False] Translation: X:2.68, Y:0.15, Z:0.94 [[ 0.99988329 0.01073903 -0.01086622 2.68490878] [-0.01068193 0.9999289 0.00529924 0.15355263] [ 0.01092236 -0.00518255 0.99992692 0.93871563] [ 0. 0. 0. 1. ]] SLAMing on 207.69255784400002 meters Centerline goodness [0,1] 0.24949759059576027 Centerline is valid? [False, False] Translation: X:2.67, Y:0.16, Z:0.94 [[ 9.99933425e-01 2.55715264e-03 -1.12519331e-02 2.66605224e+00] [-2.48043781e-03 9.99973622e-01 6.82660572e-03 1.56143889e-01] [ 1.12690929e-02 -6.79824152e-03 9.99913392e-01 9.36565440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72255784400002 meters Centerline goodness [0,1] 0.24816668104563888 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.94 [[ 0.9999295 0.00276195 -0.01154834 2.66709866] [-0.00267752 0.99996963 0.00731976 0.15374768] [ 0.0115682 -0.00728833 0.99990652 0.93606694] [ 0. 0. 0. 1. ]] SLAMing on 207.75255784400002 meters Centerline goodness [0,1] 0.24934963579604574 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.94 [[ 0.99992703 0.00289886 -0.01172774 2.66748398] [-0.00280847 0.99996628 0.00771673 0.15166967] [ 0.01174971 -0.00768323 0.99990145 0.93622688] [ 0. 0. 0. 1. ]] SLAMing on 207.78255784400002 meters Centerline goodness [0,1] 0.25179385400536525 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.94 [[ 0.99992655 0.00304596 -0.01173074 2.66740893] [-0.00294913 0.99996151 0.00826274 0.14877783] [ 0.01175546 -0.00822754 0.99989705 0.93645209] [ 0. 0. 0. 1. ]] SLAMing on 207.812557844 meters Centerline goodness [0,1] 0.24931618961469704 Centerline is valid? [False, False] Translation: X:2.69, Y:0.14, Z:0.94 [[ 0.99991033 0.00823982 -0.01055682 2.68810718] [-0.00818505 0.99995287 0.00522151 0.14100425] [ 0.01059935 -0.00513463 0.99993064 0.93675096] [ 0. 0. 0. 1. ]] SLAMing on 207.842557844 meters Centerline goodness [0,1] 0.2505736675758756 Centerline is valid? [False, False] Translation: X:2.69, Y:0.14, Z:0.94 [[ 9.99936661e-01 5.38057736e-03 -9.88551291e-03 2.68584839e+00] [-5.35488130e-03 9.99982220e-01 2.62399723e-03 1.38900252e-01] [ 9.89945576e-03 -2.57089528e-03 9.99947694e-01 9.37363609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872557844 meters Centerline goodness [0,1] 0.25292760437072836 Centerline is valid? [False, False] Translation: X:2.69, Y:0.14, Z:0.94 [[ 0.99993497 0.00556006 -0.0099572 2.68611679] [-0.00552907 0.99997979 0.00313693 0.13637343] [ 0.00997444 -0.00308167 0.99994551 0.93723993] [ 0. 0. 0. 1. ]] SLAMing on 207.902557844 meters Centerline goodness [0,1] 0.24869471413160738 Centerline is valid? [False, False] Translation: X:2.69, Y:0.13, Z:0.94 [[ 0.99993029 0.00578813 -0.0102912 2.68725865] [-0.00575019 0.99997658 0.00371255 0.13352775] [ 0.01031245 -0.00365312 0.99994015 0.93676905] [ 0. 0. 0. 1. ]] SLAMing on 207.932557844 meters Centerline goodness [0,1] 0.24995636236690522 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.94 [[ 0.99993803 -0.00287114 -0.01075566 2.66657377] [ 0.00292311 0.99998412 0.00481916 0.13634121] [ 0.01074165 -0.00485031 0.99993054 0.93573112] [ 0. 0. 0. 1. ]] SLAMing on 207.962557844 meters Centerline goodness [0,1] 0.25238570313177755 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.94 [[ 0.99993902 -0.00272951 -0.01070054 2.66627249] [ 0.00278384 0.99998329 0.00506568 0.1354642 ] [ 0.01068653 -0.00509516 0.99992992 0.93604532] [ 0. 0. 0. 1. ]] SLAMing on 207.992557844 meters Centerline goodness [0,1] 0.24764150943396224 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:0.94 [[ 0.99993657 -0.00268499 -0.01093791 2.66716131] [ 0.00274185 0.99998279 0.00518693 0.13455606] [ 0.01092379 -0.00521659 0.99992673 0.93560306] [ 0. 0. 0. 1. ]] SLAMing on 208.022557844 meters Centerline goodness [0,1] 0.25037710687974113 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:0.93 [[ 0.99991273 0.00490878 -0.01226556 2.64855523] [-0.00486447 0.99998154 0.0036399 0.12785404] [ 0.01228321 -0.00357992 0.99991815 0.93403018] [ 0. 0. 0. 1. ]] SLAMing on 208.052557844 meters Centerline goodness [0,1] 0.24710558898277468 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:0.93 [[ 0.99991079 0.00495755 -0.01240302 2.64897886] [-0.00491064 0.99998069 0.00380955 0.12688259] [ 0.01242167 -0.0037483 0.99991582 0.93389316] [ 0. 0. 0. 1. ]] SLAMing on 208.082557844 meters Centerline goodness [0,1] 0.24697378357967414 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.93 [[ 0.99990927 0.00519116 -0.01242964 2.6487795 ] [-0.00513684 0.99997714 0.00439768 0.12440623] [ 0.01245219 -0.00433343 0.99991308 0.93438226] [ 0. 0. 0. 1. ]] SLAMing on 208.112557844 meters Centerline goodness [0,1] 0.24914661020610984 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.93 [[ 0.99991016 0.00531915 -0.01230375 2.64823975] [-0.00526134 0.99997499 0.00472649 0.12284708] [ 0.01232858 -0.00466133 0.99991314 0.9348168 ] [ 0. 0. 0. 1. ]] SLAMing on 208.142557844 meters Centerline goodness [0,1] 0.2439229558052758 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.94 [[ 0.99991163 0.00541873 -0.01213957 2.6475913 ] [-0.00535788 0.99997295 0.00503949 0.12113227] [ 0.01216655 -0.004974 0.99991361 0.93526167] [ 0. 0. 0. 1. ]] SLAMing on 208.172557844 meters Centerline goodness [0,1] 0.24817518248175185 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.94 [[ 0.99991237 0.00560974 -0.01199089 2.64729553] [-0.00554401 0.99996946 0.00550854 0.11886284] [ 0.01202143 -0.00544158 0.99991293 0.93511452] [ 0. 0. 0. 1. ]] SLAMing on 208.202557844 meters Centerline goodness [0,1] 0.2500435009570211 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.93 [[ 0.99991094 0.00571383 -0.01206119 2.64769379] [-0.00564508 0.99996767 0.00572682 0.11798154] [ 0.01209352 -0.00565822 0.99991086 0.93473917] [ 0. 0. 0. 1. ]] SLAMing on 208.232557844 meters Centerline goodness [0,1] 0.24998360118071494 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.93 [[ 0.99990924 0.00582496 -0.01214864 2.64799993] [-0.00575249 0.9999655 0.0059915 0.11678214] [ 0.01218312 -0.00592107 0.99990825 0.9346156 ] [ 0. 0. 0. 1. ]] SLAMing on 208.262557844 meters Centerline goodness [0,1] 0.24923550716779808 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.93 [[ 0.99990709 0.00589831 -0.01228894 2.64843712] [-0.00582191 0.99996356 0.0062433 0.11531921] [ 0.01232531 -0.00617118 0.999905 0.93449353] [ 0. 0. 0. 1. ]] SLAMing on 208.29255784400002 meters Centerline goodness [0,1] 0.24966375981604405 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99918985e-01 2.19139902e-03 -1.25387571e-02 2.64936389e+00] [-2.15893131e-03 9.99994283e-01 2.60233891e-03 1.14001858e-01] [ 1.25443882e-02 -2.57505777e-03 9.99918000e-01 9.33858768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32255784400002 meters Centerline goodness [0,1] 0.24857858621065243 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99917199e-01 2.31376206e-03 -1.26586915e-02 2.64992320e+00] [-2.27714124e-03 9.99993183e-01 2.90658780e-03 1.12579130e-01] [ 1.26653304e-02 -2.87752150e-03 9.99915651e-01 9.33418419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35255784400002 meters Centerline goodness [0,1] 0.24543035756776055 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99917219e-01 2.44539508e-03 -1.26323415e-02 2.65008471e+00] [-2.40544951e-03 9.99992062e-01 3.17639331e-03 1.11515352e-01] [ 1.26400088e-02 -3.14574390e-03 9.99915164e-01 9.33034462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38255784400002 meters Centerline goodness [0,1] 0.2491936889818689 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99920714e-01 2.62079515e-03 -1.23165145e-02 2.64924296e+00] [-2.57776177e-03 9.99990523e-01 3.50853475e-03 1.10242968e-01] [ 1.23255929e-02 -3.47650753e-03 9.99917993e-01 9.33185076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41255784400002 meters Centerline goodness [0,1] 0.2491936889818689 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99920714e-01 2.62079515e-03 -1.23165145e-02 2.64924296e+00] [-2.57776177e-03 9.99990523e-01 3.50853475e-03 1.10242968e-01] [ 1.23255929e-02 -3.47650753e-03 9.99917993e-01 9.33185076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44255784400002 meters Centerline goodness [0,1] 0.2493408825690453 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99920885e-01 2.66241584e-03 -1.22936958e-02 2.64915355e+00] [-2.61788866e-03 9.99989961e-01 3.63662549e-03 1.09491376e-01] [ 1.23032546e-02 -3.60415425e-03 9.99917817e-01 9.33222018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47255784400002 meters Centerline goodness [0,1] 0.24867139541441619 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99919999e-01 2.69233855e-03 -1.23590543e-02 2.64955744e+00] [-2.64600087e-03 9.99989415e-01 3.76411127e-03 1.08652046e-01] [ 1.23690578e-02 -3.73110807e-03 9.99916539e-01 9.32810443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50255784400002 meters Centerline goodness [0,1] 0.25287356321839083 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 0.99991659 0.00279068 -0.01261021 2.65054189] [-0.00273921 0.99998786 0.00409708 0.10684142] [ 0.01262149 -0.0040622 0.99991209 0.93219452] [ 0. 0. 0. 1. ]] SLAMing on 208.53255784400002 meters Centerline goodness [0,1] 0.24701203876743882 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 0.99991668 0.00283926 -0.01259259 2.65048342] [-0.00278573 0.99998702 0.00426598 0.10599735] [ 0.01260454 -0.00423054 0.99991161 0.93222362] [ 0. 0. 0. 1. ]] SLAMing on 208.562557844 meters Centerline goodness [0,1] 0.24949834234863022 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:0.93 [[ 0.99991861 0.00294716 -0.01241343 2.64993327] [-0.00288903 0.99998479 0.00469758 0.10383442] [ 0.01242709 -0.00466133 0.99991192 0.93248828] [ 0. 0. 0. 1. ]] SLAMing on 208.592557844 meters Centerline goodness [0,1] 0.2497981627353859 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:0.93 [[ 0.99991892 0.00304628 -0.0123638 2.64970976] [-0.00298495 0.99998317 0.00497555 0.10248462] [ 0.01237875 -0.00493824 0.99991119 0.93268087] [ 0. 0. 0. 1. ]] SLAMing on 208.622557844 meters Centerline goodness [0,1] 0.2496680235975357 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:0.93 [[ 0.99991809 0.00313701 -0.01240822 2.64972221] [-0.00307239 0.99998164 0.00522351 0.10132632] [ 0.01242437 -0.00518496 0.99990937 0.93287439] [ 0. 0. 0. 1. ]] SLAMing on 208.652557844 meters Centerline goodness [0,1] 0.24349114968207597 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:0.93 [[ 0.99985959 0.01148935 -0.01219807 2.66980174] [-0.01144063 0.99992633 0.00405628 0.0976482 ] [ 0.01224377 -0.00391616 0.99991737 0.93424281] [ 0. 0. 0. 1. ]] SLAMing on 208.682557844 meters Centerline goodness [0,1] 0.2528012279355334 Centerline is valid? [False, False] Translation: X:2.63, Y:0.10, Z:0.93 [[ 0.99981172 0.01103908 -0.01595835 2.62725478] [-0.0109706 0.99993026 0.00437216 0.09603659] [ 0.0160055 -0.00419626 0.9998631 0.93422313] [ 0. 0. 0. 1. ]] SLAMing on 208.712557844 meters Centerline goodness [0,1] 0.25043652872359 Centerline is valid? [False, False] Translation: X:2.63, Y:0.10, Z:0.93 [[ 0.99981205 0.01100434 -0.01596175 2.62731137] [-0.01093848 0.99993132 0.00420753 0.09694732] [ 0.01600695 -0.00403214 0.99986375 0.93413689] [ 0. 0. 0. 1. ]] SLAMing on 208.742557844 meters Centerline goodness [0,1] 0.2428992872370206 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:0.94 [[ 0.99988873 0.00322703 -0.01456445 2.64619121] [-0.00315598 0.99998302 0.00489908 0.10373123] [ 0.01458001 -0.00485257 0.99988193 0.93515507] [ 0. 0. 0. 1. ]] SLAMing on 208.772557844 meters Centerline goodness [0,1] 0.2477525061981244 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.94 [[ 0.99989896 0.00313797 -0.01386444 2.64362027] [-0.00307626 0.99998528 0.00447005 0.10606856] [ 0.01387826 -0.00442695 0.99989389 0.93642914] [ 0. 0. 0. 1. ]] SLAMing on 208.802557844 meters Centerline goodness [0,1] 0.2510614331513734 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.94 [[ 0.99989955 0.00304538 -0.01384278 2.64345005] [-0.0029869 0.99998654 0.00424321 0.1071739 ] [ 0.01385551 -0.00420143 0.99989518 0.93656288] [ 0. 0. 0. 1. ]] SLAMing on 208.832557844 meters Centerline goodness [0,1] 0.2538061072709773 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.94 [[ 0.99989756 0.00294967 -0.01400631 2.64398073] [-0.00289378 0.99998777 0.00400957 0.10831981] [ 0.01401796 -0.00396862 0.99989387 0.93630847] [ 0. 0. 0. 1. ]] SLAMing on 208.862557844 meters Centerline goodness [0,1] 0.2513471649540764 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.94 [[ 0.99989189 0.00279337 -0.0144364 2.64559737] [-0.00274154 0.99998973 0.00360874 0.11034176] [ 0.01444634 -0.00356877 0.99988928 0.9353275 ] [ 0. 0. 0. 1. ]] SLAMing on 208.892557844 meters Centerline goodness [0,1] 0.24885162073149591 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.94 [[ 0.99989036 0.00270594 -0.01455845 2.64598093] [-0.00265521 0.99999034 0.00350296 0.11059578] [ 0.01456779 -0.00346392 0.99988788 0.9352055 ] [ 0. 0. 0. 1. ]] SLAMing on 208.922557844 meters Centerline goodness [0,1] 0.2508333514891392 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.94 [[ 9.99890222e-01 2.56144788e-03 -1.45939269e-02 2.64579920e+00] [-2.51412927e-03 9.99991526e-01 3.25977367e-03 1.11660272e-01] [ 1.46021530e-02 -3.22272480e-03 9.99888189e-01 9.35668033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.952557844 meters Centerline goodness [0,1] 0.24796458265846022 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.94 [[ 9.99889921e-01 2.50260906e-03 -1.46247447e-02 2.64582790e+00] [-2.45731184e-03 9.99992131e-01 3.11444973e-03 1.12471511e-01] [ 1.46324239e-02 -3.07816933e-03 9.99888202e-01 9.35711067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982557844 meters Centerline goodness [0,1] 0.24810732696331128 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.94 [[ 9.99889864e-01 2.44472881e-03 -1.46384078e-02 2.64585369e+00] [-2.40114997e-03 9.99992636e-01 2.99385620e-03 1.13104615e-01] [ 1.46456192e-02 -2.95837745e-03 9.99888371e-01 9.35712725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.012557844 meters Centerline goodness [0,1] 0.24406400550584995 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.94 [[ 9.99895608e-01 2.41333204e-03 -1.42460455e-02 2.64470362e+00] [-2.37005998e-03 9.99992529e-01 3.05358017e-03 1.12553328e-01] [ 1.42533083e-02 -3.01949741e-03 9.99893857e-01 9.36042733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04255784400002 meters Centerline goodness [0,1] 0.2495654063450674 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.94 [[ 9.99898459e-01 2.47241477e-03 -1.40341918e-02 2.64391671e+00] [-2.42727771e-03 9.99991830e-01 3.23234299e-03 1.11648892e-01] [ 1.40420688e-02 -3.19794989e-03 9.99896291e-01 9.36469900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07255784400002 meters Centerline goodness [0,1] 0.24772462580339039 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.94 [[ 9.99901510e-01 2.51386731e-03 -1.38076171e-02 2.64317128e+00] [-2.46777688e-03 9.99991330e-01 3.35406835e-03 1.11068333e-01] [ 1.38159291e-02 -3.31966389e-03 9.99899045e-01 9.36767130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10255784400002 meters Centerline goodness [0,1] 0.24683707720113612 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.94 [[ 9.99901950e-01 2.51178897e-03 -1.37761184e-02 2.64304795e+00] [-2.46592452e-03 9.99991364e-01 3.34524862e-03 1.11058347e-01] [ 1.37844020e-02 -3.31094975e-03 9.99899509e-01 9.36883524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13255784400002 meters Centerline goodness [0,1] 0.25064116496413824 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.94 [[ 9.99898641e-01 2.50925112e-03 -1.40146758e-02 2.64427668e+00] [-2.46508395e-03 9.99991944e-01 3.16788057e-03 1.11965783e-01] [ 1.40225119e-02 -3.13301213e-03 9.99896771e-01 9.35730797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16255784400002 meters Centerline goodness [0,1] 0.2533750519659541 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.94 [[ 9.99899381e-01 2.49832005e-03 -1.39637765e-02 2.64452483e+00] [-2.45579326e-03 9.99992297e-01 3.06182591e-03 1.12533846e-01] [ 1.39713184e-02 -3.02722568e-03 9.99897814e-01 9.35066668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19255784400002 meters Centerline goodness [0,1] 0.24915401301518436 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.93 [[ 9.99900467e-01 2.63489001e-03 -1.38605346e-02 2.64466024e+00] [-2.59543744e-03 9.99992532e-01 2.86361377e-03 1.13850175e-01] [ 1.38679764e-02 -2.82735460e-03 9.99899838e-01 9.34275908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22255784400002 meters Centerline goodness [0,1] 0.2452529601722282 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.93 [[ 9.99900718e-01 2.59082154e-03 -1.38507059e-02 2.64457922e+00] [-2.55441961e-03 9.99993239e-01 2.64521007e-03 1.14919233e-01] [ 1.38574655e-02 -2.60956694e-03 9.99900575e-01 9.34290407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25255784400002 meters Centerline goodness [0,1] 0.24710324738375233 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:0.93 [[ 9.99901582e-01 2.56388321e-03 -1.37931990e-02 2.64426923e+00] [-2.52980680e-03 9.99993706e-01 2.48740389e-03 1.15756355e-01] [ 1.37994896e-02 -2.45226496e-03 9.99901775e-01 9.34517263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28255784400002 meters Centerline goodness [0,1] 0.2530128373067855 Centerline is valid? [False, False] Translation: X:2.62, Y:0.12, Z:0.94 [[ 0.9998889 -0.00391131 -0.0143835 2.62060462] [ 0.00399474 0.99997534 0.00577667 0.11670552] [ 0.01436055 -0.00583349 0.99987987 0.93554811] [ 0. 0. 0. 1. ]] SLAMing on 209.312557844 meters Centerline goodness [0,1] 0.251403577490534 Centerline is valid? [False, False] Translation: X:2.62, Y:0.12, Z:0.94 [[ 0.99988787 -0.00387842 -0.01446419 2.62087528] [ 0.00396378 0.99997487 0.00587772 0.11618702] [ 0.01444103 -0.0059344 0.99987811 0.93542541] [ 0. 0. 0. 1. ]] SLAMing on 209.342557844 meters Centerline goodness [0,1] 0.24403262951722948 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:0.93 [[ 9.99896576e-01 2.35634305e-03 -1.41874796e-02 2.64422344e+00] [-2.31954455e-03 9.99993905e-01 2.60962702e-03 1.15309773e-01] [ 1.41935423e-02 -2.57644863e-03 9.99895947e-01 9.34684449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.372557844 meters Centerline goodness [0,1] 0.24639376218323583 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99892661e-01 2.45415283e-03 -1.44444842e-02 2.64535472e+00] [-2.40933521e-03 9.99992232e-01 3.11933413e-03 1.12419829e-01] [ 1.44520273e-02 -3.08419770e-03 9.99890807e-01 9.33928175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402557844 meters Centerline goodness [0,1] 0.2496634093376764 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99893582e-01 2.51982818e-03 -1.43692355e-02 2.64509202e+00] [-2.47287985e-03 9.99991550e-01 3.28411327e-03 1.11779567e-01] [ 1.43773895e-02 -3.24823039e-03 9.99891364e-01 9.34101472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.432557844 meters Centerline goodness [0,1] 0.24582261516179937 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.93 [[ 9.99893214e-01 2.59094454e-03 -1.43821811e-02 2.64492921e+00] [-2.54200269e-03 9.99990920e-01 3.42018903e-03 1.11240312e-01] [ 1.43909120e-02 -3.38326426e-03 9.99890722e-01 9.34433384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.462557844 meters Centerline goodness [0,1] 0.24440749697702535 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99891219e-01 2.60005939e-03 -1.45185700e-02 2.64525253e+00] [-2.55013485e-03 9.99990776e-01 3.45612292e-03 1.10966819e-01] [ 1.45274222e-02 -3.41872265e-03 9.99888627e-01 9.34479307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.492557844 meters Centerline goodness [0,1] 0.24143570321914276 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99882752e-01 2.59208152e-03 -1.50918606e-02 2.64721187e+00] [-2.54006068e-03 9.99990771e-01 3.46509473e-03 1.10549237e-01] [ 1.51007032e-02 -3.42635421e-03 9.99880107e-01 9.33641439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.522557844 meters Centerline goodness [0,1] 0.24065219264237103 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99881964e-01 2.54890477e-03 -1.51512551e-02 2.64756562e+00] [-2.49853026e-03 9.99991292e-01 3.34277421e-03 1.11080293e-01] [ 1.51596436e-02 -3.30452377e-03 9.99879625e-01 9.33250887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.552557844 meters Centerline goodness [0,1] 0.24534620737647872 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99883203e-01 2.47532779e-03 -1.50815304e-02 2.64741665e+00] [-2.42783148e-03 9.99992038e-01 3.16679844e-03 1.11920596e-01] [ 1.50892492e-02 -3.12981316e-03 9.99881252e-01 9.33178551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582557844 meters Centerline goodness [0,1] 0.24661971218642664 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99888809e-01 2.39378119e-03 -1.47186943e-02 2.64633123e+00] [-2.35214468e-03 9.99993185e-01 2.84547914e-03 1.13943875e-01] [ 1.47254055e-02 -2.81054225e-03 9.99887625e-01 9.33359180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.612557844 meters Centerline goodness [0,1] 0.2503592110419297 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.93 [[ 9.99891237e-01 2.32109186e-03 -1.45645635e-02 2.64576832e+00] [-2.28297452e-03 9.99993927e-01 2.63320921e-03 1.15190956e-01] [ 1.45705870e-02 -2.59967228e-03 9.99890464e-01 9.33641323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642557844 meters Centerline goodness [0,1] 0.24908785038561532 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.93 [[ 9.99893300e-01 2.21078223e-03 -1.44395540e-02 2.64529529e+00] [-2.17665700e-03 9.99994802e-01 2.37860485e-03 1.16428529e-01] [ 1.44447375e-02 -2.34692110e-03 9.99892915e-01 9.33872056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.672557844 meters Centerline goodness [0,1] 0.2482019092454557 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.93 [[ 9.99894582e-01 2.13409172e-03 -1.43621234e-02 2.64503833e+00] [-2.10234745e-03 9.99995315e-01 2.22501177e-03 1.17137911e-01] [ 1.43668045e-02 -2.19458304e-03 9.99894384e-01 9.33990996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702557844 meters Centerline goodness [0,1] 0.2504756697648989 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:0.93 [[ 9.99899802e-01 1.92428564e-03 -1.40243780e-02 2.64394001e+00] [-1.89596453e-03 9.99996137e-01 2.03243605e-03 1.17706201e-01] [ 1.40282348e-02 -2.00564268e-03 9.99899588e-01 9.34446598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.732557844 meters Centerline goodness [0,1] 0.24773033317405846 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:0.93 [[ 9.99899116e-01 1.86213092e-03 -1.40815781e-02 2.64410720e+00] [-1.83397590e-03 9.99996294e-01 2.01207172e-03 1.17694119e-01] [ 1.40852727e-02 -1.98604346e-03 9.99898825e-01 9.34435345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.762557844 meters Centerline goodness [0,1] 0.24981501632208925 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:0.93 [[ 9.99897731e-01 1.81325464e-03 -1.41859182e-02 2.64441661e+00] [-1.78513739e-03 9.99996418e-01 1.99446471e-03 1.17712313e-01] [ 1.41894838e-02 -1.96893693e-03 9.99897386e-01 9.34362042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79255784400002 meters Centerline goodness [0,1] 0.24966111329747698 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:0.93 [[ 9.99897812e-01 1.64185714e-03 -1.42010806e-02 2.64447211e+00] [-1.61447421e-03 9.99996816e-01 1.93947836e-03 1.17565482e-01] [ 1.42042197e-02 -1.91635289e-03 9.99897279e-01 9.34364068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82255784400002 meters Centerline goodness [0,1] 0.24966194111232276 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:0.93 [[ 9.99896843e-01 1.61581823e-03 -1.42721018e-02 2.64465001e+00] [-1.58704585e-03 9.99996686e-01 2.02708314e-03 1.16883529e-01] [ 1.42753299e-02 -2.00422356e-03 9.99896094e-01 9.34409757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85255784400002 meters Centerline goodness [0,1] 0.24873074325060462 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:0.93 [[ 9.99896028e-01 1.62996894e-03 -1.43274662e-02 2.64473935e+00] [-1.59902358e-03 9.99996365e-01 2.17105305e-03 1.16009781e-01] [ 1.43309528e-02 -2.14791736e-03 9.99895000e-01 9.34516681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88255784400002 meters Centerline goodness [0,1] 0.24479031560743625 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:0.93 [[ 9.99895274e-01 1.66719266e-03 -1.43757123e-02 2.64480067e+00] [-1.63354823e-03 9.99995900e-01 2.35179095e-03 1.15046825e-01] [ 1.43795742e-02 -2.32806123e-03 9.99893898e-01 9.34641027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91255784400002 meters Centerline goodness [0,1] 0.24687479688887926 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:0.93 [[ 9.99895639e-01 1.80704724e-03 -1.43333485e-02 2.64469582e+00] [-1.76614485e-03 9.99994334e-01 2.86579738e-03 1.12418611e-01] [ 1.43384459e-02 -2.84018353e-03 9.99893165e-01 9.34722012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94255784400002 meters Centerline goodness [0,1] 0.25010391826554945 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99894901e-01 1.85962931e-03 -1.43780532e-02 2.64507981e+00] [-1.81570938e-03 9.99993648e-01 3.06710097e-03 1.11138887e-01] [ 1.43836655e-02 -3.04067226e-03 9.99891926e-01 9.34307892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97255784400002 meters Centerline goodness [0,1] 0.2521528172400227 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99893510e-01 1.87148957e-03 -1.44729445e-02 2.64550826e+00] [-1.82575881e-03 9.99993302e-01 3.17230883e-03 1.10255444e-01] [ 1.44787845e-02 -3.14554691e-03 9.99890229e-01 9.34030874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00255784400002 meters Centerline goodness [0,1] 0.25060172421338234 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:0.93 [[ 9.99893026e-01 1.88735398e-03 -1.45042882e-02 2.64578667e+00] [-1.84109501e-03 9.99993179e-01 3.20202170e-03 1.10031253e-01] [ 1.45102327e-02 -3.17497540e-03 9.99889680e-01 9.33661782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03255784400002 meters Centerline goodness [0,1] 0.2413518458723496 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:0.93 [[ 0.99990586 0.00472129 -0.01288328 2.69191175] [-0.00465711 0.99997662 0.00500718 0.11165347] [ 0.01290661 -0.00494671 0.99990447 0.93272884] [ 0. 0. 0. 1. ]] SLAMing on 210.06255784400003 meters Centerline goodness [0,1] 0.24815326795973913 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:0.93 [[ 0.99990523 0.00472957 -0.01292887 2.69223336] [-0.0046653 0.99997663 0.00499725 0.11165006] [ 0.01295221 -0.00493646 0.99990393 0.93235546] [ 0. 0. 0. 1. ]] SLAMing on 210.092557844 meters Centerline goodness [0,1] 0.24832550452331248 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:0.93 [[ 9.99910910e-01 1.75349662e-03 -1.32324319e-02 2.69307393e+00] [-1.72986938e-03 9.99996890e-01 1.79678969e-03 1.11178284e-01] [ 1.32355414e-02 -1.77373923e-03 9.99910833e-01 9.31938537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122557844 meters Centerline goodness [0,1] 0.2509477374821957 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:0.93 [[ 9.99910260e-01 1.83239965e-03 -1.32708224e-02 2.69307176e+00] [-1.80648912e-03 9.99996439e-01 1.96416744e-03 1.10548914e-01] [ 1.32743742e-02 -1.94001758e-03 9.99910010e-01 9.32081119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152557844 meters Centerline goodness [0,1] 0.25305145767474535 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:0.93 [[ 9.99910533e-01 1.93700676e-03 -1.32353245e-02 2.69287659e+00] [-1.90847435e-03 9.99995829e-01 2.16806722e-03 1.09819197e-01] [ 1.32394688e-02 -2.14261398e-03 9.99910059e-01 9.32252358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.182557844 meters Centerline goodness [0,1] 0.24938753387533874 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:0.93 [[ 0.99990766 -0.00573401 -0.0123202 2.7122179 ] [ 0.00577671 0.99997742 0.00343294 0.11377074] [ 0.01230024 -0.00350379 0.99991821 0.9335737 ] [ 0. 0. 0. 1. ]] SLAMing on 210.212557844 meters Centerline goodness [0,1] 0.25120931556022497 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:0.93 [[ 9.99948820e-01 5.02418291e-04 -1.01047099e-02 2.69355488e+00] [-4.78027421e-04 9.99996967e-01 2.41608237e-03 1.03980763e-01] [ 1.01058932e-02 -2.41112838e-03 9.99946027e-01 9.31223662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.242557844 meters Centerline goodness [0,1] 0.24953765148713036 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:0.93 [[ 9.99949119e-01 6.38416475e-04 -1.00673769e-02 2.69330849e+00] [-6.10431267e-04 9.99995942e-01 2.78261921e-03 1.02131171e-01] [ 1.00691125e-02 -2.77633219e-03 9.99945451e-01 9.31532061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.272557844 meters Centerline goodness [0,1] 0.24731786292498648 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:0.93 [[ 9.99950208e-01 7.63291199e-04 -9.94978208e-03 2.69286039e+00] [-7.32579525e-04 9.99994958e-01 3.08994726e-03 1.00695653e-01] [ 9.95209044e-03 -3.08250440e-03 9.99945726e-01 9.31828363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302557844 meters Centerline goodness [0,1] 0.24920683210917471 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:0.93 [[ 9.99951562e-01 8.90946760e-04 -9.80207132e-03 2.69221244e+00] [-8.57689953e-04 9.99993864e-01 3.39651533e-03 9.92994302e-02] [ 9.80503729e-03 -3.38794367e-03 9.99946190e-01 9.32310904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.332557844 meters Centerline goodness [0,1] 0.24920683210917471 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:0.93 [[ 9.99951562e-01 8.90946760e-04 -9.80207132e-03 2.69221244e+00] [-8.57689953e-04 9.99993864e-01 3.39651533e-03 9.92994302e-02] [ 9.80503729e-03 -3.38794367e-03 9.99946190e-01 9.32310904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362557844 meters Centerline goodness [0,1] 0.25268523177214364 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:0.93 [[ 9.99950616e-01 1.14263116e-03 -9.87218895e-03 2.69207920e+00] [-1.10277435e-03 9.99991224e-01 4.04178273e-03 9.63891454e-02] [ 9.87672057e-03 -4.03069633e-03 9.99943100e-01 9.32877310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.392557844 meters Centerline goodness [0,1] 0.24755482786849925 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:0.93 [[ 0.99990087 0.00971122 -0.01019485 2.71278918] [-0.00967632 0.99994717 0.00346697 0.09109515] [ 0.01022798 -0.00336798 0.99994202 0.93382477] [ 0. 0. 0. 1. ]] SLAMing on 210.422557844 meters Centerline goodness [0,1] 0.25035614877156065 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:0.93 [[ 9.99933320e-01 5.65362133e-04 -1.15340936e-02 2.69160828e+00] [-5.13449418e-04 9.99989728e-01 4.50327056e-03 9.17394903e-02] [ 1.15365211e-02 -4.49704811e-03 9.99923340e-01 9.33059470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.452557844 meters Centerline goodness [0,1] 0.2507341017662269 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:0.93 [[ 9.99937086e-01 6.64940934e-04 -1.11973915e-02 2.69062231e+00] [-6.05929741e-04 9.99985916e-01 5.27265204e-03 8.70646677e-02] [ 1.12007398e-02 -5.26553549e-03 9.99923406e-01 9.33526531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482557844 meters Centerline goodness [0,1] 0.24782411506813817 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:0.94 [[ 0.99991305 0.00888259 -0.00974644 2.70925769] [-0.00884412 0.99995296 0.00398283 0.08210249] [ 0.00978136 -0.00389629 0.99994457 0.93522985] [ 0. 0. 0. 1. ]] SLAMing on 210.512557844 meters Centerline goodness [0,1] 0.24620860748570816 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:0.94 [[ 0.9999124 0.0090229 -0.00968438 2.70893704] [-0.00898142 0.99995034 0.00431781 0.08065109] [ 0.00972286 -0.00423046 0.99994378 0.93551535] [ 0. 0. 0. 1. ]] SLAMing on 210.54255784400002 meters Centerline goodness [0,1] 0.25213021629888577 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:0.93 [[ 9.99947342e-01 2.67052435e-05 -1.02622119e-02 2.68796171e+00] [ 3.08012765e-05 9.99984300e-01 5.60351696e-03 8.24995184e-02] [ 1.02622005e-02 -5.60353798e-03 9.99931641e-01 9.34467236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57255784400002 meters Centerline goodness [0,1] 0.24673730456131282 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:0.93 [[ 9.99938747e-01 6.55424203e-03 -8.91872538e-03 2.71052164e+00] [-6.53032107e-03 9.99975009e-01 2.70858818e-03 8.06083004e-02] [ 8.93625524e-03 -2.65018013e-03 9.99956559e-01 9.33589938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60255784400002 meters Centerline goodness [0,1] 0.2499945794757269 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:0.93 [[ 9.99959660e-01 2.62767596e-03 -8.58911873e-03 2.70971621e+00] [-2.63551097e-03 9.99996121e-01 -9.01010026e-04 7.82742094e-02] [ 8.58671785e-03 9.23610396e-04 9.99962707e-01 9.33476700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63255784400002 meters Centerline goodness [0,1] 0.24638927097661623 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:0.93 [[ 9.99960528e-01 2.78414884e-03 -8.43741692e-03 2.70904755e+00] [-2.78766760e-03 9.99996032e-01 -4.05309943e-04 7.57577816e-02] [ 8.43625500e-03 4.28814659e-04 9.99964322e-01 9.33992974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66255784400002 meters Centerline goodness [0,1] 0.24562384413573612 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.94 [[ 9.99966770e-01 3.03313965e-03 -7.56691612e-03 2.70627437e+00] [-3.02864686e-03 9.99995231e-01 6.05129730e-04 7.07159214e-02] [ 7.56871548e-03 -5.82192105e-04 9.99971187e-01 9.35124994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69255784400002 meters Centerline goodness [0,1] 0.2487016359387172 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.94 [[ 9.99967695e-01 3.22601377e-03 -7.36218998e-03 2.70572585e+00] [-3.21759415e-03 9.99994156e-01 1.15518866e-03 6.80444983e-02] [ 7.36587361e-03 -1.13146280e-03 9.99972231e-01 9.35223895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72255784400002 meters Centerline goodness [0,1] 0.24669527896995713 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.94 [[ 9.99966951e-01 3.36624613e-03 -7.40032170e-03 2.70597428e+00] [-3.35455410e-03 9.99993107e-01 1.59177993e-03 6.56909495e-02] [ 7.40562901e-03 -1.56690254e-03 9.99971350e-01 9.35022139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75255784400002 meters Centerline goodness [0,1] 0.25063527572052213 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99931849e-01 2.36904569e-03 -1.14317562e-02 2.66527972e+00] [-2.35120804e-03 9.99995998e-01 1.57354718e-03 6.02124629e-02] [ 1.14354383e-02 -1.54656150e-03 9.99933417e-01 9.34095563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78255784400002 meters Centerline goodness [0,1] 0.24952173913043474 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99925773e-01 2.41309735e-03 -1.19426127e-02 2.66701440e+00] [-2.39503501e-03 9.99995967e-01 1.52649867e-03 6.05383157e-02] [ 1.19462481e-02 -1.49778239e-03 9.99927519e-01 9.33285539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81255784400003 meters Centerline goodness [0,1] 0.25159340298311317 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99919204e-01 2.48987727e-03 -1.24654298e-02 2.66872224e+00] [-2.47309073e-03 9.99996015e-01 1.36188092e-03 6.17389475e-02] [ 1.24687710e-02 -1.33094274e-03 9.99921376e-01 9.32440739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842557844 meters Centerline goodness [0,1] 0.24924283691033877 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99914322e-01 2.60851891e-03 -1.28275106e-02 2.66989179e+00] [-2.59355740e-03 9.99995937e-01 1.18285784e-03 6.32274010e-02] [ 1.28305440e-02 -1.14948761e-03 9.99917024e-01 9.31876635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.872557844 meters Centerline goodness [0,1] 0.24818883933427605 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99913898e-01 3.39275589e-03 -1.26761548e-02 2.66975183e+00] [-3.37519468e-03 9.99993315e-01 1.40650994e-03 6.46374144e-02] [ 1.26808420e-02 -1.36360435e-03 9.99918665e-01 9.31261918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902557844 meters Centerline goodness [0,1] 0.24956551963851237 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99914757e-01 3.38764254e-03 -1.26096473e-02 2.66971468e+00] [-3.37111843e-03 9.99993431e-01 1.33145874e-03 6.49331054e-02] [ 1.26140749e-02 -1.28883663e-03 9.99919609e-01 9.30987925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.932557844 meters Centerline goodness [0,1] 0.24599806097166865 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99914517e-01 3.42740907e-03 -1.26179282e-02 2.66974035e+00] [-3.40969578e-03 9.99993172e-01 1.42506447e-03 6.43763293e-02] [ 1.26227263e-02 -1.38191935e-03 9.99919375e-01 9.30955670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.962557844 meters Centerline goodness [0,1] 0.24832694431810798 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99914986e-01 3.63073769e-03 -1.25235315e-02 2.66921718e+00] [-3.60596227e-03 9.99991498e-01 2.00032233e-03 6.15452594e-02] [ 1.25306877e-02 -1.95499289e-03 9.99919577e-01 9.31474449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.992557844 meters Centerline goodness [0,1] 0.2508738032694353 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99914252e-01 3.70666158e-03 -1.25598187e-02 2.66926489e+00] [-3.67805780e-03 9.99990592e-01 2.29973783e-03 5.99671485e-02] [ 1.25682249e-02 -2.25334490e-03 9.99918478e-01 9.31578143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.022557844 meters Centerline goodness [0,1] 0.25088377776807924 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 9.99910999e-01 3.75902127e-03 -1.28009399e-02 2.66999888e+00] [-3.72647890e-03 9.99989767e-01 2.56509046e-03 5.84161604e-02] [ 1.28104511e-02 -2.51715973e-03 9.99914774e-01 9.31375378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.052557844 meters Centerline goodness [0,1] 0.24859927183936859 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 0.99990124 0.00359316 -0.0135866 2.67267273] [-0.00355628 0.99998993 0.00273732 0.05658486] [ 0.0135963 -0.00268873 0.99990395 0.93014215] [ 0. 0. 0. 1. ]] SLAMing on 211.082557844 meters Centerline goodness [0,1] 0.24877314663351435 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:0.93 [[ 0.99989985 0.00370774 -0.0136583 2.67294725] [-0.00366648 0.99998864 0.00304426 0.05520933] [ 0.01366944 -0.00299388 0.99990209 0.92998899] [ 0. 0. 0. 1. ]] SLAMing on 211.112557844 meters Centerline goodness [0,1] 0.25035273368606703 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:0.93 [[ 0.9998835 -0.00509242 -0.01438908 2.65333781] [ 0.00515981 0.99997587 0.00465066 0.05704077] [ 0.01436505 -0.00472436 0.99988566 0.92846942] [ 0. 0. 0. 1. ]] SLAMing on 211.142557844 meters Centerline goodness [0,1] 0.2454690946840261 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:0.93 [[ 0.99988836 0.00325837 -0.01458246 2.67416145] [-0.003208 0.99998881 0.00347623 0.05286711] [ 0.01459363 -0.00342906 0.99988763 0.92993307] [ 0. 0. 0. 1. ]] SLAMing on 211.172557844 meters Centerline goodness [0,1] 0.2455839961854397 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:0.93 [[ 0.99988634 0.00325311 -0.01472152 2.67473789] [-0.00320229 0.99998884 0.00347423 0.05276175] [ 0.01473265 -0.00342669 0.9998856 0.92951856] [ 0. 0. 0. 1. ]] SLAMing on 211.202557844 meters Centerline goodness [0,1] 0.24954610084217432 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:0.93 [[ 0.99988731 0.00321398 -0.01466436 2.67491403] [-0.00316468 0.99998927 0.0033832 0.05310057] [ 0.01467508 -0.00333642 0.99988675 0.92895466] [ 0. 0. 0. 1. ]] SLAMing on 211.232557844 meters Centerline goodness [0,1] 0.250595303113053 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:0.93 [[ 0.99989774 0.00333125 -0.01390698 2.67286373] [-0.00328561 0.99998915 0.00330344 0.05415682] [ 0.01391783 -0.00325741 0.99989784 0.92919983] [ 0. 0. 0. 1. ]] SLAMing on 211.262557844 meters Centerline goodness [0,1] 0.2460230093461978 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99991908 -0.00391335 -0.01210459 2.69072785] [ 0.00397 0.99998126 0.00465981 0.06061518] [ 0.01208613 -0.00470748 0.99991588 0.93082087] [ 0. 0. 0. 1. ]] SLAMing on 211.29255784400002 meters Centerline goodness [0,1] 0.2503098432301972 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992195 -0.00395428 -0.01185177 2.68984413] [ 0.00400807 0.99998176 0.0045178 0.06144309] [ 0.01183369 -0.00456495 0.99991956 0.93120479] [ 0. 0. 0. 1. ]] SLAMing on 211.32255784400002 meters Centerline goodness [0,1] 0.24948002426553428 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992337 -0.0039898 -0.01171902 2.68934248] [ 0.00404175 0.9999821 0.00441275 0.06203069] [ 0.0117012 -0.00445978 0.99992159 0.93149478] [ 0. 0. 0. 1. ]] SLAMing on 211.35255784400002 meters Centerline goodness [0,1] 0.24861270053764606 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992421 -0.00413698 -0.01159558 2.689004 ] [ 0.00418502 0.99998275 0.00412158 0.06315111] [ 0.01157833 -0.0041698 0.99992427 0.9315296 ] [ 0. 0. 0. 1. ]] SLAMing on 211.38255784400002 meters Centerline goodness [0,1] 0.24867268096861916 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992384 -0.00422004 -0.01159748 2.68911308] [ 0.00426552 0.9999833 0.00389962 0.06417408] [ 0.01158083 -0.00394879 0.99992514 0.9313084 ] [ 0. 0. 0. 1. ]] SLAMing on 211.41255784400002 meters Centerline goodness [0,1] 0.24919429844483376 Centerline is valid? [False, False] Translation: X:2.69, Y:0.07, Z:0.93 [[ 0.99992349 -0.00429477 -0.01160031 2.68922346] [ 0.004338 0.99998373 0.00370419 0.06514441] [ 0.01158421 -0.00375423 0.99992585 0.93110271] [ 0. 0. 0. 1. ]] SLAMing on 211.44255784400002 meters Centerline goodness [0,1] 0.24986447513931953 Centerline is valid? [False, False] Translation: X:2.69, Y:0.07, Z:0.93 [[ 0.99992371 -0.00434594 -0.01156262 2.68918786] [ 0.00438738 0.99998404 0.00356057 0.06590636] [ 0.01154696 -0.00361102 0.99992681 0.93095532] [ 0. 0. 0. 1. ]] SLAMing on 211.47255784400002 meters Centerline goodness [0,1] 0.25007042100929555 Centerline is valid? [False, False] Translation: X:2.69, Y:0.07, Z:0.93 [[ 0.99992486 -0.00435709 -0.01145786 2.68881736] [ 0.00439802 0.99998403 0.00354899 0.06608427] [ 0.01144222 -0.00359912 0.99992806 0.93110836] [ 0. 0. 0. 1. ]] SLAMing on 211.50255784400002 meters Centerline goodness [0,1] 0.25074639781922026 Centerline is valid? [False, False] Translation: X:2.69, Y:0.07, Z:0.93 [[ 0.99992388 -0.0043751 -0.01153622 2.68907076] [ 0.00441645 0.99998391 0.0035607 0.06591941] [ 0.01152045 -0.00361137 0.99992712 0.93101985] [ 0. 0. 0. 1. ]] SLAMing on 211.53255784400002 meters Centerline goodness [0,1] 0.25162822104598226 Centerline is valid? [False, False] Translation: X:2.69, Y:0.07, Z:0.93 [[ 0.99992342 -0.00437409 -0.01157638 2.68938577] [ 0.00441623 0.99998371 0.00361728 0.06543424] [ 0.01156037 -0.00366812 0.99992645 0.93065113] [ 0. 0. 0. 1. ]] SLAMing on 211.56255784400003 meters Centerline goodness [0,1] 0.2512344202031628 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992337 -0.00441318 -0.01156641 2.68968684] [ 0.00445602 0.9999833 0.00368005 0.06452633] [ 0.01154997 -0.00373131 0.99992634 0.93018364] [ 0. 0. 0. 1. ]] SLAMing on 211.592557844 meters Centerline goodness [0,1] 0.25117968121425616 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992317 -0.0044074 -0.01158573 2.68984745] [ 0.00445022 0.99998335 0.00367283 0.06461244] [ 0.01156935 -0.00372411 0.99992614 0.92996283] [ 0. 0. 0. 1. ]] SLAMing on 211.622557844 meters Centerline goodness [0,1] 0.2498807303638808 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992208 -0.00438041 -0.01168998 2.69031222] [ 0.00442324 0.99998359 0.00364065 0.0649799 ] [ 0.01167384 -0.00369207 0.99992504 0.92956166] [ 0. 0. 0. 1. ]] SLAMing on 211.652557844 meters Centerline goodness [0,1] 0.24919241192411923 Centerline is valid? [False, False] Translation: X:2.69, Y:0.07, Z:0.93 [[ 0.99992038 -0.00432677 -0.01185378 2.69097075] [ 0.00437059 0.9999837 0.00367333 0.06505916] [ 0.01183769 -0.00372485 0.99992299 0.92913251] [ 0. 0. 0. 1. ]] SLAMing on 211.682557844 meters Centerline goodness [0,1] 0.24946704372416795 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992055 -0.00421655 -0.01187924 2.69087945] [ 0.00426345 0.9999832 0.00392608 0.06374044] [ 0.01186248 -0.00397641 0.99992173 0.92940232] [ 0. 0. 0. 1. ]] SLAMing on 211.712557844 meters Centerline goodness [0,1] 0.25152960132384006 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992281 -0.00415832 -0.01170846 2.69010182] [ 0.00420649 0.99998278 0.00409298 0.06283469] [ 0.01169124 -0.00414191 0.99992308 0.93003334] [ 0. 0. 0. 1. ]] SLAMing on 211.742557844 meters Centerline goodness [0,1] 0.2530661148023091 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.93 [[ 0.99992803 -0.00401972 -0.01130395 2.68873385] [ 0.0040677 0.9999828 0.00422482 0.06277086] [ 0.01128677 -0.0042705 0.99992718 0.93058608] [ 0. 0. 0. 1. ]] SLAMing on 211.772557844 meters Centerline goodness [0,1] 0.24945568992649114 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.93 [[ 0.99993376 0.00519051 -0.01027319 2.70947792] [-0.00515546 0.99998081 0.00343568 0.06179237] [ 0.01029083 -0.00338249 0.99994133 0.93083441] [ 0. 0. 0. 1. ]] SLAMing on 211.802557844 meters Centerline goodness [0,1] 0.2489032007088673 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.93 [[ 0.99993354 0.00508505 -0.01034647 2.70997915] [-0.0050537 0.99998257 0.00305368 0.0636934 ] [ 0.01036182 -0.00300119 0.99994181 0.93022496] [ 0. 0. 0. 1. ]] SLAMing on 211.832557844 meters Centerline goodness [0,1] 0.2502115839500011 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.93 [[ 9.99933344e-01 4.92067147e-03 -1.04448126e-02 2.71047533e+00] [-4.89357608e-03 9.99984599e-01 2.61812150e-03 6.56036948e-02] [ 1.04575346e-02 -2.56683450e-03 9.99942024e-01 9.29741625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862557844 meters Centerline goodness [0,1] 0.24733985266876324 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.93 [[ 9.99930199e-01 4.65946984e-03 -1.08575168e-02 2.71161916e+00] [-4.63906122e-03 9.99987427e-01 1.90410516e-03 6.88462775e-02] [ 1.08662524e-02 -1.85360357e-03 9.99939243e-01 9.29406913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.892557844 meters Centerline goodness [0,1] 0.24578639607876862 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.93 [[ 9.99930237e-01 4.61157945e-03 -1.08744671e-02 2.71151975e+00] [-4.59166435e-03 9.99987737e-01 1.85561961e-03 6.90671293e-02] [ 1.08828911e-02 -1.80555825e-03 9.99939149e-01 9.29612147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922557844 meters Centerline goodness [0,1] 0.24899867933923658 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.93 [[ 9.99932797e-01 4.11669336e-03 -1.08376222e-02 2.71123553e+00] [-4.09628621e-03 9.99989797e-01 1.90451599e-03 6.73491383e-02] [ 1.08453519e-02 -1.85999400e-03 9.99939458e-01 9.30120516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.952557844 meters Centerline goodness [0,1] 0.24769490498246827 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.93 [[ 9.99929713e-01 4.03020039e-03 -1.11502121e-02 2.71213801e+00] [-4.00614359e-03 9.99989601e-01 2.17901482e-03 6.54339803e-02] [ 1.11588780e-02 -2.13419231e-03 9.99935460e-01 9.30000721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982557844 meters Centerline goodness [0,1] 0.24901858152316148 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.93 [[ 9.99923866e-01 3.98590434e-03 -1.16779355e-02 2.71366226e+00] [-3.95776551e-03 9.99989211e-01 2.43169216e-03 6.37067924e-02] [ 1.16875020e-02 -2.38528850e-03 9.99928854e-01 9.29677894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.012557844 meters Centerline goodness [0,1] 0.2447116214816094 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:0.93 [[ 0.99991584 -0.00379947 -0.0124051 2.73461743] [ 0.00383878 0.99998768 0.00314638 0.06718113] [ 0.012393 -0.00319373 0.9999181 0.93057326] [ 0. 0. 0. 1. ]] SLAMing on 212.04255784400002 meters Centerline goodness [0,1] 0.245592914266059 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:0.93 [[ 0.99991502 -0.00372899 -0.01249192 2.73489933] [ 0.00377143 0.99998719 0.00337604 0.06592166] [ 0.01247918 -0.00342286 0.99991627 0.93052846] [ 0. 0. 0. 1. ]] SLAMing on 212.07255784400002 meters Centerline goodness [0,1] 0.2500865501125151 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:0.93 [[ 0.99992422 -0.00350467 -0.01180114 2.73266513] [ 0.00354776 0.99998711 0.00363186 0.06520633] [ 0.01178826 -0.00367346 0.99992377 0.93137845] [ 0. 0. 0. 1. ]] SLAMing on 212.10255784400002 meters Centerline goodness [0,1] 0.24902808244467134 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:0.93 [[ 0.99992888 -0.00342594 -0.01142385 2.73145972] [ 0.00346785 0.99998732 0.00365159 0.06541686] [ 0.01141119 -0.00369095 0.99992808 0.93179797] [ 0. 0. 0. 1. ]] SLAMing on 212.13255784400002 meters Centerline goodness [0,1] 0.2524144847282478 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:0.93 [[ 0.99993168 -0.00338703 -0.01118794 2.7308331 ] [ 0.00342778 0.99998756 0.00362491 0.06570256] [ 0.01117553 -0.00366301 0.99993084 0.93183626] [ 0. 0. 0. 1. ]] SLAMing on 212.16255784400002 meters Centerline goodness [0,1] 0.24585218702865763 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:0.93 [[ 9.99915847e-01 4.68487284e-03 -1.20975530e-02 2.75577879e+00] [-4.66251705e-03 9.99987372e-01 1.87550267e-03 6.37717339e-02] [ 1.21061867e-02 -1.81893979e-03 9.99925063e-01 9.30371412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19255784400002 meters Centerline goodness [0,1] 0.25064106778880924 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.93 [[ 9.99872477e-01 3.51685216e-03 -1.55775956e-02 2.71327318e+00] [-3.48495244e-03 9.99991776e-01 2.07446709e-03 6.03585453e-02] [ 1.55847631e-02 -2.01991537e-03 9.99876510e-01 9.29932458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22255784400002 meters Centerline goodness [0,1] 0.25064106778880924 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.93 [[ 9.99872477e-01 3.51685216e-03 -1.55775956e-02 2.71327318e+00] [-3.48495244e-03 9.99991776e-01 2.07446709e-03 6.03585453e-02] [ 1.55847631e-02 -2.01991537e-03 9.99876510e-01 9.29932458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25255784400002 meters Centerline goodness [0,1] 0.25277429845957766 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.93 [[ 9.99872189e-01 3.52347132e-03 -1.55945776e-02 2.71349592e+00] [-3.49124248e-03 9.99991714e-01 2.09341123e-03 6.02680877e-02] [ 1.56018245e-02 -2.03869922e-03 9.99876206e-01 9.29571016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28255784400002 meters Centerline goodness [0,1] 0.24832793959007549 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:0.93 [[ 9.99903863e-01 4.44802598e-03 -1.31331835e-02 2.75675375e+00] [-4.42786866e-03 9.99988975e-01 1.56351716e-03 6.37966203e-02] [ 1.31399933e-02 -1.50521483e-03 9.99912534e-01 9.29291151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31255784400003 meters Centerline goodness [0,1] 0.25097165815101097 Centerline is valid? [False, False] Translation: X:2.74, Y:0.07, Z:0.93 [[ 9.99892506e-01 -5.00441187e-03 -1.37816186e-02 2.73598258e+00] [ 5.03585560e-03 9.99984794e-01 2.24781328e-03 6.73067462e-02] [ 1.37701601e-02 -2.31697390e-03 9.99902502e-01 9.27988269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342557844 meters Centerline goodness [0,1] 0.24611623177117137 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:0.93 [[ 9.99910516e-01 2.41135694e-03 -1.31584651e-02 2.75706889e+00] [-2.41298199e-03 9.99997083e-01 -1.07623585e-04 6.55605833e-02] [ 1.31581672e-02 1.39365093e-04 9.99913418e-01 9.28211786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372557844 meters Centerline goodness [0,1] 0.24753139887397146 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:0.93 [[ 9.99908033e-01 2.39328131e-03 -1.33491078e-02 2.75766865e+00] [-2.39492780e-03 9.99997126e-01 -1.07356467e-04 6.56153676e-02] [ 1.33488125e-02 1.39316743e-04 9.99910891e-01 9.28009958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402557844 meters Centerline goodness [0,1] 0.24662074343644402 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:0.93 [[ 9.99906916e-01 2.39028926e-03 -1.34330078e-02 2.75791632e+00] [-2.39214543e-03 9.99997131e-01 -1.22114048e-04 6.59211866e-02] [ 1.34326774e-02 1.54236389e-04 9.99909766e-01 9.27894682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.432557844 meters Centerline goodness [0,1] 0.2515184072620431 Centerline is valid? [False, False] Translation: X:2.74, Y:0.07, Z:0.93 [[ 9.99884472e-01 -7.28653903e-03 -1.33397228e-02 2.73513602e+00] [ 7.29359333e-03 9.99973286e-01 4.80244888e-04 6.83276377e-02] [ 1.33358671e-02 -5.77483919e-04 9.99910907e-01 9.27866028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.462557844 meters Centerline goodness [0,1] 0.2469484383823466 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.93 [[ 9.99937530e-01 1.45630730e-04 -1.11765102e-02 2.75358035e+00] [-1.65054483e-04 9.99998478e-01 -1.73700590e-03 6.45622095e-02] [ 1.11762402e-02 1.73874212e-03 9.99936032e-01 9.29094634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.492557844 meters Centerline goodness [0,1] 0.24868011078414398 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.93 [[ 9.99937671e-01 1.64428137e-04 -1.11636424e-02 2.75327541e+00] [-1.79928295e-04 9.99999021e-01 -1.38745975e-03 6.26418100e-02] [ 1.11634033e-02 1.38938193e-03 9.99936722e-01 9.29585540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.522557844 meters Centerline goodness [0,1] 0.24950311095748356 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.93 [[ 9.99939189e-01 2.68086178e-04 -1.10247934e-02 2.75275661e+00] [-2.78545235e-04 9.99999513e-01 -9.47160521e-04 6.06526635e-02] [ 1.10245341e-02 9.50173827e-04 9.99938777e-01 9.29864186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.552557844 meters Centerline goodness [0,1] 0.2473862305322979 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.93 [[ 9.99939810e-01 1.81410279e-04 -1.09701206e-02 2.75255098e+00] [-1.85120732e-04 9.99999926e-01 -3.37218115e-04 5.71695863e-02] [ 1.09700586e-02 3.39228615e-04 9.99939770e-01 9.30147135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582557844 meters Centerline goodness [0,1] 0.24967791243585546 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.93 [[ 9.99936753e-01 2.67309748e-04 -1.12435757e-02 2.75327831e+00] [-2.66745456e-04 9.99999963e-01 5.16875045e-05 5.50313505e-02] [ 1.12435891e-02 -4.86850627e-05 9.99936788e-01 9.30114386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.612557844 meters Centerline goodness [0,1] 0.24727060046789706 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.93 [[ 9.99933742e-01 3.15378954e-04 -1.15070677e-02 2.75394810e+00] [-3.11177926e-04 9.99999884e-01 3.66870960e-04 5.31683513e-02] [ 1.15071821e-02 -3.63265906e-04 9.99933724e-01 9.30124749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642557844 meters Centerline goodness [0,1] 0.2528800714301269 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.93 [[ 9.99932581e-01 4.47553491e-04 -1.16031578e-02 2.75402318e+00] [-4.39282066e-04 9.99999648e-01 7.15398656e-04 5.15713818e-02] [ 1.16034738e-02 -7.10253365e-04 9.99932425e-01 9.30417157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.672557844 meters Centerline goodness [0,1] 0.25418575960521683 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.93 [[ 9.99933920e-01 6.87539379e-04 -1.14753165e-02 2.75337659e+00] [-6.71151196e-04 9.99998750e-01 1.43191457e-03 4.83162365e-02] [ 1.14762866e-02 -1.42411828e-03 9.99933131e-01 9.31019038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.702557844 meters Centerline goodness [0,1] 0.2481483095155106 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.93 [[ 9.99931633e-01 7.44196391e-04 -1.16694670e-02 2.75380942e+00] [-7.23227427e-04 9.99998117e-01 1.80102548e-03 4.62408235e-02] [ 1.16707854e-02 -1.79246267e-03 9.99930287e-01 9.31123707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.732557844 meters Centerline goodness [0,1] 0.25072083879423324 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.93 [[ 9.99928857e-01 8.35189813e-04 -1.18989180e-02 2.75443025e+00] [-8.09001912e-04 9.99997241e-01 2.20550734e-03 4.40487522e-02] [ 1.19007272e-02 -2.19572419e-03 9.99926773e-01 9.31057758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762557844 meters Centerline goodness [0,1] 0.24950447605149095 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.93 [[ 9.99926236e-01 9.64198329e-04 -1.21075566e-02 2.75499515e+00] [-9.32270753e-04 9.99996074e-01 2.64236298e-03 4.18860356e-02] [ 1.21100569e-02 -2.63088055e-03 9.99923210e-01 9.30972852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79255784400002 meters Centerline goodness [0,1] 0.25136217422700713 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.93 [[ 9.99926704e-01 1.28714937e-03 -1.20387163e-02 2.75470497e+00] [-1.24381475e-03 9.99992723e-01 3.60639951e-03 3.74339424e-02] [ 1.20432707e-02 -3.59116124e-03 9.99921028e-01 9.31200291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82255784400002 meters Centerline goodness [0,1] 0.2507919861921304 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:0.93 [[ 9.99928044e-01 1.46712934e-03 -1.19060341e-02 2.75398835e+00] [-1.41765519e-03 9.99990331e-01 4.16276061e-03 3.47348488e-02] [ 1.19120263e-02 -4.14558243e-03 9.99920456e-01 9.31888033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85255784400002 meters Centerline goodness [0,1] 0.24893966934995237 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:0.93 [[ 9.99929129e-01 1.63005496e-03 -1.17931852e-02 2.75334355e+00] [-1.57470972e-03 9.99987712e-01 4.70074949e-03 3.19926613e-02] [ 1.18007028e-02 -4.68184550e-03 9.99919409e-01 9.32560594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88255784400002 meters Centerline goodness [0,1] 0.2503838252784085 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:0.93 [[ 9.99928835e-01 1.88185268e-03 -1.17806752e-02 2.75299331e+00] [-1.81632358e-03 9.99982834e-01 5.57065261e-03 2.73165529e-02] [ 1.17909561e-02 -5.54885866e-03 9.99915088e-01 9.33157327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91255784400002 meters Centerline goodness [0,1] 0.24941533131225635 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:0.93 [[ 9.99926866e-01 2.04250529e-03 -1.19201768e-02 2.75341698e+00] [-1.97113210e-03 9.99980079e-01 5.99627538e-03 2.52584641e-02] [ 1.19321868e-02 -5.97234061e-03 9.99910973e-01 9.33029796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94255784400002 meters Centerline goodness [0,1] 0.2466520521780653 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.93 [[ 9.99925595e-01 2.18487557e-03 -1.20012606e-02 2.75383326e+00] [-2.10820953e-03 9.99977316e-01 6.39710654e-03 2.32948783e-02] [ 1.20149652e-02 -6.37132939e-03 9.99907519e-01 9.32662838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97255784400002 meters Centerline goodness [0,1] 0.24885671557684386 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.93 [[ 9.99925919e-01 2.50441120e-03 -1.19115481e-02 2.75337085e+00] [-2.41649076e-03 9.99969775e-01 7.38978337e-03 1.83612403e-02] [ 1.19296952e-02 -7.36045178e-03 9.99901748e-01 9.33107723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00255784400002 meters Centerline goodness [0,1] 0.2503592110419297 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.93 [[ 9.99927283e-01 2.67468489e-03 -1.17590169e-02 2.75264384e+00] [-2.58138632e-03 9.99965128e-01 7.94224637e-03 1.56330512e-02] [ 1.17798498e-02 -7.91131427e-03 9.99899318e-01 9.33716673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03255784400002 meters Centerline goodness [0,1] 0.247584095202936 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:0.93 [[ 9.99925925e-01 2.82289665e-03 -1.18395665e-02 2.75255135e+00] [-2.72262559e-03 9.99960365e-01 8.47673313e-03 1.28643183e-02] [ 1.18630262e-02 -8.44387051e-03 9.99893979e-01 9.34233860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06255784400003 meters Centerline goodness [0,1] 0.24969665453284795 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:0.93 [[ 9.99927405e-01 -8.00506304e-04 -1.20226353e-02 2.75366176e+00] [ 8.63401212e-04 9.99985966e-01 5.22709560e-03 1.09583892e-02] [ 1.20182823e-02 -5.23709650e-03 9.99914063e-01 9.33338520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092557844 meters Centerline goodness [0,1] 0.24860712109341 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:0.93 [[ 9.99924600e-01 -6.94685304e-04 -1.22602060e-02 2.75456141e+00] [ 7.62975127e-04 9.99984217e-01 5.56624073e-03 9.41054349e-03] [ 1.22561457e-02 -5.57517526e-03 9.99909348e-01 9.32766304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122557844 meters Centerline goodness [0,1] 0.2434209098995509 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:0.93 [[ 9.99923034e-01 -6.60398423e-04 -1.23891081e-02 2.75521094e+00] [ 7.31619060e-04 9.99983230e-01 5.74499806e-03 8.49191786e-03] [ 1.23851064e-02 -5.75362000e-03 9.99906748e-01 9.32190156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152557844 meters Centerline goodness [0,1] 0.2484417905243429 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:0.93 [[ 9.99921707e-01 -6.91237255e-04 -1.24940595e-02 2.75559854e+00] [ 7.62890503e-04 9.99983286e-01 5.73112951e-03 8.41806257e-03] [ 1.24898891e-02 -5.74021240e-03 9.99905522e-01 9.31981551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.182557844 meters Centerline goodness [0,1] 0.24866292649915955 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:0.93 [[ 9.99922513e-01 -9.18200104e-04 -1.24147345e-02 2.75527829e+00] [ 9.82240103e-04 9.99986239e-01 5.15327356e-03 1.10041067e-02] [ 1.24098319e-02 -5.16506850e-03 9.99909655e-01 9.32196070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.212557844 meters Centerline goodness [0,1] 0.2521674074726048 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:0.93 [[ 9.99924155e-01 -1.07343532e-03 -1.22691834e-02 2.75490154e+00] [ 1.13099122e-03 9.99988385e-01 4.68511883e-03 1.32967185e-02] [ 1.22640117e-02 -4.69863982e-03 9.99913755e-01 9.32196358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.242557844 meters Centerline goodness [0,1] 0.24656735751295333 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:0.93 [[ 9.99943457e-01 3.26079073e-04 -1.06290046e-02 2.79845803e+00] [-2.82798729e-04 9.99991665e-01 4.07315812e-03 1.81972138e-02] [ 1.06302442e-02 -4.06992195e-03 9.99935215e-01 9.31950439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.272557844 meters Centerline goodness [0,1] 0.24612650876546682 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:0.93 [[ 9.99941677e-01 4.55257980e-05 -1.08000092e-02 2.79924767e+00] [-9.17865351e-06 9.99994337e-01 3.36549917e-03 2.14371739e-02] [ 1.08001012e-02 -3.36520376e-03 9.99936015e-01 9.31307163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.302557844 meters Centerline goodness [0,1] 0.2473606812844319 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:0.93 [[ 9.99886131e-01 -1.99058968e-03 -1.49587009e-02 2.75966187e+00] [ 2.02760628e-03 9.99994919e-01 2.45982752e-03 2.88506374e-02] [ 1.49537284e-02 -2.48987777e-03 9.99885087e-01 9.30109964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.332557844 meters Centerline goodness [0,1] 0.2422023912666782 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.93 [[ 9.99898284e-01 4.37407570e-03 -1.35753090e-02 2.78208583e+00] [-4.38407326e-03 9.99990140e-01 -7.06780188e-04 3.02475673e-02] [ 1.35720836e-02 7.66223446e-04 9.99907601e-01 9.28834110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.362557844 meters Centerline goodness [0,1] 0.24169577574797685 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.93 [[ 9.99901302e-01 4.05607256e-03 -1.34512090e-02 2.78148235e+00] [-4.06935623e-03 9.99991259e-01 -9.60321146e-04 3.10302720e-02] [ 1.34471963e-02 1.01496413e-03 9.99909067e-01 9.29249832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.392557844 meters Centerline goodness [0,1] 0.24367322133958413 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.93 [[ 9.99911846e-01 3.59078646e-03 -1.27830846e-02 2.77924818e+00] [-3.60699187e-03 9.99992720e-01 -1.24489352e-03 3.15993150e-02] [ 1.27785214e-02 1.29089226e-03 9.99917518e-01 9.30250958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.422557844 meters Centerline goodness [0,1] 0.24457896443627714 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:0.93 [[ 9.99933517e-01 1.85526686e-03 -1.13806821e-02 2.77438399e+00] [-1.88339272e-03 9.99995198e-01 -2.46114926e-03 3.29357403e-02] [ 1.13760614e-02 2.48241993e-03 9.99932209e-01 9.32353970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.452557844 meters Centerline goodness [0,1] 0.2526974060862289 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:0.93 [[ 9.99900567e-01 -5.65458505e-04 -1.40902685e-02 2.73026043e+00] [ 5.22331728e-04 9.99995169e-01 -3.06424127e-03 3.30603005e-02] [ 1.40919331e-02 3.05657679e-03 9.99896032e-01 9.32973363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482557844 meters Centerline goodness [0,1] 0.2475316126797159 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.93 [[ 9.99852881e-01 -8.96212336e-03 -1.46252119e-02 2.75278110e+00] [ 8.92499044e-03 9.99956785e-01 -2.60226408e-03 3.61847523e-02] [ 1.46479017e-02 2.47135136e-03 9.99889660e-01 9.33584493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.512557844 meters Centerline goodness [0,1] 0.24876099818789166 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.93 [[ 9.99846435e-01 -9.16122120e-03 -1.49391867e-02 2.75356848e+00] [ 9.12484704e-03 9.99955240e-01 -2.50116466e-03 3.53567177e-02] [ 1.49614317e-02 2.36446277e-03 9.99885276e-01 9.33507389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54255784400002 meters Centerline goodness [0,1] 0.2481229188883327 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:0.93 [[ 9.99847682e-01 -9.15356222e-03 -1.48601531e-02 2.75304551e+00] [ 9.11926420e-03 9.99955600e-01 -2.37417620e-03 3.46422272e-02] [ 1.48812255e-02 2.23830091e-03 9.99886763e-01 9.34031679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57255784400002 meters Centerline goodness [0,1] 0.24855075622194134 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:0.93 [[ 9.99850679e-01 -9.11985670e-03 -1.46781660e-02 2.75228144e+00] [ 9.08740516e-03 9.99956118e-01 -2.27605317e-03 3.41588256e-02] [ 1.46982792e-02 2.14232687e-03 9.99889679e-01 9.34571136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60255784400002 meters Centerline goodness [0,1] 0.25057739260497547 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:0.93 [[ 9.99906278e-01 -1.36583403e-03 -1.36223625e-02 2.73160577e+00] [ 1.32330891e-03 9.99994225e-01 -3.13023966e-03 3.03205471e-02] [ 1.36265592e-02 3.11191970e-03 9.99902312e-01 9.32796399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63255784400002 meters Centerline goodness [0,1] 0.2414973308076459 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.93 [[ 9.99935565e-01 -2.83296211e-04 -1.13483613e-02 2.77564528e+00] [ 2.45329751e-04 9.99994369e-01 -3.34679805e-03 2.98446487e-02] [ 1.13492455e-02 3.34379831e-03 9.99930004e-01 9.32252024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66255784400002 meters Centerline goodness [0,1] 0.24694111787253392 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.93 [[ 9.99935588e-01 -3.85812593e-04 -1.13433560e-02 2.77597069e+00] [ 3.43438525e-04 9.99992957e-01 -3.73729547e-03 3.16942579e-02] [ 1.13447180e-02 3.73315899e-03 9.99928678e-01 9.31727468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69255784400002 meters Centerline goodness [0,1] 0.2442192777344765 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.93 [[ 9.99934395e-01 -4.92276439e-04 -1.14439253e-02 2.77640021e+00] [ 4.46279500e-04 9.99991814e-01 -4.02153858e-03 3.29388771e-02] [ 1.14458114e-02 4.01616756e-03 9.99926429e-01 9.31432020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72255784400002 meters Centerline goodness [0,1] 0.24477032564157863 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.93 [[ 9.99933307e-01 -6.09286453e-04 -1.15330359e-02 2.77686608e+00] [ 5.58441737e-04 9.99990114e-01 -4.41132219e-03 3.48399353e-02] [ 1.15356097e-02 4.40458745e-03 9.99923762e-01 9.31087892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75255784400002 meters Centerline goodness [0,1] 0.2482426933037366 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.93 [[ 9.99933349e-01 -6.98065827e-04 -1.15243724e-02 2.77705146e+00] [ 6.41678421e-04 9.99987809e-01 -4.89585572e-03 3.74177494e-02] [ 1.15276495e-02 4.88813446e-03 9.99921607e-01 9.30806600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78255784400002 meters Centerline goodness [0,1] 0.2483932603786695 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.93 [[ 9.99927478e-01 3.06512561e-03 -1.16466187e-02 2.77737950e+00] [-3.08556749e-03 9.99993730e-01 -1.73761419e-03 4.12100133e-02] [ 1.16412197e-02 1.77342460e-03 9.99930666e-01 9.30828788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81255784400003 meters Centerline goodness [0,1] 0.24931883078666872 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.93 [[ 9.99926565e-01 2.91998566e-03 -1.17617058e-02 2.77776497e+00] [-2.94627376e-03 9.99993199e-01 -2.21835175e-03 4.34486467e-02] [ 1.17551482e-02 2.25284205e-03 9.99928368e-01 9.30711652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842557844 meters Centerline goodness [0,1] 0.24502530982719495 Centerline is valid? [False, False] Translation: X:2.78, Y:0.05, Z:0.93 [[ 9.99924765e-01 2.77684863e-03 -1.19479089e-02 2.77845546e+00] [-2.80831395e-03 9.99992631e-01 -2.61757087e-03 4.52208353e-02] [ 1.19405523e-02 2.65092741e-03 9.99925195e-01 9.30355222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872557844 meters Centerline goodness [0,1] 0.24628491741839897 Centerline is valid? [False, False] Translation: X:2.78, Y:0.05, Z:0.93 [[ 9.99922908e-01 2.66405785e-03 -1.21277066e-02 2.77924641e+00] [-2.69951679e-03 9.99992127e-01 -2.90836474e-03 4.65375348e-02] [ 1.21198631e-02 2.94087947e-03 9.99922227e-01 9.29741102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902557844 meters Centerline goodness [0,1] 0.2422985910600699 Centerline is valid? [False, False] Translation: X:2.78, Y:0.05, Z:0.93 [[ 9.99920519e-01 2.52757088e-03 -1.23518214e-02 2.78011621e+00] [-2.56754327e-03 9.99991515e-01 -3.22136780e-03 4.80576378e-02] [ 1.23435743e-02 3.25282560e-03 9.99918524e-01 9.29189621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.932557844 meters Centerline goodness [0,1] 0.24193268186753525 Centerline is valid? [False, False] Translation: X:2.78, Y:0.05, Z:0.93 [[ 9.99918869e-01 2.48801437e-03 -1.24926021e-02 2.78044811e+00] [-2.52855689e-03 9.99991585e-01 -3.23057677e-03 4.79887068e-02] [ 1.24844593e-02 3.26190293e-03 9.99916746e-01 9.29168811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.962557844 meters Centerline goodness [0,1] 0.23999481372633757 Centerline is valid? [False, False] Translation: X:2.78, Y:0.05, Z:0.93 [[ 9.99916699e-01 2.41010730e-03 -1.26801573e-02 2.78098775e+00] [-2.45199827e-03 9.99991585e-01 -3.28915502e-03 4.81201590e-02] [ 1.26721234e-02 3.31997275e-03 9.99914194e-01 9.29047123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.992557844 meters Centerline goodness [0,1] 0.24572789650801974 Centerline is valid? [False, False] Translation: X:2.76, Y:0.05, Z:0.93 [[ 9.99883103e-01 -6.34083075e-03 -1.39130700e-02 2.76148743e+00] [ 6.31402385e-03 9.99978126e-01 -1.96982284e-03 5.27070497e-02] [ 1.39252560e-02 1.88174512e-03 9.99901268e-01 9.27952882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.022557844 meters Centerline goodness [0,1] 0.24539971152585338 Centerline is valid? [False, False] Translation: X:2.76, Y:0.05, Z:0.93 [[ 9.99881568e-01 -6.34545170e-03 -1.40208845e-02 2.76170883e+00] [ 6.31798713e-03 9.99978037e-01 -2.00226056e-03 5.30469551e-02] [ 1.40332818e-02 1.91343966e-03 9.99899698e-01 9.28027571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.052557844 meters Centerline goodness [0,1] 0.24503498942687096 Centerline is valid? [False, False] Translation: X:2.76, Y:0.05, Z:0.93 [[ 9.99881874e-01 -6.39231275e-03 -1.39776836e-02 2.76149438e+00] [ 6.36296407e-03 9.99977460e-01 -2.14314640e-03 5.37170146e-02] [ 1.39910682e-02 2.05395375e-03 9.99900011e-01 9.28238268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082557844 meters Centerline goodness [0,1] 0.2410200759631036 Centerline is valid? [False, False] Translation: X:2.76, Y:0.05, Z:0.93 [[ 9.99881612e-01 -6.44631146e-03 -1.39716755e-02 2.76139679e+00] [ 6.41423181e-03 9.99976692e-01 -2.33964526e-03 5.46506059e-02] [ 1.39864320e-02 2.24975071e-03 9.99899654e-01 9.28422210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.112557844 meters Centerline goodness [0,1] 0.244888627604677 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:0.93 [[ 9.99881113e-01 -6.51355794e-03 -1.39761904e-02 2.76133164e+00] [ 6.47767191e-03 9.99975610e-01 -2.61138954e-03 5.60597435e-02] [ 1.39928590e-02 2.52054590e-03 9.99898918e-01 9.28577080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142557844 meters Centerline goodness [0,1] 0.244888627604677 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:0.93 [[ 9.99881113e-01 -6.51355794e-03 -1.39761904e-02 2.76133164e+00] [ 6.47767191e-03 9.99975610e-01 -2.61138954e-03 5.60597435e-02] [ 1.39928590e-02 2.52054590e-03 9.99898918e-01 9.28577080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.172557844 meters Centerline goodness [0,1] 0.24361953995525532 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:0.93 [[ 9.99896278e-01 -2.95999473e-03 -1.40950822e-02 2.76138922e+00] [ 2.97400542e-03 9.99995104e-01 9.73155708e-04 5.63313154e-02] [ 1.40921326e-02 -1.01497362e-03 9.99900186e-01 9.28797596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.202557844 meters Centerline goodness [0,1] 0.24298458340550844 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:0.93 [[ 9.99898510e-01 -3.17347705e-03 -1.38887841e-02 2.76103122e+00] [ 3.17622775e-03 9.99994940e-01 1.75998840e-04 6.04893993e-02] [ 1.38881553e-02 -2.20094920e-04 9.99903531e-01 9.28559090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.232557844 meters Centerline goodness [0,1] 0.24577542898153582 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:0.93 [[ 9.99900136e-01 -3.33477919e-03 -1.37330962e-02 2.76035560e+00] [ 3.33183924e-03 9.99994421e-01 -2.36950920e-04 6.23549674e-02] [ 1.37338098e-02 1.91170789e-04 9.99905669e-01 9.29053543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.262557844 meters Centerline goodness [0,1] 0.24068705923073597 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:0.93 [[ 9.99902252e-01 -3.49620060e-03 -1.35374674e-02 2.75947277e+00] [ 3.48757746e-03 9.99993700e-01 -6.60538616e-04 6.43794224e-02] [ 1.35396915e-02 6.13261084e-04 9.99908146e-01 9.29707244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29255784400002 meters Centerline goodness [0,1] 0.24186398529570763 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:0.93 [[ 9.99904516e-01 -3.63480846e-03 -1.33321634e-02 2.75857086e+00] [ 3.62048363e-03 9.99992843e-01 -1.09843476e-03 6.67101166e-02] [ 1.33360605e-02 1.05006100e-03 9.99910519e-01 9.30317348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32255784400002 meters Centerline goodness [0,1] 0.2446570765258521 Centerline is valid? [False, False] Translation: X:2.75, Y:0.07, Z:0.93 [[ 9.99923865e-01 -1.41741824e-03 -1.22578910e-02 2.75425554e+00] [ 1.42325902e-03 9.99998878e-01 4.67780871e-04 7.39588393e-02] [ 1.22572142e-02 -4.85191410e-04 9.99924760e-01 9.32266599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35255784400002 meters Centerline goodness [0,1] 0.2470557502666696 Centerline is valid? [False, False] Translation: X:2.75, Y:0.08, Z:0.93 [[ 9.99925255e-01 -1.68838704e-03 -1.21092057e-02 2.75384130e+00] [ 1.68624706e-03 9.99998561e-01 -1.86931178e-04 7.69117336e-02] [ 1.21095038e-02 1.66498094e-04 9.99926663e-01 9.32351508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38255784400002 meters Centerline goodness [0,1] 0.24617922889892319 Centerline is valid? [False, False] Translation: X:2.75, Y:0.08, Z:0.93 [[ 9.99926458e-01 -1.94349598e-03 -1.19708327e-02 2.75351859e+00] [ 1.93433133e-03 9.99997827e-01 -7.77112266e-04 7.94928997e-02] [ 1.19723170e-02 7.53899559e-04 9.99928045e-01 9.32315640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41255784400002 meters Centerline goodness [0,1] 0.24793839172738774 Centerline is valid? [False, False] Translation: X:2.75, Y:0.08, Z:0.93 [[ 9.99927548e-01 -2.14917527e-03 -1.18439723e-02 2.75316073e+00] [ 2.13480207e-03 9.99996970e-01 -1.22605521e-03 8.14967120e-02] [ 1.18465714e-02 1.20068185e-03 9.99929106e-01 9.32378721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44255784400002 meters Centerline goodness [0,1] 0.2378363276884724 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:0.93 [[ 9.99895147e-01 -8.82768420e-03 -1.14789764e-02 2.77536031e+00] [ 8.84012732e-03 9.99960391e-01 1.03370382e-03 8.72899300e-02] [ 1.14693965e-02 -1.13507105e-03 9.99933580e-01 9.32476362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47255784400002 meters Centerline goodness [0,1] 0.24783093297200431 Centerline is valid? [False, False] Translation: X:2.75, Y:0.08, Z:0.93 [[ 9.99920689e-01 -6.64592651e-04 -1.25767341e-02 2.75491061e+00] [ 6.66198786e-04 9.99999770e-01 1.23517756e-04 8.46009672e-02] [ 1.25766491e-02 -1.31886564e-04 9.99920902e-01 9.31740172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50255784400002 meters Centerline goodness [0,1] 0.24357643394757333 Centerline is valid? [False, False] Translation: X:2.75, Y:0.09, Z:0.93 [[ 9.99919961e-01 -8.72024425e-04 -1.26218357e-02 2.75498485e+00] [ 8.71146275e-04 9.99999618e-01 -7.50716569e-05 8.50575723e-02] [ 1.26218964e-02 6.40701831e-05 9.99920339e-01 9.31781787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53255784400002 meters Centerline goodness [0,1] 0.24468338273154056 Centerline is valid? [False, False] Translation: X:2.75, Y:0.09, Z:0.93 [[ 9.99920563e-01 -1.21608486e-03 -1.25454543e-02 2.75478778e+00] [ 1.20850096e-03 9.99999082e-01 -6.12077263e-04 8.69848449e-02] [ 1.25461872e-02 5.96867448e-04 9.99921115e-01 9.31786533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56255784400003 meters Centerline goodness [0,1] 0.24379384488413003 Centerline is valid? [False, False] Translation: X:2.76, Y:0.09, Z:0.93 [[ 9.99919030e-01 -1.39347246e-03 -1.26487861e-02 2.75527545e+00] [ 1.37976720e-03 9.99998452e-01 -1.09218606e-03 8.93679637e-02] [ 1.26502885e-02 1.07464525e-03 9.99919404e-01 9.31445631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592557844 meters Centerline goodness [0,1] 0.24472125170894732 Centerline is valid? [False, False] Translation: X:2.76, Y:0.09, Z:0.93 [[ 9.99916092e-01 -1.55944081e-03 -1.28598954e-02 2.75605962e+00] [ 1.53878969e-03 9.99997511e-01 -1.61559346e-03 9.19787575e-02] [ 1.28623828e-02 1.59566923e-03 9.99916003e-01 9.31088142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622557844 meters Centerline goodness [0,1] 0.2445144470997176 Centerline is valid? [False, False] Translation: X:2.76, Y:0.09, Z:0.93 [[ 9.99912063e-01 -1.76202401e-03 -1.31438635e-02 2.75701948e+00] [ 1.73314084e-03 9.99996059e-01 -2.20853063e-03 9.47563114e-02] [ 1.31477032e-02 2.18555625e-03 9.99911177e-01 9.30730895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652557844 meters Centerline goodness [0,1] 0.24185583087853058 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.93 [[ 9.99913249e-01 -1.80689594e-03 -1.30471909e-02 2.75695475e+00] [ 1.76465144e-03 9.99993166e-01 -3.24860992e-03 1.00807003e-01] [ 1.30529716e-02 3.22530436e-03 9.99909605e-01 9.30545327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.682557844 meters Centerline goodness [0,1] 0.2454521716424406 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.93 [[ 9.99914860e-01 -2.00183625e-03 -1.28944121e-02 2.75661969e+00] [ 1.95076987e-03 9.99990210e-01 -3.97171024e-03 1.04470621e-01] [ 1.29022366e-02 3.94621806e-03 9.99908976e-01 9.30543961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.712557844 meters Centerline goodness [0,1] 0.24252217860009107 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.93 [[ 9.99913563e-01 -2.20526950e-03 -1.29616142e-02 2.75692164e+00] [ 2.14459327e-03 9.99986687e-01 -4.69326137e-03 1.08073560e-01] [ 1.29717915e-02 4.66505831e-03 9.99904980e-01 9.30376267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.742557844 meters Centerline goodness [0,1] 0.247080180219588 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.93 [[ 9.99910257e-01 -2.43742133e-03 -1.31733232e-02 2.75778185e+00] [ 2.36706274e-03 9.99982866e-01 -5.35394562e-03 1.11161465e-01] [ 1.31861474e-02 5.32228306e-03 9.99898894e-01 9.29853628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.772557844 meters Centerline goodness [0,1] 0.23929914567074628 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.93 [[ 9.99900786e-01 -2.78689023e-03 -1.38076339e-02 2.75974691e+00] [ 2.69953660e-03 9.99976251e-01 -6.34107765e-03 1.15758902e-01] [ 1.38249779e-02 6.30317431e-03 9.99884563e-01 9.29215157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802557844 meters Centerline goodness [0,1] 0.24346834999123268 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.93 [[ 0.9999006 -0.00293249 -0.01379084 2.75957819] [ 0.0028405 0.99997362 -0.00668481 0.11735365] [ 0.01381008 0.00664498 0.99988256 0.92941987] [ 0. 0. 0. 1. ]] SLAMing on 214.832557844 meters Centerline goodness [0,1] 0.24081579291410637 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.93 [[ 0.99990222 -0.00301695 -0.01365485 2.75892162] [ 0.00292303 0.99997197 -0.00689316 0.11847795] [ 0.01367526 0.00685257 0.99988301 0.92993659] [ 0. 0. 0. 1. ]] SLAMing on 214.862557844 meters Centerline goodness [0,1] 0.24131257339190193 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.93 [[ 0.99990556 -0.00308565 -0.01339213 2.75797782] [ 0.00299185 0.9999709 -0.00701817 0.1191544 ] [ 0.01341339 0.00697744 0.99988569 0.93042249] [ 0. 0. 0. 1. ]] SLAMing on 214.892557844 meters Centerline goodness [0,1] 0.24096254827930386 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.93 [[ 0.9999053 -0.00318452 -0.01338833 2.75793849] [ 0.0030888 0.99996957 -0.00716399 0.11966766] [ 0.01341073 0.00712196 0.99988471 0.93048458] [ 0. 0. 0. 1. ]] SLAMing on 214.922557844 meters Centerline goodness [0,1] 0.24205277826162686 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.93 [[ 0.99990333 -0.00330163 -0.01350646 2.75841673] [ 0.00320233 0.99996773 -0.00736739 0.12043142] [ 0.01353035 0.00732342 0.99988164 0.93017091] [ 0. 0. 0. 1. ]] SLAMing on 214.952557844 meters Centerline goodness [0,1] 0.2359883922383922 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.93 [[ 9.99895242e-01 -1.28264946e-03 -1.44173242e-02 2.76226917e+00] [ 1.20269944e-03 9.99983860e-01 -5.55271608e-03 1.24609504e-01] [ 1.44242137e-02 5.53479468e-03 9.99880647e-01 9.28314044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982557844 meters Centerline goodness [0,1] 0.23538195195845057 Centerline is valid? [False, False] Translation: X:2.76, Y:0.13, Z:0.93 [[ 9.99893826e-01 -1.39569232e-03 -1.45047967e-02 2.76252307e+00] [ 1.30895252e-03 9.99981216e-01 -5.98785081e-03 1.27193762e-01] [ 1.45128815e-02 5.96822897e-03 9.99876871e-01 9.28324837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.012557844 meters Centerline goodness [0,1] 0.2414251760755326 Centerline is valid? [False, False] Translation: X:2.76, Y:0.13, Z:0.93 [[ 9.99897976e-01 -1.73098052e-03 -1.41788828e-02 2.76125566e+00] [ 1.63220980e-03 9.99974345e-01 -6.97465679e-03 1.32084519e-01] [ 1.41905920e-02 6.95080229e-03 9.99875149e-01 9.29241336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04255784400002 meters Centerline goodness [0,1] 0.2482311579872556 Centerline is valid? [False, False] Translation: X:2.76, Y:0.13, Z:0.93 [[ 9.99898299e-01 -1.94470222e-03 -1.41283673e-02 2.76087868e+00] [ 1.83983276e-03 9.99970691e-01 -7.43182704e-03 1.33808098e-01] [ 1.41424059e-02 7.40507738e-03 9.99872570e-01 9.29688388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07255784400002 meters Centerline goodness [0,1] 0.2377993331312519 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 0.99984959 -0.01024989 -0.01399083 2.78123814] [ 0.0101521 0.99992367 -0.00704264 0.13970595] [ 0.01406195 0.00689955 0.99987732 0.93101705] [ 0. 0. 0. 1. ]] SLAMing on 215.10255784400002 meters Centerline goodness [0,1] 0.23718712753277715 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 0.99987533 -0.00703199 -0.01413779 2.78147707] [ 0.00697973 0.99996864 -0.0037428 0.14051912] [ 0.01416366 0.00364365 0.99989305 0.93099544] [ 0. 0. 0. 1. ]] SLAMing on 215.13255784400002 meters Centerline goodness [0,1] 0.23747717192799378 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 9.99897233e-01 -3.82874278e-03 -1.38153255e-02 2.78051764e+00] [ 3.82037390e-03 9.99992503e-01 -6.32108072e-04 1.43323873e-01] [ 1.38176421e-02 5.79263403e-04 9.99904364e-01 9.31160322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16255784400002 meters Centerline goodness [0,1] 0.23761197905396636 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 9.99897705e-01 -3.94300423e-03 -1.37489351e-02 2.78026194e+00] [ 3.93234276e-03 9.99991946e-01 -8.02387900e-04 1.43966960e-01] [ 1.37519882e-02 7.48240293e-04 9.99905157e-01 9.31290880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19255784400002 meters Centerline goodness [0,1] 0.23998009002770082 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 9.99898577e-01 -4.03228120e-03 -1.36592824e-02 2.78000562e+00] [ 4.02110985e-03 9.99991558e-01 -8.45222851e-04 1.43857973e-01] [ 1.36625753e-02 7.90211651e-04 9.99906350e-01 9.31291980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22255784400002 meters Centerline goodness [0,1] 0.247420647959519 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.93 [[ 9.99894164e-01 3.95554726e-03 -1.40005183e-02 2.76022353e+00] [-3.98583469e-03 9.99989775e-01 -2.13606612e-03 1.39791619e-01] [ 1.39919258e-02 2.19164379e-03 9.99899706e-01 9.29587170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25255784400002 meters Centerline goodness [0,1] 0.2443212694272362 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 9.99901494e-01 -4.55627374e-03 -1.32756732e-02 2.78072400e+00] [ 4.54270832e-03 9.99989129e-01 -1.05180144e-03 1.43426487e-01] [ 1.32803212e-02 9.91390315e-04 9.99911321e-01 9.30915408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28255784400002 meters Centerline goodness [0,1] 0.2467298248663683 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 9.99902941e-01 -4.56804904e-03 -1.31621480e-02 2.78038946e+00] [ 4.55471786e-03 9.99989084e-01 -1.04264007e-03 1.43368277e-01] [ 1.31667671e-02 9.82588999e-04 9.99912832e-01 9.30989314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31255784400003 meters Centerline goodness [0,1] 0.2471230483677257 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 9.99904507e-01 -4.58995127e-03 -1.30348871e-02 2.78003332e+00] [ 4.57691274e-03 9.99988995e-01 -1.02993435e-03 1.43117729e-01] [ 1.30394710e-02 9.70176460e-04 9.99914512e-01 9.31072641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342557844 meters Centerline goodness [0,1] 0.2454428922154388 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 9.99903684e-01 -4.61828226e-03 -1.30879601e-02 2.78014262e+00] [ 4.60523148e-03 9.99988868e-01 -1.02712223e-03 1.42900695e-01] [ 1.30925579e-02 9.66750221e-04 9.99913821e-01 9.31075062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372557844 meters Centerline goodness [0,1] 0.24762384477245847 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.93 [[ 9.99903299e-01 -4.64432003e-03 -1.31081261e-02 2.78016547e+00] [ 4.63014455e-03 9.99988663e-01 -1.11156795e-03 1.43352253e-01] [ 1.31131399e-02 1.05076794e-03 9.99913467e-01 9.31106865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402557844 meters Centerline goodness [0,1] 0.2370752688172043 Centerline is valid? [False, False] Translation: X:2.82, Y:0.14, Z:0.93 [[ 9.99930797e-01 -3.49406247e-03 -1.12335279e-02 2.82489385e+00] [ 3.49158433e-03 9.99993876e-01 -2.40206765e-04 1.44754249e-01] [ 1.12342984e-02 2.00967333e-04 9.99936873e-01 9.30929421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.432557844 meters Centerline goodness [0,1] 0.24713958810068648 Centerline is valid? [False, False] Translation: X:2.80, Y:0.14, Z:0.93 [[ 9.99919198e-01 5.24349415e-03 -1.15802605e-02 2.80294563e+00] [-5.25631818e-03 9.99985605e-01 -1.07724591e-03 1.43527180e-01] [ 1.15744452e-02 1.13802840e-03 9.99932366e-01 9.30352188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.462557844 meters Centerline goodness [0,1] 0.24493081542076411 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.93 [[ 9.99920549e-01 5.09522718e-03 -1.15296822e-02 2.80273281e+00] [-5.11242387e-03 9.99985862e-01 -1.46253372e-03 1.45325050e-01] [ 1.15220673e-02 1.52136215e-03 9.99932461e-01 9.30558387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.492557844 meters Centerline goodness [0,1] 0.24078091106290678 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.93 [[ 9.99919682e-01 4.88752599e-03 -1.16936292e-02 2.80354111e+00] [-4.91027624e-03 9.99986106e-01 -1.91760657e-03 1.47275195e-01] [ 1.16840944e-02 1.97487150e-03 9.99929788e-01 9.29869488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.522557844 meters Centerline goodness [0,1] 0.24609851787271142 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.93 [[ 9.99918430e-01 4.79245538e-03 -1.18391517e-02 2.80410789e+00] [-4.81786035e-03 9.99986151e-01 -2.11825568e-03 1.48147375e-01] [ 1.18288361e-02 2.17512227e-03 9.99927671e-01 9.29509257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.552557844 meters Centerline goodness [0,1] 0.24345840130505714 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.93 [[ 9.99917494e-01 4.71215898e-03 -1.19499199e-02 2.80457320e+00] [-4.73940633e-03 9.99986231e-01 -2.25283514e-03 1.48715840e-01] [ 1.19391397e-02 2.30928479e-03 9.99926059e-01 9.29168984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.582557844 meters Centerline goodness [0,1] 0.251594190062882 Centerline is valid? [False, False] Translation: X:2.76, Y:0.15, Z:0.93 [[ 0.99988282 0.00419756 -0.01472181 2.75886839] [-0.00423957 0.99998703 -0.00282354 0.15214172] [ 0.01470977 0.00288563 0.99988764 0.93059726] [ 0. 0. 0. 1. ]] SLAMing on 215.612557844 meters Centerline goodness [0,1] 0.24174541051311438 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.93 [[ 0.99991905 0.00298562 -0.01236863 2.80320482] [-0.00303243 0.99998831 -0.00376728 0.15125302] [ 0.01235724 0.00380448 0.99991641 0.93085689] [ 0. 0. 0. 1. ]] SLAMing on 215.642557844 meters Centerline goodness [0,1] 0.242382753075151 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.93 [[ 0.99992006 0.00297152 -0.01228961 2.80281631] [-0.00301859 0.99998817 -0.00381352 0.1515377 ] [ 0.01227813 0.00385032 0.99991721 0.93117473] [ 0. 0. 0. 1. ]] SLAMing on 215.672557844 meters Centerline goodness [0,1] 0.24713409175273493 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.93 [[ 0.99992056 0.00294137 -0.01225683 2.80252457] [-0.00298934 0.99998794 -0.00389744 0.15200865] [ 0.01224522 0.00393377 0.99991729 0.93155853] [ 0. 0. 0. 1. ]] SLAMing on 215.702557844 meters Centerline goodness [0,1] 0.246631197941651 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.93 [[ 0.99992433 0.0028633 -0.01196382 2.80158677] [-0.00291266 0.99998731 -0.0041103 0.15316862] [ 0.0119519 0.00414484 0.99991998 0.9319633 ] [ 0. 0. 0. 1. ]] SLAMing on 215.732557844 meters Centerline goodness [0,1] 0.24097478773737768 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 0.99992759 -0.00539322 -0.01075798 2.8211193 ] [ 0.0053599 0.99998076 -0.00312427 0.15690348] [ 0.01077463 0.00306638 0.99993725 0.93313359] [ 0. 0. 0. 1. ]] SLAMing on 215.762557844 meters Centerline goodness [0,1] 0.2405447269910933 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 0.99992793 -0.00548158 -0.0106815 2.82074066] [ 0.0054461 0.99997957 -0.00334774 0.15790314] [ 0.01069963 0.00328932 0.99993735 0.9334835 ] [ 0. 0. 0. 1. ]] SLAMing on 215.79255784400002 meters Centerline goodness [0,1] 0.24119282066751413 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 0.99992713 -0.00557485 -0.0107074 2.82072186] [ 0.00553642 0.99997814 -0.0036153 0.15916929] [ 0.01072733 0.00355575 0.99993614 0.93364561] [ 0. 0. 0. 1. ]] SLAMing on 215.82255784400002 meters Centerline goodness [0,1] 0.24596213963181657 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.94 [[ 9.99945274e-01 -3.27889907e-03 -9.93464545e-03 2.81651864e+00] [ 3.26385833e-03 9.99993503e-01 -1.52980342e-03 1.62157972e-01] [ 9.93959698e-03 1.49729442e-03 9.99949480e-01 9.36038858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85255784400002 meters Centerline goodness [0,1] 0.239284021884289 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.94 [[ 9.99944739e-01 -3.31119200e-03 -9.97774272e-03 2.81658428e+00] [ 3.29536837e-03 9.99993287e-01 -1.60191567e-03 1.62598395e-01] [ 9.98297999e-03 1.56894681e-03 9.99948938e-01 9.36093876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88255784400002 meters Centerline goodness [0,1] 0.24438627612166308 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.94 [[ 9.99945728e-01 -3.29443267e-03 -9.88374890e-03 2.81647496e+00] [ 3.27973730e-03 9.99993493e-01 -1.50266204e-03 1.62095487e-01] [ 9.88863500e-03 1.47016439e-03 9.99950026e-01 9.35844261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91255784400002 meters Centerline goodness [0,1] 0.2400103230246462 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.94 [[ 9.99946309e-01 -3.32430042e-03 -9.81471041e-03 2.81636786e+00] [ 3.31156755e-03 9.99993654e-01 -1.31329202e-03 1.60832192e-01] [ 9.81901390e-03 1.28071943e-03 9.99950972e-01 9.35643658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94255784400002 meters Centerline goodness [0,1] 0.24925094446133134 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.94 [[ 9.99948007e-01 -3.85671541e-03 -9.43980322e-03 2.81542507e+00] [ 3.84420326e-03 9.99991709e-01 -1.34325340e-03 1.59193987e-01] [ 9.44490549e-03 1.30689504e-03 9.99954542e-01 9.35544263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97255784400002 meters Centerline goodness [0,1] 0.24669363960671709 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.94 [[ 9.99946199e-01 -3.78559113e-03 -9.65759380e-03 2.81612149e+00] [ 3.77516652e-03 9.99992272e-01 -1.09742304e-03 1.58109244e-01] [ 9.66167356e-03 1.06090497e-03 9.99952762e-01 9.35197387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00255784400002 meters Centerline goodness [0,1] 0.24580799304952217 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99943565e-01 -3.73158186e-03 -9.94701185e-03 2.81714966e+00] [ 3.72232728e-03 9.99992622e-01 -9.48739795e-04 1.57595111e-01] [ 9.95047877e-03 9.11660219e-04 9.99950077e-01 9.34642171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03255784400002 meters Centerline goodness [0,1] 0.24580799304952217 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99943565e-01 -3.73158186e-03 -9.94701185e-03 2.81714966e+00] [ 3.72232728e-03 9.99992622e-01 -9.48739795e-04 1.57595111e-01] [ 9.95047877e-03 9.11660219e-04 9.99950077e-01 9.34642171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06255784400003 meters Centerline goodness [0,1] 0.24590773809523814 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99938780e-01 -3.72455248e-03 -1.04193841e-02 2.81870567e+00] [ 3.71427200e-03 9.99992596e-01 -1.00584484e-03 1.58180303e-01] [ 1.04230533e-02 9.67082839e-04 9.99945211e-01 9.34010892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.092557844 meters Centerline goodness [0,1] 0.24305676097899676 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99936650e-01 -3.72500634e-03 -1.06216975e-02 2.81929675e+00] [ 3.71375796e-03 9.99992522e-01 -1.07852817e-03 1.58622764e-01] [ 1.06256356e-02 1.03901343e-03 9.99943007e-01 9.33877774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122557844 meters Centerline goodness [0,1] 0.25086955570625424 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99936288e-01 -3.77622792e-03 -1.06376665e-02 2.81944394e+00] [ 3.76336102e-03 9.99992163e-01 -1.22931831e-03 1.59337460e-01] [ 1.06422253e-02 1.18920661e-03 9.99942663e-01 9.33699127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152557844 meters Centerline goodness [0,1] 0.2444714512033681 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99937220e-01 -3.82626982e-03 -1.05316288e-02 2.81907977e+00] [ 3.81152995e-03 9.99991729e-01 -1.41929719e-03 1.60207662e-01] [ 1.05369723e-02 1.37906647e-03 9.99943534e-01 9.33901978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.182557844 meters Centerline goodness [0,1] 0.24435723423169486 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99938741e-01 -3.87454615e-03 -1.03683126e-02 2.81855709e+00] [ 3.85834846e-03 9.99991306e-01 -1.58177803e-03 1.60998324e-01] [ 1.03743511e-02 1.54167657e-03 9.99944997e-01 9.34085718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.212557844 meters Centerline goodness [0,1] 0.2437099054039361 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99937462e-01 -3.84438808e-03 -1.05020762e-02 2.81912958e+00] [ 3.82851944e-03 9.99991500e-01 -1.53068735e-03 1.60871610e-01] [ 1.05078715e-02 1.49038422e-03 9.99943680e-01 9.33651375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.242557844 meters Centerline goodness [0,1] 0.2425825188010663 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99934732e-01 -3.80205696e-03 -1.07738837e-02 2.82023779e+00] [ 3.78673663e-03 9.99991791e-01 -1.44203088e-03 1.60536204e-01] [ 1.07792779e-02 1.40113890e-03 9.99940920e-01 9.32884019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.272557844 meters Centerline goodness [0,1] 0.24322030209376222 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99930594e-01 -3.81373646e-03 -1.11472757e-02 2.82152020e+00] [ 3.79693043e-03 9.99991624e-01 -1.52841006e-03 1.61061565e-01] [ 1.11530113e-02 1.48597855e-03 9.99936699e-01 9.32308091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302557844 meters Centerline goodness [0,1] 0.2418956935728197 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99928509e-01 -3.87105045e-03 -1.13133250e-02 2.82186815e+00] [ 3.85126770e-03 9.99991018e-01 -1.76988742e-03 1.62276181e-01] [ 1.13200747e-02 1.72619025e-03 9.99934436e-01 9.32481919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.332557844 meters Centerline goodness [0,1] 0.24070861702589008 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99929405e-01 -3.94075143e-03 -1.12095900e-02 2.82143858e+00] [ 3.91693565e-03 9.99990027e-01 -2.14575086e-03 1.64136124e-01] [ 1.12179340e-02 2.10169214e-03 9.99934868e-01 9.32879872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362557844 meters Centerline goodness [0,1] 0.2410070379702841 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.93 [[ 9.99930580e-01 -4.01012637e-03 -1.10794865e-02 2.82085967e+00] [ 3.98163908e-03 9.99988714e-01 -2.59203712e-03 1.66361412e-01] [ 1.10897559e-02 2.54774266e-03 9.99935261e-01 9.33426294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.392557844 meters Centerline goodness [0,1] 0.2457466918714556 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.93 [[ 0.99993262 -0.00414491 -0.01084365 2.81995227] [ 0.00411167 0.99998679 -0.00308559 0.16865106] [ 0.01085629 0.00304079 0.99993645 0.93407914] [ 0. 0. 0. 1. ]] SLAMing on 216.422557844 meters Centerline goodness [0,1] 0.24168519197979843 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.93 [[ 0.99993679 -0.00428569 -0.01039451 2.81831199] [ 0.00424843 0.99998448 -0.00360349 0.17126256] [ 0.01040979 0.0035591 0.99993948 0.93498182] [ 0. 0. 0. 1. ]] SLAMing on 216.452557844 meters Centerline goodness [0,1] 0.24831585602476614 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.94 [[ 0.99993757 -0.00432128 -0.01030491 2.81802951] [ 0.00428347 0.99998402 -0.00368877 0.17173512] [ 0.01032069 0.0036444 0.9999401 0.93505634] [ 0. 0. 0. 1. ]] SLAMing on 216.482557844 meters Centerline goodness [0,1] 0.2455478189193293 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.94 [[ 0.9999382 -0.00434953 -0.01023102 2.81779101] [ 0.0043118 0.99998383 -0.00370715 0.17179463] [ 0.01024697 0.00366281 0.99994079 0.93509798] [ 0. 0. 0. 1. ]] SLAMing on 216.512557844 meters Centerline goodness [0,1] 0.25089778400630636 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.94 [[ 0.9999448 -0.00463158 -0.00943102 2.81556527] [ 0.00459541 0.99998202 -0.0038526 0.17167354] [ 0.00944869 0.00380905 0.99994811 0.93555244] [ 0. 0. 0. 1. ]] SLAMing on 216.54255784400002 meters Centerline goodness [0,1] 0.24910409929201993 Centerline is valid? [False, False] Translation: X:2.81, Y:0.17, Z:0.94 [[ 0.9999465 -0.00463687 -0.00924632 2.81491491] [ 0.00460235 0.99998238 -0.00375065 0.17107742] [ 0.00926355 0.0037079 0.99995022 0.93584301] [ 0. 0. 0. 1. ]] SLAMing on 216.57255784400002 meters Centerline goodness [0,1] 0.2471924727919178 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.94 [[ 0.99994503 -0.0046025 -0.00942107 2.81529821] [ 0.00456897 0.99998316 -0.00357757 0.1702466 ] [ 0.00943738 0.00353433 0.99994922 0.93591712] [ 0. 0. 0. 1. ]] SLAMing on 216.60255784400002 meters Centerline goodness [0,1] 0.24580000433547944 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.94 [[ 0.99994289 -0.00454544 -0.00967243 2.81621298] [ 0.00451276 0.99998405 -0.00339692 0.16946854] [ 0.00968771 0.00335308 0.99994745 0.9353737 ] [ 0. 0. 0. 1. ]] SLAMing on 216.63255784400002 meters Centerline goodness [0,1] 0.24667042644570736 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.93 [[ 0.99994118 -0.00451997 -0.00985896 2.81701067] [ 0.00449005 0.99998525 -0.00305493 0.16749385] [ 0.00987263 0.00301048 0.99994673 0.93467845] [ 0. 0. 0. 1. ]] SLAMing on 216.66255784400002 meters Centerline goodness [0,1] 0.24612319154465911 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:0.94 [[ 9.99944311e-01 -4.46755598e-03 -9.56114897e-03 2.81602802e+00] [ 4.44072102e-03 9.99986147e-01 -2.82605848e-03 1.66231636e-01] [ 9.57364209e-03 2.78344270e-03 9.99950298e-01 9.35028916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69255784400002 meters Centerline goodness [0,1] 0.24205768402927252 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:0.94 [[ 9.99948074e-01 -4.38682320e-03 -9.19814081e-03 2.81475950e+00] [ 4.36361090e-03 9.99987248e-01 -2.54213759e-03 1.64812813e-01] [ 9.20917543e-03 2.50186848e-03 9.99954465e-01 9.35567103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72255784400002 meters Centerline goodness [0,1] 0.25047524410265276 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:0.94 [[ 9.99950227e-01 -4.26989571e-03 -9.01732630e-03 2.81402339e+00] [ 4.25004141e-03 9.99988505e-01 -2.21981014e-03 1.63387980e-01] [ 9.02670100e-03 2.18137565e-03 9.99956879e-01 9.36000719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75255784400002 meters Centerline goodness [0,1] 0.2452036169799512 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.94 [[ 9.99944613e-01 -4.09102020e-03 -9.69712675e-03 2.81603250e+00] [ 4.07727946e-03 9.99990656e-01 -1.43633639e-03 1.59754745e-01] [ 9.70291222e-03 1.39671894e-03 9.99951950e-01 9.35256241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78255784400002 meters Centerline goodness [0,1] 0.2467681762970675 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:0.93 [[ 9.99941709e-01 -3.98512107e-03 -1.00348122e-02 2.81739753e+00] [ 3.97535800e-03 9.99991606e-01 -9.92679502e-04 1.57345773e-01] [ 1.00386839e-02 9.52729667e-04 9.99949157e-01 9.34274914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81255784400003 meters Centerline goodness [0,1] 0.24422256394706632 Centerline is valid? [False, False] Translation: X:2.82, Y:0.15, Z:0.93 [[ 9.99939340e-01 -3.83650006e-03 -1.03246202e-02 2.81845501e+00] [ 3.83210255e-03 9.99992558e-01 -4.45673623e-04 1.54393800e-01] [ 1.03262532e-02 4.06081585e-04 9.99946600e-01 9.33619594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842557844 meters Centerline goodness [0,1] 0.24469901653517778 Centerline is valid? [False, False] Translation: X:2.82, Y:0.15, Z:0.93 [[ 9.99941599e-01 -3.47741623e-03 -1.02325870e-02 2.81790406e+00] [ 3.48193381e-03 9.99993848e-01 4.23707504e-04 1.50243925e-01] [ 1.02310506e-02 -4.59311950e-04 9.99947556e-01 9.34080783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872557844 meters Centerline goodness [0,1] 0.2514434432683055 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.93 [[ 9.99948705e-01 5.15316538e-03 -8.71964747e-03 2.79565446e+00] [-5.15319947e-03 9.99986722e-01 1.85578175e-05 1.46226578e-01] [ 8.71962732e-03 2.63772172e-05 9.99961983e-01 9.32946412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902557844 meters Centerline goodness [0,1] 0.24427068708555633 Centerline is valid? [False, False] Translation: X:2.81, Y:0.15, Z:0.93 [[ 9.99970821e-01 -2.58699840e-03 -7.18779324e-03 2.81451276e+00] [ 2.59774178e-03 9.99995522e-01 1.48573662e-03 1.48262904e-01] [ 7.18391745e-03 -1.50436530e-03 9.99973064e-01 9.34380492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.932557844 meters Centerline goodness [0,1] 0.24786027718642745 Centerline is valid? [False, False] Translation: X:2.81, Y:0.15, Z:0.93 [[ 9.99971201e-01 -2.43958437e-03 -7.18655233e-03 2.81436942e+00] [ 2.45266064e-03 9.99995352e-01 1.81129624e-03 1.46524978e-01] [ 7.18210011e-03 -1.82887025e-03 9.99972536e-01 9.34575556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.962557844 meters Centerline goodness [0,1] 0.2517121046892039 Centerline is valid? [False, False] Translation: X:2.81, Y:0.14, Z:0.93 [[ 9.99971389e-01 -2.30743510e-03 -7.20395838e-03 2.81454102e+00] [ 2.32306635e-03 9.99994964e-01 2.16220155e-03 1.44803283e-01] [ 7.19893296e-03 -2.17887497e-03 9.99971714e-01 9.34290849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.992557844 meters Centerline goodness [0,1] 0.25259872975408215 Centerline is valid? [False, False] Translation: X:2.81, Y:0.14, Z:0.93 [[ 9.99972412e-01 -2.13460285e-03 -7.11470953e-03 2.81433563e+00] [ 2.15318335e-03 9.99994289e-01 2.60492589e-03 1.42785063e-01] [ 7.10910842e-03 -2.62017330e-03 9.99971297e-01 9.34173361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.022557844 meters Centerline goodness [0,1] 0.24851673812307828 Centerline is valid? [False, False] Translation: X:2.83, Y:0.13, Z:0.94 [[ 9.99963172e-01 5.79287369e-03 -6.33220831e-03 2.83280209e+00] [-5.78103009e-03 9.99981509e-01 1.88708109e-03 1.34621989e-01] [ 6.34302285e-03 -1.85040491e-03 9.99978171e-01 9.35261851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.052557844 meters Centerline goodness [0,1] 0.2507970711757075 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:0.94 [[ 9.99966440e-01 -3.27986455e-03 -7.50747139e-03 2.81014379e+00] [ 3.29934924e-03 9.99991217e-01 2.58446115e-03 1.34762353e-01] [ 7.49892878e-03 -2.60914419e-03 9.99968479e-01 9.36413215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.082557844 meters Centerline goodness [0,1] 0.2505724067249613 Centerline is valid? [False, False] Translation: X:2.83, Y:0.13, Z:0.94 [[ 9.99957042e-01 3.77752645e-03 -8.46431635e-03 2.82875427e+00] [-3.76766132e-03 9.99992205e-01 1.18113932e-03 1.26313505e-01] [ 8.46871215e-03 -1.14919791e-03 9.99963479e-01 9.38724514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.112557844 meters Centerline goodness [0,1] 0.2503607819128001 Centerline is valid? [False, False] Translation: X:2.83, Y:0.12, Z:0.94 [[ 9.99954671e-01 3.89128463e-03 -8.68988322e-03 2.82936845e+00] [-3.87845753e-03 9.99991365e-01 1.49246045e-03 1.24820787e-01] [ 8.69561577e-03 -1.45868946e-03 9.99961128e-01 9.38564615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.142557844 meters Centerline goodness [0,1] 0.24891926116763463 Centerline is valid? [False, False] Translation: X:2.83, Y:0.12, Z:0.94 [[ 9.99951936e-01 4.01225666e-03 -8.94579771e-03 2.83037657e+00] [-3.99690205e-03 9.99990510e-01 1.73362188e-03 1.23717302e-01] [ 8.95266854e-03 -1.69778307e-03 9.99958483e-01 9.37893587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.172557844 meters Centerline goodness [0,1] 0.24465096174627188 Centerline is valid? [False, False] Translation: X:2.85, Y:0.13, Z:0.94 [[ 9.99951224e-01 -3.83419218e-03 -9.10217020e-03 2.85000884e+00] [ 3.85802146e-03 9.99989173e-01 2.60186391e-03 1.26840230e-01] [ 9.09209560e-03 -2.63685337e-03 9.99955189e-01 9.38887753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.202557844 meters Centerline goodness [0,1] 0.2514801302077644 Centerline is valid? [False, False] Translation: X:2.83, Y:0.13, Z:0.94 [[ 9.99948459e-01 4.78609188e-03 -8.95394164e-03 2.82898124e+00] [-4.77261713e-03 9.99987447e-01 1.52565875e-03 1.25013619e-01] [ 8.96113119e-03 -1.48284638e-03 9.99958749e-01 9.37092345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.232557844 meters Centerline goodness [0,1] 0.25015265177948365 Centerline is valid? [False, False] Translation: X:2.83, Y:0.13, Z:0.94 [[ 9.99948225e-01 4.77200783e-03 -8.98748144e-03 2.82913599e+00] [-4.76090163e-03 9.99987877e-01 1.25673038e-03 1.26533881e-01] [ 8.99336961e-03 -1.21387680e-03 9.99958822e-01 9.37063097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262557844 meters Centerline goodness [0,1] 0.24555198750216978 Centerline is valid? [False, False] Translation: X:2.83, Y:0.13, Z:0.94 [[ 9.99944834e-01 5.09778836e-03 -9.18380415e-03 2.82960558e+00] [-5.08999668e-03 9.99986666e-01 8.71589430e-04 1.29777931e-01] [ 9.18812487e-03 -8.24795815e-04 9.99957448e-01 9.37278313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29255784400002 meters Centerline goodness [0,1] 0.2451167636079521 Centerline is valid? [False, False] Translation: X:2.83, Y:0.13, Z:0.94 [[ 9.99946017e-01 4.94741864e-03 -9.13708131e-03 2.82942703e+00] [-4.94452254e-03 9.99987718e-01 3.39523264e-04 1.32364615e-01] [ 9.13864886e-03 -2.94326431e-04 9.99958198e-01 9.37484289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32255784400002 meters Centerline goodness [0,1] 0.25014222572316314 Centerline is valid? [False, False] Translation: X:2.83, Y:0.14, Z:0.94 [[ 9.99948583e-01 4.76785370e-03 -8.94974871e-03 2.82875748e+00] [-4.77004512e-03 9.99988598e-01 -2.23528330e-04 1.35068516e-01] [ 8.94858092e-03 2.66207542e-04 9.99959925e-01 9.37971589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35255784400002 meters Centerline goodness [0,1] 0.2434149398215173 Centerline is valid? [False, False] Translation: X:2.85, Y:0.14, Z:0.94 [[ 9.99978119e-01 -7.71409306e-04 -6.57014894e-03 2.85065403e+00] [ 7.88544258e-04 9.99996294e-01 2.60580956e-03 1.40960706e-01] [ 6.56811444e-03 -2.61093339e-03 9.99975021e-01 9.38099700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38255784400002 meters Centerline goodness [0,1] 0.24673946011525627 Centerline is valid? [False, False] Translation: X:2.85, Y:0.14, Z:0.94 [[ 9.99977883e-01 -9.79038380e-04 -6.57843438e-03 2.85078332e+00] [ 9.92458158e-04 9.99997433e-01 2.03701063e-03 1.43891057e-01] [ 6.57642318e-03 -2.04349440e-03 9.99976287e-01 9.37974079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41255784400002 meters Centerline goodness [0,1] 0.25071374087392395 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99977904e-01 -1.17917101e-03 -6.54228505e-03 2.85092587e+00] [ 1.18902595e-03 9.99998164e-01 1.50265991e-03 1.46553341e-01] [ 6.54050115e-03 -1.51040565e-03 9.99977470e-01 9.37601642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44255784400002 meters Centerline goodness [0,1] 0.25089863407620416 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99978117e-01 -1.37029310e-03 -6.47214904e-03 2.85098753e+00] [ 1.37725012e-03 9.99998479e-01 1.07058206e-03 1.48530310e-01] [ 6.47067218e-03 -1.07947240e-03 9.99978482e-01 9.37187651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47255784400002 meters Centerline goodness [0,1] 0.24188098568815242 Centerline is valid? [False, False] Translation: X:2.87, Y:0.15, Z:0.94 [[ 9.99969314e-01 3.40039858e-03 -7.05746930e-03 2.87184429e+00] [-3.41906275e-03 9.99990685e-01 -2.63421998e-03 1.48371790e-01] [ 7.04844617e-03 2.65826908e-03 9.99971626e-01 9.36910845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50255784400002 meters Centerline goodness [0,1] 0.2517401392111369 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99954513e-01 -5.19070036e-03 -8.00179902e-03 2.85127278e+00] [ 5.17647067e-03 9.99984986e-01 -1.79799853e-03 1.54588833e-01] [ 8.01101175e-03 1.75649567e-03 9.99966369e-01 9.36084236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53255784400002 meters Centerline goodness [0,1] 0.24916957947070184 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99952637e-01 -5.23258991e-03 -8.20629507e-03 2.85182062e+00] [ 5.21855707e-03 9.99984886e-01 -1.73049059e-03 1.54204478e-01] [ 8.21522599e-03 1.68758361e-03 9.99964830e-01 9.35932947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56255784400003 meters Centerline goodness [0,1] 0.24307919096446917 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99950069e-01 -5.23761484e-03 -8.51038308e-03 2.85269157e+00] [ 5.22473138e-03 9.99985172e-01 -1.53538085e-03 1.53123543e-01] [ 8.51829863e-03 1.49083973e-03 9.99962607e-01 9.35634518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592557844 meters Centerline goodness [0,1] 0.25033329690744177 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99949842e-01 -5.23232909e-03 -8.54022473e-03 2.85286878e+00] [ 5.22093294e-03 9.99985451e-01 -1.35615878e-03 1.52089611e-01] [ 8.54719635e-03 1.31150282e-03 9.99962612e-01 9.35373895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622557844 meters Centerline goodness [0,1] 0.2500271697785119 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99955982e-01 -5.37502657e-03 -7.69045681e-03 2.85061375e+00] [ 5.36554504e-03 9.99984820e-01 -1.25299716e-03 1.50891399e-01] [ 7.69707496e-03 1.21167851e-03 9.99969643e-01 9.35637900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652557844 meters Centerline goodness [0,1] 0.2461738283364 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99957198e-01 -5.38479575e-03 -7.52368815e-03 2.85001209e+00] [ 5.37583844e-03 9.99984818e-01 -1.21026496e-03 1.50451667e-01] [ 7.53009096e-03 1.16976702e-03 9.99970964e-01 9.35921387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.682557844 meters Centerline goodness [0,1] 0.24744566629145381 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99955872e-01 -5.38304990e-03 -7.69916359e-03 2.85047940e+00] [ 5.37400125e-03 9.99984845e-01 -1.19548261e-03 1.50279389e-01] [ 7.70548226e-03 1.15405454e-03 9.99969646e-01 9.35862560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.712557844 meters Centerline goodness [0,1] 0.2513459841129744 Centerline is valid? [False, False] Translation: X:2.81, Y:0.15, Z:0.93 [[ 9.99922821e-01 -3.44713568e-03 -1.19360289e-02 2.81010704e+00] [ 3.45000916e-03 9.99994024e-01 2.20158315e-04 1.52915208e-01] [ 1.19351987e-02 -2.61320733e-04 9.99928739e-01 9.34883887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.742557844 meters Centerline goodness [0,1] 0.2505932501318333 Centerline is valid? [False, False] Translation: X:2.81, Y:0.15, Z:0.93 [[ 9.99919377e-01 -3.35277576e-03 -1.22473971e-02 2.81105314e+00] [ 3.35601443e-03 9.99994339e-01 2.43895427e-04 1.53159697e-01] [ 1.22465100e-02 -2.84978205e-04 9.99924968e-01 9.34614759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.772557844 meters Centerline goodness [0,1] 0.24457930200414646 Centerline is valid? [False, False] Translation: X:2.83, Y:0.15, Z:0.94 [[ 9.99923197e-01 4.72411882e-03 -1.14579004e-02 2.83083060e+00] [-4.73422103e-03 9.99988428e-01 -8.54717325e-04 1.47528973e-01] [ 1.14537300e-02 9.08895913e-04 9.99933991e-01 9.35635180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802557844 meters Centerline goodness [0,1] 0.25061140710979124 Centerline is valid? [False, False] Translation: X:2.81, Y:0.15, Z:0.93 [[ 9.99947980e-01 -2.47923134e-03 -9.89398859e-03 2.81267591e+00] [ 2.47854982e-03 9.99996925e-01 -8.11441392e-05 1.53420371e-01] [ 9.89415934e-03 5.66171745e-05 9.99951050e-01 9.33919062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.832557844 meters Centerline goodness [0,1] 0.2511632987438558 Centerline is valid? [False, False] Translation: X:2.81, Y:0.15, Z:0.93 [[ 9.99947825e-01 -2.49279961e-03 -9.90621550e-03 2.81238412e+00] [ 2.49096935e-03 9.99996878e-01 -1.97092662e-04 1.53892989e-01] [ 9.90667589e-03 1.72406299e-04 9.99950913e-01 9.34485556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862557844 meters Centerline goodness [0,1] 0.24966220633744496 Centerline is valid? [False, False] Translation: X:2.81, Y:0.15, Z:0.94 [[ 9.99952459e-01 -2.00260453e-03 -9.54304473e-03 2.81116311e+00] [ 2.00181283e-03 9.99997992e-01 -9.25121834e-05 1.54862006e-01] [ 9.54321083e-03 7.34043959e-05 9.99954460e-01 9.35212183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.892557844 meters Centerline goodness [0,1] 0.24677684520204202 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:0.94 [[ 9.99953726e-01 -1.96347909e-03 -9.41756179e-03 2.81071292e+00] [ 1.96122782e-03 9.99998046e-01 -2.48280086e-04 1.55756124e-01] [ 9.41803088e-03 2.29798613e-04 9.99955623e-01 9.35539136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.922557844 meters Centerline goodness [0,1] 0.24975415747033503 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:0.94 [[ 9.99955442e-01 -1.97581549e-03 -9.23097650e-03 2.81005500e+00] [ 1.97127446e-03 9.99997932e-01 -5.01006944e-04 1.56888659e-01] [ 9.23194731e-03 4.82787832e-04 9.99957268e-01 9.35939329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.952557844 meters Centerline goodness [0,1] 0.24975415747033503 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:0.94 [[ 9.99955442e-01 -1.97581549e-03 -9.23097650e-03 2.81005500e+00] [ 1.97127446e-03 9.99997932e-01 -5.01006944e-04 1.56888659e-01] [ 9.23194731e-03 4.82787832e-04 9.99957268e-01 9.35939329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982557844 meters Centerline goodness [0,1] 0.2521382516777052 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:0.94 [[ 9.99964911e-01 -1.44725144e-03 -8.25119727e-03 2.80709074e+00] [ 1.44125138e-03 9.99998693e-01 -7.33074807e-04 1.59892081e-01] [ 8.25224743e-03 7.21157035e-04 9.99965690e-01 9.37029564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.012557844 meters Centerline goodness [0,1] 0.24344698356630556 Centerline is valid? [False, False] Translation: X:2.85, Y:0.16, Z:0.94 [[ 9.99982882e-01 1.04722860e-04 -5.85014380e-03 2.84968755e+00] [-1.02072424e-04 9.99999892e-01 4.53351564e-04 1.60886026e-01] [ 5.85019065e-03 -4.52746666e-04 9.99982785e-01 9.37401256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04255784400002 meters Centerline goodness [0,1] 0.24697657250797922 Centerline is valid? [False, False] Translation: X:2.85, Y:0.16, Z:0.94 [[ 9.99984629e-01 9.82883756e-05 -5.54357991e-03 2.84905249e+00] [-9.84200418e-05 9.99999995e-01 -2.34783087e-05 1.63687842e-01] [ 5.54357757e-03 2.40235472e-05 9.99984634e-01 9.37284922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07255784400002 meters Centerline goodness [0,1] 0.2491735537190083 Centerline is valid? [False, False] Translation: X:2.85, Y:0.17, Z:0.94 [[ 9.99984976e-01 -3.29064078e-05 -5.48157604e-03 2.84901301e+00] [ 2.97046488e-05 9.99999829e-01 -5.84174990e-04 1.66434242e-01] [ 5.48159433e-03 5.84003385e-04 9.99984805e-01 9.37154506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10255784400002 meters Centerline goodness [0,1] 0.24811997297120558 Centerline is valid? [False, False] Translation: X:2.85, Y:0.17, Z:0.94 [[ 9.99987432e-01 -1.80361895e-04 -5.01025596e-03 2.84795223e+00] [ 1.72716619e-04 9.99998820e-01 -1.52631602e-03 1.71045843e-01] [ 5.01052534e-03 1.52543148e-03 9.99986284e-01 9.37042261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13255784400002 meters Centerline goodness [0,1] 0.24957492261411696 Centerline is valid? [False, False] Translation: X:2.85, Y:0.17, Z:0.94 [[ 9.99988183e-01 -3.17038076e-04 -4.85116303e-03 2.84732529e+00] [ 3.07069869e-04 9.99997840e-01 -2.05541472e-03 1.73847184e-01] [ 4.85180420e-03 2.05390078e-03 9.99986121e-01 9.37447561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16255784400002 meters Centerline goodness [0,1] 0.24726973897623317 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99988188e-01 -3.82418499e-04 -4.84539253e-03 2.84710558e+00] [ 3.70548442e-04 9.99996929e-01 -2.45042280e-03 1.76366940e-01] [ 4.84631474e-03 2.44859840e-03 9.99985259e-01 9.37804432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19255784400002 meters Centerline goodness [0,1] 0.24706925639140032 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99987677e-01 -5.23597220e-04 -4.93681285e-03 2.84751730e+00] [ 5.09512377e-04 9.99995798e-01 -2.85384970e-03 1.78474224e-01] [ 4.93828637e-03 2.85129917e-03 9.99983742e-01 9.37495097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22255784400002 meters Centerline goodness [0,1] 0.24725466271570506 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99986654e-01 -6.79446177e-04 -5.12154949e-03 2.84871106e+00] [ 6.63359205e-04 9.99994844e-01 -3.14208068e-03 1.79734253e-01] [ 5.12365796e-03 3.13864132e-03 9.99981948e-01 9.36161688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25255784400002 meters Centerline goodness [0,1] 0.24338384492509602 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99986906e-01 -6.86830564e-04 -5.07118192e-03 2.84866511e+00] [ 6.71083066e-04 9.99994950e-01 -3.10634022e-03 1.79539115e-01] [ 5.07328984e-03 3.10289636e-03 9.99982317e-01 9.35976336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28255784400002 meters Centerline goodness [0,1] 0.24888956627765202 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99987425e-01 -6.26209824e-04 -4.97580173e-03 2.84843231e+00] [ 6.11300116e-04 9.99995321e-01 -2.99739938e-03 1.79213749e-01] [ 4.97765545e-03 2.99431997e-03 9.99983128e-01 9.35943182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31255784400003 meters Centerline goodness [0,1] 0.24839180967748975 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99986818e-01 -5.35950123e-04 -5.10646716e-03 2.84882585e+00] [ 5.21646243e-04 9.99995938e-01 -2.80205047e-03 1.78429385e-01] [ 5.10794817e-03 2.79934977e-03 9.99983036e-01 9.35816613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342557844 meters Centerline goodness [0,1] 0.24685001737921441 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99986131e-01 -4.90205769e-04 -5.24386968e-03 2.84928712e+00] [ 4.75825303e-04 9.99996124e-01 -2.74323457e-03 1.78111992e-01] [ 5.24519411e-03 2.74070136e-03 9.99982488e-01 9.35652937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372557844 meters Centerline goodness [0,1] 0.2417217825002711 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99984750e-01 -4.71217285e-04 -5.50256079e-03 2.85009535e+00] [ 4.55673309e-04 9.99995904e-01 -2.82577441e-03 1.78549541e-01] [ 5.50386981e-03 2.82322395e-03 9.99980868e-01 9.35369370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402557844 meters Centerline goodness [0,1] 0.24424982115372107 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99983157e-01 -3.40274516e-04 -5.79390314e-03 2.85092626e+00] [ 3.23443372e-04 9.99995726e-01 -2.90566425e-03 1.79402930e-01] [ 5.79486710e-03 2.90374131e-03 9.99978994e-01 9.35187168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.432557844 meters Centerline goodness [0,1] 0.24170984455958544 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99979711e-01 9.06691771e-04 -6.30526259e-03 2.85230849e+00] [-9.21161315e-04 9.99996948e-01 -2.29231065e-03 1.80733099e-01] [ 6.30316493e-03 2.29807230e-03 9.99977494e-01 9.35062353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.462557844 meters Centerline goodness [0,1] 0.24657653349563102 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99980233e-01 1.06429709e-03 -6.19685529e-03 2.85200067e+00] [-1.07965541e-03 9.99996353e-01 -2.47558659e-03 1.82152599e-01] [ 6.19419793e-03 2.48222812e-03 9.99977735e-01 9.35196755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.492557844 meters Centerline goodness [0,1] 0.24524289960728152 Centerline is valid? [False, False] Translation: X:2.85, Y:0.18, Z:0.94 [[ 9.99980861e-01 1.09477719e-03 -6.08920716e-03 2.85169794e+00] [-1.11156119e-03 9.99995591e-01 -2.75365114e-03 1.83637285e-01] [ 6.08616568e-03 2.76036697e-03 9.99977669e-01 9.35285366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.522557844 meters Centerline goodness [0,1] 0.24489574518865675 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.94 [[ 9.99980690e-01 1.41108735e-03 -6.05209150e-03 2.85163210e+00] [-1.42910062e-03 9.99994559e-01 -2.97307937e-03 1.85435959e-01] [ 6.04786330e-03 2.98167101e-03 9.99977266e-01 9.35176616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.552557844 meters Centerline goodness [0,1] 0.2462801995512276 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.93 [[ 9.99978862e-01 1.46439461e-03 -6.33492407e-03 2.85254598e+00] [-1.48402613e-03 9.99994108e-01 -3.09534616e-03 1.86330129e-01] [ 6.33035394e-03 3.10468192e-03 9.99975143e-01 9.34746558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582557844 meters Centerline goodness [0,1] 0.24550365565270216 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.93 [[ 9.99975378e-01 1.58569405e-03 -6.83588710e-03 2.85410932e+00] [-1.60701893e-03 9.99993857e-01 -3.11518487e-03 1.86940369e-01] [ 6.83090537e-03 3.12609357e-03 9.99971783e-01 9.34171431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.612557844 meters Centerline goodness [0,1] 0.24342661435414992 Centerline is valid? [False, False] Translation: X:2.86, Y:0.19, Z:0.93 [[ 9.99970578e-01 1.79389732e-03 -7.45818149e-03 2.85600237e+00] [-1.81822388e-03 9.99993045e-01 -3.25622880e-03 1.88118244e-01] [ 7.45228828e-03 3.26969364e-03 9.99966886e-01 9.33496007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642557844 meters Centerline goodness [0,1] 0.24528590469115297 Centerline is valid? [False, False] Translation: X:2.86, Y:0.19, Z:0.93 [[ 9.99971804e-01 1.75768475e-03 -7.30077517e-03 2.85533905e+00] [-1.78261799e-03 9.99992597e-01 -3.41004759e-03 1.88751376e-01] [ 7.29472734e-03 3.42296594e-03 9.99967535e-01 9.33970762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.672557844 meters Centerline goodness [0,1] 0.2424841858139687 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.93 [[ 9.99973713e-01 1.76272887e-03 -7.03327386e-03 2.85438326e+00] [-1.78749659e-03 9.99992219e-01 -3.51677630e-03 1.89322894e-01] [ 7.02702001e-03 3.52925580e-03 9.99969082e-01 9.34452067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.702557844 meters Centerline goodness [0,1] 0.24576326637440293 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.93 [[ 9.99975128e-01 1.80436799e-03 -6.81822217e-03 2.85375816e+00] [-1.82863811e-03 9.99992009e-01 -3.55504171e-03 1.89741791e-01] [ 6.81175308e-03 3.56742135e-03 9.99970436e-01 9.34553844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.732557844 meters Centerline goodness [0,1] 0.2438113133343529 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.93 [[ 9.99976525e-01 1.97761809e-03 -6.56038180e-03 2.85340372e+00] [-1.99909417e-03 9.99992660e-01 -3.26866120e-03 1.88635520e-01] [ 6.55386948e-03 3.28169928e-03 9.99973138e-01 9.34018133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.762557844 meters Centerline goodness [0,1] 0.24885979268957992 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.93 [[ 9.99977387e-01 2.08043018e-03 -6.39516241e-03 2.85302982e+00] [-2.09990271e-03 9.99993175e-01 -3.03967944e-03 1.87575647e-01] [ 6.38879492e-03 3.05303992e-03 9.99974931e-01 9.33947689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79255784400002 meters Centerline goodness [0,1] 0.24884863371200494 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.93 [[ 9.99978812e-01 2.17194516e-03 -6.13668482e-03 2.85208798e+00] [-2.18937992e-03 9.99993582e-01 -2.83578368e-03 1.86636957e-01] [ 6.13048627e-03 2.84915912e-03 9.99977149e-01 9.34465507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82255784400002 meters Centerline goodness [0,1] 0.24792216574682058 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.93 [[ 9.99979784e-01 2.22843644e-03 -5.95535059e-03 2.85136334e+00] [-2.24488943e-03 9.99993678e-01 -2.75746950e-03 1.86316865e-01] [ 5.94916810e-03 2.77078286e-03 9.99978465e-01 9.34953570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85255784400002 meters Centerline goodness [0,1] 0.2493953589715655 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.94 [[ 9.99979334e-01 2.46794525e-03 -5.93636310e-03 2.85120696e+00] [-2.48429625e-03 9.99993137e-01 -2.74858477e-03 1.86807656e-01] [ 5.92953900e-03 2.76327565e-03 9.99978602e-01 9.35160995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88255784400002 meters Centerline goodness [0,1] 0.24919213168795684 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.94 [[ 9.99979066e-01 2.50646397e-03 -5.96539208e-03 2.85122842e+00] [-2.52401175e-03 9.99992505e-01 -2.93588778e-03 1.87965958e-01] [ 5.95798867e-03 2.95088303e-03 9.99977897e-01 9.35146171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91255784400002 meters Centerline goodness [0,1] 0.2505628538328707 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.94 [[ 9.99980071e-01 2.48333187e-03 -5.80441946e-03 2.85076782e+00] [-2.50194635e-03 9.99991744e-01 -3.20189102e-03 1.89415439e-01] [ 5.79642018e-03 3.21634956e-03 9.99978028e-01 9.35247239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94255784400002 meters Centerline goodness [0,1] 0.24940339306634274 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.94 [[ 9.99980533e-01 2.46586892e-03 -5.73183084e-03 2.85055368e+00] [-2.48610069e-03 9.99990696e-01 -3.52528094e-03 1.91280859e-01] [ 5.72308462e-03 3.53946222e-03 9.99977359e-01 9.35250441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97255784400002 meters Centerline goodness [0,1] 0.2511285445062892 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99987276e-01 -2.45931649e-03 -4.40457828e-03 2.82880244e+00] [ 2.45936690e-03 9.99996976e-01 6.02796485e-06 1.96492685e-01] [ 4.40455013e-03 -1.68603622e-05 9.99990300e-01 9.34315978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00255784400002 meters Centerline goodness [0,1] 0.2510113489755308 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99987502e-01 -2.49589220e-03 -4.33208332e-03 2.82866117e+00] [ 2.49489511e-03 9.99996860e-01 -2.35552026e-04 1.97841634e-01] [ 4.33265763e-03 2.24740988e-04 9.99990589e-01 9.34167988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03255784400002 meters Centerline goodness [0,1] 0.24782317481580707 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.93 [[ 9.99974763e-01 5.73080808e-03 -4.19887789e-03 2.84970581e+00] [-5.73651507e-03 9.99982637e-01 -1.34838964e-03 1.94956870e-01] [ 4.19107762e-03 1.37244253e-03 9.99990276e-01 9.34690823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06255784400003 meters Centerline goodness [0,1] 0.24838871774704507 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99970078e-01 -2.86594192e-03 -7.18538729e-03 2.83063679e+00] [ 2.86064894e-03 9.99995629e-01 -7.46801077e-04 1.98200023e-01] [ 7.18749617e-03 7.26223860e-04 9.99973906e-01 9.33590726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.092557844 meters Centerline goodness [0,1] 0.24888724840957943 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99969697e-01 -2.85753898e-03 -7.24148357e-03 2.83077310e+00] [ 2.85237584e-03 9.99995670e-01 -7.23222139e-04 1.98140889e-01] [ 7.24351885e-03 7.02544790e-04 9.99973519e-01 9.33583684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122557844 meters Centerline goodness [0,1] 0.24715043939789438 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99970347e-01 -2.84370319e-03 -7.15670589e-03 2.83033726e+00] [ 2.83870588e-03 9.99995720e-01 -7.08329995e-04 1.98229763e-01] [ 7.15868953e-03 6.87993208e-04 9.99974140e-01 9.33957976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152557844 meters Centerline goodness [0,1] 0.2511875439831105 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99971049e-01 -2.82589029e-03 -7.06509134e-03 2.82992115e+00] [ 2.82117764e-03 9.99995791e-01 -6.76910479e-04 1.98240921e-01] [ 7.06697449e-03 6.56959004e-04 9.99974813e-01 9.34326567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.182557844 meters Centerline goodness [0,1] 0.2504791775570657 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99970937e-01 -2.88172428e-03 -7.05838583e-03 2.83005947e+00] [ 2.87623457e-03 9.99995553e-01 -7.87784269e-04 1.98623291e-01] [ 7.06062463e-03 7.67459800e-04 9.99974779e-01 9.34075298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.212557844 meters Centerline goodness [0,1] 0.2519740459694271 Centerline is valid? [False, False] Translation: X:2.81, Y:0.19, Z:0.93 [[ 9.99954323e-01 5.17782912e-03 -8.03385236e-03 2.81137482e+00] [-5.19629093e-03 9.99983903e-01 -2.27883301e-03 1.93659084e-01] [ 8.02192362e-03 2.32047516e-03 9.99965131e-01 9.31962099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.242557844 meters Centerline goodness [0,1] 0.24727446466576897 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99956142e-01 -2.60032402e-03 -8.99735465e-03 2.83235934e+00] [ 2.58785475e-03 9.99995675e-01 -1.39724665e-03 1.98665351e-01] [ 9.00094903e-03 1.37390152e-03 9.99958547e-01 9.32464658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.272557844 meters Centerline goodness [0,1] 0.2494720633523977 Centerline is valid? [False, False] Translation: X:2.81, Y:0.20, Z:0.93 [[ 9.99907014e-01 5.75053688e-03 -1.23650326e-02 2.81306186e+00] [-5.77819363e-03 9.99980881e-01 -2.20212948e-03 1.95126222e-01] [ 1.23521328e-02 2.27337226e-03 9.99921125e-01 9.31679364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.302557844 meters Centerline goodness [0,1] 0.24648239566796426 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99928107e-01 -2.23833022e-03 -1.17800692e-02 2.83250595e+00] [ 2.22475310e-03 9.99996846e-01 -1.16552798e-03 1.99651879e-01] [ 1.17826408e-02 1.13923644e-03 9.99929933e-01 9.32797693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.332557844 meters Centerline goodness [0,1] 0.24647963958473895 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99930138e-01 -2.18029789e-03 -1.16174406e-02 2.83162389e+00] [ 2.16778494e-03 9.99997057e-01 -1.08956659e-03 1.99366171e-01] [ 1.16197820e-02 1.06430636e-03 9.99931922e-01 9.33625569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362557844 meters Centerline goodness [0,1] 0.2505099690728433 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99932489e-01 -2.11661880e-03 -1.14253110e-02 2.83080096e+00] [ 2.10532182e-03 9.99997283e-01 -1.00070483e-03 1.99074661e-01] [ 1.14273981e-02 9.76583310e-04 9.99934228e-01 9.34258574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.392557844 meters Centerline goodness [0,1] 0.24785507938921347 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99931743e-01 -2.03918158e-03 -1.15043651e-02 2.83098147e+00] [ 2.02857565e-03 9.99997507e-01 -9.33498432e-04 1.98925821e-01] [ 1.15062400e-02 9.10097240e-04 9.99933387e-01 9.34275718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422557844 meters Centerline goodness [0,1] 0.24133031966419116 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99928589e-01 -1.97638625e-03 -1.17860014e-02 2.83193397e+00] [ 1.96575764e-03 9.99997651e-01 -9.13315756e-04 1.98905126e-01] [ 1.17877788e-02 8.90082113e-04 9.99930126e-01 9.33835734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.452557844 meters Centerline goodness [0,1] 0.24754173088193798 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99933176e-01 -1.87390452e-03 -1.14075774e-02 2.83090881e+00] [ 1.86409408e-03 9.99997884e-01 -8.70565301e-04 1.98706008e-01] [ 1.14091847e-02 8.49242328e-04 9.99934553e-01 9.33925418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.482557844 meters Centerline goodness [0,1] 0.25222180772859937 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.93 [[ 9.99936825e-01 -1.77112105e-03 -1.10999276e-02 2.82971124e+00] [ 1.76390020e-03 9.99998226e-01 -6.60287219e-04 1.97880011e-01] [ 1.11010774e-02 6.40666342e-04 9.99938176e-01 9.34702596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.512557844 meters Centerline goodness [0,1] 0.24886220796671144 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.94 [[ 9.99939981e-01 6.51483062e-03 -8.80861735e-03 2.84899873e+00] [-6.52835225e-03 9.99977554e-01 -1.50716348e-03 1.93906698e-01] [ 8.79860072e-03 1.56457878e-03 9.99960068e-01 9.35825666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54255784400002 meters Centerline goodness [0,1] 0.24984754769579232 Centerline is valid? [False, False] Translation: X:2.85, Y:0.19, Z:0.94 [[ 9.99940476e-01 6.71785992e-03 -8.59736044e-03 2.84785827e+00] [-6.72499624e-03 9.99977066e-01 -8.01419390e-04 1.90402986e-01] [ 8.59177945e-03 8.59188903e-04 9.99962721e-01 9.36994500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57255784400002 meters Centerline goodness [0,1] 0.2477650063856961 Centerline is valid? [False, False] Translation: X:2.87, Y:0.19, Z:0.94 [[ 9.99960486e-01 -1.56465684e-03 -8.75095468e-03 2.86767204e+00] [ 1.56701962e-03 9.99998738e-01 2.63152908e-04 1.92819865e-01] [ 8.75053189e-03 -2.76855428e-04 9.99961675e-01 9.38404190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60255784400002 meters Centerline goodness [0,1] 0.24941750321189815 Centerline is valid? [False, False] Translation: X:2.87, Y:0.19, Z:0.94 [[ 9.99959219e-01 -1.44899883e-03 -8.91409362e-03 2.86820784e+00] [ 1.45512111e-03 9.99998710e-01 6.80362164e-04 1.90739315e-01] [ 8.91309627e-03 -6.93305504e-04 9.99960037e-01 9.38217466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63255784400002 meters Centerline goodness [0,1] 0.24817265689200296 Centerline is valid? [False, False] Translation: X:2.87, Y:0.19, Z:0.94 [[ 9.99959809e-01 -1.64875835e-03 -8.81265016e-03 2.86806093e+00] [ 1.65975811e-03 9.99997853e-01 1.24101031e-03 1.86990858e-01] [ 8.81058511e-03 -1.25558730e-03 9.99960398e-01 9.38180985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66255784400002 meters Centerline goodness [0,1] 0.2448738085504658 Centerline is valid? [False, False] Translation: X:2.87, Y:0.18, Z:0.94 [[ 9.99963325e-01 -1.62582644e-03 -8.40861955e-03 2.86688609e+00] [ 1.64013239e-03 9.99997219e-01 1.69472772e-03 1.84480038e-01] [ 8.40584083e-03 -1.70845681e-03 9.99963211e-01 9.38570203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69255784400002 meters Centerline goodness [0,1] 0.25063505503810335 Centerline is valid? [False, False] Translation: X:2.87, Y:0.18, Z:0.94 [[ 9.99967688e-01 -1.70559682e-03 -7.85575982e-03 2.86517349e+00] [ 1.72175127e-03 9.99996416e-01 2.05007968e-03 1.82193915e-01] [ 7.85223506e-03 -2.06353910e-03 9.99967042e-01 9.39289885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72255784400002 meters Centerline goodness [0,1] 0.2479615892034518 Centerline is valid? [False, False] Translation: X:2.86, Y:0.18, Z:0.94 [[ 9.99969437e-01 -1.73965931e-03 -7.62220293e-03 2.86432176e+00] [ 1.75857651e-03 9.99995389e-01 2.47585614e-03 1.79740149e-01] [ 7.61786063e-03 -2.48918470e-03 9.99967886e-01 9.39852496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75255784400002 meters Centerline goodness [0,1] 0.24658153707013497 Centerline is valid? [False, False] Translation: X:2.87, Y:0.18, Z:0.94 [[ 9.99962255e-01 -2.33975877e-03 -8.36739512e-03 2.86637764e+00] [ 2.36296852e-03 9.99993385e-01 2.76502301e-03 1.76146635e-01] [ 8.36087029e-03 -2.78469054e-03 9.99961170e-01 9.39672370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78255784400002 meters Centerline goodness [0,1] 0.24591260083689226 Centerline is valid? [False, False] Translation: X:2.87, Y:0.17, Z:0.94 [[ 9.99955132e-01 -2.44952575e-03 -9.15063144e-03 2.86871944e+00] [ 2.47807211e-03 9.99992095e-01 3.10957111e-03 1.73766489e-01] [ 9.14294213e-03 -3.13210751e-03 9.99953297e-01 9.39049457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81255784400003 meters Centerline goodness [0,1] 0.25147903063236776 Centerline is valid? [False, False] Translation: X:2.83, Y:0.17, Z:0.94 [[ 9.99911128e-01 -4.05306430e-03 -1.27007780e-02 2.82665767e+00] [ 4.08036097e-03 9.99989420e-01 2.12403713e-03 1.70499780e-01] [ 1.26920348e-02 -2.17567212e-03 9.99917086e-01 9.38456503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842557844 meters Centerline goodness [0,1] 0.25147903063236776 Centerline is valid? [False, False] Translation: X:2.83, Y:0.17, Z:0.94 [[ 9.99911128e-01 -4.05306430e-03 -1.27007780e-02 2.82665767e+00] [ 4.08036097e-03 9.99989420e-01 2.12403713e-03 1.70499780e-01] [ 1.26920348e-02 -2.17567212e-03 9.99917086e-01 9.38456503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872557844 meters Centerline goodness [0,1] 0.24718782699686082 Centerline is valid? [False, False] Translation: X:2.83, Y:0.17, Z:0.94 [[ 9.99906221e-01 -4.01720295e-03 -1.30923942e-02 2.82794038e+00] [ 4.05066731e-03 9.99988594e-01 2.53050101e-03 1.68267756e-01] [ 1.30820793e-02 -2.58329663e-03 9.99911089e-01 9.37865032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902557844 meters Centerline goodness [0,1] 0.2530891341629655 Centerline is valid? [False, False] Translation: X:2.83, Y:0.17, Z:0.94 [[ 0.99991349 -0.00414628 -0.01248257 2.82631743] [ 0.00418415 0.99998672 0.00300906 0.1653579 ] [ 0.01246992 -0.00306103 0.99991756 0.9382325 ] [ 0. 0. 0. 1. ]] SLAMing on 219.932557844 meters Centerline goodness [0,1] 0.24527076749924248 Centerline is valid? [False, False] Translation: X:2.85, Y:0.16, Z:0.94 [[ 9.99930013e-01 3.73196998e-03 -1.12267809e-02 2.84516359e+00] [-3.70990346e-03 9.99991147e-01 1.98570968e-03 1.59698765e-01] [ 1.12340921e-02 -1.94392044e-03 9.99935006e-01 9.39575834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.962557844 meters Centerline goodness [0,1] 0.24540948275862073 Centerline is valid? [False, False] Translation: X:2.85, Y:0.16, Z:0.94 [[ 9.99928171e-01 3.80823150e-03 -1.13644192e-02 2.84540900e+00] [-3.78230514e-03 9.99990197e-01 2.30198449e-03 1.58115602e-01] [ 1.13730743e-02 -2.25883543e-03 9.99932773e-01 9.39763871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.992557844 meters Centerline goodness [0,1] 0.24647230952639 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 0.99991986 0.00388224 -0.01205001 2.84723285] [-0.00384666 0.99998818 0.00297442 0.15445652] [ 0.01206141 -0.00292783 0.99992297 0.93952009] [ 0. 0. 0. 1. ]] SLAMing on 220.022557844 meters Centerline goodness [0,1] 0.24490767798774815 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 0.99991805 0.00401198 -0.01215744 2.84747461] [-0.00397116 0.9999864 0.00338045 0.15245549] [ 0.01217084 -0.0033319 0.99992038 0.9395707 ] [ 0. 0. 0. 1. ]] SLAMing on 220.052557844 meters Centerline goodness [0,1] 0.24648193189715084 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 0.99991811 0.00410107 -0.01212249 2.84756468] [-0.00405618 0.99998484 0.00372459 0.15066849] [ 0.01213758 -0.00367512 0.99991958 0.93927062] [ 0. 0. 0. 1. ]] SLAMing on 220.082557844 meters Centerline goodness [0,1] 0.24744544509871835 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:0.94 [[ 9.99929600e-01 2.08310072e-04 -1.18638628e-02 2.84681437e+00] [-2.08087669e-04 9.99999978e-01 1.99806424e-05 1.49555072e-01] [ 1.18638667e-02 -1.75105122e-05 9.99929622e-01 9.39348879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.112557844 meters Centerline goodness [0,1] 0.25244210295247504 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.94 [[ 9.99899127e-01 -5.10911248e-04 -1.41942129e-02 2.80047584e+00] [ 5.10501797e-04 9.99999869e-01 -3.24696386e-05 1.47812578e-01] [ 1.41942276e-02 2.52201921e-05 9.99899257e-01 9.40673451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142557844 meters Centerline goodness [0,1] 0.24929129050547338 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:0.94 [[ 9.99897518e-01 -4.13969344e-04 -1.43102435e-02 2.80069040e+00] [ 4.19287488e-04 9.99999844e-01 3.68633741e-04 1.45856966e-01] [ 1.43100887e-02 -3.74596069e-04 9.99897535e-01 9.40794454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.172557844 meters Centerline goodness [0,1] 0.24306438748895265 Centerline is valid? [False, False] Translation: X:2.80, Y:0.14, Z:0.94 [[ 9.99877597e-01 -7.04408045e-04 -1.56299444e-02 2.80443879e+00] [ 7.15088441e-04 9.99999515e-01 6.77750891e-04 1.43121148e-01] [ 1.56294594e-02 -6.88844724e-04 9.99877615e-01 9.39918205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202557844 meters Centerline goodness [0,1] 0.24981906704388446 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.94 [[ 9.99819339e-01 -1.36815231e-03 -1.89583215e-02 2.76129585e+00] [ 1.37692875e-03 9.99998951e-01 4.49887609e-04 1.42558894e-01] [ 1.89576861e-02 -4.75910589e-04 9.99820174e-01 9.39542564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.232557844 meters Centerline goodness [0,1] 0.24449883046001908 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.94 [[ 9.99812540e-01 5.21125811e-03 -1.86474497e-02 2.78385557e+00] [-5.24996300e-03 9.99984164e-01 -2.02726182e-03 1.39530344e-01] [ 1.86365899e-02 2.12478021e-03 9.99824066e-01 9.39149566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262557844 meters Centerline goodness [0,1] 0.25153238964589675 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.94 [[ 9.99766098e-01 4.96882676e-03 -2.10489878e-02 2.73766869e+00] [-5.01239549e-03 9.99985402e-01 -2.01761969e-03 1.40364436e-01] [ 2.10386553e-02 2.12265361e-03 9.99776410e-01 9.40142071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29255784400002 meters Centerline goodness [0,1] 0.2448943892946167 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.94 [[ 9.99800789e-01 -3.03134580e-03 -1.97279830e-02 2.75677714e+00] [ 3.01430967e-03 9.99995058e-01 -8.93230435e-04 1.44711372e-01] [ 1.97305932e-02 8.33586244e-04 9.99804985e-01 9.42181936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32255784400002 meters Centerline goodness [0,1] 0.2504585553323434 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.94 [[ 9.99801280e-01 -3.06160755e-03 -1.96984206e-02 2.75662661e+00] [ 3.04326806e-03 9.99994908e-01 -9.60922733e-04 1.44981374e-01] [ 1.97012623e-02 9.00784204e-04 9.99805506e-01 9.42312681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35255784400002 meters Centerline goodness [0,1] 0.24642113482561168 Centerline is valid? [False, False] Translation: X:2.76, Y:0.15, Z:0.94 [[ 9.99800761e-01 -3.07309195e-03 -1.97229265e-02 2.75670647e+00] [ 3.05439401e-03 9.99994857e-01 -9.78084516e-04 1.45035684e-01] [ 1.97258308e-02 9.17648055e-04 9.99805006e-01 9.42248637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38255784400002 meters Centerline goodness [0,1] 0.2467004413907069 Centerline is valid? [False, False] Translation: X:2.76, Y:0.15, Z:0.94 [[ 9.99800845e-01 -3.03667957e-03 -1.97243232e-02 2.75681100e+00] [ 3.01870550e-03 9.99995001e-01 -9.40974086e-04 1.45192295e-01] [ 1.97270821e-02 8.81244763e-04 9.99805014e-01 9.42020803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41255784400002 meters Centerline goodness [0,1] 0.2489613786736421 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.94 [[ 9.99802397e-01 -3.00613791e-03 -1.96501716e-02 2.75655930e+00] [ 2.98992694e-03 9.99995165e-01 -8.54305658e-04 1.44848783e-01] [ 1.96526447e-02 7.95384268e-04 9.99806552e-01 9.42140938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44255784400002 meters Centerline goodness [0,1] 0.2514726569368736 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.94 [[ 9.99803104e-01 -3.00852509e-03 -1.96138319e-02 2.75633081e+00] [ 2.99479585e-03 9.99995250e-01 -7.29312188e-04 1.44096188e-01] [ 1.96159329e-02 6.70429167e-04 9.99807364e-01 9.42362007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47255784400002 meters Centerline goodness [0,1] 0.24672598876232532 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.94 [[ 9.99803043e-01 -3.00595619e-03 -1.96173240e-02 2.75620758e+00] [ 2.99719291e-03 9.99995395e-01 -4.76097134e-04 1.42582507e-01] [ 1.96186647e-02 4.17206459e-04 9.99807448e-01 9.42558355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50255784400002 meters Centerline goodness [0,1] 0.2518843390487945 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.94 [[ 9.99808880e-01 -3.02260436e-03 -1.93149446e-02 2.75538149e+00] [ 3.01796395e-03 9.99995410e-01 -2.69394115e-04 1.41345678e-01] [ 1.93156702e-02 2.11050822e-04 9.99813413e-01 9.42691931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53255784400002 meters Centerline goodness [0,1] 0.25147158581150575 Centerline is valid? [False, False] Translation: X:2.77, Y:0.14, Z:0.94 [[ 9.99867439e-01 4.07786112e-03 -1.57631244e-02 2.77269434e+00] [-4.10604997e-03 9.99990028e-01 -1.75632732e-03 1.35776209e-01] [ 1.57558052e-02 1.82081867e-03 9.99874212e-01 9.43489156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56255784400003 meters Centerline goodness [0,1] 0.24621441550575407 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:0.94 [[ 9.99880379e-01 -4.27668053e-03 -1.48639702e-02 2.79336346e+00] [ 4.26497256e-03 9.99990569e-01 -8.19284089e-04 1.38480392e-01] [ 1.48673338e-02 7.55791661e-04 9.99889189e-01 9.44415362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592557844 meters Centerline goodness [0,1] 0.24272805507745265 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:0.94 [[ 9.99878661e-01 -4.23567793e-03 -1.49907360e-02 2.79393498e+00] [ 4.22557089e-03 9.99990823e-01 -7.05828904e-04 1.37972149e-01] [ 1.49935881e-02 6.42398842e-04 9.99887383e-01 9.43971178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622557844 meters Centerline goodness [0,1] 0.24651011795260258 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:0.94 [[ 9.99876012e-01 -4.26082901e-03 -1.51593711e-02 2.79495204e+00] [ 4.24975056e-03 9.99990679e-01 -7.62937257e-04 1.38241547e-01] [ 1.51624806e-02 6.98419115e-04 9.99884799e-01 9.42953560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652557844 meters Centerline goodness [0,1] 0.24746891941910343 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:0.94 [[ 9.99876385e-01 -4.24492405e-03 -1.51392123e-02 2.79489227e+00] [ 4.23447423e-03 9.99990774e-01 -7.22237361e-04 1.38046447e-01] [ 1.51421385e-02 6.58041478e-04 9.99885135e-01 9.42934953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.682557844 meters Centerline goodness [0,1] 0.24645023810041533 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:0.94 [[ 9.99877327e-01 -4.20745081e-03 -1.50873611e-02 2.79461525e+00] [ 4.19890986e-03 9.99991006e-01 -5.97731776e-04 1.37427037e-01] [ 1.50897404e-02 5.34307981e-04 9.99886001e-01 9.43189645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.712557844 meters Centerline goodness [0,1] 0.2514646830360081 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:0.94 [[ 9.99879310e-01 -4.14064167e-03 -1.49740266e-02 2.79414147e+00] [ 4.13496086e-03 9.99991367e-01 -4.10317941e-04 1.36550083e-01] [ 1.49755963e-02 3.48351406e-04 9.99887799e-01 9.43486772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.742557844 meters Centerline goodness [0,1] 0.24445065216924167 Centerline is valid? [False, False] Translation: X:2.84, Y:0.13, Z:0.94 [[ 9.99912468e-01 -4.01983363e-03 -1.26054327e-02 2.83814198e+00] [ 4.02006407e-03 9.99991919e-01 -7.05768687e-06 1.33365093e-01] [ 1.26053593e-02 -4.36175782e-05 9.99920548e-01 9.43584472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.772557844 meters Centerline goodness [0,1] 0.24481845769752275 Centerline is valid? [False, False] Translation: X:2.84, Y:0.13, Z:0.94 [[ 9.99910983e-01 -4.05524968e-03 -1.27114362e-02 2.83848696e+00] [ 4.06283971e-03 9.99991583e-01 5.71336483e-04 1.29910532e-01] [ 1.27090123e-02 -6.22930152e-04 9.99919043e-01 9.43372146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802557844 meters Centerline goodness [0,1] 0.24682548237576807 Centerline is valid? [False, False] Translation: X:2.84, Y:0.13, Z:0.94 [[ 9.99909419e-01 -3.96575853e-03 -1.28618299e-02 2.83896406e+00] [ 3.97817245e-03 9.99991645e-01 9.39734428e-04 1.27967934e-01] [ 1.28579957e-02 -9.90815883e-04 9.99916842e-01 9.43177572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.832557844 meters Centerline goodness [0,1] 0.24848891873740764 Centerline is valid? [False, False] Translation: X:2.84, Y:0.13, Z:0.94 [[ 9.99903111e-01 -3.80901632e-03 -1.33888041e-02 2.84068675e+00] [ 3.82866236e-03 9.99991631e-01 1.44202286e-03 1.25469378e-01] [ 1.33831994e-02 -1.49314436e-03 9.99909326e-01 9.42468437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862557844 meters Centerline goodness [0,1] 0.2450734658599827 Centerline is valid? [False, False] Translation: X:2.84, Y:0.13, Z:0.94 [[ 9.99900654e-01 -3.75520407e-03 -1.35860120e-02 2.84127432e+00] [ 3.77598996e-03 9.99991739e-01 1.50461919e-03 1.25306682e-01] [ 1.35802496e-02 -1.55577036e-03 9.99906574e-01 9.42341660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.892557844 meters Centerline goodness [0,1] 0.24960729557553019 Centerline is valid? [False, False] Translation: X:2.84, Y:0.13, Z:0.94 [[ 9.99898607e-01 -3.73538299e-03 -1.37413098e-02 2.84165598e+00] [ 3.75630784e-03 9.99991824e-01 1.49727554e-03 1.25423332e-01] [ 1.37356045e-02 -1.54874031e-03 9.99904463e-01 9.42374243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922557844 meters Centerline goodness [0,1] 0.2440584219168611 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.94 [[ 9.99903790e-01 4.58844337e-03 -1.30903537e-02 2.86135325e+00] [-4.58494870e-03 9.99989445e-01 2.96963791e-04 1.20852932e-01] [ 1.30915781e-02 -2.36916619e-04 9.99914274e-01 9.43699563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.952557844 meters Centerline goodness [0,1] 0.24712868702688595 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.94 [[ 9.99909900e-01 4.70386497e-03 -1.25723971e-02 2.85966104e+00] [-4.70212247e-03 9.99988931e-01 1.68153228e-04 1.22038278e-01] [ 1.25730489e-02 -1.09021126e-04 9.99920950e-01 9.44475079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.982557844 meters Centerline goodness [0,1] 0.247000324289266 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.94 [[ 9.99910440e-01 4.68029482e-03 -1.25382271e-02 2.85962491e+00] [-4.67951862e-03 9.99989047e-01 9.12430520e-05 1.22420203e-01] [ 1.25385168e-02 -3.25620131e-05 9.99921389e-01 9.44390455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.012557844 meters Centerline goodness [0,1] 0.24323566824051912 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.94 [[ 9.99911232e-01 4.64667144e-03 -1.24874954e-02 2.85939530e+00] [-4.64659833e-03 9.99989204e-01 3.48678761e-05 1.22590420e-01] [ 1.24875226e-02 2.31595943e-05 9.99922028e-01 9.44560703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04255784400002 meters Centerline goodness [0,1] 0.24554506771497076 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.95 [[ 9.99915713e-01 4.56654314e-03 -1.21537605e-02 2.85814007e+00] [-4.56695025e-03 9.99989571e-01 -5.74292863e-06 1.22347047e-01] [ 1.21536076e-02 6.12480643e-05 9.99926140e-01 9.45214809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07255784400002 meters Centerline goodness [0,1] 0.24380442062960483 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.95 [[ 9.99916480e-01 4.55662080e-03 -1.20942215e-02 2.85797520e+00] [-4.55661817e-03 9.99989618e-01 2.77725961e-05 1.22192409e-01] [ 1.20942225e-02 2.73384732e-05 9.99926862e-01 9.45181282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10255784400002 meters Centerline goodness [0,1] 0.24673967472948555 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.94 [[ 9.99913863e-01 4.58910407e-03 -1.22965853e-02 2.85854684e+00] [-4.58745254e-03 9.99989464e-01 1.62511260e-04 1.21726781e-01] [ 1.22972015e-02 -1.06087260e-04 9.99924381e-01 9.44975841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13255784400002 meters Centerline goodness [0,1] 0.24558472553699284 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.94 [[ 9.99898377e-01 4.29722933e-03 -1.35929822e-02 2.86209842e+00] [-4.29284912e-03 9.99990724e-01 3.51401990e-04 1.20114806e-01] [ 1.35943662e-02 -2.93013658e-04 9.99907549e-01 9.44243367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16255784400002 meters Centerline goodness [0,1] 0.24992861065348715 Centerline is valid? [False, False] Translation: X:2.84, Y:0.12, Z:0.94 [[ 9.99878307e-01 -5.05055200e-03 -1.47601542e-02 2.84110538e+00] [ 5.06299954e-03 9.99986858e-01 8.06074797e-04 1.23284705e-01] [ 1.47558891e-02 -8.80707358e-04 9.99890738e-01 9.43736175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19255784400002 meters Centerline goodness [0,1] 0.24738607650082778 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.94 [[ 9.99891900e-01 3.80476680e-04 -1.46983927e-02 2.86251321e+00] [-4.20087794e-04 9.99996288e-01 -2.69193478e-03 1.18847609e-01] [ 1.46973139e-02 2.69781840e-03 9.99888349e-01 9.43752365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22255784400002 meters Centerline goodness [0,1] 0.24960230120508187 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.94 [[ 9.99907391e-01 1.79549829e-04 -1.36080092e-02 2.85970181e+00] [-2.14446855e-04 9.99996692e-01 -2.56303177e-03 1.17620418e-01] [ 1.36075040e-02 2.56571261e-03 9.99904122e-01 9.43934488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25255784400002 meters Centerline goodness [0,1] 0.24254550148444565 Centerline is valid? [False, False] Translation: X:2.88, Y:0.12, Z:0.95 [[ 9.99896493e-01 -7.81415704e-03 -1.20806720e-02 2.87915941e+00] [ 7.80010051e-03 9.99968846e-01 -1.21023501e-03 1.20973242e-01] [ 1.20897526e-02 1.11587928e-03 9.99926294e-01 9.45500940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28255784400002 meters Centerline goodness [0,1] 0.25171022627609196 Centerline is valid? [False, False] Translation: X:2.83, Y:0.12, Z:0.95 [[ 9.99869154e-01 -7.71149906e-03 -1.42199895e-02 2.83181616e+00] [ 7.69797410e-03 9.99969865e-01 -1.00561371e-03 1.23565727e-01] [ 1.42273157e-02 8.96017015e-04 9.99898385e-01 9.47092236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31255784400003 meters Centerline goodness [0,1] 0.24483502264395085 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.95 [[ 9.99893630e-01 -1.01174008e-03 -1.45501039e-02 2.85540800e+00] [ 9.61081077e-04 9.99993454e-01 -3.48826477e-03 1.21202789e-01] [ 1.45535378e-02 3.47390990e-03 9.99888057e-01 9.46465828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342557844 meters Centerline goodness [0,1] 0.24440423102608844 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.95 [[ 9.99890714e-01 -1.00309499e-03 -1.47497183e-02 2.85615192e+00] [ 9.51818914e-04 9.99993481e-01 -3.48301969e-03 1.21233409e-01] [ 1.47531159e-02 3.46859999e-03 9.99885151e-01 9.46055774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372557844 meters Centerline goodness [0,1] 0.24261131426113147 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.95 [[ 9.99890857e-01 -1.00632242e-03 -1.47397843e-02 2.85626615e+00] [ 9.54550824e-04 9.99993353e-01 -3.51898593e-03 1.21476448e-01] [ 1.47432275e-02 3.50453198e-03 9.99885171e-01 9.45800104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402557844 meters Centerline goodness [0,1] 0.24648800518694614 Centerline is valid? [False, False] Translation: X:2.86, Y:0.12, Z:0.95 [[ 9.99894198e-01 -1.07067624e-03 -1.45067860e-02 2.85541786e+00] [ 1.01838216e-03 9.99992959e-01 -3.61170888e-03 1.21747976e-01] [ 1.45105508e-02 3.59655330e-03 9.99888248e-01 9.46216242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.432557844 meters Centerline goodness [0,1] 0.2505642846185874 Centerline is valid? [False, False] Translation: X:2.81, Y:0.12, Z:0.95 [[ 9.99853510e-01 -1.47643958e-03 -1.70522503e-02 2.80876803e+00] [ 1.41123608e-03 9.99991650e-01 -3.83514801e-03 1.24167050e-01] [ 1.70577703e-02 3.81052144e-03 9.99847245e-01 9.47698568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.462557844 meters Centerline goodness [0,1] 0.248753280839895 Centerline is valid? [False, False] Translation: X:2.81, Y:0.12, Z:0.95 [[ 9.99852703e-01 -1.41380917e-03 -1.71047856e-02 2.80891560e+00] [ 1.35135136e-03 9.99992380e-01 -3.66248885e-03 1.23430370e-01] [ 1.71098333e-02 3.63883480e-03 9.99846995e-01 9.47603295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.492557844 meters Centerline goodness [0,1] 0.24969000848397838 Centerline is valid? [False, False] Translation: X:2.81, Y:0.12, Z:0.95 [[ 9.99851806e-01 -1.35883856e-03 -1.71615961e-02 2.80912292e+00] [ 1.29947150e-03 9.99993135e-01 -3.46997497e-03 1.22546635e-01] [ 1.71661934e-02 3.44715974e-03 9.99846708e-01 9.47453530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.522557844 meters Centerline goodness [0,1] 0.244169504677329 Centerline is valid? [False, False] Translation: X:2.81, Y:0.12, Z:0.95 [[ 9.99847769e-01 -1.32922151e-03 -1.73974720e-02 2.80997335e+00] [ 1.27651929e-03 9.99994564e-01 -3.04005761e-03 1.20041321e-01] [ 1.74014183e-02 3.01738661e-03 9.99844031e-01 9.46940572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.552557844 meters Centerline goodness [0,1] 0.24790729023981906 Centerline is valid? [False, False] Translation: X:2.81, Y:0.12, Z:0.95 [[ 9.99845687e-01 -1.24153725e-03 -1.75231413e-02 2.81044189e+00] [ 1.19260107e-03 9.99995361e-01 -2.80283418e-03 1.18855084e-01] [ 1.75265398e-02 2.78150355e-03 9.99842529e-01 9.46656541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.582557844 meters Centerline goodness [0,1] 0.2503390646191539 Centerline is valid? [False, False] Translation: X:2.81, Y:0.12, Z:0.95 [[ 9.99844864e-01 -1.17314237e-03 -1.75747489e-02 2.81062801e+00] [ 1.12688044e-03 9.99995875e-01 -2.64196708e-03 1.18065392e-01] [ 1.75777758e-02 2.62175257e-03 9.99842062e-01 9.46548162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.612557844 meters Centerline goodness [0,1] 0.24708133139117772 Centerline is valid? [False, False] Translation: X:2.81, Y:0.12, Z:0.95 [[ 9.99844090e-01 -1.06650306e-03 -1.76254792e-02 2.81061451e+00] [ 1.02364372e-03 9.99996498e-01 -2.44051234e-03 1.17210067e-01] [ 1.76280202e-02 2.42208963e-03 9.99841681e-01 9.46826107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.642557844 meters Centerline goodness [0,1] 0.24694864179330978 Centerline is valid? [False, False] Translation: X:2.81, Y:0.12, Z:0.95 [[ 9.99847827e-01 -8.04006159e-04 -1.74263009e-02 2.80962656e+00] [ 7.69874669e-04 9.99997773e-01 -1.96523940e-03 1.15277638e-01] [ 1.74278422e-02 1.95152427e-03 9.99846219e-01 9.47648741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.672557844 meters Centerline goodness [0,1] 0.24544118917984614 Centerline is valid? [False, False] Translation: X:2.81, Y:0.11, Z:0.95 [[ 9.99850523e-01 -6.85780415e-04 -1.72760569e-02 2.80910188e+00] [ 6.57530859e-04 9.99998438e-01 -1.64081255e-03 1.13651834e-01] [ 1.72771552e-02 1.62920774e-03 9.99849411e-01 9.47843895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.702557844 meters Centerline goodness [0,1] 0.2485664639443962 Centerline is valid? [False, False] Translation: X:2.81, Y:0.11, Z:0.95 [[ 9.99854331e-01 -5.40134639e-04 -1.70594845e-02 2.80843300e+00] [ 5.18752413e-04 9.99999074e-01 -1.25779258e-03 1.11750943e-01] [ 1.70601481e-02 1.24875971e-03 9.99853685e-01 9.48013508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.732557844 meters Centerline goodness [0,1] 0.2477467718173152 Centerline is valid? [False, False] Translation: X:2.81, Y:0.11, Z:0.95 [[ 9.99862712e-01 -3.11782524e-04 -1.65668359e-02 2.80685799e+00] [ 3.03255103e-04 9.99999820e-01 -5.17238078e-04 1.08063081e-01] [ 1.65669942e-02 5.12143090e-04 9.99862627e-01 9.48474847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762557844 meters Centerline goodness [0,1] 0.2477467718173152 Centerline is valid? [False, False] Translation: X:2.81, Y:0.11, Z:0.95 [[ 9.99862712e-01 -3.11782524e-04 -1.65668359e-02 2.80685799e+00] [ 3.03255103e-04 9.99999820e-01 -5.17238078e-04 1.08063081e-01] [ 1.65669942e-02 5.12143090e-04 9.99862627e-01 9.48474847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79255784400002 meters Centerline goodness [0,1] 0.24645566876219382 Centerline is valid? [False, False] Translation: X:2.81, Y:0.11, Z:0.95 [[ 9.99865093e-01 -1.56241894e-04 -1.64247304e-02 2.80631479e+00] [ 1.54694390e-04 9.99999983e-01 -9.54883943e-05 1.06061814e-01] [ 1.64247450e-02 9.29346986e-05 9.99865100e-01 9.48741274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82255784400002 meters Centerline goodness [0,1] 0.25052761167780513 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.95 [[ 9.99824618e-01 -7.54581024e-04 -1.87126742e-02 2.75983038e+00] [ 7.51858407e-04 9.99999706e-01 -1.52530721e-04 1.06272056e-01] [ 1.87127838e-02 1.38434688e-04 9.99824891e-01 9.49611871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85255784400002 meters Centerline goodness [0,1] 0.24942258247265436 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.95 [[ 9.99825421e-01 -5.98811742e-04 -1.86753323e-02 2.75961661e+00] [ 6.09687543e-04 9.99999648e-01 5.76673731e-04 1.02519599e-01] [ 1.86749804e-02 -5.87959174e-04 9.99825434e-01 9.49647628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88255784400002 meters Centerline goodness [0,1] 0.2491617908092828 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.95 [[ 9.99825034e-01 -4.76395141e-04 -1.86995999e-02 2.75969673e+00] [ 4.92563505e-04 9.99999509e-01 8.60040625e-04 1.01327251e-01] [ 1.86991810e-02 -8.69100888e-04 9.99824777e-01 9.49565425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91255784400002 meters Centerline goodness [0,1] 0.2472596781209221 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.95 [[ 9.99821508e-01 -4.27003686e-04 -1.88883549e-02 2.76033125e+00] [ 4.45462258e-04 9.99999427e-01 9.73049548e-04 1.00903074e-01] [ 1.88879286e-02 -9.81289915e-04 9.99821126e-01 9.49265828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94255784400002 meters Centerline goodness [0,1] 0.24991241898756344 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.95 [[ 9.99817572e-01 -4.21221249e-04 -1.90956763e-02 2.76104662e+00] [ 4.40344921e-04 9.99999406e-01 9.97272410e-04 1.00800188e-01] [ 1.90952448e-02 -1.00549916e-03 9.99817164e-01 9.48923250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97255784400002 meters Centerline goodness [0,1] 0.248342849642318 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.95 [[ 9.99814897e-01 -4.28665115e-04 -1.92350604e-02 2.76150338e+00] [ 4.47874927e-04 9.99999405e-01 9.94390620e-04 1.00739550e-01] [ 1.92346227e-02 -1.00282146e-03 9.99814495e-01 9.48729535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00255784400002 meters Centerline goodness [0,1] 0.24685100180564323 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.95 [[ 9.99811967e-01 -5.33153854e-04 -1.93841837e-02 2.76211566e+00] [ 5.48012278e-04 9.99999560e-01 7.61219244e-04 1.01748523e-01] [ 1.93837693e-02 -7.71698880e-04 9.99811819e-01 9.48332472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03255784400002 meters Centerline goodness [0,1] 0.24613604610548379 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.95 [[ 9.99812506e-01 -5.95067285e-04 -1.93545420e-02 2.76210726e+00] [ 6.06495822e-04 9.99999645e-01 5.84619032e-04 1.02683155e-01] [ 1.93541873e-02 -5.96247869e-04 9.99812512e-01 9.48225368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06255784400003 meters Centerline goodness [0,1] 0.2472118149342163 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.95 [[ 9.99815693e-01 -7.79573728e-04 -1.91826295e-02 2.76163023e+00] [ 7.81815205e-04 9.99999688e-01 1.09350233e-04 1.04948531e-01] [ 1.91825383e-02 -1.24327351e-04 9.99815990e-01 9.48349332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092557844 meters Centerline goodness [0,1] 0.24725585852426168 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.95 [[ 9.99816478e-01 -8.93191945e-04 -1.91367049e-02 2.76142861e+00] [ 8.90010679e-04 9.99999589e-01 -1.74755036e-04 1.06261034e-01] [ 1.91368531e-02 1.57691093e-04 9.99816861e-01 9.48512420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122557844 meters Centerline goodness [0,1] 0.24792016944341333 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.95 [[ 9.99815554e-01 -1.01914412e-03 -1.91785920e-02 2.76159669e+00] [ 1.01022500e-03 9.99999377e-01 -4.74738442e-04 1.07669018e-01] [ 1.91790639e-02 4.55276186e-04 9.99815961e-01 9.48421217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152557844 meters Centerline goodness [0,1] 0.24604432096889717 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.95 [[ 9.99813070e-01 -1.11780278e-03 -1.93022230e-02 2.76201242e+00] [ 1.10423421e-03 9.99999136e-01 -7.13597202e-04 1.08833791e-01] [ 1.93030040e-02 6.92149634e-04 9.99813440e-01 9.48230464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.182557844 meters Centerline goodness [0,1] 0.24226804123711343 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.95 [[ 9.99812047e-01 -1.35552407e-03 -1.93399141e-02 2.76250554e+00] [ 1.33170314e-03 9.99998339e-01 -1.24452346e-03 1.11438490e-01] [ 1.93415690e-02 1.21853452e-03 9.99812192e-01 9.47580300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.212557844 meters Centerline goodness [0,1] 0.24809385445568344 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.95 [[ 9.99811972e-01 -1.49075842e-03 -1.93338478e-02 2.76260525e+00] [ 1.46063926e-03 9.99997698e-01 -1.57187360e-03 1.12961280e-01] [ 1.93361466e-02 1.54333827e-03 9.99811848e-01 9.47421003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.242557844 meters Centerline goodness [0,1] 0.24297452929885477 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.95 [[ 9.99809784e-01 -1.63858605e-03 -1.94347944e-02 2.76296025e+00] [ 1.60155934e-03 9.99996873e-01 -1.92058773e-03 1.14593927e-01] [ 1.94378807e-02 1.88909643e-03 9.99809282e-01 9.47253371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.272557844 meters Centerline goodness [0,1] 0.2491556647221369 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:0.95 [[ 9.99748327e-01 -1.20021355e-03 -2.24018397e-02 2.71798152e+00] [ 1.16257350e-03 9.99997891e-01 -1.69316935e-03 1.20312292e-01] [ 2.24038246e-02 1.66669944e-03 9.99747614e-01 9.47757774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302557844 meters Centerline goodness [0,1] 0.24836686985208978 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:0.95 [[ 9.99742438e-01 -1.44957252e-03 -2.26485292e-02 2.71877111e+00] [ 1.39426422e-03 9.99996008e-01 -2.45762675e-03 1.24066192e-01] [ 2.26520013e-02 2.42541573e-03 9.99740468e-01 9.47576367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.332557844 meters Centerline goodness [0,1] 0.2456391875746714 Centerline is valid? [False, False] Translation: X:2.72, Y:0.13, Z:0.95 [[ 9.99742164e-01 -1.56348572e-03 -2.26530419e-02 2.71869779e+00] [ 1.50232607e-03 9.99995182e-01 -2.71660984e-03 1.25194549e-01] [ 2.26571801e-02 2.68187714e-03 9.99739696e-01 9.47760803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362557844 meters Centerline goodness [0,1] 0.24893190339175164 Centerline is valid? [False, False] Translation: X:2.72, Y:0.13, Z:0.95 [[ 9.99744517e-01 -1.63927182e-03 -2.25436035e-02 2.71830400e+00] [ 1.57509861e-03 9.99994658e-01 -2.86408762e-03 1.25800397e-01] [ 2.25481781e-02 2.82784749e-03 9.99741758e-01 9.47936397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.392557844 meters Centerline goodness [0,1] 0.24618382591750565 Centerline is valid? [False, False] Translation: X:2.72, Y:0.13, Z:0.95 [[ 9.99744974e-01 -1.69178708e-03 -2.25194356e-02 2.71831559e+00] [ 1.62815492e-03 9.99994631e-01 -2.84369003e-03 1.25724708e-01] [ 2.25241256e-02 2.80629968e-03 9.99742361e-01 9.47690417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422557844 meters Centerline goodness [0,1] 0.2507188796452795 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:0.95 [[ 9.99679180e-01 -1.87526029e-03 -2.52590541e-02 2.67294589e+00] [ 1.80244465e-03 9.99994155e-01 -2.90521297e-03 1.28416622e-01] [ 2.52643545e-02 2.85875288e-03 9.99676718e-01 9.47935873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.452557844 meters Centerline goodness [0,1] 0.24990195651226632 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:0.95 [[ 9.99678400e-01 -1.86963670e-03 -2.52903332e-02 2.67304678e+00] [ 1.79927985e-03 9.99994449e-01 -2.80443598e-03 1.27742734e-01] [ 2.52954361e-02 2.75802968e-03 9.99676215e-01 9.47873882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.482557844 meters Centerline goodness [0,1] 0.24721849430711285 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:0.95 [[ 9.99679638e-01 -1.97908684e-03 -2.52330240e-02 2.67252446e+00] [ 1.90062724e-03 9.99993286e-01 -3.13300542e-03 1.29200913e-01] [ 2.52390551e-02 3.08404315e-03 9.99676687e-01 9.48599902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.512557844 meters Centerline goodness [0,1] 0.2434070930585026 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:0.95 [[ 9.99679190e-01 -2.00934357e-03 -2.52483705e-02 2.67237631e+00] [ 1.92145682e-03 9.99992013e-01 -3.50466678e-03 1.31439340e-01] [ 2.52552109e-02 3.45502879e-03 9.99675066e-01 9.49012787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54255784400002 meters Centerline goodness [0,1] 0.24354418384269128 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:0.95 [[ 9.99677063e-01 -2.01177166e-03 -2.53322440e-02 2.67256863e+00] [ 1.91241057e-03 9.99990386e-01 -3.94593319e-03 1.34127008e-01] [ 2.53399387e-02 3.89621325e-03 9.99671299e-01 9.49194565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57255784400002 meters Centerline goodness [0,1] 0.24894312486380477 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 9.99690306e-01 -2.04565677e-03 -2.48013406e-02 2.67116951e+00] [ 1.92973318e-03 9.99987107e-01 -4.69711879e-03 1.38070226e-01] [ 2.48106295e-02 4.64780415e-03 9.99681365e-01 9.49566180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60255784400002 meters Centerline goodness [0,1] 0.24485601159696224 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 9.99694279e-01 -2.18174910e-03 -2.46290185e-02 2.67061702e+00] [ 2.05797759e-03 9.99985133e-01 -5.04966274e-03 1.39567505e-01] [ 2.46396694e-02 4.99743299e-03 9.99683906e-01 9.49790222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63255784400002 meters Centerline goodness [0,1] 0.2489417412175431 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 9.99698036e-01 -2.26146337e-03 -2.44688008e-02 2.66998772e+00] [ 2.13400429e-03 9.99984026e-01 -5.23390372e-03 1.40382583e-01] [ 2.44802462e-02 5.18010674e-03 9.99686893e-01 9.50160619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66255784400002 meters Centerline goodness [0,1] 0.24674427142949706 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 9.99699861e-01 -2.30647165e-03 -2.43899216e-02 2.66960425e+00] [ 2.17747839e-03 9.99983510e-01 -5.31402988e-03 1.40825844e-01] [ 2.44017760e-02 5.25932640e-03 9.99688398e-01 9.50422766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69255784400002 meters Centerline goodness [0,1] 0.2522488838058372 Centerline is valid? [False, False] Translation: X:2.62, Y:0.14, Z:0.95 [[ 9.99636099e-01 -2.65891121e-03 -2.68439840e-02 2.62404998e+00] [ 2.52108678e-03 9.99983474e-01 -5.16681529e-03 1.43590076e-01] [ 2.68572785e-02 5.09725907e-03 9.99626282e-01 9.50748478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72255784400002 meters Centerline goodness [0,1] 0.24504923826146918 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 0.99968502 -0.00385784 -0.0247988 2.66907448] [ 0.00371252 0.99997568 -0.00590322 0.13950818] [ 0.02482097 0.00580929 0.99967503 0.95102873] [ 0. 0. 0. 1. ]] SLAMing on 222.75255784400002 meters Centerline goodness [0,1] 0.2485435211054079 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 0.99969121 -0.00427678 -0.02447836 2.66814768] [ 0.00413505 0.99997441 -0.00583749 0.13780082] [ 0.0245027 0.00573447 0.99968332 0.95104918] [ 0. 0. 0. 1. ]] SLAMing on 222.78255784400002 meters Centerline goodness [0,1] 0.24497688285874775 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 0.99968782 -0.00417688 -0.02463368 2.66862837] [ 0.00404097 0.99997635 -0.00556446 0.13670034] [ 0.02465633 0.00546318 0.99968106 0.95082419] [ 0. 0. 0. 1. ]] SLAMing on 222.81255784400003 meters Centerline goodness [0,1] 0.24470105763004535 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 0.99968452 -0.00409981 -0.02478026 2.66921385] [ 0.00396711 0.99997754 -0.00540171 0.1360997 ] [ 0.02480185 0.0053017 0.99967833 0.95043755] [ 0. 0. 0. 1. ]] SLAMing on 222.842557844 meters Centerline goodness [0,1] 0.2506083258434355 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:0.95 [[ 0.99966666 0.00457545 -0.02540917 2.64812366] [-0.00473424 0.99996962 -0.00619268 0.13301991] [ 0.02538006 0.00631091 0.99965795 0.94891641] [ 0. 0. 0. 1. ]] SLAMing on 222.872557844 meters Centerline goodness [0,1] 0.24799791086350975 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 0.99971319 -0.00287994 -0.02377501 2.66531416] [ 0.00276661 0.99998466 -0.00479833 0.13726179] [ 0.02378847 0.00473118 0.99970582 0.95150536] [ 0. 0. 0. 1. ]] SLAMing on 222.902557844 meters Centerline goodness [0,1] 0.2457086172690417 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 0.9997105 -0.00284018 -0.02389264 2.66545255] [ 0.00271924 0.99998333 -0.00509304 0.13911098] [ 0.0239067 0.00502659 0.99970156 0.95189241] [ 0. 0. 0. 1. ]] SLAMing on 222.932557844 meters Centerline goodness [0,1] 0.24559594397181406 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 0.99969862 -0.00281202 -0.02438757 2.66682369] [ 0.00268086 0.99998178 -0.00540896 0.14104831] [ 0.02440234 0.00534195 0.99968795 0.95179124] [ 0. 0. 0. 1. ]] SLAMing on 222.962557844 meters Centerline goodness [0,1] 0.24839060461070028 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 9.99656696e-01 -2.34685666e-03 -2.60956312e-02 2.67195642e+00] [ 2.20589620e-03 9.99982829e-01 -5.42916351e-03 1.42927206e-01] [ 2.61079246e-02 5.36973541e-03 9.99644708e-01 9.50375757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.992557844 meters Centerline goodness [0,1] 0.24324851109907963 Centerline is valid? [False, False] Translation: X:2.67, Y:0.14, Z:0.95 [[ 9.99653024e-01 -2.42516593e-03 -2.62287967e-02 2.67246845e+00] [ 2.27541100e-03 9.99980949e-01 -5.73790110e-03 1.44478809e-01] [ 2.62422124e-02 5.67622890e-03 9.99639498e-01 9.50127315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.022557844 meters Centerline goodness [0,1] 0.24971677559912853 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.95 [[ 9.99654845e-01 -2.53048420e-03 -2.61493413e-02 2.67207502e+00] [ 2.37218477e-03 9.99978685e-01 -6.08291690e-03 1.46213394e-01] [ 2.61641767e-02 6.01878628e-03 9.99639540e-01 9.50477749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.052557844 meters Centerline goodness [0,1] 0.24891335211759824 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.95 [[ 9.99657823e-01 -2.69307309e-03 -2.60189106e-02 2.67136001e+00] [ 2.52482706e-03 9.99975707e-01 -6.49698758e-03 1.48321340e-01] [ 2.60357754e-02 6.42907121e-03 9.99640338e-01 9.51127480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.082557844 meters Centerline goodness [0,1] 0.24637148233869044 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.95 [[ 9.99654846e-01 -2.76393413e-03 -2.61256539e-02 2.67178549e+00] [ 2.59337799e-03 9.99975121e-01 -6.55993105e-03 1.48512543e-01] [ 2.61431351e-02 6.48991317e-03 9.99637143e-01 9.50835190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.112557844 meters Centerline goodness [0,1] 0.24737758433079438 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.95 [[ 9.99652655e-01 -2.84213031e-03 -2.62009967e-02 2.67213461e+00] [ 2.66892122e-03 9.99974371e-01 -6.64338414e-03 1.48756464e-01] [ 2.62192066e-02 6.57114819e-03 9.99634620e-01 9.50523247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.142557844 meters Centerline goodness [0,1] 0.24651122475513565 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.95 [[ 0.99965195 -0.00290585 -0.02622083 2.67225547] [ 0.00272989 0.99997353 -0.00674403 0.14915733] [ 0.02623973 0.0066701 0.99963343 0.95039575] [ 0. 0. 0. 1. ]] SLAMing on 223.172557844 meters Centerline goodness [0,1] 0.24626186451696785 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.95 [[ 0.99965402 -0.003047 -0.02612593 2.67191223] [ 0.00286133 0.99997041 -0.00714105 0.15124191] [ 0.02614692 0.00706382 0.99963315 0.95062793] [ 0. 0. 0. 1. ]] SLAMing on 223.202557844 meters Centerline goodness [0,1] 0.24652259502022622 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.95 [[ 0.99965448 -0.00313972 -0.02609714 2.67182681] [ 0.00294681 0.99996807 -0.00742747 0.15271346] [ 0.02611963 0.007348 0.99963182 0.95070479] [ 0. 0. 0. 1. ]] SLAMing on 223.232557844 meters Centerline goodness [0,1] 0.24445835401782823 Centerline is valid? [False, False] Translation: X:2.67, Y:0.15, Z:0.95 [[ 0.9996541 -0.00325258 -0.02609808 2.67202539] [ 0.00305062 0.99996512 -0.00777496 0.1544376 ] [ 0.02612246 0.00769265 0.99962915 0.9504526 ] [ 0. 0. 0. 1. ]] SLAMing on 223.262557844 meters Centerline goodness [0,1] 0.24982595074406055 Centerline is valid? [False, False] Translation: X:2.67, Y:0.16, Z:0.95 [[ 0.99965234 -0.00340163 -0.0261461 2.67226924] [ 0.00318801 0.99996124 -0.0082074 0.15648142] [ 0.026173 0.00812119 0.99962444 0.95034128] [ 0. 0. 0. 1. ]] SLAMing on 223.29255784400002 meters Centerline goodness [0,1] 0.2499508013906807 Centerline is valid? [False, False] Translation: X:2.67, Y:0.16, Z:0.95 [[ 9.99679032e-01 -7.81520218e-04 -2.53223751e-02 2.66821233e+00] [ 6.20407826e-04 9.99979521e-01 -6.36968366e-03 1.62439707e-01] [ 2.53268346e-02 6.35192900e-03 9.99659044e-01 9.52742262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32255784400002 meters Centerline goodness [0,1] 0.24747419880499733 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:0.95 [[ 9.99681395e-01 -9.74832769e-04 -2.52221835e-02 2.66765952e+00] [ 7.97231730e-04 9.99974827e-01 -7.05055936e-03 1.65792363e-01] [ 2.52284217e-02 7.02820509e-03 9.99657007e-01 9.53419356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35255784400002 meters Centerline goodness [0,1] 0.24853432926564467 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:0.95 [[ 9.99680901e-01 -1.20094374e-03 -2.52320093e-02 2.66764964e+00] [ 1.00596922e-03 9.99969551e-01 -7.73854203e-03 1.69079670e-01] [ 2.52405346e-02 7.71069004e-03 9.99651670e-01 9.53584555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38255784400002 meters Centerline goodness [0,1] 0.24764427461027405 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:0.95 [[ 9.99677444e-01 2.49450896e-03 -2.52742045e-02 2.66814195e+00] [-2.61235431e-03 9.99985866e-01 -4.63072853e-03 1.73168451e-01] [ 2.52622959e-02 4.69526004e-03 9.99669831e-01 9.53074820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41255784400002 meters Centerline goodness [0,1] 0.24877677503533757 Centerline is valid? [False, False] Translation: X:2.67, Y:0.18, Z:0.95 [[ 9.99678838e-01 2.26914399e-03 -2.52402786e-02 2.66802890e+00] [-2.40111013e-03 9.99983601e-01 -5.19931718e-03 1.75860315e-01] [ 2.52280667e-02 5.25825205e-03 9.99667893e-01 9.53207328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44255784400002 meters Centerline goodness [0,1] 0.24934354723204788 Centerline is valid? [False, False] Translation: X:2.67, Y:0.18, Z:0.95 [[ 9.99683112e-01 2.04873221e-03 -2.50893977e-02 2.66740316e+00] [-2.19319353e-03 9.99981169e-01 -5.73169990e-03 1.78239058e-01] [ 2.50771825e-02 5.78490950e-03 9.99668780e-01 9.53705477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47255784400002 meters Centerline goodness [0,1] 0.2472180125568305 Centerline is valid? [False, False] Translation: X:2.67, Y:0.18, Z:0.95 [[ 9.99687202e-01 1.82211797e-03 -2.49434838e-02 2.66666950e+00] [-1.97881675e-03 9.99978455e-01 -6.25891209e-03 1.80569867e-01] [ 2.49315419e-02 6.30631290e-03 9.99669270e-01 9.54387947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50255784400002 meters Centerline goodness [0,1] 0.24740593115698717 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99680953e-01 1.42180014e-03 -2.52184417e-02 2.66767472e+00] [-1.60458418e-03 9.99972581e-01 -7.22927646e-03 1.85482537e-01] [ 2.52074717e-02 7.26743509e-03 9.99655825e-01 9.53972897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53255784400002 meters Centerline goodness [0,1] 0.24915032679738558 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99672065e-01 1.30757921e-03 -2.55744345e-02 2.66920998e+00] [-1.50131895e-03 9.99970312e-01 -7.55779061e-03 1.87299641e-01] [ 2.55637929e-02 7.59370753e-03 9.99644351e-01 9.52942412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56255784400003 meters Centerline goodness [0,1] 0.24725524589098946 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99666206e-01 1.18437402e-03 -2.58084188e-02 2.67037555e+00] [-1.38603559e-03 9.99968640e-01 -7.79730291e-03 1.88379530e-01] [ 2.57983746e-02 7.83047161e-03 9.99636498e-01 9.51977934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.592557844 meters Centerline goodness [0,1] 0.24499199584649334 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99671375e-01 8.42905336e-04 -2.56209096e-02 2.66972647e+00] [-1.05399808e-03 9.99965605e-01 -8.22669338e-03 1.89616411e-01] [ 2.56130941e-02 8.25099427e-03 9.99637880e-01 9.52244865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622557844 meters Centerline goodness [0,1] 0.24499199584649334 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99671375e-01 8.42905336e-04 -2.56209096e-02 2.66972647e+00] [-1.05399808e-03 9.99965605e-01 -8.22669338e-03 1.89616411e-01] [ 2.56130941e-02 8.25099427e-03 9.99637880e-01 9.52244865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.652557844 meters Centerline goodness [0,1] 0.24887419235538544 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99676062e-01 7.69328788e-04 -2.54397134e-02 2.66906445e+00] [-9.81899176e-04 9.99964703e-01 -8.34441276e-03 1.90106089e-01] [ 2.54323958e-02 8.36668893e-03 9.99641532e-01 9.52579871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.682557844 meters Centerline goodness [0,1] 0.24773086671143552 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99678341e-01 7.15173651e-04 -2.53515764e-02 2.66884716e+00] [-9.29431465e-04 9.99963945e-01 -8.44068379e-03 1.90620640e-01] [ 2.53446258e-02 8.46153133e-03 9.99642962e-01 9.52535737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.712557844 meters Centerline goodness [0,1] 0.24735679001646593 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99676690e-01 6.63874568e-04 -2.54179921e-02 2.66928097e+00] [-8.80280020e-04 9.99963456e-01 -8.50362641e-03 1.90918200e-01] [ 2.54114179e-02 8.52325206e-03 9.99640742e-01 9.52081122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.742557844 meters Centerline goodness [0,1] 0.24757911118796472 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99670810e-01 4.91862629e-04 -2.56520763e-02 2.67059551e+00] [-7.14679389e-04 9.99962093e-01 -8.67766560e-03 1.91340821e-01] [ 2.56468357e-02 8.69314202e-03 9.99633267e-01 9.50857992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.772557844 meters Centerline goodness [0,1] 0.2471056754874652 Centerline is valid? [False, False] Translation: X:2.67, Y:0.19, Z:0.95 [[ 9.99668750e-01 4.16966129e-04 -2.57335573e-02 2.67096714e+00] [-6.44892364e-04 9.99960634e-01 -8.84949665e-03 1.92177274e-01] [ 2.57288543e-02 8.86316063e-03 9.99629667e-01 9.50589225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.802557844 meters Centerline goodness [0,1] 0.24420179266169417 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.95 [[ 0.99964581 -0.00755485 -0.02551836 2.69111729] [ 0.00736647 0.99994498 -0.00746815 0.19619917] [ 0.02557338 0.00727753 0.99964646 0.95251125] [ 0. 0. 0. 1. ]] SLAMing on 223.832557844 meters Centerline goodness [0,1] 0.24414650942584148 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.95 [[ 0.99965848 -0.00383488 -0.02584996 2.69258158] [ 0.0037386 0.9999859 -0.00377175 0.19600278] [ 0.02586406 0.00367382 0.99965872 0.9516235 ] [ 0. 0. 0. 1. ]] SLAMing on 223.862557844 meters Centerline goodness [0,1] 0.2448869403710343 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.95 [[ 0.99965237 -0.00387185 -0.02607958 2.69364434] [ 0.00377074 0.99998519 -0.00392485 0.19676344] [ 0.02609439 0.00382515 0.99965216 0.95084668] [ 0. 0. 0. 1. ]] SLAMing on 223.892557844 meters Centerline goodness [0,1] 0.24417500862961683 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.95 [[ 0.99964802 -0.00386083 -0.02624766 2.69436606] [ 0.00375418 0.9999845 -0.00411157 0.19790794] [ 0.02626312 0.00401159 0.99964702 0.95036173] [ 0. 0. 0. 1. ]] SLAMing on 223.922557844 meters Centerline goodness [0,1] 0.2449148482076745 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.95 [[ 0.99965188 -0.003895 -0.02609485 2.69372982] [ 0.00378414 0.99998361 -0.00429632 0.19893783] [ 0.02611116 0.00419608 0.99965024 0.95081838] [ 0. 0. 0. 1. ]] SLAMing on 223.952557844 meters Centerline goodness [0,1] 0.24886304005597337 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.95 [[ 0.99965448 -0.00395865 -0.02598556 2.69320446] [ 0.00384205 0.99998233 -0.0045355 0.20013365] [ 0.02600305 0.0044341 0.99965203 0.95130115] [ 0. 0. 0. 1. ]] SLAMing on 223.982557844 meters Centerline goodness [0,1] 0.24854970554627753 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.95 [[ 0.99965236 -0.00408845 -0.02604689 2.69322436] [ 0.00396138 0.99998001 -0.00492808 0.20187333] [ 0.02606652 0.00482318 0.99964857 0.95162349] [ 0. 0. 0. 1. ]] SLAMing on 224.012557844 meters Centerline goodness [0,1] 0.24370002816840375 Centerline is valid? [False, False] Translation: X:2.72, Y:0.20, Z:0.95 [[ 0.9996673 0.00481395 -0.02534008 2.71510571] [-0.00495769 0.99997196 -0.00561272 0.20159191] [ 0.02531235 0.00573648 0.99966313 0.95252401] [ 0. 0. 0. 1. ]] SLAMing on 224.04255784400002 meters Centerline goodness [0,1] 0.2500109375683598 Centerline is valid? [False, False] Translation: X:2.71, Y:0.20, Z:0.95 [[ 0.99967305 0.00475063 -0.02512429 2.71435697] [-0.00490511 0.99996942 -0.00609066 0.20425057] [ 0.02509459 0.0062119 0.99966578 0.95298119] [ 0. 0. 0. 1. ]] SLAMing on 224.07255784400002 meters Centerline goodness [0,1] 0.24907176866291003 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.95 [[ 0.99968151 0.00466226 -0.02480201 2.71334489] [-0.00482704 0.99996665 -0.00658795 0.20686945] [ 0.02477046 0.00670557 0.99967068 0.95348628] [ 0. 0. 0. 1. ]] SLAMing on 224.10255784400002 meters Centerline goodness [0,1] 0.2488551615857647 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.95 [[ 0.99969185 0.00450958 -0.02441061 2.71202829] [-0.00468423 0.99996381 -0.00710231 0.20927383] [ 0.0243777 0.00721446 0.99967679 0.95415155] [ 0. 0. 0. 1. ]] SLAMing on 224.13255784400002 meters Centerline goodness [0,1] 0.23970446514616128 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:0.95 [[ 9.99800659e-01 6.54816725e-04 -1.99553094e-02 2.73762910e+00] [-7.35344087e-04 9.99991616e-01 -4.02831475e-03 2.09412405e-01] [ 1.99525042e-02 4.04218575e-03 9.99792758e-01 9.51866797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16255784400002 meters Centerline goodness [0,1] 0.24305180642235513 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:0.95 [[ 9.99799105e-01 4.97924385e-04 -2.00375301e-02 2.73785536e+00] [-5.86567406e-04 9.99990068e-01 -4.41821561e-03 2.11312893e-01] [ 2.00351311e-02 4.42908137e-03 9.99789466e-01 9.51842851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19255784400002 meters Centerline goodness [0,1] 0.24620343529615363 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:0.95 [[ 9.99797914e-01 3.87810434e-04 -2.00992597e-02 2.73808434e+00] [-4.82606167e-04 9.99988783e-01 -4.71174345e-03 2.12823239e-01] [ 2.00972070e-02 4.72049130e-03 9.99786887e-01 9.51752019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22255784400002 meters Centerline goodness [0,1] 0.24708200697286642 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:0.95 [[ 9.99798190e-01 1.08165769e-04 -2.00889703e-02 2.73815740e+00] [-2.12498868e-04 9.99986502e-01 -5.19148928e-03 2.14525320e-01] [ 2.00881376e-02 5.19471047e-03 9.99784718e-01 9.51597101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25255784400002 meters Centerline goodness [0,1] 0.24674506053426648 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:0.95 [[ 9.99797607e-01 9.97609182e-06 -2.01182629e-02 2.73820006e+00] [-1.17531322e-04 9.99985709e-01 -5.34497366e-03 2.15056082e-01] [ 2.01179220e-02 5.34625641e-03 9.99783320e-01 9.51617605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28255784400002 meters Centerline goodness [0,1] 0.24643196955280688 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:0.95 [[ 9.99796103e-01 -6.46137454e-05 -2.01927734e-02 2.73832423e+00] [-4.75752704e-05 9.99984568e-01 -5.55536955e-03 2.16219622e-01] [ 2.01928207e-02 5.55519750e-03 9.99780671e-01 9.51729500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31255784400003 meters Centerline goodness [0,1] 0.24850769029671915 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:0.95 [[ 9.99798576e-01 3.75761280e-03 -1.97151872e-02 2.73714942e+00] [-3.79633102e-03 9.99990938e-01 -1.92681907e-03 2.18243831e-01] [ 1.97077683e-02 2.00127634e-03 9.99803780e-01 9.51808228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34255784400003 meters Centerline goodness [0,1] 0.24885639869552845 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:0.95 [[ 9.99802206e-01 3.61637680e-03 -1.95568458e-02 2.73653950e+00] [-3.66123075e-03 9.99990748e-01 -2.25819877e-03 2.19681975e-01] [ 1.95484984e-02 2.32935423e-03 9.99806196e-01 9.52202161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372557844 meters Centerline goodness [0,1] 0.24761656568288926 Centerline is valid? [False, False] Translation: X:2.76, Y:0.22, Z:0.95 [[ 9.99823426e-01 -5.20922134e-03 -1.80549240e-02 2.75584244e+00] [ 5.18155022e-03 9.99985329e-01 -1.57905002e-03 2.23340467e-01] [ 1.80628847e-02 1.48521870e-03 9.99835750e-01 9.53652551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402557844 meters Centerline goodness [0,1] 0.2462875299915699 Centerline is valid? [False, False] Translation: X:2.76, Y:0.23, Z:0.95 [[ 9.99819441e-01 -5.41967803e-03 -1.82129821e-02 2.75636580e+00] [ 5.38374360e-03 9.99983464e-01 -2.02146455e-03 2.25434675e-01] [ 1.82236366e-02 1.92304553e-03 9.99832086e-01 9.53416175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.432557844 meters Centerline goodness [0,1] 0.24573194450447333 Centerline is valid? [False, False] Translation: X:2.76, Y:0.23, Z:0.95 [[ 9.99811942e-01 -5.43852628e-03 -1.86145688e-02 2.75789733e+00] [ 5.39895757e-03 9.99983060e-01 -2.17527983e-03 2.26569967e-01] [ 1.86260837e-02 2.07437148e-03 9.99824368e-01 9.52553196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.462557844 meters Centerline goodness [0,1] 0.24705290553988146 Centerline is valid? [False, False] Translation: X:2.74, Y:0.23, Z:0.95 [[ 0.99977842 0.00343509 -0.02076798 2.73865847] [-0.00350352 0.99998855 -0.00325919 0.22559023] [ 0.02075655 0.00333123 0.99977901 0.95096378] [ 0. 0. 0. 1. ]] SLAMing on 224.492557844 meters Centerline goodness [0,1] 0.25141776937618143 Centerline is valid? [False, False] Translation: X:2.74, Y:0.23, Z:0.95 [[ 0.99977147 0.0032396 -0.02113102 2.7398726 ] [-0.00331861 0.99998763 -0.00370502 0.22759884] [ 0.02111875 0.0037743 0.99976985 0.95043681] [ 0. 0. 0. 1. ]] SLAMing on 224.522557844 meters Centerline goodness [0,1] 0.24498514518682368 Centerline is valid? [False, False] Translation: X:2.76, Y:0.23, Z:0.95 [[ 0.99978651 -0.00532508 -0.01996448 2.75965024] [ 0.00526771 0.99998185 -0.00292482 0.23195059] [ 0.01997969 0.00281903 0.99979641 0.95187755] [ 0. 0. 0. 1. ]] SLAMing on 224.552557844 meters Centerline goodness [0,1] 0.2429022764649874 Centerline is valid? [False, False] Translation: X:2.76, Y:0.23, Z:0.95 [[ 0.99978468 -0.00548075 -0.02001375 2.75956117] [ 0.00541444 0.99997968 -0.00336566 0.23402593] [ 0.02003179 0.00325657 0.99979404 0.95227483] [ 0. 0. 0. 1. ]] SLAMing on 224.582557844 meters Centerline goodness [0,1] 0.24778451237390864 Centerline is valid? [False, False] Translation: X:2.74, Y:0.24, Z:0.95 [[ 0.99975272 0.00410922 -0.02185437 2.73940858] [-0.00420491 0.99998177 -0.00433446 0.23668262] [ 0.02183616 0.00442528 0.99975177 0.95125554] [ 0. 0. 0. 1. ]] SLAMing on 224.612557844 meters Centerline goodness [0,1] 0.2452895719371364 Centerline is valid? [False, False] Translation: X:2.76, Y:0.24, Z:0.95 [[ 0.99975148 -0.00368865 -0.02198582 2.75903104] [ 0.00362221 0.99998875 -0.00306134 0.2424667 ] [ 0.02199686 0.00298095 0.9997536 0.95316904] [ 0. 0. 0. 1. ]] SLAMing on 224.642557844 meters Centerline goodness [0,1] 0.2428163406612429 Centerline is valid? [False, False] Translation: X:2.76, Y:0.24, Z:0.95 [[ 0.99975784 -0.00376956 -0.02168057 2.75788761] [ 0.00369689 0.99998742 -0.00339081 0.24408447] [ 0.02169307 0.00330984 0.9997592 0.95383014] [ 0. 0. 0. 1. ]] SLAMing on 224.672557844 meters Centerline goodness [0,1] 0.2502840412515295 Centerline is valid? [False, False] Translation: X:2.76, Y:0.25, Z:0.95 [[ 0.99976669 -0.00383624 -0.02125651 2.75632952] [ 0.00375958 0.99998629 -0.00364529 0.24527692] [ 0.02127021 0.00356452 0.99976741 0.95471861] [ 0. 0. 0. 1. ]] SLAMing on 224.702557844 meters Centerline goodness [0,1] 0.2505174630150119 Centerline is valid? [False, False] Translation: X:2.75, Y:0.25, Z:0.96 [[ 0.99977697 -0.00382243 -0.02077013 2.75467578] [ 0.0037447 0.99998585 -0.00377959 0.24607723] [ 0.02078428 0.00370097 0.99977713 0.9555064 ] [ 0. 0. 0. 1. ]] SLAMing on 224.732557844 meters Centerline goodness [0,1] 0.25416128961700823 Centerline is valid? [False, False] Translation: X:2.75, Y:0.25, Z:0.96 [[ 0.99977754 -0.00381621 -0.02074371 2.75457831] [ 0.00373725 0.99998563 -0.00384389 0.24646523] [ 0.02075808 0.00376551 0.99977744 0.95557966] [ 0. 0. 0. 1. ]] SLAMing on 224.762557844 meters Centerline goodness [0,1] 0.24898286011080328 Centerline is valid? [False, False] Translation: X:2.77, Y:0.24, Z:0.96 [[ 0.99978619 0.00420297 -0.02024618 2.77494212] [-0.00430275 0.9999788 -0.00488716 0.24240659] [ 0.02022521 0.00497323 0.99978308 0.956955 ] [ 0. 0. 0. 1. ]] SLAMing on 224.79255784400002 meters Centerline goodness [0,1] 0.2508902979240858 Centerline is valid? [False, False] Translation: X:2.78, Y:0.24, Z:0.96 [[ 0.99978011 0.00463143 -0.02045188 2.77531373] [-0.00473705 0.99997568 -0.00511858 0.2448459 ] [ 0.02042767 0.00521434 0.99977774 0.95734521] [ 0. 0. 0. 1. ]] SLAMing on 224.82255784400002 meters Centerline goodness [0,1] 0.2511082758471552 Centerline is valid? [False, False] Translation: X:2.78, Y:0.25, Z:0.96 [[ 0.99977888 0.00475697 -0.02048321 2.77525102] [-0.00486885 0.99997348 -0.00541572 0.24702122] [ 0.0204569 0.00551426 0.99977553 0.95766882] [ 0. 0. 0. 1. ]] SLAMing on 224.85255784400002 meters Centerline goodness [0,1] 0.2530144082183433 Centerline is valid? [False, False] Translation: X:2.77, Y:0.25, Z:0.96 [[ 0.99978311 0.00488664 -0.02024464 2.77450139] [-0.00500233 0.99997143 -0.00566767 0.24892969] [ 0.02021636 0.00576771 0.99977899 0.9580236 ] [ 0. 0. 0. 1. ]] SLAMing on 224.88255784400002 meters Centerline goodness [0,1] 0.25349833828931256 Centerline is valid? [False, False] Translation: X:2.77, Y:0.25, Z:0.96 [[ 0.99979758 0.0056668 -0.01930493 2.771753 ] [-0.00577583 0.99996766 -0.00559649 0.25133297] [ 0.0192726 0.00570686 0.99979798 0.95891684] [ 0. 0. 0. 1. ]] SLAMing on 224.91255784400002 meters Centerline goodness [0,1] 0.25277287485563615 Centerline is valid? [False, False] Translation: X:2.77, Y:0.25, Z:0.96 [[ 0.99979864 0.00556585 -0.01927949 2.77151624] [-0.0056825 0.99996585 -0.00600085 0.25327444] [ 0.01924543 0.0061092 0.99979612 0.95924956] [ 0. 0. 0. 1. ]] SLAMing on 224.94255784400002 meters Centerline goodness [0,1] 0.24991884346527582 Centerline is valid? [False, False] Translation: X:2.79, Y:0.26, Z:0.96 [[ 9.99797501e-01 -2.43329537e-03 -1.99758854e-02 2.79032228e+00] [ 2.33335281e-03 9.99984653e-01 -5.02494482e-03 2.59012282e-01] [ 1.99878060e-02 4.97731649e-03 9.99787834e-01 9.61394036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97255784400002 meters Centerline goodness [0,1] 0.25264605110970473 Centerline is valid? [False, False] Translation: X:2.79, Y:0.26, Z:0.96 [[ 9.99792458e-01 -2.49381929e-03 -2.02193325e-02 2.79105791e+00] [ 2.38782260e-03 9.99983290e-01 -5.26479277e-03 2.60227216e-01] [ 2.02321241e-02 5.21541993e-03 9.99781706e-01 9.61153748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00255784400002 meters Centerline goodness [0,1] 0.24727108317006485 Centerline is valid? [False, False] Translation: X:2.81, Y:0.26, Z:0.96 [[ 9.99757680e-01 -9.17847271e-03 -2.00084294e-02 2.81406882e+00] [ 9.12731658e-03 9.99954843e-01 -2.64655418e-03 2.62705736e-01] [ 2.00318172e-02 2.46328959e-03 9.99796309e-01 9.60779661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03255784400002 meters Centerline goodness [0,1] 0.24835174336914467 Centerline is valid? [False, False] Translation: X:2.81, Y:0.26, Z:0.96 [[ 9.99756019e-01 -9.19733185e-03 -2.00826119e-02 2.81445680e+00] [ 9.14519128e-03 9.99954573e-01 -2.68660309e-03 2.62964991e-01] [ 2.01064092e-02 2.50228828e-03 9.99794714e-01 9.60405755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06255784400003 meters Centerline goodness [0,1] 0.24870466321243523 Centerline is valid? [False, False] Translation: X:2.81, Y:0.26, Z:0.96 [[ 9.99755813e-01 -9.14531731e-03 -2.01166135e-02 2.81460451e+00] [ 9.09667087e-03 9.99955478e-01 -2.50840267e-03 2.62095564e-01] [ 2.01386580e-02 2.32479594e-03 9.99794494e-01 9.60275476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09255784400003 meters Centerline goodness [0,1] 0.26236171183898804 Centerline is valid? [False, False] Translation: X:2.81, Y:0.26, Z:0.96 [[ 9.99757841e-01 -9.05122656e-03 -2.00582809e-02 2.81445384e+00] [ 9.01130264e-03 9.99957234e-01 -2.07988932e-03 2.59997072e-01] [ 2.00762487e-02 1.89863441e-03 9.99796649e-01 9.60273121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122557844 meters Centerline goodness [0,1] 0.262407614536044 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99794802e-01 -4.19049231e-04 -2.02528345e-02 2.79507623e+00] [ 3.58465967e-04 9.99995451e-01 -2.99488516e-03 2.54291368e-01] [ 2.02539974e-02 2.98701066e-03 9.99790405e-01 9.58436485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152557844 meters Centerline goodness [0,1] 0.26385921635134246 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99794366e-01 -3.31415720e-04 -2.02759851e-02 2.79529203e+00] [ 2.76274276e-04 9.99996256e-01 -2.72228522e-03 2.52936286e-01] [ 2.02768114e-02 2.71612369e-03 9.99790715e-01 9.58161883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.182557844 meters Centerline goodness [0,1] 0.2618253189401374 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99791597e-01 -2.57907272e-04 -2.04131529e-02 2.79571702e+00] [ 2.06609743e-04 9.99996816e-01 -2.51503364e-03 2.51834771e-01] [ 2.04137365e-02 2.51029194e-03 9.99788467e-01 9.57993684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.212557844 meters Centerline goodness [0,1] 0.24849955582519012 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99779017e-01 1.29919970e-05 -2.10218331e-02 2.79734416e+00] [-6.01431482e-05 9.99997484e-01 -2.24233030e-03 2.51131029e-01] [ 2.10217510e-02 2.24309910e-03 9.99776502e-01 9.57780473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.242557844 meters Centerline goodness [0,1] 0.2510998752380327 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99774127e-01 7.37149464e-05 -2.12529791e-02 2.79800007e+00] [-1.21304100e-04 9.99997489e-01 -2.23789517e-03 2.51350849e-01] [ 2.12527608e-02 2.23996776e-03 9.99771625e-01 9.57651484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.272557844 meters Centerline goodness [0,1] 0.2517308406316203 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99770841e-01 1.34752126e-04 -2.14066903e-02 2.79850870e+00] [-1.81956657e-04 9.99997556e-01 -2.20319736e-03 2.51280697e-01] [ 2.14063411e-02 2.20658757e-03 9.99768423e-01 9.57430880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.302557844 meters Centerline goodness [0,1] 0.24771597838588577 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99772191e-01 2.24565609e-04 -2.13428297e-02 2.79830509e+00] [-2.70826068e-04 9.99997621e-01 -2.16462845e-03 2.50842551e-01] [ 2.13422928e-02 2.16991552e-03 9.99769873e-01 9.57453352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.332557844 meters Centerline goodness [0,1] 0.25142857142857145 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99776177e-01 2.81095997e-04 -2.11546050e-02 2.79761706e+00] [-3.26151072e-04 9.99997686e-01 -2.12637983e-03 2.50798790e-01] [ 2.11539584e-02 2.13280349e-03 9.99773955e-01 9.57825611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.362557844 meters Centerline goodness [0,1] 0.2521655647923894 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99786450e-01 6.65244120e-04 -2.06545936e-02 2.79601733e+00] [-7.03301257e-04 9.99998068e-01 -1.83534143e-03 2.50556929e-01] [ 2.06533328e-02 1.84947589e-03 9.99784987e-01 9.58453440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.392557844 meters Centerline goodness [0,1] 0.2511530763205987 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99785097e-01 6.94065371e-04 -2.07190400e-02 2.79630481e+00] [-7.33013005e-04 9.99997979e-01 -1.87226387e-03 2.50861839e-01] [ 2.07176986e-02 1.88704884e-03 9.99783585e-01 9.58234367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.422557844 meters Centerline goodness [0,1] 0.251475359857146 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99782635e-01 7.07355283e-04 -2.08370583e-02 2.79672138e+00] [-7.47561514e-04 9.99997874e-01 -1.92182794e-03 2.51187081e-01] [ 2.08356546e-02 1.93698718e-03 9.99781038e-01 9.58022799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.452557844 meters Centerline goodness [0,1] 0.25135141050051435 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99780819e-01 6.81044736e-04 -2.09248885e-02 2.79693743e+00] [-7.23738854e-04 9.99997672e-01 -2.03284592e-03 2.51733853e-01] [ 2.09234553e-02 2.04754452e-03 9.99778984e-01 9.57993335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.482557844 meters Centerline goodness [0,1] 0.25294156313679095 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:0.96 [[ 9.99785495e-01 6.81382696e-04 -2.07002144e-02 2.79598031e+00] [-7.24177990e-04 9.99997616e-01 -2.05995830e-03 2.51862864e-01] [ 2.06987614e-02 2.07450707e-03 9.99783605e-01 9.58673288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.512557844 meters Centerline goodness [0,1] 0.24990260161897748 Centerline is valid? [False, False] Translation: X:2.82, Y:0.25, Z:0.96 [[ 9.99782059e-01 -8.10649540e-03 -1.92384615e-02 2.81600820e+00] [ 8.08363688e-03 9.99966526e-01 -1.26563729e-03 2.54648349e-01] [ 1.92480774e-02 1.10984472e-03 9.99814123e-01 9.59664792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54255784400002 meters Centerline goodness [0,1] 0.24950816127986164 Centerline is valid? [False, False] Translation: X:2.82, Y:0.25, Z:0.96 [[ 9.99785390e-01 -8.05911765e-03 -1.90846910e-02 2.81558261e+00] [ 8.04063061e-03 9.99967127e-01 -1.04522097e-03 2.53460520e-01] [ 1.90924872e-02 8.91543701e-04 9.99817324e-01 9.59714555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57255784400002 meters Centerline goodness [0,1] 0.24950816127986164 Centerline is valid? [False, False] Translation: X:2.82, Y:0.25, Z:0.96 [[ 9.99785390e-01 -8.05911765e-03 -1.90846910e-02 2.81558261e+00] [ 8.04063061e-03 9.99967127e-01 -1.04522097e-03 2.53460520e-01] [ 1.90924872e-02 8.91543701e-04 9.99817324e-01 9.59714555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60255784400002 meters Centerline goodness [0,1] 0.25337881882577895 Centerline is valid? [False, False] Translation: X:2.81, Y:0.25, Z:0.96 [[ 9.99792605e-01 -8.19836762e-03 -1.86422354e-02 2.81412227e+00] [ 8.18807567e-03 9.99966280e-01 -6.28340027e-04 2.51022602e-01] [ 1.86467582e-02 4.75565678e-04 9.99826021e-01 9.60341899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63255784400002 meters Centerline goodness [0,1] 0.25117284617879143 Centerline is valid? [False, False] Translation: X:2.81, Y:0.25, Z:0.96 [[ 9.99791436e-01 -8.11029397e-03 -1.87432234e-02 2.81429968e+00] [ 8.10921087e-03 9.99967111e-01 -1.33789735e-04 2.48619524e-01] [ 1.87436921e-02 -1.82309204e-05 9.99824321e-01 9.60451012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66255784400002 meters Centerline goodness [0,1] 0.25254325710807757 Centerline is valid? [False, False] Translation: X:2.81, Y:0.25, Z:0.96 [[ 9.99790442e-01 -8.16571323e-03 -1.87721382e-02 2.81441211e+00] [ 8.17248760e-03 9.99966564e-01 2.84186386e-04 2.46065614e-01] [ 1.87691900e-02 -4.37541900e-04 9.99823747e-01 9.60381020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69255784400002 meters Centerline goodness [0,1] 0.250764592325879 Centerline is valid? [False, False] Translation: X:2.81, Y:0.24, Z:0.96 [[ 0.99975273 -0.01224287 -0.01856328 2.81425361] [ 0.01218794 0.99992101 -0.00306922 0.24194598] [ 0.01859939 0.00284221 0.99982298 0.96000327] [ 0. 0. 0. 1. ]] SLAMing on 225.72255784400002 meters Centerline goodness [0,1] 0.25431656248634005 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:0.96 [[ 0.99983205 -0.00426663 -0.01782306 2.79479673] [ 0.00419448 0.99998287 -0.00408353 0.23514639] [ 0.01784017 0.00400808 0.99983282 0.95757226] [ 0. 0. 0. 1. ]] SLAMing on 225.75255784400002 meters Centerline goodness [0,1] 0.2530808146322481 Centerline is valid? [False, False] Translation: X:2.79, Y:0.23, Z:0.96 [[ 0.99983376 -0.00414362 -0.017756 2.79429653] [ 0.00407995 0.99998512 -0.00362078 0.23322905] [ 0.01777074 0.00354773 0.99983579 0.95815836] [ 0. 0. 0. 1. ]] SLAMing on 225.78255784400002 meters Centerline goodness [0,1] 0.25223078922290565 Centerline is valid? [False, False] Translation: X:2.79, Y:0.23, Z:0.96 [[ 0.99983475 -0.00415817 -0.01769672 2.79380963] [ 0.00409356 0.99998483 -0.00368566 0.2335656 ] [ 0.01771178 0.0036126 0.99983661 0.95875162] [ 0. 0. 0. 1. ]] SLAMing on 225.81255784400003 meters Centerline goodness [0,1] 0.2542740605745032 Centerline is valid? [False, False] Translation: X:2.79, Y:0.23, Z:0.96 [[ 0.9998359 -0.00422667 -0.01761561 2.79330194] [ 0.00415958 0.99998396 -0.00384367 0.23414449] [ 0.01763157 0.00376976 0.99983745 0.95928419] [ 0. 0. 0. 1. ]] SLAMing on 225.84255784400003 meters Centerline goodness [0,1] 0.25533946865775303 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:0.96 [[ 0.99984306 -0.00423111 -0.01720311 2.7921733 ] [ 0.00415698 0.99998193 -0.00434261 0.23690494] [ 0.01722117 0.00427042 0.99984259 0.95953825] [ 0. 0. 0. 1. ]] SLAMing on 225.872557844 meters Centerline goodness [0,1] 0.2552068566942185 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:0.96 [[ 0.99984208 -0.00434714 -0.01723139 2.7924671 ] [ 0.00426612 0.99997968 -0.00473612 0.23890055] [ 0.01725163 0.00466186 0.99984031 0.95915205] [ 0. 0. 0. 1. ]] SLAMing on 225.902557844 meters Centerline goodness [0,1] 0.25031845758576765 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:0.96 [[ 0.99983836 -0.00441587 -0.01742881 2.79341153] [ 0.00432932 0.99997812 -0.00500089 0.24026994] [ 0.01745051 0.00492462 0.9998356 0.95836318] [ 0. 0. 0. 1. ]] SLAMing on 225.932557844 meters Centerline goodness [0,1] 0.2543765942139571 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:0.96 [[ 0.99983529 -0.00447807 -0.01758783 2.79399607] [ 0.00438807 0.9999771 -0.00515237 0.2409517 ] [ 0.0176105 0.00507435 0.99983205 0.95801956] [ 0. 0. 0. 1. ]] SLAMing on 225.962557844 meters Centerline goodness [0,1] 0.2536540080744403 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:0.96 [[ 0.99983195 -0.00459986 -0.01774573 2.79412941] [ 0.00450797 0.99997624 -0.00521493 0.24109079] [ 0.01776929 0.00513406 0.99982893 0.95840829] [ 0. 0. 0. 1. ]] SLAMing on 225.992557844 meters Centerline goodness [0,1] 0.25536565109061504 Centerline is valid? [False, False] Translation: X:2.77, Y:0.24, Z:0.96 [[ 0.9998085 0.00417383 -0.01911899 2.7739855 ] [-0.0042906 0.99997237 -0.00607034 0.2373384 ] [ 0.01909313 0.00615121 0.99979879 0.95774107] [ 0. 0. 0. 1. ]] SLAMing on 226.022557844 meters Centerline goodness [0,1] 0.25863318039120986 Centerline is valid? [False, False] Translation: X:2.78, Y:0.24, Z:0.96 [[ 0.99980256 0.00414839 -0.01943278 2.77505085] [-0.00426577 0.99997288 -0.0060029 0.2368905 ] [ 0.01940735 0.00608461 0.99979314 0.95720853] [ 0. 0. 0. 1. ]] SLAMing on 226.052557844 meters Centerline goodness [0,1] 0.25187587847334847 Centerline is valid? [False, False] Translation: X:2.80, Y:0.24, Z:0.96 [[ 0.9997872 -0.00497721 -0.02001935 2.79743791] [ 0.00486631 0.99997257 -0.00558442 0.23939268] [ 0.02004659 0.00548581 0.999784 0.95771884] [ 0. 0. 0. 1. ]] SLAMing on 226.082557844 meters Centerline goodness [0,1] 0.2523201603415973 Centerline is valid? [False, False] Translation: X:2.80, Y:0.24, Z:0.96 [[ 0.99978724 -0.00510786 -0.01998436 2.79754543] [ 0.00500125 0.99997302 -0.00538113 0.23788093] [ 0.02001131 0.00528004 0.99978581 0.95734 ] [ 0. 0. 0. 1. ]] SLAMing on 226.112557844 meters Centerline goodness [0,1] 0.25307511122742743 Centerline is valid? [False, False] Translation: X:2.80, Y:0.24, Z:0.96 [[ 0.99979219 -0.00505225 -0.01974968 2.79669065] [ 0.00495061 0.99997427 -0.00519213 0.23697422] [ 0.0197754 0.00509328 0.99979147 0.95778618] [ 0. 0. 0. 1. ]] SLAMing on 226.142557844 meters Centerline goodness [0,1] 0.2515674151209458 Centerline is valid? [False, False] Translation: X:2.80, Y:0.24, Z:0.96 [[ 0.99979563 -0.00501855 -0.01958337 2.79616659] [ 0.00492117 0.9999753 -0.00501729 0.23602721] [ 0.01960807 0.00491989 0.99979564 0.95793951] [ 0. 0. 0. 1. ]] SLAMing on 226.172557844 meters Centerline goodness [0,1] 0.2532754899609775 Centerline is valid? [False, False] Translation: X:2.80, Y:0.23, Z:0.96 [[ 0.99979509 -0.00502549 -0.01960947 2.79649879] [ 0.00493323 0.99997655 -0.00475001 0.23430224] [ 0.01963288 0.0046523 0.99979643 0.95741537] [ 0. 0. 0. 1. ]] SLAMing on 226.202557844 meters Centerline goodness [0,1] 0.2482495637374238 Centerline is valid? [False, False] Translation: X:2.82, Y:0.23, Z:0.96 [[ 9.99811188e-01 2.73961959e-03 -1.92375367e-02 2.81564666e+00] [-2.84506738e-03 9.99981068e-01 -5.45612871e-03 2.28278323e-01] [ 1.92222248e-02 5.50983062e-03 9.99800054e-01 9.58655206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.232557844 meters Centerline goodness [0,1] 0.25039602456437293 Centerline is valid? [False, False] Translation: X:2.82, Y:0.23, Z:0.96 [[ 9.99812256e-01 2.78948465e-03 -1.91747545e-02 2.81536343e+00] [-2.89254578e-03 9.99981509e-01 -5.34920288e-03 2.27851387e-01] [ 1.91594784e-02 5.40366246e-03 9.99801838e-01 9.58874771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.262557844 meters Centerline goodness [0,1] 0.2519683331525865 Centerline is valid? [False, False] Translation: X:2.82, Y:0.23, Z:0.96 [[ 0.99981173 0.00289899 -0.01918588 2.81528915] [-0.00299669 0.99998268 -0.00506531 0.22652457] [ 0.01917087 0.00512185 0.9998031 0.95901629] [ 0. 0. 0. 1. ]] SLAMing on 226.29255784400002 meters Centerline goodness [0,1] 0.25244367040383153 Centerline is valid? [False, False] Translation: X:2.82, Y:0.23, Z:0.96 [[ 0.99981079 0.00298342 -0.01922221 2.815461 ] [-0.00307759 0.9999834 -0.00487156 0.22566233] [ 0.01920735 0.0049298 0.99980337 0.95885186] [ 0. 0. 0. 1. ]] SLAMing on 226.32255784400002 meters Centerline goodness [0,1] 0.25689783743475014 Centerline is valid? [False, False] Translation: X:2.82, Y:0.22, Z:0.96 [[ 0.9998088 0.00306931 -0.01931186 2.81571693] [-0.00315968 0.99998419 -0.00465064 0.22462016] [ 0.01929729 0.00471077 0.99980269 0.95876453] [ 0. 0. 0. 1. ]] SLAMing on 226.35255784400002 meters Centerline goodness [0,1] 0.2546657062405867 Centerline is valid? [False, False] Translation: X:2.82, Y:0.22, Z:0.96 [[ 0.99980658 0.00315967 -0.01941205 2.81610724] [-0.0032406 0.99998618 -0.00413916 0.22166375] [ 0.01939871 0.00420127 0.999803 0.95842348] [ 0. 0. 0. 1. ]] SLAMing on 226.38255784400002 meters Centerline goodness [0,1] 0.2516067188078691 Centerline is valid? [False, False] Translation: X:2.82, Y:0.22, Z:0.96 [[ 0.99980387 0.00327116 -0.01953258 2.81659005] [-0.00334718 0.99998695 -0.00386015 0.22035981] [ 0.0195197 0.00392478 0.99980177 0.95807769] [ 0. 0. 0. 1. ]] SLAMing on 226.41255784400002 meters Centerline goodness [0,1] 0.2513677877803693 Centerline is valid? [False, False] Translation: X:2.82, Y:0.22, Z:0.96 [[ 0.99980071 0.00338773 -0.01967412 2.8171067 ] [-0.00345972 0.99998744 -0.00362602 0.2194459 ] [ 0.01966159 0.00369336 0.99979987 0.9577803 ] [ 0. 0. 0. 1. ]] SLAMing on 226.44255784400002 meters Centerline goodness [0,1] 0.24409143742735373 Centerline is valid? [False, False] Translation: X:2.84, Y:0.22, Z:0.96 [[ 9.99810138e-01 -4.87072538e-03 -1.88670192e-02 2.83757375e+00] [ 4.82867851e-03 9.99985757e-01 -2.27350615e-03 2.21640938e-01] [ 1.88778241e-02 2.18197172e-03 9.99819417e-01 9.58515777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47255784400002 meters Centerline goodness [0,1] 0.2520596312279325 Centerline is valid? [False, False] Translation: X:2.82, Y:0.22, Z:0.96 [[ 0.99982137 0.00383648 -0.01850676 2.81643671] [-0.00389494 0.99998754 -0.00312372 0.2171444 ] [ 0.01849454 0.00319524 0.99982386 0.95710312] [ 0. 0. 0. 1. ]] SLAMing on 226.50255784400002 meters Centerline goodness [0,1] 0.24577275175013458 Centerline is valid? [False, False] Translation: X:2.84, Y:0.22, Z:0.96 [[ 9.99844243e-01 -4.75881419e-03 -1.69953714e-02 2.83643285e+00] [ 4.72288108e-03 9.99986528e-01 -2.15379892e-03 2.19120166e-01] [ 1.70053919e-02 2.07319633e-03 9.99853248e-01 9.58003813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53255784400002 meters Centerline goodness [0,1] 0.25240742361901425 Centerline is valid? [False, False] Translation: X:2.81, Y:0.22, Z:0.96 [[ 9.99842076e-01 2.28706616e-03 -1.76236178e-02 2.81190249e+00] [-2.36720688e-03 9.99986947e-01 -4.52782925e-03 2.17430627e-01] [ 1.76130324e-02 4.56883295e-03 9.99834440e-01 9.59387899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56255784400003 meters Centerline goodness [0,1] 0.25405746901074 Centerline is valid? [False, False] Translation: X:2.81, Y:0.22, Z:0.96 [[ 9.99840782e-01 2.33867027e-03 -1.76901381e-02 2.81215645e+00] [-2.41568707e-03 9.99987692e-01 -4.33354204e-03 2.16542718e-01] [ 1.76797856e-02 4.37558590e-03 9.99834126e-01 9.59170222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59255784400003 meters Centerline goodness [0,1] 0.25137814576751283 Centerline is valid? [False, False] Translation: X:2.81, Y:0.22, Z:0.96 [[ 9.99842996e-01 2.38184972e-03 -1.75587420e-02 2.81186489e+00] [-2.45401193e-03 9.99988627e-01 -4.08935964e-03 2.15237736e-01] [ 1.75488020e-02 4.13180696e-03 9.99837471e-01 9.59071109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622557844 meters Centerline goodness [0,1] 0.25178749404168654 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:0.96 [[ 9.99848065e-01 2.36578207e-03 -1.72699333e-02 2.81111536e+00] [-2.43189113e-03 9.99989793e-01 -3.80798908e-03 2.13458818e-01] [ 1.72607481e-02 3.84940911e-03 9.99843612e-01 9.59026931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652557844 meters Centerline goodness [0,1] 0.25461463202522017 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:0.96 [[ 9.99863731e-01 1.77878379e-03 -1.64120433e-02 2.80856870e+00] [-1.83915431e-03 9.99991596e-01 -3.66406863e-03 2.10313451e-01] [ 1.64053878e-02 3.69375361e-03 9.99858600e-01 9.59483457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.682557844 meters Centerline goodness [0,1] 0.25500699667657867 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:0.96 [[ 9.99862943e-01 1.92874524e-03 -1.64430871e-02 2.80861991e+00] [-1.98193054e-03 9.99992856e-01 -3.21882631e-03 2.08280292e-01] [ 1.64367613e-02 3.25097421e-03 9.99859622e-01 9.59462236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.712557844 meters Centerline goodness [0,1] 0.25316566048427525 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:0.96 [[ 9.99859820e-01 2.07662002e-03 -1.66141189e-02 2.80921757e+00] [-2.12359112e-03 9.99993797e-01 -2.81003737e-03 2.06470566e-01] [ 1.66081804e-02 2.84492505e-03 9.99858027e-01 9.59120331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.742557844 meters Centerline goodness [0,1] 0.24958406257427457 Centerline is valid? [False, False] Translation: X:2.83, Y:0.21, Z:0.96 [[ 9.99845288e-01 -6.55453599e-03 -1.63229122e-02 2.83049364e+00] [ 6.52717976e-03 9.99977204e-01 -1.72865204e-03 2.05561223e-01] [ 1.63338706e-02 1.62184202e-03 9.99865278e-01 9.59487256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.772557844 meters Centerline goodness [0,1] 0.25210084033613445 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.96 [[ 9.99846938e-01 -6.51232576e-03 -1.62385170e-02 2.83014599e+00] [ 6.48682526e-03 9.99977644e-01 -1.62254928e-03 2.04973329e-01] [ 1.62487205e-02 1.51696451e-03 9.99866830e-01 9.59696961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802557844 meters Centerline goodness [0,1] 0.25327615481736254 Centerline is valid? [False, False] Translation: X:2.83, Y:0.20, Z:0.96 [[ 9.99848616e-01 -6.46935933e-03 -1.61521383e-02 2.82973552e+00] [ 6.44438537e-03 9.99977958e-01 -1.59774100e-03 2.04935346e-01] [ 1.61621186e-02 1.49340852e-03 9.99868269e-01 9.60064647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.832557844 meters Centerline goodness [0,1] 0.25346405228758173 Centerline is valid? [False, False] Translation: X:2.83, Y:0.21, Z:0.96 [[ 9.99849624e-01 -6.32189484e-03 -1.61481719e-02 2.82962547e+00] [ 6.29510425e-03 9.99978725e-01 -1.70934024e-03 2.06234153e-01] [ 1.61586346e-02 1.60742877e-03 9.99868149e-01 9.60302548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862557844 meters Centerline goodness [0,1] 0.2526508705327922 Centerline is valid? [False, False] Translation: X:2.83, Y:0.21, Z:0.96 [[ 9.99848422e-01 -6.34243841e-03 -1.62143830e-02 2.83000385e+00] [ 6.31286762e-03 9.99978317e-01 -1.87427148e-03 2.07205102e-01] [ 1.62259189e-02 1.77162812e-03 9.99866782e-01 9.59933655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.892557844 meters Centerline goodness [0,1] 0.24836756244208347 Centerline is valid? [False, False] Translation: X:2.85, Y:0.20, Z:0.96 [[ 9.99877423e-01 1.97117252e-03 -1.55323521e-02 2.85137710e+00] [-2.01542312e-03 9.99993954e-01 -2.83379303e-03 2.04414971e-01] [ 1.55266723e-02 2.86474994e-03 9.99875350e-01 9.60224326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922557844 meters Centerline goodness [0,1] 0.2504115048081088 Centerline is valid? [False, False] Translation: X:2.85, Y:0.21, Z:0.96 [[ 9.99876142e-01 1.87844269e-03 -1.56260048e-02 2.85163410e+00] [-1.92700988e-03 9.99993358e-01 -3.09362416e-03 2.05728089e-01] [ 1.56200898e-02 3.12335246e-03 9.99873121e-01 9.60205761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.952557844 meters Centerline goodness [0,1] 0.24980971228497484 Centerline is valid? [False, False] Translation: X:2.85, Y:0.21, Z:0.96 [[ 9.99870791e-01 1.78954867e-03 -1.59749553e-02 2.85263464e+00] [-1.84414444e-03 9.99992508e-01 -3.40350882e-03 2.07410563e-01] [ 1.59687449e-02 3.43252918e-03 9.99866600e-01 9.60006715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982557844 meters Centerline goodness [0,1] 0.2534015480627164 Centerline is valid? [False, False] Translation: X:2.83, Y:0.21, Z:0.96 [[ 9.99801826e-01 -2.95405183e-03 -1.96871122e-02 2.83116714e+00] [ 2.95101834e-03 9.99995629e-01 -1.83134972e-04 2.13447426e-01] [ 1.96875672e-02 1.25001650e-04 9.99806173e-01 9.60242654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.012557844 meters Centerline goodness [0,1] 0.2500326982604525 Centerline is valid? [False, False] Translation: X:2.85, Y:0.21, Z:0.96 [[ 9.99810164e-01 4.79869860e-03 -1.88840631e-02 2.85110677e+00] [-4.82634623e-03 9.99987347e-01 -1.41876992e-03 2.09952191e-01] [ 1.88770159e-02 1.50964161e-03 9.99820674e-01 9.61026040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04255784400002 meters Centerline goodness [0,1] 0.24722192136900245 Centerline is valid? [False, False] Translation: X:2.87, Y:0.21, Z:0.96 [[ 9.99841843e-01 -3.80045394e-03 -1.73736887e-02 2.86998799e+00] [ 3.79416902e-03 9.99992724e-01 -3.94697173e-04 2.14414180e-01] [ 1.73750623e-02 3.28716038e-04 9.99848988e-01 9.62657501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07255784400002 meters Centerline goodness [0,1] 0.24670347515427082 Centerline is valid? [False, False] Translation: X:2.87, Y:0.22, Z:0.96 [[ 9.99849335e-01 -3.92282700e-03 -1.69091060e-02 2.86832471e+00] [ 3.91244736e-03 9.99992137e-01 -6.46886134e-04 2.15529679e-01] [ 1.69115107e-02 5.80632684e-04 9.99856822e-01 9.63489049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10255784400002 meters Centerline goodness [0,1] 0.2564504381221445 Centerline is valid? [False, False] Translation: X:2.82, Y:0.22, Z:0.96 [[ 9.99810922e-01 -4.44695861e-03 -1.89299868e-02 2.82110514e+00] [ 4.41918172e-03 9.99989097e-01 -1.50892737e-03 2.19929281e-01] [ 1.89364906e-02 1.42498701e-03 9.99819673e-01 9.64791595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13255784400002 meters Centerline goodness [0,1] 0.2478023283440247 Centerline is valid? [False, False] Translation: X:2.87, Y:0.22, Z:0.96 [[ 9.99823913e-01 -5.94523800e-03 -1.77988142e-02 2.86833479e+00] [ 5.91648068e-03 9.99981106e-01 -1.66790971e-03 2.16076627e-01] [ 1.78083940e-02 1.56230967e-03 9.99840197e-01 9.63519210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16255784400002 meters Centerline goodness [0,1] 0.2509874953625908 Centerline is valid? [False, False] Translation: X:2.85, Y:0.21, Z:0.96 [[ 9.99819816e-01 2.18287689e-03 -1.88566041e-02 2.85022311e+00] [-2.24309297e-03 9.99992451e-01 -3.17280847e-03 2.11185753e-01] [ 1.88495359e-02 3.21453390e-03 9.99817164e-01 9.61247508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19255784400002 meters Centerline goodness [0,1] 0.2478948050265578 Centerline is valid? [False, False] Translation: X:2.87, Y:0.21, Z:0.96 [[ 9.99818405e-01 -6.96154894e-03 -1.77396382e-02 2.87147887e+00] [ 6.92290849e-03 9.99973530e-01 -2.23867908e-03 2.11406098e-01] [ 1.77547533e-02 2.11546265e-03 9.99840134e-01 9.62099912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22255784400002 meters Centerline goodness [0,1] 0.24777694046721932 Centerline is valid? [False, False] Translation: X:2.87, Y:0.21, Z:0.96 [[ 9.99819251e-01 -6.94515953e-03 -1.76982813e-02 2.87131152e+00] [ 6.90707902e-03 9.99973700e-01 -2.21186937e-03 2.11359237e-01] [ 1.77131776e-02 2.08922615e-03 9.99840927e-01 9.62217301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25255784400002 meters Centerline goodness [0,1] 0.2538788265586831 Centerline is valid? [False, False] Translation: X:2.83, Y:0.22, Z:0.96 [[ 9.99784597e-01 -5.64167206e-03 -1.99732372e-02 2.82529073e+00] [ 5.60124259e-03 9.99982151e-01 -2.07954717e-03 2.15009984e-01] [ 1.99846128e-02 1.96722429e-03 9.99798352e-01 9.62536294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28255784400002 meters Centerline goodness [0,1] 0.25076558868883436 Centerline is valid? [False, False] Translation: X:2.85, Y:0.21, Z:0.96 [[ 9.99805861e-01 2.26505196e-03 -1.95731783e-02 2.84567714e+00] [-2.32437224e-03 9.99992773e-01 -3.00847420e-03 2.09746836e-01] [ 1.95662225e-02 3.05338549e-03 9.99803901e-01 9.63328693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31255784400003 meters Centerline goodness [0,1] 0.24946046270718236 Centerline is valid? [False, False] Translation: X:2.85, Y:0.21, Z:0.96 [[ 9.99802277e-01 2.21179229e-03 -1.97614348e-02 2.84641978e+00] [-2.27515730e-03 9.99992341e-01 -3.18459182e-03 2.10602958e-01] [ 1.97542398e-02 3.22892253e-03 9.99799652e-01 9.62903202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34255784400003 meters Centerline goodness [0,1] 0.2523772921928187 Centerline is valid? [False, False] Translation: X:2.80, Y:0.22, Z:0.96 [[ 9.99737861e-01 4.42704424e-03 -2.24635499e-02 2.80176211e+00] [-4.48379458e-03 9.99986881e-01 -2.47659170e-03 2.18221485e-01] [ 2.24522912e-02 2.57666443e-03 9.99744595e-01 9.63021714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372557844 meters Centerline goodness [0,1] 0.2505164727628575 Centerline is valid? [False, False] Translation: X:2.82, Y:0.22, Z:0.96 [[ 9.99786916e-01 -1.56101423e-03 -2.05836204e-02 2.82322870e+00] [ 1.57593887e-03 9.99998507e-01 7.08872485e-04 2.20724303e-01] [ 2.05824831e-02 -7.41159963e-04 9.99787884e-01 9.63114291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402557844 meters Centerline goodness [0,1] 0.25089176961893167 Centerline is valid? [False, False] Translation: X:2.82, Y:0.22, Z:0.96 [[ 9.99790627e-01 -1.76069676e-03 -2.03863364e-02 2.82241638e+00] [ 1.76208921e-03 9.99998446e-01 5.03402721e-05 2.23903972e-01] [ 2.03862161e-02 -8.62522755e-05 9.99792176e-01 9.63728178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.432557844 meters Centerline goodness [0,1] 0.25089176961893167 Centerline is valid? [False, False] Translation: X:2.82, Y:0.22, Z:0.96 [[ 9.99790627e-01 -1.76069676e-03 -2.03863364e-02 2.82241638e+00] [ 1.76208921e-03 9.99998446e-01 5.03402721e-05 2.23903972e-01] [ 2.03862161e-02 -8.62522755e-05 9.99792176e-01 9.63728178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.462557844 meters Centerline goodness [0,1] 0.24954572986069046 Centerline is valid? [False, False] Translation: X:2.82, Y:0.23, Z:0.96 [[ 9.99791783e-01 -1.94913975e-03 -2.03123340e-02 2.82203037e+00] [ 1.93832728e-03 9.99997969e-01 -5.51985289e-04 2.26877883e-01] [ 2.03133686e-02 5.12498405e-04 9.99793531e-01 9.64144070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.492557844 meters Centerline goodness [0,1] 0.2506467813118247 Centerline is valid? [False, False] Translation: X:2.82, Y:0.23, Z:0.96 [[ 9.99790523e-01 -2.23287321e-03 -2.03451502e-02 2.82203696e+00] [ 2.20101968e-03 9.99996317e-01 -1.58791503e-03 2.32461061e-01] [ 2.03486209e-02 1.54280232e-03 9.99791755e-01 9.64376061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.522557844 meters Centerline goodness [0,1] 0.25020055070138547 Centerline is valid? [False, False] Translation: X:2.82, Y:0.23, Z:0.96 [[ 9.99789791e-01 -2.40552425e-03 -2.03614356e-02 2.82209268e+00] [ 2.36521939e-03 9.99995196e-01 -2.00332125e-03 2.34374359e-01] [ 2.03661569e-02 1.95474087e-03 9.99790677e-01 9.64379910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.552557844 meters Centerline goodness [0,1] 0.25258271217470907 Centerline is valid? [False, False] Translation: X:2.82, Y:0.24, Z:0.96 [[ 9.99786439e-01 -2.70809020e-03 -2.04876162e-02 2.82283500e+00] [ 2.65528892e-03 9.99993084e-01 -2.60399346e-03 2.36966553e-01] [ 2.04945263e-02 2.54903680e-03 9.99786716e-01 9.63652217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582557844 meters Centerline goodness [0,1] 0.24846525955009868 Centerline is valid? [False, False] Translation: X:2.82, Y:0.24, Z:0.96 [[ 9.99783236e-01 -2.78275913e-03 -2.06334053e-02 2.82350033e+00] [ 2.72620596e-03 9.99992452e-01 -2.76847670e-03 2.37866898e-01] [ 2.06409535e-02 2.71162568e-03 9.99783276e-01 9.63126009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.612557844 meters Centerline goodness [0,1] 0.25148764279199065 Centerline is valid? [False, False] Translation: X:2.82, Y:0.24, Z:0.96 [[ 9.99781963e-01 -2.83588985e-03 -2.06878007e-02 2.82374217e+00] [ 2.77646042e-03 9.99991938e-01 -2.90083698e-03 2.38586199e-01] [ 2.06958603e-02 2.84276563e-03 9.99781776e-01 9.62974350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.642557844 meters Centerline goodness [0,1] 0.2504468762261848 Centerline is valid? [False, False] Translation: X:2.82, Y:0.24, Z:0.96 [[ 0.99978119 -0.00290731 -0.02071525 2.82380425] [ 0.00284536 0.99999139 -0.00301924 0.23905452] [ 0.02072385 0.00295963 0.99978086 0.96296409] [ 0. 0. 0. 1. ]] SLAMing on 227.672557844 meters Centerline goodness [0,1] 0.24835469345341188 Centerline is valid? [False, False] Translation: X:2.82, Y:0.24, Z:0.96 [[ 0.99978352 -0.00312556 -0.02057024 2.82312061] [ 0.00306019 0.99999017 -0.00320861 0.23920429] [ 0.02058007 0.00314496 0.99978326 0.96346177] [ 0. 0. 0. 1. ]] SLAMing on 227.702557844 meters Centerline goodness [0,1] 0.2501747182667948 Centerline is valid? [False, False] Translation: X:2.82, Y:0.24, Z:0.96 [[ 0.99978712 -0.00318311 -0.02038593 2.82236659] [ 0.00311617 0.99998965 -0.00331472 0.23959959] [ 0.02039627 0.00325049 0.99978669 0.96395435] [ 0. 0. 0. 1. ]] SLAMing on 227.732557844 meters Centerline goodness [0,1] 0.2509174311926605 Centerline is valid? [False, False] Translation: X:2.82, Y:0.24, Z:0.96 [[ 0.9997903 -0.00313118 -0.02023762 2.8218698 ] [ 0.0030592 0.99998889 -0.00358648 0.24200417] [ 0.02024862 0.00352382 0.99978877 0.96428202] [ 0. 0. 0. 1. ]] SLAMing on 227.762557844 meters Centerline goodness [0,1] 0.2465386526124803 Centerline is valid? [False, False] Translation: X:2.82, Y:0.24, Z:0.96 [[ 0.999788 -0.0031678 -0.0203452 2.82229406] [ 0.00309013 0.99998782 -0.00384815 0.2434962 ] [ 0.02035714 0.00378446 0.99978561 0.96407006] [ 0. 0. 0. 1. ]] SLAMing on 227.79255784400002 meters Centerline goodness [0,1] 0.2498047214025343 Centerline is valid? [False, False] Translation: X:2.82, Y:0.25, Z:0.96 [[ 0.99978589 -0.00330408 -0.0204269 2.82257264] [ 0.00321815 0.99998584 -0.00423799 0.24526434] [ 0.02044061 0.00417135 0.99978237 0.96397831] [ 0. 0. 0. 1. ]] SLAMing on 227.82255784400002 meters Centerline goodness [0,1] 0.24827181426894485 Centerline is valid? [False, False] Translation: X:2.82, Y:0.25, Z:0.96 [[ 0.9997825 -0.00341208 -0.0205743 2.82291921] [ 0.003318 0.99998389 -0.00460505 0.24699853] [ 0.02058968 0.00453578 0.99977772 0.96403311] [ 0. 0. 0. 1. ]] SLAMing on 227.85255784400002 meters Centerline goodness [0,1] 0.24915283691024415 Centerline is valid? [False, False] Translation: X:2.82, Y:0.25, Z:0.96 [[ 9.99788409e-01 6.63070610e-04 -2.05596204e-02 2.82273469e+00] [-6.80551208e-04 9.99999413e-01 -8.43254307e-04 2.48692060e-01] [ 2.05590492e-02 8.57067756e-04 9.99788273e-01 9.64188616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88255784400002 meters Centerline goodness [0,1] 0.25097953376381743 Centerline is valid? [False, False] Translation: X:2.82, Y:0.25, Z:0.96 [[ 9.99784139e-01 6.28916470e-04 -2.07672640e-02 2.82330226e+00] [-6.54539727e-04 9.99999033e-01 -1.22705502e-03 2.50950659e-01] [ 2.07664722e-02 1.24038315e-03 9.99783584e-01 9.64176115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91255784400002 meters Centerline goodness [0,1] 0.24965538367284423 Centerline is valid? [False, False] Translation: X:2.82, Y:0.25, Z:0.96 [[ 9.99782163e-01 4.94537310e-04 -2.08658146e-02 2.82373189e+00] [-5.30753338e-04 9.99998362e-01 -1.73016106e-03 2.53411369e-01] [ 2.08649248e-02 1.74085877e-03 9.99780788e-01 9.63894611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94255784400002 meters Centerline goodness [0,1] 0.24979352314714187 Centerline is valid? [False, False] Translation: X:2.82, Y:0.26, Z:0.96 [[ 9.99782886e-01 7.10386875e-04 -2.08248801e-02 2.82347188e+00] [-7.58136866e-04 9.99997102e-01 -2.28512471e-03 2.57245143e-01] [ 2.08231964e-02 2.30041668e-03 9.99780527e-01 9.64266550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97255784400002 meters Centerline goodness [0,1] 0.24774285962323117 Centerline is valid? [False, False] Translation: X:2.82, Y:0.26, Z:0.96 [[ 9.99787524e-01 6.84573123e-04 -2.06019203e-02 2.82256514e+00] [-7.40483920e-04 9.99996064e-01 -2.70635723e-03 2.59812696e-01] [ 2.05999865e-02 2.72103758e-03 9.99784095e-01 9.64894438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00255784400002 meters Centerline goodness [0,1] 0.24372574385510992 Centerline is valid? [False, False] Translation: X:2.82, Y:0.26, Z:0.97 [[ 9.99785818e-01 5.72614815e-04 -2.06879390e-02 2.82262397e+00] [-6.38942902e-04 9.99994677e-01 -3.19965584e-03 2.62506614e-01] [ 2.06859968e-02 3.21218895e-03 9.99780862e-01 9.65222384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03255784400002 meters Centerline goodness [0,1] 0.24473467975608698 Centerline is valid? [False, False] Translation: X:2.82, Y:0.26, Z:0.97 [[ 9.99781572e-01 3.87567988e-04 -2.08963574e-02 2.82326434e+00] [-4.64919069e-04 9.99993058e-01 -3.69692277e-03 2.64935566e-01] [ 2.08947795e-02 3.70583037e-03 9.99774812e-01 9.65056727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06255784400003 meters Centerline goodness [0,1] 0.24898576785596804 Centerline is valid? [False, False] Translation: X:2.78, Y:0.27, Z:0.96 [[ 9.99704024e-01 6.58015794e-04 -2.43193777e-02 2.78032276e+00] [-7.77420574e-04 9.99987689e-01 -4.90073323e-03 2.71676164e-01] [ 2.43158536e-02 4.91818911e-03 9.99692228e-01 9.64616503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09255784400003 meters Centerline goodness [0,1] 0.24967171496104346 Centerline is valid? [False, False] Translation: X:2.78, Y:0.27, Z:0.96 [[ 9.99708140e-01 5.95713857e-04 -2.41511868e-02 2.77971754e+00] [-7.17446389e-04 9.99987082e-01 -5.03208539e-03 2.72332361e-01] [ 2.41478771e-02 5.04794391e-03 9.99695653e-01 9.64920752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122557844 meters Centerline goodness [0,1] 0.24786009924805508 Centerline is valid? [False, False] Translation: X:2.80, Y:0.28, Z:0.97 [[ 0.9997339 -0.00771676 -0.02173914 2.79806212] [ 0.00764078 0.99996442 -0.00357567 0.27673402] [ 0.02176596 0.00340861 0.99975728 0.9671704 ] [ 0. 0. 0. 1. ]] SLAMing on 228.152557844 meters Centerline goodness [0,1] 0.24980916446751433 Centerline is valid? [False, False] Translation: X:2.80, Y:0.28, Z:0.97 [[ 0.99973592 -0.00778712 -0.02162059 2.79750591] [ 0.00770926 0.9999635 -0.00368194 0.27709231] [ 0.02164848 0.00351428 0.99975947 0.96760181] [ 0. 0. 0. 1. ]] SLAMing on 228.182557844 meters Centerline goodness [0,1] 0.2512677650336257 Centerline is valid? [False, False] Translation: X:2.80, Y:0.28, Z:0.97 [[ 0.99973648 -0.00786609 -0.02156626 2.79741275] [ 0.00778472 0.99996227 -0.00385438 0.27787533] [ 0.02159577 0.00368548 0.99975999 0.96755295] [ 0. 0. 0. 1. ]] SLAMing on 228.212557844 meters Centerline goodness [0,1] 0.2503831837092183 Centerline is valid? [False, False] Translation: X:2.80, Y:0.28, Z:0.97 [[ 0.99973604 -0.00817286 -0.02147213 2.79709221] [ 0.00807643 0.99995692 -0.00457398 0.28122929] [ 0.02150859 0.00439935 0.99975898 0.96771787] [ 0. 0. 0. 1. ]] SLAMing on 228.242557844 meters Centerline goodness [0,1] 0.2518845176286577 Centerline is valid? [False, False] Translation: X:2.82, Y:0.28, Z:0.97 [[ 9.99786981e-01 -4.23322239e-05 -2.06395290e-02 2.81678194e+00] [-6.65765014e-05 9.99986080e-01 -5.27599026e-03 2.79591992e-01] [ 2.06394650e-02 5.27624049e-03 9.99773061e-01 9.69177608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.272557844 meters Centerline goodness [0,1] 0.25242676185086843 Centerline is valid? [False, False] Translation: X:2.82, Y:0.28, Z:0.97 [[ 9.99785676e-01 -1.94412014e-04 -2.07017765e-02 2.81669181e+00] [ 7.56224332e-05 9.99983530e-01 -5.73876288e-03 2.82005531e-01] [ 2.07025512e-02 5.73596741e-03 9.99769225e-01 9.69658169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.302557844 meters Centerline goodness [0,1] 0.25021140044665124 Centerline is valid? [False, False] Translation: X:2.82, Y:0.28, Z:0.97 [[ 9.99783080e-01 -3.72766651e-04 -2.08243411e-02 2.81702549e+00] [ 2.42785136e-04 9.99980477e-01 -6.24398637e-03 2.84461605e-01] [ 2.08262621e-02 6.23757608e-03 9.99763652e-01 9.69694554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.332557844 meters Centerline goodness [0,1] 0.25195487898368196 Centerline is valid? [False, False] Translation: X:2.82, Y:0.29, Z:0.97 [[ 9.99781151e-01 -7.96253908e-04 -2.09049201e-02 2.81729071e+00] [ 6.42851780e-04 9.99972827e-01 -7.34378218e-03 2.89303014e-01] [ 2.09101996e-02 7.32873624e-03 9.99754496e-01 9.69650452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.362557844 meters Centerline goodness [0,1] 0.24780084066386443 Centerline is valid? [False, False] Translation: X:2.84, Y:0.30, Z:0.97 [[ 0.99975447 -0.00930153 -0.02011152 2.83639593] [ 0.00917733 0.9999383 -0.00625894 0.29588685] [ 0.0201685 0.00607284 0.99977815 0.97152416] [ 0. 0. 0. 1. ]] SLAMing on 228.392557844 meters Centerline goodness [0,1] 0.25242105721311836 Centerline is valid? [False, False] Translation: X:2.83, Y:0.30, Z:0.97 [[ 0.99979783 -0.00567928 -0.01928829 2.83401332] [ 0.00562103 0.99997948 -0.00307307 0.2997793 ] [ 0.01930535 0.00296403 0.99980924 0.97196872] [ 0. 0. 0. 1. ]] SLAMing on 228.422557844 meters Centerline goodness [0,1] 0.2502271055932863 Centerline is valid? [False, False] Translation: X:2.83, Y:0.30, Z:0.97 [[ 0.99979392 -0.00580059 -0.01945452 2.83463812] [ 0.00573565 0.9999778 -0.00339262 0.30150964] [ 0.01947377 0.00328034 0.99980499 0.97167091] [ 0. 0. 0. 1. ]] SLAMing on 228.452557844 meters Centerline goodness [0,1] 0.2492059719551455 Centerline is valid? [False, False] Translation: X:2.84, Y:0.30, Z:0.97 [[ 0.99978779 -0.00590055 -0.0197374 2.83581501] [ 0.00583035 0.99997648 -0.00361224 0.30263132] [ 0.01975825 0.0034964 0.99979867 0.97092046] [ 0. 0. 0. 1. ]] SLAMing on 228.482557844 meters Centerline goodness [0,1] 0.2499891807677327 Centerline is valid? [False, False] Translation: X:2.84, Y:0.30, Z:0.97 [[ 0.99978319 -0.00598906 -0.01994244 2.83672304] [ 0.00591414 0.99997524 -0.00381378 0.30360136] [ 0.01996479 0.00369501 0.99979386 0.97026573] [ 0. 0. 0. 1. ]] SLAMing on 228.512557844 meters Centerline goodness [0,1] 0.24854192767961292 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:0.97 [[ 0.99977875 -0.00620114 -0.02009991 2.837266 ] [ 0.00611522 0.99997191 -0.00433321 0.30626261] [ 0.02012622 0.00420934 0.99978859 0.97007669] [ 0. 0. 0. 1. ]] SLAMing on 228.54255784400002 meters Centerline goodness [0,1] 0.24839395780883755 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:0.97 [[ 0.99977742 -0.00633272 -0.02012483 2.83729458] [ 0.00624043 0.99996974 -0.00464495 0.30778664] [ 0.02015364 0.00451833 0.99978668 0.97015712] [ 0. 0. 0. 1. ]] SLAMing on 228.57255784400002 meters Centerline goodness [0,1] 0.2501586606849765 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:0.97 [[ 0.99977475 -0.00644303 -0.02022212 2.83754217] [ 0.00634461 0.99996773 -0.00492753 0.30916199] [ 0.02025322 0.00479811 0.99978337 0.97014643] [ 0. 0. 0. 1. ]] SLAMing on 228.60255784400002 meters Centerline goodness [0,1] 0.2511291383468538 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:0.97 [[ 0.99976718 -0.00662202 -0.02053608 2.83833742] [ 0.00651273 0.9999643 -0.0053843 0.31133241] [ 0.020571 0.0052493 0.99977461 0.97015413] [ 0. 0. 0. 1. ]] SLAMing on 228.63255784400002 meters Centerline goodness [0,1] 0.2518072026032453 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:0.97 [[ 0.99976749 -0.00669132 -0.02049883 2.83817762] [ 0.00657867 0.99996291 -0.00555795 0.31206964] [ 0.02053526 0.00542181 0.99977443 0.97029708] [ 0. 0. 0. 1. ]] SLAMing on 228.66255784400002 meters Centerline goodness [0,1] 0.24913532209252054 Centerline is valid? [False, False] Translation: X:2.86, Y:0.31, Z:0.97 [[ 9.99828672e-01 9.20875549e-04 -1.84872364e-02 2.85749721e+00] [-1.04549561e-03 9.99976791e-01 -6.73233708e-03 3.08810936e-01] [ 1.84806077e-02 6.75051197e-03 9.99806430e-01 9.71224629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69255784400002 meters Centerline goodness [0,1] 0.2538502040279057 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:0.97 [[ 0.99980766 -0.006585 -0.0184738 2.83762294] [ 0.00647685 0.99996157 -0.00590816 0.31535539] [ 0.018512 0.00578737 0.99981189 0.96988429] [ 0. 0. 0. 1. ]] SLAMing on 228.72255784400002 meters Centerline goodness [0,1] 0.2503200885397452 Centerline is valid? [False, False] Translation: X:2.86, Y:0.31, Z:0.97 [[ 9.99834982e-01 1.30692790e-03 -1.81190500e-02 2.85817358e+00] [-1.42511028e-03 9.99977787e-01 -6.51117186e-03 3.11323648e-01] [ 1.81101378e-02 6.53591905e-03 9.99814635e-01 9.70833114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75255784400002 meters Centerline goodness [0,1] 0.2513179481570601 Centerline is valid? [False, False] Translation: X:2.86, Y:0.31, Z:0.97 [[ 9.99832654e-01 1.25214867e-03 -1.82509021e-02 2.85848461e+00] [-1.37484904e-03 9.99976529e-01 -6.71198008e-03 3.12369239e-01] [ 1.82420693e-02 6.73594909e-03 9.99810909e-01 9.70861771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78255784400002 meters Centerline goodness [0,1] 0.2503168290870952 Centerline is valid? [False, False] Translation: X:2.86, Y:0.31, Z:0.97 [[ 9.99825217e-01 1.22589218e-03 -1.86556097e-02 2.85960873e+00] [-1.35633661e-03 9.99974711e-01 -6.98119091e-03 3.13940105e-01] [ 1.86465797e-02 7.00527401e-03 9.99801596e-01 9.70651486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81255784400003 meters Centerline goodness [0,1] 0.24993503681247298 Centerline is valid? [False, False] Translation: X:2.88, Y:0.32, Z:0.97 [[ 0.99981016 -0.00750089 -0.01798266 2.87933584] [ 0.00739782 0.99995587 -0.00579129 0.31783636] [ 0.01802531 0.00565716 0.99982153 0.97194963] [ 0. 0. 0. 1. ]] SLAMing on 228.84255784400003 meters Centerline goodness [0,1] 0.25016249945833513 Centerline is valid? [False, False] Translation: X:2.88, Y:0.32, Z:0.97 [[ 0.99981105 -0.00755595 -0.01791019 2.87911628] [ 0.00745026 0.99995448 -0.00596015 0.31869705] [ 0.01795441 0.00582559 0.99982184 0.97198746] [ 0. 0. 0. 1. ]] SLAMing on 228.872557844 meters Centerline goodness [0,1] 0.25144502366567056 Centerline is valid? [False, False] Translation: X:2.88, Y:0.32, Z:0.97 [[ 0.99981243 -0.00763225 -0.01780038 2.87876853] [ 0.00752398 0.99995283 -0.00614183 0.31957551] [ 0.01784641 0.00600675 0.9998227 0.9720699 ] [ 0. 0. 0. 1. ]] SLAMing on 228.902557844 meters Centerline goodness [0,1] 0.24968166612711773 Centerline is valid? [False, False] Translation: X:2.90, Y:0.32, Z:0.97 [[ 9.99869732e-01 2.14964027e-04 -1.61391492e-02 2.89798420e+00] [-3.24514094e-04 9.99976925e-01 -6.78553449e-03 3.17645574e-01] [ 1.61373182e-02 6.78988794e-03 9.99846730e-01 9.73016327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.932557844 meters Centerline goodness [0,1] 0.24847583963463238 Centerline is valid? [False, False] Translation: X:2.90, Y:0.32, Z:0.97 [[ 9.99869634e-01 1.53641771e-04 -1.61459407e-02 2.89798146e+00] [-2.66024976e-04 9.99975754e-01 -6.95854468e-03 3.18666353e-01] [ 1.61444801e-02 6.96193275e-03 9.99845432e-01 9.73102233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.962557844 meters Centerline goodness [0,1] 0.24832954914044758 Centerline is valid? [False, False] Translation: X:2.90, Y:0.32, Z:0.97 [[ 9.99872861e-01 -9.04433578e-05 -1.59453135e-02 2.89775896e+00] [-2.56723098e-05 9.99973487e-01 -7.28176375e-03 3.19784452e-01] [ 1.59455493e-02 7.28124731e-03 9.99846350e-01 9.72646487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.992557844 meters Centerline goodness [0,1] 0.2520895587025248 Centerline is valid? [False, False] Translation: X:2.90, Y:0.32, Z:0.97 [[ 9.99876916e-01 -1.90250926e-04 -1.56880854e-02 2.89713314e+00] [ 7.50861066e-05 9.99973050e-01 -7.34117200e-03 3.19757320e-01] [ 1.56890593e-02 7.33909047e-03 9.99849984e-01 9.72592920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.022557844 meters Centerline goodness [0,1] 0.24883305728236782 Centerline is valid? [False, False] Translation: X:2.90, Y:0.32, Z:0.97 [[ 9.99877932e-01 -2.27816584e-04 -1.56227371e-02 2.89701795e+00] [ 1.14376926e-04 9.99973627e-01 -7.26169887e-03 3.19248370e-01] [ 1.56239794e-02 7.25902556e-03 9.99851588e-01 9.72527697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.052557844 meters Centerline goodness [0,1] 0.2516833012189049 Centerline is valid? [False, False] Translation: X:2.90, Y:0.32, Z:0.97 [[ 9.99877814e-01 -3.98203225e-04 -1.56268263e-02 2.89706276e+00] [ 2.89658422e-04 9.99975822e-01 -6.94770423e-03 3.17139316e-01] [ 1.56292151e-02 6.94232887e-03 9.99853755e-01 9.72363318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.082557844 meters Centerline goodness [0,1] 0.2511267390973023 Centerline is valid? [False, False] Translation: X:2.90, Y:0.32, Z:0.97 [[ 9.99876508e-01 -3.45731405e-04 -1.57114322e-02 2.89752001e+00] [ 2.42771026e-04 9.99978489e-01 -6.55464893e-03 3.15007726e-01] [ 1.57133604e-02 6.55002520e-03 9.99855083e-01 9.71842099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.112557844 meters Centerline goodness [0,1] 0.2531256136676049 Centerline is valid? [False, False] Translation: X:2.90, Y:0.31, Z:0.97 [[ 9.99875252e-01 -2.84245015e-04 -1.57923667e-02 2.89807881e+00] [ 1.87810354e-04 9.99981331e-01 -6.10755719e-03 3.12531347e-01] [ 1.57938079e-02 6.10382932e-03 9.99856639e-01 9.71129591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.142557844 meters Centerline goodness [0,1] 0.25403084472485105 Centerline is valid? [False, False] Translation: X:2.90, Y:0.31, Z:0.97 [[ 9.99874694e-01 -6.74532395e-05 -1.58300998e-02 2.89893199e+00] [-1.64044958e-05 9.99985970e-01 -5.29717024e-03 3.08502970e-01] [ 1.58302350e-02 5.29676615e-03 9.99860664e-01 9.69706286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.172557844 meters Centerline goodness [0,1] 0.2540904926043893 Centerline is valid? [False, False] Translation: X:2.90, Y:0.31, Z:0.97 [[ 9.99873162e-01 8.51220128e-05 -1.59264518e-02 2.89920888e+00] [-1.64865315e-04 9.99987458e-01 -5.00572628e-03 3.07352777e-01] [ 1.59258260e-02 5.00771708e-03 9.99860636e-01 9.69633065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.202557844 meters Centerline goodness [0,1] 0.2540436005625879 Centerline is valid? [False, False] Translation: X:2.90, Y:0.31, Z:0.97 [[ 9.99874400e-01 2.31804329e-04 -1.58471084e-02 2.89870087e+00] [-3.08518694e-04 9.99988246e-01 -4.83863287e-03 3.06888252e-01] [ 1.58458005e-02 4.84291427e-03 9.99862719e-01 9.70215224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.232557844 meters Centerline goodness [0,1] 0.2522776572668113 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:0.97 [[ 9.99939120e-01 -4.29201697e-04 -1.10259759e-02 2.92406565e+00] [ 4.32493817e-04 9.99999863e-01 2.96195897e-04 3.01246647e-01] [ 1.10258473e-02 -3.00946531e-04 9.99939168e-01 9.66906526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.262557844 meters Centerline goodness [0,1] 0.24896999503871953 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:0.97 [[ 9.99935385e-01 -2.38408571e-04 -1.13652856e-02 2.92493591e+00] [ 2.40903376e-04 9.99999947e-01 2.18142488e-04 3.02078589e-01] [ 1.13652330e-02 -2.20866328e-04 9.99935389e-01 9.66848797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29255784400002 meters Centerline goodness [0,1] 0.2491250810110175 Centerline is valid? [False, False] Translation: X:2.93, Y:0.30, Z:0.97 [[ 9.99933212e-01 -7.21588564e-05 -1.15570941e-02 2.92536865e+00] [ 7.27788722e-05 9.99999996e-01 5.32275123e-05 3.03352115e-01] [ 1.15570902e-02 -5.40650697e-05 9.99933213e-01 9.66957039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32255784400002 meters Centerline goodness [0,1] 0.24953412784398699 Centerline is valid? [False, False] Translation: X:2.93, Y:0.30, Z:0.97 [[ 9.99934460e-01 1.99569898e-04 -1.14471023e-02 2.92511763e+00] [-1.99939239e-04 9.99999980e-01 -3.11206970e-05 3.04614955e-01] [ 1.14470958e-02 3.34073822e-05 9.99934479e-01 9.67002920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35255784400002 meters Centerline goodness [0,1] 0.25334152711630054 Centerline is valid? [False, False] Translation: X:2.90, Y:0.31, Z:0.97 [[ 9.99863748e-01 1.11231763e-02 -1.21967560e-02 2.90287969e+00] [-1.11239963e-02 9.99938126e-01 6.08449356e-07 3.05612185e-01] [ 1.21960081e-02 1.35068302e-04 9.99925617e-01 9.67064945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38255784400002 meters Centerline goodness [0,1] 0.25334152711630054 Centerline is valid? [False, False] Translation: X:2.90, Y:0.31, Z:0.97 [[ 9.99863748e-01 1.11231763e-02 -1.21967560e-02 2.90287969e+00] [-1.11239963e-02 9.99938126e-01 6.08449357e-07 3.05612185e-01] [ 1.21960081e-02 1.35068302e-04 9.99925617e-01 9.67064945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41255784400002 meters Centerline goodness [0,1] 0.2496903049138287 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:0.97 [[ 9.99925466e-01 2.64120970e-03 -1.19200130e-02 2.92297584e+00] [-2.63040291e-03 9.99996115e-01 9.22195027e-04 3.10419207e-01] [ 1.19224024e-02 -8.90771855e-04 9.99928529e-01 9.68146718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44255784400002 meters Centerline goodness [0,1] 0.24771399404878258 Centerline is valid? [False, False] Translation: X:2.93, Y:0.31, Z:0.97 [[ 9.99914536e-01 2.87921998e-03 -1.27526603e-02 2.92511992e+00] [-2.87212649e-03 9.99995710e-01 5.74515827e-04 3.13226334e-01] [ 1.27542597e-02 -5.37839473e-04 9.99918516e-01 9.67948263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47255784400002 meters Centerline goodness [0,1] 0.24915368991198372 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:0.97 [[ 9.99915536e-01 2.81696710e-03 -1.26880012e-02 2.92483131e+00] [-2.81318730e-03 9.99995993e-01 3.15741264e-04 3.14642267e-01] [ 1.26888398e-02 -2.80020871e-04 9.99919454e-01 9.68157650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50255784400002 meters Centerline goodness [0,1] 0.24877604956457688 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:0.97 [[ 9.99918565e-01 2.70489924e-03 -1.24718278e-02 2.92406972e+00] [-2.70451909e-03 9.99996342e-01 4.73461729e-05 3.15835745e-01] [ 1.24719102e-02 -1.36120208e-05 9.99922223e-01 9.68501892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53255784400002 meters Centerline goodness [0,1] 0.2509165502793296 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:0.97 [[ 9.99925435e-01 2.47022463e-03 -1.19592207e-02 2.92251508e+00] [-2.47398708e-03 9.99996895e-01 -2.99823025e-04 3.16875928e-01] [ 1.19584429e-02 3.29387627e-04 9.99928441e-01 9.68945200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56255784400003 meters Centerline goodness [0,1] 0.2508824682965094 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:0.97 [[ 9.99927570e-01 2.40939729e-03 -1.17919301e-02 2.92196556e+00] [-2.41387876e-03 9.99997020e-01 -3.65827604e-04 3.17058445e-01] [ 1.17910135e-02 3.94265397e-04 9.99930406e-01 9.69174654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59255784400003 meters Centerline goodness [0,1] 0.24603858077850504 Centerline is valid? [False, False] Translation: X:2.94, Y:0.32, Z:0.97 [[ 9.99918469e-01 -6.70592726e-03 -1.08667694e-02 2.94226083e+00] [ 6.71364617e-03 9.99977236e-01 6.73998750e-04 3.20263763e-01] [ 1.08620023e-02 -7.46899443e-04 9.99940728e-01 9.70187013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622557844 meters Centerline goodness [0,1] 0.25427256792287467 Centerline is valid? [False, False] Translation: X:2.90, Y:0.32, Z:0.97 [[ 9.99879508e-01 -6.98914078e-03 -1.38608051e-02 2.89756280e+00] [ 6.98043583e-03 9.99975408e-01 -6.76306749e-04 3.22129980e-01] [ 1.38651910e-02 5.79470798e-04 9.99903706e-01 9.71061827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652557844 meters Centerline goodness [0,1] 0.24950632554304186 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:0.97 [[ 9.99896530e-01 -4.08697718e-04 -1.43792527e-02 2.91573941e+00] [ 3.83666457e-04 9.99998406e-01 -1.74350560e-03 3.16216755e-01] [ 1.43799423e-02 1.73780836e-03 9.99895093e-01 9.72978653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.682557844 meters Centerline goodness [0,1] 0.2513236159226093 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:0.97 [[ 9.99894857e-01 -4.00378458e-04 -1.44953196e-02 2.91616962e+00] [ 3.77369625e-04 9.99998665e-01 -1.59002877e-03 3.15434502e-01] [ 1.44959368e-02 1.58439150e-03 9.99893673e-01 9.72730285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.712557844 meters Centerline goodness [0,1] 0.2526363853797482 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:0.97 [[ 9.99890280e-01 -3.38132803e-04 -1.48092081e-02 2.91717678e+00] [ 3.19510865e-04 9.99999155e-01 -1.25980459e-03 3.14054875e-01] [ 1.48096216e-02 1.25493467e-03 9.99889544e-01 9.72363844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.742557844 meters Centerline goodness [0,1] 0.24861699369003376 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:0.97 [[ 9.99890368e-01 -3.13799768e-04 -1.48038340e-02 2.91715652e+00] [ 2.96778687e-04 9.99999292e-01 -1.15195805e-03 3.13520092e-01] [ 1.48041850e-02 1.14743830e-03 9.99889754e-01 9.72380091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.772557844 meters Centerline goodness [0,1] 0.25106216092555067 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:0.97 [[ 9.99892766e-01 -3.08200657e-04 -1.46411097e-02 2.91678427e+00] [ 2.92439023e-04 9.99999375e-01 -1.07866146e-03 3.13053829e-01] [ 1.46414330e-02 1.07426416e-03 9.99892231e-01 9.72307765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802557844 meters Centerline goodness [0,1] 0.24962007728713476 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:0.97 [[ 9.99893119e-01 -3.22269369e-04 -1.46166574e-02 2.91697818e+00] [ 3.06259487e-04 9.99999351e-01 -1.09754271e-03 3.13035188e-01] [ 1.46170016e-02 1.09294891e-03 9.99892569e-01 9.71874475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.832557844 meters Centerline goodness [0,1] 0.24910723947624713 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:0.97 [[ 9.99891603e-01 -3.29969478e-04 -1.47198349e-02 2.91744752e+00] [ 3.12882304e-04 9.99999275e-01 -1.16311428e-03 3.13435619e-01] [ 1.47202081e-02 1.15838263e-03 9.99890981e-01 9.71504661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862557844 meters Centerline goodness [0,1] 0.2485589216833528 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:0.97 [[ 9.99889083e-01 -3.48429753e-04 -1.48895815e-02 2.91789172e+00] [ 3.29308465e-04 9.99999118e-01 -1.28663840e-03 3.14246565e-01] [ 1.48900167e-02 1.28159242e-03 9.99888316e-01 9.71464708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.892557844 meters Centerline goodness [0,1] 0.24924310078194767 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:0.97 [[ 9.99873904e-01 -1.57574230e-04 -1.58792553e-02 2.92054908e+00] [ 1.32518871e-04 9.99998745e-01 -1.57890726e-03 3.17394267e-01] [ 1.58794841e-02 1.57660386e-03 9.99872670e-01 9.71217769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922557844 meters Centerline goodness [0,1] 0.24892295035829493 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:0.97 [[ 9.99869493e-01 -2.44648431e-04 -1.61535494e-02 2.92135260e+00] [ 2.12930666e-04 9.99998046e-01 -1.96520745e-03 3.19440754e-01] [ 1.61539986e-02 1.96151139e-03 9.99867592e-01 9.71016779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.952557844 meters Centerline goodness [0,1] 0.2501087523925526 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:0.97 [[ 9.99870691e-01 -4.15078540e-04 -1.60757256e-02 2.92120884e+00] [ 3.76613522e-04 9.99997059e-01 -2.39569265e-03 3.21342983e-01] [ 1.60766727e-02 2.38932853e-03 9.99867907e-01 9.70935576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.982557844 meters Centerline goodness [0,1] 0.24950112788478218 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:0.97 [[ 9.99880269e-01 -7.03086641e-04 -1.54581325e-02 2.91935109e+00] [ 6.55246271e-04 9.99994981e-01 -3.09968196e-03 3.24629526e-01] [ 1.54602343e-02 3.08918194e-03 9.99875711e-01 9.71459283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.012557844 meters Centerline goodness [0,1] 0.24774716509291594 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:0.97 [[ 9.99881189e-01 -7.63470911e-04 -1.53956480e-02 2.91921449e+00] [ 7.12657650e-04 9.99994282e-01 -3.30571132e-03 3.26010862e-01] [ 1.53980838e-02 3.29434674e-03 9.99876015e-01 9.71446030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04255784400002 meters Centerline goodness [0,1] 0.2514795474325501 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:0.97 [[ 9.99878440e-01 -8.37386446e-04 -1.55693085e-02 2.91987165e+00] [ 7.82705680e-04 9.99993506e-01 -3.51784878e-03 3.27292924e-01] [ 1.55721532e-02 3.50523497e-03 9.99872603e-01 9.71126121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07255784400002 meters Centerline goodness [0,1] 0.24762525812411695 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:0.97 [[ 9.99873433e-01 -9.37352471e-04 -1.58820646e-02 2.92108375e+00] [ 8.78386268e-04 9.99992698e-01 -3.71932327e-03 3.28259308e-01] [ 1.58854349e-02 3.70490194e-03 9.99866954e-01 9.70436419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10255784400002 meters Centerline goodness [0,1] 0.24820010875475806 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:0.97 [[ 9.99863893e-01 -1.25631845e-03 -1.64504483e-02 2.92306858e+00] [ 1.18751429e-03 9.99990510e-01 -4.19161022e-03 3.29805362e-01] [ 1.64555582e-02 4.17150457e-03 9.99855896e-01 9.69451496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13255784400002 meters Centerline goodness [0,1] 0.24807027461894715 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:0.97 [[ 9.99862859e-01 -1.33423848e-03 -1.65070383e-02 2.92320839e+00] [ 1.26183042e-03 9.99989541e-01 -4.39613418e-03 3.30857025e-01] [ 1.65127312e-02 4.37470221e-03 9.99854085e-01 9.69479206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16255784400002 meters Centerline goodness [0,1] 0.2461994247778042 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:0.97 [[ 9.99861946e-01 -1.39238450e-03 -1.65575038e-02 2.92328108e+00] [ 1.31634418e-03 9.99988542e-01 -4.60251059e-03 3.32050995e-01] [ 1.65637225e-02 4.58007982e-03 9.99852322e-01 9.69589215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19255784400002 meters Centerline goodness [0,1] 0.25022345272612323 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:0.97 [[ 9.99864284e-01 -1.61778326e-03 -1.63950381e-02 2.92284855e+00] [ 1.53326948e-03 9.99985480e-01 -5.16609825e-03 3.34514638e-01] [ 1.64031577e-02 5.14025911e-03 9.99852246e-01 9.69687663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22255784400002 meters Centerline goodness [0,1] 0.24754611153057926 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:0.97 [[ 9.99865745e-01 -1.71445588e-03 -1.62957567e-02 2.92243148e+00] [ 1.62634976e-03 9.99983998e-01 -5.41840573e-03 3.35542642e-01] [ 1.63047855e-02 5.39117569e-03 9.99852534e-01 9.69965959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25255784400002 meters Centerline goodness [0,1] 0.25815035154137367 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:0.97 [[ 9.99867765e-01 -1.82116830e-03 -1.61597054e-02 2.92162119e+00] [ 1.72872517e-03 9.99982074e-01 -5.73272090e-03 3.36980172e-01] [ 1.61698560e-02 5.70402714e-03 9.99852989e-01 9.70765974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28255784400002 meters Centerline goodness [0,1] 0.24891911269472267 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:0.97 [[ 9.99871696e-01 -1.86334660e-03 -1.59097190e-02 2.92051312e+00] [ 1.76782935e-03 9.99980343e-01 -6.01565913e-03 3.38645332e-01] [ 1.59206156e-02 5.98676163e-03 9.99855336e-01 9.71637388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31255784400003 meters Centerline goodness [0,1] 0.2483111389290571 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:0.97 [[ 9.99878754e-01 1.99535865e-03 -1.54433082e-02 2.91949036e+00] [-2.03318800e-03 9.99994970e-01 -2.43425028e-03 3.39908079e-01] [ 1.54383733e-02 2.46535428e-03 9.99877782e-01 9.71606550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34255784400003 meters Centerline goodness [0,1] 0.2489458813301456 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:0.97 [[ 9.99874566e-01 1.92033385e-03 -1.57214525e-02 2.92045477e+00] [-1.96496248e-03 9.99994083e-01 -2.82375406e-03 3.41925755e-01] [ 1.57159369e-02 2.85429193e-03 9.99872423e-01 9.71141376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.372557844 meters Centerline goodness [0,1] 0.24965367965367968 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:0.97 [[ 9.99867283e-01 1.97086424e-03 -1.61719826e-02 2.92177780e+00] [-2.02154000e-03 9.99993096e-01 -3.11780440e-03 3.43865165e-01] [ 1.61657262e-02 3.15008292e-03 9.99864364e-01 9.70788595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.402557844 meters Centerline goodness [0,1] 0.2622379934319279 Centerline is valid? [False, False] Translation: X:2.88, Y:0.35, Z:0.97 [[ 9.99797986e-01 6.41624487e-03 -1.90478158e-02 2.87773596e+00] [-6.44950829e-03 9.99977781e-01 -1.68539430e-03 3.53065868e-01] [ 1.90365787e-02 1.80790288e-03 9.99817153e-01 9.72036113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.432557844 meters Centerline goodness [0,1] 0.24792297706620514 Centerline is valid? [False, False] Translation: X:2.90, Y:0.36, Z:0.97 [[ 9.99839089e-01 1.98746995e-04 -1.79375681e-02 2.89974935e+00] [-1.70364231e-04 9.99998731e-01 1.58382258e-03 3.56930708e-01] [ 1.79378601e-02 -1.58051180e-03 9.99837854e-01 9.72050444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.462557844 meters Centerline goodness [0,1] 0.24648450156604385 Centerline is valid? [False, False] Translation: X:2.90, Y:0.36, Z:0.97 [[ 9.99838100e-01 -1.67598592e-05 -1.79937212e-02 2.89952211e+00] [ 3.29400842e-05 9.99999595e-01 8.98919046e-04 3.60326227e-01] [ 1.79936989e-02 -8.99366225e-04 9.99837696e-01 9.72674965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.492557844 meters Centerline goodness [0,1] 0.2517494713435504 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:0.97 [[ 9.99838539e-01 -4.06661397e-04 -1.79646765e-02 2.89929468e+00] [ 4.03373783e-04 9.99999901e-01 -1.86627488e-04 3.65503175e-01] [ 1.79647507e-02 1.79350875e-04 9.99838605e-01 9.72911873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.522557844 meters Centerline goodness [0,1] 0.24828407491609827 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:0.97 [[ 9.99840055e-01 -5.72471506e-04 -1.78756045e-02 2.89913591e+00] [ 5.61896161e-04 9.99999664e-01 -5.96624584e-04 3.67458553e-01] [ 1.78759401e-02 5.86484923e-04 9.99840041e-01 9.72769367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.552557844 meters Centerline goodness [0,1] 0.24788963492303373 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:0.97 [[ 9.99840691e-01 -7.36777644e-04 -1.78339447e-02 2.89902738e+00] [ 7.19945915e-04 9.99999289e-01 -9.50204760e-04 3.69043686e-01] [ 1.78346321e-02 9.37213909e-04 9.99840511e-01 9.72814468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582557844 meters Centerline goodness [0,1] 0.2458705309009359 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:0.97 [[ 9.99835891e-01 -9.37603434e-04 -1.80917740e-02 2.89966705e+00] [ 9.13668528e-04 9.99998697e-01 -1.33119203e-03 3.70754069e-01] [ 1.80929985e-02 1.31444368e-03 9.99835444e-01 9.72885712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.612557844 meters Centerline goodness [0,1] 0.24596174168086438 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:0.97 [[ 9.99834027e-01 -9.65322916e-04 -1.81930332e-02 2.89993344e+00] [ 9.40638889e-04 9.99998626e-01 -1.36529301e-03 3.70894065e-01] [ 1.81943261e-02 1.34795333e-03 9.99833561e-01 9.72902021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642557844 meters Centerline goodness [0,1] 0.25072816589140545 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:0.97 [[ 9.99833343e-01 -1.02111256e-03 -1.82275547e-02 2.89993339e+00] [ 9.94479283e-04 9.99998425e-01 -1.47015904e-03 3.71356646e-01] [ 1.82290271e-02 1.45178710e-03 9.99832783e-01 9.73057555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.672557844 meters Centerline goodness [0,1] 0.25694819941602687 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:0.97 [[ 9.99833781e-01 -1.15385209e-03 -1.81955751e-02 2.89958765e+00] [ 1.12020532e-03 9.99997644e-01 -1.85925689e-03 3.73362685e-01] [ 1.81976775e-02 1.83856507e-03 9.99832718e-01 9.73559304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.702557844 meters Centerline goodness [0,1] 0.2614244364529428 Centerline is valid? [False, False] Translation: X:2.85, Y:0.38, Z:0.97 [[ 9.99787198e-01 9.23161916e-04 -2.06083996e-02 2.85407588e+00] [-9.70007088e-04 9.99996968e-01 -2.26323017e-03 3.77535315e-01] [ 2.06062478e-02 2.28273884e-03 9.99785063e-01 9.74350709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.732557844 meters Centerline goodness [0,1] 0.25826809221227043 Centerline is valid? [False, False] Translation: X:2.88, Y:0.38, Z:0.97 [[ 9.99790466e-01 -5.85458511e-03 -1.96150023e-02 2.87633454e+00] [ 5.86874873e-03 9.99982558e-01 6.64595246e-04 3.79803676e-01] [ 1.96107692e-02 -7.79571510e-04 9.99807386e-01 9.73625821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.762557844 meters Centerline goodness [0,1] 0.2594386757613938 Centerline is valid? [False, False] Translation: X:2.88, Y:0.38, Z:0.97 [[ 9.99783526e-01 -5.44354937e-03 -2.00815354e-02 2.87755466e+00] [ 5.45497582e-03 9.99984989e-01 5.14268244e-04 3.81835648e-01] [ 2.00784345e-02 -6.23701208e-04 9.99798213e-01 9.73534135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79255784400002 meters Centerline goodness [0,1] 0.25702438286936047 Centerline is valid? [False, False] Translation: X:2.88, Y:0.38, Z:0.97 [[ 9.99776400e-01 -5.34576634e-03 -2.04590498e-02 2.87843844e+00] [ 5.35456442e-03 9.99985594e-01 3.75277267e-04 3.82912832e-01] [ 2.04567489e-02 -4.84742655e-04 9.99790621e-01 9.73584312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82255784400002 meters Centerline goodness [0,1] 0.2581421570753285 Centerline is valid? [False, False] Translation: X:2.88, Y:0.38, Z:0.97 [[ 9.99770702e-01 -4.96403336e-03 -2.08302862e-02 2.87924355e+00] [ 4.97431685e-03 9.99987530e-01 4.41894545e-04 3.83688781e-01] [ 2.08278329e-02 -5.45409663e-04 9.99782928e-01 9.73769965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85255784400002 meters Centerline goodness [0,1] 0.249386096442619 Centerline is valid? [False, False] Translation: X:2.88, Y:0.38, Z:0.97 [[ 9.99773947e-01 -4.91327147e-03 -2.06861199e-02 2.87861872e+00] [ 4.92254364e-03 9.99987805e-01 3.97335328e-04 3.84109406e-01] [ 2.06839154e-02 -4.99073836e-04 9.99785940e-01 9.74168002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88255784400002 meters Centerline goodness [0,1] 0.2596551573997474 Centerline is valid? [False, False] Translation: X:2.88, Y:0.38, Z:0.97 [[ 9.99777479e-01 -4.86727825e-03 -2.05256413e-02 2.87804297e+00] [ 4.87614531e-03 9.99988039e-01 3.81973026e-04 3.84292555e-01] [ 2.05235367e-02 -4.81974039e-04 9.99789254e-01 9.74436753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91255784400002 meters Centerline goodness [0,1] 0.2491044484487962 Centerline is valid? [False, False] Translation: X:2.88, Y:0.38, Z:0.97 [[ 9.99782898e-01 -4.38233551e-03 -2.03703897e-02 2.87769039e+00] [ 4.39326811e-03 9.99990229e-01 4.91970697e-04 3.84879520e-01] [ 2.03680346e-02 -5.81356472e-04 9.99792381e-01 9.74367180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94255784400002 meters Centerline goodness [0,1] 0.2501693729921105 Centerline is valid? [False, False] Translation: X:2.88, Y:0.39, Z:0.97 [[ 9.99780710e-01 -4.23542902e-03 -2.05083723e-02 2.87791376e+00] [ 4.24435242e-03 9.99990916e-01 3.91602298e-04 3.85928342e-01] [ 2.05065274e-02 -4.78561183e-04 9.99789605e-01 9.74496123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97255784400002 meters Centerline goodness [0,1] 0.24852571329459716 Centerline is valid? [False, False] Translation: X:2.90, Y:0.38, Z:0.98 [[ 9.99787086e-01 3.78920622e-03 -2.02835822e-02 2.89875116e+00] [-3.79592788e-03 9.99992753e-01 -2.92893122e-04 3.83301977e-01] [ 2.02823254e-02 3.69825776e-04 9.99794224e-01 9.75901668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00255784400002 meters Centerline goodness [0,1] 0.24964358563814626 Centerline is valid? [False, False] Translation: X:2.90, Y:0.38, Z:0.98 [[ 9.99774042e-01 4.19081401e-03 -2.08399293e-02 2.90004622e+00] [-4.19711076e-03 9.99991159e-01 -2.58419156e-04 3.84087121e-01] [ 2.08386620e-02 3.45828255e-04 9.99782792e-01 9.75860784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03255784400002 meters Centerline goodness [0,1] 0.24616849943718067 Centerline is valid? [False, False] Translation: X:2.92, Y:0.39, Z:0.98 [[ 9.99782860e-01 -4.28497140e-03 -2.03929394e-02 2.91974442e+00] [ 4.30397877e-03 9.99990343e-01 8.88257714e-04 3.88471781e-01] [ 2.03889363e-02 -9.75835617e-04 9.99791648e-01 9.76411125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06255784400003 meters Centerline goodness [0,1] 0.24647887323943662 Centerline is valid? [False, False] Translation: X:2.92, Y:0.39, Z:0.98 [[ 9.99784067e-01 -4.29197642e-03 -2.03322076e-02 2.91952274e+00] [ 4.30886142e-03 9.99990407e-01 7.86719433e-04 3.88990652e-01] [ 2.03286360e-02 -8.74158219e-04 9.99792970e-01 9.76416922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09255784400003 meters Centerline goodness [0,1] 0.24838050519542632 Centerline is valid? [False, False] Translation: X:2.92, Y:0.39, Z:0.98 [[ 9.99786477e-01 -4.30292798e-03 -2.02110104e-02 2.91887717e+00] [ 4.31630219e-03 9.99990494e-01 6.18152903e-04 3.89962664e-01] [ 2.02081584e-02 -7.05257742e-04 9.99795546e-01 9.76924721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122557844 meters Centerline goodness [0,1] 0.24879258582430497 Centerline is valid? [False, False] Translation: X:2.92, Y:0.39, Z:0.98 [[ 9.99794206e-01 -4.26452608e-03 -1.98332717e-02 2.91751888e+00] [ 4.27556482e-03 9.99990728e-01 5.14206451e-04 3.90801601e-01] [ 1.98308950e-02 -5.98899070e-04 9.99803169e-01 9.77579095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.152557844 meters Centerline goodness [0,1] 0.24796413410725116 Centerline is valid? [False, False] Translation: X:2.92, Y:0.39, Z:0.98 [[ 9.99795903e-01 -4.23613487e-03 -1.97536669e-02 2.91730730e+00] [ 4.24887245e-03 9.99990792e-01 6.02895496e-04 3.90348947e-01] [ 1.97509311e-02 -6.86703258e-04 9.99804696e-01 9.77604225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.182557844 meters Centerline goodness [0,1] 0.2500163680408546 Centerline is valid? [False, False] Translation: X:2.92, Y:0.39, Z:0.98 [[ 9.99796187e-01 -4.16660222e-03 -1.97540889e-02 2.91748688e+00] [ 4.18337511e-03 9.99990923e-01 8.07837047e-04 3.89369981e-01] [ 1.97505437e-02 -8.90311164e-04 9.99804543e-01 9.77332957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.212557844 meters Centerline goodness [0,1] 0.2491823295974881 Centerline is valid? [False, False] Translation: X:2.92, Y:0.39, Z:0.98 [[ 9.99795009e-01 -3.94174225e-03 -1.98595807e-02 2.91814325e+00] [ 3.97017990e-03 9.99991149e-01 1.39271277e-03 3.86615040e-01] [ 1.98539152e-02 -1.47127338e-03 9.99801809e-01 9.76713038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.242557844 meters Centerline goodness [0,1] 0.2491823295974881 Centerline is valid? [False, False] Translation: X:2.92, Y:0.39, Z:0.98 [[ 9.99795009e-01 -3.94174225e-03 -1.98595807e-02 2.91814325e+00] [ 3.97017990e-03 9.99991149e-01 1.39271277e-03 3.86615040e-01] [ 1.98539152e-02 -1.47127338e-03 9.99801809e-01 9.76713038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.272557844 meters Centerline goodness [0,1] 0.2516606939952801 Centerline is valid? [False, False] Translation: X:2.92, Y:0.39, Z:0.98 [[ 9.99795878e-01 -3.86997234e-03 -1.98299147e-02 2.91825703e+00] [ 3.90290113e-03 9.99991068e-01 1.62212919e-03 3.85387340e-01] [ 1.98234600e-02 -1.69919227e-03 9.99802052e-01 9.76410174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.302557844 meters Centerline goodness [0,1] 0.24390401935163386 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99800451e-01 3.40246472e-03 -1.96845506e-02 2.93820916e+00] [-3.38744410e-03 9.99993945e-01 7.96359698e-04 3.79659378e-01] [ 1.96871410e-02 -7.29520470e-04 9.99805923e-01 9.77700452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.332557844 meters Centerline goodness [0,1] 0.2478897201561716 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99799506e-01 3.56616664e-03 -1.97035799e-02 2.93854955e+00] [-3.54652606e-03 9.99993179e-01 1.03165607e-03 3.78794082e-01] [ 1.97071245e-02 -9.61569967e-04 9.99805333e-01 9.77111563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362557844 meters Centerline goodness [0,1] 0.24755040717676258 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99798911e-01 3.62729933e-03 -1.97225832e-02 2.93867063e+00] [-3.60713652e-03 9.99992935e-01 1.05779980e-03 3.78850441e-01] [ 1.97262808e-02 -9.86445037e-04 9.99804931e-01 9.76935145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.392557844 meters Centerline goodness [0,1] 0.2431182702327197 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99796804e-01 3.66911094e-03 -1.98214197e-02 2.93872992e+00] [-3.65041980e-03 9.99992858e-01 9.79076143e-04 3.79433578e-01] [ 1.98248705e-02 -9.06520695e-04 9.99803057e-01 9.77184384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422557844 meters Centerline goodness [0,1] 0.24402131531063165 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99791279e-01 3.78412426e-03 -2.00768428e-02 2.93927254e+00] [-3.76765430e-03 9.99992534e-01 8.58108231e-04 3.80434111e-01] [ 2.00799401e-02 -7.82286522e-04 9.99798072e-01 9.77278180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.452557844 meters Centerline goodness [0,1] 0.24475737227546346 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99791522e-01 4.40174475e-03 -1.99383501e-02 2.93908902e+00] [-4.38510563e-03 9.99990000e-01 8.78171887e-04 3.81953912e-01] [ 1.99420162e-02 -7.90557035e-04 9.99800826e-01 9.76925339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482557844 meters Centerline goodness [0,1] 0.24571602760903177 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99790346e-01 4.42363532e-03 -1.99923690e-02 2.93938081e+00] [-4.41129292e-03 9.99990051e-01 6.61413875e-04 3.82957755e-01] [ 1.99950960e-02 -5.73083011e-04 9.99799914e-01 9.76480968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.512557844 meters Centerline goodness [0,1] 0.2439304604179312 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99777132e-01 4.89609401e-03 -2.05356824e-02 2.94104179e+00] [-4.88232839e-03 9.99987822e-01 7.20409708e-04 3.84057406e-01] [ 2.05389595e-02 -6.19987206e-04 9.99788861e-01 9.75730507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54255784400002 meters Centerline goodness [0,1] 0.24187247710404103 Centerline is valid? [False, False] Translation: X:2.94, Y:0.39, Z:0.98 [[ 9.99773723e-01 4.96369779e-03 -2.06848939e-02 2.94124985e+00] [-4.95168057e-03 9.99987541e-01 6.32143751e-04 3.85066851e-01] [ 2.06877739e-02 -5.29575725e-04 9.99785845e-01 9.75883267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57255784400002 meters Centerline goodness [0,1] 0.24421610583711684 Centerline is valid? [False, False] Translation: X:2.94, Y:0.39, Z:0.98 [[ 9.99772110e-01 4.95254253e-03 -2.07653886e-02 2.94137909e+00] [-4.94185733e-03 9.99987629e-01 5.65851723e-04 3.85520648e-01] [ 2.07679341e-02 -4.63103183e-04 9.99784216e-01 9.75981227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60255784400002 meters Centerline goodness [0,1] 0.24163906747191377 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99772940e-01 4.81986733e-03 -2.07566158e-02 2.94153700e+00] [-4.80749721e-03 9.99988235e-01 6.45818699e-04 3.84030316e-01] [ 2.07594844e-02 -5.45884687e-04 9.99784350e-01 9.75741669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63255784400002 meters Centerline goodness [0,1] 0.24497353344805806 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99775695e-01 4.86374793e-03 -2.06131831e-02 2.94112247e+00] [-4.84615765e-03 9.99987849e-01 9.03218248e-04 3.82622391e-01] [ 2.06173257e-02 -8.03120917e-04 9.99787118e-01 9.75887165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66255784400002 meters Centerline goodness [0,1] 0.24376725280935507 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99777883e-01 4.93769802e-03 -2.04891287e-02 2.94068992e+00] [-4.91530579e-03 9.99987266e-01 1.14309997e-03 3.81658223e-01] [ 2.04945121e-02 -1.04213574e-03 9.99789422e-01 9.76189200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69255784400002 meters Centerline goodness [0,1] 0.24418983846772613 Centerline is valid? [False, False] Translation: X:2.94, Y:0.38, Z:0.98 [[ 9.99778967e-01 5.01486692e-03 -2.04173649e-02 2.94044605e+00] [-4.98881084e-03 9.99986675e-01 1.32690736e-03 3.81058965e-01] [ 2.04237471e-02 -1.22475570e-03 9.99790663e-01 9.76382877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72255784400002 meters Centerline goodness [0,1] 0.24127763070101804 Centerline is valid? [False, False] Translation: X:2.96, Y:0.39, Z:0.98 [[ 9.99801428e-01 -4.17581003e-03 -1.94850667e-02 2.96067837e+00] [ 4.21889753e-03 9.99988744e-01 2.17072601e-03 3.85152278e-01] [ 1.94757828e-02 -2.25250047e-03 9.99807792e-01 9.76904718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75255784400002 meters Centerline goodness [0,1] 0.2423484243901387 Centerline is valid? [False, False] Translation: X:2.96, Y:0.39, Z:0.98 [[ 9.99799013e-01 -4.22434135e-03 -1.95981844e-02 2.96109892e+00] [ 4.26656048e-03 9.99988666e-01 2.11292451e-03 3.85157324e-01] [ 1.95890366e-02 -2.19611667e-03 9.99805704e-01 9.76654814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78255784400002 meters Centerline goodness [0,1] 0.24474490794078652 Centerline is valid? [False, False] Translation: X:2.96, Y:0.39, Z:0.98 [[ 9.99794501e-01 -4.24319285e-03 -1.98229836e-02 2.96180821e+00] [ 4.28456046e-03 9.99988731e-01 2.04484654e-03 3.85514435e-01] [ 1.98140835e-02 -2.12935910e-03 9.99801414e-01 9.76387241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81255784400003 meters Centerline goodness [0,1] 0.24263970428353987 Centerline is valid? [False, False] Translation: X:2.96, Y:0.39, Z:0.98 [[ 9.99791628e-01 -4.20812500e-03 -1.99747861e-02 2.96233010e+00] [ 4.24912907e-03 9.99988951e-01 2.01079322e-03 3.85988003e-01] [ 1.99661037e-02 -2.09524967e-03 9.99798462e-01 9.76076860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84255784400003 meters Centerline goodness [0,1] 0.2429418896683121 Centerline is valid? [False, False] Translation: X:2.96, Y:0.39, Z:0.98 [[ 9.99793917e-01 -4.13535061e-03 -1.98751526e-02 2.96179352e+00] [ 4.17744628e-03 9.99989118e-01 2.07695395e-03 3.85868623e-01] [ 1.98663473e-02 -2.15955331e-03 9.99800312e-01 9.76536346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872557844 meters Centerline goodness [0,1] 0.24665734510180892 Centerline is valid? [False, False] Translation: X:2.96, Y:0.39, Z:0.98 [[ 9.99798873e-01 -4.15137236e-03 -1.96208778e-02 2.96082337e+00] [ 4.19333147e-03 9.99989007e-01 2.09783437e-03 3.85539299e-01] [ 1.96119532e-02 -2.17968928e-03 9.99805291e-01 9.77083667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.902557844 meters Centerline goodness [0,1] 0.24541806745472294 Centerline is valid? [False, False] Translation: X:2.98, Y:0.38, Z:0.98 [[ 9.99829546e-01 2.94874319e-03 -1.82259103e-02 2.97899607e+00] [-2.93691281e-03 9.99995459e-01 6.75828867e-04 3.79901133e-01] [ 1.82278203e-02 -6.22185760e-04 9.99833666e-01 9.79477438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.932557844 meters Centerline goodness [0,1] 0.24356153746602827 Centerline is valid? [False, False] Translation: X:2.98, Y:0.38, Z:0.98 [[ 9.99827317e-01 3.05251195e-03 -1.83308020e-02 2.97947629e+00] [-3.03525999e-03 9.99994924e-01 9.68894056e-04 3.78448252e-01] [ 1.83336665e-02 -9.13087994e-04 9.99831507e-01 9.79116809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.962557844 meters Centerline goodness [0,1] 0.24250881633889354 Centerline is valid? [False, False] Translation: X:2.98, Y:0.38, Z:0.98 [[ 9.99823658e-01 3.20230121e-03 -1.85040147e-02 2.98027109e+00] [-3.17803430e-03 9.99994051e-01 1.34069743e-03 3.76682668e-01] [ 1.85081979e-02 -1.28165461e-03 9.99827887e-01 9.78549622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.992557844 meters Centerline goodness [0,1] 0.24506797172376293 Centerline is valid? [False, False] Translation: X:2.98, Y:0.37, Z:0.98 [[ 9.99820601e-01 3.36010772e-03 -1.86407154e-02 2.98098332e+00] [-3.32843687e-03 9.99992965e-01 1.72977984e-03 3.74848808e-01] [ 1.86463966e-02 -1.66742507e-03 9.99824750e-01 9.77946565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.022557844 meters Centerline goodness [0,1] 0.24373591121900473 Centerline is valid? [False, False] Translation: X:2.98, Y:0.37, Z:0.98 [[ 9.99819410e-01 3.55606320e-03 -1.86681823e-02 2.98114109e+00] [-3.51610804e-03 9.99991458e-01 2.17266772e-03 3.72819198e-01] [ 1.86757490e-02 -2.10663602e-03 9.99823374e-01 9.77821950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.052557844 meters Centerline goodness [0,1] 0.24038793103448275 Centerline is valid? [False, False] Translation: X:2.98, Y:0.37, Z:0.98 [[ 0.99982291 0.0039554 -0.0183986 2.98070944] [-0.00389712 0.99998728 0.00320233 0.36761838] [ 0.01841103 -0.00313006 0.9998256 0.97743902] [ 0. 0. 0. 1. ]] SLAMing on 232.082557844 meters Centerline goodness [0,1] 0.24500206212420494 Centerline is valid? [False, False] Translation: X:2.98, Y:0.36, Z:0.98 [[ 0.99982258 0.00421344 -0.01835928 2.98089939] [-0.00414381 0.99998408 0.00382871 0.36468474] [ 0.01837512 -0.00375195 0.99982412 0.97700081] [ 0. 0. 0. 1. ]] SLAMing on 232.112557844 meters Centerline goodness [0,1] 0.24320637464001904 Centerline is valid? [False, False] Translation: X:2.98, Y:0.36, Z:0.98 [[ 9.99842380e-01 1.86659226e-03 -1.76559306e-02 2.97896930e+00] [-1.82982877e-03 9.99996125e-01 2.09814388e-03 3.58217387e-01] [ 1.76597785e-02 -2.06550584e-03 9.99841920e-01 9.77106338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.142557844 meters Centerline goodness [0,1] 0.2410970118706508 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:0.98 [[ 9.99845062e-01 2.16878114e-03 -1.74684894e-02 2.97856400e+00] [-2.11839203e-03 9.99993544e-01 2.90255942e-03 3.54317334e-01] [ 1.74746716e-02 -2.86510459e-03 9.99843201e-01 9.77077149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.172557844 meters Centerline goodness [0,1] 0.24422241529105126 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:0.98 [[ 9.99847752e-01 2.48330261e-03 -1.72715528e-02 2.97817397e+00] [-2.41901426e-03 9.99990072e-01 3.74210641e-03 3.50288350e-01] [ 1.72806741e-02 -3.69975654e-03 9.99843833e-01 9.76992500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.202557844 meters Centerline goodness [0,1] 0.2422821836721467 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:0.98 [[ 9.99847294e-01 3.02499379e-03 -1.72115955e-02 2.97817625e+00] [-2.93936686e-03 9.99983190e-01 4.99808051e-03 3.44518286e-01] [ 1.72264253e-02 -4.94672608e-03 9.99839377e-01 9.76819925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.232557844 meters Centerline goodness [0,1] 0.24543239951278928 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:0.98 [[ 0.9998477 0.00324819 -0.01714746 2.97827667] [-0.00315437 0.99997992 0.0054957 0.34224771] [ 0.01716496 -0.00544077 0.99983787 0.97640168] [ 0. 0. 0. 1. ]] SLAMing on 232.262557844 meters Centerline goodness [0,1] 0.2425467517025186 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:0.98 [[ 0.99984679 0.00345892 -0.01715919 2.97855104] [-0.00335763 0.99997679 0.00592784 0.34026052] [ 0.0171793 -0.00586931 0.9998352 0.9759507 ] [ 0. 0. 0. 1. ]] SLAMing on 232.29255784400002 meters Centerline goodness [0,1] 0.24300502425502424 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:0.98 [[ 0.99984559 0.00382208 -0.01715171 2.97870961] [-0.00370761 0.99997068 0.00670087 0.33660673] [ 0.01717682 -0.00663624 0.99983044 0.97561076] [ 0. 0. 0. 1. ]] SLAMing on 232.32255784400002 meters Centerline goodness [0,1] 0.24283020094946994 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.98 [[ 0.99984525 0.0039977 -0.01713139 2.9786568 ] [-0.00387654 0.99996728 0.00709979 0.33480087] [ 0.01715921 -0.00703228 0.99982804 0.97559941] [ 0. 0. 0. 1. ]] SLAMing on 232.35255784400002 meters Centerline goodness [0,1] 0.23808600064662144 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.98 [[ 0.99984651 0.00415283 -0.01702105 2.9783171 ] [-0.00402534 0.99996364 0.00751716 0.33271519] [ 0.01705165 -0.00744749 0.99982687 0.97573154] [ 0. 0. 0. 1. ]] SLAMing on 232.38255784400002 meters Centerline goodness [0,1] 0.2409779063991534 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.98 [[ 0.99984974 0.0043022 -0.01679257 2.97757399] [-0.00416968 0.99995996 0.00791826 0.33065657] [ 0.01682596 -0.00784705 0.99982764 0.97602837] [ 0. 0. 0. 1. ]] SLAMing on 232.41255784400002 meters Centerline goodness [0,1] 0.2460605002400803 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.98 [[ 0.99985205 0.00456138 -0.01658532 2.97702311] [-0.00441896 0.99995314 0.00861381 0.32734558] [ 0.01662384 -0.00853924 0.99982535 0.97613521] [ 0. 0. 0. 1. ]] SLAMing on 232.44255784400002 meters Centerline goodness [0,1] 0.24103693151158023 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.98 [[ 0.99984956 0.00469954 -0.01669616 2.9776844 ] [-0.00455143 0.99995005 0.00889821 0.32619487] [ 0.01673715 -0.00882088 0.99982101 0.97550521] [ 0. 0. 0. 1. ]] SLAMing on 232.47255784400002 meters Centerline goodness [0,1] 0.241451560643698 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.97 [[ 0.99984669 0.00478349 -0.01684376 2.97851936] [-0.00462986 0.99994743 0.0091485 0.32495397] [ 0.01688664 -0.00906911 0.99981628 0.97475542] [ 0. 0. 0. 1. ]] SLAMing on 232.50255784400002 meters Centerline goodness [0,1] 0.24152093556127197 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.97 [[ 9.99848022e-01 9.84984399e-04 -1.74058282e-02 2.98049863e+00] [-8.91482742e-04 9.99985137e-01 5.37880196e-03 3.24185107e-01] [ 1.74108675e-02 -5.36246750e-03 9.99834039e-01 9.73718437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53255784400002 meters Centerline goodness [0,1] 0.24352455454150368 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.97 [[ 9.99846212e-01 1.03200179e-03 -1.75067951e-02 2.98078766e+00] [-9.35582222e-04 9.99984355e-01 5.51484727e-03 3.23486711e-01] [ 1.75122126e-02 -5.49762010e-03 9.99831535e-01 9.73665675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56255784400003 meters Centerline goodness [0,1] 0.24380362249761678 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.97 [[ 9.99844442e-01 1.06152157e-03 -1.76058051e-02 2.98107138e+00] [-9.63986512e-04 9.99984148e-01 5.54749908e-03 3.23485805e-01] [ 1.76114148e-02 -5.52966437e-03 9.99829616e-01 9.73563115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59255784400003 meters Centerline goodness [0,1] 0.24461136512083603 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99840450e-01 1.08063480e-03 -1.78299485e-02 2.98179054e+00] [-9.87531454e-04 9.99985837e-01 5.22971796e-03 3.25589021e-01] [ 1.78353474e-02 -5.21127592e-03 9.99827357e-01 9.73163882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622557844 meters Centerline goodness [0,1] 0.24200449477050734 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99840006e-01 1.03521446e-03 -1.78575205e-02 2.98190393e+00] [-9.46703966e-04 9.99987230e-01 4.96422446e-03 3.26952191e-01] [ 1.78624315e-02 -4.94652443e-03 9.99828218e-01 9.72958532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.652557844 meters Centerline goodness [0,1] 0.2439576710360145 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99841374e-01 9.16593548e-04 -1.77872591e-02 2.98164977e+00] [-8.34551037e-04 9.99988983e-01 4.61930610e-03 3.28590909e-01] [ 1.77912971e-02 -4.60372898e-03 9.99831123e-01 9.72953266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.682557844 meters Centerline goodness [0,1] 0.24329124342119512 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99848131e-01 8.75720586e-04 -1.74053994e-02 2.98016707e+00] [-8.04344068e-04 9.99991241e-01 4.10740373e-03 3.31600917e-01] [ 1.74088439e-02 -4.09278002e-03 9.99840078e-01 9.73648085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.712557844 meters Centerline goodness [0,1] 0.24357833025730102 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99851466e-01 8.02417003e-04 -1.72163586e-02 2.97950139e+00] [-7.35285031e-04 9.99992104e-01 3.90528874e-03 3.32621630e-01] [ 1.72193563e-02 -3.89204974e-03 9.99844161e-01 9.73896753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.742557844 meters Centerline goodness [0,1] 0.24368129490175716 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99851673e-01 7.64960804e-04 -1.72060197e-02 2.97942110e+00] [-6.99454478e-04 9.99992486e-01 3.81287059e-03 3.33090523e-01] [ 1.72088071e-02 -3.80027021e-03 9.99844695e-01 9.73960821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.772557844 meters Centerline goodness [0,1] 0.2405959835888577 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99848985e-01 7.42702821e-04 -1.73624530e-02 2.98009790e+00] [-6.75897333e-04 9.99992348e-01 3.85325020e-03 3.32740400e-01] [ 1.73651820e-02 -3.84093307e-03 9.99841836e-01 9.73506572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802557844 meters Centerline goodness [0,1] 0.24323097867191046 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99849328e-01 7.29464426e-04 -1.73432959e-02 2.98002816e+00] [-6.63111921e-04 9.99992441e-01 3.83127311e-03 3.32823585e-01] [ 1.73459596e-02 -3.81919530e-03 9.99842253e-01 9.73540404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.832557844 meters Centerline goodness [0,1] 0.24328604277842858 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99851151e-01 7.13976785e-04 -1.72385333e-02 2.97956949e+00] [-6.48446147e-04 9.99992544e-01 3.80669485e-03 3.32968842e-01] [ 1.72411226e-02 -3.79494997e-03 9.99844159e-01 9.73884575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862557844 meters Centerline goodness [0,1] 0.24333268020812926 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99856347e-01 7.20356205e-04 -1.69341694e-02 2.97833343e+00] [-6.54934564e-04 9.99992303e-01 3.86852033e-03 3.32663603e-01] [ 1.69368257e-02 -3.85687383e-03 9.99849123e-01 9.74694531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.892557844 meters Centerline goodness [0,1] 0.2413725914700151 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99857824e-01 7.34363727e-04 -1.68461645e-02 2.97804065e+00] [-6.68124515e-04 9.99992026e-01 3.93729668e-03 3.32331571e-01] [ 1.68489216e-02 -3.92548155e-03 9.99850341e-01 9.74815849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922557844 meters Centerline goodness [0,1] 0.24070647964891145 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99857008e-01 7.64740403e-04 -1.68931627e-02 2.97824621e+00] [-6.96950380e-04 9.99991683e-01 4.01839031e-03 3.31918020e-01] [ 1.68960952e-02 -4.00604202e-03 9.99849225e-01 9.74662876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.952557844 meters Centerline goodness [0,1] 0.24198092761161683 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99855026e-01 8.09257429e-04 -1.70079826e-02 2.97891524e+00] [-7.39264162e-04 9.99991235e-01 4.12120293e-03 3.31389903e-01] [ 1.70111686e-02 -4.10803208e-03 9.99846860e-01 9.74033503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.982557844 meters Centerline goodness [0,1] 0.24594635881544202 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99851988e-01 9.14631518e-04 -1.71803766e-02 2.97967040e+00] [-8.40340834e-04 9.99990269e-01 4.33088086e-03 3.30483647e-01] [ 1.71841706e-02 -4.31580247e-03 9.99843027e-01 9.73440803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.012557844 meters Centerline goodness [0,1] 0.2440067749500564 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99852568e-01 9.92368410e-04 -1.71422903e-02 2.97946828e+00] [-9.14411449e-04 9.99989208e-01 4.55487945e-03 3.29430028e-01] [ 1.71466254e-02 -4.53853280e-03 9.99842685e-01 9.73655650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04255784400002 meters Centerline goodness [0,1] 0.24220254972836086 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:0.97 [[ 9.99853275e-01 1.09993546e-03 -1.70943978e-02 2.97930354e+00] [-1.01701752e-03 9.99987680e-01 4.85852802e-03 3.27984517e-01] [ 1.70995313e-02 -4.84042985e-03 9.99842076e-01 9.73783934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07255784400002 meters Centerline goodness [0,1] 0.24516437849481076 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.98 [[ 9.99867238e-01 -6.02111917e-04 -1.62832170e-02 2.97513676e+00] [ 6.59635129e-04 9.99993561e-01 3.52752867e-03 3.23935182e-01] [ 1.62809882e-02 -3.53780133e-03 9.99861197e-01 9.76067640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10255784400002 meters Centerline goodness [0,1] 0.2428112937502711 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.98 [[ 9.99868082e-01 -4.52030683e-04 -1.62362275e-02 2.97522427e+00] [ 5.16122157e-04 9.99992091e-01 3.94346300e-03 3.21960287e-01] [ 1.62343165e-02 -3.95132266e-03 9.99860407e-01 9.75783676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13255784400002 meters Centerline goodness [0,1] 0.24457371071366552 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.98 [[ 9.99866111e-01 -2.94183688e-04 -1.63607134e-02 2.97585091e+00] [ 3.65187266e-04 9.99990528e-01 4.33706453e-03 3.20151040e-01] [ 1.63592826e-02 -4.34245857e-03 9.99856748e-01 9.75287093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16255784400002 meters Centerline goodness [0,1] 0.2441518877162442 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.97 [[ 9.99855753e-01 -9.35380075e-05 -1.69842490e-02 2.97841473e+00] [ 1.77765488e-04 9.99987695e-01 4.95771051e-03 3.16878746e-01] [ 1.69835763e-02 -4.96001459e-03 9.99843466e-01 9.73661499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19255784400002 meters Centerline goodness [0,1] 0.2441518877162442 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.97 [[ 9.99855753e-01 -9.35380075e-05 -1.69842490e-02 2.97841473e+00] [ 1.77765488e-04 9.99987695e-01 4.95771051e-03 3.16878746e-01] [ 1.69835763e-02 -4.96001459e-03 9.99843466e-01 9.73661499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22255784400002 meters Centerline goodness [0,1] 0.24124269322364145 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:0.97 [[ 9.99853262e-01 3.20841154e-05 -1.71304955e-02 2.97903278e+00] [ 5.86764204e-05 9.99985966e-01 5.29765620e-03 3.15158838e-01] [ 1.71304250e-02 -5.29788399e-03 9.99839228e-01 9.73283493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25255784400002 meters Centerline goodness [0,1] 0.24388394114715384 Centerline is valid? [False, False] Translation: X:2.98, Y:0.31, Z:0.97 [[ 9.99852334e-01 1.62881596e-04 -1.71837980e-02 2.97906276e+00] [-6.62640400e-05 9.99984189e-01 5.62301571e-03 3.13606797e-01] [ 1.71844421e-02 -5.62104671e-03 9.99836536e-01 9.73501254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28255784400002 meters Centerline goodness [0,1] 0.24251076071204547 Centerline is valid? [False, False] Translation: X:2.98, Y:0.31, Z:0.97 [[ 9.99854145e-01 2.45798628e-04 -1.70771182e-02 2.97855099e+00] [-1.45331445e-04 9.99982678e-01 5.88413818e-03 3.12262733e-01] [ 1.70782687e-02 -5.88079811e-03 9.99836861e-01 9.73938503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31255784400003 meters Centerline goodness [0,1] 0.24424820899075816 Centerline is valid? [False, False] Translation: X:2.98, Y:0.31, Z:0.97 [[ 9.99856860e-01 4.14218933e-04 -1.69141332e-02 2.97789916e+00] [-3.06970022e-04 9.99979837e-01 6.34289073e-03 3.09992232e-01] [ 1.69164195e-02 -6.33679067e-03 9.99836827e-01 9.74404291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34255784400003 meters Centerline goodness [0,1] 0.24563309289997393 Centerline is valid? [False, False] Translation: X:2.98, Y:0.31, Z:0.97 [[ 9.99856461e-01 4.94486472e-04 -1.69355623e-02 2.97801640e+00] [-3.83555713e-04 9.99978457e-01 6.55278869e-03 3.08960967e-01] [ 1.69384377e-02 -6.54535238e-03 9.99835110e-01 9.74309630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372557844 meters Centerline goodness [0,1] 0.2490030237959595 Centerline is valid? [False, False] Translation: X:2.98, Y:0.31, Z:0.97 [[ 9.99856271e-01 5.93181792e-04 -1.69436016e-02 2.97822303e+00] [-4.77816298e-04 9.99976684e-01 6.81203098e-03 3.07670834e-01] [ 1.69472473e-02 -6.80295596e-03 9.99833241e-01 9.74012705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.402557844 meters Centerline goodness [0,1] 0.2399870452337256 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:0.98 [[ 0.99982009 0.00830027 -0.01705536 2.99915043] [-0.00819758 0.9999479 0.00608191 0.30285024] [ 0.01710495 -0.005941 0.99983605 0.97517816] [ 0. 0. 0. 1. ]] SLAMing on 233.432557844 meters Centerline goodness [0,1] 0.24511467989728863 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:0.98 [[ 0.99981937 0.00853187 -0.01698359 2.9989292 ] [-0.00841928 0.99994218 0.00668988 0.30008706] [ 0.01703969 -0.00654569 0.99983339 0.97533749] [ 0. 0. 0. 1. ]] SLAMing on 233.462557844 meters Centerline goodness [0,1] 0.24681326383109203 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:0.98 [[ 0.99981905 0.00865575 -0.01693964 2.99863139] [-0.00853711 0.99993861 0.00706345 0.29834168] [ 0.01699974 -0.00691755 0.99983156 0.97573106] [ 0. 0. 0. 1. ]] SLAMing on 233.492557844 meters Centerline goodness [0,1] 0.2507626467683529 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:0.98 [[ 0.99985039 0.00471464 -0.01664214 2.99734229] [-0.00465678 0.99998298 0.00351361 0.29591552] [ 0.01665842 -0.00343559 0.99985534 0.97654999] [ 0. 0. 0. 1. ]] SLAMing on 233.522557844 meters Centerline goodness [0,1] 0.24829724065665382 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:0.98 [[ 9.99863309e-01 1.06083969e-03 -1.64996542e-02 2.99669491e+00] [-1.06209362e-03 9.99999434e-01 -6.72344552e-05 2.95132134e-01] [ 1.64995735e-02 8.47494422e-05 9.99863869e-01 9.76815328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.552557844 meters Centerline goodness [0,1] 0.24599198396793587 Centerline is valid? [False, False] Translation: X:3.00, Y:0.29, Z:0.98 [[ 9.99864029e-01 1.21093357e-03 -1.64456027e-02 2.99660304e+00] [-1.20454231e-03 9.99999195e-01 3.98530047e-04 2.92854815e-01] [ 1.64460720e-02 -3.78666434e-04 9.99864683e-01 9.76812148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.582557844 meters Centerline goodness [0,1] 0.2446282067977601 Centerline is valid? [False, False] Translation: X:3.00, Y:0.29, Z:0.98 [[ 9.99861138e-01 1.61112940e-03 -1.65864182e-02 2.99722009e+00] [-1.58847918e-03 9.99997788e-01 1.37867236e-03 2.88548461e-01] [ 1.65886028e-02 -1.35213374e-03 9.99861485e-01 9.76458347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.612557844 meters Centerline goodness [0,1] 0.2470025537808943 Centerline is valid? [False, False] Translation: X:3.00, Y:0.29, Z:0.98 [[ 9.99859844e-01 1.84242150e-03 -1.66402551e-02 2.99749865e+00] [-1.81043414e-03 9.99996485e-01 1.93714785e-03 2.86090244e-01] [ 1.66437657e-02 -1.90675027e-03 9.99859665e-01 9.76281877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642557844 meters Centerline goodness [0,1] 0.24650103070413365 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:0.98 [[ 9.99859783e-01 2.07488825e-03 -1.66165190e-02 2.99755641e+00] [-2.03336946e-03 9.99994770e-01 2.51515099e-03 2.83435714e-01] [ 1.66216508e-02 -2.48101080e-03 9.99858773e-01 9.76119953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.672557844 meters Centerline goodness [0,1] 0.24804568748371403 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:0.98 [[ 9.99856061e-01 2.46540835e-03 -1.67862673e-02 2.99852844e+00] [-2.40654148e-03 9.99990887e-01 3.52614451e-03 2.78365120e-01] [ 1.67948077e-02 -3.48524011e-03 9.99852883e-01 9.75316322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702557844 meters Centerline goodness [0,1] 0.24944005914715028 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:0.97 [[ 9.99852337e-01 2.64005019e-03 -1.69804186e-02 2.99921937e+00] [-2.57327190e-03 9.99988875e-01 3.95331182e-03 2.76359758e-01] [ 1.69906666e-02 -3.90903283e-03 9.99848007e-01 9.74980431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.732557844 meters Centerline goodness [0,1] 0.2519624945486263 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:0.97 [[ 9.99850526e-01 2.79566993e-03 -1.70619648e-02 2.99964880e+00] [-2.72281243e-03 9.99987083e-01 4.29190802e-03 2.74800281e-01] [ 1.70737431e-02 -4.24480996e-03 9.99845222e-01 9.74594815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.762557844 meters Centerline goodness [0,1] 0.24520907798975067 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.98 [[ 0.99979689 0.011009 -0.01688107 3.02082389] [-0.01094892 0.99993341 0.00364736 0.26993458] [ 0.0169201 -0.00346179 0.99985085 0.97579492] [ 0. 0. 0. 1. ]] SLAMing on 233.79255784400002 meters Centerline goodness [0,1] 0.24681384196656153 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.98 [[ 0.99979598 0.01127283 -0.01676069 3.02084275] [-0.01120713 0.99992916 0.00400911 0.26815901] [ 0.0168047 -0.00382045 0.99985149 0.97517545] [ 0. 0. 0. 1. ]] SLAMing on 233.82255784400002 meters Centerline goodness [0,1] 0.2449001572496392 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.97 [[ 0.9997969 0.01137737 -0.01663445 3.02062878] [-0.0113105 0.99992759 0.00410848 0.26781233] [ 0.01667999 -0.00391951 0.9998532 0.97485452] [ 0. 0. 0. 1. ]] SLAMing on 233.85255784400002 meters Centerline goodness [0,1] 0.247012639661792 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.97 [[ 0.99979925 0.01148444 -0.0164186 3.02024113] [-0.01141797 0.99992626 0.00413626 0.26800028] [ 0.0164649 -0.00394796 0.99985665 0.97451032] [ 0. 0. 0. 1. ]] SLAMing on 233.88255784400002 meters Centerline goodness [0,1] 0.24933284155258073 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.97 [[ 0.99978771 0.01199723 -0.01675106 3.02141407] [-0.01192845 0.99992003 0.00419991 0.26903088] [ 0.0168001 -0.0039992 0.99985087 0.97369855] [ 0. 0. 0. 1. ]] SLAMing on 233.91255784400002 meters Centerline goodness [0,1] 0.2498206716661232 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.97 [[ 0.99978453 0.01194336 -0.0169777 3.02214155] [-0.01187886 0.99992186 0.00389508 0.27050765] [ 0.0170229 -0.00369256 0.99984828 0.97326153] [ 0. 0. 0. 1. ]] SLAMing on 233.94255784400002 meters Centerline goodness [0,1] 0.24771217792008304 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.97 [[ 0.99978136 0.01188022 -0.01720721 3.02277284] [-0.01181973 0.99992362 0.00361285 0.27189006] [ 0.01724882 -0.00340868 0.99984542 0.97304772] [ 0. 0. 0. 1. ]] SLAMing on 233.97255784400002 meters Centerline goodness [0,1] 0.246821436320243 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.97 [[ 0.99978274 0.01180407 -0.0171796 3.02253401] [-0.01174755 0.99992526 0.003387 0.2730365 ] [ 0.0172183 -0.00318445 0.99984668 0.97324686] [ 0. 0. 0. 1. ]] SLAMing on 234.00255784400002 meters Centerline goodness [0,1] 0.24947247057799826 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.97 [[ 9.99791224e-01 1.17202652e-02 -1.67374949e-02 3.02083489e+00] [-1.16684511e-02 9.99926833e-01 3.19000618e-03 2.73948624e-01] [ 1.67736580e-02 -2.99403954e-03 9.99854830e-01 9.74194244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03255784400002 meters Centerline goodness [0,1] 0.25138466253639524 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:0.97 [[ 0.99986525 0.00345696 -0.01604748 2.99941634] [-0.00339212 0.99998598 0.00406617 0.27684571] [ 0.01606131 -0.00401119 0.99986296 0.97249372] [ 0. 0. 0. 1. ]] SLAMing on 234.06255784400003 meters Centerline goodness [0,1] 0.24769117900914894 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99893012e-01 3.06626349e-03 -1.43025114e-02 3.04347670e+00] [-3.00376502e-03 9.99985856e-01 4.38919184e-03 2.80194533e-01] [ 1.43157675e-02 -4.34576087e-03 9.99888080e-01 9.72562718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09255784400003 meters Centerline goodness [0,1] 0.24838087811640353 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99891396e-01 3.07360266e-03 -1.44135308e-02 3.04398245e+00] [-3.00967826e-03 9.99985549e-01 4.45462334e-03 2.79950590e-01] [ 1.44270143e-02 -4.41075946e-03 9.99886197e-01 9.72207137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122557844 meters Centerline goodness [0,1] 0.24681329127597973 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99891582e-01 2.74707004e-03 -1.44664281e-02 3.04412856e+00] [-2.68264657e-03 9.99986407e-01 4.47083259e-03 2.78948474e-01] [ 1.44785132e-02 -4.43153956e-03 9.99885360e-01 9.72325815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.152557844 meters Centerline goodness [0,1] 0.24998910057984913 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99892654e-01 2.74438796e-03 -1.43926777e-02 3.04378503e+00] [-2.67711995e-03 9.99985414e-01 4.69095199e-03 2.77650688e-01] [ 1.44053415e-02 -4.65191751e-03 9.99885416e-01 9.72745409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.182557844 meters Centerline goodness [0,1] 0.24924957584721796 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99896113e-01 2.72803588e-03 -1.41534580e-02 3.04298730e+00] [-2.65724038e-03 9.99983877e-01 5.01838970e-03 2.75787755e-01] [ 1.41669201e-02 -4.98025922e-03 9.99887241e-01 9.73267886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.212557844 meters Centerline goodness [0,1] 0.24793694341019445 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99896780e-01 2.76175531e-03 -1.40996988e-02 3.04273581e+00] [-2.68980229e-03 9.99983277e-01 5.11957603e-03 2.75348445e-01] [ 1.41136020e-02 -5.08112219e-03 9.99887488e-01 9.73512936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.242557844 meters Centerline goodness [0,1] 0.24994578652903676 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.97 [[ 9.99899088e-01 2.80696257e-03 -1.39260665e-02 3.04226244e+00] [-2.73409875e-03 9.99982489e-01 5.24847263e-03 2.74703188e-01] [ 1.39405549e-02 -5.20986775e-03 9.99889253e-01 9.73594636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.272557844 meters Centerline goodness [0,1] 0.24835140997830807 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.97 [[ 9.99900175e-01 2.83128994e-03 -1.38428396e-02 3.04209703e+00] [-2.75770365e-03 9.99981982e-01 5.33203897e-03 2.74185838e-01] [ 1.38576867e-02 -5.29333225e-03 9.99889967e-01 9.73508751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.302557844 meters Centerline goodness [0,1] 0.24869884461721192 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.97 [[ 9.99900462e-01 2.90213529e-03 -1.38073474e-02 3.04211341e+00] [-2.82826615e-03 9.99981601e-01 5.36650934e-03 2.74124542e-01] [ 1.38226677e-02 -5.32692432e-03 9.99890273e-01 9.73258653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.332557844 meters Centerline goodness [0,1] 0.24933715825618286 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.97 [[ 9.99900402e-01 2.89859759e-03 -1.38124541e-02 3.04218649e+00] [-2.82604937e-03 9.99982125e-01 5.26900442e-03 2.74739825e-01] [ 1.38274800e-02 -5.22944496e-03 9.99890721e-01 9.73089400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.362557844 meters Centerline goodness [0,1] 0.2466790304494091 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99899383e-01 2.86863836e-03 -1.38922835e-02 3.04256458e+00] [-2.79847724e-03 9.99983246e-01 5.06717585e-03 2.75783246e-01] [ 1.39065866e-02 -5.02778876e-03 9.99890658e-01 9.72689243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.392557844 meters Centerline goodness [0,1] 0.24461958169142162 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99899270e-01 2.80887009e-03 -1.39125925e-02 3.04268883e+00] [-2.74218609e-03 9.99984673e-01 4.80982794e-03 2.77012742e-01] [ 1.39258895e-02 -4.77119253e-03 9.99891647e-01 9.72420170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.422557844 meters Centerline goodness [0,1] 0.2501031241180174 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99901867e-01 2.76738328e-03 -1.37331223e-02 3.04217295e+00] [-2.70483640e-03 9.99985895e-01 4.57094011e-03 2.78248521e-01] [ 1.37455782e-02 -4.53334570e-03 9.99895248e-01 9.72373039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.452557844 meters Centerline goodness [0,1] 0.2481639882495248 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99902217e-01 2.78532555e-03 -1.37039303e-02 3.04198757e+00] [-2.72180389e-03 9.99985476e-01 4.65175653e-03 2.77924735e-01] [ 1.37166879e-02 -4.61400225e-03 9.99895276e-01 9.72560886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.482557844 meters Centerline goodness [0,1] 0.25079614361122016 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.97 [[ 9.99902449e-01 2.87797067e-03 -1.36678344e-02 3.04191157e+00] [-2.81100731e-03 9.99983965e-01 4.91602631e-03 2.76713774e-01] [ 1.36817634e-02 -4.87712637e-03 9.99894506e-01 9.72594583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.512557844 meters Centerline goodness [0,1] 0.2451398767188241 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.97 [[ 9.99904712e-01 -8.96120585e-04 -1.37754515e-02 3.04241402e+00] [ 9.17083549e-04 9.99998431e-01 1.51552079e-03 2.74637828e-01] [ 1.37740718e-02 -1.52800962e-03 9.99903965e-01 9.72323622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54255784400002 meters Centerline goodness [0,1] 0.24837798805854328 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.97 [[ 9.99902004e-01 -9.25848846e-04 -1.39686990e-02 3.04295280e+00] [ 9.54563977e-04 9.99997445e-01 2.04914960e-03 2.71394904e-01] [ 1.39667661e-02 -2.06228281e-03 9.99900333e-01 9.72418742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57255784400002 meters Centerline goodness [0,1] 0.25080694408095616 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.97 [[ 9.99906313e-01 -1.03362568e-03 -1.36490431e-02 3.04213109e+00] [ 1.06942166e-03 9.99996008e-01 2.61556205e-03 2.67760184e-01] [ 1.36462851e-02 -2.62991359e-03 9.99903427e-01 9.72786503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60255784400002 meters Centerline goodness [0,1] 0.2520705404165119 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.97 [[ 9.99898907e-01 -4.58672346e-03 -1.34587057e-02 3.04135916e+00] [ 4.59028511e-03 9.99989437e-01 2.33756172e-04 2.60057441e-01] [ 1.34574914e-02 -2.95511838e-04 9.99909400e-01 9.73502725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63255784400002 meters Centerline goodness [0,1] 0.2499566311041721 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.97 [[ 9.99897380e-01 -4.36696012e-03 -1.36440261e-02 3.04206937e+00] [ 4.38386740e-03 9.99989659e-01 1.20950839e-03 2.55022798e-01] [ 1.36386031e-02 -1.26919787e-03 9.99906184e-01 9.73327867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66255784400002 meters Centerline goodness [0,1] 0.24849072876239764 Centerline is valid? [False, False] Translation: X:3.04, Y:0.25, Z:0.97 [[ 9.99894216e-01 -4.10765094e-03 -1.39529371e-02 3.04318213e+00] [ 4.13824061e-03 9.99989096e-01 2.16418269e-03 2.50183469e-01] [ 1.39438952e-02 -2.22169437e-03 9.99900311e-01 9.72938434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69255784400002 meters Centerline goodness [0,1] 0.24952818933165577 Centerline is valid? [False, False] Translation: X:3.04, Y:0.25, Z:0.97 [[ 9.99890393e-01 -3.83210013e-03 -1.43009619e-02 3.04447341e+00] [ 3.87473584e-03 9.99988128e-01 2.95480148e-03 2.46247478e-01] [ 1.42894690e-02 -3.00989006e-03 9.99893370e-01 9.72362809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72255784400002 meters Centerline goodness [0,1] 0.24896471400224307 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.97 [[ 0.999881 -0.00334668 -0.01505929 3.04718461] [ 0.00340912 0.99998569 0.0041224 0.24016803] [ 0.01504528 -0.00417325 0.9998781 0.97126176] [ 0. 0. 0. 1. ]] SLAMing on 234.75255784400002 meters Centerline goodness [0,1] 0.2490539926914178 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.97 [[ 0.9998795 -0.00314057 -0.01520303 3.04777597] [ 0.00320975 0.9999846 0.00452801 0.23834853] [ 0.01518858 -0.00457626 0.99987417 0.97089632] [ 0. 0. 0. 1. ]] SLAMing on 234.78255784400002 meters Centerline goodness [0,1] 0.25031506670722703 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.97 [[ 9.99880521e-01 -2.96919450e-03 -1.51699829e-02 3.04775937e+00] [ 3.04268409e-03 9.99983737e-01 4.82362682e-03 2.37046551e-01] [ 1.51554139e-02 -4.86920796e-03 9.99873294e-01 9.70792254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81255784400003 meters Centerline goodness [0,1] 0.24905317376155123 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.97 [[ 9.99882442e-01 -2.35374926e-03 -1.51513119e-02 3.04764677e+00] [ 2.43394211e-03 9.99983117e-01 5.27653748e-03 2.35779260e-01] [ 1.51386364e-02 -5.31279459e-03 9.99871290e-01 9.70746260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84255784400003 meters Centerline goodness [0,1] 0.252092050209205 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.97 [[ 9.99884335e-01 -2.23336118e-03 -1.50442314e-02 3.04744530e+00] [ 2.31259295e-03 9.99983538e-01 5.25125222e-03 2.36186749e-01] [ 1.50322558e-02 -5.28543602e-03 9.99873040e-01 9.70529086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.872557844 meters Centerline goodness [0,1] 0.2485651404651965 Centerline is valid? [False, False] Translation: X:3.07, Y:0.24, Z:0.97 [[ 0.99987372 0.00659718 -0.01445748 3.06887876] [-0.00653228 0.9999684 0.00453154 0.23502771] [ 0.01448692 -0.00443653 0.99988522 0.97133416] [ 0. 0. 0. 1. ]] SLAMing on 234.902557844 meters Centerline goodness [0,1] 0.2520494043064816 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.97 [[ 9.99928870e-01 1.61234654e-03 -1.18175657e-02 3.04529702e+00] [-1.52636560e-03 9.99972327e-01 7.28110194e-03 2.38836232e-01] [ 1.18289784e-02 -7.26254611e-03 9.99903661e-01 9.70656411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.932557844 meters Centerline goodness [0,1] 0.24846990635610633 Centerline is valid? [False, False] Translation: X:3.07, Y:0.24, Z:0.97 [[ 0.99990051 0.0099815 -0.00996674 3.06546252] [-0.0099198 0.99993145 0.00622062 0.23780084] [ 0.01002814 -0.00612113 0.99993098 0.97176989] [ 0. 0. 0. 1. ]] SLAMing on 234.962557844 meters Centerline goodness [0,1] 0.24872909771345753 Centerline is valid? [False, False] Translation: X:3.06, Y:0.24, Z:0.97 [[ 0.99990293 0.00995235 -0.00975079 3.06483802] [-0.00989326 0.99993252 0.00608968 0.2385315 ] [ 0.00981074 -0.00599262 0.99993392 0.97185153] [ 0. 0. 0. 1. ]] SLAMing on 234.992557844 meters Centerline goodness [0,1] 0.2466904222006263 Centerline is valid? [False, False] Translation: X:3.07, Y:0.24, Z:0.97 [[ 0.99990372 0.0099078 -0.00971497 3.06504928] [-0.00985057 0.99993395 0.00592085 0.23941083] [ 0.00977299 -0.00582459 0.99993528 0.97125974] [ 0. 0. 0. 1. ]] SLAMing on 235.022557844 meters Centerline goodness [0,1] 0.2491916408064061 Centerline is valid? [False, False] Translation: X:3.07, Y:0.24, Z:0.97 [[ 0.99990201 0.00988189 -0.0099158 3.06578971] [-0.00982395 0.99993448 0.00587516 0.23948151] [ 0.00997321 -0.00577717 0.99993358 0.97085446] [ 0. 0. 0. 1. ]] SLAMing on 235.052557844 meters Centerline goodness [0,1] 0.2459005824074273 Centerline is valid? [False, False] Translation: X:3.09, Y:0.25, Z:0.97 [[ 9.99943902e-01 1.62323150e-03 -1.04669930e-02 3.08579218e+00] [-1.55505949e-03 9.99977549e-01 6.51789944e-03 2.45197132e-01] [ 1.04773381e-02 -6.50125700e-03 9.99923977e-01 9.71679936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.082557844 meters Centerline goodness [0,1] 0.2459005824074273 Centerline is valid? [False, False] Translation: X:3.09, Y:0.25, Z:0.97 [[ 9.99943902e-01 1.62323150e-03 -1.04669930e-02 3.08579218e+00] [-1.55505949e-03 9.99977549e-01 6.51789944e-03 2.45197132e-01] [ 1.04773381e-02 -6.50125700e-03 9.99923977e-01 9.71679936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.112557844 meters Centerline goodness [0,1] 0.248372254535984 Centerline is valid? [False, False] Translation: X:3.09, Y:0.24, Z:0.97 [[ 9.99942757e-01 1.68704069e-03 -1.05657840e-02 3.08599183e+00] [-1.61672276e-03 9.99976513e-01 6.66025802e-03 2.44737046e-01] [ 1.05767720e-02 -6.64279483e-03 9.99922000e-01 9.71773761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142557844 meters Centerline goodness [0,1] 0.2500978728957327 Centerline is valid? [False, False] Translation: X:3.09, Y:0.24, Z:0.97 [[ 9.99944397e-01 1.72492325e-03 -1.04032116e-02 3.08542341e+00] [-1.65433296e-03 9.99975578e-01 6.79022448e-03 2.44206596e-01] [ 1.04146701e-02 -6.77263655e-03 9.99922830e-01 9.72078438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.172557844 meters Centerline goodness [0,1] 0.2493418332934444 Centerline is valid? [False, False] Translation: X:3.09, Y:0.24, Z:0.97 [[ 9.99945458e-01 1.75703043e-03 -1.02953224e-02 3.08506897e+00] [-1.68582639e-03 9.99974630e-01 6.92075665e-03 2.43616981e-01] [ 1.03072211e-02 -6.90302305e-03 9.99923052e-01 9.72265914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202557844 meters Centerline goodness [0,1] 0.24671639545132096 Centerline is valid? [False, False] Translation: X:3.10, Y:0.24, Z:0.97 [[ 0.99990895 0.00967681 -0.00940447 3.10499048] [-0.00962238 0.9999368 0.00581511 0.24034382] [ 0.00946014 -0.00572409 0.99993887 0.97343178] [ 0. 0. 0. 1. ]] SLAMing on 235.232557844 meters Centerline goodness [0,1] 0.24601811703086762 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:0.97 [[ 0.99990737 0.00966613 -0.00958174 3.10539307] [-0.00960985 0.99993641 0.00590206 0.23978567] [ 0.00963818 -0.00580943 0.99993668 0.97353029] [ 0. 0. 0. 1. ]] SLAMing on 235.262557844 meters Centerline goodness [0,1] 0.24912485414235708 Centerline is valid? [False, False] Translation: X:3.08, Y:0.24, Z:0.97 [[ 9.99950348e-01 1.33175722e-03 -9.87563826e-03 3.08483500e+00] [-1.26181002e-03 9.99974100e-01 7.08565355e-03 2.42694885e-01] [ 9.88481886e-03 -7.07284056e-03 9.99926130e-01 9.72119974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29255784400002 meters Centerline goodness [0,1] 0.24883238194084067 Centerline is valid? [False, False] Translation: X:3.08, Y:0.24, Z:0.97 [[ 9.99950164e-01 1.36766091e-03 -9.88936099e-03 3.08486944e+00] [-1.29645790e-03 9.99973219e-01 7.20279035e-03 2.42213689e-01] [ 9.89894712e-03 -7.18961025e-03 9.99925157e-01 9.72145826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32255784400002 meters Centerline goodness [0,1] 0.24577853112193448 Centerline is valid? [False, False] Translation: X:3.08, Y:0.24, Z:0.97 [[ 9.99950005e-01 1.39677449e-03 -9.90130950e-03 3.08477089e+00] [-1.32370265e-03 9.99971871e-01 7.38273313e-03 2.41248966e-01] [ 9.91134300e-03 -7.36925764e-03 9.99923727e-01 9.72450616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35255784400002 meters Centerline goodness [0,1] 0.24908322188187582 Centerline is valid? [False, False] Translation: X:3.08, Y:0.24, Z:0.98 [[ 9.99958152e-01 -1.16113176e-03 -9.07448091e-03 3.08032198e+00] [ 1.20900285e-03 9.99985374e-01 5.27164849e-03 2.37778721e-01] [ 9.06822711e-03 -5.28239895e-03 9.99944930e-01 9.75221405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38255784400002 meters Centerline goodness [0,1] 0.24848903470903128 Centerline is valid? [False, False] Translation: X:3.08, Y:0.24, Z:0.98 [[ 9.99959018e-01 -1.07104833e-03 -8.98972780e-03 3.07995482e+00] [ 1.12143761e-03 9.99983680e-01 5.60203860e-03 2.36235506e-01] [ 8.98358103e-03 -5.61189044e-03 9.99943899e-01 9.75594878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41255784400002 meters Centerline goodness [0,1] 0.2513820571975798 Centerline is valid? [False, False] Translation: X:3.08, Y:0.23, Z:0.98 [[ 9.99958623e-01 -9.67411544e-04 -9.04522103e-03 3.08016689e+00] [ 1.02091532e-03 9.99982000e-01 5.91239772e-03 2.34797387e-01] [ 9.03933850e-03 -5.92138749e-03 9.99941612e-01 9.75548021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44255784400002 meters Centerline goodness [0,1] 0.2553606660451402 Centerline is valid? [False, False] Translation: X:3.08, Y:0.23, Z:0.97 [[ 9.99954494e-01 -9.56702624e-04 -9.49186593e-03 3.08177708e+00] [ 1.01642170e-03 9.99979709e-01 6.28877810e-03 2.32193818e-01] [ 9.48565684e-03 -6.29813966e-03 9.99935176e-01 9.74885078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47255784400002 meters Centerline goodness [0,1] 0.24974032718774342 Centerline is valid? [False, False] Translation: X:3.08, Y:0.23, Z:0.97 [[ 9.99954429e-01 -9.02949899e-04 -9.50390044e-03 3.08182433e+00] [ 9.64751125e-04 9.99978408e-01 6.50014784e-03 2.30960388e-01] [ 9.49782593e-03 -6.50902052e-03 9.99933710e-01 9.74882065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50255784400002 meters Centerline goodness [0,1] 0.24907311605449212 Centerline is valid? [False, False] Translation: X:3.08, Y:0.23, Z:0.97 [[ 9.99954212e-01 -8.51150944e-04 -9.53152323e-03 3.08186424e+00] [ 9.14682468e-04 9.99977383e-01 6.66303701e-03 2.30049683e-01] [ 9.52563641e-03 -6.67145024e-03 9.99932375e-01 9.74942908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53255784400002 meters Centerline goodness [0,1] 0.24775683681792815 Centerline is valid? [False, False] Translation: X:3.08, Y:0.23, Z:0.97 [[ 9.99952896e-01 -7.74749961e-04 -9.67501040e-03 3.08227335e+00] [ 8.40934799e-04 9.99976263e-01 6.83860938e-03 2.29203418e-01] [ 9.66948254e-03 -6.84642331e-03 9.99929811e-01 9.74885101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56255784400003 meters Centerline goodness [0,1] 0.2501737921445951 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:0.97 [[ 0.99990557 0.00738949 -0.01158623 3.0640761 ] [-0.00732367 0.99995686 0.0057129 0.22156278] [ 0.01162794 -0.0056275 0.99991656 0.97299955] [ 0. 0. 0. 1. ]] SLAMing on 235.59255784400003 meters Centerline goodness [0,1] 0.2502165439584235 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:0.97 [[ 0.9999039 0.00747343 -0.01167625 3.06443559] [-0.00740546 0.99995544 0.00585398 0.22095925] [ 0.01171948 -0.00576694 0.99991469 0.97274844] [ 0. 0. 0. 1. ]] SLAMing on 235.622557844 meters Centerline goodness [0,1] 0.24902639549978367 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:0.97 [[ 0.99990509 0.00751456 -0.01154767 3.06403431] [-0.00744628 0.99995461 0.00594469 0.22054378] [ 0.01159182 -0.00585814 0.99991565 0.9728609 ] [ 0. 0. 0. 1. ]] SLAMing on 235.652557844 meters Centerline goodness [0,1] 0.2498644516254961 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:0.97 [[ 0.99990429 0.00767225 -0.01151323 3.06375702] [-0.00759969 0.99995107 0.00633287 0.21858525] [ 0.01156126 -0.00624477 0.99991367 0.97318797] [ 0. 0. 0. 1. ]] SLAMing on 235.682557844 meters Centerline goodness [0,1] 0.25055149444180114 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:0.97 [[ 0.99990124 0.0077846 -0.01170125 3.06437781] [-0.00770746 0.99994836 0.00662307 0.21717172] [ 0.0117522 -0.00653223 0.9999096 0.97293707] [ 0. 0. 0. 1. ]] SLAMing on 235.712557844 meters Centerline goodness [0,1] 0.2501084316446912 Centerline is valid? [False, False] Translation: X:3.07, Y:0.22, Z:0.97 [[ 0.9998976 0.00792549 -0.0119156 3.06515564] [-0.00784239 0.99994472 0.00700444 0.21536968] [ 0.01197046 -0.00691027 0.99990447 0.97259487] [ 0. 0. 0. 1. ]] SLAMing on 235.742557844 meters Centerline goodness [0,1] 0.25601348245748434 Centerline is valid? [False, False] Translation: X:3.04, Y:0.22, Z:0.97 [[ 9.99920477e-01 -6.12075476e-04 -1.25962681e-02 3.04466542e+00] [ 7.17187938e-04 9.99964949e-01 8.34190590e-03 2.15485909e-01] [ 1.25907207e-02 -8.35027641e-03 9.99885867e-01 9.71189029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.772557844 meters Centerline goodness [0,1] 0.25005415240653295 Centerline is valid? [False, False] Translation: X:3.07, Y:0.21, Z:0.97 [[ 0.99993133 0.00437154 -0.01087285 3.06600936] [-0.00431902 0.99997892 0.00484925 0.2105676 ] [ 0.01089382 -0.00480196 0.99992913 0.97132836] [ 0. 0. 0. 1. ]] SLAMing on 235.802557844 meters Centerline goodness [0,1] 0.2508219207907858 Centerline is valid? [False, False] Translation: X:3.07, Y:0.21, Z:0.97 [[ 0.99992967 0.00449633 -0.01097423 3.06633085] [-0.00443723 0.99997555 0.00540437 0.20769415] [ 0.01099826 -0.0053553 0.99992518 0.97133772] [ 0. 0. 0. 1. ]] SLAMing on 235.832557844 meters Centerline goodness [0,1] 0.2504459042067255 Centerline is valid? [False, False] Translation: X:3.07, Y:0.21, Z:0.97 [[ 9.99935106e-01 1.20348162e-03 -1.13284854e-02 3.06737459e+00] [-1.17839543e-03 9.99996840e-01 2.22084904e-03 2.06868623e-01] [ 1.13311223e-02 -2.20735549e-03 9.99933364e-01 9.71013470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862557844 meters Centerline goodness [0,1] 0.24986434571223926 Centerline is valid? [False, False] Translation: X:3.07, Y:0.20, Z:0.97 [[ 9.99932252e-01 1.40677427e-03 -1.15547375e-02 3.06821668e+00] [-1.37421131e-03 9.99995064e-01 2.82560373e-03 2.04014808e-01] [ 1.15586554e-02 -2.80953365e-03 9.99929250e-01 9.70635442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.892557844 meters Centerline goodness [0,1] 0.25001083799367063 Centerline is valid? [False, False] Translation: X:3.07, Y:0.20, Z:0.97 [[ 9.99931913e-01 1.70181687e-03 -1.15443791e-02 3.06824148e+00] [-1.66040194e-03 9.99992156e-01 3.59609058e-03 2.00483714e-01] [ 1.15504084e-02 -3.57667743e-03 9.99926895e-01 9.70690495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922557844 meters Centerline goodness [0,1] 0.2506345590628051 Centerline is valid? [False, False] Translation: X:3.07, Y:0.20, Z:0.97 [[ 9.99933342e-01 1.78905236e-03 -1.14066079e-02 3.06763929e+00] [-1.74533998e-03 9.99991100e-01 3.84100115e-03 1.99225601e-01] [ 1.14133781e-02 -3.82083671e-03 9.99927565e-01 9.71159935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.952557844 meters Centerline goodness [0,1] 0.25456123223776983 Centerline is valid? [False, False] Translation: X:3.07, Y:0.20, Z:0.97 [[ 9.99934175e-01 1.84790918e-03 -1.13238928e-02 3.06703553e+00] [-1.80244296e-03 9.99990279e-01 4.02396028e-03 1.98257723e-01] [ 1.13312187e-02 -4.00328473e-03 9.99927786e-01 9.71871393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982557844 meters Centerline goodness [0,1] 0.24895424554745782 Centerline is valid? [False, False] Translation: X:3.07, Y:0.20, Z:0.97 [[ 9.99934442e-01 2.01547494e-03 -1.12716339e-02 3.06683368e+00] [-1.96587370e-03 9.99988344e-01 4.40988677e-03 1.96546435e-01] [ 1.12803905e-02 -4.38743905e-03 9.99926749e-01 9.71989951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.012557844 meters Centerline goodness [0,1] 0.24911909033917723 Centerline is valid? [False, False] Translation: X:3.07, Y:0.20, Z:0.97 [[ 9.99933336e-01 2.11132627e-03 -1.13518704e-02 3.06710153e+00] [-2.05862810e-03 9.99987061e-01 4.65192767e-03 1.95513169e-01] [ 1.13615452e-02 -4.62824827e-03 9.99924744e-01 9.71891292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04255784400002 meters Centerline goodness [0,1] 0.24880331191513216 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.97 [[ 9.99932973e-01 2.23547225e-03 -1.13601184e-02 3.06716381e+00] [-2.17890971e-03 9.99985181e-01 4.98898443e-03 1.93915648e-01] [ 1.13711028e-02 -4.96389736e-03 9.99923026e-01 9.71868820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07255784400002 meters Centerline goodness [0,1] 0.25141181581233707 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.97 [[ 9.99936773e-01 -1.68241626e-03 -1.11183974e-02 3.06606416e+00] [ 1.70000313e-03 9.99997319e-01 1.57251952e-03 1.90606487e-01] [ 1.11157220e-02 -1.59132141e-03 9.99936952e-01 9.72767794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10255784400002 meters Centerline goodness [0,1] 0.25891243276203746 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.97 [[ 9.99937483e-01 -1.61387844e-03 -1.10646170e-02 3.06579440e+00] [ 1.63864385e-03 9.99996172e-01 2.22955184e-03 1.87004417e-01] [ 1.10609764e-02 -2.24754342e-03 9.99936300e-01 9.73127822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13255784400002 meters Centerline goodness [0,1] 0.24759166684545908 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.97 [[ 9.99939947e-01 4.00815842e-03 -1.01998372e-02 3.08846611e+00] [-4.01239159e-03 9.99991872e-01 -3.94593743e-04 1.82764350e-01] [ 1.01981727e-02 4.35495788e-04 9.99947902e-01 9.72570482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16255784400002 meters Centerline goodness [0,1] 0.24988694360100783 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.97 [[ 9.99938844e-01 4.24721618e-03 -1.02112144e-02 3.08868814e+00] [-4.24316060e-03 9.99990910e-01 4.18800788e-04 1.78867324e-01] [ 1.02129003e-02 -3.75447353e-04 9.99947776e-01 9.72354027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19255784400002 meters Centerline goodness [0,1] 0.2593797772439397 Centerline is valid? [False, False] Translation: X:3.07, Y:0.17, Z:0.97 [[ 9.99920281e-01 -5.32585009e-03 -1.14484492e-02 3.06561355e+00] [ 5.33942585e-03 9.99985077e-01 1.15557837e-03 1.72463271e-01] [ 1.14421239e-02 -1.21661440e-03 9.99933797e-01 9.72633010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22255784400002 meters Centerline goodness [0,1] 0.2514147479372759 Centerline is valid? [False, False] Translation: X:3.09, Y:0.17, Z:0.97 [[ 9.99937020e-01 9.25644119e-04 -1.11847986e-02 3.08790571e+00] [-9.45195298e-04 9.99998035e-01 -1.74285394e-03 1.68100892e-01] [ 1.11831633e-02 1.75331600e-03 9.99935929e-01 9.72737944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25255784400002 meters Centerline goodness [0,1] 0.25046930628978314 Centerline is valid? [False, False] Translation: X:3.09, Y:0.17, Z:0.97 [[ 9.99934373e-01 1.11805573e-03 -1.14017169e-02 3.08849989e+00] [-1.13238491e-03 9.99998577e-01 -1.25037838e-03 1.65645903e-01] [ 1.14003027e-02 1.26320746e-03 9.99934217e-01 9.72721297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28255784400002 meters Centerline goodness [0,1] 0.2596917838121017 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:0.97 [[ 9.99933179e-01 1.29432237e-03 -1.14875233e-02 3.08862953e+00] [-1.30481830e-03 9.99998738e-01 -9.06232763e-04 1.64158092e-01] [ 1.14863359e-02 9.21161338e-04 9.99933606e-01 9.72847801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31255784400003 meters Centerline goodness [0,1] 0.2551137470508019 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:0.97 [[ 9.99932336e-01 1.78314126e-03 -1.14953557e-02 3.08873976e+00] [-1.78621747e-03 9.99998372e-01 -2.57343307e-04 1.61770005e-01] [ 1.14948781e-02 2.77859100e-04 9.99933893e-01 9.72647519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34255784400003 meters Centerline goodness [0,1] 0.2573581963485153 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:0.97 [[ 9.99933703e-01 1.92612715e-03 -1.13525352e-02 3.08834655e+00] [-1.92548396e-03 9.99998144e-01 6.75861161e-05 1.60131725e-01] [ 1.13526443e-02 -4.57225110e-05 9.99935556e-01 9.72700887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372557844 meters Centerline goodness [0,1] 0.2513237847222223 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:0.97 [[ 9.99935049e-01 2.05945882e-03 -1.12096846e-02 3.08791152e+00] [-2.05494097e-03 9.99997803e-01 4.14534526e-04 1.58305573e-01] [ 1.12105137e-02 -3.91472361e-04 9.99937084e-01 9.72854031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.402557844 meters Centerline goodness [0,1] 0.25249696022233803 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:0.97 [[ 9.99934712e-01 2.45662196e-03 -1.11595979e-02 3.08758433e+00] [-2.44135178e-03 9.99996065e-01 1.38176133e-03 1.53873508e-01] [ 1.11629485e-02 -1.35442662e-03 9.99936775e-01 9.73226139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.432557844 meters Centerline goodness [0,1] 0.2515913913307063 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:0.97 [[ 9.99932651e-01 2.68370445e-03 -1.12912238e-02 3.08789289e+00] [-2.66179764e-03 9.99994547e-01 1.95474373e-03 1.51200204e-01] [ 1.12964082e-02 -1.92455712e-03 9.99934341e-01 9.73333817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.462557844 meters Centerline goodness [0,1] 0.2522561704903773 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:0.97 [[ 9.99931264e-01 2.87450688e-03 -1.13668029e-02 3.08796268e+00] [-2.84635788e-03 9.99992845e-01 2.49182456e-03 1.48514403e-01] [ 1.13738843e-02 -2.45929929e-03 9.99932291e-01 9.73629797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.492557844 meters Centerline goodness [0,1] 0.2592560459819976 Centerline is valid? [False, False] Translation: X:3.09, Y:0.14, Z:0.97 [[ 9.99931332e-01 3.09849750e-03 -1.13017628e-02 3.08750309e+00] [-3.05965835e-03 9.99989360e-01 3.45223000e-03 1.43085649e-01] [ 1.13123393e-02 -3.41741341e-03 9.99930174e-01 9.74214193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.522557844 meters Centerline goodness [0,1] 0.250254037575941 Centerline is valid? [False, False] Translation: X:3.09, Y:0.14, Z:0.97 [[ 0.99993007 0.0033298 -0.01134715 3.08767901] [-0.00328377 0.99998632 0.00407266 0.1402635 ] [ 0.01136055 -0.00403511 0.99992733 0.9741558 ] [ 0. 0. 0. 1. ]] SLAMing on 236.552557844 meters Centerline goodness [0,1] 0.2622115279448759 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:0.97 [[ 0.99991062 -0.00520681 -0.01231405 3.06756598] [ 0.00527913 0.99996897 0.00584787 0.13988371] [ 0.01228322 -0.00591235 0.99990708 0.97278525] [ 0. 0. 0. 1. ]] SLAMing on 236.582557844 meters Centerline goodness [0,1] 0.26049908703590996 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99918028e-01 2.75558901e-03 -1.25037232e-02 3.08664237e+00] [-2.69618990e-03 9.99985013e-01 4.76488660e-03 1.32961474e-01] [ 1.25166659e-02 -4.73078360e-03 9.99910472e-01 9.74729694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.612557844 meters Centerline goodness [0,1] 0.2538402876130298 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99916918e-01 -8.08394079e-04 -1.28648449e-02 3.08777413e+00] [ 8.27600122e-04 9.99998551e-01 1.48765535e-03 1.29918180e-01] [ 1.28636236e-02 -1.49817870e-03 9.99916138e-01 9.74251904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642557844 meters Centerline goodness [0,1] 0.25015668561301896 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99913673e-01 -6.42661043e-04 -1.31237548e-02 3.08859763e+00] [ 6.67095885e-04 9.99998052e-01 1.85758624e-03 1.28190206e-01] [ 1.31225354e-02 -1.86618068e-03 9.99912154e-01 9.73972517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.672557844 meters Centerline goodness [0,1] 0.2477906551701894 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99912374e-01 -4.82127218e-04 -1.32291931e-02 3.08897821e+00] [ 5.10338049e-04 9.99997603e-01 2.12917504e-03 1.27118220e-01] [ 1.32281349e-02 -2.13573983e-03 9.99910224e-01 9.73769362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702557844 meters Centerline goodness [0,1] 0.25211638484472587 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99912040e-01 -1.55791366e-04 -1.32622775e-02 3.08933780e+00] [ 1.86316755e-04 9.99997337e-01 2.30046581e-03 1.27051240e-01] [ 1.32618838e-02 -2.30273444e-03 9.99909406e-01 9.73214742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.732557844 meters Centerline goodness [0,1] 0.25193442622950823 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99913268e-01 -1.77526049e-04 -1.31691136e-02 3.08906092e+00] [ 2.05566246e-04 9.99997715e-01 2.12791644e-03 1.27947309e-01] [ 1.31687058e-02 -2.13043901e-03 9.99911019e-01 9.73223211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.762557844 meters Centerline goodness [0,1] 0.2521822208711513 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99913261e-01 -1.89575056e-04 -1.31694379e-02 3.08911057e+00] [ 2.15785711e-04 9.99997999e-01 1.98887136e-03 1.28706449e-01] [ 1.31690345e-02 -1.99154063e-03 9.99911301e-01 9.73093009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79255784400002 meters Centerline goodness [0,1] 0.24586318937877905 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99912968e-01 -1.88256065e-04 -1.31917208e-02 3.08937454e+00] [ 2.13091326e-04 9.99998208e-01 1.88125965e-03 1.29347846e-01] [ 1.31913430e-02 -1.88390696e-03 9.99911216e-01 9.72655096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82255784400002 meters Centerline goodness [0,1] 0.24684556218131537 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99912487e-01 -1.89335827e-04 -1.32281041e-02 3.08966056e+00] [ 2.13610710e-04 9.99998296e-01 1.83371039e-03 1.29713801e-01] [ 1.32277344e-02 -1.83637558e-03 9.99910823e-01 9.72260055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85255784400002 meters Centerline goodness [0,1] 0.2513858394382731 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99912940e-01 -1.73743808e-04 -1.31940399e-02 3.08947533e+00] [ 1.98927666e-04 9.99998161e-01 1.90744147e-03 1.29378933e-01] [ 1.31936842e-02 -1.90990007e-03 9.99911136e-01 9.72438726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88255784400002 meters Centerline goodness [0,1] 0.24981037210411117 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99912438e-01 -1.74525119e-04 -1.32319736e-02 3.08942400e+00] [ 2.01153875e-04 9.99997957e-01 2.01115113e-03 1.28785796e-01] [ 1.32315956e-02 -2.01363669e-03 9.99910431e-01 9.72756402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91255784400002 meters Centerline goodness [0,1] 0.251380014778111 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99915327e-01 -1.98270976e-04 -1.30114829e-02 3.08865575e+00] [ 2.27654284e-04 9.99997427e-01 2.25681743e-03 1.27278241e-01] [ 1.30110020e-02 -2.25958846e-03 9.99912800e-01 9.73231511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94255784400002 meters Centerline goodness [0,1] 0.2481934467956599 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99917791e-01 -1.65517277e-04 -1.28212495e-02 3.08791866e+00] [ 1.96799460e-04 9.99997007e-01 2.43864681e-03 1.26296818e-01] [ 1.28208075e-02 -2.44096955e-03 9.99914831e-01 9.73739593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97255784400002 meters Centerline goodness [0,1] 0.24873811225926645 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99920938e-01 -9.82852337e-05 -1.25741261e-02 3.08698397e+00] [ 1.31819624e-04 9.99996437e-01 2.66613510e-03 1.25186198e-01] [ 1.25738192e-02 -2.66758182e-03 9.99917388e-01 9.74294261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00255784400002 meters Centerline goodness [0,1] 0.24873811225926645 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:0.97 [[ 9.99920938e-01 -9.82852337e-05 -1.25741261e-02 3.08698397e+00] [ 1.31819624e-04 9.99996437e-01 2.66613510e-03 1.25186198e-01] [ 1.25738192e-02 -2.66758182e-03 9.99917388e-01 9.74294261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03255784400002 meters Centerline goodness [0,1] 0.2528349616189811 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99921957e-01 7.43058316e-05 -1.24930032e-02 3.08676135e+00] [-3.47546008e-05 9.99994987e-01 3.16605784e-03 1.22811180e-01] [ 1.24931758e-02 -3.16537656e-03 9.99916947e-01 9.74412832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06255784400003 meters Centerline goodness [0,1] 0.25250195805412934 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99919518e-01 1.45141085e-04 -1.26860590e-02 3.08754137e+00] [-1.01957061e-04 9.99994199e-01 3.40463394e-03 1.21577181e-01] [ 1.26864795e-02 -3.40306649e-03 9.99913732e-01 9.73902428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09255784400003 meters Centerline goodness [0,1] 0.25137706559839756 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99917421e-01 2.32400023e-04 -1.28490036e-02 3.08833779e+00] [-1.85342188e-04 9.99993272e-01 3.66344175e-03 1.20224963e-01] [ 1.28497685e-02 -3.66075777e-03 9.99910737e-01 9.73272072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122557844 meters Centerline goodness [0,1] 0.2515685040053839 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99916081e-01 3.14351202e-04 -1.29511231e-02 3.08895486e+00] [-2.63895295e-04 9.99992370e-01 3.89739591e-03 1.18949190e-01] [ 1.29522495e-02 -3.89365111e-03 9.99908535e-01 9.72673427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.152557844 meters Centerline goodness [0,1] 0.2461528541953233 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:0.97 [[ 9.99886106e-01 8.80295979e-03 -1.22589961e-02 3.10922158e+00] [-8.76997539e-03 9.99957784e-01 2.74179251e-03 1.14972433e-01] [ 1.22826145e-02 -2.63396915e-03 9.99921097e-01 9.73644332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.182557844 meters Centerline goodness [0,1] 0.25268910856595395 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99920420e-01 5.74362916e-04 -1.26025150e-02 3.08784291e+00] [-5.22618646e-04 9.99991422e-01 4.10877774e-03 1.18617837e-01] [ 1.26047668e-02 -4.10186446e-03 9.99912143e-01 9.72630840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.212557844 meters Centerline goodness [0,1] 0.2508222260688939 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99919136e-01 5.46122548e-04 -1.27052449e-02 3.08836754e+00] [-4.96708216e-04 9.99992302e-01 3.89211653e-03 1.19795817e-01] [ 1.27072727e-02 -3.88549100e-03 9.99911710e-01 9.72097100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.242557844 meters Centerline goodness [0,1] 0.2504379419970155 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99918541e-01 5.15242578e-04 -1.27532893e-02 3.08869134e+00] [-4.68167493e-04 9.99993068e-01 3.69392151e-03 1.20827001e-01] [ 1.27551042e-02 -3.68764993e-03 9.99911850e-01 9.71667331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.272557844 meters Centerline goodness [0,1] 0.24856497903901964 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99922645e-01 4.30713261e-04 -1.24305356e-02 3.08752082e+00] [-3.88619484e-04 9.99994183e-01 3.38853727e-03 1.22230626e-01] [ 1.24319228e-02 -3.38344441e-03 9.99916996e-01 9.72113308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302557844 meters Centerline goodness [0,1] 0.25184365781710916 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99923172e-01 3.85307399e-04 -1.23896098e-02 3.08734977e+00] [-3.44705934e-04 9.99994565e-01 3.27902606e-03 1.22737370e-01] [ 1.23908059e-02 -3.27450337e-03 9.99917869e-01 9.72189321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.332557844 meters Centerline goodness [0,1] 0.24958355868036775 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99921314e-01 3.33227536e-04 -1.25401082e-02 3.08787842e+00] [-2.93226710e-04 9.99994864e-01 3.19153441e-03 1.23117810e-01] [ 1.25411073e-02 -3.18760619e-03 9.99916276e-01 9.71908627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362557844 meters Centerline goodness [0,1] 0.25589070028380967 Centerline is valid? [False, False] Translation: X:3.04, Y:0.12, Z:0.97 [[ 9.99879276e-01 -6.37658678e-04 -1.55250603e-02 3.04395529e+00] [ 6.88816135e-04 9.99994351e-01 3.29002928e-03 1.20130252e-01] [ 1.55228747e-02 -3.30032600e-03 9.99874066e-01 9.72199425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.392557844 meters Centerline goodness [0,1] 0.24873019646832517 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99903505e-01 -1.54461541e-03 -1.38055869e-02 3.08934890e+00] [ 1.57149223e-03 9.99996891e-01 1.93617132e-03 1.24288686e-01] [ 1.38025533e-02 -1.95767986e-03 9.99902824e-01 9.71527621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422557844 meters Centerline goodness [0,1] 0.24846275000539386 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99904933e-01 -1.59980338e-03 -1.36954685e-02 3.08882812e+00] [ 1.62697097e-03 9.99996731e-01 1.97278031e-03 1.23952821e-01] [ 1.36922677e-02 -1.99487489e-03 9.99904267e-01 9.71960392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.452557844 meters Centerline goodness [0,1] 0.2501087523925526 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99906258e-01 -1.62593940e-03 -1.35952756e-02 3.08822716e+00] [ 1.65394381e-03 9.99996533e-01 2.04887354e-03 1.23505028e-01] [ 1.35918972e-02 -2.07116730e-03 9.99905481e-01 9.72605265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482557844 meters Centerline goodness [0,1] 0.2462802432397464 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99908065e-01 -1.95870005e-03 -1.34173341e-02 3.08758362e+00] [ 1.98739479e-03 9.99995766e-01 2.12563308e-03 1.22297202e-01] [ 1.34131138e-02 -2.15210320e-03 9.99907724e-01 9.73086391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.512557844 meters Centerline goodness [0,1] 0.249566837044096 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99906191e-01 -1.96329176e-03 -1.35555934e-02 3.08791067e+00] [ 1.99436299e-03 9.99995414e-01 2.27899595e-03 1.21379110e-01] [ 1.35510569e-02 -2.30581693e-03 9.99905522e-01 9.73174101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54255784400002 meters Centerline goodness [0,1] 0.25226836503228056 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99902635e-01 -1.95043982e-03 -1.38172294e-02 3.08851017e+00] [ 1.98498189e-03 9.99994938e-01 2.48665416e-03 1.20197130e-01] [ 1.38123094e-02 -2.51383900e-03 9.99901446e-01 9.73319691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57255784400002 meters Centerline goodness [0,1] 0.25185379045625056 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99898753e-01 -1.95518149e-03 -1.40946939e-02 3.08921901e+00] [ 1.99336415e-03 9.99994380e-01 2.69547008e-03 1.18927972e-01] [ 1.40893446e-02 -2.72329303e-03 9.99897032e-01 9.73351555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60255784400002 meters Centerline goodness [0,1] 0.24732764962998222 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99896284e-01 -1.89573801e-03 -1.42768440e-02 3.08965332e+00] [ 1.93910508e-03 9.99993547e-01 3.02435099e-03 1.17215851e-01] [ 1.42710185e-02 -3.05172161e-03 9.99893507e-01 9.73428377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63255784400002 meters Centerline goodness [0,1] 0.2552356020942408 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:0.97 [[ 9.99909160e-01 -2.05600377e-03 -1.33207965e-02 3.08685848e+00] [ 2.10396993e-03 9.99991350e-01 3.58783510e-03 1.13672755e-01] [ 1.33133047e-02 -3.61553574e-03 9.99904837e-01 9.74442742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66255784400002 meters Centerline goodness [0,1] 0.2544253112487145 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:0.97 [[ 9.99911559e-01 -1.95407113e-03 -1.31550697e-02 3.08632137e+00] [ 2.00774059e-03 9.99989711e-01 4.06778593e-03 1.11239778e-01] [ 1.31469856e-02 -4.09383814e-03 9.99905194e-01 9.74745919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69255784400002 meters Centerline goodness [0,1] 0.2497455332972388 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:0.97 [[ 9.99916465e-01 3.88059581e-03 -1.23289537e-02 3.10865942e+00] [-3.87130742e-03 9.99992204e-01 7.77156485e-04 1.08059654e-01] [ 1.23318735e-02 -7.29362396e-04 9.99923694e-01 9.74236413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72255784400002 meters Centerline goodness [0,1] 0.24946861579837765 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:0.97 [[ 9.99914203e-01 4.03188034e-03 -1.24631824e-02 3.10918425e+00] [-4.01613080e-03 9.99991105e-01 1.28845521e-03 1.05425635e-01] [ 1.24682664e-02 -1.23829090e-03 9.99921501e-01 9.73915417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75255784400002 meters Centerline goodness [0,1] 0.2471612903225806 Centerline is valid? [False, False] Translation: X:3.13, Y:0.10, Z:0.97 [[ 9.99931346e-01 -3.88615174e-03 -1.10544931e-02 3.12894593e+00] [ 3.91622813e-03 9.99988685e-01 2.70039419e-03 1.04537571e-01] [ 1.10438739e-02 -2.74350072e-03 9.99935251e-01 9.74898413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78255784400002 meters Centerline goodness [0,1] 0.2482941786146139 Centerline is valid? [False, False] Translation: X:3.13, Y:0.10, Z:0.98 [[ 9.99932459e-01 -3.72863318e-03 -1.10079538e-02 3.12864414e+00] [ 3.76238121e-03 9.99988281e-01 3.04667123e-03 1.02959199e-01] [ 1.09964649e-02 -3.08788157e-03 9.99934769e-01 9.75257010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81255784400003 meters Centerline goodness [0,1] 0.24751278675788246 Centerline is valid? [False, False] Translation: X:3.13, Y:0.10, Z:0.98 [[ 0.99993363 -0.00363312 -0.01093359 3.1284497 ] [ 0.00366838 0.99998813 0.00320646 0.10227671] [ 0.01092181 -0.00324635 0.99993509 0.97529049] [ 0. 0. 0. 1. ]] SLAMing on 237.84255784400003 meters Centerline goodness [0,1] 0.2515139633163421 Centerline is valid? [False, False] Translation: X:3.11, Y:0.10, Z:0.97 [[ 9.99923513e-01 4.54610568e-03 -1.15022074e-02 3.10866761e+00] [-4.52140478e-03 9.99987418e-01 2.17258554e-03 9.70975592e-02] [ 1.15119395e-02 -2.12041323e-03 9.99931487e-01 9.73375251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.872557844 meters Centerline goodness [0,1] 0.24714673327878034 Centerline is valid? [False, False] Translation: X:3.11, Y:0.10, Z:0.97 [[ 0.9998979 0.00679504 -0.01257032 3.11407238] [-0.00674544 0.99996931 0.00398427 0.09784412] [ 0.01259701 -0.00389907 0.99991305 0.97005091] [ 0. 0. 0. 1. ]] SLAMing on 237.902557844 meters Centerline goodness [0,1] 0.2463430420711974 Centerline is valid? [False, False] Translation: X:3.11, Y:0.10, Z:0.97 [[ 0.99989498 0.00682824 -0.01278307 3.11487516] [-0.00678131 0.99997012 0.00371098 0.0993579 ] [ 0.01280803 -0.00362391 0.99991141 0.96950491] [ 0. 0. 0. 1. ]] SLAMing on 237.932557844 meters Centerline goodness [0,1] 0.2526694292793089 Centerline is valid? [False, False] Translation: X:3.07, Y:0.10, Z:0.97 [[ 0.99985739 0.00661952 -0.01553632 3.06914779] [-0.00655801 0.99997047 0.00400706 0.09797983] [ 0.01556238 -0.0039046 0.99987127 0.9706165 ] [ 0. 0. 0. 1. ]] SLAMing on 237.962557844 meters Centerline goodness [0,1] 0.24704183460137508 Centerline is valid? [False, False] Translation: X:3.11, Y:0.10, Z:0.97 [[ 0.99986481 0.00813898 -0.01428694 3.11291458] [-0.00808893 0.99996096 0.00355735 0.10316688] [ 0.01431533 -0.00344131 0.99989161 0.97128264] [ 0. 0. 0. 1. ]] SLAMing on 237.992557844 meters Centerline goodness [0,1] 0.2497717887415779 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:0.97 [[ 9.99883799e-01 -3.75111811e-04 -1.52396849e-02 3.09422561e+00] [ 4.50444715e-04 9.99987696e-01 4.94007445e-03 1.07752813e-01] [ 1.52376443e-02 -4.94636504e-03 9.99871666e-01 9.69215077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.022557844 meters Centerline goodness [0,1] 0.2485713664906677 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:0.97 [[ 9.99883253e-01 -4.52946802e-04 -1.52733650e-02 3.09456451e+00] [ 5.25313350e-04 9.99988655e-01 4.73440913e-03 1.08745469e-01] [ 1.52710472e-02 -4.74187971e-03 9.99872147e-01 9.68721974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.052557844 meters Centerline goodness [0,1] 0.24917080361594657 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:0.97 [[ 9.99883893e-01 -5.20753710e-04 -1.52292569e-02 3.09446282e+00] [ 5.90728515e-04 9.99989289e-01 4.59062415e-03 1.09398733e-01] [ 1.52267032e-02 -4.59908750e-03 9.99873490e-01 9.68680639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.082557844 meters Centerline goodness [0,1] 0.2485145508956066 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:0.97 [[ 9.99887539e-01 -6.61164906e-04 -1.49823722e-02 3.09327713e+00] [ 7.25439845e-04 9.99990556e-01 4.28500899e-03 1.10857072e-01] [ 1.49793976e-02 -4.29539591e-03 9.99878576e-01 9.69609921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.112557844 meters Centerline goodness [0,1] 0.2508933240369531 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:0.97 [[ 9.99888829e-01 -7.40422021e-04 -1.48923432e-02 3.09291589e+00] [ 8.01280980e-04 9.99991351e-01 4.08104227e-03 1.11917921e-01] [ 1.48891927e-02 -4.09252153e-03 9.99880774e-01 9.69781674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142557844 meters Centerline goodness [0,1] 0.2450382669606953 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:0.97 [[ 9.99888561e-01 -8.11971672e-04 -1.49065661e-02 3.09304246e+00] [ 8.69714871e-04 9.99992143e-01 3.86760164e-03 1.13129564e-01] [ 1.49033086e-02 -3.88013510e-03 9.99881411e-01 9.69611668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.172557844 meters Centerline goodness [0,1] 0.24646246764452118 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:0.97 [[ 9.99887654e-01 -9.09220149e-04 -1.49616873e-02 3.09337752e+00] [ 9.63884779e-04 9.99992886e-01 3.64683536e-03 1.14242690e-01] [ 1.49582651e-02 -3.66084699e-03 9.99881417e-01 9.69257659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202557844 meters Centerline goodness [0,1] 0.2488300545974521 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99886566e-01 -1.02931121e-03 -1.50265111e-02 3.09385482e+00] [ 1.08116129e-03 9.99993489e-01 3.44285734e-03 1.15062230e-01] [ 1.50228695e-02 -3.45871288e-03 9.99881168e-01 9.68704693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.232557844 meters Centerline goodness [0,1] 0.24797920216716918 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99886248e-01 -1.04860995e-03 -1.50462842e-02 3.09382206e+00] [ 1.10040817e-03 9.99993496e-01 3.43472610e-03 1.15028210e-01] [ 1.50425846e-02 -3.45089245e-03 9.99880899e-01 9.68845499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262557844 meters Centerline goodness [0,1] 0.25383918509843784 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:0.97 [[ 9.99885436e-01 -1.09550173e-03 -1.50968283e-02 3.09377783e+00] [ 1.14612789e-03 9.99993748e-01 3.34518626e-03 1.15444576e-01] [ 1.50930693e-02 -3.36210592e-03 9.99880441e-01 9.69162184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29255784400002 meters Centerline goodness [0,1] 0.25074914149478333 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:0.97 [[ 9.99874934e-01 7.38875530e-03 -1.39829299e-02 3.11352617e+00] [-7.35854483e-03 9.99970482e-01 2.21074307e-03 1.13385451e-01] [ 1.39988518e-02 -2.10757257e-03 9.99899790e-01 9.70104590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32255784400002 meters Centerline goodness [0,1] 0.24767213114754094 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:0.97 [[ 9.99874833e-01 7.31743511e-03 -1.40275696e-02 3.11381961e+00] [-7.28943436e-03 9.99971338e-01 2.04621416e-03 1.14330981e-01] [ 1.40421406e-02 -1.94370499e-03 9.99899515e-01 9.69778455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35255784400002 meters Centerline goodness [0,1] 0.24635276371080705 Centerline is valid? [False, False] Translation: X:3.13, Y:0.12, Z:0.97 [[ 9.99913812e-01 -6.51601256e-04 -1.31127498e-02 3.13367274e+00] [ 6.87296808e-04 9.99996070e-01 2.71787967e-03 1.20281566e-01] [ 1.31109273e-02 -2.72665777e-03 9.99910330e-01 9.70357914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38255784400002 meters Centerline goodness [0,1] 0.24651983530488208 Centerline is valid? [False, False] Translation: X:3.13, Y:0.12, Z:0.97 [[ 9.99914924e-01 -6.74163517e-04 -1.30265301e-02 3.13327953e+00] [ 7.08750655e-04 9.99996236e-01 2.65069655e-03 1.20657527e-01] [ 1.30246941e-02 -2.65970360e-03 9.99911638e-01 9.70680016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41255784400002 meters Centerline goodness [0,1] 0.2513053398271248 Centerline is valid? [False, False] Translation: X:3.13, Y:0.12, Z:0.97 [[ 9.99916451e-01 -7.07085926e-04 -1.29070227e-02 3.13296505e+00] [ 7.39282107e-04 9.99996627e-01 2.48986932e-03 1.21549567e-01] [ 1.29052186e-02 -2.49920322e-03 9.99913601e-01 9.70660156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44255784400002 meters Centerline goodness [0,1] 0.24577877325982078 Centerline is valid? [False, False] Translation: X:3.18, Y:0.13, Z:0.97 [[ 9.99935992e-01 5.74736470e-04 -1.12995842e-02 3.17810586e+00] [-5.48351641e-04 9.99997117e-01 2.33798604e-03 1.25753940e-01] [ 1.13008953e-02 -2.33164025e-03 9.99933424e-01 9.70067220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47255784400002 meters Centerline goodness [0,1] 0.2478379261518353 Centerline is valid? [False, False] Translation: X:3.18, Y:0.13, Z:0.97 [[ 9.99937606e-01 5.61086572e-04 -1.11565460e-02 3.17770207e+00] [-5.35366263e-04 9.99997193e-01 2.30825355e-03 1.25759801e-01] [ 1.11578098e-02 -2.30213669e-03 9.99935100e-01 9.70100485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50255784400002 meters Centerline goodness [0,1] 0.24948853001349414 Centerline is valid? [False, False] Translation: X:3.18, Y:0.13, Z:0.97 [[ 9.99941805e-01 5.72499495e-04 -1.07731042e-02 3.17632566e+00] [-5.47395171e-04 9.99997129e-01 2.33308204e-03 1.25469282e-01] [ 1.07744090e-02 -2.32704912e-03 9.99939247e-01 9.70793477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53255784400002 meters Centerline goodness [0,1] 0.25081298151421905 Centerline is valid? [False, False] Translation: X:3.18, Y:0.13, Z:0.97 [[ 9.99942096e-01 5.78225372e-04 -1.07457397e-02 3.17624163e+00] [-5.53473211e-04 9.99997187e-01 2.30627061e-03 1.25664550e-01] [ 1.07470430e-02 -2.30018959e-03 9.99939603e-01 9.70777272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56255784400003 meters Centerline goodness [0,1] 0.24999452054794524 Centerline is valid? [False, False] Translation: X:3.18, Y:0.13, Z:0.97 [[ 9.99941969e-01 5.70796732e-04 -1.07579139e-02 3.17634764e+00] [-5.46742732e-04 9.99997345e-01 2.23874373e-03 1.26088233e-01] [ 1.07591632e-02 -2.23273200e-03 9.99939626e-01 9.70610272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59255784400003 meters Centerline goodness [0,1] 0.2515072083879424 Centerline is valid? [False, False] Translation: X:3.18, Y:0.13, Z:0.97 [[ 9.99941834e-01 5.38976607e-04 -1.07721388e-02 3.17642509e+00] [-5.15944958e-04 9.99997576e-01 2.14074040e-03 1.26585808e-01] [ 1.07732665e-02 -2.13505805e-03 9.99939687e-01 9.70495951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62255784400003 meters Centerline goodness [0,1] 0.24707305482351927 Centerline is valid? [False, False] Translation: X:3.18, Y:0.13, Z:0.97 [[ 9.99939635e-01 5.66015915e-04 -1.09729632e-02 3.17697868e+00] [-5.42670607e-04 9.99997583e-01 2.13039066e-03 1.26643104e-01] [ 1.09741425e-02 -2.12430736e-03 9.99937526e-01 9.70398505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.652557844 meters Centerline goodness [0,1] 0.24977131158252386 Centerline is valid? [False, False] Translation: X:3.18, Y:0.13, Z:0.97 [[ 9.99938696e-01 5.76742342e-04 -1.10576896e-02 3.17728160e+00] [-5.52470269e-04 9.99997432e-01 2.19796917e-03 1.26130265e-01] [ 1.10589288e-02 -2.19172538e-03 9.99936446e-01 9.70223449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.682557844 meters Centerline goodness [0,1] 0.2488638587488312 Centerline is valid? [False, False] Translation: X:3.18, Y:0.12, Z:0.97 [[ 9.99937785e-01 6.32865205e-04 -1.11366711e-02 3.17747014e+00] [-6.06036536e-04 9.99996907e-01 2.41224825e-03 1.24994877e-01] [ 1.11381633e-02 -2.40534894e-03 9.99935076e-01 9.70252263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.712557844 meters Centerline goodness [0,1] 0.24952115619014448 Centerline is valid? [False, False] Translation: X:3.18, Y:0.12, Z:0.97 [[ 9.99937578e-01 7.40614145e-04 -1.11486038e-02 3.17736744e+00] [-7.10476304e-04 9.99996084e-01 2.70700174e-03 1.23697720e-01] [ 1.11505650e-02 -2.69891195e-03 9.99934188e-01 9.70492483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.742557844 meters Centerline goodness [0,1] 0.24670457482553632 Centerline is valid? [False, False] Translation: X:3.18, Y:0.12, Z:0.97 [[ 9.99940161e-01 9.36039423e-04 -1.08994434e-02 3.17611443e+00] [-8.99027614e-04 9.99993815e-01 3.40015678e-03 1.20399446e-01] [ 1.09025587e-02 -3.39015442e-03 9.99934818e-01 9.71679043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.772557844 meters Centerline goodness [0,1] 0.2465256797583082 Centerline is valid? [False, False] Translation: X:3.18, Y:0.12, Z:0.97 [[ 9.99941020e-01 1.07314810e-03 -1.08076325e-02 3.17567787e+00] [-1.03123988e-03 9.99991931e-01 3.88247767e-03 1.17928696e-01] [ 1.08117118e-02 -3.87110342e-03 9.99934059e-01 9.72088567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.802557844 meters Centerline goodness [0,1] 0.24725381444633876 Centerline is valid? [False, False] Translation: X:3.18, Y:0.12, Z:0.97 [[ 9.99941753e-01 1.22861133e-03 -1.07229668e-02 3.17539509e+00] [-1.18201576e-03 9.99989837e-01 4.35065532e-03 1.15594639e-01] [ 1.07282031e-02 -4.33772719e-03 9.99933043e-01 9.72286692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.832557844 meters Centerline goodness [0,1] 0.24674065294688075 Centerline is valid? [False, False] Translation: X:3.18, Y:0.11, Z:0.97 [[ 9.99941664e-01 1.49119123e-03 -1.06978744e-02 3.17545404e+00] [-1.43748143e-03 9.99986334e-01 5.02653859e-03 1.12366194e-01] [ 1.07052237e-02 -5.01086736e-03 9.99930142e-01 9.72144077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.862557844 meters Centerline goodness [0,1] 0.24539007092198584 Centerline is valid? [False, False] Translation: X:3.18, Y:0.11, Z:0.97 [[ 9.99941799e-01 1.56170016e-03 -1.06752039e-02 3.17538841e+00] [-1.50615765e-03 9.99985299e-01 5.20900618e-03 1.11469063e-01] [ 1.06831818e-02 -5.19262447e-03 9.99929451e-01 9.72175924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.892557844 meters Centerline goodness [0,1] 0.24539007092198584 Centerline is valid? [False, False] Translation: X:3.18, Y:0.11, Z:0.97 [[ 9.99941799e-01 1.56170016e-03 -1.06752039e-02 3.17538841e+00] [-1.50615765e-03 9.99985299e-01 5.20900618e-03 1.11469063e-01] [ 1.06831818e-02 -5.19262447e-03 9.99929451e-01 9.72175924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.922557844 meters Centerline goodness [0,1] 0.2462744255958772 Centerline is valid? [False, False] Translation: X:3.18, Y:0.11, Z:0.97 [[ 9.99940628e-01 1.66142603e-03 -1.07693674e-02 3.17553820e+00] [-1.60268466e-03 9.99983805e-01 5.46082380e-03 1.10155949e-01] [ 1.07782657e-02 -5.44323968e-03 9.99927097e-01 9.72338142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.952557844 meters Centerline goodness [0,1] 0.25040205154952844 Centerline is valid? [False, False] Translation: X:3.18, Y:0.11, Z:0.97 [[ 9.99939595e-01 1.79482495e-03 -1.08436229e-02 3.17568428e+00] [-1.73194514e-03 9.99981649e-01 5.80539290e-03 1.08485117e-01] [ 1.08538436e-02 -5.78626167e-03 9.99924354e-01 9.72436484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982557844 meters Centerline goodness [0,1] 0.2514667994544155 Centerline is valid? [False, False] Translation: X:3.18, Y:0.10, Z:0.97 [[ 9.99940015e-01 2.08536485e-03 -1.07525238e-02 3.17534248e+00] [-2.01439933e-03 9.99976148e-01 6.60650678e-03 1.04641271e-01] [ 1.07660443e-02 -6.58445061e-03 9.99920365e-01 9.72717350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.012557844 meters Centerline goodness [0,1] 0.2507796933206272 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:0.97 [[ 9.99940804e-01 2.27732982e-03 -1.06396380e-02 3.17495044e+00] [-2.20201389e-03 9.99972475e-01 7.08516561e-03 1.02524340e-01] [ 1.06554804e-02 -7.06131757e-03 9.99918296e-01 9.72948978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04255784400002 meters Centerline goodness [0,1] 0.25221816283924847 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:0.97 [[ 9.99941619e-01 2.47508316e-03 -1.05182048e-02 3.17454119e+00] [-2.39549077e-03 9.99968455e-01 7.57298074e-03 1.00355093e-01] [ 1.05366167e-02 -7.54734236e-03 9.99916005e-01 9.73161301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07255784400002 meters Centerline goodness [0,1] 0.250130878631882 Centerline is valid? [False, False] Translation: X:3.18, Y:0.10, Z:0.97 [[ 9.99941231e-01 -9.88608724e-04 -1.07961869e-02 3.17585482e+00] [ 1.03888105e-03 9.99988640e-01 4.65187366e-03 9.65703476e-02] [ 1.07914654e-02 -4.66281623e-03 9.99930899e-01 9.72422880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10255784400002 meters Centerline goodness [0,1] 0.25218077412001927 Centerline is valid? [False, False] Translation: X:3.18, Y:0.09, Z:0.97 [[ 9.99936329e-01 -8.49751084e-04 -1.12523621e-02 3.17716128e+00] [ 9.09845104e-04 9.99985347e-01 5.33652757e-03 9.27589475e-02] [ 1.12476625e-02 -5.34642570e-03 9.99922450e-01 9.72202358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13255784400002 meters Centerline goodness [0,1] 0.24734459341807413 Centerline is valid? [False, False] Translation: X:3.18, Y:0.09, Z:0.97 [[ 9.99931698e-01 -7.28463650e-04 -1.16648476e-02 3.17818360e+00] [ 7.99157285e-04 9.99981338e-01 6.05688546e-03 8.86398294e-02] [ 1.16602177e-02 -6.06579381e-03 9.99913619e-01 9.72280196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16255784400002 meters Centerline goodness [0,1] 0.24424618567364886 Centerline is valid? [False, False] Translation: X:3.20, Y:0.08, Z:0.97 [[ 9.99928425e-01 5.36724020e-03 -1.06928500e-02 3.20017783e+00] [-5.33612725e-03 9.99981452e-01 2.93610594e-03 8.37452116e-02] [ 1.07084104e-02 -2.87883738e-03 9.99938519e-01 9.72111295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19255784400002 meters Centerline goodness [0,1] 0.24784976444655749 Centerline is valid? [False, False] Translation: X:3.20, Y:0.08, Z:0.97 [[ 0.99992146 0.00589657 -0.01105909 3.20129627] [-0.00584844 0.99997331 0.00437977 0.0766139 ] [ 0.01108462 -0.00431475 0.99992925 0.97185752] [ 0. 0. 0. 1. ]] SLAMing on 239.22255784400002 meters Centerline goodness [0,1] 0.24620107110201594 Centerline is valid? [False, False] Translation: X:3.20, Y:0.07, Z:0.97 [[ 0.99991823 0.00614288 -0.01121618 3.20192257] [-0.00608705 0.99996895 0.00500538 0.07375262] [ 0.01124658 -0.0049367 0.99992457 0.97150587] [ 0. 0. 0. 1. ]] SLAMing on 239.25255784400002 meters Centerline goodness [0,1] 0.2478200209277991 Centerline is valid? [False, False] Translation: X:3.20, Y:0.07, Z:0.97 [[ 0.99991543 0.00633987 -0.01135502 3.20241713] [-0.00627733 0.99996498 0.0055346 0.0711292 ] [ 0.01138971 -0.00546285 0.99992021 0.97132672] [ 0. 0. 0. 1. ]] SLAMing on 239.28255784400002 meters Centerline goodness [0,1] 0.24171850448782795 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99930612e-01 -1.10606358e-03 -1.17280669e-02 3.22233028e+00] [ 1.17691207e-03 9.99981092e-01 6.03575464e-03 7.14690194e-02] [ 1.17211693e-02 -6.04913873e-03 9.99913007e-01 9.71741266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31255784400003 meters Centerline goodness [0,1] 0.24519064124783363 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99929461e-01 -9.78788008e-04 -1.18370088e-02 3.22275777e+00] [ 1.05293454e-03 9.99979856e-01 6.25935001e-03 7.04401278e-02] [ 1.18306438e-02 -6.27137208e-03 9.99910349e-01 9.71491742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34255784400003 meters Centerline goodness [0,1] 0.24669786564030793 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99929059e-01 -8.99673269e-04 -1.18771930e-02 3.22308312e+00] [ 9.75268349e-04 9.99979296e-01 6.36046909e-03 7.00722241e-02] [ 1.18712247e-02 -6.37160133e-03 9.99909234e-01 9.71097946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37255784400003 meters Centerline goodness [0,1] 0.2466187612617502 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99928412e-01 -8.46341240e-04 -1.19354149e-02 3.22357490e+00] [ 9.22090974e-04 9.99979461e-01 6.34256179e-03 7.02759545e-02] [ 1.19298018e-02 -6.35311327e-03 9.99908655e-01 9.70439236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.402557844 meters Centerline goodness [0,1] 0.2448851458139384 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99930612e-01 -7.00763589e-04 -1.17592313e-02 3.22351330e+00] [ 7.74765881e-04 9.99979919e-01 6.28974822e-03 7.09437759e-02] [ 1.17545875e-02 -6.29842244e-03 9.99911076e-01 9.69701707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.432557844 meters Centerline goodness [0,1] 0.24952802551917197 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99933188e-01 -6.88222515e-04 -1.15389225e-02 3.22295051e+00] [ 7.59904742e-04 9.99980435e-01 6.20897843e-03 7.15177002e-02] [ 1.15344236e-02 -6.21733208e-03 9.99914147e-01 9.69677389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.462557844 meters Centerline goodness [0,1] 0.24974983685011964 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99935632e-01 -6.77310710e-04 -1.13257492e-02 3.22229578e+00] [ 7.47258253e-04 9.99980668e-01 6.17288416e-03 7.18702943e-02] [ 1.13213493e-02 -6.18095009e-03 9.99916808e-01 9.69854238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.492557844 meters Centerline goodness [0,1] 0.2506587615283268 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99936480e-01 -6.93128933e-04 -1.12496496e-02 3.22202361e+00] [ 7.62452810e-04 9.99980741e-01 6.15919587e-03 7.18938234e-02] [ 1.12451638e-02 -6.16738197e-03 9.99917751e-01 9.70004343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.522557844 meters Centerline goodness [0,1] 0.24931656642974298 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99934268e-01 -7.61579132e-04 -1.14402320e-02 3.22259374e+00] [ 8.33541993e-04 9.99979890e-01 6.28688179e-03 7.05494210e-02] [ 1.14352140e-02 -6.29600446e-03 9.99914794e-01 9.69884870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.552557844 meters Centerline goodness [0,1] 0.24807130715250836 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99933051e-01 -7.15114222e-04 -1.15491104e-02 3.22297296e+00] [ 7.90148344e-04 9.99978603e-01 6.49370564e-03 6.94187251e-02] [ 1.15442196e-02 -6.50239640e-03 9.99912221e-01 9.69695806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582557844 meters Centerline goodness [0,1] 0.2464420942681812 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99930489e-01 -6.48288290e-04 -1.17727553e-02 3.22367594e+00] [ 7.27565222e-04 9.99977083e-01 6.73089797e-03 6.82625251e-02] [ 1.17681220e-02 -6.73899555e-03 9.99908044e-01 9.69464720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.612557844 meters Centerline goodness [0,1] 0.2466013485499815 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99926675e-01 -5.94185433e-04 -1.20950892e-02 3.22481754e+00] [ 6.78339346e-04 9.99975585e-01 6.95477972e-03 6.71053166e-02] [ 1.20906615e-02 -6.96247434e-03 9.99902665e-01 9.68920225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642557844 meters Centerline goodness [0,1] 0.24754155425985558 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99926752e-01 -5.99781932e-04 -1.20884362e-02 3.22474479e+00] [ 6.83928990e-04 9.99975559e-01 6.95802329e-03 6.70545123e-02] [ 1.20839675e-02 -6.96578127e-03 9.99902723e-01 9.69028509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.672557844 meters Centerline goodness [0,1] 0.24674903174156693 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99928141e-01 -6.14773632e-04 -1.19722729e-02 3.22432863e+00] [ 6.97295406e-04 9.99976022e-01 6.88978679e-03 6.75010078e-02] [ 1.19677501e-02 -6.89763991e-03 9.99904593e-01 9.69193078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702557844 meters Centerline goodness [0,1] 0.24787905155536216 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99929841e-01 -6.72347711e-04 -1.18263004e-02 3.22380977e+00] [ 7.51781102e-04 9.99977182e-01 6.71351019e-03 6.85138493e-02] [ 1.18215167e-02 -6.72192996e-03 9.99907529e-01 9.69437585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.732557844 meters Centerline goodness [0,1] 0.24986815504966164 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:0.97 [[ 9.99929775e-01 -8.82333627e-04 -1.18180632e-02 3.22425173e+00] [ 9.54675983e-04 9.99980835e-01 6.11709572e-03 7.12199788e-02] [ 1.18124394e-02 -6.12794857e-03 9.99911453e-01 9.68532065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762557844 meters Centerline goodness [0,1] 0.2443154851792726 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99952177e-01 -1.20622642e-04 -9.77905092e-03 3.26826362e+00] [ 1.69162008e-04 9.99987670e-01 4.96293184e-03 7.67260551e-02] [ 9.77833171e-03 -4.96434874e-03 9.99939868e-01 9.67907686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79255784400002 meters Centerline goodness [0,1] 0.2470771967117107 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99953907e-01 -1.92512211e-04 -9.59933488e-03 3.26757647e+00] [ 2.38350029e-04 9.99988575e-01 4.77418814e-03 7.76691488e-02] [ 9.59830612e-03 -4.77625608e-03 9.99942528e-01 9.68262081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82255784400002 meters Centerline goodness [0,1] 0.2486285651841329 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99956528e-01 -2.07462332e-04 -9.32193826e-03 3.26656190e+00] [ 2.51085815e-04 9.99989023e-01 4.67873138e-03 7.83905234e-02] [ 9.32086527e-03 -4.68086860e-03 9.99945604e-01 9.68768474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85255784400002 meters Centerline goodness [0,1] 0.2474860817401061 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 0.99993243 0.00861767 -0.00780237 3.2866098 ] [-0.00858795 0.99995577 0.0038352 0.07633347] [ 0.00783507 -0.00376794 0.99996221 0.96938233] [ 0. 0. 0. 1. ]] SLAMing on 239.88255784400002 meters Centerline goodness [0,1] 0.24577763286599286 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99950843e-01 -1.20096986e-03 -9.84224847e-03 3.26622267e+00] [ 1.24307379e-03 9.99990099e-01 4.27287746e-03 7.83283900e-02] [ 9.83701942e-03 -4.28490205e-03 9.99942435e-01 9.69227664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91255784400002 meters Centerline goodness [0,1] 0.24583324279102114 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99948271e-01 -1.21416035e-03 -1.00985904e-02 3.26678877e+00] [ 1.25878708e-03 9.99989466e-01 4.41392303e-03 7.73695094e-02] [ 1.00931248e-02 -4.42640667e-03 9.99939266e-01 9.69386171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94255784400002 meters Centerline goodness [0,1] 0.24741189547326892 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99947782e-01 -1.17657229e-03 -1.01512680e-02 3.26681286e+00] [ 1.22288363e-03 9.99988869e-01 4.55712314e-03 7.66620209e-02] [ 1.01457933e-02 -4.56929900e-03 9.99938090e-01 9.69558215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97255784400002 meters Centerline goodness [0,1] 0.24878826252128727 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99949375e-01 -1.10886895e-03 -1.00009102e-02 3.26625809e+00] [ 1.15606847e-03 9.99988216e-01 4.71497698e-03 7.61201619e-02] [ 9.99556402e-03 -4.72630002e-03 9.99938874e-01 9.69900760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00255784400002 meters Centerline goodness [0,1] 0.24975096366235006 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.97 [[ 0.99995251 0.00722859 -0.006537 3.2847207 ] [-0.00720482 0.99996738 0.00365138 0.07289824] [ 0.00656318 -0.0036041 0.99997197 0.97028918] [ 0. 0. 0. 1. ]] SLAMing on 240.03255784400002 meters Centerline goodness [0,1] 0.2503043478260869 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.97 [[ 0.99995272 0.00725884 -0.00647033 3.28436259] [-0.00723456 0.99996673 0.0037674 0.07223505] [ 0.00649746 -0.00372041 0.99997197 0.9706094 ] [ 0. 0. 0. 1. ]] SLAMing on 240.06255784400003 meters Centerline goodness [0,1] 0.25008662508662505 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.97 [[ 0.99995274 0.00727504 -0.00644989 3.28441323] [-0.00725067 0.99996652 0.00379366 0.07205266] [ 0.00647727 -0.00374671 0.999972 0.97044078] [ 0. 0. 0. 1. ]] SLAMing on 240.09255784400003 meters Centerline goodness [0,1] 0.24581655288264814 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:0.97 [[ 0.99994741 0.00747552 -0.0070204 3.28655888] [-0.00744972 0.99996543 0.00369354 0.0731622 ] [ 0.00704777 -0.00364104 0.99996854 0.96911359] [ 0. 0. 0. 1. ]] SLAMing on 240.12255784400003 meters Centerline goodness [0,1] 0.25121566565908793 Centerline is valid? [False, False] Translation: X:3.24, Y:0.07, Z:0.97 [[ 0.99992247 0.00686877 -0.01038633 3.24262654] [-0.0068264 0.99996826 0.00410965 0.07152595] [ 0.01041423 -0.00403843 0.99993762 0.96961614] [ 0. 0. 0. 1. ]] SLAMing on 240.152557844 meters Centerline goodness [0,1] 0.24501106265976413 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 0.99992938 0.00831906 -0.00848666 3.28841896] [-0.00828911 0.99995931 0.00355861 0.0770884 ] [ 0.00851592 -0.00348801 0.99995766 0.96822401] [ 0. 0. 0. 1. ]] SLAMing on 240.182557844 meters Centerline goodness [0,1] 0.24568536701414423 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99963764e-01 -1.57433770e-04 -8.51148367e-03 3.26916073e+00] [ 1.98437875e-04 9.99988379e-01 4.81687395e-03 8.28942535e-02] [ 8.51062642e-03 -4.81838841e-03 9.99952175e-01 9.66262996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.212557844 meters Centerline goodness [0,1] 0.24805983091263817 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99964421e-01 -2.97832415e-04 -8.43022717e-03 3.26909247e+00] [ 3.34857562e-04 9.99990304e-01 4.39088067e-03 8.49396073e-02] [ 8.42883768e-03 -4.39354737e-03 9.99954825e-01 9.65937744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.242557844 meters Centerline goodness [0,1] 0.24520758142248922 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99961897e-01 -6.00774626e-04 -8.70881478e-03 3.27018806e+00] [ 6.32546317e-04 9.99993154e-01 3.64592690e-03 8.81814866e-02] [ 8.70656477e-03 -3.65129670e-03 9.99955431e-01 9.65165030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.272557844 meters Centerline goodness [0,1] 0.24562811889780867 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99960596e-01 -7.31119996e-04 -8.84715755e-03 3.27054944e+00] [ 7.61100094e-04 9.99993979e-01 3.38577783e-03 8.91995042e-02] [ 8.84462886e-03 -3.39237799e-03 9.99955131e-01 9.65113121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302557844 meters Centerline goodness [0,1] 0.2466468120258255 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99960191e-01 -8.21277034e-04 -8.88496990e-03 3.27054985e+00] [ 8.49966730e-04 9.99994436e-01 3.22572046e-03 8.98727267e-02] [ 8.88227125e-03 -3.23314397e-03 9.99955325e-01 9.65244664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.332557844 meters Centerline goodness [0,1] 0.24743076119143004 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99963337e-01 -9.36290647e-04 -8.51166262e-03 3.26933405e+00] [ 9.63210830e-04 9.99994546e-01 3.15919190e-03 9.02222223e-02] [ 8.50865828e-03 -3.16727459e-03 9.99958785e-01 9.65750350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.362557844 meters Centerline goodness [0,1] 0.2472488116168523 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99963732e-01 -1.00133377e-03 -8.45770770e-03 3.26908755e+00] [ 1.02764248e-03 9.99994646e-01 3.10684696e-03 9.03521437e-02] [ 8.45455142e-03 -3.11542578e-03 9.99959407e-01 9.65935333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.392557844 meters Centerline goodness [0,1] 0.2483961070134858 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99962657e-01 -1.09372056e-03 -8.57258641e-03 3.26947814e+00] [ 1.11943481e-03 9.99994887e-01 2.99536629e-03 9.06214446e-02] [ 8.56926648e-03 -3.00485088e-03 9.99958768e-01 9.65714728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.422557844 meters Centerline goodness [0,1] 0.24631450965066548 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99953365e-01 -1.39680325e-03 -9.55598132e-03 3.27211949e+00] [ 1.42472692e-03 9.99994734e-01 2.91593164e-03 9.01563911e-02] [ 9.55185802e-03 -2.92941032e-03 9.99950089e-01 9.65361854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.452557844 meters Centerline goodness [0,1] 0.24677676214577104 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99953304e-01 -1.29389539e-03 -9.57684808e-03 3.27198956e+00] [ 1.32531022e-03 9.99993760e-01 3.27467002e-03 8.85874593e-02] [ 9.57255124e-03 -3.28720940e-03 9.99948779e-01 9.65705373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482557844 meters Centerline goodness [0,1] 0.24629657994354615 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99954895e-01 -1.19446319e-03 -9.42241356e-03 3.27127612e+00] [ 1.22875869e-03 9.99992639e-01 3.63483000e-03 8.70072768e-02] [ 9.41800253e-03 -3.64624393e-03 9.99949002e-01 9.66332692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.512557844 meters Centerline goodness [0,1] 0.24824202063572043 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99956837e-01 -1.14439278e-03 -9.22030066e-03 3.27043010e+00] [ 1.18075380e-03 9.99991545e-01 3.93910496e-03 8.54855947e-02] [ 9.21571481e-03 -3.94982184e-03 9.99949733e-01 9.67012133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54255784400002 meters Centerline goodness [0,1] 0.24762728353691488 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99978957e-01 3.48011005e-03 -5.47483090e-03 3.29188957e+00] [-3.48022374e-03 9.99993944e-01 -1.12387630e-05 8.40329454e-02] [ 5.47475863e-03 3.02921629e-05 9.99985013e-01 9.66248573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57255784400002 meters Centerline goodness [0,1] 0.24820143884892087 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99979540e-01 3.54395918e-03 -5.32532282e-03 3.29113949e+00] [-3.54303313e-03 9.99993707e-01 1.83319500e-04 8.31547342e-02] [ 5.32593898e-03 -1.64447954e-04 9.99985804e-01 9.66919904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60255784400002 meters Centerline goodness [0,1] 0.2511969567783826 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99971936e-01 -5.23995515e-03 -5.35449044e-03 3.27074774e+00] [ 5.24846032e-03 9.99984985e-01 1.57560307e-03 8.64004119e-02] [ 5.34615395e-03 -1.60366168e-03 9.99984423e-01 9.65742162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63255784400002 meters Centerline goodness [0,1] 0.2547801568420125 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.97 [[ 9.99972758e-01 -5.17694232e-03 -5.26150827e-03 3.27036318e+00] [ 5.18588635e-03 9.99985129e-01 1.68767949e-03 8.60709427e-02] [ 5.25269301e-03 -1.71491909e-03 9.99984734e-01 9.66021402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66255784400002 meters Centerline goodness [0,1] 0.252717509931462 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99987806e-01 3.31349772e-03 -3.66174617e-03 3.28927692e+00] [-3.31268474e-03 9.99994487e-01 2.28064257e-04 8.26931501e-02] [ 3.66248167e-03 -2.15931265e-04 9.99993270e-01 9.67477386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69255784400002 meters Centerline goodness [0,1] 0.2513118522052127 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99988106e-01 3.31844164e-03 -3.57431873e-03 3.28887699e+00] [-3.31740749e-03 9.99994454e-01 2.95216246e-04 8.21466033e-02] [ 3.57527857e-03 -2.83355263e-04 9.99993569e-01 9.67780475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72255784400002 meters Centerline goodness [0,1] 0.24715131933225631 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99987780e-01 3.43397803e-03 -3.55623004e-03 3.28901525e+00] [-3.43221481e-03 9.99993984e-01 5.01795913e-04 8.12005018e-02] [ 3.55793180e-03 -4.89584036e-04 9.99993551e-01 9.67495737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75255784400002 meters Centerline goodness [0,1] 0.2481954709012949 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99987234e-01 3.50749188e-03 -3.63715267e-03 3.28940866e+00] [-3.50505404e-03 9.99993629e-01 6.76417155e-04 8.03243347e-02] [ 3.63950202e-03 -6.63660104e-04 9.99993157e-01 9.67157236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78255784400002 meters Centerline goodness [0,1] 0.24761556182315325 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99986402e-01 3.53482985e-03 -3.83416895e-03 3.29010195e+00] [-3.53175933e-03 9.99993437e-01 8.07304915e-04 7.94679709e-02] [ 3.83699747e-03 -7.93752575e-04 9.99992324e-01 9.66819925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81255784400003 meters Centerline goodness [0,1] 0.24761556182315325 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99986402e-01 3.53482985e-03 -3.83416895e-03 3.29010195e+00] [-3.53175933e-03 9.99993437e-01 8.07304915e-04 7.94679709e-02] [ 3.83699747e-03 -7.93752575e-04 9.99992324e-01 9.66819925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84255784400003 meters Centerline goodness [0,1] 0.24673311661751096 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99984814e-01 3.57360876e-03 -4.19543729e-03 3.29119242e+00] [-3.56958699e-03 9.99993163e-01 9.65703380e-04 7.84856284e-02] [ 4.19885965e-03 -9.50712736e-04 9.99990733e-01 9.66524418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87255784400003 meters Centerline goodness [0,1] 0.25209753539590984 Centerline is valid? [False, False] Translation: X:3.25, Y:0.07, Z:0.97 [[ 9.99968160e-01 2.62957808e-03 -7.53426117e-03 3.24690521e+00] [-2.61928184e-03 9.99995623e-01 1.37613007e-03 7.34528730e-02] [ 7.53784684e-03 -1.35635190e-03 9.99970670e-01 9.67767816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.902557844 meters Centerline goodness [0,1] 0.24402313624678662 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.97 [[ 9.99980954e-01 3.68212477e-03 -4.95316275e-03 3.28985922e+00] [-3.67658011e-03 9.99992605e-01 1.12805784e-03 7.53211592e-02] [ 4.95727977e-03 -1.10982566e-03 9.99987097e-01 9.67601355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.932557844 meters Centerline goodness [0,1] 0.2493449119691621 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99976748e-01 -5.02751264e-03 -4.60738065e-03 3.26990164e+00] [ 5.03889971e-03 9.99984271e-01 2.46321667e-03 7.83768467e-02] [ 4.59492433e-03 -2.48637552e-03 9.99986352e-01 9.66064183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.962557844 meters Centerline goodness [0,1] 0.25091058884745465 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.97 [[ 9.99977334e-01 -4.98863261e-03 -4.52165494e-03 3.26967275e+00] [ 5.00016792e-03 9.99984265e-01 2.54342038e-03 7.79673059e-02] [ 4.50889560e-03 -2.56597177e-03 9.99986543e-01 9.66106665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.992557844 meters Centerline goodness [0,1] 0.2510486622764122 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.96 [[ 9.99976373e-01 -4.93160870e-03 -4.78871472e-03 3.27095378e+00] [ 4.94368278e-03 9.99984623e-01 2.51280692e-03 7.81818531e-02] [ 4.77624890e-03 -2.53642143e-03 9.99985377e-01 9.64963918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.022557844 meters Centerline goodness [0,1] 0.2506803683786549 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.96 [[ 9.99974742e-01 -4.92135820e-03 -5.12795572e-03 3.27230812e+00] [ 4.93372766e-03 9.99984944e-01 2.40231089e-03 7.89037020e-02] [ 5.11605587e-03 -2.42755015e-03 9.99983966e-01 9.64015538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.052557844 meters Centerline goodness [0,1] 0.24689084369718772 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.96 [[ 9.99972523e-01 -4.92300151e-03 -5.54239522e-03 3.27386948e+00] [ 4.93569334e-03 9.99985223e-01 2.27860956e-03 7.96199246e-02] [ 5.53109573e-03 -2.30590252e-03 9.99982045e-01 9.63001360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082557844 meters Centerline goodness [0,1] 0.24798655520876534 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.96 [[ 9.99971087e-01 -4.96776010e-03 -5.75722065e-03 3.27475400e+00] [ 4.98035517e-03 9.99985232e-01 2.17543174e-03 8.00069299e-02] [ 5.74632861e-03 -2.20404185e-03 9.99981061e-01 9.62354949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.112557844 meters Centerline goodness [0,1] 0.24640447732054926 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.96 [[ 9.99983005e-01 3.36351426e-03 -4.76202006e-03 3.29306262e+00] [-3.36111117e-03 9.99994220e-01 5.12549711e-04 7.57672886e-02] [ 4.76371650e-03 -4.96535321e-04 9.99988530e-01 9.64441726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142557844 meters Centerline goodness [0,1] 0.25027324793424566 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:0.96 [[ 9.99983662e-01 3.47091976e-03 -4.54188551e-03 3.29221427e+00] [-3.46730664e-03 9.99993666e-01 8.03142579e-04 7.45157444e-02] [ 4.54464439e-03 -7.87381348e-04 9.99989363e-01 9.64973505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.172557844 meters Centerline goodness [0,1] 0.24764099665173722 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:0.97 [[ 9.99983108e-01 3.58194996e-03 -4.57753834e-03 3.29225167e+00] [-3.57679590e-03 9.99992961e-01 1.13363625e-03 7.29598871e-02] [ 4.58156675e-03 -1.11724418e-03 9.99988880e-01 9.65104865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.202557844 meters Centerline goodness [0,1] 0.24774423043553706 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:0.97 [[ 9.99982560e-01 3.63288078e-03 -4.65647666e-03 3.29244946e+00] [-3.62636046e-03 9.99992434e-01 1.40794713e-03 7.14495685e-02] [ 4.66155633e-03 -1.39103651e-03 9.99988167e-01 9.65119182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.232557844 meters Centerline goodness [0,1] 0.24754365036330117 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:0.97 [[ 9.99981960e-01 3.76186949e-03 -4.68265659e-03 3.29250161e+00] [-3.75305121e-03 9.99991170e-01 1.89054372e-03 6.87751758e-02] [ 4.68972722e-03 -1.87293537e-03 9.99987249e-01 9.65182605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.262557844 meters Centerline goodness [0,1] 0.2502241956298257 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:0.97 [[ 9.99982341e-01 3.82273089e-03 -4.55018160e-03 3.29224828e+00] [-3.81379683e-03 9.99990786e-01 1.97051237e-03 6.85904785e-02] [ 4.55767241e-03 -1.95312411e-03 9.99987706e-01 9.65062270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29255784400002 meters Centerline goodness [0,1] 0.24698665053786673 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.96 [[ 9.99990120e-01 -1.86545682e-03 -4.03476213e-03 3.31430208e+00] [ 1.88421241e-03 9.99987415e-01 4.64970343e-03 7.21714454e-02] [ 4.02603753e-03 -4.65725985e-03 9.99981050e-01 9.64607679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32255784400002 meters Centerline goodness [0,1] 0.2468964920628055 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.96 [[ 9.99990023e-01 -1.89613275e-03 -4.04455386e-03 3.31455570e+00] [ 1.91446050e-03 9.99987896e-01 4.53241463e-03 7.26870841e-02] [ 4.03591084e-03 -4.54011255e-03 9.99981549e-01 9.64201238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35255784400002 meters Centerline goodness [0,1] 0.25064571440974104 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.96 [[ 9.99989199e-01 -1.95253373e-03 -4.21778161e-03 3.31519270e+00] [ 1.97110642e-03 9.99988361e-01 4.40376523e-03 7.30298509e-02] [ 4.20913402e-03 -4.41203136e-03 9.99981408e-01 9.63847147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38255784400002 meters Centerline goodness [0,1] 0.24665000646301005 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:0.97 [[ 9.99965759e-01 7.09396170e-03 -4.26111580e-03 3.33576654e+00] [-7.08134927e-03 9.99970523e-01 2.96771977e-03 7.28463670e-02] [ 4.28204309e-03 -2.93744370e-03 9.99986518e-01 9.65216609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41255784400002 meters Centerline goodness [0,1] 0.24702419599186254 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:0.97 [[ 9.99965939e-01 7.07309078e-03 -4.25354589e-03 3.33576292e+00] [-7.06140870e-03 9.99971272e-01 2.75520967e-03 7.42257741e-02] [ 4.27291154e-03 -2.72507980e-03 9.99987158e-01 9.65166214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44255784400002 meters Centerline goodness [0,1] 0.25208684792848846 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.96 [[ 9.99986182e-01 -1.97260878e-03 -4.87293337e-03 3.31517883e+00] [ 1.99044115e-03 9.99991331e-01 3.65733917e-03 7.95835347e-02] [ 4.86567662e-03 -3.66698792e-03 9.99981439e-01 9.64375581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47255784400002 meters Centerline goodness [0,1] 0.250178962667303 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.96 [[ 9.99990723e-01 4.20020470e-03 -9.55121906e-04 3.33523682e+00] [-4.19989400e-03 9.99991127e-01 3.27079070e-04 8.17955017e-02] [ 9.56487231e-04 -3.23064625e-04 9.99999490e-01 9.63123040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50255784400002 meters Centerline goodness [0,1] 0.2511499138927038 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.96 [[ 9.99991247e-01 4.15368078e-03 -5.03657674e-04 3.33377035e+00] [-4.15347032e-03 9.99991287e-01 4.18176514e-04 8.11608185e-02] [ 5.05390257e-04 -4.16080927e-04 9.99999786e-01 9.63779291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53255784400002 meters Centerline goodness [0,1] 0.25011909401931487 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.96 [[ 9.99991514e-01 4.11432815e-03 -2.10808147e-04 3.33279317e+00] [-4.11420079e-03 9.99991356e-01 6.01053649e-04 8.00345652e-02] [ 2.13279257e-04 -6.00181241e-04 9.99999797e-01 9.64255169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56255784400003 meters Centerline goodness [0,1] 0.2511709984531928 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.96 [[ 9.99991492e-01 4.11779651e-03 -2.45904425e-04 3.33277870e+00] [-4.11758006e-03 9.99991140e-01 8.74333159e-04 7.85370561e-02] [ 2.49502573e-04 -8.73313188e-04 9.99999588e-01 9.64463549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59255784400003 meters Centerline goodness [0,1] 0.248936583680608 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.96 [[ 9.99987628e-01 -4.76152048e-03 -1.43906178e-03 3.35636528e+00] [ 4.76283046e-03 9.99988245e-01 9.08247591e-04 7.96732700e-02] [ 1.43472023e-03 -9.15090362e-04 9.99998552e-01 9.64532873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62255784400003 meters Centerline goodness [0,1] 0.25 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.96 [[ 9.99986901e-01 -4.74054254e-03 -1.93027644e-03 3.35770987e+00] [ 4.74283914e-03 9.99988048e-01 1.18694414e-03 7.78657653e-02] [ 1.92462661e-03 -1.19608358e-03 9.99997433e-01 9.64392135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.652557844 meters Centerline goodness [0,1] 0.24904522176894361 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.96 [[ 9.99987030e-01 -4.61723051e-03 -2.14948239e-03 3.35826500e+00] [ 4.62058028e-03 9.99988114e-01 1.55605590e-03 7.60295559e-02] [ 2.14227218e-03 -1.56596757e-03 9.99996479e-01 9.64402642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.682557844 meters Centerline goodness [0,1] 0.24820245465406754 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.96 [[ 9.99987721e-01 -4.49429584e-03 -2.08805247e-03 3.35808977e+00] [ 4.49813946e-03 9.99988191e-01 1.83973477e-03 7.48110561e-02] [ 2.07975950e-03 -1.84910453e-03 9.99996128e-01 9.64456030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.712557844 meters Centerline goodness [0,1] 0.24875804570391813 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.96 [[ 9.99989657e-01 -4.23539963e-03 -1.65732707e-03 3.35675924e+00] [ 4.23913601e-03 9.99988467e-01 2.25748334e-03 7.33505156e-02] [ 1.64774661e-03 -2.26448563e-03 9.99996079e-01 9.64898115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.742557844 meters Centerline goodness [0,1] 0.24745068448852003 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.97 [[ 9.99990018e-01 -4.16052154e-03 -1.62918756e-03 3.35659588e+00] [ 4.16445690e-03 9.99988401e-01 2.41964080e-03 7.25328137e-02] [ 1.61910169e-03 -2.42640133e-03 9.99995746e-01 9.65066350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.772557844 meters Centerline goodness [0,1] 0.25101855062413314 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.97 [[ 9.99990449e-01 -4.06732800e-03 -1.59964113e-03 3.35653966e+00] [ 4.07159582e-03 9.99988136e-01 2.67384299e-03 7.12160753e-02] [ 1.58874675e-03 -2.68033054e-03 9.99995146e-01 9.65067522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802557844 meters Centerline goodness [0,1] 0.25024957680454885 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.96 [[ 9.99991534e-01 -3.77559886e-03 -1.63588102e-03 3.35691268e+00] [ 3.78128038e-03 9.99986782e-01 3.48400409e-03 6.72015291e-02] [ 1.62270519e-03 -3.49016033e-03 9.99992593e-01 9.64605570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.832557844 meters Centerline goodness [0,1] 0.24817707769868236 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:0.96 [[ 9.99991760e-01 -3.64235923e-03 -1.79266609e-03 3.35745005e+00] [ 3.64938108e-03 9.99985621e-01 3.92942791e-03 6.49088798e-02] [ 1.77832792e-03 -3.93593765e-03 9.99990673e-01 9.64392949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862557844 meters Centerline goodness [0,1] 0.2476472751660429 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:0.96 [[ 9.99991755e-01 -3.50268044e-03 -2.05439217e-03 3.35812599e+00] [ 3.51164953e-03 9.99984248e-01 4.37857454e-03 6.26271458e-02] [ 2.03902307e-03 -4.38575275e-03 9.99988304e-01 9.64412851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.892557844 meters Centerline goodness [0,1] 0.2516832808674362 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.96 [[ 9.99993725e-01 2.26502731e-03 -2.72377362e-03 3.33669060e+00] [-2.26034197e-03 9.99995963e-01 1.72201754e-03 5.66521246e-02] [ 2.72766304e-03 -1.71585008e-03 9.99994808e-01 9.64142053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922557844 meters Centerline goodness [0,1] 0.251797460608842 Centerline is valid? [False, False] Translation: X:3.34, Y:0.05, Z:0.96 [[ 9.99992676e-01 2.45319665e-03 -2.93769824e-03 3.33737208e+00] [-2.44675357e-03 9.99994598e-01 2.19483107e-03 5.44543065e-02] [ 2.94306673e-03 -2.18762717e-03 9.99993276e-01 9.63898851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.952557844 meters Centerline goodness [0,1] 0.24966405132428804 Centerline is valid? [False, False] Translation: X:3.34, Y:0.05, Z:0.96 [[ 9.99992301e-01 2.49358867e-03 -3.02990776e-03 3.33787475e+00] [-2.48672797e-03 9.99994341e-01 2.26598863e-03 5.41596463e-02] [ 3.03554106e-03 -2.25843663e-03 9.99992842e-01 9.63424663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982557844 meters Centerline goodness [0,1] 0.25075681130171545 Centerline is valid? [False, False] Translation: X:3.32, Y:0.06, Z:0.96 [[ 0.99996908 -0.0061441 -0.00490878 3.31851927] [ 0.00616317 0.99997348 0.00387923 0.0564341 ] [ 0.00488482 -0.00390936 0.99998043 0.96266578] [ 0. 0. 0. 1. ]] SLAMing on 242.012557844 meters Centerline goodness [0,1] 0.24732420051670612 Centerline is valid? [False, False] Translation: X:3.34, Y:0.05, Z:0.96 [[ 9.99987334e-01 2.80478146e-03 -4.17912189e-03 3.33829119e+00] [-2.79283177e-03 9.99992003e-01 2.86247581e-03 5.13122669e-02] [ 4.18711709e-03 -2.85076797e-03 9.99987171e-01 9.63699759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04255784400002 meters Centerline goodness [0,1] 0.24909355391997223 Centerline is valid? [False, False] Translation: X:3.34, Y:0.05, Z:0.96 [[ 9.99987485e-01 2.91662687e-03 -4.06490832e-03 3.33757407e+00] [-2.90346509e-03 9.99990536e-01 3.24005250e-03 4.94516197e-02] [ 4.07431988e-03 -3.22820963e-03 9.99986489e-01 9.64488794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07255784400002 meters Centerline goodness [0,1] 0.2518625330449411 Centerline is valid? [False, False] Translation: X:3.34, Y:0.05, Z:0.97 [[ 9.99987566e-01 3.05045231e-03 -3.94497891e-03 3.33697202e+00] [-3.03584095e-03 9.99988530e-01 3.70448703e-03 4.71587866e-02] [ 3.95623402e-03 -3.69246464e-03 9.99985357e-01 9.65067163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10255784400002 meters Centerline goodness [0,1] 0.2506149994557527 Centerline is valid? [False, False] Translation: X:3.34, Y:0.04, Z:0.97 [[ 9.99986999e-01 3.19229255e-03 -3.97624458e-03 3.33690423e+00] [-3.17541779e-03 9.99985957e-01 4.24300274e-03 4.44854521e-02] [ 3.98973365e-03 -4.23032134e-03 9.99983093e-01 9.65385831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13255784400002 meters Centerline goodness [0,1] 0.2609070605665259 Centerline is valid? [False, False] Translation: X:3.29, Y:0.03, Z:0.97 [[ 9.99979506e-01 7.85446061e-04 -6.35382482e-03 3.29299586e+00] [-7.55558360e-04 9.99988646e-01 4.70492484e-03 3.46515625e-02] [ 6.35744815e-03 -4.70002773e-03 9.99968746e-01 9.65920624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16255784400002 meters Centerline goodness [0,1] 0.2497995449127749 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:0.96 [[ 9.99990102e-01 1.12908601e-03 -4.30353727e-03 3.33750285e+00] [-1.11314518e-03 9.99992518e-01 3.70471845e-03 3.45819270e-02] [ 4.30768802e-03 -3.69989132e-03 9.99983877e-01 9.64975899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19255784400002 meters Centerline goodness [0,1] 0.2515546245990705 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:0.97 [[ 9.99989946e-01 1.28485849e-03 -4.29614574e-03 3.33739842e+00] [-1.26710330e-03 9.99990656e-01 4.13298792e-03 3.24559560e-02] [ 4.30141590e-03 -4.12750271e-03 9.99982231e-01 9.65202446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22255784400002 meters Centerline goodness [0,1] 0.24923283053118384 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:0.97 [[ 9.99991496e-01 1.62385018e-03 -3.79091539e-03 3.33585984e+00] [-1.60670979e-03 9.99988493e-01 4.52011395e-03 3.10488062e-02] [ 3.79821176e-03 -4.51398461e-03 9.99982599e-01 9.65728229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25255784400002 meters Centerline goodness [0,1] 0.25085078534031413 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:0.97 [[ 9.99993057e-01 1.78447065e-03 -3.27120765e-03 3.33439979e+00] [-1.76929046e-03 9.99987681e-01 4.63758215e-03 3.09144730e-02] [ 3.27944298e-03 -4.63176224e-03 9.99983896e-01 9.66011120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28255784400002 meters Centerline goodness [0,1] 0.2490382537281176 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:0.97 [[ 9.99993974e-01 1.94404488e-03 -2.87622316e-03 3.33314294e+00] [-1.93029403e-03 9.99986732e-01 4.77594692e-03 3.06665192e-02] [ 2.88546966e-03 -4.77036618e-03 9.99984459e-01 9.66468019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31255784400003 meters Centerline goodness [0,1] 0.24839626296981965 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:0.97 [[ 9.99994506e-01 2.03316232e-03 -2.61786669e-03 3.33225624e+00] [-2.02038074e-03 9.99986072e-01 4.87586321e-03 3.03503641e-02] [ 2.62774365e-03 -4.87054734e-03 9.99984686e-01 9.66890807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34255784400003 meters Centerline goodness [0,1] 0.24730351080744273 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:0.97 [[ 9.99997672e-01 -3.98913976e-04 -2.12061701e-03 3.33023229e+00] [ 4.03767690e-04 9.99997299e-01 2.28888632e-03 2.86164949e-02] [ 2.11969821e-03 -2.28973723e-03 9.99995132e-01 9.67643278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37255784400003 meters Centerline goodness [0,1] 0.2539406834860394 Centerline is valid? [False, False] Translation: X:3.31, Y:0.02, Z:0.96 [[ 9.99976164e-01 6.57891473e-03 -2.09511465e-03 3.31192097e+00] [-6.57730387e-03 9.99978069e-01 7.74829054e-04 2.25656115e-02] [ 2.10016624e-03 -7.61030379e-04 9.99997505e-01 9.64968475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.402557844 meters Centerline goodness [0,1] 0.25080448351078766 Centerline is valid? [False, False] Translation: X:3.31, Y:0.02, Z:0.96 [[ 9.99975861e-01 6.56222229e-03 -2.28360823e-03 3.31288208e+00] [-6.56051207e-03 9.99978194e-01 7.55600088e-04 2.24453028e-02] [ 2.28851685e-03 -7.40600209e-04 9.99997107e-01 9.64126651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.432557844 meters Centerline goodness [0,1] 0.25051428076481674 Centerline is valid? [False, False] Translation: X:3.31, Y:0.02, Z:0.96 [[ 9.99975637e-01 6.48616579e-03 -2.57988743e-03 3.31416733e+00] [-6.48462255e-03 9.99978791e-01 6.06098053e-04 2.29452345e-02] [ 2.58376397e-03 -5.89353690e-04 9.99996488e-01 9.63169088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.462557844 meters Centerline goodness [0,1] 0.2507628596338274 Centerline is valid? [False, False] Translation: X:3.30, Y:0.03, Z:0.96 [[ 9.99976380e-01 -1.83889678e-03 -6.62258638e-03 3.29786276e+00] [ 1.85342223e-03 9.99995889e-01 2.18785050e-03 2.71412881e-02] [ 6.61853592e-03 -2.20007327e-03 9.99975677e-01 9.61661676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.492557844 meters Centerline goodness [0,1] 0.24671803038781048 Centerline is valid? [False, False] Translation: X:3.32, Y:0.03, Z:0.96 [[ 9.99950390e-01 7.17790277e-03 -6.90623054e-03 3.31938251e+00] [-7.17089196e-03 9.99973749e-01 1.03937068e-03 2.55612887e-02] [ 6.91350975e-03 -9.89795279e-04 9.99975612e-01 9.62010687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.522557844 meters Centerline goodness [0,1] 0.2481036318981069 Centerline is valid? [False, False] Translation: X:3.30, Y:0.03, Z:0.96 [[ 9.99965722e-01 -1.86966141e-03 -8.06598370e-03 3.30071769e+00] [ 1.88890153e-03 9.99995388e-01 2.37838232e-03 2.96624564e-02] [ 8.06149973e-03 -2.39353664e-03 9.99964641e-01 9.60354168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.552557844 meters Centerline goodness [0,1] 0.24868429672657388 Centerline is valid? [False, False] Translation: X:3.30, Y:0.03, Z:0.96 [[ 9.99966552e-01 -1.90343569e-03 -7.95441670e-03 3.30038691e+00] [ 1.92171855e-03 9.99995528e-01 2.29144350e-03 3.00779925e-02] [ 7.95001951e-03 -2.30665301e-03 9.99965738e-01 9.60393791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582557844 meters Centerline goodness [0,1] 0.249665782725898 Centerline is valid? [False, False] Translation: X:3.30, Y:0.03, Z:0.96 [[ 9.99968166e-01 -1.89897397e-03 -7.74985574e-03 3.29954528e+00] [ 1.91698135e-03 9.99995479e-01 2.31681030e-03 2.99960657e-02] [ 7.74542114e-03 -2.33159288e-03 9.99967286e-01 9.60951420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.612557844 meters Centerline goodness [0,1] 0.2517671699101143 Centerline is valid? [False, False] Translation: X:3.30, Y:0.03, Z:0.96 [[ 9.99969589e-01 -1.88177901e-03 -7.56837311e-03 3.29849949e+00] [ 1.90091478e-03 9.99995013e-01 2.52198854e-03 2.92356916e-02] [ 7.56358954e-03 -2.53629868e-03 9.99968179e-01 9.61985552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642557844 meters Centerline goodness [0,1] 0.24856827955827376 Centerline is valid? [False, False] Translation: X:3.30, Y:0.03, Z:0.96 [[ 9.99967689e-01 -1.87797409e-03 -7.81622920e-03 3.29921431e+00] [ 1.89889872e-03 9.99994631e-01 2.67051544e-03 2.83955577e-02] [ 7.81117208e-03 -2.68527138e-03 9.99965887e-01 9.61865546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.672557844 meters Centerline goodness [0,1] 0.2508258767419983 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:0.96 [[ 9.99949701e-01 5.19769433e-03 -8.57780643e-03 3.28089477e+00] [-5.18591718e-03 9.99985581e-01 1.39465095e-03 2.17380227e-02] [ 8.58493171e-03 -1.35009701e-03 9.99962237e-01 9.59971455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.702557844 meters Centerline goodness [0,1] 0.2508258767419983 Centerline is valid? [False, False] Translation: X:3.28, Y:0.02, Z:0.96 [[ 9.99949701e-01 5.19769433e-03 -8.57780643e-03 3.28089477e+00] [-5.18591718e-03 9.99985581e-01 1.39465095e-03 2.17380227e-02] [ 8.58493171e-03 -1.35009701e-03 9.99962237e-01 9.59971455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.732557844 meters Centerline goodness [0,1] 0.24431057563587688 Centerline is valid? [False, False] Translation: X:3.30, Y:0.03, Z:0.96 [[ 9.99962217e-01 -3.18320431e-03 -8.08903002e-03 3.30322410e+00] [ 3.19608747e-03 9.99993644e-01 1.58024245e-03 2.50080096e-02] [ 8.08394837e-03 -1.60603599e-03 9.99966035e-01 9.59726760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.762557844 meters Centerline goodness [0,1] 0.24459517657192076 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:0.96 [[ 9.99962243e-01 -3.10656667e-03 -8.11557586e-03 3.30319235e+00] [ 3.12172925e-03 9.99993404e-01 1.85633173e-03 2.36841875e-02] [ 8.10975552e-03 -1.88159627e-03 9.99965345e-01 9.59918476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79255784400002 meters Centerline goodness [0,1] 0.24786047015491275 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:0.96 [[ 9.99961813e-01 -3.03131338e-03 -8.19659113e-03 3.30323600e+00] [ 3.04861489e-03 9.99993150e-01 2.09914810e-03 2.25797668e-02] [ 8.19017180e-03 -2.12405619e-03 9.99964204e-01 9.60186367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82255784400002 meters Centerline goodness [0,1] 0.24876484354684925 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:0.96 [[ 9.99961525e-01 -2.97131312e-03 -8.25345644e-03 3.30334305e+00] [ 2.99036861e-03 9.99992890e-01 2.29740970e-03 2.16482214e-02] [ 8.24657143e-03 -2.32200218e-03 9.99963301e-01 9.60249663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85255784400002 meters Centerline goodness [0,1] 0.2500054638837286 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:0.96 [[ 9.99959855e-01 -2.88962436e-03 -8.48166736e-03 3.30396961e+00] [ 2.91244755e-03 9.99992168e-01 2.67976761e-03 1.95507181e-02] [ 8.47385742e-03 -2.70436245e-03 9.99960439e-01 9.60211078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88255784400002 meters Centerline goodness [0,1] 0.24913857024468966 Centerline is valid? [False, False] Translation: X:3.30, Y:0.02, Z:0.96 [[ 9.99959238e-01 -2.88113046e-03 -8.55693036e-03 3.30428658e+00] [ 2.90509271e-03 9.99991890e-01 2.78922468e-03 1.87769131e-02] [ 8.54882485e-03 -2.81396966e-03 9.99959499e-01 9.60018279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91255784400002 meters Centerline goodness [0,1] 0.24770958632434414 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:0.96 [[ 9.99962119e-01 4.78450863e-03 -7.27114271e-03 3.32521330e+00] [-4.78297981e-03 9.99988536e-01 2.27633088e-04 1.70891542e-02] [ 7.27214847e-03 -1.92846736e-04 9.99973539e-01 9.59637730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94255784400002 meters Centerline goodness [0,1] 0.24645200671448186 Centerline is valid? [False, False] Translation: X:3.31, Y:0.02, Z:0.96 [[ 9.99959722e-01 -4.34181358e-03 -7.85519135e-03 3.30604616e+00] [ 4.35306202e-03 9.99989524e-01 1.41544555e-03 2.08576290e-02] [ 7.84896346e-03 -1.44958268e-03 9.99968146e-01 9.58561365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97255784400002 meters Centerline goodness [0,1] 0.24656173759094935 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:0.96 [[ 9.99965232e-01 4.89752596e-03 -6.74903472e-03 3.32588776e+00] [-4.89736043e-03 9.99988007e-01 4.10526106e-05 1.97596444e-02] [ 6.74915484e-03 -7.99872764e-06 9.99977224e-01 9.59694598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00255784400002 meters Centerline goodness [0,1] 0.24848880191345946 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:0.96 [[ 9.99966559e-01 4.86986007e-03 -6.57006441e-03 3.32546863e+00] [-4.87084600e-03 9.99988128e-01 -1.34070875e-04 2.07746418e-02] [ 6.56933350e-03 1.66068163e-04 9.99978408e-01 9.59651512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03255784400002 meters Centerline goodness [0,1] 0.24904389395914817 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:0.96 [[ 9.99967199e-01 4.79742353e-03 -6.52579580e-03 3.32560551e+00] [-4.80000897e-03 9.99988407e-01 -3.80582982e-04 2.19889250e-02] [ 6.52389433e-03 4.11894377e-04 9.99978634e-01 9.59208002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06255784400003 meters Centerline goodness [0,1] 0.24911444439585428 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:0.96 [[ 9.99967691e-01 4.68116344e-03 -6.53479117e-03 3.32594345e+00] [-4.68580398e-03 9.99988780e-01 -6.94999165e-04 2.33833588e-02] [ 6.53146444e-03 7.25597461e-04 9.99978407e-01 9.58647958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09255784400003 meters Centerline goodness [0,1] 0.24452672593804492 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.96 [[ 9.99979183e-01 -3.88244346e-04 -6.44069715e-03 3.34833338e+00] [ 4.00981247e-04 9.99997967e-01 1.97639206e-03 2.86704075e-02] [ 6.43991673e-03 -1.97893351e-03 9.99977305e-01 9.58642550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12255784400003 meters Centerline goodness [0,1] 0.2492139558080534 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.96 [[ 9.99980561e-01 -3.92657609e-04 -6.22273813e-03 3.34743506e+00] [ 4.04470905e-04 9.99998118e-01 1.89726316e-03 2.93006478e-02] [ 6.22198145e-03 -1.89974319e-03 9.99978839e-01 9.59220744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.152557844 meters Centerline goodness [0,1] 0.2498967907350672 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.96 [[ 9.99981555e-01 -3.98066461e-04 -6.06062168e-03 3.34667864e+00] [ 4.09312108e-04 9.99998197e-01 1.85439965e-03 2.95842093e-02] [ 6.05987258e-03 -1.85684613e-03 9.99979915e-01 9.59826198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.182557844 meters Centerline goodness [0,1] 0.24666019207942158 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.96 [[ 9.99981082e-01 -4.43336121e-04 -6.13506254e-03 3.34677889e+00] [ 4.54372074e-04 9.99998281e-01 1.79755603e-03 2.96679517e-02] [ 6.13425508e-03 -1.80030963e-03 9.99979565e-01 9.59970355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.212557844 meters Centerline goodness [0,1] 0.2460063206199402 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.96 [[ 9.99978515e-01 -5.93747450e-04 -6.52810864e-03 3.34829677e+00] [ 6.04585946e-04 9.99998442e-01 1.65843320e-03 2.97837363e-02] [ 6.52711378e-03 -1.66234437e-03 9.99977316e-01 9.59016809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.242557844 meters Centerline goodness [0,1] 0.24771855287971734 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.96 [[ 9.99978469e-01 -5.64051193e-04 -6.53779774e-03 3.34838043e+00] [ 5.75563232e-04 9.99998287e-01 1.75909585e-03 2.94347206e-02] [ 6.53679433e-03 -1.76282089e-03 9.99977081e-01 9.58864317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.272557844 meters Centerline goodness [0,1] 0.24952526465131508 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.96 [[ 9.99979203e-01 -4.80436676e-04 -6.43135919e-03 3.34791455e+00] [ 4.93414418e-04 9.99997845e-01 2.01645011e-03 2.84430753e-02] [ 6.43037656e-03 -2.01958150e-03 9.99977286e-01 9.59196489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302557844 meters Centerline goodness [0,1] 0.24053676865271068 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:0.96 [[ 9.99994504e-01 2.87782633e-04 -3.30287847e-03 3.39005545e+00] [-2.82994631e-04 9.99998909e-01 1.45002082e-03 2.99713476e-02] [ 3.30329216e-03 -1.44907816e-03 9.99993494e-01 9.59019960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.332557844 meters Centerline goodness [0,1] 0.24214696320537388 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:0.96 [[ 9.99994424e-01 -4.11009635e-04 -3.31404756e-03 3.38964370e+00] [ 4.15881200e-04 9.99998834e-01 1.46941937e-03 2.69914021e-02] [ 3.31343975e-03 -1.47078943e-03 9.99993429e-01 9.59989153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362557844 meters Centerline goodness [0,1] 0.24287904636448054 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99992807e-01 -3.56013094e-04 -3.77601896e-03 3.39088985e+00] [ 3.62985053e-04 9.99998231e-01 1.84585360e-03 2.47481847e-02] [ 3.77535513e-03 -1.84721096e-03 9.99991167e-01 9.59881084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.392557844 meters Centerline goodness [0,1] 0.2476557230816091 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99991557e-01 -2.85893322e-04 -4.09936017e-03 3.39190494e+00] [ 2.94704871e-04 9.99997647e-01 2.14905095e-03 2.30681939e-02] [ 4.09873612e-03 -2.15024091e-03 9.99989288e-01 9.59537240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422557844 meters Centerline goodness [0,1] 0.24799686465772508 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99991404e-01 -2.14305254e-04 -4.14065825e-03 3.39210955e+00] [ 2.24286074e-04 9.99997070e-01 2.41012886e-03 2.17270283e-02] [ 4.14012961e-03 -2.41103683e-03 9.99988523e-01 9.59378437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.452557844 meters Centerline goodness [0,1] 0.2469846670592597 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99992278e-01 1.96774261e-05 -3.92975539e-03 3.39131325e+00] [-8.17599444e-06 9.99995717e-01 2.92674974e-03 1.94905012e-02] [ 3.92979615e-03 -2.92669501e-03 9.99987996e-01 9.59897127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482557844 meters Centerline goodness [0,1] 0.24749440180881366 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99992510e-01 9.64303637e-05 -3.86924151e-03 3.39106662e+00] [-8.45319285e-05 9.99995268e-01 3.07517946e-03 1.88634784e-02] [ 3.86951974e-03 -3.07482935e-03 9.99987786e-01 9.60086470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.512557844 meters Centerline goodness [0,1] 0.24863645324513173 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99992109e-01 1.42345627e-04 -3.97015643e-03 3.39141064e+00] [-1.29689674e-04 9.99994910e-01 3.18784707e-03 1.82756160e-02] [ 3.97059000e-03 -3.18730702e-03 9.99987038e-01 9.59951026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54255784400002 meters Centerline goodness [0,1] 0.24509399108986196 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99991169e-01 1.61813102e-04 -4.19951194e-03 3.39222446e+00] [-1.48033409e-04 9.99994605e-01 3.28136395e-03 1.76122442e-02] [ 4.20002025e-03 -3.28071331e-03 9.99985798e-01 9.59564207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57255784400002 meters Centerline goodness [0,1] 0.24927758318739057 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99989472e-01 1.71599157e-04 -4.58548669e-03 3.39367709e+00] [-1.56441834e-04 9.99994524e-01 3.30565349e-03 1.72961646e-02] [ 4.58602883e-03 -3.30490133e-03 9.99984023e-01 9.58697704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60255784400002 meters Centerline goodness [0,1] 0.24682006261356915 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99989833e-01 1.66522585e-04 -4.50616770e-03 3.39355082e+00] [-1.52245019e-04 9.99994968e-01 3.16860726e-03 1.81206234e-02] [ 4.50667267e-03 -3.16788901e-03 9.99984827e-01 9.58536254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63255784400002 meters Centerline goodness [0,1] 0.2456064596916966 Centerline is valid? [False, False] Translation: X:3.41, Y:0.02, Z:0.96 [[ 9.99952688e-01 9.38640533e-03 -2.55295522e-03 3.41356614e+00] [-9.38083697e-03 9.99953613e-01 2.18444217e-03 1.71325253e-02] [ 2.57334085e-03 -2.16038996e-03 9.99994355e-01 9.58589141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66255784400002 meters Centerline goodness [0,1] 0.24663900056196775 Centerline is valid? [False, False] Translation: X:3.41, Y:0.02, Z:0.96 [[ 9.99953794e-01 9.34301284e-03 -2.26219608e-03 3.41260579e+00] [-9.33864838e-03 9.99954527e-01 1.93223950e-03 1.85723567e-02] [ 2.28014615e-03 -1.91102437e-03 9.99995574e-01 9.58975285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69255784400002 meters Centerline goodness [0,1] 0.24892375603679995 Centerline is valid? [False, False] Translation: X:3.39, Y:0.02, Z:0.96 [[ 9.99998278e-01 4.87030142e-05 -1.85510757e-03 3.39210891e+00] [-4.38594643e-05 9.99996591e-01 2.61087795e-03 2.44977327e-02] [ 1.85522840e-03 -2.61079209e-03 9.99994871e-01 9.57841660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72255784400002 meters Centerline goodness [0,1] 0.2508990439435137 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:0.96 [[ 9.99998458e-01 -6.37112556e-05 -1.75511543e-03 3.39197393e+00] [ 6.77308060e-05 9.99997375e-01 2.29022724e-03 2.59629573e-02] [ 1.75496491e-03 -2.29034259e-03 9.99995837e-01 9.57611794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75255784400002 meters Centerline goodness [0,1] 0.2461116983411351 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.96 [[ 9.99997714e-01 2.06916498e-03 5.39059725e-04 3.43619922e+00] [-2.07023331e-03 9.99995879e-01 1.98886944e-03 3.32708938e-02] [-5.34942204e-04 -1.98998087e-03 9.99997877e-01 9.55648861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78255784400002 meters Centerline goodness [0,1] 0.24690689259170984 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.96 [[ 9.99997969e-01 1.93482301e-03 5.64047333e-04 3.43620271e+00] [-1.93574864e-03 9.99996773e-01 1.64514319e-03 3.49493216e-02] [-5.60862452e-04 -1.64623170e-03 9.99998488e-01 9.55490563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81255784400003 meters Centerline goodness [0,1] 0.24461734089096743 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.96 [[ 9.99998314e-01 1.77250265e-03 4.79764680e-04 3.43639595e+00] [-1.77313371e-03 9.99997559e-01 1.31814556e-03 3.62888594e-02] [-4.77427092e-04 -1.31899403e-03 9.99999016e-01 9.55529090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84255784400003 meters Centerline goodness [0,1] 0.24945614340410716 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.96 [[ 9.99998981e-01 1.42008589e-03 1.47591577e-04 3.43688920e+00] [-1.42019746e-03 9.99998704e-01 7.58598642e-04 3.82148843e-02] [-1.46514110e-04 -7.58807478e-04 9.99999701e-01 9.56056616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87255784400003 meters Centerline goodness [0,1] 0.2484210984798989 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.96 [[ 9.99999078e-01 1.34858807e-03 1.56200398e-04 3.43682438e+00] [-1.34868225e-03 9.99998908e-01 6.04375137e-04 3.90754780e-02] [-1.55385174e-04 -6.04585245e-04 9.99999805e-01 9.56076673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.902557844 meters Centerline goodness [0,1] 0.24855592126773762 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.96 [[ 9.99999172e-01 1.27365902e-03 1.81574245e-04 3.43687584e+00] [-1.27373039e-03 9.99999111e-01 3.93477060e-04 4.03385430e-02] [-1.81072928e-04 -3.93708011e-04 9.99999906e-01 9.55831551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.932557844 meters Centerline goodness [0,1] 0.25002730986869415 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.96 [[ 9.99999286e-01 1.17803562e-03 2.02951404e-04 3.43696476e+00] [-1.17806153e-03 9.99999298e-01 1.27592274e-04 4.17827872e-02] [-2.02800953e-04 -1.27831272e-04 9.99999971e-01 9.55529910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.962557844 meters Centerline goodness [0,1] 0.2469672397015894 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.96 [[ 9.99984190e-01 -5.56412431e-03 -8.12466453e-04 3.45541502e+00] [ 5.56489990e-03 9.99984059e-01 9.55488326e-04 4.86627190e-02] [ 8.07137046e-04 -9.59994515e-04 9.99999213e-01 9.57602172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.992557844 meters Centerline goodness [0,1] 0.24659430004757166 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.96 [[ 9.99982841e-01 -5.79504997e-03 -8.57088084e-04 3.45525036e+00] [ 5.79556544e-03 9.99983025e-01 6.00165378e-04 4.97654078e-02] [ 8.53595547e-04 -6.05122390e-04 9.99999453e-01 9.58061268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.022557844 meters Centerline goodness [0,1] 0.24839113721763917 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.96 [[ 9.99982610e-01 -5.83470293e-03 -8.58129249e-04 3.45526738e+00] [ 5.83512278e-03 9.99982857e-01 4.87577664e-04 5.04774474e-02] [ 8.55269667e-04 -4.92576475e-04 9.99999513e-01 9.57982914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.052557844 meters Centerline goodness [0,1] 0.24397765748668288 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.96 [[ 9.99982447e-01 -5.86216171e-03 -8.60576393e-04 3.45534739e+00] [ 5.86244658e-03 9.99982762e-01 3.28875090e-04 5.15432760e-02] [ 8.58633639e-04 -3.33914401e-04 9.99999576e-01 9.57779683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082557844 meters Centerline goodness [0,1] 0.24347564383679432 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.96 [[ 9.99981726e-01 -5.95607132e-03 -1.03537746e-03 3.45606145e+00] [ 5.95615832e-03 9.99982259e-01 8.09611951e-05 5.27550331e-02] [ 1.03487688e-03 -8.71265878e-05 9.99999461e-01 9.57309260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.112557844 meters Centerline goodness [0,1] 0.24583971854697717 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.96 [[ 9.99980863e-01 -6.05140732e-03 -1.28610868e-03 3.45676542e+00] [ 6.05125621e-03 9.99981684e-01 -1.21350275e-04 5.35744220e-02] [ 1.28681947e-03 1.13565380e-04 9.99999166e-01 9.57196425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142557844 meters Centerline goodness [0,1] 0.2491703781329142 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.96 [[ 9.99997421e-01 1.64588469e-03 -1.56471252e-03 3.43633592e+00] [-1.64721151e-03 9.99998285e-01 -8.47054574e-04 4.82640650e-02] [ 1.56331569e-03 8.49629803e-04 9.99998417e-01 9.56856101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.172557844 meters Centerline goodness [0,1] 0.24739639600708696 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.96 [[ 9.99984377e-01 -5.58963942e-03 3.02427373e-05 3.45468178e+00] [ 5.58962444e-03 9.99984265e-01 4.74623555e-04 5.35233853e-02] [-3.28952360e-05 -4.74447095e-04 9.99999887e-01 9.58242320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.202557844 meters Centerline goodness [0,1] 0.2521977419708429 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99997043e-01 2.22553630e-03 9.79861676e-04 3.43292873e+00] [-2.22554570e-03 9.99997523e-01 8.50309332e-06 4.85813078e-02] [-9.79840325e-04 -1.06837951e-05 9.99999520e-01 9.57713622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.232557844 meters Centerline goodness [0,1] 0.24413054277630186 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99996923e-01 2.13411167e-03 1.26447237e-03 3.43237095e+00] [-2.13348170e-03 9.99997599e-01 -4.99350989e-04 5.09272319e-02] [-1.26553501e-03 4.96651724e-04 9.99999076e-01 9.57458009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.262557844 meters Centerline goodness [0,1] 0.2544530926374081 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99997150e-01 2.05835461e-03 1.20997992e-03 3.43266890e+00] [-2.05738058e-03 9.99997559e-01 -8.05688443e-04 5.24620095e-02] [-1.21163535e-03 8.03196757e-04 9.99998943e-01 9.57139427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29255784400002 meters Centerline goodness [0,1] 0.24456673617231672 Centerline is valid? [False, False] Translation: X:3.46, Y:0.06, Z:0.96 [[ 9.99995720e-01 -2.73907208e-03 1.02863910e-03 3.45523001e+00] [ 2.73672796e-03 9.99993671e-01 2.27339230e-03 5.66822263e-02] [-1.03485957e-03 -2.27056747e-03 9.99996887e-01 9.56847467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32255784400002 meters Centerline goodness [0,1] 0.2491929855173617 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99985712e-01 5.32596574e-03 4.57386823e-04 3.43398995e+00] [-5.32666610e-03 9.99984621e-01 1.54391766e-03 5.28840975e-02] [-4.49156937e-04 -1.54633195e-03 9.99998704e-01 9.56327832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35255784400002 meters Centerline goodness [0,1] 0.24986944033423275 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99986293e-01 5.22302161e-03 3.65848855e-04 3.43435121e+00] [-5.22347924e-03 9.99985562e-01 1.26127937e-03 5.40003554e-02] [-3.59255884e-04 -1.26317308e-03 9.99999138e-01 9.56127774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38255784400002 meters Centerline goodness [0,1] 0.2520772027003635 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99986508e-01 5.18765851e-03 2.70118850e-04 3.43466850e+00] [-5.18797499e-03 9.99985841e-01 1.18439127e-03 5.42293557e-02] [-2.63970808e-04 -1.18577666e-03 9.99999262e-01 9.55995292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41255784400002 meters Centerline goodness [0,1] 0.2485113569928329 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99986437e-01 5.20138640e-03 2.67038078e-04 3.43460370e+00] [-5.20169405e-03 9.99985793e-01 1.16460654e-03 5.44313955e-02] [-2.60976716e-04 -1.16597980e-03 9.99999286e-01 9.56085797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44255784400002 meters Centerline goodness [0,1] 0.24853140533212836 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99986402e-01 5.20502476e-03 3.23061765e-04 3.43438813e+00] [-5.20536601e-03 9.99985885e-01 1.06458470e-03 5.51347975e-02] [-3.17516016e-04 -1.06625188e-03 9.99999381e-01 9.56207299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47255784400002 meters Centerline goodness [0,1] 0.25054916374866787 Centerline is valid? [False, False] Translation: X:3.41, Y:0.06, Z:0.96 [[ 9.99992979e-01 -3.73856420e-03 -2.53770642e-04 3.41432043e+00] [ 3.73913574e-03 9.99990387e-01 2.29034609e-03 5.90935615e-02] [ 2.45205596e-04 -2.29127889e-03 9.99997345e-01 9.55305925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50255784400002 meters Centerline goodness [0,1] 0.24750356633380888 Centerline is valid? [False, False] Translation: X:3.41, Y:0.06, Z:0.95 [[ 9.99992513e-01 -3.85748598e-03 -3.05740860e-04 3.41461361e+00] [ 3.85806969e-03 9.99990691e-01 1.93212999e-03 6.06343786e-02] [ 2.98284850e-04 -1.93329509e-03 9.99998087e-01 9.54955477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53255784400002 meters Centerline goodness [0,1] 0.25365063379819164 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.95 [[ 9.99991346e-01 3.98564824e-03 -1.19262382e-03 3.39418330e+00] [-3.98443209e-03 9.99991542e-01 1.02037811e-03 5.63122249e-02] [ 1.19668060e-03 -1.01561735e-03 9.99998768e-01 9.54151055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56255784400003 meters Centerline goodness [0,1] 0.25153401122019636 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.95 [[ 9.99991560e-01 3.93188709e-03 -1.19204651e-03 3.39443546e+00] [-3.93094169e-03 9.99991958e-01 7.94398866e-04 5.75624241e-02] [ 1.19516041e-03 -7.89706295e-04 9.99998974e-01 9.53651447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59255784400003 meters Centerline goodness [0,1] 0.24724988042958385 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.95 [[ 9.99991800e-01 3.86129453e-03 -1.22094860e-03 3.39448840e+00] [-3.86061635e-03 9.99992392e-01 5.57326386e-04 5.88705398e-02] [ 1.22309131e-03 -5.52608202e-04 9.99999099e-01 9.53617125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62255784400003 meters Centerline goodness [0,1] 0.24724988042958385 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.95 [[ 9.99991800e-01 3.86129453e-03 -1.22094860e-03 3.39448840e+00] [-3.86061635e-03 9.99992392e-01 5.57326386e-04 5.88705398e-02] [ 1.22309131e-03 -5.52608202e-04 9.99999099e-01 9.53617125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.652557844 meters Centerline goodness [0,1] 0.25312036309679675 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.95 [[ 9.99992546e-01 3.68975386e-03 -1.13725979e-03 3.39368758e+00] [-3.68958524e-03 9.99993182e-01 1.50328531e-04 6.08126435e-02] [ 1.13780671e-03 -1.46131394e-04 9.99999342e-01 9.54641950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.682557844 meters Centerline goodness [0,1] 0.248973771766841 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99992355e-01 -3.57360882e-03 -1.58720603e-03 3.41268223e+00] [ 3.57505508e-03 9.99993196e-01 9.09295390e-04 6.70850592e-02] [ 1.58394576e-03 -9.14962787e-04 9.99998327e-01 9.56435544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.712557844 meters Centerline goodness [0,1] 0.24761760701860536 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99991789e-01 -3.66677896e-03 -1.72502391e-03 3.41310285e+00] [ 3.66804200e-03 9.99993007e-01 7.29598337e-04 6.78959960e-02] [ 1.72233657e-03 -7.35919806e-04 9.99998246e-01 9.56271372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.742557844 meters Centerline goodness [0,1] 0.2505577183850225 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.96 [[ 9.99988351e-01 4.12861296e-03 -2.50065601e-03 3.39331185e+00] [-4.12871273e-03 9.99991476e-01 -3.47363717e-05 6.36511581e-02] [ 2.50049129e-03 4.50604573e-05 9.99996873e-01 9.55420453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.772557844 meters Centerline goodness [0,1] 0.2501584803375084 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.96 [[ 9.99988869e-01 4.05318923e-03 -2.41518354e-03 3.39321402e+00] [-4.05380535e-03 9.99991752e-01 -2.50261442e-04 6.48373037e-02] [ 2.41414927e-03 2.60049340e-04 9.99997052e-01 9.55183887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.802557844 meters Centerline goodness [0,1] 0.24862409364899096 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:0.96 [[ 9.99990515e-01 3.75590064e-03 -2.20528156e-03 3.39242756e+00] [-3.75800705e-03 9.99992486e-01 -9.51803903e-04 6.79854905e-02] [ 2.20169011e-03 9.60082339e-04 9.99997115e-01 9.55649161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.832557844 meters Centerline goodness [0,1] 0.2522087304696 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:0.96 [[ 9.99991486e-01 3.53736119e-03 -2.12494279e-03 3.39190415e+00] [-3.54045653e-03 9.99992675e-01 -1.45468066e-03 7.01833567e-02] [ 2.11978150e-03 1.46219155e-03 9.99996684e-01 9.56234147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862557844 meters Centerline goodness [0,1] 0.246547303557193 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.96 [[ 9.99992829e-01 -3.31677122e-03 -1.82792028e-03 3.40914062e+00] [ 3.31610761e-03 9.99994435e-01 -3.65952946e-04 7.84146688e-02] [ 1.82912389e-03 3.59888741e-04 9.99998262e-01 9.58670001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.892557844 meters Centerline goodness [0,1] 0.24476307347843873 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.96 [[ 9.99992974e-01 -3.42745873e-03 -1.51835503e-03 3.40812047e+00] [ 3.42622031e-03 9.99993796e-01 -8.17487687e-04 8.11013077e-02] [ 1.52114752e-03 8.12279725e-04 9.99998513e-01 9.58924080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922557844 meters Centerline goodness [0,1] 0.25019502470312904 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.96 [[ 9.99992581e-01 -3.67414493e-03 -1.15664198e-03 3.40749127e+00] [ 3.67226382e-03 9.99991938e-01 -1.62429368e-03 8.58232930e-02] [ 1.16260055e-03 1.62003413e-03 9.99998012e-01 9.58410199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.952557844 meters Centerline goodness [0,1] 0.2506309834638817 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.96 [[ 9.99991961e-01 -3.82678505e-03 -1.19701982e-03 3.40772673e+00] [ 3.82442548e-03 9.99990752e-01 -1.96731973e-03 8.72998989e-02] [ 1.20453726e-03 1.96272600e-03 9.99997348e-01 9.58142089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.982557844 meters Centerline goodness [0,1] 0.2481181865374632 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.96 [[ 9.99991330e-01 -3.97871425e-03 -1.22894937e-03 3.40773770e+00] [ 3.97591684e-03 9.99989519e-01 -2.27038231e-03 8.85510818e-02] [ 1.23796969e-03 2.26547643e-03 9.99996668e-01 9.58255637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.012557844 meters Centerline goodness [0,1] 0.2468105247305351 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.96 [[ 9.99990844e-01 -4.13102553e-03 -1.11662272e-03 3.40693890e+00] [ 4.12810603e-03 9.99988088e-01 -2.60436082e-03 9.02029983e-02] [ 1.12736810e-03 2.59972744e-03 9.99995985e-01 9.59083894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04255784400002 meters Centerline goodness [0,1] 0.24707249870845527 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.96 [[ 9.99990651e-01 -4.17093047e-03 -1.14073498e-03 3.40688416e+00] [ 4.16784760e-03 9.99987692e-01 -2.69168604e-03 9.07234481e-02] [ 1.15194778e-03 2.68690647e-03 9.99995727e-01 9.59280730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07255784400002 meters Centerline goodness [0,1] 0.24810830620648028 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.96 [[ 9.99990557e-01 -4.18951513e-03 -1.15532926e-03 3.40699178e+00] [ 4.18634513e-03 9.99987503e-01 -2.73271586e-03 9.09073084e-02] [ 1.16676358e-03 2.72785344e-03 9.99995599e-01 9.59161533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10255784400002 meters Centerline goodness [0,1] 0.25169905027446193 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.96 [[ 9.99992944e-01 3.50489821e-03 -1.35177627e-03 3.38773305e+00] [-3.51003110e-03 9.99986568e-01 -3.81365604e-03 8.60634087e-02] [ 1.33839163e-03 3.81837391e-03 9.99991814e-01 9.57483828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13255784400002 meters Centerline goodness [0,1] 0.251002004008016 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.96 [[ 9.99992545e-01 3.42544753e-03 -1.78244493e-03 3.38918526e+00] [-3.43233162e-03 9.99986607e-01 -3.87354299e-03 8.58437360e-02] [ 1.76915244e-03 3.87963206e-03 9.99990909e-01 9.56815873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16255784400002 meters Centerline goodness [0,1] 0.24916293429577774 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.96 [[ 9.99992056e-01 3.44697377e-03 -2.00160823e-03 3.38983509e+00] [-3.45453558e-03 9.99986863e-01 -3.78678322e-03 8.53639875e-02] [ 1.98852900e-03 3.79366776e-03 9.99990827e-01 9.56623522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19255784400002 meters Centerline goodness [0,1] 0.24858695652173912 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.96 [[ 9.99991624e-01 3.51275690e-03 -2.10074848e-03 3.39008290e+00] [-3.52036941e-03 9.99987211e-01 -3.63106376e-03 8.46835861e-02] [ 2.08796657e-03 3.63842875e-03 9.99991201e-01 9.56622178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22255784400002 meters Centerline goodness [0,1] 0.2502684107890182 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.96 [[ 9.99991228e-01 3.59275367e-03 -2.15292808e-03 3.39013664e+00] [-3.60016236e-03 9.99987577e-01 -3.44727512e-03 8.39345128e-02] [ 2.14051613e-03 3.45499577e-03 9.99991741e-01 9.56741884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25255784400002 meters Centerline goodness [0,1] 0.2515212537757737 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.96 [[ 9.99990944e-01 3.65094356e-03 -2.18699875e-03 3.39022060e+00] [-3.65812774e-03 9.99987897e-01 -3.29000493e-03 8.31461186e-02] [ 2.17496066e-03 3.29797546e-03 9.99992196e-01 9.56785455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28255784400002 meters Centerline goodness [0,1] 0.25174809894240013 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.96 [[ 9.99990551e-01 3.67035691e-03 -2.32935501e-03 3.39070498e+00] [-3.67776185e-03 9.99988172e-01 -3.18268628e-03 8.24195761e-02] [ 2.31764587e-03 3.19122302e-03 9.99992222e-01 9.56560003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31255784400003 meters Centerline goodness [0,1] 0.24464200321697172 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.96 [[ 9.99989355e-01 3.73557884e-03 -2.70821795e-03 3.39209036e+00] [-3.74339536e-03 9.99988826e-01 -2.88692005e-03 8.05671799e-02] [ 2.69740337e-03 2.89702725e-03 9.99992166e-01 9.55821132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34255784400003 meters Centerline goodness [0,1] 0.24916892660309686 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.96 [[ 9.99988771e-01 3.86535157e-03 -2.74158407e-03 3.39228815e+00] [-3.87238654e-03 9.99989212e-01 -2.56537510e-03 7.91083482e-02] [ 2.73163842e-03 2.57596276e-03 9.99992951e-01 9.55565073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37255784400003 meters Centerline goodness [0,1] 0.24894505637185949 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.96 [[ 9.99990446e-01 -3.57487139e-03 -2.51574312e-03 3.41221405e+00] [ 3.57177930e-03 9.99992862e-01 -1.23251997e-03 8.22409307e-02] [ 2.52013126e-03 1.22352251e-03 9.99996076e-01 9.56691509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.402557844 meters Centerline goodness [0,1] 0.24343515251228542 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.96 [[ 9.99990838e-01 -3.39240893e-03 -2.61051727e-03 3.41234889e+00] [ 3.39060563e-03 9.99994010e-01 -6.94900735e-04 7.96775825e-02] [ 2.61285902e-03 6.86043134e-04 9.99996351e-01 9.56915054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.432557844 meters Centerline goodness [0,1] 0.2476311078118859 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.96 [[ 9.99970881e-01 -7.26516775e-03 -2.33552094e-03 3.41165383e+00] [ 7.25527924e-03 9.99964797e-01 -4.21491401e-03 7.69123862e-02] [ 2.36606078e-03 4.19784642e-03 9.99988390e-01 9.57031385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.462557844 meters Centerline goodness [0,1] 0.24357524894551463 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99971547e-01 -7.13791928e-03 -2.44022173e-03 3.41176656e+00] [ 7.12855922e-03 9.99967283e-01 -3.82316160e-03 7.49500209e-02] [ 2.46743131e-03 3.80565755e-03 9.99989714e-01 9.57341989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.492557844 meters Centerline goodness [0,1] 0.2442634761915159 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99972392e-01 -7.02835489e-03 -2.41187729e-03 3.41169425e+00] [ 7.01964998e-03 9.99968886e-01 -3.59886768e-03 7.40451117e-02] [ 2.43709637e-03 3.58183779e-03 9.99990615e-01 9.57321721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.522557844 meters Centerline goodness [0,1] 0.24638758334244182 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99973334e-01 -6.90476353e-03 -2.37830926e-03 3.41171583e+00] [ 6.89653635e-03 9.99970266e-01 -3.45026212e-03 7.36944083e-02] [ 2.40206179e-03 3.43376802e-03 9.99991220e-01 9.57132161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.552557844 meters Centerline goodness [0,1] 0.24316169235815022 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99974600e-01 -6.72689691e-03 -2.35552326e-03 3.41222047e+00] [ 6.71893450e-03 9.99971742e-01 -3.37207148e-03 7.35101423e-02] [ 2.37814028e-03 3.35615922e-03 9.99991540e-01 9.56159816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.582557844 meters Centerline goodness [0,1] 0.24804666245892004 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99974314e-01 -6.73455381e-03 -2.45283733e-03 3.41264052e+00] [ 6.72617758e-03 9.99971574e-01 -3.40730219e-03 7.34109199e-02] [ 2.47571427e-03 3.39071645e-03 9.99991187e-01 9.55858685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.612557844 meters Centerline goodness [0,1] 0.24974442631865146 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99974738e-01 -6.68388586e-03 -2.41850461e-03 3.41259344e+00] [ 6.67564718e-03 9.99971942e-01 -3.39870288e-03 7.34742205e-02] [ 2.44115330e-03 3.38247193e-03 9.99991300e-01 9.55773473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.642557844 meters Centerline goodness [0,1] 0.2457025773751752 Centerline is valid? [False, False] Translation: X:3.43, Y:0.07, Z:0.96 [[ 9.99995020e-01 2.46982798e-03 -1.96469792e-03 3.43236178e+00] [-2.47864239e-03 9.99986818e-01 -4.49668294e-03 7.15145164e-02] [ 1.95356599e-03 4.50153033e-03 9.99987960e-01 9.57057800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.672557844 meters Centerline goodness [0,1] 0.2416183730414252 Centerline is valid? [False, False] Translation: X:3.43, Y:0.07, Z:0.96 [[ 9.99995182e-01 2.48466872e-03 -1.86084049e-03 3.43197329e+00] [-2.49331374e-03 9.99986043e-01 -4.65794029e-03 7.26430050e-02] [ 1.84924108e-03 4.66255751e-03 9.99987420e-01 9.57219903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702557844 meters Centerline goodness [0,1] 0.24475268028560948 Centerline is valid? [False, False] Translation: X:3.43, Y:0.07, Z:0.96 [[ 9.99995976e-01 2.62350369e-03 -1.07990007e-03 3.42949819e+00] [-2.62869314e-03 9.99984869e-01 -4.83245852e-03 7.41406001e-02] [ 1.06720575e-03 4.83527780e-03 9.99987741e-01 9.58113696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.732557844 meters Centerline goodness [0,1] 0.24916626965221533 Centerline is valid? [False, False] Translation: X:3.43, Y:0.07, Z:0.96 [[ 9.99996374e-01 2.60535146e-03 -6.81110041e-04 3.42825922e+00] [-2.60871864e-03 9.99984145e-01 -4.99042944e-03 7.49867171e-02] [ 6.68097419e-04 4.99218817e-03 9.99987316e-01 9.58528299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762557844 meters Centerline goodness [0,1] 0.2499891403501151 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.96 [[ 9.99996451e-01 2.65578317e-03 -2.11540214e-04 3.42682486e+00] [-2.65681368e-03 9.99983820e-01 -5.02998951e-03 7.54642004e-02] [ 1.98178230e-04 5.03053368e-03 9.99987327e-01 9.58960954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79255784400002 meters Centerline goodness [0,1] 0.24818750405782675 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.96 [[ 9.99996371e-01 2.69226946e-03 9.45974483e-05 3.42586609e+00] [-2.69175534e-03 9.99983528e-01 -5.06930922e-03 7.59455742e-02] [-1.08243837e-04 5.06903619e-03 9.99987146e-01 9.59257339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82255784400002 meters Centerline goodness [0,1] 0.24754700669980545 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.96 [[ 9.99996341e-01 2.70008724e-03 -1.66608442e-04 3.42700728e+00] [-2.70089445e-03 9.99983593e-01 -5.05153377e-03 7.58556461e-02] [ 1.52966127e-04 5.05196527e-03 9.99987227e-01 9.58326986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85255784400002 meters Centerline goodness [0,1] 0.24814270905321356 Centerline is valid? [False, False] Translation: X:3.43, Y:0.07, Z:0.96 [[ 9.99996181e-01 2.72412461e-03 -4.65245562e-04 3.42789428e+00] [-2.72633588e-03 9.99984666e-01 -4.82030813e-03 7.45551848e-02] [ 4.52107307e-04 4.82155814e-03 9.99988274e-01 9.58072960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88255784400002 meters Centerline goodness [0,1] 0.24452113891285587 Centerline is valid? [False, False] Translation: X:3.43, Y:0.07, Z:0.96 [[ 9.99995795e-01 2.79731616e-03 -7.65374987e-04 3.42850513e+00] [-2.80066624e-03 9.99986347e-01 -4.41155950e-03 7.24238636e-02] [ 7.53024011e-04 4.41368451e-03 9.99989976e-01 9.58313266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91255784400002 meters Centerline goodness [0,1] 0.24860500229764326 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99974905e-01 -6.83763567e-03 -1.85370921e-03 3.40650356e+00] [ 6.83119304e-03 9.99970682e-01 -3.45987144e-03 7.19633945e-02] [ 1.87731221e-03 3.44712157e-03 9.99992296e-01 9.58773750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94255784400002 meters Centerline goodness [0,1] 0.24160598053747506 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.96 [[ 9.99978433e-01 -6.55285828e-03 4.40850992e-04 3.45028182e+00] [ 6.55461268e-03 9.99970099e-01 -4.10335834e-03 7.19739623e-02] [-4.13949085e-04 4.10615945e-03 9.99991484e-01 9.58365817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97255784400002 meters Centerline goodness [0,1] 0.24666190568936786 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.96 [[ 9.99977284e-01 -6.72524031e-03 4.49794876e-04 3.45006732e+00] [ 6.72670439e-03 9.99971808e-01 -3.33678723e-03 6.66900821e-02] [-4.27341500e-04 3.33973707e-03 9.99994332e-01 9.58955575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00255784400002 meters Centerline goodness [0,1] 0.24914466181243966 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99999595e-01 8.52926016e-04 2.87791936e-04 3.43067694e+00] [-8.51824801e-04 9.99992398e-01 -3.80509355e-03 5.82472545e-02] [-2.91035212e-04 3.80484686e-03 9.99992719e-01 9.57774962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03255784400002 meters Centerline goodness [0,1] 0.24674477751450996 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99999536e-01 9.52629888e-04 1.46528376e-04 3.43118436e+00] [-9.52113835e-04 9.99993483e-01 -3.48251374e-03 5.65719815e-02] [-1.49844968e-04 3.48237261e-03 9.99993925e-01 9.57545358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06255784400003 meters Centerline goodness [0,1] 0.24731837862535633 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99999457e-01 1.03860912e-03 8.40361408e-05 3.43150850e+00] [-1.03832333e-03 9.99993909e-01 -3.33229225e-03 5.59370625e-02] [-8.74965781e-05 3.33220319e-03 9.99994444e-01 9.57224399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09255784400003 meters Centerline goodness [0,1] 0.2506121556624399 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99998996e-01 1.39569165e-03 2.43619035e-04 3.43115764e+00] [-1.39494066e-03 9.99994357e-01 -3.05605766e-03 5.56069767e-02] [-2.47882975e-04 3.05571476e-03 9.99995301e-01 9.57115093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12255784400003 meters Centerline goodness [0,1] 0.2471641531574601 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99998940e-01 1.45452350e-03 6.23570571e-05 3.43161225e+00] [-1.45432821e-03 9.99994367e-01 -3.02515351e-03 5.55349854e-02] [-6.67568627e-05 3.02505961e-03 9.99995422e-01 9.57102355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.152557844 meters Centerline goodness [0,1] 0.2480810024711877 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99998916e-01 1.46619225e-03 -1.36378615e-04 3.43219985e+00] [-1.46659224e-03 9.99994482e-01 -2.98063425e-03 5.50870973e-02] [ 1.32007680e-04 2.98083103e-03 9.99995549e-01 9.56967228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.182557844 meters Centerline goodness [0,1] 0.2477322285215875 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99998855e-01 1.46511203e-03 -3.78669789e-04 3.43289869e+00] [-1.46620247e-03 9.99994733e-01 -2.89559413e-03 5.43585080e-02] [ 3.74425425e-04 2.89614602e-03 9.99995736e-01 9.56811874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.212557844 meters Centerline goodness [0,1] 0.24479717052341 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.96 [[ 9.99980339e-01 -6.22325699e-03 7.69677478e-04 3.45259134e+00] [ 6.22460302e-03 9.99979080e-01 -1.75897540e-03 5.68995383e-02] [-7.58714820e-04 1.76373176e-03 9.99998157e-01 9.57669433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.242557844 meters Centerline goodness [0,1] 0.24543732782369143 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.96 [[ 9.99980997e-01 -6.08339284e-03 9.98566645e-04 3.45174977e+00] [ 6.08484044e-03 9.99980431e-01 -1.45309333e-03 5.57467815e-02] [-9.89707367e-04 1.45914183e-03 9.99998446e-01 9.58126925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.272557844 meters Centerline goodness [0,1] 0.24778780349592433 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99997266e-01 1.53674266e-03 1.76273433e-03 3.43117823e+00] [-1.53377499e-03 9.99997406e-01 -1.68367926e-03 4.88232972e-02] [-1.76531714e-03 1.68097102e-03 9.99997029e-01 9.57620891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.302557844 meters Centerline goodness [0,1] 0.2494374658656472 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99997361e-01 1.59440660e-03 1.65410309e-03 3.43141537e+00] [-1.59198425e-03 9.99997660e-01 -1.46473688e-03 4.76984372e-02] [-1.65643460e-03 1.46209971e-03 9.99997559e-01 9.57731588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.332557844 meters Centerline goodness [0,1] 0.2500164038406859 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99998025e-01 1.58786155e-03 1.19562471e-03 3.43295435e+00] [-1.58631390e-03 9.99997904e-01 -1.29426753e-03 4.64243530e-02] [-1.19767732e-03 1.29236833e-03 9.99998448e-01 9.57001092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.362557844 meters Centerline goodness [0,1] 0.2506590509666081 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99997981e-01 1.60594409e-03 1.20764377e-03 3.43293595e+00] [-1.60438353e-03 9.99997878e-01 -1.29209494e-03 4.65113183e-02] [-1.20971624e-03 1.29015481e-03 9.99998436e-01 9.56960457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.392557844 meters Centerline goodness [0,1] 0.24997270801947558 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99998015e-01 1.58645810e-03 1.20575137e-03 3.43292555e+00] [-1.58476589e-03 9.99997760e-01 -1.40311527e-03 4.71532218e-02] [-1.20797465e-03 1.40120165e-03 9.99998289e-01 9.56970922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.422557844 meters Centerline goodness [0,1] 0.25127607146000175 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.96 [[ 9.99997877e-01 1.54972176e-03 1.35785616e-03 3.43275338e+00] [-1.54746322e-03 9.99997420e-01 -1.66278865e-03 4.85865620e-02] [-1.36042951e-03 1.66068389e-03 9.99997696e-01 9.56561612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.452557844 meters Centerline goodness [0,1] 0.2448918075142642 Centerline is valid? [False, False] Translation: X:3.48, Y:0.05, Z:0.96 [[ 9.99991489e-01 2.86801082e-03 2.96603046e-03 3.47748635e+00] [-2.86050219e-03 9.99992701e-01 -2.53269374e-03 5.30204667e-02] [-2.97327261e-03 2.52418785e-03 9.99992394e-01 9.55207529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.482557844 meters Centerline goodness [0,1] 0.24416250215405821 Centerline is valid? [False, False] Translation: X:3.48, Y:0.05, Z:0.95 [[ 9.99991733e-01 2.81121967e-03 2.93797727e-03 3.47769256e+00] [-2.80332977e-03 9.99992463e-01 -2.68616381e-03 5.36965218e-02] [-2.94550652e-03 2.67790549e-03 9.99992076e-01 9.54948258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.512557844 meters Centerline goodness [0,1] 0.24416250215405821 Centerline is valid? [False, False] Translation: X:3.48, Y:0.05, Z:0.95 [[ 9.99991733e-01 2.81121967e-03 2.93797727e-03 3.47769256e+00] [-2.80332977e-03 9.99992463e-01 -2.68616381e-03 5.36965218e-02] [-2.94550652e-03 2.67790549e-03 9.99992076e-01 9.54948258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54255784400002 meters Centerline goodness [0,1] 0.24932219695644564 Centerline is valid? [False, False] Translation: X:3.46, Y:0.06, Z:0.95 [[ 9.99979361e-01 -6.17238182e-03 1.78287684e-03 3.45754883e+00] [ 6.17486385e-03 9.99979969e-01 -1.39001659e-03 5.71096270e-02] [-1.77426141e-03 1.40099693e-03 9.99997445e-01 9.54342560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57255784400002 meters Centerline goodness [0,1] 0.2453597928498379 Centerline is valid? [False, False] Translation: X:3.46, Y:0.06, Z:0.95 [[ 9.99979321e-01 -6.18767769e-03 1.75211827e-03 3.45775856e+00] [ 6.19021491e-03 9.99979794e-01 -1.44638107e-03 5.74934047e-02] [-1.74313312e-03 1.45719715e-03 9.99997419e-01 9.54066536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60255784400002 meters Centerline goodness [0,1] 0.2502413127413128 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.95 [[ 9.99997093e-01 1.31639813e-03 2.02023573e-03 3.43837525e+00] [-1.31185459e-03 9.99996611e-01 -2.24869544e-03 5.21160497e-02] [-2.02318906e-03 2.24603865e-03 9.99995431e-01 9.52709058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63255784400002 meters Centerline goodness [0,1] 0.24593887218533017 Centerline is valid? [False, False] Translation: X:3.46, Y:0.06, Z:0.95 [[ 9.99978999e-01 -6.15475789e-03 2.03000211e-03 3.45822213e+00] [ 6.15778974e-03 9.99979930e-01 -1.49066784e-03 5.73198019e-02] [-2.02078667e-03 1.50313686e-03 9.99996828e-01 9.53612517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66255784400002 meters Centerline goodness [0,1] 0.24891259207449012 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.95 [[ 9.99997493e-01 1.61709244e-03 1.54891620e-03 3.43797019e+00] [-1.61386457e-03 9.99996528e-01 -2.08294675e-03 5.14871031e-02] [-1.55227914e-03 2.08044178e-03 9.99996631e-01 9.53020302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69255784400002 meters Centerline goodness [0,1] 0.24799370230259565 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.95 [[ 9.99997527e-01 1.62351804e-03 1.51996179e-03 3.43799568e+00] [-1.62033449e-03 9.99996496e-01 -2.09338555e-03 5.16620658e-02] [-1.52335511e-03 2.09091753e-03 9.99996654e-01 9.53095189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72255784400002 meters Centerline goodness [0,1] 0.24446699630773217 Centerline is valid? [False, False] Translation: X:3.46, Y:0.06, Z:0.95 [[ 9.99982804e-01 -5.35966450e-03 2.38010728e-03 3.45617350e+00] [ 5.36191467e-03 9.99985183e-01 -9.40035357e-04 5.83732388e-02] [-2.37503374e-03 9.52781125e-04 9.99996726e-01 9.54579072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75255784400002 meters Centerline goodness [0,1] 0.24604154482639118 Centerline is valid? [False, False] Translation: X:3.46, Y:0.06, Z:0.95 [[ 9.99982388e-01 -5.37016605e-03 2.52690763e-03 3.45571183e+00] [ 5.37294077e-03 9.99984969e-01 -1.09256633e-03 5.92819099e-02] [-2.52100239e-03 1.10612401e-03 9.99996211e-01 9.54742914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78255784400002 meters Centerline goodness [0,1] 0.2501422506237143 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.95 [[ 9.99993062e-01 2.47216458e-03 2.78642442e-03 3.43460914e+00] [-2.46733955e-03 9.99995453e-01 -1.73373090e-03 5.48527680e-02] [-2.79069782e-03 1.72684382e-03 9.99994615e-01 9.54111295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81255784400003 meters Centerline goodness [0,1] 0.24476942323454554 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.96 [[ 9.99984693e-01 -4.40697728e-03 3.34534542e-03 3.45282962e+00] [ 4.40903111e-03 9.99990096e-01 -6.06809633e-04 6.14690818e-02] [-3.34263809e-03 6.21550077e-04 9.99994220e-01 9.55497435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84255784400003 meters Centerline goodness [0,1] 0.2440585791975335 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.96 [[ 9.99983707e-01 -4.42489164e-03 3.60633846e-03 3.45195190e+00] [ 4.42846274e-03 9.99989711e-01 -9.82846432e-04 6.36692001e-02] [-3.60195237e-03 9.98800954e-04 9.99993014e-01 9.55787588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87255784400003 meters Centerline goodness [0,1] 0.24853267249250033 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99991306e-01 3.27360789e-03 2.58277588e-03 3.43204471e+00] [-3.26839997e-03 9.99992622e-01 -2.01805657e-03 5.89386958e-02] [-2.58936316e-03 2.00959749e-03 9.99994628e-01 9.55043384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.902557844 meters Centerline goodness [0,1] 0.24809641909237268 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.95 [[ 9.99991873e-01 3.20008930e-03 2.45237082e-03 3.43254635e+00] [-3.19473192e-03 9.99992509e-01 -2.18538448e-03 5.96278449e-02] [-2.45934588e-03 2.17753205e-03 9.99994605e-01 9.54697540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.932557844 meters Centerline goodness [0,1] 0.24597000734690344 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.95 [[ 9.99992453e-01 3.13325442e-03 2.29707929e-03 3.43303935e+00] [-3.12790557e-03 9.99992397e-01 -2.32845113e-03 6.02963159e-02] [-2.30435745e-03 2.32124851e-03 9.99994651e-01 9.54473987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.962557844 meters Centerline goodness [0,1] 0.24794749041440112 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99991367e-01 3.15593700e-03 2.70303886e-03 3.43149038e+00] [-3.14937271e-03 9.99992090e-01 -2.42930917e-03 6.14398071e-02] [-2.71068423e-03 2.42077532e-03 9.99993396e-01 9.55340311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.992557844 meters Centerline goodness [0,1] 0.24840557777537564 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99990969e-01 3.10575933e-03 2.90110495e-03 3.43075424e+00] [-3.09829771e-03 9.99991890e-01 -2.57295539e-03 6.21518228e-02] [-2.90907240e-03 2.56394367e-03 9.99992482e-01 9.55769321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.022557844 meters Centerline goodness [0,1] 0.2478386790006052 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99991012e-01 3.05023700e-03 2.94475023e-03 3.43048302e+00] [-3.04234094e-03 9.99991775e-01 -2.68216895e-03 6.25229208e-02] [-2.95290726e-03 2.67318591e-03 9.99992067e-01 9.56079698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.052557844 meters Centerline goodness [0,1] 0.24645317324926042 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.96 [[ 9.99991276e-01 2.97624992e-03 2.93080067e-03 3.43052034e+00] [-2.96806324e-03 9.99991693e-01 -2.79372662e-03 6.28565709e-02] [-2.93909115e-03 2.78500344e-03 9.99991803e-01 9.56052727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082557844 meters Centerline goodness [0,1] 0.25196160084162544 Centerline is valid? [False, False] Translation: X:3.41, Y:0.07, Z:0.96 [[ 9.99981176e-01 -5.99234744e-03 1.31894423e-03 3.41072292e+00] [ 5.99418990e-03 9.99981058e-01 -1.39742676e-03 6.54432213e-02] [-1.31054538e-03 1.40530646e-03 9.99998154e-01 9.55404673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.112557844 meters Centerline goodness [0,1] 0.2455686933298874 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.95 [[ 9.99985412e-01 -4.63246921e-03 2.77774234e-03 3.45632782e+00] [ 4.63629285e-03 9.99988312e-01 -1.37166957e-03 6.91568468e-02] [-2.77135565e-03 1.38452798e-03 9.99995201e-01 9.53910918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.142557844 meters Centerline goodness [0,1] 0.24711166778240867 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.95 [[ 9.99985606e-01 -4.58516231e-03 2.78649834e-03 3.45619995e+00] [ 4.58852757e-03 9.99988750e-01 -1.20251259e-03 6.83234917e-02] [-2.78095328e-03 1.21528120e-03 9.99995395e-01 9.54087521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.172557844 meters Centerline goodness [0,1] 0.25042437431991293 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.95 [[ 9.99985685e-01 -4.56926661e-03 2.78419353e-03 3.45601309e+00] [ 4.57226281e-03 9.99988974e-01 -1.07073333e-03 6.75025149e-02] [-2.77927036e-03 1.08344806e-03 9.99995551e-01 9.54459398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202557844 meters Centerline goodness [0,1] 0.2476949320895684 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.95 [[ 9.99985924e-01 -4.51114392e-03 2.79304176e-03 3.45590387e+00] [ 4.51356909e-03 9.99989442e-01 -8.62597742e-04 6.65394997e-02] [-2.78912097e-03 8.75192187e-04 9.99995727e-01 9.54605530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.232557844 meters Centerline goodness [0,1] 0.25193756140159373 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.95 [[ 9.99992922e-01 3.32850780e-03 1.75421360e-03 3.43590455e+00] [-3.32568845e-03 9.99993178e-01 -1.60766256e-03 6.15981772e-02] [-1.75955275e-03 1.60181721e-03 9.99997169e-01 9.53664464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.262557844 meters Centerline goodness [0,1] 0.24811899273691995 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.95 [[ 9.99993516e-01 3.27867964e-03 1.48925371e-03 3.43694582e+00] [-3.27611182e-03 9.99993148e-01 -1.72341147e-03 6.20965808e-02] [-1.49489402e-03 1.71852133e-03 9.99997406e-01 9.52977254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29255784400002 meters Centerline goodness [0,1] 0.24538566155041774 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.95 [[ 9.99994169e-01 3.19044699e-03 1.21752398e-03 3.43811942e+00] [-3.18816127e-03 9.99993161e-01 -1.87469548e-03 6.25479047e-02] [-1.22349677e-03 1.87080288e-03 9.99997502e-01 9.52105251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32255784400002 meters Centerline goodness [0,1] 0.2417362054466654 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.95 [[ 9.99994595e-01 3.11145761e-03 1.06221275e-03 3.43887339e+00] [-3.10928286e-03 9.99993079e-01 -2.04292159e-03 6.31861982e-02] [-1.06856186e-03 2.03960783e-03 9.99997349e-01 9.51465870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35255784400002 meters Centerline goodness [0,1] 0.24723741971757884 Centerline is valid? [False, False] Translation: X:3.44, Y:0.07, Z:0.95 [[ 9.99994253e-01 3.08873595e-03 1.39798701e-03 3.43776655e+00] [-3.08544623e-03 9.99992480e-01 -2.34925730e-03 6.52205641e-02] [-1.40523273e-03 2.34493038e-03 9.99996263e-01 9.51835144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38255784400002 meters Centerline goodness [0,1] 0.2494072607835034 Centerline is valid? [False, False] Translation: X:3.44, Y:0.07, Z:0.95 [[ 9.99994098e-01 3.06362927e-03 1.55503521e-03 3.43722534e+00] [-3.05966037e-03 9.99992072e-01 -2.54828438e-03 6.65726981e-02] [-1.56282988e-03 2.54351146e-03 9.99995544e-01 9.52057112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41255784400002 meters Centerline goodness [0,1] 0.25139185353079685 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.95 [[ 9.99982566e-01 -5.87805277e-03 5.62147273e-04 3.41697388e+00] [ 5.87878807e-03 9.99981855e-01 -1.31543504e-03 7.09142129e-02] [-5.54404876e-04 1.31871686e-03 9.99998977e-01 9.51402794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44255784400002 meters Centerline goodness [0,1] 0.24957249967115358 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.95 [[ 9.99981445e-01 -6.08032012e-03 3.72683083e-04 3.41776469e+00] [ 6.08093658e-03 9.99980107e-01 -1.67589955e-03 7.21427125e-02] [-3.62485663e-04 1.67813471e-03 9.99998526e-01 9.50779153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47255784400002 meters Centerline goodness [0,1] 0.24635198716419848 Centerline is valid? [False, False] Translation: X:3.44, Y:0.07, Z:0.95 [[ 9.99995703e-01 2.71003524e-03 1.11831084e-03 3.43728401e+00] [-2.70692325e-03 9.99992486e-01 -2.77494778e-03 6.94144620e-02] [-1.12582264e-03 2.77190867e-03 9.99995525e-01 9.51342352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50255784400002 meters Centerline goodness [0,1] 0.24863100714066677 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.95 [[ 9.99979973e-01 -6.31457270e-03 4.23631592e-04 3.41653988e+00] [ 6.31516448e-03 9.99979064e-01 -1.41044310e-03 7.25437859e-02] [-4.14716378e-04 1.41309015e-03 9.99998916e-01 9.50692353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53255784400002 meters Centerline goodness [0,1] 0.24539784621360905 Centerline is valid? [False, False] Translation: X:3.44, Y:0.07, Z:0.95 [[ 9.99996696e-01 2.01976819e-03 1.58984857e-03 3.43604098e+00] [-2.01557589e-03 9.99994499e-01 -2.63412300e-03 6.96257907e-02] [-1.59516014e-03 2.63090984e-03 9.99995267e-01 9.51180358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56255784400003 meters Centerline goodness [0,1] 0.24603226155678248 Centerline is valid? [False, False] Translation: X:3.44, Y:0.07, Z:0.95 [[ 9.99998465e-01 1.43837903e-03 1.00022724e-03 3.43741159e+00] [-1.43556181e-03 9.99995017e-01 -2.81161905e-03 6.88959190e-02] [-1.00426642e-03 2.81017885e-03 9.99995547e-01 9.51473769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59255784400003 meters Centerline goodness [0,1] 0.24686843027330063 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.95 [[ 9.99963768e-01 -8.50104574e-03 4.42405817e-04 3.41517456e+00] [ 8.50201404e-03 9.99961360e-01 -2.23491046e-03 7.01420046e-02] [-4.23389646e-04 2.23859082e-03 9.99997405e-01 9.51746144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62255784400003 meters Centerline goodness [0,1] 0.24292133382065229 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.95 [[ 0.99995181 -0.00909057 0.00370786 3.45578103] [ 0.00910486 0.99995112 -0.0038556 0.07185188] [-0.00367263 0.00388917 0.99998569 0.95213282] [ 0. 0. 0. 1. ]] SLAMing on 247.652557844 meters Centerline goodness [0,1] 0.24660033887995825 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.95 [[ 0.99995001 -0.00910981 0.0041213 3.45436549] [ 0.00912453 0.99995201 -0.00356703 0.07023095] [-0.00408861 0.00360446 0.99998515 0.9528975 ] [ 0. 0. 0. 1. ]] SLAMing on 247.682557844 meters Centerline goodness [0,1] 0.2471711151420921 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.95 [[ 9.99986956e-01 -9.31957965e-04 5.02182821e-03 3.47158786e+00] [ 9.57609056e-04 9.99986496e-01 -5.10793767e-03 6.59238051e-02] [-5.01700001e-03 5.11268000e-03 9.99974345e-01 9.54490572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.712557844 meters Centerline goodness [0,1] 0.24481828965814734 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.95 [[ 9.99987061e-01 -1.00951163e-03 4.98593701e-03 3.47165625e+00] [ 1.03499787e-03 9.99986400e-01 -5.11169433e-03 6.60140885e-02] [-4.98070888e-03 5.11678862e-03 9.99974505e-01 9.54487625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.742557844 meters Centerline goodness [0,1] 0.25139542519426505 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.95 [[ 0.99994186 -0.01001303 0.00400285 3.45167298] [ 0.01002941 0.99994133 -0.00409278 0.07149121] [-0.00396163 0.00413269 0.99998361 0.95379436] [ 0. 0. 0. 1. ]] SLAMing on 247.772557844 meters Centerline goodness [0,1] 0.2491787586747014 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.95 [[ 9.99987680e-01 -1.21556918e-03 4.81271881e-03 3.47106443e+00] [ 1.24311439e-03 9.99982842e-01 -5.72457155e-03 7.09201680e-02] [-4.80567762e-03 5.73048378e-03 9.99972033e-01 9.54767935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.802557844 meters Centerline goodness [0,1] 0.24495900492801648 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.95 [[ 9.99986749e-01 -1.38872442e-03 4.95706849e-03 3.47071490e+00] [ 1.41964861e-03 9.99979521e-01 -6.24034573e-03 7.34159052e-02] [-4.94830085e-03 6.24730033e-03 9.99968242e-01 9.54740537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.832557844 meters Centerline goodness [0,1] 0.2473234562560831 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99983850e-01 2.34161815e-04 5.67851011e-03 3.46698632e+00] [-2.05881810e-04 9.99987577e-01 -4.98025385e-03 7.81758808e-02] [-5.67960576e-03 4.97900432e-03 9.99971475e-01 9.56887175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.862557844 meters Centerline goodness [0,1] 0.24916482276888363 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99984558e-01 8.19464314e-05 5.55671178e-03 3.46739511e+00] [-5.21728391e-05 9.99985644e-01 -5.35806475e-03 7.99445132e-02] [-5.55707108e-03 5.35769211e-03 9.99970207e-01 9.56660147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.892557844 meters Centerline goodness [0,1] 0.2469122450303909 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99985495e-01 -2.75708823e-05 5.38596532e-03 3.46796831e+00] [ 5.78106438e-05 9.99984237e-01 -5.61447314e-03 8.10870874e-02] [-5.38572562e-03 5.61470307e-03 9.99969734e-01 9.56391496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.922557844 meters Centerline goodness [0,1] 0.244401777624369 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99987289e-01 -2.43832626e-04 5.03617449e-03 3.46900568e+00] [ 2.74282312e-04 9.99981683e-01 -6.04638829e-03 8.29178725e-02] [-5.03460794e-03 6.04769276e-03 9.99969039e-01 9.56096473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.952557844 meters Centerline goodness [0,1] 0.2508672790347566 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.96 [[ 0.99994621 -0.00934327 0.00450351 3.44830394] [ 0.00936624 0.99994311 -0.00510476 0.08766745] [-0.00445556 0.00514667 0.99997683 0.95560806] [ 0. 0. 0. 1. ]] SLAMing on 247.982557844 meters Centerline goodness [0,1] 0.24980448383733056 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.96 [[ 0.99994553 -0.00936001 0.00461902 3.44777012] [ 0.00938384 0.99994263 -0.00516513 0.08801282] [-0.00457041 0.00520819 0.99997599 0.95602214] [ 0. 0. 0. 1. ]] SLAMing on 248.012557844 meters Centerline goodness [0,1] 0.25142057872191625 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.96 [[ 0.99994478 -0.0093706 0.00475724 3.44720435] [ 0.00939523 0.99994244 -0.00518103 0.08810021] [-0.00470842 0.00522544 0.99997526 0.95640261] [ 0. 0. 0. 1. ]] SLAMing on 248.04255784400002 meters Centerline goodness [0,1] 0.25088193022951966 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.96 [[ 0.99994436 -0.0093819 0.00482153 3.4469348 ] [ 0.00940694 0.99994224 -0.00519784 0.08816912] [-0.00477248 0.00524291 0.99997487 0.95657502] [ 0. 0. 0. 1. ]] SLAMing on 248.07255784400002 meters Centerline goodness [0,1] 0.2475429312020737 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99986930e-01 -7.55020259e-04 5.05674620e-03 3.46605065e+00] [ 7.87020517e-04 9.99979660e-01 -6.32923357e-03 8.44385466e-02] [-5.05186465e-03 6.33313061e-03 9.99967185e-01 9.57629590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10255784400002 meters Centerline goodness [0,1] 0.24537565408385198 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99989110e-01 -7.12820327e-04 4.61216289e-03 3.46763533e+00] [ 7.41422254e-04 9.99980488e-01 -6.20267812e-03 8.39753569e-02] [-4.60765151e-03 6.20603014e-03 9.99970127e-01 9.56792283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13255784400002 meters Centerline goodness [0,1] 0.2466941158529944 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.96 [[ 9.99952643e-01 -9.42274086e-03 2.43372351e-03 3.44846152e+00] [ 9.43441706e-03 9.99943822e-01 -4.83159432e-03 8.68961474e-02] [-2.38805992e-03 4.85432628e-03 9.99985366e-01 9.56203955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16255784400002 meters Centerline goodness [0,1] 0.24322579256612786 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99997052e-01 -3.59319681e-04 2.40161459e-03 3.46984300e+00] [ 3.72108937e-04 9.99985742e-01 -5.32695024e-03 8.18301878e-02] [-2.39966627e-03 5.32782820e-03 9.99982928e-01 9.56339072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19255784400002 meters Centerline goodness [0,1] 0.24812340000867794 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99995930e-01 -1.95654682e-04 2.84626887e-03 3.46844415e+00] [ 2.09942425e-04 9.99987376e-01 -5.02038258e-03 8.04306202e-02] [-2.84525068e-03 5.02095970e-03 9.99983347e-01 9.56853562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22255784400002 meters Centerline goodness [0,1] 0.24806972770724744 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99995199e-01 -1.02089788e-04 3.09713620e-03 3.46748261e+00] [ 1.17164568e-04 9.99988147e-01 -4.86753775e-03 7.97777715e-02] [-3.09660256e-03 4.86787725e-03 9.99983357e-01 9.57432344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25255784400002 meters Centerline goodness [0,1] 0.2511752415774353 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99994460e-01 1.52386065e-05 3.32873391e-03 3.46670427e+00] [ 2.01676617e-07 9.99989242e-01 -4.63843567e-03 7.87876328e-02] [-3.32876878e-03 4.63841064e-03 9.99983702e-01 9.57801641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28255784400002 meters Centerline goodness [0,1] 0.24998917233314566 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.96 [[ 9.99994314e-01 1.34975504e-04 3.36939241e-03 3.46641793e+00] [-1.20194169e-04 9.99990371e-01 -4.38676087e-03 7.76704432e-02] [-3.36995207e-03 4.38633095e-03 9.99984702e-01 9.58133438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31255784400003 meters Centerline goodness [0,1] 0.24885321100917435 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.96 [[ 9.99995253e-01 3.68836704e-04 3.05907217e-03 3.46773395e+00] [-3.57530606e-04 9.99993107e-01 -3.69564765e-03 7.41089951e-02] [-3.06041418e-03 3.69453640e-03 9.99988492e-01 9.57191458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34255784400003 meters Centerline goodness [0,1] 0.2483614890441479 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.96 [[ 9.99995953e-01 5.37527924e-04 2.79382096e-03 3.46884424e+00] [-5.28518441e-04 9.99994662e-01 -3.22452746e-03 7.17459246e-02] [-2.79553931e-03 3.22303783e-03 9.99990898e-01 9.56422471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37255784400003 meters Centerline goodness [0,1] 0.2495425235273615 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.96 [[ 9.99996463e-01 6.86081801e-04 2.56975816e-03 3.46968555e+00] [-6.78872699e-04 9.99995835e-01 -2.80518445e-03 6.95964287e-02] [-2.57167204e-03 2.80342999e-03 9.99992764e-01 9.55941993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.402557844 meters Centerline goodness [0,1] 0.2495425235273615 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.96 [[ 9.99996463e-01 6.86081801e-04 2.56975816e-03 3.46968555e+00] [-6.78872699e-04 9.99995835e-01 -2.80518445e-03 6.95964287e-02] [-2.57167204e-03 2.80342999e-03 9.99992764e-01 9.55941993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.432557844 meters Centerline goodness [0,1] 0.25990612378561295 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.96 [[ 9.99996358e-01 8.82578580e-04 2.55043215e-03 3.46970631e+00] [-8.76662590e-04 9.99996925e-01 -2.31979071e-03 6.72466149e-02] [-2.55247170e-03 2.31754640e-03 9.99994057e-01 9.55985920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.462557844 meters Centerline goodness [0,1] 0.24603912244677406 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.96 [[ 9.99975951e-01 -6.26332452e-03 2.97780619e-03 3.48784537e+00] [ 6.26573757e-03 9.99980049e-01 -8.01705622e-04 6.94557023e-02] [-2.97272544e-03 8.20344495e-04 9.99995245e-01 9.57959799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.492557844 meters Centerline goodness [0,1] 0.25940525438045525 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.96 [[ 9.99976942e-01 -6.08089232e-03 3.02305520e-03 3.48754766e+00] [ 6.08219600e-03 9.99981414e-01 -4.22239029e-04 6.77962342e-02] [-3.02043143e-03 4.40616107e-04 9.99995341e-01 9.58317711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.522557844 meters Centerline goodness [0,1] 0.25829801108575157 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.96 [[ 9.99980381e-01 -5.79596036e-03 2.37564854e-03 3.48986482e+00] [ 5.79565368e-03 9.99983196e-01 1.35956149e-04 6.50934455e-02] [-2.37639662e-03 -1.22185046e-04 9.99997169e-01 9.57080912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.552557844 meters Centerline goodness [0,1] 0.24629047980071483 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.96 [[ 9.99981810e-01 -5.66060994e-03 2.08252055e-03 3.49108991e+00] [ 5.65981481e-03 9.99983908e-01 3.87506447e-04 6.39170308e-02] [-2.08468056e-03 -3.75712717e-04 9.99997756e-01 9.56250986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.582557844 meters Centerline goodness [0,1] 0.2586795674445077 Centerline is valid? [False, False] Translation: X:3.47, Y:0.06, Z:0.95 [[ 9.99996287e-01 2.21340630e-03 1.58942941e-03 3.47065149e+00] [-2.21289705e-03 9.99997500e-01 -3.22083757e-04 5.77273422e-02] [-1.59013834e-03 3.18565318e-04 9.99998685e-01 9.54969847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.612557844 meters Centerline goodness [0,1] 0.2591274548569922 Centerline is valid? [False, False] Translation: X:3.47, Y:0.06, Z:0.95 [[ 9.99996003e-01 2.29672166e-03 1.64897685e-03 3.47050335e+00] [-2.29642304e-03 9.99997346e-01 -1.82959805e-04 5.70993128e-02] [-1.64939268e-03 1.79172326e-04 9.99998624e-01 9.54972773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642557844 meters Centerline goodness [0,1] 0.2591062302924867 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.96 [[ 9.99986191e-01 -4.66031605e-03 2.42870677e-03 3.48847719e+00] [ 4.65809799e-03 9.99988730e-01 9.18126532e-04 6.06082065e-02] [-2.43295816e-03 -9.06800700e-04 9.99996629e-01 9.56299077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.672557844 meters Centerline goodness [0,1] 0.25775235941373464 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.96 [[ 9.99986129e-01 -4.59897849e-03 2.56734480e-03 3.48795258e+00] [ 4.59640909e-03 9.99988931e-01 1.00580564e-03 6.02681348e-02] [-2.57194206e-03 -9.93991124e-04 9.99996199e-01 9.56597724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702557844 meters Centerline goodness [0,1] 0.2586670716362216 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.96 [[ 9.99986204e-01 -4.39925882e-03 2.87022928e-03 3.48687409e+00] [ 4.39558049e-03 9.99989512e-01 1.28659755e-03 5.97249867e-02] [-2.87585925e-03 -1.27396348e-03 9.99995053e-01 9.57061877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.732557844 meters Centerline goodness [0,1] 0.2595824851660964 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.96 [[ 9.99986170e-01 -4.33544337e-03 2.97723222e-03 3.48670549e+00] [ 4.33110982e-03 9.99989554e-01 1.46047042e-03 5.89906674e-02] [-2.98353290e-03 -1.44755550e-03 9.99994502e-01 9.56874923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762557844 meters Centerline goodness [0,1] 0.25773240660295393 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.96 [[ 9.99986535e-01 -4.26887273e-03 2.95081649e-03 3.48674873e+00] [ 4.26367356e-03 9.99989351e-01 1.76599235e-03 5.73408021e-02] [-2.95832386e-03 -1.75338726e-03 9.99994087e-01 9.56916261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79255784400002 meters Centerline goodness [0,1] 0.2598141060688901 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.96 [[ 9.99986890e-01 -4.24669183e-03 2.86117841e-03 3.48679937e+00] [ 4.24067830e-03 9.99988794e-01 2.10456480e-03 5.52470930e-02] [-2.87008378e-03 -2.09240387e-03 9.99993692e-01 9.57275422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82255784400002 meters Centerline goodness [0,1] 0.2583505828521625 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.96 [[ 9.99988469e-01 -4.37188085e-03 1.98729055e-03 3.48883054e+00] [ 4.36694916e-03 9.99987392e-01 2.47921586e-03 5.24298949e-02] [-1.99810433e-03 -2.47050887e-03 9.99994952e-01 9.57493493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85255784400002 meters Centerline goodness [0,1] 0.25126155056032506 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.96 [[ 9.99989319e-01 -4.28891241e-03 1.72268856e-03 3.48968164e+00] [ 4.28418939e-03 9.99987080e-01 2.73605674e-03 5.11927352e-02] [-1.73440101e-03 -2.72864720e-03 9.99994773e-01 9.57119768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88255784400002 meters Centerline goodness [0,1] 0.24814502347113154 Centerline is valid? [False, False] Translation: X:3.51, Y:0.05, Z:0.96 [[ 9.99989103e-01 4.30182452e-03 1.81334600e-03 3.50980124e+00] [-4.30492624e-03 9.99989272e-01 1.71007625e-03 4.58622418e-02] [-1.80597010e-03 -1.71786394e-03 9.99996894e-01 9.57633960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91255784400002 meters Centerline goodness [0,1] 0.25141242937853103 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.96 [[ 9.99987718e-01 -4.91119782e-03 6.66832331e-04 3.48941934e+00] [ 4.90916788e-03 9.99983413e-01 3.01241866e-03 4.75087051e-02] [-6.81615854e-04 -3.00910806e-03 9.99995240e-01 9.57286053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94255784400002 meters Centerline goodness [0,1] 0.24667200588757332 Centerline is valid? [False, False] Translation: X:3.51, Y:0.04, Z:0.96 [[ 9.99995181e-01 2.14031119e-03 2.24898292e-03 3.50985647e+00] [-2.14058513e-03 9.99997702e-01 1.19407035e-04 4.42537323e-02] [-2.24872218e-03 -1.24220599e-04 9.99997464e-01 9.56961705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97255784400002 meters Centerline goodness [0,1] 0.24287460593193078 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:0.96 [[ 9.99978817e-01 -5.19328275e-03 3.92379645e-03 3.52807955e+00] [ 5.18658336e-03 9.99985078e-01 1.71562610e-03 4.55818855e-02] [-3.93264763e-03 -1.69523866e-03 9.99990830e-01 9.59057218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00255784400002 meters Centerline goodness [0,1] 0.25216594286711913 Centerline is valid? [False, False] Translation: X:3.51, Y:0.04, Z:0.96 [[ 9.99989656e-01 2.76148958e-03 3.61401196e-03 3.50730852e+00] [-2.76590418e-03 9.99995434e-01 1.21709584e-03 3.98764971e-02] [-3.61063446e-03 -1.22707926e-03 9.99992729e-01 9.58359411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03255784400002 meters Centerline goodness [0,1] 0.24922654581898995 Centerline is valid? [False, False] Translation: X:3.51, Y:0.04, Z:0.96 [[ 9.99989894e-01 2.79846370e-03 3.51849783e-03 3.50769806e+00] [-2.80283126e-03 9.99995307e-01 1.23699724e-03 3.97916456e-02] [-3.51501963e-03 -1.24684649e-03 9.99993045e-01 9.58069932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06255784400003 meters Centerline goodness [0,1] 0.24762910595741017 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:0.96 [[ 9.99989292e-01 -3.94481111e-03 2.41951123e-03 3.52667204e+00] [ 3.94003230e-03 9.99990284e-01 1.97670707e-03 4.42871401e-02] [-2.42728546e-03 -1.96715295e-03 9.99995119e-01 9.59424466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09255784400003 meters Centerline goodness [0,1] 0.25165099497047894 Centerline is valid? [False, False] Translation: X:3.51, Y:0.04, Z:0.96 [[ 9.99990135e-01 4.05135097e-03 1.82118044e-03 3.50578979e+00] [-4.05379976e-03 9.99990882e-01 1.34294139e-03 3.76253505e-02] [-1.81572310e-03 -1.35031084e-03 9.99997440e-01 9.58796319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12255784400003 meters Centerline goodness [0,1] 0.2491186330701849 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:0.96 [[ 9.99992742e-01 -2.99186312e-03 2.35912104e-03 3.52433626e+00] [ 2.98601600e-03 9.99992471e-01 2.47815539e-03 4.20497680e-02] [-2.36651758e-03 -2.47109303e-03 9.99994147e-01 9.60006951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.152557844 meters Centerline goodness [0,1] 0.25327758177620974 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:0.96 [[ 9.99992740e-01 -2.88836174e-03 2.48539440e-03 3.52390340e+00] [ 2.88182813e-03 9.99992393e-01 2.62837913e-03 4.15704864e-02] [-2.49296721e-03 -2.62119757e-03 9.99993457e-01 9.60218258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.182557844 meters Centerline goodness [0,1] 0.25035805737598193 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:0.96 [[ 9.99992875e-01 -2.83682452e-03 2.49054000e-03 3.52397309e+00] [ 2.83003086e-03 9.99992277e-01 2.72708575e-03 4.11274595e-02] [-2.49825703e-03 -2.72001802e-03 9.99993180e-01 9.60100538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.212557844 meters Centerline goodness [0,1] 0.24659186354532336 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:0.96 [[ 9.99993836e-01 -2.81022230e-03 2.10468626e-03 3.52473121e+00] [ 2.80404318e-03 9.99991767e-01 2.93310539e-03 3.95016464e-02] [-2.11291161e-03 -2.92718568e-03 9.99993484e-01 9.60478603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.242557844 meters Centerline goodness [0,1] 0.2496746768456667 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:0.96 [[ 9.99994556e-01 -2.69151536e-03 1.90875250e-03 3.52528833e+00] [ 2.68528605e-03 9.99991085e-01 3.25863951e-03 3.79332044e-02] [-1.91750617e-03 -3.25349622e-03 9.99992869e-01 9.60410642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.272557844 meters Centerline goodness [0,1] 0.24584803373203679 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:0.96 [[ 9.99995359e-01 -2.55416630e-03 1.66066313e-03 3.52610103e+00] [ 2.54817840e-03 9.99990281e-01 3.59790333e-03 3.64252228e-02] [-1.66983664e-03 -3.59365497e-03 9.99992149e-01 9.60089813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.302557844 meters Centerline goodness [0,1] 0.24536358147157766 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.96 [[ 9.99996015e-01 -2.43240351e-03 1.43269701e-03 3.52691224e+00] [ 2.42671024e-03 9.99989206e-01 3.96223253e-03 3.46472635e-02] [-1.44231930e-03 -3.95874001e-03 9.99991124e-01 9.59688650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.332557844 meters Centerline goodness [0,1] 0.24759964455233097 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.96 [[ 9.99996745e-01 -2.27486951e-03 1.15517042e-03 3.52761930e+00] [ 2.26936857e-03 9.99986185e-01 4.74120784e-03 2.99385894e-02] [-1.16594009e-03 -4.73857090e-03 9.99988093e-01 9.59887986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362557844 meters Centerline goodness [0,1] 0.24844504371275722 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.96 [[ 9.99997157e-01 -2.14390388e-03 1.04412491e-03 3.52769525e+00] [ 2.13848477e-03 9.99984381e-01 5.16384773e-03 2.77522403e-02] [-1.05517940e-03 -5.16160020e-03 9.99986122e-01 9.60321463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.392557844 meters Centerline goodness [0,1] 0.2500706782941522 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.96 [[ 9.99997533e-01 -2.06371727e-03 8.21668532e-04 3.52823237e+00] [ 2.05926510e-03 9.99983392e-01 5.38291541e-03 2.66396723e-02] [-8.32763701e-04 -5.38121010e-03 9.99985174e-01 9.60372379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.422557844 meters Centerline goodness [0,1] 0.24474018562783983 Centerline is valid? [False, False] Translation: X:3.55, Y:0.02, Z:0.96 [[ 9.99967956e-01 7.99834914e-03 3.35574162e-04 3.55044586e+00] [-8.00001273e-03 9.99954008e-01 5.28975929e-03 2.24808997e-02] [-2.93249386e-04 -5.29227439e-03 9.99985953e-01 9.60232816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.452557844 meters Centerline goodness [0,1] 0.24819580906008176 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.96 [[ 9.99999468e-01 -1.00236884e-03 2.43143517e-04 3.53112614e+00] [ 1.00075699e-03 9.99978106e-01 6.54114814e-03 2.62865575e-02] [-2.49694837e-04 -6.54090133e-03 9.99978577e-01 9.58892531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.482557844 meters Centerline goodness [0,1] 0.24990690644645475 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.96 [[ 9.99999415e-01 -9.49323482e-04 5.19157258e-04 3.53036019e+00] [ 9.45900118e-04 9.99978068e-01 6.55504136e-03 2.62895929e-02] [-5.25368727e-04 -6.55454646e-03 9.99978381e-01 9.59077577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.512557844 meters Centerline goodness [0,1] 0.25998777452735444 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.96 [[ 9.99999320e-01 -9.68119917e-04 6.50868117e-04 3.52997099e+00] [ 9.63909972e-04 9.99978813e-01 6.43769486e-03 2.68054058e-02] [-6.57086788e-04 -6.43706310e-03 9.99979066e-01 9.59168635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54255784400002 meters Centerline goodness [0,1] 0.24879937697399734 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:0.96 [[ 9.99964838e-01 8.29636673e-03 1.22194359e-03 3.54953110e+00] [-8.30248320e-03 9.99952587e-01 5.08853649e-03 2.54133523e-02] [-1.17966929e-03 -5.09850274e-03 9.99986307e-01 9.60212211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57255784400002 meters Centerline goodness [0,1] 0.2499022716414021 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:0.96 [[ 9.99964847e-01 8.28794234e-03 1.27048207e-03 3.54956768e+00] [-8.29399645e-03 9.99953908e-01 4.83639903e-03 2.69528025e-02] [-1.23033972e-03 -4.84676639e-03 9.99987497e-01 9.59888595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60255784400002 meters Centerline goodness [0,1] 0.2472045415448133 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:0.96 [[ 9.99997623e-01 1.74781435e-03 1.30346462e-03 3.56715509e+00] [-1.75512769e-03 9.99982607e-01 5.63081726e-03 3.53093479e-02] [-1.29360033e-03 -5.63309163e-03 9.99983297e-01 9.61566722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63255784400002 meters Centerline goodness [0,1] 0.2474318024861878 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:0.96 [[ 9.99997699e-01 1.68213005e-03 1.33107906e-03 3.56703041e+00] [-1.68944596e-03 9.99983369e-01 5.51432195e-03 3.56758992e-02] [-1.32178111e-03 -5.51655805e-03 9.99983910e-01 9.61654976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66255784400002 meters Centerline goodness [0,1] 0.24524576089289551 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:0.96 [[ 9.99997891e-01 1.61602599e-03 1.26717055e-03 3.56724806e+00] [-1.62292529e-03 9.99983763e-01 5.46265319e-03 3.57046864e-02] [-1.25832219e-03 -5.46469820e-03 9.99984277e-01 9.61520802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69255784400002 meters Centerline goodness [0,1] 0.2490178301601692 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:0.96 [[ 9.99997979e-01 1.60113521e-03 1.21621672e-03 3.56755117e+00] [-1.60777356e-03 9.99983709e-01 5.47697676e-03 3.56482846e-02] [-1.20742753e-03 -5.47892109e-03 9.99984262e-01 9.61181847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72255784400002 meters Centerline goodness [0,1] 0.2488664334758388 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:0.96 [[ 9.99998794e-01 1.42229540e-03 6.23254394e-04 3.56925467e+00] [-1.42569827e-03 9.99983892e-01 5.49384480e-03 3.50161373e-02] [-6.15430484e-04 -5.49472675e-03 9.99984714e-01 9.60809922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75255784400002 meters Centerline goodness [0,1] 0.25095602294455066 Centerline is valid? [False, False] Translation: X:3.57, Y:0.03, Z:0.96 [[ 9.99998934e-01 1.40188506e-03 4.08905278e-04 3.56970497e+00] [-1.40417571e-03 9.99983016e-01 5.65646060e-03 3.39241742e-02] [-4.00968626e-04 -5.65702874e-03 9.99983918e-01 9.60993566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78255784400002 meters Centerline goodness [0,1] 0.25116705204834 Centerline is valid? [False, False] Translation: X:3.57, Y:0.03, Z:0.96 [[ 9.99998960e-01 1.41307456e-03 2.87041154e-04 3.56970143e+00] [-1.41473208e-03 9.99981836e-01 5.85880880e-03 3.27724247e-02] [-2.78757007e-04 -5.85920879e-03 9.99982796e-01 9.61541473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81255784400003 meters Centerline goodness [0,1] 0.25132955536181345 Centerline is valid? [False, False] Translation: X:3.57, Y:0.03, Z:0.96 [[ 9.99998890e-01 1.42640684e-03 4.29456433e-04 3.56909896e+00] [-1.42905728e-03 9.99979535e-01 6.23589630e-03 3.07830470e-02] [-4.20552719e-04 -6.23650309e-03 9.99980464e-01 9.62080797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84255784400003 meters Centerline goodness [0,1] 0.24748724791769794 Centerline is valid? [False, False] Translation: X:3.59, Y:0.03, Z:0.96 [[ 9.99946181e-01 1.01571491e-02 2.11347405e-03 3.58827770e+00] [-1.01676430e-02 9.99935732e-01 5.01515750e-03 2.67263772e-02] [-2.06239851e-03 -5.03637664e-03 9.99985191e-01 9.62380867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87255784400003 meters Centerline goodness [0,1] 0.24752496556473824 Centerline is valid? [False, False] Translation: X:3.59, Y:0.03, Z:0.96 [[ 9.99969865e-01 7.23859542e-03 2.80552709e-03 3.58654549e+00] [-7.24425727e-03 9.99971733e-01 2.01322515e-03 2.62975151e-02] [-2.79087487e-03 -2.03348844e-03 9.99994038e-01 9.62354750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.902557844 meters Centerline goodness [0,1] 0.24867359703230818 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:0.96 [[ 9.99968921e-01 7.37876105e-03 2.77684879e-03 3.58625718e+00] [-7.38551338e-03 9.99969776e-01 2.42930161e-03 2.43391156e-02] [-2.75883963e-03 -2.44973456e-03 9.99993194e-01 9.63028370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.932557844 meters Centerline goodness [0,1] 0.2490844069111121 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:0.96 [[ 9.99987677e-01 4.05309278e-03 2.86662996e-03 3.58588589e+00] [-4.05076941e-03 9.99991463e-01 -8.15829568e-04 2.25558227e-02] [-2.86991212e-03 8.04207458e-04 9.99995558e-01 9.63106710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.962557844 meters Centerline goodness [0,1] 0.25434886864018835 Centerline is valid? [False, False] Translation: X:3.57, Y:0.02, Z:0.96 [[ 9.99987127e-01 -4.99239747e-03 9.06264936e-04 3.56657343e+00] [ 4.99172638e-03 9.99987267e-01 7.41254397e-04 2.35869704e-02] [-9.09954033e-04 -7.36721029e-04 9.99999315e-01 9.62654604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.992557844 meters Centerline goodness [0,1] 0.2525927381498221 Centerline is valid? [False, False] Translation: X:3.57, Y:0.02, Z:0.96 [[ 9.99987827e-01 -4.88016844e-03 7.27391213e-04 3.56721682e+00] [ 4.87939890e-03 9.99987538e-01 1.05599300e-03 2.19521128e-02] [-7.32535572e-04 -1.05243091e-03 9.99999178e-01 9.62341613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.022557844 meters Centerline goodness [0,1] 0.24740298763736268 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:0.96 [[ 9.99994693e-01 2.50722749e-03 2.08033281e-03 3.58913069e+00] [-2.50368191e-03 9.99995412e-01 -1.70518772e-03 1.97785048e-02] [-2.08459855e-03 1.69997018e-03 9.99996382e-01 9.61013575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.052557844 meters Centerline goodness [0,1] 0.24905196931827978 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:0.96 [[ 9.99994613e-01 2.59422563e-03 2.01096606e-03 3.58931501e+00] [-2.59129311e-03 9.99995578e-01 -1.45949857e-03 1.85450886e-02] [-2.01474344e-03 1.45427970e-03 9.99996913e-01 9.61032005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082557844 meters Centerline goodness [0,1] 0.2532262627581554 Centerline is valid? [False, False] Translation: X:3.57, Y:0.02, Z:0.96 [[ 9.99982711e-01 -5.88007788e-03 -5.69535348e-05 3.57084940e+00] [ 5.88011956e-03 9.99982422e-01 7.61612157e-04 1.97741758e-02] [ 5.24741949e-05 -7.61933883e-04 9.99999708e-01 9.60387905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.112557844 meters Centerline goodness [0,1] 0.2467980507999482 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:0.96 [[ 9.99995033e-01 3.12986121e-03 -3.70948561e-04 3.59039753e+00] [-3.13005293e-03 9.99994968e-01 -5.17395461e-04 1.62211847e-02] [ 3.69327318e-04 5.18553980e-04 9.99999797e-01 9.61795098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.142557844 meters Centerline goodness [0,1] 0.24949329846355017 Centerline is valid? [False, False] Translation: X:3.57, Y:0.02, Z:0.96 [[ 9.99979746e-01 -6.05858897e-03 -1.94951896e-03 3.57193354e+00] [ 6.06037788e-03 9.99981219e-01 9.13023945e-04 1.90654176e-02] [ 1.94395071e-03 -9.24820275e-04 9.99997683e-01 9.60929273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.172557844 meters Centerline goodness [0,1] 0.24858928726451945 Centerline is valid? [False, False] Translation: X:3.57, Y:0.02, Z:0.96 [[ 9.99979185e-01 -6.06743067e-03 -2.19466657e-03 3.57269278e+00] [ 6.06944978e-03 9.99981163e-01 9.14518227e-04 1.89476976e-02] [ 2.18907645e-03 -9.27819609e-04 9.99997174e-01 9.60675524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.202557844 meters Centerline goodness [0,1] 0.24846398535883918 Centerline is valid? [False, False] Translation: X:3.57, Y:0.02, Z:0.96 [[ 9.99979429e-01 -6.01531500e-03 -2.22655150e-03 3.57270927e+00] [ 6.01761865e-03 9.99981364e-01 1.02937782e-03 1.85117005e-02] [ 2.22031798e-03 -1.04275519e-03 9.99996991e-01 9.60753463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.232557844 meters Centerline goodness [0,1] 0.24746384631987917 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:0.96 [[ 9.99995591e-01 2.81418755e-03 -9.47542188e-04 3.59083590e+00] [-2.81459422e-03 9.99995947e-01 -4.28118879e-04 1.52024064e-02] [ 9.46333541e-04 4.30783938e-04 9.99999459e-01 9.61979342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262557844 meters Centerline goodness [0,1] 0.24348163643813758 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:0.96 [[ 9.99995611e-01 2.81530207e-03 -9.23092938e-04 3.59055797e+00] [-2.81563217e-03 9.99995973e-01 -3.56496869e-04 1.48433711e-02] [ 9.22085574e-04 3.59094394e-04 9.99999510e-01 9.62370820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29255784400002 meters Centerline goodness [0,1] 0.2480760916558582 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:0.96 [[ 9.99995615e-01 2.80238286e-03 -9.57359696e-04 3.59049184e+00] [-2.80264564e-03 9.99996035e-01 -2.73250902e-04 1.43012061e-02] [ 9.56590146e-04 2.75932843e-04 9.99999504e-01 9.62647199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32255784400002 meters Centerline goodness [0,1] 0.2480760916558582 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:0.96 [[ 9.99995615e-01 2.80238286e-03 -9.57359696e-04 3.59049184e+00] [-2.80264564e-03 9.99996035e-01 -2.73250902e-04 1.43012061e-02] [ 9.56590146e-04 2.75932843e-04 9.99999504e-01 9.62647199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35255784400002 meters Centerline goodness [0,1] 0.2490882250781521 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:0.96 [[ 9.99995730e-01 2.66102215e-03 -1.20815403e-03 3.59075828e+00] [-2.66135880e-03 9.99996420e-01 -2.77124439e-04 1.39693106e-02] [ 1.20741227e-03 2.80338587e-04 9.99999232e-01 9.63285032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38255784400002 meters Centerline goodness [0,1] 0.24679709141274242 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:0.96 [[ 9.99995746e-01 2.64838736e-03 -1.22227045e-03 3.59061560e+00] [-2.64863700e-03 9.99996472e-01 -2.02662802e-04 1.36238492e-02] [ 1.22172941e-03 2.05899290e-04 9.99999232e-01 9.63570119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41255784400002 meters Centerline goodness [0,1] 0.24524727108317002 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:0.96 [[ 9.99995769e-01 2.63300616e-03 -1.23692977e-03 3.59056406e+00] [-2.63316870e-03 9.99996525e-01 -1.29797824e-04 1.32027975e-02] [ 1.23658371e-03 1.33054319e-04 9.99999227e-01 9.63692239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44255784400002 meters Centerline goodness [0,1] 0.2419656887013798 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:0.96 [[ 9.99995734e-01 2.65811555e-03 -1.21055739e-03 3.59038631e+00] [-2.65806328e-03 9.99996466e-01 4.47819357e-05 1.23199253e-02] [ 1.21067215e-03 -4.15640065e-05 9.99999266e-01 9.63874938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47255784400002 meters Centerline goodness [0,1] 0.24968031383428335 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:0.96 [[ 9.99996331e-01 2.52623367e-03 -9.77441168e-04 3.58950480e+00] [-2.52580074e-03 9.99996712e-01 4.43900841e-04 9.59861039e-03] [ 9.78559351e-04 -4.41430391e-04 9.99999424e-01 9.64549621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50255784400002 meters Centerline goodness [0,1] 0.24496318210283097 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:0.96 [[ 9.99996089e-01 2.52810197e-03 -1.19607527e-03 3.58990916e+00] [-2.52721503e-03 9.99996531e-01 7.42477989e-04 7.81134348e-03] [ 1.19794818e-03 -7.39452346e-04 9.99999009e-01 9.64795681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53255784400002 meters Centerline goodness [0,1] 0.2664951740210628 Centerline is valid? [False, False] Translation: X:3.54, Y:0.00, Z:0.97 [[ 9.99993152e-01 -1.14014959e-04 -3.69904704e-03 3.54498404e+00] [ 1.18370088e-04 9.99999300e-01 1.17716776e-03 8.03108178e-04] [ 3.69891024e-03 -1.17759756e-03 9.99992466e-01 9.66783383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56255784400003 meters Centerline goodness [0,1] 0.24750313459293527 Centerline is valid? [False, False] Translation: X:3.59, Y:0.00, Z:0.97 [[ 9.99998298e-01 1.13548878e-03 -1.45450068e-03 3.58827020e+00] [-1.13465288e-03 9.99999191e-01 5.75397768e-04 7.98680485e-04] [ 1.45515286e-03 -5.73746435e-04 9.99998777e-01 9.66108737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59255784400003 meters Centerline goodness [0,1] 0.24931102575787167 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.00, Z:0.97 [[ 9.99998141e-01 1.29356147e-03 -1.43021238e-03 3.58810988e+00] [-1.29214057e-03 9.99998671e-01 9.93962379e-04 -1.13290817e-03] [ 1.43149623e-03 -9.92112495e-04 9.99998483e-01 9.66288529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62255784400003 meters Centerline goodness [0,1] 0.26468411198676367 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.00, Z:0.97 [[ 9.99998148e-01 1.42591791e-03 -1.29275997e-03 3.58759659e+00] [-1.42420239e-03 9.99998105e-01 1.32696767e-03 -2.66549753e-03] [ 1.29464966e-03 -1.32512406e-03 9.99998284e-01 9.66619655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.652557844 meters Centerline goodness [0,1] 0.2555088162856084 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:0.97 [[ 9.99997970e-01 1.67706681e-03 -1.11727724e-03 3.58685311e+00] [-1.67483491e-03 9.99996606e-01 1.99557372e-03 -5.89116085e-03] [ 1.12062016e-03 -1.99369841e-03 9.99997385e-01 9.67230736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.682557844 meters Centerline goodness [0,1] 0.24902088772845954 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:0.97 [[ 9.99997548e-01 1.80387703e-03 -1.28455723e-03 3.58722528e+00] [-1.80081697e-03 9.99995548e-01 2.37937103e-03 -7.81545739e-03] [ 1.28884361e-03 -2.37705194e-03 9.99996344e-01 9.67327503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.712557844 meters Centerline goodness [0,1] 0.24600445511364866 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:0.97 [[ 9.99996935e-01 1.92281582e-03 -1.55945819e-03 3.58788621e+00] [-1.91839907e-03 9.99994159e-01 2.82880417e-03 -1.01722510e-02] [ 1.56488835e-03 -2.82580384e-03 9.99994783e-01 9.67362605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.742557844 meters Centerline goodness [0,1] 0.24860111910471627 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:0.97 [[ 9.99996108e-01 2.07672011e-03 -1.86331928e-03 3.58870285e+00] [-2.07040929e-03 9.99992136e-01 3.38243103e-03 -1.29891880e-02] [ 1.87032899e-03 -3.37856003e-03 9.99992544e-01 9.67286146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.772557844 meters Centerline goodness [0,1] 0.24717401171461306 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.02, Z:0.97 [[ 9.99994546e-01 2.32554137e-03 -2.34516506e-03 3.58986958e+00] [-2.31515458e-03 9.99987543e-01 4.42205165e-03 -1.83536903e-02] [ 2.35541951e-03 -4.41659811e-03 9.99987473e-01 9.67373584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.802557844 meters Centerline goodness [0,1] 0.25283552846413415 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.02, Z:0.97 [[ 9.99993956e-01 2.48751046e-03 -2.42904080e-03 3.58996195e+00] [-2.47561829e-03 9.99984996e-01 4.88662092e-03 -2.05865088e-02] [ 2.44115987e-03 -4.88057801e-03 9.99985110e-01 9.67579210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.832557844 meters Centerline goodness [0,1] 0.25476190476190474 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.02, Z:0.97 [[ 9.99993354e-01 2.61477621e-03 -2.54068454e-03 3.59033332e+00] [-2.60144361e-03 9.99982904e-01 5.23684887e-03 -2.23184788e-02] [ 2.55433429e-03 -5.23020462e-03 9.99983060e-01 9.67421684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.862557844 meters Centerline goodness [0,1] 0.24992980106702378 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.02, Z:0.97 [[ 9.99992236e-01 2.85145809e-03 -2.71970489e-03 3.59103708e+00] [-2.83586319e-03 9.99979615e-01 5.72076410e-03 -2.44438470e-02] [ 2.73596197e-03 -5.71300697e-03 9.99979938e-01 9.66991259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.892557844 meters Centerline goodness [0,1] 0.24774218699239814 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.03, Z:0.97 [[ 9.99991848e-01 2.97123707e-03 -2.73401035e-03 3.59094819e+00] [-2.95481169e-03 9.99977680e-01 5.99235156e-03 -2.55971690e-02] [ 2.75175402e-03 -5.98422422e-03 9.99978308e-01 9.67212260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.922557844 meters Centerline goodness [0,1] 0.25113497468133406 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.03, Z:0.97 [[ 9.99991358e-01 3.11468864e-03 -2.75359998e-03 3.59068538e+00] [-3.09705354e-03 9.99974816e-01 6.38561024e-03 -2.74101197e-02] [ 2.77341982e-03 -6.37702701e-03 9.99975821e-01 9.67757521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.952557844 meters Centerline goodness [0,1] 0.2435292097694982 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99992667e-01 3.80231406e-03 -4.56809563e-04 3.63365837e+00] [-3.80006212e-03 9.99981099e-01 4.83339484e-03 -2.68638258e-02] [ 4.75179014e-04 -4.83162349e-03 9.99988215e-01 9.67290439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982557844 meters Centerline goodness [0,1] 0.24320010353529908 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99992838e-01 3.68897217e-03 -8.45485130e-04 3.63442437e+00] [-3.68454837e-03 9.99979819e-01 5.17542110e-03 -2.92429814e-02] [ 8.64560052e-04 -5.17226880e-03 9.99986250e-01 9.67628855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.012557844 meters Centerline goodness [0,1] 0.24290485939015194 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99992750e-01 3.71312171e-03 -8.44592086e-04 3.63430475e+00] [-3.70853992e-03 9.99978741e-01 5.36322891e-03 -3.02242861e-02] [ 8.64488452e-04 -5.36005782e-03 9.99985261e-01 9.67787623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04255784400002 meters Centerline goodness [0,1] 0.2512717944258446 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99992800e-01 3.70504600e-03 -8.19567260e-04 3.63409526e+00] [-3.70045159e-03 9.99977818e-01 5.53813287e-03 -3.11734353e-02] [ 8.40068117e-04 -5.53506023e-03 9.99984329e-01 9.67992684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07255784400002 meters Centerline goodness [0,1] 0.2431221319775082 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99992837e-01 3.66928627e-03 -9.28445236e-04 3.63430333e+00] [-3.66390204e-03 9.99976837e-01 5.73590780e-03 -3.23487344e-02] [ 9.49470419e-04 -5.73246498e-03 9.99983119e-01 9.68056294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10255784400002 meters Centerline goodness [0,1] 0.24662959035727428 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99992816e-01 3.62138896e-03 -1.11991579e-03 3.63479672e+00] [-3.61471399e-03 9.99976027e-01 5.90591196e-03 -3.34391666e-02] [ 1.14127655e-03 -5.90182135e-03 9.99981933e-01 9.67969548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13255784400002 meters Centerline goodness [0,1] 0.2448458073458073 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99999481e-01 -4.34932627e-04 -9.21066744e-04 3.63480179e+00] [ 4.36585542e-04 9.99998293e-01 1.79512631e-03 -3.21490065e-02] [ 9.20284413e-04 -1.79552750e-03 9.99997965e-01 9.67264106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16255784400002 meters Centerline goodness [0,1] 0.2514050779626916 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.03, Z:0.97 [[ 9.99999261e-01 -4.83024857e-04 -1.11531444e-03 3.63521225e+00] [ 4.85045207e-04 9.99998241e-01 1.81190292e-03 -3.24323524e-02] [ 1.11443729e-03 -1.81244256e-03 9.99997737e-01 9.67338456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19255784400002 meters Centerline goodness [0,1] 0.2524195314210641 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.03, Z:0.97 [[ 9.99998842e-01 -5.85073466e-04 -1.40520412e-03 3.63605286e+00] [ 5.87528726e-04 9.99998301e-01 1.74748528e-03 -3.22764046e-02] [ 1.40417932e-03 -1.74830886e-03 9.99997486e-01 9.67066891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22255784400002 meters Centerline goodness [0,1] 0.24668849047195784 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.03, Z:0.97 [[ 9.99998093e-01 -7.17848782e-04 -1.81619714e-03 3.63729514e+00] [ 7.20844333e-04 9.99998380e-01 1.64923679e-03 -3.20204381e-02] [ 1.81501029e-03 -1.65054284e-03 9.99996991e-01 9.66628559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25255784400002 meters Centerline goodness [0,1] 0.25401922188743975 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.97 [[ 9.99978471e-01 6.28108140e-03 -1.89902967e-03 3.61808647e+00] [-6.27995072e-03 9.99980100e-01 6.00777772e-04 -3.58976523e-02] [ 1.90276542e-03 -5.88839025e-04 9.99998016e-01 9.65419749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28255784400002 meters Centerline goodness [0,1] 0.24766589044375287 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.03, Z:0.97 [[ 9.99998086e-01 -1.15028128e-03 -1.58268538e-03 3.63732166e+00] [ 1.15226064e-03 9.99998555e-01 1.25029495e-03 -3.15969845e-02] [ 1.58124490e-03 -1.25211622e-03 9.99997966e-01 9.66887442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31255784400003 meters Centerline goodness [0,1] 0.24624117162788683 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.03, Z:0.97 [[ 9.99998407e-01 -1.19973988e-03 -1.32185416e-03 3.63643765e+00] [ 1.20117882e-03 9.99998686e-01 1.08831576e-03 -3.06851325e-02] [ 1.32054673e-03 -1.08990181e-03 9.99998534e-01 9.67262032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34255784400003 meters Centerline goodness [0,1] 0.24882832841520575 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.03, Z:0.97 [[ 9.99998777e-01 -1.20848170e-03 -9.92868008e-04 3.63532604e+00] [ 1.20945940e-03 9.99998784e-01 9.84714533e-04 -2.99412381e-02] [ 9.91676791e-04 -9.85914162e-04 9.99999022e-01 9.67737267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37255784400003 meters Centerline goodness [0,1] 0.2522699493626681 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99999046e-01 -1.28698321e-03 -5.01962849e-04 3.63363715e+00] [ 1.28736870e-03 9.99998876e-01 7.68396322e-04 -2.87475037e-02] [ 5.00973372e-04 -7.69041800e-04 9.99999579e-01 9.68551265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.402557844 meters Centerline goodness [0,1] 0.24924183346330475 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99998931e-01 -1.37559830e-03 -4.96527561e-04 3.63344951e+00] [ 1.37589681e-03 9.99998873e-01 6.01361354e-04 -2.80492870e-02] [ 4.95699769e-04 -6.02043881e-04 9.99999696e-01 9.68824992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.432557844 meters Centerline goodness [0,1] 0.2546369203849519 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:0.97 [[ 9.99998739e-01 -1.50653724e-03 -5.02401205e-04 3.63353678e+00] [ 1.50667066e-03 9.99998830e-01 2.65293334e-04 -2.65132508e-02] [ 5.02000943e-04 -2.66049953e-04 9.99999839e-01 9.68672751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.462557844 meters Centerline goodness [0,1] 0.24708175419599354 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:0.97 [[ 9.99998262e-01 -1.74591378e-03 -6.54276855e-04 3.63428373e+00] [ 1.74551304e-03 9.99998289e-01 -6.12560633e-04 -2.19050337e-02] [ 6.55345214e-04 6.11417519e-04 9.99999598e-01 9.68066333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.492557844 meters Centerline goodness [0,1] 0.24632257506273258 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.02, Z:0.97 [[ 9.99997811e-01 -1.92632423e-03 -8.16780229e-04 3.63500108e+00] [ 1.92538263e-03 9.99997483e-01 -1.15204049e-03 -1.93168721e-02] [ 8.18997377e-04 1.15046535e-03 9.99999003e-01 9.67587770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.522557844 meters Centerline goodness [0,1] 0.25135991261605684 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:0.97 [[ 9.99983658e-01 5.58413681e-03 -1.22490838e-03 3.61529590e+00] [-5.58713598e-03 9.99981369e-01 -2.45888519e-03 -2.03530189e-02] [ 1.21115481e-03 2.46568874e-03 9.99996227e-01 9.65921292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.552557844 meters Centerline goodness [0,1] 0.24868518277046114 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:0.97 [[ 9.99984575e-01 5.37286567e-03 -1.40784507e-03 3.61597661e+00] [-5.37711600e-03 9.99980944e-01 -3.03284618e-03 -1.76409471e-02] [ 1.39152317e-03 3.04036955e-03 9.99994410e-01 9.65562761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582557844 meters Centerline goodness [0,1] 0.24755636647986445 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:0.97 [[ 9.99985404e-01 5.21990531e-03 -1.39458330e-03 3.61605612e+00] [-5.22477656e-03 9.99980182e-01 -3.51246811e-03 -1.52645530e-02] [ 1.37622091e-03 3.51970323e-03 9.99992859e-01 9.65378246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.612557844 meters Centerline goodness [0,1] 0.24826339742612635 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.01, Z:0.97 [[ 9.99986810e-01 4.99791622e-03 -1.18324819e-03 3.61535169e+00] [-5.00293429e-03 9.99978340e-01 -4.27664417e-03 -1.13032676e-02] [ 1.16184826e-03 4.28250748e-03 9.99990155e-01 9.65755989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642557844 meters Centerline goodness [0,1] 0.24697998221605322 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.01, Z:0.97 [[ 9.99987808e-01 4.79422499e-03 -1.18250753e-03 3.61536393e+00] [-4.79977304e-03 9.99977273e-01 -4.73442093e-03 -9.43770023e-03] [ 1.15978277e-03 4.74003898e-03 9.99988093e-01 9.65802771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.672557844 meters Centerline goodness [0,1] 0.24278463589831822 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.00, Z:0.97 [[ 9.99995261e-01 -1.59774639e-03 -2.63160353e-03 3.63324861e+00] [ 1.58715943e-03 9.99990659e-01 -4.02019569e-03 -3.50133994e-03] [ 2.63800220e-03 4.01599986e-03 9.99988456e-01 9.68212636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.702557844 meters Centerline goodness [0,1] 0.24161667601743564 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.00, Z:0.97 [[ 9.99995158e-01 -1.70787233e-03 -2.60156335e-03 3.63318841e+00] [ 1.69659679e-03 9.99989185e-01 -4.33019759e-03 -1.95634295e-03] [ 2.60893064e-03 4.32576282e-03 9.99987241e-01 9.68157823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.732557844 meters Centerline goodness [0,1] 0.24928802800060867 Centerline is valid? [False, False] Translation: X:3.63, Y:0.00, Z:0.97 [[ 9.99994635e-01 -1.90149030e-03 -2.66720508e-03 3.63357084e+00] [ 1.88848521e-03 9.99986358e-01 -4.86999993e-03 7.23117578e-04] [ 2.67642896e-03 4.86493683e-03 9.99984584e-01 9.67814438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.762557844 meters Centerline goodness [0,1] 0.2488595936006286 Centerline is valid? [False, False] Translation: X:3.63, Y:0.00, Z:0.97 [[ 9.99993657e-01 -2.00777497e-03 -2.94199827e-03 3.63450328e+00] [ 1.99266295e-03 9.99984853e-01 -5.13061322e-03 1.79516784e-03] [ 2.95225482e-03 5.12471826e-03 9.99982511e-01 9.67401727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79255784400002 meters Centerline goodness [0,1] 0.2441098202115921 Centerline is valid? [False, False] Translation: X:3.64, Y:0.00, Z:0.97 [[ 9.99992025e-01 -2.13894122e-03 -3.37276172e-03 3.63595347e+00] [ 2.12068465e-03 9.99983132e-01 -5.40726094e-03 2.83088056e-03] [ 3.38427064e-03 5.40006525e-03 9.99979693e-01 9.66765537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82255784400002 meters Centerline goodness [0,1] 0.24561403508771928 Centerline is valid? [False, False] Translation: X:3.64, Y:0.00, Z:0.97 [[ 9.99990995e-01 -2.22544999e-03 -3.61357583e-03 3.63685492e+00] [ 2.20498790e-03 9.99981570e-01 -5.65670245e-03 3.97219514e-03] [ 3.62609794e-03 5.64868361e-03 9.99977472e-01 9.66239661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85255784400002 meters Centerline goodness [0,1] 0.2412224652905629 Centerline is valid? [False, False] Translation: X:3.64, Y:0.01, Z:0.97 [[ 9.99992070e-01 -2.06022169e-03 -3.40813266e-03 3.63615054e+00] [ 2.04061443e-03 9.99981406e-01 -5.74658844e-03 5.37623233e-03] [ 3.41990854e-03 5.73958818e-03 9.99977680e-01 9.66588314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88255784400002 meters Centerline goodness [0,1] 0.24532192607217285 Centerline is valid? [False, False] Translation: X:3.61, Y:0.00, Z:0.97 [[ 9.99979370e-01 5.74386717e-03 -2.87521022e-03 3.61410790e+00] [-5.76133466e-03 9.99964772e-01 -6.10424333e-03 1.61316207e-04] [ 2.84004697e-03 6.12068245e-03 9.99977235e-01 9.66354735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91255784400002 meters Centerline goodness [0,1] 0.24175587016574585 Centerline is valid? [False, False] Translation: X:3.63, Y:0.00, Z:0.97 [[ 9.99996854e-01 -1.75453312e-03 -1.79283483e-03 3.63401646e+00] [ 1.74496352e-03 9.99984298e-01 -5.32539098e-03 2.26223384e-03] [ 1.80215025e-03 5.32224579e-03 9.99984213e-01 9.67208240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94255784400002 meters Centerline goodness [0,1] 0.2463644886301698 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.01, Z:0.96 [[ 9.99992404e-01 3.74178366e-03 1.09147251e-03 3.61673705e+00] [-3.73547403e-03 9.99976625e-01 -5.72670524e-03 -6.12413016e-03] [-1.11287509e-03 5.72258457e-03 9.99983007e-01 9.64699681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97255784400002 meters Centerline goodness [0,1] 0.24452387698611622 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.01, Z:0.97 [[ 9.99991755e-01 3.87680655e-03 1.20844516e-03 3.61619280e+00] [-3.87017723e-03 9.99977710e-01 -5.44072625e-03 -7.32157226e-03] [-1.22951086e-03 5.43600450e-03 9.99984469e-01 9.65128555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00255784400002 meters Centerline goodness [0,1] 0.2609151927239336 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.01, Z:0.97 [[ 9.99990970e-01 4.00777504e-03 1.41341299e-03 3.61552484e+00] [-4.00038621e-03 9.99978518e-01 -5.19229695e-03 -8.35203474e-03] [-1.43419218e-03 5.18659586e-03 9.99985521e-01 9.65427428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03255784400002 meters Centerline goodness [0,1] 0.24766031195840554 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.01, Z:0.97 [[ 9.99996116e-01 -2.46560016e-03 1.29965250e-03 3.63254860e+00] [ 2.47046895e-03 9.99989887e-01 -3.75802732e-03 -5.25336231e-03] [-1.29037357e-03 3.76122347e-03 9.99992094e-01 9.67792414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06255784400003 meters Centerline goodness [0,1] 0.2506885245901639 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.01, Z:0.97 [[ 9.99996165e-01 -2.23248292e-03 1.63869329e-03 3.63151800e+00] [ 2.23815922e-03 9.99991474e-01 -3.47030200e-03 -6.15413999e-03] [-1.63093193e-03 3.47395635e-03 9.99992636e-01 9.68179989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09255784400003 meters Centerline goodness [0,1] 0.2486984029349092 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.01, Z:0.97 [[ 9.99996457e-01 -2.18066876e-03 1.52639618e-03 3.63198347e+00] [ 2.18587235e-03 9.99991777e-01 -3.41574236e-03 -6.27974323e-03] [-1.51893502e-03 3.41906677e-03 9.99993001e-01 9.67837391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12255784400003 meters Centerline goodness [0,1] 0.2442837346267106 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.01, Z:0.97 [[ 9.99998384e-01 -6.91762290e-05 1.79621654e-03 3.67631688e+00] [ 7.63904349e-05 9.99991931e-01 -4.01657626e-03 -5.16820902e-03] [-1.79592420e-03 4.01670699e-03 9.99990320e-01 9.67046067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.152557844 meters Centerline goodness [0,1] 0.2482840029729375 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.01, Z:0.97 [[ 9.99998910e-01 2.22509151e-05 1.47664766e-03 3.67712726e+00] [-1.67688319e-05 9.99993109e-01 -3.71242797e-03 -7.08893201e-03] [-1.47672009e-03 3.71239916e-03 9.99992019e-01 9.67058133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.182557844 meters Centerline goodness [0,1] 0.24764491959865054 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.01, Z:0.97 [[ 9.99998904e-01 1.59782395e-04 1.47199453e-03 3.67691664e+00] [-1.54801448e-04 9.99994265e-01 -3.38330102e-03 -8.60038856e-03] [-1.47252668e-03 3.38306945e-03 9.99993193e-01 9.67443867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.212557844 meters Centerline goodness [0,1] 0.24764491959865054 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.01, Z:0.97 [[ 9.99998904e-01 1.59782395e-04 1.47199453e-03 3.67691664e+00] [-1.54801448e-04 9.99994265e-01 -3.38330102e-03 -8.60038856e-03] [-1.47252668e-03 3.38306945e-03 9.99993193e-01 9.67443867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.242557844 meters Centerline goodness [0,1] 0.24355505530422739 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.01, Z:0.97 [[ 9.99975034e-01 -6.86334169e-03 1.68080704e-03 3.69645596e+00] [ 6.86682978e-03 9.99974263e-01 -2.07834949e-03 -5.71083297e-03] [-1.66649936e-03 2.08983942e-03 9.99996428e-01 9.68768441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.272557844 meters Centerline goodness [0,1] 0.24540117416829743 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.01, Z:0.97 [[ 9.99976258e-01 -6.66556277e-03 1.74724327e-03 3.69616731e+00] [ 6.66845243e-03 9.99976399e-01 -1.65326468e-03 -7.43590578e-03] [-1.73618209e-03 1.66487684e-03 9.99997107e-01 9.68942014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302557844 meters Centerline goodness [0,1] 0.24689769480731905 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.01, Z:0.97 [[ 9.99977384e-01 -6.50283845e-03 1.71605747e-03 3.69600151e+00] [ 6.50492512e-03 9.99978107e-01 -1.21319514e-03 -9.54954188e-03] [-1.70813069e-03 1.22433052e-03 9.99997792e-01 9.69376036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.332557844 meters Centerline goodness [0,1] 0.24527934170636634 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.02, Z:0.97 [[ 9.99996504e-01 1.63392304e-04 2.63918337e-03 3.71641937e+00] [-1.51090006e-04 9.99989126e-01 -4.66093018e-03 -1.63607652e-02] [-2.63991623e-03 4.66051513e-03 9.99985655e-01 9.69350034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.362557844 meters Centerline goodness [0,1] 0.24546042700021564 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.02, Z:0.97 [[ 9.99996177e-01 3.27985536e-04 2.74563605e-03 3.71600425e+00] [-3.16281802e-04 9.99990868e-01 -4.26201708e-03 -1.82023430e-02] [-2.74700886e-03 4.26113239e-03 9.99987148e-01 9.69577019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.392557844 meters Centerline goodness [0,1] 0.24772999455634181 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.02, Z:0.97 [[ 9.99961398e-01 -8.55829925e-03 1.98935141e-03 3.69734863e+00] [ 8.56291738e-03 9.99960636e-01 -2.32461782e-03 -1.59653253e-02] [-1.96937833e-03 2.34156274e-03 9.99995319e-01 9.68575063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.422557844 meters Centerline goodness [0,1] 0.24667258207630882 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.02, Z:0.97 [[ 9.99997515e-01 7.13345298e-04 2.11211726e-03 3.71611427e+00] [-7.06232643e-04 9.99994084e-01 -3.36638032e-03 -2.08984975e-02] [-2.11450616e-03 3.36488031e-03 9.99992103e-01 9.69907932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.452557844 meters Centerline goodness [0,1] 0.2496352907875542 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.02, Z:0.97 [[ 9.99997561e-01 9.46965799e-04 1.99523256e-03 3.71625274e+00] [-9.41123529e-04 9.99995273e-01 -2.92702214e-03 -2.27918394e-02] [-1.99799492e-03 2.92513724e-03 9.99993726e-01 9.70242206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482557844 meters Centerline goodness [0,1] 0.26153038686115426 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.02, Z:0.97 [[ 9.99997690e-01 1.05450960e-03 1.87313558e-03 3.71653574e+00] [-1.04951962e-03 9.99995904e-01 -2.66296147e-03 -2.41462359e-02] [-1.87593602e-03 2.66098942e-03 9.99994700e-01 9.70283716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.512557844 meters Centerline goodness [0,1] 0.2615776304815416 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:0.97 [[ 9.99997790e-01 1.16903805e-03 1.74759445e-03 3.71686474e+00] [-1.16491960e-03 9.99996547e-01 -2.35580658e-03 -2.57155181e-02] [-1.75034245e-03 2.35376557e-03 9.99995698e-01 9.70241128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54255784400002 meters Centerline goodness [0,1] 0.24711402073104205 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:0.97 [[ 9.99998044e-01 1.33607720e-03 1.45826539e-03 3.71777164e+00] [-1.33345370e-03 9.99997494e-01 -1.79854191e-03 -2.87367612e-02] [-1.46066472e-03 1.79659387e-03 9.99997319e-01 9.69974673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57255784400002 meters Centerline goodness [0,1] 0.24354259414585888 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99983645e-01 -5.60498904e-03 1.13750763e-03 3.73726748e+00] [ 5.60611855e-03 9.99983793e-01 -9.92216584e-04 -2.54438261e-02] [-1.13192783e-03 9.98577359e-04 9.99998861e-01 9.70857815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60255784400002 meters Centerline goodness [0,1] 0.24690871687129323 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:0.97 [[ 9.99997606e-01 2.07709973e-03 6.88502317e-04 3.71659938e+00] [-2.07618295e-03 9.99996961e-01 -1.32960781e-03 -3.19462939e-02] [-6.91261953e-04 1.32817517e-03 9.99998879e-01 9.70271341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63255784400002 meters Centerline goodness [0,1] 0.24799303818122487 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:0.97 [[ 9.99997322e-01 2.18709560e-03 7.56785595e-04 3.71652513e+00] [-2.18621709e-03 9.99996938e-01 -1.15974259e-03 -3.25081519e-02] [-7.59319745e-04 1.15808499e-03 9.99999041e-01 9.70101371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66255784400002 meters Centerline goodness [0,1] 0.24622678439389323 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:0.97 [[ 9.99996852e-01 2.36134293e-03 8.48699219e-04 3.71650253e+00] [-2.36052370e-03 9.99996748e-01 -9.64995409e-04 -3.30842253e-02] [-8.50975144e-04 9.62988997e-04 9.99999174e-01 9.69774446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69255784400002 meters Centerline goodness [0,1] 0.24561861274190044 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:0.97 [[ 9.99996976e-01 2.36463143e-03 6.76383441e-04 3.71721826e+00] [-2.36399915e-03 9.99996770e-01 -9.34069568e-04 -3.34532791e-02] [-6.78589987e-04 9.32467773e-04 9.99999335e-01 9.69291436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72255784400002 meters Centerline goodness [0,1] 0.24837303065495098 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:0.97 [[ 9.99997017e-01 2.39470475e-03 4.80873135e-04 3.71794510e+00] [-2.39431929e-03 9.99996813e-01 -8.00563590e-04 -3.43257289e-02] [-4.82788716e-04 7.99409839e-04 9.99999564e-01 9.68906493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75255784400002 meters Centerline goodness [0,1] 0.2416439659272711 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99989754e-01 -4.52084671e-03 -2.31812031e-04 3.73756195e+00] [ 4.52080978e-03 9.99989768e-01 -1.59594721e-04 -3.05875330e-02] [ 2.32531163e-04 1.58545108e-04 9.99999960e-01 9.69935854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78255784400002 meters Centerline goodness [0,1] 0.24511774214688276 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99996080e-01 2.79659363e-03 -1.39360609e-04 3.71783230e+00] [-2.79668876e-03 9.99995853e-01 -6.87166520e-04 -3.66045945e-02] [ 1.37438305e-04 6.87553574e-04 9.99999754e-01 9.68629825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81255784400003 meters Centerline goodness [0,1] 0.24350994382875357 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99995386e-01 3.02797109e-03 2.42191037e-04 3.71675098e+00] [-3.02788369e-03 9.99995351e-01 -3.60411101e-04 -3.74874448e-02] [-2.43281226e-04 3.59676112e-04 9.99999906e-01 9.68851163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84255784400003 meters Centerline goodness [0,1] 0.24575701744879164 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99995023e-01 3.12988367e-03 3.97070018e-04 3.71615863e+00] [-3.12982614e-03 9.99995092e-01 -1.45424925e-04 -3.83859620e-02] [-3.97523232e-04 1.44181441e-04 9.99999911e-01 9.69192272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87255784400003 meters Centerline goodness [0,1] 0.24081615064744788 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99994810e-01 3.19203742e-03 4.36804855e-04 3.71587414e+00] [-3.19205348e-03 9.99994905e-01 3.60587775e-05 -3.93335260e-02] [-4.36687528e-04 -3.74528948e-05 9.99999904e-01 9.69539348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.902557844 meters Centerline goodness [0,1] 0.24777625540984316 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99994671e-01 3.23649613e-03 4.28190021e-04 3.71577552e+00] [-3.23656658e-03 9.99994749e-01 1.63942132e-04 -4.00343100e-02] [-4.27657175e-04 -1.65327123e-04 9.99999895e-01 9.69774975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.932557844 meters Centerline goodness [0,1] 0.24094599819564377 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.04, Z:0.97 [[ 9.99992556e-01 -3.72376274e-03 1.01073314e-03 3.73447747e+00] [ 3.72278250e-03 9.99992600e-01 9.69980976e-04 -3.60993545e-02] [-1.01433764e-03 -9.66211015e-04 9.99999019e-01 9.70998207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.962557844 meters Centerline goodness [0,1] 0.2620215468161513 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.04, Z:0.97 [[ 9.99992473e-01 3.70397303e-03 1.15536966e-03 3.71344208e+00] [-3.70438100e-03 9.99993077e-01 3.51166651e-04 -4.14145049e-02] [-1.15406095e-03 -3.55443937e-04 9.99999271e-01 9.70514990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.992557844 meters Centerline goodness [0,1] 0.24161304161304165 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.04, Z:0.97 [[ 9.99978445e-01 5.68349138e-03 3.28751510e-03 3.75671799e+00] [-5.68125944e-03 9.99983625e-01 -6.87853474e-04 -3.78134113e-02] [-3.29137068e-03 6.69161421e-04 9.99994360e-01 9.69245873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.022557844 meters Centerline goodness [0,1] 0.25791580997727515 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99992289e-01 -3.25007058e-03 2.20443610e-03 3.73862292e+00] [ 3.24786391e-03 9.99994222e-01 1.00385797e-03 -3.28053145e-02] [-2.20768597e-03 -9.96690524e-04 9.99997066e-01 9.68078973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.052557844 meters Centerline goodness [0,1] 0.26184609969642303 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99989285e-01 4.62641716e-03 -1.62540303e-04 3.71795718e+00] [-4.62632389e-03 9.99989136e-01 5.69577177e-04 -3.61168981e-02] [ 1.65173639e-04 -5.68819110e-04 9.99999825e-01 9.67915022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.082557844 meters Centerline goodness [0,1] 0.24422435091673533 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99997078e-01 -2.18267089e-03 -1.03885497e-03 3.73761414e+00] [ 2.18377412e-03 9.99997052e-01 1.06202042e-03 -3.08462993e-02] [ 1.03653387e-03 -1.06428594e-03 9.99998896e-01 9.68770292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.112557844 meters Centerline goodness [0,1] 0.24643182508351047 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99997441e-01 -2.10183036e-03 -8.36732681e-04 3.73649884e+00] [ 2.10287698e-03 9.99997005e-01 1.25193525e-03 -3.17332746e-02] [ 8.34098820e-04 -1.25369159e-03 9.99998866e-01 9.69845330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142557844 meters Centerline goodness [0,1] 0.2430106596899393 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99997603e-01 -2.07464158e-03 -6.99605357e-04 3.73581975e+00] [ 2.07556169e-03 9.99996979e-01 1.31704427e-03 -3.20222362e-02] [ 6.96870848e-04 -1.31849319e-03 9.99998888e-01 9.70428980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.172557844 meters Centerline goodness [0,1] 0.24333131906077343 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99997663e-01 -2.06617458e-03 -6.36649331e-04 3.73558937e+00] [ 2.06701141e-03 9.99996997e-01 1.31658167e-03 -3.19986868e-02] [ 6.33927132e-04 -1.31789455e-03 9.99998931e-01 9.70538429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202557844 meters Centerline goodness [0,1] 0.24298540965207627 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99997643e-01 -2.06355983e-03 -6.74879460e-04 3.73597221e+00] [ 2.06443844e-03 9.99997019e-01 1.30377883e-03 -3.18305892e-02] [ 6.72187022e-04 -1.30516900e-03 9.99998922e-01 9.70010000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.232557844 meters Centerline goodness [0,1] 0.261060489625645 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99981733e-01 5.39812118e-03 -2.71932435e-03 3.71674479e+00] [-5.39621855e-03 9.99985191e-01 7.06523342e-04 -3.75679554e-02] [ 2.72309798e-03 -6.91836367e-04 9.99996053e-01 9.68976367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262557844 meters Centerline goodness [0,1] 0.24265788789742704 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99994339e-01 -1.83333216e-03 -2.82162368e-03 3.73673657e+00] [ 1.83679931e-03 9.99997561e-01 1.22667623e-03 -3.36007125e-02] [ 2.81936789e-03 -1.23185204e-03 9.99995267e-01 9.69848257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29255784400002 meters Centerline goodness [0,1] 0.23968236935293485 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:0.97 [[ 9.99994601e-01 -1.76768981e-03 -2.76991831e-03 3.73626395e+00] [ 1.77158170e-03 9.99997446e-01 1.40323390e-03 -3.44991422e-02] [ 2.76743075e-03 -1.40813346e-03 9.99995179e-01 9.70433300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32255784400002 meters Centerline goodness [0,1] 0.2588124945467237 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99983320e-01 5.34695967e-03 -2.18406450e-03 3.71598652e+00] [-5.34500261e-03 9.99985310e-01 9.00920819e-04 -4.08268521e-02] [ 2.18884960e-03 -8.89231961e-04 9.99997209e-01 9.69671426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35255784400002 meters Centerline goodness [0,1] 0.2438285627744965 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.03, Z:0.97 [[ 9.99993818e-01 -1.00020361e-03 -3.37089208e-03 3.73499659e+00] [ 1.00585696e-03 9.99998090e-01 1.67583097e-03 -3.48861307e-02] [ 3.36920947e-03 -1.67921125e-03 9.99992914e-01 9.71039099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38255784400002 meters Centerline goodness [0,1] 0.25967756029360367 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99986917e-01 4.86993184e-03 -1.56511846e-03 3.71791572e+00] [-4.86955844e-03 9.99988114e-01 2.42296631e-04 -3.79837020e-02] [ 1.56627982e-03 -2.34672025e-04 9.99998746e-01 9.67508170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41255784400002 meters Centerline goodness [0,1] 0.2572080391091798 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:0.97 [[ 9.99987601e-01 4.78231061e-03 -1.38839947e-03 3.71761631e+00] [-4.78246513e-03 9.99988558e-01 -1.07994635e-04 -3.62117364e-02] [ 1.38786712e-03 1.14633268e-04 9.99999030e-01 9.67299281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44255784400002 meters Centerline goodness [0,1] 0.2589968953605317 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.03, Z:0.97 [[ 9.99987802e-01 4.93172520e-03 -2.70877949e-04 3.71455103e+00] [-4.93188516e-03 9.99987662e-01 -5.93039395e-04 -3.27076943e-02] [ 2.67949899e-04 5.94368100e-04 9.99999787e-01 9.67817637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47255784400002 meters Centerline goodness [0,1] 0.24632026186295553 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.02, Z:0.97 [[ 9.99999070e-01 -1.21559824e-03 -6.18590233e-04 3.73093343e+00] [ 1.21571925e-03 9.99999242e-01 1.95293529e-04 -2.45607194e-02] [ 6.18352366e-04 -1.96045379e-04 9.99999790e-01 9.70086604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50255784400002 meters Centerline goodness [0,1] 0.2564163498098859 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.02, Z:0.97 [[ 9.99998939e-01 -1.39795878e-03 -4.09672445e-04 3.73047041e+00] [ 1.39782793e-03 9.99998972e-01 -3.19517833e-04 -2.19491591e-02] [ 4.10118697e-04 3.18944842e-04 9.99999865e-01 9.69901702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53255784400002 meters Centerline goodness [0,1] 0.23875978917269491 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.02, Z:0.97 [[ 9.99998616e-01 -1.63380426e-03 -3.15182737e-04 3.73049454e+00] [ 1.63353497e-03 9.99998302e-01 -8.52769386e-04 -1.95078802e-02] [ 3.16575460e-04 8.52253344e-04 9.99999587e-01 9.69381204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56255784400003 meters Centerline goodness [0,1] 0.23563659628918743 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.02, Z:0.97 [[ 9.99998036e-01 -1.96794839e-03 -2.36587767e-04 3.73028963e+00] [ 1.96761189e-03 9.99997064e-01 -1.41421677e-03 -1.71313209e-02] [ 2.39370178e-04 1.41374848e-03 9.99998972e-01 9.69254145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59255784400003 meters Centerline goodness [0,1] 0.2586624217710809 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:0.97 [[ 9.99986686e-01 -4.10117866e-03 -3.13163887e-03 3.68404661e+00] [ 4.09888701e-03 9.99991327e-01 -7.37842622e-04 -2.00592084e-02] [ 3.13463774e-03 7.24996565e-04 9.99994824e-01 9.72098619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62255784400003 meters Centerline goodness [0,1] 0.24086335884426868 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.02, Z:0.97 [[ 9.99995476e-01 -2.93746615e-03 -6.47936474e-04 3.72752393e+00] [ 2.93626605e-03 9.99993986e-01 -1.84541845e-03 -1.56415168e-02] [ 6.53353431e-04 1.84350759e-03 9.99998087e-01 9.70902086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65255784400003 meters Centerline goodness [0,1] 0.25833642696481995 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:0.97 [[ 9.99975780e-01 -5.60600306e-03 -4.12453434e-03 3.68475603e+00] [ 5.59910020e-03 9.99982908e-01 -1.68325738e-03 -1.63859808e-02] [ 4.13390019e-03 1.66012293e-03 9.99990077e-01 9.71996172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.682557844 meters Centerline goodness [0,1] 0.23935095637223291 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.01, Z:0.97 [[ 9.99988984e-01 -4.11950928e-03 -2.24975045e-03 3.72944553e+00] [ 4.11309792e-03 9.99987488e-01 -2.84703905e-03 -1.16035394e-02] [ 2.26145071e-03 2.83775425e-03 9.99993416e-01 9.70310304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.712557844 meters Centerline goodness [0,1] 0.25926088194703056 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.01, Z:0.97 [[ 9.99969451e-01 -5.76741775e-03 -5.27580630e-03 3.68440818e+00] [ 5.75623506e-03 9.99981159e-01 -2.13235195e-03 -1.32797562e-02] [ 5.28800506e-03 2.10191803e-03 9.99983809e-01 9.72402600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.742557844 meters Centerline goodness [0,1] 0.2465024758362705 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.01, Z:0.97 [[ 9.99987669e-01 3.17575613e-03 -3.81780325e-03 3.70403475e+00] [-3.18959725e-03 9.99988344e-01 -3.62480906e-03 -1.44159431e-02] [ 3.80624724e-03 3.63694162e-03 9.99986142e-01 9.72442600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.772557844 meters Centerline goodness [0,1] 0.2544999892215827 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.01, Z:0.97 [[ 9.99988847e-01 3.09470869e-03 -3.56773873e-03 3.70324052e+00] [-3.10863290e-03 9.99987548e-01 -3.90389408e-03 -1.28452580e-02] [ 3.55561289e-03 3.91494132e-03 9.99986015e-01 9.72683168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802557844 meters Centerline goodness [0,1] 0.25558877047049644 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.01, Z:0.97 [[ 9.99988734e-01 3.11872867e-03 -3.57852287e-03 3.70297037e+00] [-3.13248302e-03 9.99987704e-01 -3.84443672e-03 -1.30725875e-02] [ 3.56648911e-03 3.85560307e-03 9.99986207e-01 9.73161640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.832557844 meters Centerline goodness [0,1] 0.2592146734372264 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.01, Z:0.97 [[ 9.99968444e-01 -6.38972976e-03 -4.72045085e-03 3.68311938e+00] [ 6.37740617e-03 9.99976229e-01 -2.62113550e-03 -1.07382241e-02] [ 4.73708699e-03 2.59094855e-03 9.99985423e-01 9.72868454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.862557844 meters Centerline goodness [0,1] 0.24604117608935172 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.02, Z:0.97 [[ 9.99989623e-01 2.01049199e-03 -4.08799306e-03 3.70342065e+00] [-2.02784155e-03 9.99988937e-01 -4.24432407e-03 -1.50234956e-02] [ 4.07941466e-03 4.25256983e-03 9.99982637e-01 9.73580275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.892557844 meters Centerline goodness [0,1] 0.2585139318885449 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:0.97 [[ 9.99959953e-01 -7.56472875e-03 -4.78205889e-03 3.68316974e+00] [ 7.55196159e-03 9.99967886e-01 -2.68224710e-03 -1.54724114e-02] [ 4.80219580e-03 2.64602576e-03 9.99984969e-01 9.73193761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922557844 meters Centerline goodness [0,1] 0.24695853137400248 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:0.97 [[ 9.99960485e-01 -7.45704370e-03 -4.83947666e-03 3.68342803e+00] [ 7.44538844e-03 9.99969350e-01 -2.42193682e-03 -1.67395929e-02] [ 4.85738881e-03 2.38580933e-03 9.99985357e-01 9.72990505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.952557844 meters Centerline goodness [0,1] 0.24386439943680283 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:0.97 [[ 9.99959878e-01 -7.38310833e-03 -5.07262518e-03 3.68412380e+00] [ 7.37171000e-03 9.99970270e-01 -2.26206228e-03 -1.75398174e-02] [ 5.08917542e-03 2.22457760e-03 9.99984576e-01 9.72828603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982557844 meters Centerline goodness [0,1] 0.25020367719916325 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.02, Z:0.97 [[ 9.99982330e-01 4.48812171e-04 -5.92779964e-03 3.66336122e+00] [-4.64015971e-04 9.99996606e-01 -2.56370416e-03 -2.37473085e-02] [ 5.92662890e-03 2.56640945e-03 9.99979144e-01 9.72346545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.012557844 meters Centerline goodness [0,1] 0.2572790067325348 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:0.97 [[ 9.99980541e-01 7.00835322e-04 -6.19886506e-03 3.66388329e+00] [-7.14062479e-04 9.99997473e-01 -2.13184724e-03 -2.56292924e-02] [ 6.19735532e-03 2.13623214e-03 9.99978514e-01 9.72630282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04255784400002 meters Centerline goodness [0,1] 0.2468278668901125 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:0.97 [[ 9.99980179e-01 7.98121834e-04 -6.24538626e-03 3.66400789e+00] [-8.10096379e-04 9.99997838e-01 -1.91504791e-03 -2.67292279e-02] [ 6.24384432e-03 1.92006932e-03 9.99978664e-01 9.72668106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07255784400002 meters Centerline goodness [0,1] 0.2561542998187021 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:0.97 [[ 9.99980242e-01 9.09248756e-04 -6.22000100e-03 3.66400164e+00] [-9.19633287e-04 9.99998188e-01 -1.66688224e-03 -2.79473153e-02] [ 6.21847412e-03 1.67256943e-03 9.99979266e-01 9.72594161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10255784400002 meters Centerline goodness [0,1] 0.24393422681755983 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:0.97 [[ 9.99980598e-01 1.02865828e-03 -6.14371775e-03 3.66387936e+00] [-1.03737893e-03 9.99998459e-01 -1.41642465e-03 -2.91195134e-02] [ 6.14225127e-03 1.42277053e-03 9.99980124e-01 9.72476919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13255784400002 meters Centerline goodness [0,1] 0.24393422681755983 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:0.97 [[ 9.99980598e-01 1.02865828e-03 -6.14371775e-03 3.66387936e+00] [-1.03737893e-03 9.99998459e-01 -1.41642465e-03 -2.91195134e-02] [ 6.14225127e-03 1.42277053e-03 9.99980124e-01 9.72476919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16255784400002 meters Centerline goodness [0,1] 0.24437946718648473 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:0.97 [[ 9.99981050e-01 1.24532050e-03 -6.02897381e-03 3.66349543e+00] [-1.25115114e-03 9.99998753e-01 -9.63426927e-04 -3.11649680e-02] [ 6.02776651e-03 9.70951828e-04 9.99981361e-01 9.72676667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19255784400002 meters Centerline goodness [0,1] 0.24109653736341585 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:0.97 [[ 9.99981118e-01 1.34499233e-03 -5.99627008e-03 3.66329645e+00] [-1.34944495e-03 9.99998817e-01 -7.38580434e-04 -3.22528781e-02] [ 5.99526960e-03 7.46658125e-04 9.99981749e-01 9.72899954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22255784400002 meters Centerline goodness [0,1] 0.25905940159691143 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.97 [[ 9.99960382e-01 -6.21869851e-04 -8.87964726e-03 3.61811325e+00] [ 6.22246375e-04 9.99999806e-01 3.96403240e-05 -3.70431085e-02] [ 8.87962088e-03 -4.51640819e-05 9.99960574e-01 9.74913685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25255784400002 meters Centerline goodness [0,1] 0.2473204599696246 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.98 [[ 9.99959597e-01 -5.61643366e-04 -8.97150646e-03 3.61822463e+00] [ 5.63858404e-04 9.99999811e-01 2.44369602e-04 -3.81674561e-02] [ 8.97136752e-03 -2.49418389e-04 9.99959725e-01 9.75120755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28255784400002 meters Centerline goodness [0,1] 0.24556830031282584 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.98 [[ 9.99959957e-01 -4.97413314e-04 -8.93512148e-03 3.61800384e+00] [ 5.00939933e-04 9.99999798e-01 3.92458140e-04 -3.88115463e-02] [ 8.93492446e-03 -3.96918384e-04 9.99960004e-01 9.75332768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31255784400003 meters Centerline goodness [0,1] 0.2421204673823999 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.98 [[ 9.99959782e-01 -5.16673266e-04 -8.95364908e-03 3.61802574e+00] [ 5.20046879e-04 9.99999795e-01 3.74462289e-04 -3.87777706e-02] [ 8.95345376e-03 -3.79103546e-04 9.99959845e-01 9.75350581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34255784400003 meters Centerline goodness [0,1] 0.24733317336009253 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.98 [[ 9.99959417e-01 -5.15996855e-04 -8.99434417e-03 3.61816428e+00] [ 5.19437865e-04 9.99999793e-01 3.80242982e-04 -3.88099970e-02] [ 8.99414610e-03 -3.84899554e-04 9.99959478e-01 9.75268447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37255784400003 meters Centerline goodness [0,1] 0.24503727461858527 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.97 [[ 9.99957928e-01 -6.05399915e-04 -9.15289273e-03 3.61876827e+00] [ 6.07852923e-04 9.99999780e-01 2.65224094e-04 -3.84510822e-02] [ 9.15273015e-03 -2.70776548e-04 9.99958076e-01 9.74879824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40255784400003 meters Centerline goodness [0,1] 0.24514300549521872 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.97 [[ 9.99957077e-01 -7.04573726e-04 -9.23841006e-03 3.61906647e+00] [ 7.06494211e-04 9.99999729e-01 2.04618636e-04 -3.83648297e-02] [ 9.23826339e-03 -2.11136736e-04 9.99957304e-01 9.74678143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.432557844 meters Centerline goodness [0,1] 0.2441981070919227 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.98 [[ 9.99958546e-01 -7.03303996e-04 -9.07809534e-03 3.61845930e+00] [ 7.05241523e-04 9.99999729e-01 2.10229400e-04 -3.82992147e-02] [ 9.07794503e-03 -2.16622935e-04 9.99958771e-01 9.75001232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.462557844 meters Centerline goodness [0,1] 0.24164358858762158 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.98 [[ 9.99959117e-01 -7.46975856e-04 -9.01150134e-03 3.61827591e+00] [ 7.48355582e-04 9.99999709e-01 1.49736194e-04 -3.80460773e-02] [ 9.01138686e-03 -1.56473880e-04 9.99959384e-01 9.75012059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.492557844 meters Centerline goodness [0,1] 0.24242031614407877 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:0.97 [[ 9.99959498e-01 -8.03452150e-04 -8.96421435e-03 3.61821911e+00] [ 8.03612958e-04 9.99999677e-01 1.43370074e-05 -3.74075462e-02] [ 8.96419994e-03 -2.15401855e-05 9.99959821e-01 9.74872634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.522557844 meters Centerline goodness [0,1] 0.2585142707056558 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.04, Z:0.98 [[ 9.99925011e-01 -2.08779174e-03 -1.20670686e-02 3.57436058e+00] [ 2.09989413e-03 9.99997305e-01 9.90343850e-04 -3.77166224e-02] [ 1.20649684e-02 -1.01560915e-03 9.99926700e-01 9.75919897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.552557844 meters Centerline goodness [0,1] 0.25705840161707494 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.04, Z:0.98 [[ 9.99923275e-01 -2.22148642e-03 -1.21864718e-02 3.57489785e+00] [ 2.22897587e-03 9.99997335e-01 6.01023523e-04 -3.59104033e-02] [ 1.21851042e-02 -6.28140761e-04 9.99925562e-01 9.75517489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.582557844 meters Centerline goodness [0,1] 0.24159876158328142 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.04, Z:0.98 [[ 9.99915041e-01 6.43097106e-03 -1.13381267e-02 3.59562843e+00] [-6.44968568e-03 9.99977897e-01 -1.61479927e-03 -3.54820737e-02] [ 1.13274914e-02 1.68778943e-03 9.99934418e-01 9.75319932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.612557844 meters Centerline goodness [0,1] 0.25522482583913875 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:0.98 [[ 9.99914278e-01 -3.81379640e-04 -1.30878531e-02 3.57372450e+00] [ 4.02116208e-04 9.99998668e-01 1.58181827e-03 -3.06317345e-02] [ 1.30872324e-02 -1.58694551e-03 9.99913099e-01 9.76010516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.642557844 meters Centerline goodness [0,1] 0.244079160808911 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:0.98 [[ 9.99916938e-01 -4.38157966e-04 -1.28811950e-02 3.57318508e+00] [ 4.55748448e-04 9.99998968e-01 1.36269026e-03 -2.93428432e-02] [ 1.28805846e-02 -1.36844766e-03 9.99916105e-01 9.75990859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.672557844 meters Centerline goodness [0,1] 0.2467701661057431 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:0.98 [[ 9.99917967e-01 -4.63110694e-04 -1.28001736e-02 3.57278065e+00] [ 4.79693457e-04 9.99999050e-01 1.29247089e-03 -2.89379644e-02] [ 1.27995629e-02 -1.29850502e-03 9.99917239e-01 9.76316760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702557844 meters Centerline goodness [0,1] 0.24022370402237037 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:0.98 [[ 9.99912770e-01 -6.25519226e-04 -1.31932246e-02 3.57403287e+00] [ 6.41420524e-04 9.99999073e-01 1.20106553e-03 -2.90541958e-02] [ 1.31924611e-02 -1.20942317e-03 9.99912244e-01 9.75863872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.732557844 meters Centerline goodness [0,1] 0.25730410245278923 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:0.98 [[ 9.99911055e-01 -6.06743692e-04 -1.33234074e-02 3.57451794e+00] [ 6.24406594e-04 9.99998932e-01 1.32158484e-03 -2.97412681e-02] [ 1.33225913e-02 -1.32978652e-03 9.99910366e-01 9.75575088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762557844 meters Centerline goodness [0,1] 0.2600845767873967 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:0.98 [[ 9.99911613e-01 -5.21588328e-04 -1.32851254e-02 3.57422452e+00] [ 5.42106566e-04 9.99998666e-01 1.54089770e-03 -3.06855661e-02] [ 1.32843040e-02 -1.54796346e-03 9.99910562e-01 9.75886108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79255784400002 meters Centerline goodness [0,1] 0.25938693138431335 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:0.98 [[ 9.99913629e-01 -4.79750827e-04 -1.31340707e-02 3.57352631e+00] [ 5.01919106e-04 9.99998455e-01 1.68460111e-03 -3.13857629e-02] [ 1.31332422e-02 -1.69104785e-03 9.99912325e-01 9.76488389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82255784400002 meters Centerline goodness [0,1] 0.25893923275656194 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:0.98 [[ 9.99916240e-01 -4.67993145e-04 -1.29341919e-02 3.57286696e+00] [ 4.87663994e-04 9.99998729e-01 1.51772887e-03 -3.04117337e-02] [ 1.29334652e-02 -1.52390928e-03 9.99915198e-01 9.76819434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85255784400002 meters Centerline goodness [0,1] 0.24476445442376615 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:0.98 [[ 9.99916270e-01 -4.52006163e-04 -1.29324706e-02 3.57320094e+00] [ 4.67038521e-04 9.99999219e-01 1.15937677e-03 -2.82299967e-02] [ 1.29319364e-02 -1.16531965e-03 9.99915700e-01 9.76211921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88255784400002 meters Centerline goodness [0,1] 0.26083228912484335 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.03, Z:0.98 [[ 9.99869342e-01 -3.67702740e-04 -1.61605883e-02 3.52936459e+00] [ 4.19407065e-04 9.99994804e-01 3.19613590e-03 -2.94100010e-02] [ 1.61593291e-02 -3.20249616e-03 9.99864301e-01 9.77290510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91255784400002 meters Centerline goodness [0,1] 0.26030089307159854 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.03, Z:0.98 [[ 9.99871683e-01 6.81538191e-05 -1.60191593e-02 3.52884087e+00] [-2.47301926e-05 9.99996325e-01 2.71091313e-03 -2.52113724e-02] [ 1.60192852e-02 -2.71016912e-03 9.99868010e-01 9.77243647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94255784400002 meters Centerline goodness [0,1] 0.2619993415999122 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:0.98 [[ 9.99877911e-01 1.64721025e-05 -1.56257415e-02 3.52769044e+00] [ 2.01797564e-05 9.99997249e-01 2.34544708e-03 -2.32092502e-02] [ 1.56257372e-02 -2.34547605e-03 9.99875160e-01 9.77510084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97255784400002 meters Centerline goodness [0,1] 0.24647872133905657 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:0.98 [[ 9.99906673e-01 2.29144431e-03 -1.34683086e-02 3.56898347e+00] [-2.27008877e-03 9.99996142e-01 1.60068857e-03 -1.72280737e-02] [ 1.34719245e-02 -1.56996492e-03 9.99908017e-01 9.78015675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00255784400002 meters Centerline goodness [0,1] 0.24890158647706861 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:0.98 [[ 9.99909040e-01 2.06935740e-03 -1.33277954e-02 3.56896769e+00] [-2.05629360e-03 9.99997392e-01 9.93820716e-04 -1.40814293e-02] [ 1.33298172e-02 -9.66324457e-04 9.99910687e-01 9.77310219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03255784400002 meters Centerline goodness [0,1] 0.24806689834926154 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:0.98 [[ 9.99906541e-01 1.92523397e-03 -1.35352582e-02 3.56971419e+00] [-1.91500821e-03 9.99997871e-01 7.68410833e-04 -1.32714727e-02] [ 1.35367087e-02 -7.42418887e-04 9.99908099e-01 9.76899291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06255784400003 meters Centerline goodness [0,1] 0.2485176255945788 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:0.98 [[ 9.99902794e-01 1.77303399e-03 -1.38296368e-02 3.57052157e+00] [-1.76454954e-03 9.99998247e-01 6.25675445e-04 -1.30419037e-02] [ 1.38307219e-02 -6.01211547e-04 9.99904170e-01 9.76769772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09255784400003 meters Centerline goodness [0,1] 0.24997261474422172 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:0.98 [[ 9.99901171e-01 1.72329696e-03 -1.39526919e-02 3.57062576e+00] [-1.71384804e-03 9.99998294e-01 6.89139937e-04 -1.35797711e-02] [ 1.39538557e-02 -6.65159037e-04 9.99902419e-01 9.77112357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12255784400003 meters Centerline goodness [0,1] 0.2610011182003552 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:0.98 [[ 9.99914749e-01 1.36026116e-03 -1.29863512e-02 3.56754703e+00] [-1.35121220e-03 9.99998838e-01 7.05553847e-04 -1.44742365e-02] [ 1.29872959e-02 -6.87946382e-04 9.99915425e-01 9.78483553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15255784400003 meters Centerline goodness [0,1] 0.2468172484599589 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:0.98 [[ 9.99908541e-01 -5.86946044e-03 -1.21844074e-02 3.58684590e+00] [ 5.89202069e-03 9.99980992e-01 1.81649647e-03 -9.94743056e-03] [ 1.21735140e-02 -1.88812112e-03 9.99924117e-01 9.80189598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.182557844 meters Centerline goodness [0,1] 0.24996723030541357 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:0.98 [[ 9.99935722e-01 8.73626785e-04 -1.13043507e-02 3.56864291e+00] [-8.60579736e-04 9.99998958e-01 1.15897457e-03 -1.56358154e-02] [ 1.13053514e-02 -1.14917178e-03 9.99935432e-01 9.78258366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.212557844 meters Centerline goodness [0,1] 0.24942816686635438 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:0.98 [[ 9.99931605e-01 8.20987700e-04 -1.16666717e-02 3.56984811e+00] [-8.06953816e-04 9.99998945e-01 1.20756025e-03 -1.62380811e-02] [ 1.16676508e-02 -1.19806319e-03 9.99931213e-01 9.77763798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.242557844 meters Centerline goodness [0,1] 0.24316524908869985 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:0.98 [[ 9.99921415e-01 5.31698014e-04 -1.25252296e-02 3.57280607e+00] [-5.18297380e-04 9.99999290e-01 1.07311301e-03 -1.70164743e-02] [ 1.25257913e-02 -1.06653689e-03 9.99920980e-01 9.76473664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.272557844 meters Centerline goodness [0,1] 0.24855668299510147 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:0.98 [[ 9.99923212e-01 5.90692676e-04 -1.23782615e-02 3.57245933e+00] [-5.75825777e-04 9.99999109e-01 1.20457863e-03 -1.76287942e-02] [ 1.23789620e-02 -1.19735841e-03 9.99922661e-01 9.76450747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302557844 meters Centerline goodness [0,1] 0.24816545819865465 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:0.98 [[ 9.99927536e-01 7.23727140e-04 -1.20165781e-02 3.57113683e+00] [-7.06485006e-04 9.99998715e-01 1.43904520e-03 -1.84976809e-02] [ 1.20176042e-02 -1.43045139e-03 9.99926763e-01 9.77197072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.332557844 meters Centerline goodness [0,1] 0.24848339370662942 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:0.98 [[ 9.99931812e-01 8.49184794e-04 -1.16469023e-02 3.56981708e+00] [-8.30285749e-04 9.99998331e-01 1.62740647e-03 -1.90927855e-02] [ 1.16482648e-02 -1.61762524e-03 9.99930848e-01 9.77932886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362557844 meters Centerline goodness [0,1] 0.24651885753761793 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:0.98 [[ 9.99932722e-01 9.90455916e-04 -1.15572804e-02 3.56912443e+00] [-9.70331194e-04 9.99998004e-01 1.74678003e-03 -1.94679600e-02] [ 1.15589874e-02 -1.73544812e-03 9.99931687e-01 9.78784606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.392557844 meters Centerline goodness [0,1] 0.2626247155610012 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:0.98 [[ 9.99888371e-01 -3.08467526e-04 -1.49382323e-02 3.52505299e+00] [ 3.47090650e-04 9.99996604e-01 2.58299812e-03 -2.22082388e-02] [ 1.49373848e-02 -2.58789470e-03 9.99885082e-01 9.80124608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422557844 meters Centerline goodness [0,1] 0.24284174213022858 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:0.98 [[ 9.99850428e-01 8.97238538e-03 -1.47857010e-02 3.54627896e+00] [-8.95400177e-03 9.99959055e-01 1.30906877e-03 -2.38463877e-02] [ 1.47968410e-02 -1.17648178e-03 9.99889829e-01 9.80278516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.452557844 meters Centerline goodness [0,1] 0.24694605051515017 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:0.98 [[ 9.99903696e-01 7.93260795e-04 -1.38552931e-02 3.52650009e+00] [-7.50339513e-04 9.99994905e-01 3.10274932e-03 -1.77756832e-02] [ 1.38576838e-02 -3.09205434e-03 9.99899197e-01 9.77916175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482557844 meters Centerline goodness [0,1] 0.24954264308737695 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:0.98 [[ 9.99909475e-01 8.04912751e-04 -1.34310847e-02 3.52522058e+00] [-7.65440601e-04 9.99995374e-01 2.94374722e-03 -1.67147291e-02] [ 1.34333921e-02 -2.93320004e-03 9.99905466e-01 9.78305174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.512557844 meters Centerline goodness [0,1] 0.2438479228008339 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:0.98 [[ 9.99883229e-01 9.78090805e-03 -1.17414683e-02 3.54449896e+00] [-9.76592306e-03 9.99951424e-01 1.33290316e-03 -1.75369421e-02] [ 1.17539349e-02 -1.21808124e-03 9.99930178e-01 9.79137342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54255784400002 meters Centerline goodness [0,1] 0.2439657576862838 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:0.98 [[ 9.99882991e-01 9.69201900e-03 -1.18351017e-02 3.54478945e+00] [-9.67975224e-03 9.99952552e-01 1.09331730e-03 -1.63466400e-02] [ 1.18451366e-02 -9.78628521e-04 9.99929365e-01 9.79029579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57255784400002 meters Centerline goodness [0,1] 0.24951165516343277 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99904186e-01 2.31249305e-04 -1.38406859e-02 3.52623856e+00] [-2.02545065e-04 9.99997826e-01 2.07526885e-03 -1.07486096e-02] [ 1.38411357e-02 -2.07226665e-03 9.99902060e-01 9.77784822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60255784400002 meters Centerline goodness [0,1] 0.24539943710759904 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99903934e-01 1.39245054e-04 -1.38601408e-02 3.52650493e+00] [-1.13041738e-04 9.99998205e-01 1.89131738e-03 -9.92660686e-03] [ 1.38603792e-02 -1.88956891e-03 9.99902155e-01 9.77400961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63255784400002 meters Centerline goodness [0,1] 0.24384358504793713 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99904315e-01 5.22234055e-05 -1.38332487e-02 3.52640329e+00] [-2.81480964e-05 9.99998485e-01 1.74058342e-03 -9.28289544e-03] [ 1.38333186e-02 -1.74002750e-03 9.99902801e-01 9.77406773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66255784400002 meters Centerline goodness [0,1] 0.2470179676883587 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99903060e-01 -1.08940142e-04 -1.39233413e-02 3.52636194e+00] [ 1.30375514e-04 9.99998808e-01 1.53862949e-03 -8.52695593e-03] [ 1.39231571e-02 -1.54029560e-03 9.99901882e-01 9.77807433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69255784400002 meters Centerline goodness [0,1] 0.24627059281359454 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99901053e-01 -1.89649762e-04 -1.40658812e-02 3.52669154e+00] [ 2.09810280e-04 9.99998953e-01 1.43183040e-03 -8.13331964e-03] [ 1.40655949e-02 -1.43463989e-03 9.99900045e-01 9.77807298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72255784400002 meters Centerline goodness [0,1] 0.2398448050416926 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99897762e-01 -3.00766218e-04 -1.42959648e-02 3.52738973e+00] [ 3.19360366e-04 9.99999106e-01 1.29839196e-03 -7.67123727e-03] [ 1.42955615e-02 -1.30282478e-03 9.99896964e-01 9.77620286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75255784400002 meters Centerline goodness [0,1] 0.2443407637808882 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99895291e-01 -3.67173702e-04 -1.44662746e-02 3.52791113e+00] [ 3.84864578e-04 9.99999182e-01 1.22013984e-03 -7.41851149e-03] [ 1.44658148e-02 -1.22557963e-03 9.99894614e-01 9.77437037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78255784400002 meters Centerline goodness [0,1] 0.2447133178935521 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99893494e-01 -5.12884205e-04 -1.45855362e-02 3.52828347e+00] [ 5.27355870e-04 9.99999373e-01 9.88364054e-04 -6.40407410e-03] [ 1.45850202e-02 -9.95950556e-04 9.99893137e-01 9.77247925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81255784400003 meters Centerline goodness [0,1] 0.244101653053708 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99896507e-01 -5.36454164e-04 -1.43766140e-02 3.52754424e+00] [ 5.49673844e-04 9.99999430e-01 9.15591044e-04 -5.86191313e-03] [ 1.43761146e-02 -9.23398736e-04 9.99896232e-01 9.77580610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84255784400003 meters Centerline goodness [0,1] 0.246238059929341 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.98 [[ 9.99899458e-01 -5.78466437e-04 -1.41682673e-02 3.52674752e+00] [ 5.89532976e-04 9.99999524e-01 7.76915121e-04 -5.05838377e-03] [ 1.41678111e-02 -7.85189669e-04 9.99899323e-01 9.78018278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87255784400003 meters Centerline goodness [0,1] 0.24427135027834113 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.01, Z:0.98 [[ 9.99888681e-01 8.18210283e-03 -1.24771432e-02 3.54571153e+00] [-8.19212347e-03 9.99966161e-01 -7.52220972e-04 -7.01687470e-03] [ 1.24705663e-02 8.54351533e-04 9.99921874e-01 9.78418694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90255784400003 meters Centerline goodness [0,1] 0.24729273152559994 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.01, Z:0.98 [[ 9.99887392e-01 8.04520330e-03 -1.26680029e-02 3.54611374e+00] [-8.05697350e-03 9.99967156e-01 -8.78366923e-04 -6.65061398e-03] [ 1.26605202e-02 9.80333776e-04 9.99919372e-01 9.78498964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.932557844 meters Centerline goodness [0,1] 0.25075035886728436 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.01, Z:0.98 [[ 9.99886814e-01 8.02632865e-03 -1.27254315e-02 3.54607642e+00] [-8.03776934e-03 9.99967337e-01 -8.48151287e-04 -6.89276688e-03] [ 1.27182083e-02 9.50339372e-04 9.99918669e-01 9.78784384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.962557844 meters Centerline goodness [0,1] 0.2435049496390438 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.00, Z:0.98 [[ 9.99917729e-01 8.35343599e-04 -1.27998929e-02 3.56483706e+00] [-8.34085196e-04 9.99999647e-01 1.03651605e-04 -2.81737041e-03] [ 1.27999749e-02 -9.29668762e-05 9.99918073e-01 9.81102539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.992557844 meters Centerline goodness [0,1] 0.2436358933459789 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.00, Z:0.98 [[ 9.99921949e-01 8.52214949e-04 -1.24647356e-02 3.56308916e+00] [-8.50610631e-04 9.99999629e-01 1.34009488e-04 -2.55154576e-03] [ 1.24648452e-02 -1.23396392e-04 9.99922303e-01 9.82565852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02255784400006 meters Centerline goodness [0,1] 0.2476365603028664 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.00, Z:0.98 [[ 9.99922823e-01 8.22509518e-04 -1.23963969e-02 3.56292860e+00] [-8.21753454e-04 9.99999660e-01 6.60840697e-05 -2.16700887e-03] [ 1.23964470e-02 -5.58921876e-05 9.99923160e-01 9.82515033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05255784400003 meters Centerline goodness [0,1] 0.2476365603028664 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.00, Z:0.98 [[ 9.99922823e-01 8.22509518e-04 -1.23963969e-02 3.56292860e+00] [-8.21753454e-04 9.99999660e-01 6.60840697e-05 -2.16700887e-03] [ 1.23964470e-02 -5.58921876e-05 9.99923160e-01 9.82515033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08255784400006 meters Centerline goodness [0,1] 0.24579189805846136 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.00, Z:0.98 [[ 9.99921539e-01 7.41666527e-04 -1.25046168e-02 3.56347292e+00] [-7.42722583e-04 9.99999721e-01 -7.98095892e-05 -1.63476741e-03] [ 1.25045541e-02 8.90907886e-05 9.99921811e-01 9.82054728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11255784400004 meters Centerline goodness [0,1] 0.2625848849945236 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.00, Z:0.98 [[ 9.99879422e-01 -8.89406296e-04 -1.55032430e-02 3.51959091e+00] [ 8.96538725e-04 9.99999495e-01 4.53116483e-04 -3.48657496e-03] [ 1.55028322e-02 -4.66961105e-04 9.99879715e-01 9.82584707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14255784400007 meters Centerline goodness [0,1] 0.2491995965089251 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.00, Z:0.98 [[ 9.99882313e-01 -9.03834842e-04 -1.53147904e-02 3.51884496e+00] [ 9.08988585e-04 9.99999533e-01 3.29563059e-04 -2.64612908e-03] [ 1.53144854e-02 -3.43445243e-04 9.99882667e-01 9.83029200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17255784400004 meters Centerline goodness [0,1] 0.24788483121816451 Centerline is valid? [False, False] Translation: X:3.56, Y:0.00, Z:0.98 [[ 9.99913384e-01 6.14640069e-04 -1.31470954e-02 3.56100421e+00] [-6.21666222e-04 9.99999666e-01 -5.30346249e-04 5.07515568e-04] [ 1.31467650e-02 5.38473418e-04 9.99913433e-01 9.83430655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20255784400007 meters Centerline goodness [0,1] 0.24684498427876123 Centerline is valid? [False, False] Translation: X:3.56, Y:0.00, Z:0.98 [[ 9.99913529e-01 5.66434128e-04 -1.31382212e-02 3.56090519e+00] [-5.74239242e-04 9.99999661e-01 -5.90312139e-04 6.74148822e-04] [ 1.31378823e-02 5.97805576e-04 9.99913516e-01 9.83550429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23255784400004 meters Centerline goodness [0,1] 0.25008722197993893 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.00, Z:0.98 [[ 9.99868274e-01 -2.43500559e-03 -1.60469884e-02 3.51653058e+00] [ 2.41699713e-03 9.99996428e-01 -1.14153147e-03 -2.05739170e-03] [ 1.60497107e-02 1.10259557e-03 9.99870587e-01 9.84213883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26255784400007 meters Centerline goodness [0,1] 0.24206144867833845 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.00, Z:0.98 [[ 9.99900705e-01 -1.73379376e-03 -1.39848078e-02 3.56140941e+00] [ 1.70329822e-03 9.99996146e-01 -2.19223528e-03 -7.99318414e-04] [ 1.39885548e-02 2.16819730e-03 9.99899805e-01 9.83228280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29255784400004 meters Centerline goodness [0,1] 0.2478967786931694 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:0.98 [[ 9.99855052e-01 -4.17973896e-03 -1.65046697e-02 3.51567668e+00] [ 4.15199121e-03 9.99989910e-01 -1.71511421e-03 -5.80961273e-03] [ 1.65116719e-02 1.64633837e-03 9.99862318e-01 9.84831539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.322557844 meters Centerline goodness [0,1] 0.2506206716320397 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:0.99 [[ 9.99858619e-01 -4.22079085e-03 -1.62765506e-02 3.51454813e+00] [ 4.20201419e-03 9.99990466e-01 -1.18762891e-03 -8.89963782e-03] [ 1.62814082e-02 1.11906671e-03 9.99866823e-01 9.85790550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35255784400005 meters Centerline goodness [0,1] 0.2489966809119899 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.02, Z:0.99 [[ 9.99847809e-01 -7.47098653e-03 -1.57652667e-02 3.51179165e+00] [ 7.41890048e-03 9.99966835e-01 -3.35975062e-03 -1.57769630e-02] [ 1.57898445e-02 3.24227835e-03 9.99870076e-01 9.87745481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.382557844 meters Centerline goodness [0,1] 0.2474670609209897 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.02, Z:0.99 [[ 9.99841322e-01 -7.40361057e-03 -1.62023766e-02 3.51275668e+00] [ 7.36177089e-03 9.99969416e-01 -2.64043939e-03 -1.96129307e-02] [ 1.62214299e-02 2.52074222e-03 9.99865246e-01 9.87828678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41255784400005 meters Centerline goodness [0,1] 0.24422951532275594 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.02, Z:0.99 [[ 9.99832104e-01 -7.34749318e-03 -1.67862559e-02 3.51431155e+00] [ 7.31630166e-03 9.99971395e-01 -1.91881485e-03 -2.35696261e-02] [ 1.67998742e-02 1.79567938e-03 9.99857260e-01 9.87547183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442557844 meters Centerline goodness [0,1] 0.24934377460845214 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.03, Z:0.99 [[ 9.99823097e-01 -7.32407571e-03 -1.73243158e-02 3.51570391e+00] [ 7.30402707e-03 9.99972581e-01 -1.22024579e-03 -2.76905394e-02] [ 1.73327780e-02 1.09349265e-03 9.99849178e-01 9.87390515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47255784400005 meters Centerline goodness [0,1] 0.2485188990665238 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.03, Z:0.99 [[ 0.99978754 -0.01111464 -0.01735913 3.5160142 ] [ 0.01104597 0.9999308 -0.00404693 -0.03427511] [ 0.01740291 0.00385433 0.99984113 0.98713565] [ 0. 0. 0. 1. ]] SLAMing on 256.502557844 meters Centerline goodness [0,1] 0.2453780413360077 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.04, Z:0.99 [[ 9.99785692e-01 -1.09585535e-02 -1.75636206e-02 3.51644520e+00] [ 1.08981696e-02 9.99934382e-01 -3.53004207e-03 -3.70159940e-02] [ 1.76011522e-02 3.33787423e-03 9.99839516e-01 9.87241741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53255784400005 meters Centerline goodness [0,1] 0.24318804050236842 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.04, Z:0.99 [[ 9.99782150e-01 -1.06659707e-02 -1.79412630e-02 3.51769932e+00] [ 1.06132615e-02 9.99939085e-01 -3.03053527e-03 -3.88848730e-02] [ 1.79724937e-02 2.83945976e-03 9.99834450e-01 9.86715234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562557844 meters Centerline goodness [0,1] 0.2469157406597252 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:0.98 [[ 9.99834855e-01 -3.01577476e-03 -1.79211379e-02 3.49776779e+00] [ 2.94860926e-03 9.99988535e-01 -3.77307954e-03 -4.26697758e-02] [ 1.79323112e-02 3.71961401e-03 9.99832284e-01 9.84625757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59255784400005 meters Centerline goodness [0,1] 0.24361625704769574 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:0.98 [[ 9.99832640e-01 -2.99214000e-03 -1.80482610e-02 3.49822263e+00] [ 2.92182341e-03 9.99988044e-01 -3.92114341e-03 -4.18120240e-02] [ 1.80597778e-02 3.86775334e-03 9.99829428e-01 9.84419820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622557844 meters Centerline goodness [0,1] 0.25032528393428166 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.04, Z:0.98 [[ 0.99982919 0.00474802 -0.01786173 3.4771242 ] [-0.00483223 0.9999774 -0.00467463 -0.04465524] [ 0.01783913 0.00476014 0.99982954 0.98299848] [ 0. 0. 0. 1. ]] SLAMing on 256.65255784400006 meters Centerline goodness [0,1] 0.2419588274685157 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:0.98 [[ 9.99860473e-01 2.81380332e-04 -1.67019468e-02 3.49948957e+00] [-3.10305837e-04 9.99998457e-01 -1.72929801e-03 -4.16965395e-02] [ 1.67014344e-02 1.73423944e-03 9.99859017e-01 9.82868613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68255784400003 meters Centerline goodness [0,1] 0.24552318370721726 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:0.98 [[ 9.99883416e-01 5.92935667e-04 -1.52578940e-02 3.49538060e+00] [-6.23000916e-04 9.99997874e-01 -1.96579409e-03 -3.86369685e-02] [ 1.52566960e-02 1.97507059e-03 9.99881659e-01 9.83673566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71255784400006 meters Centerline goodness [0,1] 0.2511480428602668 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.04, Z:0.98 [[ 9.99885617e-01 4.66132145e-04 -1.51173974e-02 3.49498756e+00] [-5.01115043e-04 9.99997206e-01 -2.31037664e-03 -3.69489615e-02] [ 1.51162782e-02 2.31768793e-03 9.99883056e-01 9.83704375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74255784400003 meters Centerline goodness [0,1] 0.24341820386247515 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.03, Z:0.99 [[ 9.99851077e-01 -6.49346747e-03 -1.59893570e-02 3.51451034e+00] [ 6.46766803e-03 9.99977699e-01 -1.66472081e-03 -3.09025483e-02] [ 1.59998102e-02 1.56105904e-03 9.99870776e-01 9.85650819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77255784400006 meters Centerline goodness [0,1] 0.2437552715240382 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.03, Z:0.99 [[ 9.99846626e-01 -6.65144543e-03 -1.62013389e-02 3.51508386e+00] [ 6.62130299e-03 9.99976248e-01 -1.91342184e-03 -2.98953341e-02] [ 1.62136811e-02 1.80585440e-03 9.99866919e-01 9.85511014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80255784400003 meters Centerline goodness [0,1] 0.24764284162502714 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.03, Z:0.99 [[ 9.99842079e-01 -6.78849712e-03 -1.64235836e-02 3.51553207e+00] [ 6.75559629e-03 9.99975063e-01 -2.05791907e-03 -2.94065103e-02] [ 1.64371443e-02 1.94664298e-03 9.99863006e-01 9.85562901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83255784400006 meters Centerline goodness [0,1] 0.2490480150566814 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.03, Z:0.99 [[ 9.99840820e-01 -7.29093574e-03 -1.62842563e-02 3.51488581e+00] [ 7.25254009e-03 9.99970782e-01 -2.41565130e-03 -2.84036576e-02] [ 1.63013928e-02 2.29716456e-03 9.99864485e-01 9.85934750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86255784400004 meters Centerline goodness [0,1] 0.2464373517829559 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.03, Z:0.99 [[ 9.99840644e-01 -7.39264172e-03 -1.62491800e-02 3.51477578e+00] [ 7.35222664e-03 9.99969732e-01 -2.54553996e-03 -2.77035233e-02] [ 1.62675064e-02 2.42566666e-03 9.99864733e-01 9.85883576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89255784400007 meters Centerline goodness [0,1] 0.24717285945072698 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.03, Z:0.99 [[ 9.99840525e-01 -7.49125827e-03 -1.62112782e-02 3.51472488e+00] [ 7.44800946e-03 9.99968546e-01 -2.72655555e-03 -2.67969181e-02] [ 1.62311936e-02 2.60537898e-03 9.99864871e-01 9.85717445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92255784400004 meters Centerline goodness [0,1] 0.23858621951482017 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.03, Z:0.99 [[ 9.99888817e-01 3.73057038e-04 -1.49068764e-02 3.53537005e+00] [-4.45015966e-04 9.99988264e-01 -4.82420501e-03 -2.82689380e-02] [ 1.49049017e-02 4.83030244e-03 9.99877249e-01 9.85168858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95255784400007 meters Centerline goodness [0,1] 0.24223169988684834 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.03, Z:0.98 [[ 9.99885035e-01 3.29481020e-05 -1.51629595e-02 3.53612341e+00] [-1.14288342e-04 9.99985609e-01 -5.36356875e-03 -2.61832666e-02] [ 1.51625645e-02 5.36468507e-03 9.99870650e-01 9.84913175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98255784400004 meters Centerline goodness [0,1] 0.24472904687227737 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.03, Z:0.98 [[ 9.99884716e-01 -7.39137404e-05 -1.51838193e-02 3.53612312e+00] [-1.12963030e-05 9.99984254e-01 -5.61173546e-03 -2.50281603e-02] [ 1.51839950e-02 5.61126004e-03 9.99868971e-01 9.84991945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01255784400007 meters Centerline goodness [0,1] 0.240661651527305 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:0.99 [[ 9.99886813e-01 -1.78830597e-04 -1.50442531e-02 3.53575433e+00] [ 8.90480392e-05 9.99982185e-01 -5.96835549e-03 -2.31641139e-02] [ 1.50450525e-02 5.96634029e-03 9.99869016e-01 9.85021791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04255784400004 meters Centerline goodness [0,1] 0.24668556476232006 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:0.99 [[ 9.99890169e-01 -2.93102174e-04 -1.48176704e-02 3.53517300e+00] [ 1.98698250e-04 9.99979678e-01 -6.37210768e-03 -2.09570791e-02] [ 1.48192369e-02 6.36846358e-03 9.99869908e-01 9.85082726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.072557844 meters Centerline goodness [0,1] 0.2413370593293207 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:0.98 [[ 9.99897760e-01 -5.04100333e-03 -1.33812830e-02 3.55730887e+00] [ 4.99333352e-03 9.99981077e-01 -3.59344750e-03 -1.50781523e-02] [ 1.33991444e-02 3.52626290e-03 9.99904010e-01 9.84881229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10255784400005 meters Centerline goodness [0,1] 0.24897151028489717 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:0.99 [[ 9.99851201e-01 -5.88256649e-03 -1.62163948e-02 3.51252876e+00] [ 5.83480439e-03 9.99978504e-01 -2.99103895e-03 -1.22366146e-02] [ 1.62336412e-02 2.89597439e-03 9.99864032e-01 9.85642440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.132557844 meters Centerline goodness [0,1] 0.24478112279326936 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:0.99 [[ 0.99986881 0.00358567 -0.01579572 3.53445665] [-0.00365785 0.99998299 -0.00454301 -0.00798487] [ 0.01577916 0.00460019 0.99986492 0.98513907] [ 0. 0. 0. 1. ]] SLAMing on 257.16255784400005 meters Centerline goodness [0,1] 0.24751890875704985 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.00, Z:0.98 [[ 9.99871936e-01 3.44900689e-03 -1.56273829e-02 3.53431851e+00] [-3.53237152e-03 9.99979663e-01 -5.31006409e-03 -3.73539550e-03] [ 1.56087507e-02 5.36458578e-03 9.99863785e-01 9.84818725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192557844 meters Centerline goodness [0,1] 0.2441055591607182 Centerline is valid? [False, False] Translation: X:3.53, Y:0.00, Z:0.98 [[ 9.99873305e-01 3.30366201e-03 -1.55711295e-02 3.53447158e+00] [-3.40033484e-03 9.99975085e-01 -6.18608556e-03 1.24545073e-03] [ 1.55503048e-02 6.23824886e-03 9.99859626e-01 9.84464880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22255784400005 meters Centerline goodness [0,1] 0.24680443350826387 Centerline is valid? [False, False] Translation: X:3.53, Y:0.01, Z:0.98 [[ 9.99874926e-01 3.06514351e-03 -1.55157099e-02 3.53467182e+00] [-3.17656199e-03 9.99969311e-01 -7.16146675e-03 6.34161401e-03] [ 1.54932828e-02 7.20985766e-03 9.99853977e-01 9.83964833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252557844 meters Centerline goodness [0,1] 0.24224574521268505 Centerline is valid? [False, False] Translation: X:3.54, Y:0.02, Z:0.98 [[ 0.99985456 0.00641006 -0.01580411 3.53576187] [-0.00648943 0.99996656 -0.00497604 0.01526239] [ 0.01577169 0.00507788 0.99986273 0.98349749] [ 0. 0. 0. 1. ]] SLAMing on 257.28255784400005 meters Centerline goodness [0,1] 0.2446559968558265 Centerline is valid? [False, False] Translation: X:3.54, Y:0.02, Z:0.98 [[ 0.99985915 0.00610421 -0.01563413 3.53562972] [-0.00619764 0.99996318 -0.00593476 0.02042341] [ 0.01559733 0.00603082 0.99986017 0.98306101] [ 0. 0. 0. 1. ]] SLAMing on 257.312557844 meters Centerline goodness [0,1] 0.2431104279869244 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:0.99 [[ 9.99860306e-01 -4.61187314e-04 -1.67079493e-02 3.55402185e+00] [ 3.70878283e-04 9.99985309e-01 -5.40784887e-03 3.05392123e-02] [ 1.67101978e-02 5.40089681e-03 9.99845788e-01 9.85385428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34255784400005 meters Centerline goodness [0,1] 0.24470778228798395 Centerline is valid? [False, False] Translation: X:3.55, Y:0.03, Z:0.99 [[ 9.99859484e-01 -7.97232819e-04 -1.67444348e-02 3.55428836e+00] [ 6.93822498e-04 9.99980659e-01 -6.18070396e-03 3.40546424e-02] [ 1.67490384e-02 6.16821781e-03 9.99840699e-01 9.85087962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.372557844 meters Centerline goodness [0,1] 0.24040788109229172 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:0.99 [[ 0.99979393 -0.00827226 -0.01853835 3.57480732] [ 0.0081545 0.99994615 -0.00641901 0.04423616] [ 0.01859045 0.00626652 0.99980754 0.98694356] [ 0. 0. 0. 1. ]] SLAMing on 257.40255784400006 meters Centerline goodness [0,1] 0.24287264048600565 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:0.99 [[ 0.99979384 -0.0084524 -0.01846165 3.57448353] [ 0.00832838 0.99994231 -0.0067839 0.0461374 ] [ 0.01851793 0.00662875 0.99980655 0.98710718] [ 0. 0. 0. 1. ]] SLAMing on 257.43255784400003 meters Centerline goodness [0,1] 0.24088272985946702 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:0.99 [[ 0.99979449 -0.0086495 -0.01833495 3.57391248] [ 0.00851941 0.99993807 -0.00716134 0.04795917] [ 0.01839576 0.00700367 0.99980625 0.98744821] [ 0. 0. 0. 1. ]] SLAMing on 257.46255784400006 meters Centerline goodness [0,1] 0.24335658257827608 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:0.99 [[ 0.99979577 -0.00919416 -0.01799696 3.57278597] [ 0.009052 0.99992731 -0.00796476 0.05139657] [ 0.01806888 0.00780022 0.99980632 0.98785089] [ 0. 0. 0. 1. ]] SLAMing on 257.49255784400003 meters Centerline goodness [0,1] 0.24134723544172365 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:0.99 [[ 0.99979545 -0.00939426 -0.01791114 3.57256676] [ 0.00924454 0.99992179 -0.00842389 0.05365521] [ 0.01798888 0.00825659 0.9998041 0.98784471] [ 0. 0. 0. 1. ]] SLAMing on 257.52255784400006 meters Centerline goodness [0,1] 0.24078030253986749 Centerline is valid? [False, False] Translation: X:3.57, Y:0.06, Z:0.99 [[ 0.99981644 -0.00659647 -0.017988 3.57271829] [ 0.00649559 0.99996288 -0.00566076 0.05549876] [ 0.01802468 0.00554288 0.99982218 0.98782196] [ 0. 0. 0. 1. ]] SLAMing on 257.55255784400003 meters Centerline goodness [0,1] 0.24232460915385623 Centerline is valid? [False, False] Translation: X:3.57, Y:0.06, Z:0.99 [[ 0.99981336 -0.00685335 -0.01806298 3.57315338] [ 0.00674097 0.99995759 -0.00627489 0.05845378] [ 0.01810522 0.00615196 0.99981716 0.98740099] [ 0. 0. 0. 1. ]] SLAMing on 257.58255784400006 meters Centerline goodness [0,1] 0.24029534954013554 Centerline is valid? [False, False] Translation: X:3.58, Y:0.06, Z:0.99 [[ 0.99981112 -0.00476975 -0.01884087 3.57706217] [ 0.00468164 0.99997791 -0.00471772 0.06436422] [ 0.01886296 0.00462863 0.99981136 0.98513268] [ 0. 0. 0. 1. ]] SLAMing on 257.61255784400004 meters Centerline goodness [0,1] 0.24260796977285704 Centerline is valid? [False, False] Translation: X:3.53, Y:0.07, Z:0.99 [[ 0.99976266 -0.00522918 -0.02114883 3.53066789] [ 0.00514081 0.99997784 -0.00423089 0.06857551] [ 0.02117048 0.00412116 0.99976739 0.98623968] [ 0. 0. 0. 1. ]] SLAMing on 257.64255784400007 meters Centerline goodness [0,1] 0.24140701335359893 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:0.99 [[ 9.99809885e-01 3.22660972e-03 -1.92297309e-02 3.55007665e+00] [-3.33651924e-03 9.99978267e-01 -5.68626391e-03 6.80912751e-02] [ 1.92109656e-02 5.74934323e-03 9.99798922e-01 9.86692755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67255784400004 meters Centerline goodness [0,1] 0.2410971984114928 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:0.99 [[ 9.99813217e-01 3.01735880e-03 -1.90899775e-02 3.54966362e+00] [-3.13658205e-03 9.99975746e-01 -6.21847651e-03 7.06255568e-02] [ 1.90707512e-02 6.27719228e-03 9.99798431e-01 9.86855925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70255784400007 meters Centerline goodness [0,1] 0.24133911804701158 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:0.99 [[ 9.99815092e-01 2.57497045e-03 -1.90565306e-02 3.54968474e+00] [-2.71113670e-03 9.99970956e-01 -7.12300303e-03 7.44691319e-02] [ 1.90376355e-02 7.17335079e-03 9.99793034e-01 9.86763977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73255784400004 meters Centerline goodness [0,1] 0.241409862990016 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:0.99 [[ 9.99816756e-01 2.44621095e-03 -1.89860513e-02 3.54955225e+00] [-2.58772549e-03 9.99969029e-01 -7.43262039e-03 7.59897734e-02] [ 1.89672815e-02 7.48038910e-03 9.99792121e-01 9.86667061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76255784400007 meters Centerline goodness [0,1] 0.24194671774333976 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:0.99 [[ 9.99819925e-01 2.36630070e-03 -1.88286733e-02 3.54916976e+00] [-2.51126354e-03 9.99967362e-01 -7.67913143e-03 7.73803229e-02] [ 1.88098877e-02 7.72503237e-03 9.99793235e-01 9.86624934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79255784400004 meters Centerline goodness [0,1] 0.2422703998256891 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:0.99 [[ 9.99825189e-01 2.18849427e-03 -1.85688401e-02 3.54851331e+00] [-2.34001484e-03 9.99964114e-01 -8.14213751e-03 7.97282191e-02] [ 1.85503547e-02 8.18416553e-03 9.99794431e-01 9.86701071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.822557844 meters Centerline goodness [0,1] 0.24532251733612453 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:0.99 [[ 9.99824668e-01 2.09938020e-03 -1.86071440e-02 3.54852283e+00] [-2.25419526e-03 9.99962988e-01 -8.30312966e-03 8.03487169e-02] [ 1.85890239e-02 8.34361800e-03 9.99792395e-01 9.86838552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85255784400005 meters Centerline goodness [0,1] 0.245785872012943 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:0.99 [[ 9.99824474e-01 2.01041060e-03 -1.86273678e-02 3.54846912e+00] [-2.16848494e-03 9.99961779e-01 -8.46982535e-03 8.09855379e-02] [ 1.86096280e-02 8.50873184e-03 9.99790620e-01 9.87012639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.882557844 meters Centerline goodness [0,1] 0.24044047515824152 Centerline is valid? [False, False] Translation: X:3.57, Y:0.09, Z:0.99 [[ 0.99980339 -0.00553004 -0.0190421 3.56855339] [ 0.00538808 0.99995737 -0.00749825 0.08534313] [ 0.01908276 0.00739417 0.99979057 0.9888489 ] [ 0. 0. 0. 1. ]] SLAMing on 257.91255784400005 meters Centerline goodness [0,1] 0.24324088228870933 Centerline is valid? [False, False] Translation: X:3.57, Y:0.09, Z:0.99 [[ 0.99980038 -0.00557981 -0.01918528 3.56924691] [ 0.00543467 0.99995628 -0.00760875 0.08601956] [ 0.01922689 0.00750297 0.99978699 0.9882441 ] [ 0. 0. 0. 1. ]] SLAMing on 257.942557844 meters Centerline goodness [0,1] 0.24324088228870933 Centerline is valid? [False, False] Translation: X:3.57, Y:0.09, Z:0.99 [[ 0.99980038 -0.00557981 -0.01918528 3.56924691] [ 0.00543467 0.99995628 -0.00760875 0.08601956] [ 0.01922689 0.00750297 0.99978699 0.9882441 ] [ 0. 0. 0. 1. ]] SLAMing on 257.97255784400005 meters Centerline goodness [0,1] 0.24243283321702724 Centerline is valid? [False, False] Translation: X:3.57, Y:0.09, Z:0.99 [[ 0.99979613 -0.00566647 -0.01938021 3.57019672] [ 0.00551863 0.99995533 -0.00767301 0.08627955] [ 0.01942283 0.00756449 0.99978274 0.98738915] [ 0. 0. 0. 1. ]] SLAMing on 258.002557844 meters Centerline goodness [0,1] 0.24298697032738426 Centerline is valid? [False, False] Translation: X:3.57, Y:0.09, Z:0.99 [[ 0.99979605 -0.00569575 -0.01937554 3.57011952] [ 0.00554769 0.99995507 -0.00768684 0.08622721] [ 0.01941845 0.00757779 0.99978273 0.98745648] [ 0. 0. 0. 1. ]] SLAMing on 258.03255784400005 meters Centerline goodness [0,1] 0.23955835007886606 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.99 [[ 9.99818862e-01 2.58261914e-03 -1.88566703e-02 3.58913008e+00] [-2.75280025e-03 9.99955669e-01 -9.00461011e-03 8.13858912e-02] [ 1.88325789e-02 9.05488767e-03 9.99781648e-01 9.88907393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062557844 meters Centerline goodness [0,1] 0.2366052200878629 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.99 [[ 9.99817037e-01 2.55903971e-03 -1.89563539e-02 3.58934529e+00] [-2.73136018e-03 9.99955136e-01 -9.07007446e-03 8.18427426e-02] [ 1.89322927e-02 9.12019160e-03 9.99779171e-01 9.88959709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09255784400005 meters Centerline goodness [0,1] 0.2418056790819757 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.99 [[ 9.99815554e-01 2.52986255e-03 -1.90383128e-02 3.58969344e+00] [-2.70512998e-03 9.99954149e-01 -9.18592326e-03 8.26801155e-02] [ 1.90142008e-02 9.23573006e-03 9.99776556e-01 9.88714159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122557844 meters Centerline goodness [0,1] 0.2374228478613969 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.99 [[ 9.99819190e-01 2.30457220e-03 -1.88752900e-02 3.58945780e+00] [-2.49038732e-03 9.99948615e-01 -9.82677654e-03 8.59345679e-02] [ 1.88516736e-02 9.87200654e-03 9.99773553e-01 9.88539602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15255784400006 meters Centerline goodness [0,1] 0.23740061623322062 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.99 [[ 9.99823375e-01 2.14735324e-03 -1.86710221e-02 3.58872457e+00] [-2.33797741e-03 9.99945309e-01 -1.01938001e-02 8.74773927e-02] [ 1.86481112e-02 1.02356520e-02 9.99773714e-01 9.88940199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18255784400003 meters Centerline goodness [0,1] 0.24304465375893947 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.99 [[ 9.99825350e-01 1.99088605e-03 -1.85824046e-02 3.58826118e+00] [-2.18737034e-03 9.99941856e-01 -1.05593451e-02 8.90469622e-02] [ 1.85603017e-02 1.05981475e-02 9.99771571e-01 9.89394585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21255784400006 meters Centerline goodness [0,1] 0.23828708817986877 Centerline is valid? [False, False] Translation: X:3.61, Y:0.09, Z:0.99 [[ 9.99799826e-01 -2.46914180e-03 -1.98547440e-02 3.60955618e+00] [ 2.33333014e-03 9.99973744e-01 -6.86052129e-03 9.45192397e-02] [ 1.98711623e-02 6.81282032e-03 9.99779337e-01 9.91302975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24255784400003 meters Centerline goodness [0,1] 0.24128948225333768 Centerline is valid? [False, False] Translation: X:3.61, Y:0.10, Z:0.99 [[ 9.99798818e-01 1.01682461e-03 -2.00322290e-02 3.61009861e+00] [-1.08538262e-03 9.99993591e-01 -3.41181020e-03 9.54692894e-02] [ 2.00286314e-02 3.43286643e-03 9.99793513e-01 9.91149650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27255784400006 meters Centerline goodness [0,1] 0.23727718935675535 Centerline is valid? [False, False] Translation: X:3.61, Y:0.10, Z:0.99 [[ 9.99799336e-01 7.93796054e-04 -2.00164370e-02 3.61031094e+00] [-8.73669733e-04 9.99991690e-01 -3.98197547e-03 9.81806173e-02] [ 2.00131098e-02 3.99866419e-03 9.99791721e-01 9.90812220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30255784400003 meters Centerline goodness [0,1] 0.24196482716798062 Centerline is valid? [False, False] Translation: X:3.61, Y:0.10, Z:0.99 [[ 9.99801562e-01 5.18284555e-04 -1.99140133e-02 3.61006966e+00] [-6.10928049e-04 9.99989019e-01 -4.64637402e-03 1.01180980e-01] [ 1.99113865e-02 4.65761804e-03 9.99790900e-01 9.90849450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33255784400006 meters Centerline goodness [0,1] 0.23976836489036368 Centerline is valid? [False, False] Translation: X:3.61, Y:0.11, Z:0.99 [[ 9.99795857e-01 4.03226473e-03 -1.97986140e-02 3.60965895e+00] [-4.07219355e-03 9.99989755e-01 -1.97684655e-03 1.07244368e-01] [ 1.97904400e-02 2.05706678e-03 9.99802034e-01 9.91079210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36255784400004 meters Centerline goodness [0,1] 0.2421342707112789 Centerline is valid? [False, False] Translation: X:3.61, Y:0.11, Z:0.99 [[ 9.99795437e-01 3.78310661e-03 -1.98688943e-02 3.60998371e+00] [-3.84094791e-03 9.99988494e-01 -2.87379449e-03 1.12185859e-01] [ 1.98577938e-02 2.94952201e-03 9.99798464e-01 9.90929247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39255784400007 meters Centerline goodness [0,1] 0.2424923788727218 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:0.99 [[ 9.99796112e-01 3.44371211e-03 -1.98965950e-02 3.61012785e+00] [-3.52080993e-03 9.99986424e-01 -3.84119586e-03 1.17197051e-01] [ 1.98830970e-02 3.91046482e-03 9.99794664e-01 9.90934511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42255784400004 meters Centerline goodness [0,1] 0.24604247525184253 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:0.99 [[ 9.99799532e-01 3.07322975e-03 -1.97851363e-02 3.60984331e+00] [-3.16881406e-03 9.99983452e-01 -4.80158008e-03 1.21795713e-01] [ 1.97700526e-02 4.86331293e-03 9.99792725e-01 9.91040618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45255784400007 meters Centerline goodness [0,1] 0.24414518628456683 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:0.99 [[ 9.99807793e-01 2.39517459e-03 -1.94587018e-02 3.60880128e+00] [-2.51866089e-03 9.99976831e-01 -6.32404446e-03 1.31139182e-01] [ 1.94431038e-02 6.37183880e-03 9.99790661e-01 9.91464099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48255784400004 meters Centerline goodness [0,1] 0.23875000000000002 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:0.99 [[ 0.99979709 -0.00545865 -0.01939022 3.62869798] [ 0.00534985 0.99996968 -0.00565891 0.13898273] [ 0.01942052 0.00555403 0.99979598 0.99320784] [ 0. 0. 0. 1. ]] SLAMing on 258.51255784400007 meters Centerline goodness [0,1] 0.24172049515003569 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:0.99 [[ 0.99979556 -0.00572816 -0.01939162 3.62886567] [ 0.00560909 0.99996512 -0.00618923 0.14147004] [ 0.0194264 0.0060792 0.99979281 0.9929157 ] [ 0. 0. 0. 1. ]] SLAMing on 258.54255784400004 meters Centerline goodness [0,1] 0.24400767018216685 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:0.99 [[ 0.99979037 -0.0059438 -0.01959294 3.62965335] [ 0.00581613 0.99996153 -0.00656654 0.14315753] [ 0.01963121 0.00645121 0.99978648 0.99241335] [ 0. 0. 0. 1. ]] SLAMing on 258.572557844 meters Centerline goodness [0,1] 0.24623038485140702 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:0.99 [[ 0.9997579 -0.00680124 -0.02092554 3.63368985] [ 0.00664526 0.99994968 -0.00751459 0.14619562] [ 0.0209756 0.00737372 0.9997528 0.99102282] [ 0. 0. 0. 1. ]] SLAMing on 258.60255784400005 meters Centerline goodness [0,1] 0.24307973537604455 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:0.99 [[ 0.99975257 -0.00688645 -0.02115122 3.63442056] [ 0.0067265 0.99994831 -0.00762406 0.1468201 ] [ 0.02120263 0.0074799 0.99974722 0.99069468] [ 0. 0. 0. 1. ]] SLAMing on 258.632557844 meters Centerline goodness [0,1] 0.23895543325779645 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:0.99 [[ 0.99975174 -0.00691687 -0.02118047 3.63453054] [ 0.00675557 0.9999477 -0.00767789 0.14728919] [ 0.02123247 0.0075329 0.99974619 0.9905991 ] [ 0. 0. 0. 1. ]] SLAMing on 258.66255784400005 meters Centerline goodness [0,1] 0.24443961772371847 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:0.99 [[ 0.99975459 -0.00694205 -0.02103713 3.63389776] [ 0.00678107 0.99994726 -0.0077138 0.14745224] [ 0.02108957 0.00756925 0.99974894 0.99103417] [ 0. 0. 0. 1. ]] SLAMing on 258.692557844 meters Centerline goodness [0,1] 0.24271084730285042 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:0.99 [[ 0.99975817 -0.00702124 -0.02083983 3.63299836] [ 0.00685957 0.9999459 -0.00781916 0.14761827] [ 0.0208936 0.00767432 0.99975225 0.99170472] [ 0. 0. 0. 1. ]] SLAMing on 258.72255784400005 meters Centerline goodness [0,1] 0.23979723899913719 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.99 [[ 9.99821213e-01 9.62440628e-04 -1.88842971e-02 3.65083607e+00] [-1.14299370e-03 9.99953720e-01 -9.55255375e-03 1.44312111e-01] [ 1.88742294e-02 9.57243050e-03 9.99776041e-01 9.93513767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.752557844 meters Centerline goodness [0,1] 0.2435634146868717 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:0.99 [[ 9.99820951e-01 9.30201241e-04 -1.88997484e-02 3.65100690e+00] [-1.11351788e-03 9.99952419e-01 -9.69121513e-03 1.45087470e-01] [ 1.88898343e-02 9.71052514e-03 9.99774414e-01 9.93354623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78255784400005 meters Centerline goodness [0,1] 0.24204631125471188 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:0.99 [[ 9.99816222e-01 8.88076878e-04 -1.91502703e-02 3.65198647e+00] [-1.07750399e-03 9.99950576e-01 -9.88356737e-03 1.46222633e-01] [ 1.91405465e-02 9.90238549e-03 9.99767764e-01 9.92820802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.812557844 meters Centerline goodness [0,1] 0.23914871595834142 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:0.99 [[ 9.99808314e-01 9.89434032e-04 -1.95539442e-02 3.65337490e+00] [-1.18834896e-03 9.99947643e-01 -1.01636242e-02 1.48346082e-01] [ 1.95428642e-02 1.01849129e-02 9.99757143e-01 9.92293119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84255784400005 meters Centerline goodness [0,1] 0.24696144630799388 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:0.99 [[ 9.99813396e-01 9.22183658e-04 -1.92956410e-02 3.65236210e+00] [-1.12449288e-03 9.99944488e-01 -1.04764896e-02 1.49913925e-01] [ 1.92849086e-02 1.04962325e-02 9.99758932e-01 9.93014083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872557844 meters Centerline goodness [0,1] 0.2356273739779824 Centerline is valid? [False, False] Translation: X:3.67, Y:0.15, Z:0.99 [[ 0.99984827 -0.00480716 -0.01674301 3.67399525] [ 0.00468034 0.99996012 -0.00760557 0.15148805] [ 0.01677891 0.00752606 0.9998309 0.99290834] [ 0. 0. 0. 1. ]] SLAMing on 258.90255784400006 meters Centerline goodness [0,1] 0.24630638057839582 Centerline is valid? [False, False] Translation: X:3.67, Y:0.15, Z:0.99 [[ 0.99985069 -0.00489702 -0.01657153 3.67336514] [ 0.00476508 0.99995671 -0.00799228 0.15362627] [ 0.01660995 0.00791212 0.99983074 0.99332233] [ 0. 0. 0. 1. ]] SLAMing on 258.93255784400003 meters Centerline goodness [0,1] 0.24641833810888247 Centerline is valid? [False, False] Translation: X:3.67, Y:0.15, Z:0.99 [[ 9.99858290e-01 -1.38635613e-03 -1.67772786e-02 3.67403642e+00] [ 1.31031054e-03 9.99988823e-01 -4.54279717e-03 1.54120204e-01] [ 1.67833890e-02 4.52016997e-03 9.99848932e-01 9.93035218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96255784400006 meters Centerline goodness [0,1] 0.24275346667242648 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:0.99 [[ 9.99834754e-01 2.61696656e-04 -1.81768180e-02 3.68068426e+00] [-3.23330833e-04 9.99994209e-01 -3.38795620e-03 1.58172164e-01] [ 1.81758261e-02 3.39327348e-03 9.99829048e-01 9.89301526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99255784400003 meters Centerline goodness [0,1] 0.24092694083631816 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:0.99 [[ 9.99831991e-01 8.58149779e-05 -1.83298189e-02 3.68131572e+00] [-1.57058032e-04 9.99992440e-01 -3.88532566e-03 1.60692290e-01] [ 1.83293469e-02 3.88755173e-03 9.99824446e-01 9.88930749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02255784400006 meters Centerline goodness [0,1] 0.249653868975672 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:0.99 [[ 9.99788599e-01 6.19144138e-04 -2.05517372e-02 3.63472261e+00] [-6.91487683e-04 9.99993590e-01 -3.51314988e-03 1.66263352e-01] [ 2.05494304e-02 3.52661847e-03 9.99782618e-01 9.89882803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05255784400003 meters Centerline goodness [0,1] 0.2504455739652782 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:0.99 [[ 9.99790534e-01 4.34528656e-04 -2.04621658e-02 3.63424576e+00] [-5.18198071e-04 9.99991527e-01 -4.08385666e-03 1.69306552e-01] [ 2.04602179e-02 4.09360469e-03 9.99782287e-01 9.90389172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08255784400006 meters Centerline goodness [0,1] 0.24407433912345755 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.99 [[ 9.99804534e-01 -5.62204501e-03 -1.89548339e-02 3.65647184e+00] [ 5.59629124e-03 9.99983345e-01 -1.41146168e-03 1.73188270e-01] [ 1.89624535e-02 1.30510901e-03 9.99819345e-01 9.90449734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11255784400004 meters Centerline goodness [0,1] 0.24555198750216978 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:0.99 [[ 9.99804188e-01 -5.84905919e-03 -1.89043280e-02 3.65627618e+00] [ 5.81316620e-03 9.99981196e-01 -1.95306030e-03 1.75747826e-01] [ 1.89153961e-02 1.84278386e-03 9.99819390e-01 9.90583390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14255784400007 meters Centerline goodness [0,1] 0.2429239690443855 Centerline is valid? [False, False] Translation: X:3.67, Y:0.18, Z:0.99 [[ 9.99849420e-01 1.73790142e-03 -1.72660644e-02 3.67489136e+00] [-1.80954289e-03 9.99989816e-01 -4.13450821e-03 1.76350239e-01] [ 1.72587032e-02 4.16512932e-03 9.99842382e-01 9.91104569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17255784400004 meters Centerline goodness [0,1] 0.24833037727999296 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:0.99 [[ 9.99807098e-01 1.60475454e-03 -1.95752761e-02 3.62839215e+00] [-1.69270914e-03 9.99988544e-01 -4.47740596e-03 1.81751297e-01] [ 1.95678667e-02 4.50967751e-03 9.99798360e-01 9.91682756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20255784400007 meters Centerline goodness [0,1] 0.23985525975704314 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:0.99 [[ 9.99798157e-01 -6.50505614e-03 -1.90086886e-02 3.64824234e+00] [ 6.43646903e-03 9.99972562e-01 -3.66715387e-03 1.87614347e-01] [ 1.90320220e-02 3.54406484e-03 9.99812593e-01 9.93129128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23255784400004 meters Centerline goodness [0,1] 0.24753466704399507 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:0.99 [[ 9.99814163e-01 1.76820247e-03 -1.91967005e-02 3.62812319e+00] [-1.86526520e-03 9.99985562e-01 -5.03949231e-03 1.87088328e-01] [ 1.91875125e-02 5.07436272e-03 9.99803026e-01 9.91139835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26255784400007 meters Centerline goodness [0,1] 0.24195873405193746 Centerline is valid? [False, False] Translation: X:3.65, Y:0.19, Z:0.99 [[ 0.99978427 -0.00634693 -0.01977684 3.64908243] [ 0.00626201 0.99997092 -0.00435293 0.19304205] [ 0.01980389 0.00422814 0.99979494 0.99272402] [ 0. 0. 0. 1. ]] SLAMing on 259.29255784400004 meters Centerline goodness [0,1] 0.24439389015274615 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.99 [[ 9.99790272e-01 -3.62177621e-03 -2.01567421e-02 3.65023769e+00] [ 3.58588822e-03 9.99991921e-01 -1.81630526e-03 1.96494231e-01] [ 2.01631575e-02 1.74364451e-03 9.99795182e-01 9.92295805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.322557844 meters Centerline goodness [0,1] 0.24876481133312933 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:0.99 [[ 9.99790024e-01 -3.79951069e-03 -2.01363169e-02 3.65030066e+00] [ 3.75388212e-03 9.99990302e-01 -2.30329866e-03 1.99000890e-01] [ 2.01448730e-02 2.22722567e-03 9.99794591e-01 9.92140347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35255784400005 meters Centerline goodness [0,1] 0.2434897240291315 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:0.99 [[ 9.99811609e-01 4.43573811e-03 -1.88963140e-02 3.67030849e+00] [-4.50154296e-03 9.99983947e-01 -3.44130634e-03 1.96814217e-01] [ 1.88807459e-02 3.52572060e-03 9.99815526e-01 9.92759364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.382557844 meters Centerline goodness [0,1] 0.2443159672599714 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:0.99 [[ 0.99981444 0.00423879 -0.01879139 3.67006174] [-0.00431322 0.99998301 -0.00392233 0.19897945] [ 0.01877445 0.00400265 0.99981573 0.99278044] [ 0. 0. 0. 1. ]] SLAMing on 259.41255784400005 meters Centerline goodness [0,1] 0.24426721995288425 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:0.99 [[ 0.99981418 0.00403439 -0.01885029 3.67030213] [-0.00411816 0.99998181 -0.00440751 0.20116161] [ 0.01883217 0.00448432 0.9998126 0.99269325] [ 0. 0. 0. 1. ]] SLAMing on 259.442557844 meters Centerline goodness [0,1] 0.24483948687894774 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:0.99 [[ 0.99981123 0.00384814 -0.01904441 3.67099242] [-0.00394238 0.99998016 -0.00491313 0.20372632] [ 0.01902513 0.00498728 0.99980657 0.99240861] [ 0. 0. 0. 1. ]] SLAMing on 259.47255784400005 meters Centerline goodness [0,1] 0.2440879846983134 Centerline is valid? [False, False] Translation: X:3.67, Y:0.21, Z:0.99 [[ 0.99979717 0.00399434 -0.01974011 3.67359524] [-0.00409956 0.99997759 -0.00529297 0.20921221] [ 0.01971852 0.00537282 0.99979113 0.99135293] [ 0. 0. 0. 1. ]] SLAMing on 259.502557844 meters Centerline goodness [0,1] 0.24531386224934615 Centerline is valid? [False, False] Translation: X:3.67, Y:0.21, Z:0.99 [[ 0.99979792 0.00382048 -0.01973618 3.67369106] [-0.00393436 0.99997582 -0.00573424 0.21137354] [ 0.0197138 0.00581073 0.99978878 0.99124384] [ 0. 0. 0. 1. ]] SLAMing on 259.53255784400005 meters Centerline goodness [0,1] 0.24305810661883875 Centerline is valid? [False, False] Translation: X:3.69, Y:0.22, Z:0.99 [[ 0.99980741 -0.00443466 -0.01911738 3.6933593 ] [ 0.00434303 0.99997889 -0.00483196 0.21678858] [ 0.0191384 0.004748 0.99980557 0.99273302] [ 0. 0. 0. 1. ]] SLAMing on 259.562557844 meters Centerline goodness [0,1] 0.2391813242273908 Centerline is valid? [False, False] Translation: X:3.69, Y:0.22, Z:0.99 [[ 0.99981155 -0.00477756 -0.01881608 3.69265987] [ 0.00467247 0.99997326 -0.00562494 0.22040732] [ 0.01884245 0.00553597 0.99980714 0.99270712] [ 0. 0. 0. 1. ]] SLAMing on 259.59255784400005 meters Centerline goodness [0,1] 0.24651294568912907 Centerline is valid? [False, False] Translation: X:3.67, Y:0.22, Z:0.99 [[ 0.99980375 0.003813 -0.0194404 3.67152952] [-0.00394413 0.9999697 -0.00671137 0.21879697] [ 0.01941422 0.00678673 0.99978849 0.99158747] [ 0. 0. 0. 1. ]] SLAMing on 259.622557844 meters Centerline goodness [0,1] 0.2412710698314413 Centerline is valid? [False, False] Translation: X:3.69, Y:0.22, Z:0.99 [[ 0.99981118 -0.00449554 -0.01890496 3.6915458 ] [ 0.00438592 0.99997335 -0.00583609 0.2235627 ] [ 0.0189307 0.00575208 0.99980425 0.99315277] [ 0. 0. 0. 1. ]] SLAMing on 259.65255784400006 meters Centerline goodness [0,1] 0.24658522193325616 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:0.99 [[ 0.99975637 -0.00424684 -0.02166042 3.64596129] [ 0.00411753 0.99997346 -0.00601112 0.22783011] [ 0.02168538 0.00592047 0.99974731 0.99365231] [ 0. 0. 0. 1. ]] SLAMing on 259.68255784400003 meters Centerline goodness [0,1] 0.24431917116489643 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:0.99 [[ 0.99975216 -0.00437338 -0.02182873 3.64659781] [ 0.00423648 0.99997109 -0.00631361 0.22928403] [ 0.02185571 0.00621956 0.99974179 0.99330898] [ 0. 0. 0. 1. ]] SLAMing on 259.71255784400006 meters Centerline goodness [0,1] 0.24836572631948406 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:0.99 [[ 0.99974502 -0.00464902 -0.02209712 3.64787648] [ 0.00449708 0.99996594 -0.00692063 0.2321915 ] [ 0.02212855 0.00681949 0.99973188 0.99227464] [ 0. 0. 0. 1. ]] SLAMing on 259.74255784400003 meters Centerline goodness [0,1] 0.23504089539388717 Centerline is valid? [False, False] Translation: X:3.69, Y:0.23, Z:0.99 [[ 0.99978222 -0.00487488 -0.02029137 3.69320923] [ 0.00473976 0.99996631 -0.00670154 0.23103903] [ 0.02032335 0.0066039 0.99977165 0.99198315] [ 0. 0. 0. 1. ]] SLAMing on 259.77255784400006 meters Centerline goodness [0,1] 0.24470572808532032 Centerline is valid? [False, False] Translation: X:3.65, Y:0.24, Z:0.99 [[ 0.99973207 -0.00471445 -0.02266202 3.64603837] [ 0.00455726 0.99996523 -0.00698299 0.23546139] [ 0.02269415 0.00687785 0.9997188 0.99324787] [ 0. 0. 0. 1. ]] SLAMing on 259.80255784400003 meters Centerline goodness [0,1] 0.24131386546466238 Centerline is valid? [False, False] Translation: X:3.65, Y:0.24, Z:0.99 [[ 0.99973578 -0.00482097 -0.02247488 3.64528672] [ 0.00466114 0.99996351 -0.00715853 0.2362191 ] [ 0.02250857 0.00705188 0.99972178 0.99367267] [ 0. 0. 0. 1. ]] SLAMing on 259.83255784400006 meters Centerline goodness [0,1] 0.24659659550291724 Centerline is valid? [False, False] Translation: X:3.62, Y:0.23, Z:0.99 [[ 9.99762270e-01 3.08432735e-03 -2.15844813e-02 3.62397336e+00] [-3.26890748e-03 9.99958349e-01 -8.52146864e-03 2.33613901e-01] [ 2.15572992e-02 8.59000050e-03 9.99730711e-01 9.91772497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86255784400004 meters Centerline goodness [0,1] 0.24659659550291724 Centerline is valid? [False, False] Translation: X:3.62, Y:0.23, Z:0.99 [[ 9.99762270e-01 3.08432735e-03 -2.15844813e-02 3.62397336e+00] [-3.26890748e-03 9.99958349e-01 -8.52146864e-03 2.33613901e-01] [ 2.15572992e-02 8.59000050e-03 9.99730711e-01 9.91772497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89255784400007 meters Centerline goodness [0,1] 0.24773137771201015 Centerline is valid? [False, False] Translation: X:3.62, Y:0.23, Z:0.99 [[ 9.99761934e-01 3.02691180e-03 -2.16081816e-02 3.62423844e+00] [-3.21311567e-03 9.99957962e-01 -8.58777437e-03 2.33818148e-01] [ 2.15812788e-02 8.65515949e-03 9.99729632e-01 9.91420267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92255784400004 meters Centerline goodness [0,1] 0.24346656834891234 Centerline is valid? [False, False] Translation: X:3.62, Y:0.23, Z:0.99 [[ 9.99763585e-01 2.96722523e-03 -2.15399698e-02 3.62414311e+00] [-3.15532378e-03 9.99957143e-01 -8.70380749e-03 2.34269883e-01] [ 2.15132205e-02 8.76971535e-03 9.99730100e-01 9.91319843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95255784400007 meters Centerline goodness [0,1] 0.24712743732590525 Centerline is valid? [False, False] Translation: X:3.62, Y:0.24, Z:0.99 [[ 9.99766993e-01 2.89053237e-03 -2.13917047e-02 3.62366224e+00] [-3.08131648e-03 9.99955727e-01 -8.89102199e-03 2.35115273e-01] [ 2.13650578e-02 8.95486493e-03 9.99731636e-01 9.91533310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98255784400004 meters Centerline goodness [0,1] 0.2488725244558705 Centerline is valid? [False, False] Translation: X:3.62, Y:0.24, Z:0.99 [[ 9.99770482e-01 2.82034336e-03 -2.12374591e-02 3.62309366e+00] [-3.01444676e-03 9.99953930e-01 -9.11321181e-03 2.36190283e-01] [ 2.12107783e-02 9.17513935e-03 9.99732924e-01 9.91876964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01255784400007 meters Centerline goodness [0,1] 0.24915905814512251 Centerline is valid? [False, False] Translation: X:3.62, Y:0.24, Z:0.99 [[ 9.99770952e-01 2.77994695e-03 -2.12206153e-02 3.62280759e+00] [-2.97738884e-03 9.99952523e-01 -9.27833191e-03 2.37133432e-01] [ 2.11938145e-02 9.33938876e-03 9.99731763e-01 9.92332120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04255784400004 meters Centerline goodness [0,1] 0.24896899343210632 Centerline is valid? [False, False] Translation: X:3.62, Y:0.24, Z:0.99 [[ 9.99767626e-01 2.59237719e-03 -2.14003389e-02 3.62345156e+00] [-2.80336072e-03 9.99947708e-01 -9.83478193e-03 2.39742033e-01] [ 2.13737244e-02 9.89248945e-03 9.99722613e-01 9.92118431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.072557844 meters Centerline goodness [0,1] 0.24619129376480564 Centerline is valid? [False, False] Translation: X:3.62, Y:0.24, Z:0.99 [[ 9.99764801e-01 2.49998310e-03 -2.15428080e-02 3.62404673e+00] [-2.71838842e-03 9.99945148e-01 -1.01148879e-02 2.41097279e-01] [ 2.15163393e-02 1.01710706e-02 9.99716758e-01 9.91764315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10255784400005 meters Centerline goodness [0,1] 0.24730038022813683 Centerline is valid? [False, False] Translation: X:3.62, Y:0.24, Z:0.99 [[ 9.99763093e-01 2.44149353e-03 -2.16285999e-02 3.62440918e+00] [-2.66628876e-03 9.99942668e-01 -1.03706916e-02 2.42555476e-01] [ 2.16020400e-02 1.04259028e-02 9.99712285e-01 9.91576879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.132557844 meters Centerline goodness [0,1] 0.24906497347134038 Centerline is valid? [False, False] Translation: X:3.62, Y:0.24, Z:0.99 [[ 9.99764757e-01 2.37538765e-03 -2.15589366e-02 3.62417632e+00] [-2.60569724e-03 9.99939775e-01 -1.06609934e-02 2.44085390e-01] [ 2.15323142e-02 1.07146616e-02 9.99710736e-01 9.91744990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16255784400005 meters Centerline goodness [0,1] 0.24550209432037673 Centerline is valid? [False, False] Translation: X:3.62, Y:0.25, Z:0.99 [[ 9.99765887e-01 2.28055007e-03 -2.15167220e-02 3.62388432e+00] [-2.51647322e-03 9.99936947e-01 -1.09439446e-02 2.45388004e-01] [ 2.14904071e-02 1.09955287e-02 9.99708588e-01 9.92117195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192557844 meters Centerline goodness [0,1] 0.2437679098528429 Centerline is valid? [False, False] Translation: X:3.64, Y:0.25, Z:0.99 [[ 0.99975409 -0.00579808 -0.02140433 3.64257608] [ 0.00559022 0.99993676 -0.0097583 0.25007475] [ 0.02145956 0.00963625 0.99972328 0.99483916] [ 0. 0. 0. 1. ]] SLAMing on 260.22255784400005 meters Centerline goodness [0,1] 0.24718170122762262 Centerline is valid? [False, False] Translation: X:3.62, Y:0.25, Z:0.99 [[ 9.99748659e-01 3.06715208e-03 -2.22083842e-02 3.62224573e+00] [-3.30477463e-03 9.99937603e-01 -1.06708934e-02 2.48229048e-01] [ 2.21742692e-02 1.07416051e-02 9.99696414e-01 9.93353248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.252557844 meters Centerline goodness [0,1] 0.24487669329628348 Centerline is valid? [False, False] Translation: X:3.62, Y:0.25, Z:0.99 [[ 9.99747293e-01 3.04880483e-03 -2.22722821e-02 3.62252389e+00] [-3.28962381e-03 9.99936441e-01 -1.07838725e-02 2.49033776e-01] [ 2.22379885e-02 1.08544148e-02 9.99693780e-01 9.93213341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28255784400005 meters Centerline goodness [0,1] 0.2436408279308191 Centerline is valid? [False, False] Translation: X:3.64, Y:0.25, Z:0.99 [[ 0.99975658 -0.00507791 -0.0214708 3.64164997] [ 0.00487456 0.99994287 -0.00951297 0.25295663] [ 0.02151788 0.009406 0.99972422 0.99490144] [ 0. 0. 0. 1. ]] SLAMing on 260.312557844 meters Centerline goodness [0,1] 0.24961145283803599 Centerline is valid? [False, False] Translation: X:3.62, Y:0.25, Z:0.99 [[ 9.99765955e-01 3.50912976e-03 -2.13476401e-02 3.61967332e+00] [-3.73961857e-03 9.99935046e-01 -1.07666004e-02 2.50905426e-01] [ 2.13084721e-02 1.08439126e-02 9.99714138e-01 9.93779870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34255784400005 meters Centerline goodness [0,1] 0.24863685932388224 Centerline is valid? [False, False] Translation: X:3.62, Y:0.25, Z:0.99 [[ 9.99769564e-01 3.49778337e-03 -2.11797900e-02 3.61913390e+00] [-3.73706138e-03 9.99929526e-01 -1.12684482e-02 2.53987837e-01] [ 2.11388828e-02 1.13450017e-02 9.99712178e-01 9.94090108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.372557844 meters Centerline goodness [0,1] 0.24292422349545517 Centerline is valid? [False, False] Translation: X:3.64, Y:0.26, Z:0.99 [[ 9.99768157e-01 -1.80690128e-03 -2.14561749e-02 3.64229220e+00] [ 1.64580935e-03 9.99970346e-01 -7.52323852e-03 2.56453260e-01] [ 2.14691324e-02 7.48618154e-03 9.99741483e-01 9.94377756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40255784400006 meters Centerline goodness [0,1] 0.2501258508612576 Centerline is valid? [False, False] Translation: X:3.60, Y:0.26, Z:0.99 [[ 9.99696023e-01 -3.08755526e-04 -2.46529097e-02 3.59864828e+00] [ 1.38063995e-04 9.99976011e-01 -6.92519038e-03 2.61270743e-01] [ 2.46544565e-02 6.91968160e-03 9.99672084e-01 9.93894186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43255784400003 meters Centerline goodness [0,1] 0.2437170740132999 Centerline is valid? [False, False] Translation: X:3.62, Y:0.27, Z:1.00 [[ 0.99964701 -0.00840554 -0.0252032 3.61944381] [ 0.00825239 0.99994689 -0.00617427 0.26659529] [ 0.02525376 0.00596411 0.99966328 0.99539213] [ 0. 0. 0. 1. ]] SLAMing on 260.46255784400006 meters Centerline goodness [0,1] 0.2472365753155864 Centerline is valid? [False, False] Translation: X:3.60, Y:0.27, Z:0.99 [[ 9.99670796e-01 1.16080265e-04 -2.56571023e-02 3.59933260e+00] [-3.12103769e-04 9.99970795e-01 -7.63625391e-03 2.65078278e-01] [ 2.56554665e-02 7.64174770e-03 9.99641636e-01 9.93342171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49255784400003 meters Centerline goodness [0,1] 0.24373169050491128 Centerline is valid? [False, False] Translation: X:3.62, Y:0.27, Z:0.99 [[ 0.99968596 -0.00619361 -0.02428201 3.62111129] [ 0.00607903 0.99997005 -0.00478993 0.26907102] [ 0.02431095 0.00464081 0.99969367 0.99359553] [ 0. 0. 0. 1. ]] SLAMing on 260.52255784400006 meters Centerline goodness [0,1] 0.2458630373730828 Centerline is valid? [False, False] Translation: X:3.62, Y:0.27, Z:0.99 [[ 0.99968712 -0.00633716 -0.02419709 3.62074205] [ 0.00621379 0.99996733 -0.00517036 0.27107974] [ 0.02422907 0.00501839 0.99969384 0.99385305] [ 0. 0. 0. 1. ]] SLAMing on 260.55255784400003 meters Centerline goodness [0,1] 0.2434379380998598 Centerline is valid? [False, False] Translation: X:3.62, Y:0.27, Z:0.99 [[ 0.99968685 -0.00645035 -0.02417832 3.6206237 ] [ 0.0063201 0.99996512 -0.00545967 0.27261655] [ 0.02421269 0.00530515 0.99969275 0.99397616] [ 0. 0. 0. 1. ]] SLAMing on 260.58255784400006 meters Centerline goodness [0,1] 0.24541641442532214 Centerline is valid? [False, False] Translation: X:3.62, Y:0.27, Z:0.99 [[ 0.99968559 -0.00654013 -0.0242062 3.62073752] [ 0.00640526 0.99996355 -0.00564493 0.27347193] [ 0.02424224 0.00548811 0.99969105 0.99388489] [ 0. 0. 0. 1. ]] SLAMing on 260.61255784400004 meters Centerline goodness [0,1] 0.24853501797189848 Centerline is valid? [False, False] Translation: X:3.62, Y:0.27, Z:0.99 [[ 0.99968513 -0.00663019 -0.02420067 3.62086379] [ 0.00649249 0.99996231 -0.00576416 0.27384761] [ 0.02423797 0.00560523 0.9996905 0.9936229 ] [ 0. 0. 0. 1. ]] SLAMing on 260.64255784400007 meters Centerline goodness [0,1] 0.2470114316820904 Centerline is valid? [False, False] Translation: X:3.62, Y:0.27, Z:0.99 [[ 0.99968297 -0.00666395 -0.02428083 3.62123177] [ 0.00652499 0.9999619 -0.00579795 0.27402959] [ 0.02431854 0.00563768 0.99968836 0.99329108] [ 0. 0. 0. 1. ]] SLAMing on 260.67255784400004 meters Centerline goodness [0,1] 0.2478870785048357 Centerline is valid? [False, False] Translation: X:3.62, Y:0.28, Z:0.99 [[ 9.99719767e-01 -3.66767234e-03 -2.33866541e-02 3.61877633e+00] [ 3.60449566e-03 9.99989742e-01 -2.74298144e-03 2.75797201e-01] [ 2.33964745e-02 2.65791568e-03 9.99722732e-01 9.93469499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70255784400007 meters Centerline goodness [0,1] 0.24679738562091502 Centerline is valid? [False, False] Translation: X:3.62, Y:0.28, Z:0.99 [[ 9.99723114e-01 -3.79264169e-03 -2.32230760e-02 3.61833592e+00] [ 3.72330952e-03 9.99988484e-01 -3.02799784e-03 2.77155266e-01] [ 2.32342927e-02 2.94069273e-03 9.99725722e-01 9.93550475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73255784400004 meters Centerline goodness [0,1] 0.2485186476124085 Centerline is valid? [False, False] Translation: X:3.62, Y:0.28, Z:0.99 [[ 9.99721345e-01 -3.92807886e-03 -2.32766418e-02 3.61859933e+00] [ 3.85121996e-03 9.99986986e-01 -3.34588409e-03 2.78536246e-01] [ 2.32894818e-02 3.25530828e-03 9.99723463e-01 9.93349758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76255784400007 meters Centerline goodness [0,1] 0.24998904901660168 Centerline is valid? [False, False] Translation: X:3.62, Y:0.28, Z:0.99 [[ 9.99717404e-01 -4.07660108e-03 -2.34199573e-02 3.61907816e+00] [ 3.99091689e-03 9.99985176e-01 -3.70417340e-03 2.80119065e-01] [ 2.34347106e-02 3.60965951e-03 9.99718853e-01 9.93153195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79255784400004 meters Centerline goodness [0,1] 0.2451365243228003 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:0.99 [[ 0.99970364 0.00409312 -0.02399744 3.64071978] [-0.00421231 0.99997903 -0.00491865 0.2806512 ] [ 0.0239768 0.00501828 0.99969992 0.99433993] [ 0. 0. 0. 1. ]] SLAMing on 260.822557844 meters Centerline goodness [0,1] 0.24557858601659932 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:0.99 [[ 0.99970252 0.00390296 -0.02407581 3.64089535] [-0.00403884 0.99997618 -0.00559749 0.28414635] [ 0.02405339 0.00569306 0.99969447 0.9945273 ] [ 0. 0. 0. 1. ]] SLAMing on 260.85255784400005 meters Centerline goodness [0,1] 0.24602572165954584 Centerline is valid? [False, False] Translation: X:3.64, Y:0.29, Z:0.99 [[ 0.99970581 0.00370296 -0.0239706 3.64066019] [-0.00385464 0.99997282 -0.00628449 0.28765735] [ 0.02394668 0.00637504 0.99969291 0.99457312] [ 0. 0. 0. 1. ]] SLAMing on 260.882557844 meters Centerline goodness [0,1] 0.24576252841216584 Centerline is valid? [False, False] Translation: X:3.64, Y:0.29, Z:0.99 [[ 9.99709740e-01 3.50348507e-03 -2.38361408e-02 3.64027163e+00] [-3.67074524e-03 9.99968923e-01 -6.97695062e-03 2.91152637e-01] [ 2.38109564e-02 7.06242189e-03 9.99691533e-01 9.94764482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91255784400005 meters Centerline goodness [0,1] 0.24686700490004765 Centerline is valid? [False, False] Translation: X:3.64, Y:0.29, Z:0.99 [[ 9.99714390e-01 3.28914753e-03 -2.36710683e-02 3.63978837e+00] [-3.47117969e-03 9.99964690e-01 -7.65309315e-03 2.94498604e-01] [ 2.36450604e-02 7.73307388e-03 9.99690507e-01 9.94967842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942557844 meters Centerline goodness [0,1] 0.24393655712656293 Centerline is valid? [False, False] Translation: X:3.66, Y:0.30, Z:1.00 [[ 0.99970935 -0.00467069 -0.02365151 3.6582443 ] [ 0.00452152 0.99996957 -0.00635667 0.30085682] [ 0.02368048 0.00624788 0.99970005 0.99768555] [ 0. 0. 0. 1. ]] SLAMing on 260.97255784400005 meters Centerline goodness [0,1] 0.24155007244339688 Centerline is valid? [False, False] Translation: X:3.66, Y:0.30, Z:1.00 [[ 9.99719012e-01 -1.17542653e-03 -2.36752046e-02 3.65869562e+00] [ 1.09948965e-03 9.99994211e-01 -3.22020550e-03 3.03980354e-01] [ 2.36788526e-02 3.19327002e-03 9.99714517e-01 9.97083664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002557844 meters Centerline goodness [0,1] 0.24695128602281902 Centerline is valid? [False, False] Translation: X:3.66, Y:0.31, Z:1.00 [[ 9.99715593e-01 -1.36486517e-03 -2.38090217e-02 3.65927349e+00] [ 1.27711778e-03 9.99992338e-01 -3.70028453e-03 3.06344570e-01] [ 2.38138897e-02 3.66882522e-03 9.99709677e-01 9.96693315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03255784400005 meters Centerline goodness [0,1] 0.2469162707579654 Centerline is valid? [False, False] Translation: X:3.66, Y:0.31, Z:1.00 [[ 9.99706956e-01 -1.71882948e-03 -2.41463780e-02 3.66063939e+00] [ 1.60682087e-03 9.99987863e-01 -4.65737005e-03 3.11181929e-01] [ 2.41540902e-02 4.61720633e-03 9.99697585e-01 9.95915946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062557844 meters Centerline goodness [0,1] 0.2420724985409507 Centerline is valid? [False, False] Translation: X:3.66, Y:0.31, Z:1.00 [[ 9.99701321e-01 -1.89714869e-03 -2.43653435e-02 3.66130448e+00] [ 1.77272323e-03 9.99985284e-01 -5.12724225e-03 3.13539066e-01] [ 2.43747121e-02 5.08251783e-03 9.99689973e-01 9.95774477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09255784400005 meters Centerline goodness [0,1] 0.24127963414371079 Centerline is valid? [False, False] Translation: X:3.66, Y:0.32, Z:1.00 [[ 9.99695614e-01 -2.06199516e-03 -2.45851214e-02 3.66195020e+00] [ 1.92543112e-03 9.99982594e-01 -5.57712210e-03 3.15881019e-01] [ 2.45961934e-02 5.52808754e-03 9.99682183e-01 9.95685844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122557844 meters Centerline goodness [0,1] 0.24357667873636735 Centerline is valid? [False, False] Translation: X:3.66, Y:0.32, Z:1.00 [[ 9.99692671e-01 -2.22990408e-03 -2.46899106e-02 3.66228225e+00] [ 2.08196578e-03 9.99979737e-01 -6.01593756e-03 3.18135226e-01] [ 2.47028253e-02 5.96268513e-03 9.99677056e-01 9.95645179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15255784400006 meters Centerline goodness [0,1] 0.24646084502111454 Centerline is valid? [False, False] Translation: X:3.66, Y:0.32, Z:1.00 [[ 9.99692033e-01 -2.45815586e-03 -2.46940485e-02 3.66232982e+00] [ 2.29669263e-03 9.99975814e-01 -6.56478352e-03 3.20704927e-01] [ 2.47095886e-02 6.50604715e-03 9.99673500e-01 9.95616414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18255784400003 meters Centerline goodness [0,1] 0.239742679489662 Centerline is valid? [False, False] Translation: X:3.71, Y:0.32, Z:1.00 [[ 9.99738630e-01 -3.43290938e-03 -2.26028010e-02 3.70720808e+00] [ 3.28333049e-03 9.99972488e-01 -6.65150372e-03 3.21127469e-01] [ 2.26250131e-02 6.57555275e-03 9.99722397e-01 9.95687132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21255784400006 meters Centerline goodness [0,1] 0.24733833667859328 Centerline is valid? [False, False] Translation: X:3.68, Y:0.33, Z:1.00 [[ 0.999691 -0.00932843 -0.02304093 3.68473478] [ 0.00923407 0.99994855 -0.00419816 0.3299572 ] [ 0.02307891 0.00398411 0.99972571 0.99529903] [ 0. 0. 0. 1. ]] SLAMing on 261.24255784400003 meters Centerline goodness [0,1] 0.24342290453197069 Centerline is valid? [False, False] Translation: X:3.69, Y:0.33, Z:0.99 [[ 0.99968657 -0.00946513 -0.02317688 3.68533143] [ 0.00936245 0.99994589 -0.00453478 0.3317281 ] [ 0.02321855 0.00431636 0.9997211 0.99489468] [ 0. 0. 0. 1. ]] SLAMing on 261.27255784400006 meters Centerline goodness [0,1] 0.24416931862766467 Centerline is valid? [False, False] Translation: X:3.69, Y:0.33, Z:0.99 [[ 0.99968305 -0.00960274 -0.02327195 3.68586168] [ 0.00949257 0.99994323 -0.00483982 0.33321463] [ 0.0233171 0.00461737 0.99971746 0.99442375] [ 0. 0. 0. 1. ]] SLAMing on 261.30255784400003 meters Centerline goodness [0,1] 0.24233687405159332 Centerline is valid? [False, False] Translation: X:3.69, Y:0.33, Z:0.99 [[ 0.99967959 -0.00976417 -0.02335348 3.68630527] [ 0.00964602 0.99994013 -0.00516664 0.33468577] [ 0.02340253 0.00493972 0.99971392 0.9940192 ] [ 0. 0. 0. 1. ]] SLAMing on 261.33255784400006 meters Centerline goodness [0,1] 0.24393936069853672 Centerline is valid? [False, False] Translation: X:3.67, Y:0.33, Z:0.99 [[ 9.99712624e-01 -7.88005483e-04 -2.39592943e-02 3.66559783e+00] [ 6.35625851e-04 9.99979529e-01 -6.36688887e-03 3.33481560e-01] [ 2.39638209e-02 6.34983003e-03 9.99692660e-01 9.92851722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36255784400004 meters Centerline goodness [0,1] 0.24110954599631595 Centerline is valid? [False, False] Translation: X:3.69, Y:0.34, Z:0.99 [[ 0.99969125 -0.00962629 -0.02290711 3.68536565] [ 0.00950452 0.99994015 -0.00541882 0.3378734 ] [ 0.02295791 0.00519943 0.99972291 0.99447211] [ 0. 0. 0. 1. ]] SLAMing on 261.39255784400007 meters Centerline goodness [0,1] 0.24825449467620875 Centerline is valid? [False, False] Translation: X:3.68, Y:0.34, Z:1.00 [[ 0.99969519 -0.00989881 -0.02261712 3.68423628] [ 0.00976598 0.99993446 -0.00597566 0.34048317] [ 0.02267479 0.00575296 0.99972634 0.99519255] [ 0. 0. 0. 1. ]] SLAMing on 261.42255784400004 meters Centerline goodness [0,1] 0.24613385315139702 Centerline is valid? [False, False] Translation: X:3.68, Y:0.34, Z:1.00 [[ 0.99969621 -0.01000491 -0.0225251 3.68402096] [ 0.0098677 0.99993213 -0.00619427 0.34151681] [ 0.02258555 0.00597012 0.99972709 0.99517235] [ 0. 0. 0. 1. ]] SLAMing on 261.45255784400007 meters Centerline goodness [0,1] 0.24687812731149106 Centerline is valid? [False, False] Translation: X:3.68, Y:0.34, Z:1.00 [[ 0.99969715 -0.01009379 -0.02244361 3.68376922] [ 0.00995305 0.99993016 -0.00637351 0.34229085] [ 0.02250637 0.0061482 0.99972779 0.99526863] [ 0. 0. 0. 1. ]] SLAMing on 261.48255784400004 meters Centerline goodness [0,1] 0.24487279335410173 Centerline is valid? [False, False] Translation: X:3.68, Y:0.34, Z:1.00 [[ 0.99969888 -0.01018798 -0.02232376 3.68327842] [ 0.01004356 0.99992797 -0.006572 0.34310995] [ 0.02238911 0.00634581 0.99972919 0.99560745] [ 0. 0. 0. 1. ]] SLAMing on 261.51255784400007 meters Centerline goodness [0,1] 0.24488651074480017 Centerline is valid? [False, False] Translation: X:3.68, Y:0.34, Z:1.00 [[ 0.99970239 -0.01029528 -0.02211648 3.68240183] [ 0.01014789 0.99992562 -0.00676639 0.34383205] [ 0.02218449 0.00653994 0.9997325 0.99618964] [ 0. 0. 0. 1. ]] SLAMing on 261.54255784400004 meters Centerline goodness [0,1] 0.24369458552121892 Centerline is valid? [False, False] Translation: X:3.68, Y:0.34, Z:1.00 [[ 0.99970556 -0.01038038 -0.02193281 3.68160243] [ 0.0102303 0.99992356 -0.00694394 0.34453116] [ 0.02200322 0.00671752 0.99973533 0.99673001] [ 0. 0. 0. 1. ]] SLAMing on 261.572557844 meters Centerline goodness [0,1] 0.24307187991977397 Centerline is valid? [False, False] Translation: X:3.68, Y:0.35, Z:1.00 [[ 0.99975146 -0.00733942 -0.02105128 3.67900004] [ 0.00725922 0.99996611 -0.00388352 0.34528942] [ 0.02107907 0.00372974 0.99977085 0.99704675] [ 0. 0. 0. 1. ]] SLAMing on 261.60255784400005 meters Centerline goodness [0,1] 0.24785013612203444 Centerline is valid? [False, False] Translation: X:3.68, Y:0.35, Z:1.00 [[ 0.99975021 -0.0073515 -0.02110604 3.67919482] [ 0.00726997 0.99996582 -0.00393708 0.34555998] [ 0.02113427 0.00378266 0.99976949 0.99692762] [ 0. 0. 0. 1. ]] SLAMing on 261.632557844 meters Centerline goodness [0,1] 0.2481412639405205 Centerline is valid? [False, False] Translation: X:3.68, Y:0.35, Z:1.00 [[ 0.99974695 -0.00736092 -0.02125689 3.67979913] [ 0.00727866 0.99996573 -0.00394458 0.34547659] [ 0.0212852 0.00378886 0.99976627 0.99657692] [ 0. 0. 0. 1. ]] SLAMing on 261.66255784400005 meters Centerline goodness [0,1] 0.24467901394465308 Centerline is valid? [False, False] Translation: X:3.68, Y:0.35, Z:1.00 [[ 0.99974064 -0.0073607 -0.02155184 3.68074963] [ 0.00727633 0.99996556 -0.00399053 0.34556352] [ 0.02158047 0.00383268 0.99975977 0.99622836] [ 0. 0. 0. 1. ]] SLAMing on 261.692557844 meters Centerline goodness [0,1] 0.2523958839376408 Centerline is valid? [False, False] Translation: X:3.64, Y:0.35, Z:1.00 [[ 9.99693430e-01 -5.04423957e-03 -2.42404949e-02 3.63587629e+00] [ 4.96339461e-03 9.99981922e-01 -3.39413055e-03 3.49236490e-01] [ 2.42571775e-02 3.27277487e-03 9.99700394e-01 9.96404580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72255784400005 meters Centerline goodness [0,1] 0.2494113543210953 Centerline is valid? [False, False] Translation: X:3.66, Y:0.35, Z:1.00 [[ 9.99711287e-01 3.48771216e-03 -2.37734693e-02 3.65794126e+00] [-3.57364544e-03 9.99987231e-01 -3.57314540e-03 3.45850953e-01] [ 2.37607037e-02 3.65707174e-03 9.99710986e-01 9.96800429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752557844 meters Centerline goodness [0,1] 0.2494113543210953 Centerline is valid? [False, False] Translation: X:3.66, Y:0.35, Z:1.00 [[ 9.99711287e-01 3.48771216e-03 -2.37734693e-02 3.65794126e+00] [-3.57364544e-03 9.99987231e-01 -3.57314540e-03 3.45850953e-01] [ 2.37607037e-02 3.65707174e-03 9.99710986e-01 9.96800429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78255784400005 meters Centerline goodness [0,1] 0.2444041920041402 Centerline is valid? [False, False] Translation: X:3.68, Y:0.35, Z:1.00 [[ 9.99744093e-01 -1.93177022e-03 -2.25392376e-02 3.67939412e+00] [ 1.93793229e-03 9.99998091e-01 2.51553748e-04 3.47229267e-01] [ 2.25387087e-02 -2.95168890e-04 9.99745927e-01 9.96709906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812557844 meters Centerline goodness [0,1] 0.2497001679059726 Centerline is valid? [False, False] Translation: X:3.68, Y:0.35, Z:1.00 [[ 9.99746842e-01 -1.88160765e-03 -2.24212432e-02 3.67908920e+00] [ 1.87894478e-03 9.99998225e-01 -1.39831375e-04 3.49497249e-01] [ 2.24214665e-02 9.76676976e-05 9.99748603e-01 9.96880465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84255784400005 meters Centerline goodness [0,1] 0.24474785384582198 Centerline is valid? [False, False] Translation: X:3.70, Y:0.35, Z:1.00 [[ 9.99751055e-01 6.14648004e-03 -2.14487453e-02 3.69963475e+00] [-6.17795528e-03 9.99979934e-01 -1.40150866e-03 3.47344622e-01] [ 2.14397005e-02 1.53366915e-03 9.99768967e-01 9.98362225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.872557844 meters Centerline goodness [0,1] 0.24990175101523948 Centerline is valid? [False, False] Translation: X:3.70, Y:0.35, Z:1.00 [[ 9.99717497e-01 1.00652136e-02 -2.15318031e-02 3.70012500e+00] [-1.00297225e-02 9.99948160e-01 1.75566863e-03 3.51544291e-01] [ 2.15483581e-02 -1.53921464e-03 9.99766622e-01 9.98001400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90255784400006 meters Centerline goodness [0,1] 0.2482377845186915 Centerline is valid? [False, False] Translation: X:3.70, Y:0.35, Z:1.00 [[ 9.99698870e-01 1.04105409e-02 -2.22214021e-02 3.70215312e+00] [-1.03772212e-02 9.99944852e-01 1.61423192e-03 3.54024642e-01] [ 2.22369817e-02 -1.38314943e-03 9.99751771e-01 9.97579535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93255784400003 meters Centerline goodness [0,1] 0.24772384882426146 Centerline is valid? [False, False] Translation: X:3.70, Y:0.36, Z:1.00 [[ 9.99688549e-01 1.04487521e-02 -2.26633706e-02 3.70338331e+00] [-1.04243016e-02 9.99944949e-01 1.19673222e-03 3.56762397e-01] [ 2.26746273e-02 -9.60109690e-04 9.99742437e-01 9.97412682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96255784400006 meters Centerline goodness [0,1] 0.2456827178215668 Centerline is valid? [False, False] Translation: X:3.70, Y:0.36, Z:1.00 [[ 9.99685109e-01 1.03072694e-02 -2.28788714e-02 3.70385859e+00] [-1.02949922e-02 9.99946791e-01 6.54338319e-04 3.59428722e-01] [ 2.28843985e-02 -4.18594471e-04 9.99738030e-01 9.97542772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99255784400003 meters Centerline goodness [0,1] 0.2476350320415014 Centerline is valid? [False, False] Translation: X:3.70, Y:0.36, Z:1.00 [[ 9.99686033e-01 1.00957315e-02 -2.29327528e-02 3.70372618e+00] [-1.00965365e-02 9.99949025e-01 8.06888430e-05 3.62013007e-01] [ 2.29323985e-02 1.50877866e-04 9.99737007e-01 9.97951236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02255784400006 meters Centerline goodness [0,1] 0.24588812220630996 Centerline is valid? [False, False] Translation: X:3.72, Y:0.37, Z:1.00 [[ 9.99741929e-01 2.09789235e-03 -2.26202378e-02 3.72117017e+00] [-2.06165077e-03 9.99996554e-01 1.62537681e-03 3.68332624e-01] [ 2.26235697e-02 -1.57832231e-03 9.99742808e-01 1.00094875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05255784400003 meters Centerline goodness [0,1] 0.24776339789802837 Centerline is valid? [False, False] Translation: X:3.72, Y:0.37, Z:1.00 [[ 9.99747190e-01 2.26262640e-03 -2.23704304e-02 3.72046447e+00] [-2.24166616e-03 9.99997025e-01 9.61994063e-04 3.73536820e-01] [ 2.23725405e-02 -9.11603825e-04 9.99749288e-01 1.00124609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08255784400006 meters Centerline goodness [0,1] 0.24536506219578147 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:1.00 [[ 9.99747614e-01 2.10221504e-03 -2.23671427e-02 3.72038150e+00] [-2.09356570e-03 9.99997724e-01 4.10108006e-04 3.76303134e-01] [ 2.23679539e-02 -3.63177418e-04 9.99749740e-01 1.00136143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11255784400004 meters Centerline goodness [0,1] 0.24641678248783883 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:1.00 [[ 9.99749413e-01 1.91745295e-03 -2.23032246e-02 3.72014116e+00] [-1.92202267e-03 9.99998136e-01 -1.83456091e-04 3.79158472e-01] [ 2.23028312e-02 2.26277423e-04 9.99751235e-01 1.00148485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14255784400007 meters Centerline goodness [0,1] 0.2460823891999826 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:1.00 [[ 9.99749275e-01 1.74246326e-03 -2.23237682e-02 3.71999433e+00] [-1.76124000e-03 9.99998112e-01 -8.21475957e-04 3.82307635e-01] [ 2.23222947e-02 8.60587506e-04 9.99750456e-01 1.00181568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17255784400004 meters Centerline goodness [0,1] 0.24653157687426142 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.00 [[ 9.99735986e-01 5.60001618e-03 -2.22844867e-02 3.71977607e+00] [-5.54849247e-03 9.99981791e-01 2.37324816e-03 3.86505822e-01] [ 2.22973712e-02 -2.24897628e-03 9.99748853e-01 1.00203334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20255784400007 meters Centerline goodness [0,1] 0.2484845851348122 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.00 [[ 9.99730884e-01 5.48095592e-03 -2.25415011e-02 3.72054172e+00] [-5.43935877e-03 9.99983390e-01 1.90625830e-03 3.88998862e-01] [ 2.25515748e-02 -1.78313398e-03 9.99744091e-01 1.00179655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23255784400004 meters Centerline goodness [0,1] 0.24418655097613884 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.00 [[ 9.99726307e-01 5.33144519e-03 -2.27790989e-02 3.72132310e+00] [-5.29855235e-03 9.99984831e-01 1.50410481e-03 3.90874948e-01] [ 2.27867725e-02 -1.38299690e-03 9.99739391e-01 1.00146820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26255784400007 meters Centerline goodness [0,1] 0.2495824542897328 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.00 [[ 9.99739931e-01 -2.20277362e-03 -2.26984188e-02 3.70231792e+00] [ 2.25625995e-03 9.99994738e-01 2.33104946e-03 3.96846518e-01] [ 2.26931646e-02 -2.38165676e-03 9.99739640e-01 9.99177254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29255784400004 meters Centerline goodness [0,1] 0.24287661452586484 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.00 [[ 9.99740698e-01 5.56438432e-03 -2.20810779e-02 3.72276480e+00] [-5.53122191e-03 9.99983482e-01 1.56263869e-03 3.93983901e-01] [ 2.20894083e-02 -1.44009815e-03 9.99754962e-01 1.00018919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.322557844 meters Centerline goodness [0,1] 0.24570981142745285 Centerline is valid? [False, False] Translation: X:3.72, Y:0.40, Z:1.00 [[ 9.99739114e-01 5.45135564e-03 -2.21807560e-02 3.72292445e+00] [-5.42461192e-03 9.99984486e-01 1.26570733e-03 3.95468914e-01] [ 2.21873117e-02 -1.14505513e-03 9.99753176e-01 1.00037364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35255784400005 meters Centerline goodness [0,1] 0.24320643362085737 Centerline is valid? [False, False] Translation: X:3.72, Y:0.40, Z:1.00 [[ 9.99734980e-01 5.30802863e-03 -2.24007626e-02 3.72353258e+00] [-5.29238924e-03 9.99985708e-01 7.57389780e-04 3.97936776e-01] [ 2.24044627e-02 -6.38635502e-04 9.99748785e-01 1.00025200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.382557844 meters Centerline goodness [0,1] 0.2438193962526024 Centerline is valid? [False, False] Translation: X:3.72, Y:0.40, Z:1.00 [[ 9.99734780e-01 5.20475756e-03 -2.24339094e-02 3.72362066e+00] [-5.19510421e-03 9.99986386e-01 4.88560990e-04 3.99139110e-01] [ 2.24361469e-02 -3.71884916e-04 9.99748209e-01 1.00020514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41255784400005 meters Centerline goodness [0,1] 0.24756630848001404 Centerline is valid? [False, False] Translation: X:3.70, Y:0.41, Z:1.00 [[ 9.99749271e-01 -2.41786393e-03 -2.22609299e-02 3.70330724e+00] [ 2.44504904e-03 9.99996298e-01 1.19406589e-03 4.05185456e-01] [ 2.22579604e-02 -1.24819557e-03 9.99751482e-01 9.98868306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442557844 meters Centerline goodness [0,1] 0.23931329733450935 Centerline is valid? [False, False] Translation: X:3.75, Y:0.40, Z:1.00 [[ 9.99808610e-01 -2.29302628e-03 -1.94289670e-02 3.74583759e+00] [ 2.34733800e-03 9.99993400e-01 2.77305543e-03 4.03770343e-01] [ 1.94224801e-02 -2.81813105e-03 9.99807394e-01 9.99178231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47255784400005 meters Centerline goodness [0,1] 0.2426036781708556 Centerline is valid? [False, False] Translation: X:3.75, Y:0.40, Z:1.00 [[ 9.99808581e-01 -2.23963333e-03 -1.94367026e-02 3.74600774e+00] [ 2.29710088e-03 9.99993055e-01 2.93482887e-03 4.02855086e-01] [ 1.94299946e-02 -2.97891515e-03 9.99806782e-01 9.98896739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502557844 meters Centerline goodness [0,1] 0.24366793271839393 Centerline is valid? [False, False] Translation: X:3.75, Y:0.40, Z:1.00 [[ 9.99806538e-01 -2.14757622e-03 -1.95518170e-02 3.74648137e+00] [ 2.20971831e-03 9.99992574e-01 3.15727861e-03 4.01679805e-01] [ 1.95448913e-02 -3.19987180e-03 9.99803860e-01 9.98580023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53255784400005 meters Centerline goodness [0,1] 0.23895257215638022 Centerline is valid? [False, False] Translation: X:3.75, Y:0.40, Z:1.00 [[ 9.99804884e-01 -2.04120228e-03 -1.96475707e-02 3.74667036e+00] [ 2.10717257e-03 9.99992210e-01 3.33756525e-03 4.00880598e-01] [ 1.96406050e-02 -3.37831486e-03 9.99801397e-01 9.98614993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562557844 meters Centerline goodness [0,1] 0.23935642496657028 Centerline is valid? [False, False] Translation: X:3.75, Y:0.40, Z:1.00 [[ 9.99804540e-01 -1.96083511e-03 -1.96732614e-02 3.74660739e+00] [ 2.02856083e-03 9.99992083e-01 3.42316112e-03 4.00670078e-01] [ 1.96663934e-02 -3.46240044e-03 9.99800602e-01 9.98811464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59255784400005 meters Centerline goodness [0,1] 0.24019353723863834 Centerline is valid? [False, False] Translation: X:3.75, Y:0.40, Z:1.00 [[ 9.99808037e-01 -1.88141204e-03 -1.95025254e-02 3.74593133e+00] [ 1.94907305e-03 9.99992146e-01 3.45091924e-03 4.00757591e-01] [ 1.94958797e-02 -3.48826864e-03 9.99803852e-01 9.99209402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622557844 meters Centerline goodness [0,1] 0.24275957465202735 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99825266e-01 -1.51241419e-03 -1.86319799e-02 3.74325202e+00] [ 1.57942381e-03 9.99992336e-01 3.58229386e-03 4.00599034e-01] [ 1.86264192e-02 -3.61109570e-03 9.99819992e-01 9.99993674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65255784400006 meters Centerline goodness [0,1] 0.2391944462355191 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99826146e-01 -1.40097295e-03 -1.85934105e-02 3.74295033e+00] [ 1.46809312e-03 9.99992454e-01 3.59673166e-03 4.00757674e-01] [ 1.85882313e-02 -3.62340321e-03 9.99820658e-01 1.00025616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68255784400003 meters Centerline goodness [0,1] 0.24191913746630733 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99825482e-01 -1.22152960e-03 -1.86416876e-02 3.74300198e+00] [ 1.29055173e-03 9.99992356e-01 3.69098823e-03 4.00874816e-01] [ 1.86370364e-02 -3.71440215e-03 9.99819416e-01 1.00028252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71255784400006 meters Centerline goodness [0,1] 0.23941044260027666 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99823930e-01 -1.05858788e-03 -1.87346794e-02 3.74331318e+00] [ 1.12957880e-03 9.99992221e-01 3.77910246e-03 4.00989016e-01] [ 1.87305331e-02 -3.79959937e-03 9.99817348e-01 1.00009601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74255784400003 meters Centerline goodness [0,1] 0.24462201707019682 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99824933e-01 -1.00866919e-03 -1.86838652e-02 3.74325145e+00] [ 1.07954399e-03 9.99992259e-01 3.78367165e-03 4.01033150e-01] [ 1.86799041e-02 -3.80317931e-03 9.99818282e-01 9.99952016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77255784400006 meters Centerline goodness [0,1] 0.2443646649260226 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99824416e-01 -1.12355342e-03 -1.87049217e-02 3.74346003e+00] [ 1.19123212e-03 9.99992783e-01 3.60748101e-03 4.00564415e-01] [ 1.87007336e-02 -3.62912950e-03 9.99818540e-01 9.99548521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80255784400003 meters Centerline goodness [0,1] 0.24195256934085652 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99824685e-01 -1.09140589e-03 -1.86924806e-02 3.74341748e+00] [ 1.15975843e-03 9.99992680e-01 3.64623640e-03 4.00343296e-01] [ 1.86883642e-02 -3.66727592e-03 9.99818632e-01 9.99510808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83255784400006 meters Centerline goodness [0,1] 0.24190620272314678 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99823123e-01 -1.04444494e-03 -1.87785052e-02 3.74350632e+00] [ 1.11353255e-03 9.99992649e-01 3.66899976e-03 4.00490565e-01] [ 1.87745351e-02 -3.68926127e-03 9.99816936e-01 9.99662042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86255784400004 meters Centerline goodness [0,1] 0.24091311578083496 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99822424e-01 -9.68509926e-04 -1.88197221e-02 3.74347804e+00] [ 1.03965311e-03 9.99992350e-01 3.77083026e-03 4.00339434e-01] [ 1.88159260e-02 -3.78972663e-03 9.99815782e-01 9.99852084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89255784400007 meters Centerline goodness [0,1] 0.24310498704804195 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99823119e-01 -8.15863380e-04 -1.87900097e-02 3.74349805e+00] [ 8.94330026e-04 9.99990914e-01 4.16795260e-03 3.98598700e-01] [ 1.87864384e-02 -4.18401984e-03 9.99814765e-01 9.99770454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92255784400004 meters Centerline goodness [0,1] 0.2417922061080252 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99823287e-01 -7.47403677e-04 -1.87839408e-02 3.74360411e+00] [ 8.30258734e-04 9.99989960e-01 4.40354047e-03 3.97307255e-01] [ 1.87804610e-02 -4.41835783e-03 9.99813869e-01 9.99592239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95255784400007 meters Centerline goodness [0,1] 0.2447354064375341 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:1.00 [[ 9.99823583e-01 -6.65305271e-04 -1.87712841e-02 3.74375042e+00] [ 7.52824655e-04 9.99988879e-01 4.65572684e-03 3.96008450e-01] [ 1.87679778e-02 -4.66903697e-03 9.99812964e-01 9.99312274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98255784400004 meters Centerline goodness [0,1] 0.24077653036850444 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:1.00 [[ 9.99822421e-01 -5.75321292e-04 -1.88359964e-02 3.74401201e+00] [ 6.68104952e-04 9.99987674e-01 4.91994732e-03 3.94702662e-01] [ 1.88329337e-02 -4.93165806e-03 9.99810482e-01 9.99141415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01255784400007 meters Centerline goodness [0,1] 0.24336751214247165 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:1.00 [[ 9.99818629e-01 -4.53186159e-04 -1.90395454e-02 3.74465498e+00] [ 5.52815318e-04 9.99986182e-01 5.22781158e-03 3.93238719e-01] [ 1.90369132e-02 -5.23738876e-03 9.99805064e-01 9.98951679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04255784400004 meters Centerline goodness [0,1] 0.2469143864690132 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:1.00 [[ 9.99815251e-01 -3.53212778e-04 -1.92182125e-02 3.74516327e+00] [ 4.58184879e-04 9.99985000e-01 5.45798677e-03 3.92138340e-01] [ 1.92159964e-02 -5.46578391e-03 9.99800415e-01 9.98835594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.072557844 meters Centerline goodness [0,1] 0.2454543474947194 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:1.00 [[ 9.99809023e-01 -1.54337653e-04 -1.95420770e-02 3.74611803e+00] [ 2.67406007e-04 9.99983240e-01 5.78341151e-03 3.90667008e-01] [ 1.95408569e-02 -5.78753268e-03 9.99792308e-01 9.98560561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10255784400005 meters Centerline goodness [0,1] 0.23909748386817375 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:1.00 [[ 9.99809493e-01 -6.31399192e-05 -1.95185666e-02 3.74603237e+00] [ 1.79378779e-04 9.99982261e-01 5.95360353e-03 3.89894526e-01] [ 1.95178445e-02 -5.95597054e-03 9.99791768e-01 9.98571672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.132557844 meters Centerline goodness [0,1] 0.24414079580236114 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:1.00 [[ 9.99812246e-01 3.23060329e-05 -1.93771121e-02 3.74572189e+00] [ 8.70343951e-05 9.99981036e-01 6.15795963e-03 3.89007359e-01] [ 1.93769436e-02 -6.15848992e-03 9.99793282e-01 9.98471008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16255784400005 meters Centerline goodness [0,1] 0.24420051066058535 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:1.00 [[ 9.99815667e-01 1.18145619e-04 -1.91994198e-02 3.74527751e+00] [ 3.31506247e-06 9.99979990e-01 6.32611337e-03 3.88270922e-01] [ 1.91997831e-02 -6.32501091e-03 9.99795660e-01 9.98457824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.192557844 meters Centerline goodness [0,1] 0.23714353254679477 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:1.00 [[ 0.99980344 0.00840958 -0.01795435 3.76612234] [-0.00830807 0.99994912 0.00572084 0.38306443] [ 0.01800154 -0.00557055 0.99982244 0.99910062] [ 0. 0. 0. 1. ]] SLAMing on 263.22255784400005 meters Centerline goodness [0,1] 0.24334443501164593 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:1.00 [[ 9.99833367e-01 1.88977386e-04 -1.82538501e-02 3.74521854e+00] [-7.86903901e-05 9.99981742e-01 6.04237776e-03 3.86339141e-01] [ 1.82546587e-02 -6.03993450e-03 9.99815126e-01 9.98406270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252557844 meters Centerline goodness [0,1] 0.24730078244525067 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:1.00 [[ 9.99831355e-01 2.59094425e-04 -1.83628337e-02 3.74546195e+00] [-1.45954177e-04 9.99981001e-01 6.16244433e-03 3.85749865e-01] [ 1.83640815e-02 -6.15872493e-03 9.99812398e-01 9.98389195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28255784400005 meters Centerline goodness [0,1] 0.2424993477693712 Centerline is valid? [False, False] Translation: X:3.75, Y:0.38, Z:1.00 [[ 9.99826604e-01 4.08216470e-04 -1.86170636e-02 3.74639930e+00] [-2.89162584e-04 9.99979496e-01 6.39712351e-03 3.84881152e-01] [ 1.86192933e-02 -6.39063092e-03 9.99806222e-01 9.97826391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312557844 meters Centerline goodness [0,1] 0.23749783699602012 Centerline is valid? [False, False] Translation: X:3.75, Y:0.38, Z:1.00 [[ 9.99821676e-01 5.93957451e-04 -1.88749665e-02 3.74756610e+00] [-4.66231688e-04 9.99976970e-01 6.77061998e-03 3.83298583e-01] [ 1.88785533e-02 -6.76061250e-03 9.99798927e-01 9.96968412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34255784400005 meters Centerline goodness [0,1] 0.23756345177664973 Centerline is valid? [False, False] Translation: X:3.75, Y:0.38, Z:1.00 [[ 9.99818557e-01 7.60059820e-04 -1.90335222e-02 3.74847103e+00] [-6.23872220e-04 9.99974172e-01 7.16006026e-03 3.81461727e-01] [ 1.90384726e-02 -7.14688663e-03 9.99793208e-01 9.96133395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372557844 meters Centerline goodness [0,1] 0.23736415387269272 Centerline is valid? [False, False] Translation: X:3.75, Y:0.38, Z:1.00 [[ 9.99812526e-01 -2.94670524e-03 -1.91371352e-02 3.74905360e+00] [ 3.01987778e-03 9.99988236e-01 3.79581641e-03 3.78513073e-01] [ 1.91257250e-02 -3.85289661e-03 9.99809663e-01 9.95654507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40255784400006 meters Centerline goodness [0,1] 0.24030467899891184 Centerline is valid? [False, False] Translation: X:3.75, Y:0.38, Z:1.00 [[ 9.99813216e-01 -2.72654041e-03 -1.91337171e-02 3.74908124e+00] [ 2.81077205e-03 9.99986472e-01 4.37675104e-03 3.75694270e-01] [ 1.91215249e-02 -4.42971405e-03 9.99807354e-01 9.95645090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43255784400003 meters Centerline goodness [0,1] 0.24193093880736127 Centerline is valid? [False, False] Translation: X:3.75, Y:0.37, Z:1.00 [[ 9.99813047e-01 -2.50931565e-03 -1.91722411e-02 3.74915971e+00] [ 2.60421605e-03 9.99984474e-01 4.92652321e-03 3.73161590e-01] [ 1.91595812e-02 -4.97553084e-03 9.99804058e-01 9.95747816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46255784400006 meters Centerline goodness [0,1] 0.23705316717692204 Centerline is valid? [False, False] Translation: X:3.75, Y:0.37, Z:1.00 [[ 9.99813709e-01 -2.30221359e-03 -1.91636789e-02 3.74926566e+00] [ 2.40719390e-03 9.99982214e-01 5.45682376e-03 3.70746260e-01] [ 1.91507752e-02 -5.50193789e-03 9.99801469e-01 9.95607880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49255784400003 meters Centerline goodness [0,1] 0.2377716215046316 Centerline is valid? [False, False] Translation: X:3.75, Y:0.37, Z:0.99 [[ 9.99813077e-01 -2.01859541e-03 -1.92285254e-02 3.74994233e+00] [ 2.14142039e-03 9.99977424e-01 6.36919757e-03 3.65845953e-01] [ 1.92152345e-02 -6.40918338e-03 9.99794828e-01 9.94900828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52255784400006 meters Centerline goodness [0,1] 0.2397423664122137 Centerline is valid? [False, False] Translation: X:3.75, Y:0.36, Z:0.99 [[ 9.99809893e-01 -1.86738848e-03 -1.94085250e-02 3.75065867e+00] [ 1.99867724e-03 9.99975239e-01 6.74729479e-03 3.64028395e-01] [ 1.93954446e-02 -6.78480346e-03 9.99788869e-01 9.94498788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55255784400003 meters Centerline goodness [0,1] 0.2350322050750011 Centerline is valid? [False, False] Translation: X:3.75, Y:0.36, Z:0.99 [[ 9.99806774e-01 -1.74352786e-03 -1.95799638e-02 3.75116745e+00] [ 1.88188984e-03 9.99973375e-01 7.05030781e-03 3.62596272e-01] [ 1.95671500e-02 -7.08579285e-03 9.99783436e-01 9.94408185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58255784400006 meters Centerline goodness [0,1] 0.23863193029606833 Centerline is valid? [False, False] Translation: X:3.75, Y:0.36, Z:0.99 [[ 9.99804728e-01 -1.62659439e-03 -1.96941389e-02 3.75145515e+00] [ 1.77106583e-03 9.99971636e-01 7.32054035e-03 3.61349387e-01] [ 1.96816728e-02 -7.35399047e-03 9.99779251e-01 9.94414079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61255784400004 meters Centerline goodness [0,1] 0.24042174686510176 Centerline is valid? [False, False] Translation: X:3.75, Y:0.36, Z:0.99 [[ 9.99804772e-01 -1.44688017e-03 -1.97059613e-02 3.75125359e+00] [ 1.59937085e-03 9.99968885e-01 7.72474153e-03 3.59459075e-01] [ 1.96941713e-02 -7.75475058e-03 9.99775977e-01 9.94823437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64255784400007 meters Centerline goodness [0,1] 0.2409777545600975 Centerline is valid? [False, False] Translation: X:3.75, Y:0.36, Z:0.99 [[ 9.99804006e-01 -1.40674827e-03 -1.97476905e-02 3.75141937e+00] [ 1.56038735e-03 9.99968620e-01 7.76685227e-03 3.59372668e-01] [ 1.97361448e-02 -7.79614406e-03 9.99774827e-01 9.94707815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67255784400004 meters Centerline goodness [0,1] 0.2409777545600975 Centerline is valid? [False, False] Translation: X:3.75, Y:0.36, Z:0.99 [[ 9.99804006e-01 -1.40674827e-03 -1.97476905e-02 3.75141937e+00] [ 1.56038735e-03 9.99968620e-01 7.76685227e-03 3.59372668e-01] [ 1.97361448e-02 -7.79614406e-03 9.99774827e-01 9.94707815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70255784400007 meters Centerline goodness [0,1] 0.23960688815446163 Centerline is valid? [False, False] Translation: X:3.75, Y:0.36, Z:0.99 [[ 9.99804339e-01 -1.38751328e-03 -1.97321543e-02 3.75136939e+00] [ 1.54098229e-03 9.99968668e-01 7.76453367e-03 3.59522996e-01] [ 1.97207627e-02 -7.79342135e-03 9.99775152e-01 9.94683779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73255784400004 meters Centerline goodness [0,1] 0.24399877793296088 Centerline is valid? [False, False] Translation: X:3.75, Y:0.36, Z:0.99 [[ 9.99806535e-01 -1.34919953e-03 -1.96232699e-02 3.75096203e+00] [ 1.50310751e-03 9.99968211e-01 7.83050269e-03 3.59241233e-01] [ 1.96120812e-02 -7.85848364e-03 9.99776780e-01 9.94911539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76255784400007 meters Centerline goodness [0,1] 0.24033620708282022 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 0.99983177 0.00621849 -0.01725553 3.76913199] [-0.00610685 0.99996013 0.00651514 0.35414632] [ 0.01729535 -0.00640867 0.99982989 0.99703761] [ 0. 0. 0. 1. ]] SLAMing on 263.79255784400004 meters Centerline goodness [0,1] 0.2435669342590584 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 0.99983207 0.00631874 -0.01720204 3.76890852] [-0.00620229 0.99995755 0.00681408 0.35266479] [ 0.01724436 -0.00670625 0.99982881 0.99723145] [ 0. 0. 0. 1. ]] SLAMing on 263.822557844 meters Centerline goodness [0,1] 0.24207474087378011 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 0.99982979 0.00643158 -0.01729232 3.76924894] [-0.00630874 0.99995455 0.00714869 0.35110296] [ 0.01733751 -0.00703838 0.99982492 0.99707328] [ 0. 0. 0. 1. ]] SLAMing on 263.85255784400005 meters Centerline goodness [0,1] 0.2437047819757968 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 0.99983004 0.00656155 -0.01722914 3.76925479] [-0.00643255 0.99995094 0.00753239 0.34929928] [ 0.01727772 -0.00742028 0.99982319 0.99685346] [ 0. 0. 0. 1. ]] SLAMing on 263.882557844 meters Centerline goodness [0,1] 0.24330250531891795 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 9.99853606e-01 3.35921610e-03 -1.67774254e-02 3.76774376e+00] [-3.28763507e-03 9.99985384e-01 4.29226860e-03 3.48953916e-01] [ 1.67915988e-02 -4.23648219e-03 9.99850036e-01 9.97288995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91255784400005 meters Centerline goodness [0,1] 0.2474087623029353 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 9.99855884e-01 3.51334201e-03 -1.66092861e-02 3.76708106e+00] [-3.43463250e-03 9.99982749e-01 4.76503808e-03 3.46345987e-01] [ 1.66257408e-02 -4.70730457e-03 9.99850702e-01 9.97707353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942557844 meters Centerline goodness [0,1] 0.2420766676728041 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 9.99855813e-01 3.58684101e-03 -1.65978368e-02 3.76706647e+00] [-3.50693663e-03 9.99982134e-01 4.84074839e-03 3.46184399e-01] [ 1.66149033e-02 -4.78184285e-03 9.99850528e-01 9.97655612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97255784400005 meters Centerline goodness [0,1] 0.241463520055325 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 9.99853899e-01 3.64498380e-03 -1.67001547e-02 3.76749631e+00] [-3.56508488e-03 9.99982069e-01 4.81159819e-03 3.46679821e-01] [ 1.67173935e-02 -4.75135775e-03 9.99848965e-01 9.97308362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002557844 meters Centerline goodness [0,1] 0.24742695159180117 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 9.99851503e-01 3.72142355e-03 -1.68262802e-02 3.76803054e+00] [-3.64335456e-03 9.99982468e-01 4.66798191e-03 3.47815879e-01] [ 1.68433567e-02 -4.60598462e-03 9.99847531e-01 9.96834811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03255784400005 meters Centerline goodness [0,1] 0.23976570407218378 Centerline is valid? [False, False] Translation: X:3.79, Y:0.35, Z:1.00 [[ 9.99790463e-01 1.21909072e-02 -1.64441920e-02 3.78980277e+00] [-1.21303276e-02 9.99919285e-01 3.77868346e-03 3.46616172e-01] [ 1.64889303e-02 -3.57841825e-03 9.99857645e-01 9.97624325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062557844 meters Centerline goodness [0,1] 0.2474985799799012 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:1.00 [[ 0.99985003 0.00398704 -0.01685284 3.76944635] [-0.00392047 0.99998439 0.00398134 0.35256246] [ 0.01686845 -0.00391467 0.99985005 0.99638598] [ 0. 0. 0. 1. ]] SLAMing on 264.09255784400005 meters Centerline goodness [0,1] 0.23852007911256345 Centerline is valid? [False, False] Translation: X:3.79, Y:0.36, Z:1.00 [[ 9.99777965e-01 1.35701574e-02 -1.61205617e-02 3.79222914e+00] [-1.35130582e-02 9.99902048e-01 3.64567546e-03 3.55692325e-01] [ 1.61684551e-02 -3.42702790e-03 9.99863409e-01 9.96321547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122557844 meters Centerline goodness [0,1] 0.24087748844841728 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.99 [[ 0.999866 0.00802191 -0.01427022 3.77646478] [-0.00795225 0.99995622 0.00493152 0.36265256] [ 0.01430916 -0.00481738 0.99988601 0.99282592] [ 0. 0. 0. 1. ]] SLAMing on 264.15255784400006 meters Centerline goodness [0,1] 0.23767484026938357 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.99 [[ 0.99986672 0.00787908 -0.01429925 3.77656873] [-0.00781567 0.9999594 0.00448454 0.3648408 ] [ 0.014334 -0.00437219 0.9998877 0.99265523] [ 0. 0. 0. 1. ]] SLAMing on 264.18255784400003 meters Centerline goodness [0,1] 0.24537553906438125 Centerline is valid? [False, False] Translation: X:3.75, Y:0.37, Z:0.99 [[ 9.99886665e-01 -8.75838410e-04 -1.50296476e-02 3.75473651e+00] [ 9.44435513e-04 9.99989168e-01 4.55762870e-03 3.69228075e-01] [ 1.50254930e-02 -4.57130669e-03 9.99876661e-01 9.92265765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21255784400006 meters Centerline goodness [0,1] 0.24554498742757191 Centerline is valid? [False, False] Translation: X:3.76, Y:0.37, Z:0.99 [[ 9.99884460e-01 -9.16022466e-04 -1.51732241e-02 3.75507281e+00] [ 9.86218622e-04 9.99988844e-01 4.61948150e-03 3.68571659e-01] [ 1.51688233e-02 -4.63391188e-03 9.99874209e-01 9.92314334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24255784400003 meters Centerline goodness [0,1] 0.2429136596817668 Centerline is valid? [False, False] Translation: X:3.76, Y:0.37, Z:0.99 [[ 9.99881177e-01 -9.58704085e-04 -1.53854840e-02 3.75556922e+00] [ 1.03303356e-03 9.99987831e-01 4.82392322e-03 3.67186978e-01] [ 1.53806720e-02 -4.83924375e-03 9.99870000e-01 9.92393106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27255784400006 meters Centerline goodness [0,1] 0.24248344730272442 Centerline is valid? [False, False] Translation: X:3.76, Y:0.36, Z:0.99 [[ 9.99878330e-01 -1.37593206e-03 -1.55380976e-02 3.75594488e+00] [ 1.45562155e-03 9.99985841e-01 5.11850730e-03 3.64355922e-01] [ 1.55308349e-02 -5.14050212e-03 9.99866175e-01 9.92625299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30255784400003 meters Centerline goodness [0,1] 0.24454462302365088 Centerline is valid? [False, False] Translation: X:3.76, Y:0.36, Z:0.99 [[ 9.99879172e-01 -1.38969462e-03 -1.54825596e-02 3.75589295e+00] [ 1.47302016e-03 9.99984487e-01 5.37179322e-03 3.62761661e-01] [ 1.54748543e-02 -5.39395028e-03 9.99865708e-01 9.92594988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33255784400006 meters Centerline goodness [0,1] 0.23947334396414255 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.99 [[ 9.99931338e-01 2.60812278e-03 -1.14244338e-02 3.77798165e+00] [-2.58692290e-03 9.99994905e-01 1.87004591e-03 3.62143115e-01] [ 1.14292529e-02 -1.84036338e-03 9.99932990e-01 9.91968459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36255784400004 meters Centerline goodness [0,1] 0.2426589920585117 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.99 [[ 9.99933309e-01 2.67489332e-03 -1.12349144e-02 3.77707660e+00] [-2.65231662e-03 9.99994434e-01 2.02393104e-03 3.61596272e-01] [ 1.12402657e-02 -1.99399751e-03 9.99934838e-01 9.92748101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39255784400007 meters Centerline goodness [0,1] 0.24397903491293427 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.99 [[ 9.99933848e-01 2.73539889e-03 -1.11721762e-02 3.77662526e+00] [-2.71160472e-03 9.99994024e-01 2.14436256e-03 3.61161939e-01] [ 1.11779751e-02 -2.11392618e-03 9.99935290e-01 9.93237393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42255784400004 meters Centerline goodness [0,1] 0.24590342306269453 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.99 [[ 9.99932865e-01 2.80572488e-03 -1.12425050e-02 3.77678066e+00] [-2.77989224e-03 9.99993462e-01 2.31273390e-03 3.60374005e-01] [ 1.12489204e-02 -2.28132568e-03 9.99934127e-01 9.93297837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45255784400007 meters Centerline goodness [0,1] 0.24597326377567652 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.99 [[ 9.99930289e-01 2.82271407e-03 -1.14651503e-02 3.77753257e+00] [-2.79544468e-03 9.99993228e-01 2.39378897e-03 3.59831536e-01] [ 1.14718296e-02 -2.36157190e-03 9.99931408e-01 9.92936765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48255784400004 meters Centerline goodness [0,1] 0.2424589703115878 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.99 [[ 9.99930851e-01 2.94497852e-03 -1.13850542e-02 3.77741026e+00] [-2.91398872e-03 9.99992007e-01 2.73760276e-03 3.58048664e-01] [ 1.13930254e-02 -2.70423754e-03 9.99931441e-01 9.92807011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51255784400007 meters Centerline goodness [0,1] 0.2420290167503827 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.99 [[ 9.99935486e-01 3.02853308e-03 -1.09477018e-02 3.77589237e+00] [-2.99561584e-03 9.99990947e-01 3.02192002e-03 3.56640548e-01] [ 1.09567547e-02 -2.98892995e-03 9.99935506e-01 9.93524859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54255784400004 meters Centerline goodness [0,1] 0.24753462363726997 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:0.99 [[ 9.99939096e-01 3.11999325e-03 -1.05862794e-02 3.77457314e+00] [-3.08433463e-03 9.99989521e-01 3.38303717e-03 3.54750619e-01] [ 1.05967235e-02 -3.35017950e-03 9.99938241e-01 9.94292710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.572557844 meters Centerline goodness [0,1] 0.2492508143322476 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:0.99 [[ 9.99940239e-01 3.24289286e-03 -1.04404323e-02 3.77405953e+00] [-3.20314358e-03 9.99987567e-01 3.82171725e-03 3.52429358e-01] [ 1.04526959e-02 -3.78804665e-03 9.99938194e-01 9.94607262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60255784400005 meters Centerline goodness [0,1] 0.2487499456498109 Centerline is valid? [False, False] Translation: X:3.77, Y:0.35, Z:0.99 [[ 9.99937423e-01 3.36744003e-03 -1.06682270e-02 3.77479304e+00] [-3.32201489e-03 9.99985353e-01 4.27284689e-03 3.50049804e-01] [ 1.06824593e-02 -4.23713950e-03 9.99933964e-01 9.94384928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.632557844 meters Centerline goodness [0,1] 0.2457614273650477 Centerline is valid? [False, False] Translation: X:3.78, Y:0.35, Z:0.99 [[ 9.99927566e-01 3.69320887e-03 -1.14552339e-02 3.77768487e+00] [-3.63378405e-03 9.99979857e-01 5.20405196e-03 3.45588552e-01] [ 1.14742228e-02 -5.16204917e-03 9.99920845e-01 9.92853207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66255784400005 meters Centerline goodness [0,1] 0.24207604415467043 Centerline is valid? [False, False] Translation: X:3.78, Y:0.34, Z:0.99 [[ 0.99992653 0.00391137 -0.01147342 3.77786433] [-0.00384656 0.99997656 0.00566495 0.34367094] [ 0.01149531 -0.0056204 0.99991813 0.99265496] [ 0. 0. 0. 1. ]] SLAMing on 264.692557844 meters Centerline goodness [0,1] 0.24738947140849643 Centerline is valid? [False, False] Translation: X:3.78, Y:0.34, Z:0.99 [[ 0.99992711 0.00406753 -0.01136823 3.77744952] [-0.003999 0.99997374 0.00604456 0.34187978] [ 0.01139251 -0.00599865 0.99991711 0.99293308] [ 0. 0. 0. 1. ]] SLAMing on 264.72255784400005 meters Centerline goodness [0,1] 0.24970592079466736 Centerline is valid? [False, False] Translation: X:3.78, Y:0.34, Z:0.99 [[ 0.99992698 0.0042221 -0.01132322 3.77717025] [-0.00414939 0.99997067 0.00643727 0.33995664] [ 0.01135007 -0.00638981 0.99991517 0.99321671] [ 0. 0. 0. 1. ]] SLAMing on 264.752557844 meters Centerline goodness [0,1] 0.24835533481462113 Centerline is valid? [False, False] Translation: X:3.78, Y:0.34, Z:0.99 [[ 9.99928459e-01 1.61024918e-03 -1.18525666e-02 3.77874943e+00] [-1.56544497e-03 9.99991599e-01 3.78843525e-03 3.37636587e-01] [ 1.18585674e-02 -3.76960968e-03 9.99922579e-01 9.92648567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78255784400005 meters Centerline goodness [0,1] 0.24931135499103674 Centerline is valid? [False, False] Translation: X:3.78, Y:0.34, Z:0.99 [[ 9.99925320e-01 1.71325524e-03 -1.21003402e-02 3.77980195e+00] [-1.66520701e-03 9.99990694e-01 3.97977585e-03 3.36784296e-01] [ 1.21070460e-02 -3.95932907e-03 9.99918868e-01 9.91836361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812557844 meters Centerline goodness [0,1] 0.24820356011794253 Centerline is valid? [False, False] Translation: X:3.78, Y:0.34, Z:0.99 [[ 9.99924300e-01 1.80215609e-03 -1.21715301e-02 3.78041886e+00] [-1.75171633e-03 9.99989840e-01 4.15346757e-03 3.35953463e-01] [ 1.21788917e-02 -4.13183208e-03 9.99917298e-01 9.91039465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84255784400005 meters Centerline goodness [0,1] 0.24929635851897103 Centerline is valid? [False, False] Translation: X:3.78, Y:0.33, Z:0.99 [[ 9.99925894e-01 1.89596328e-03 -1.20254709e-02 3.78012776e+00] [-1.84310875e-03 9.99988600e-01 4.40477573e-03 3.34696400e-01] [ 1.20336851e-02 -4.38228506e-03 9.99917990e-01 9.90898055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872557844 meters Centerline goodness [0,1] 0.24495993796846727 Centerline is valid? [False, False] Translation: X:3.80, Y:0.33, Z:0.99 [[ 9.99891993e-01 9.89835207e-03 -1.08638960e-02 3.79966368e+00] [-9.86054991e-03 9.99945161e-01 3.52768065e-03 3.29620714e-01] [ 1.08982184e-02 -3.42017565e-03 9.99934763e-01 9.92265343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90255784400006 meters Centerline goodness [0,1] 0.24846200502556104 Centerline is valid? [False, False] Translation: X:3.78, Y:0.33, Z:0.99 [[ 9.99935983e-01 1.56000636e-03 -1.12069440e-02 3.77805074e+00] [-1.50163354e-03 9.99985274e-01 5.21515725e-03 3.26743407e-01] [ 1.12149147e-02 -5.19799467e-03 9.99923600e-01 9.91170864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93255784400003 meters Centerline goodness [0,1] 0.2502085803363633 Centerline is valid? [False, False] Translation: X:3.73, Y:0.32, Z:0.99 [[ 9.99901709e-01 7.10094532e-04 -1.40024243e-02 3.73385280e+00] [-6.46569664e-04 9.99989482e-01 4.54071022e-03 3.20484165e-01] [ 1.40055013e-02 -4.53121037e-03 9.99891651e-01 9.91457815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96255784400006 meters Centerline goodness [0,1] 0.24756229685807152 Centerline is valid? [False, False] Translation: X:3.76, Y:0.32, Z:0.99 [[ 9.99882825e-01 6.07508448e-03 -1.40509929e-02 3.75716615e+00] [-6.05528681e-03 9.99980614e-01 1.45110196e-03 3.16286819e-01] [ 1.40595361e-02 -1.36584914e-03 9.99900227e-01 9.91387829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99255784400003 meters Centerline goodness [0,1] 0.2451716158055237 Centerline is valid? [False, False] Translation: X:3.76, Y:0.31, Z:0.99 [[ 9.99878480e-01 6.26172973e-03 -1.42764475e-02 3.75802158e+00] [-6.23285068e-03 9.99978440e-01 2.06644364e-03 3.13046115e-01] [ 1.42890792e-02 -1.97720956e-03 9.99895951e-01 9.90937777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02255784400006 meters Centerline goodness [0,1] 0.2458878019219115 Centerline is valid? [False, False] Translation: X:3.76, Y:0.31, Z:0.99 [[ 9.99871974e-01 6.68057480e-03 -1.45397755e-02 3.75885110e+00] [-6.63621646e-03 9.99973184e-01 3.09693898e-03 3.08209052e-01] [ 1.45600749e-02 -3.00005340e-03 9.99889496e-01 9.90711595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05255784400003 meters Centerline goodness [0,1] 0.2471978319783198 Centerline is valid? [False, False] Translation: X:3.76, Y:0.31, Z:0.99 [[ 9.99869780e-01 6.78222493e-03 -1.46432729e-02 3.75909326e+00] [-6.73385333e-03 9.99971716e-01 3.35011539e-03 3.06941369e-01] [ 1.46655799e-02 -3.25107348e-03 9.99887169e-01 9.90754511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08255784400006 meters Centerline goodness [0,1] 0.2486648572929434 Centerline is valid? [False, False] Translation: X:3.76, Y:0.31, Z:0.99 [[ 9.99869738e-01 6.89334194e-03 -1.45941276e-02 3.75902676e+00] [-6.84105964e-03 9.99970014e-01 3.62931767e-03 3.05586540e-01] [ 1.46187081e-02 -3.52900561e-03 9.99886913e-01 9.90630256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11255784400004 meters Centerline goodness [0,1] 0.24682789285326967 Centerline is valid? [False, False] Translation: X:3.78, Y:0.31, Z:0.99 [[ 9.99913243e-01 -1.06793260e-03 -1.31288240e-02 3.77750027e+00] [ 1.13629788e-03 9.99985830e-01 5.20090968e-03 3.07848134e-01] [ 1.31230838e-02 -5.21537672e-03 9.99900287e-01 9.91622864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14255784400007 meters Centerline goodness [0,1] 0.247475730254481 Centerline is valid? [False, False] Translation: X:3.78, Y:0.31, Z:0.99 [[ 9.99915056e-01 -9.67775952e-04 -1.29978545e-02 3.77709664e+00] [ 1.03883056e-03 9.99984549e-01 5.46100269e-03 3.06637058e-01] [ 1.29923686e-02 -5.47404138e-03 9.99900612e-01 9.91765496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17255784400004 meters Centerline goodness [0,1] 0.2509680383277548 Centerline is valid? [False, False] Translation: X:3.78, Y:0.31, Z:0.99 [[ 9.99915243e-01 -8.68395223e-04 -1.29904985e-02 3.77698329e+00] [ 9.43280993e-04 9.99982968e-01 5.75964116e-03 3.05117780e-01] [ 1.29852756e-02 -5.77140668e-03 9.99899032e-01 9.91979259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20255784400007 meters Centerline goodness [0,1] 0.24742557978539292 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:0.99 [[ 9.99907860e-01 5.04703951e-03 -1.26015161e-02 3.79974660e+00] [-5.01373719e-03 9.99983859e-01 2.67291760e-03 3.03350184e-01] [ 1.26148030e-02 -2.60949063e-03 9.99917025e-01 9.92072301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23255784400004 meters Centerline goodness [0,1] 0.24644611290217888 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:0.99 [[ 9.99904691e-01 5.17960769e-03 -1.27976795e-02 3.80037508e+00] [-5.14091518e-03 9.99982121e-01 3.05445092e-03 3.01365089e-01] [ 1.28132716e-02 -2.98836802e-03 9.99913441e-01 9.91871521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26255784400007 meters Centerline goodness [0,1] 0.251474683683091 Centerline is valid? [False, False] Translation: X:3.78, Y:0.30, Z:0.99 [[ 9.99911738e-01 -3.25249452e-03 -1.28816550e-02 3.77862302e+00] [ 3.30254973e-03 9.99987072e-01 3.86641101e-03 3.04980263e-01] [ 1.28689130e-02 -3.90861206e-03 9.99909553e-01 9.90960019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29255784400004 meters Centerline goodness [0,1] 0.24936414425773357 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:0.99 [[ 9.99924179e-01 5.10677624e-03 -1.12052521e-02 3.79842687e+00] [-5.07501463e-03 9.99983029e-01 2.86113472e-03 3.03313427e-01] [ 1.12196731e-02 -2.80405097e-03 9.99933126e-01 9.92117854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322557844 meters Centerline goodness [0,1] 0.24659600137883486 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:0.99 [[ 9.99927197e-01 5.11409200e-03 -1.09291252e-02 3.79749494e+00] [-5.08490049e-03 9.99983435e-01 2.69710334e-03 3.04397590e-01] [ 1.09427373e-02 -2.64133347e-03 9.99936638e-01 9.92465362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35255784400005 meters Centerline goodness [0,1] 0.24911500604386116 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:0.99 [[ 9.99929607e-01 5.07303719e-03 -1.07258815e-02 3.79672172e+00] [-5.04670586e-03 9.99984189e-01 2.48057686e-03 3.05596954e-01] [ 1.07382959e-02 -2.42627187e-03 9.99939399e-01 9.92862105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382557844 meters Centerline goodness [0,1] 0.2502293277421046 Centerline is valid? [False, False] Translation: X:3.77, Y:0.31, Z:0.99 [[ 9.99950882e-01 -2.90331878e-03 -9.47656723e-03 3.77382745e+00] [ 2.93398370e-03 9.99990500e-01 3.22357100e-03 3.11200788e-01] [ 9.46711815e-03 -3.25121676e-03 9.99949900e-01 9.92113767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41255784400005 meters Centerline goodness [0,1] 0.250438967288808 Centerline is valid? [False, False] Translation: X:3.79, Y:0.31, Z:0.99 [[ 9.99951452e-01 5.15265484e-03 -8.39904110e-03 3.79269709e+00] [-5.13641475e-03 9.99984899e-01 1.95399140e-03 3.08520270e-01] [ 8.40898251e-03 -1.91075558e-03 9.99962818e-01 9.93903058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442557844 meters Centerline goodness [0,1] 0.25387344896744757 Centerline is valid? [False, False] Translation: X:3.76, Y:0.31, Z:0.99 [[ 9.99986312e-01 4.15827150e-04 -5.21557824e-03 3.75527463e+00] [-4.08454292e-04 9.99998916e-01 1.41460802e-03 3.09101415e-01] [ 5.21616082e-03 -1.41245833e-03 9.99985398e-01 9.91443860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47255784400005 meters Centerline goodness [0,1] 0.25170596873110473 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:0.99 [[ 9.99995312e-01 3.66199884e-05 -3.06174591e-03 3.79797008e+00] [-3.30012350e-05 9.99999301e-01 1.18196696e-03 3.11465940e-01] [ 3.06178706e-03 -1.18186038e-03 9.99994614e-01 9.91790549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502557844 meters Centerline goodness [0,1] 0.24969172525689565 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:0.99 [[ 9.99994686e-01 1.82745437e-04 -3.25492981e-03 3.79845996e+00] [-1.77360055e-04 9.99998615e-01 1.65474277e-03 3.09286615e-01] [ 3.25522770e-03 -1.65415668e-03 9.99993334e-01 9.91839921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53255784400005 meters Centerline goodness [0,1] 0.25137994982000655 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:0.99 [[ 9.99994037e-01 3.16942253e-04 -3.43880942e-03 3.79912569e+00] [-3.10085625e-04 9.99997963e-01 1.99424595e-03 3.07812906e-01] [ 3.43943448e-03 -1.99316773e-03 9.99992099e-01 9.91524746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562557844 meters Centerline goodness [0,1] 0.25137994982000655 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:0.99 [[ 9.99994037e-01 3.16942253e-04 -3.43880942e-03 3.79912569e+00] [-3.10085625e-04 9.99997963e-01 1.99424595e-03 3.07812906e-01] [ 3.43943448e-03 -1.99316773e-03 9.99992099e-01 9.91524746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59255784400005 meters Centerline goodness [0,1] 0.2505636978579482 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:0.99 [[ 9.99993399e-01 4.32590419e-04 -3.60754728e-03 3.79984991e+00] [-4.24009252e-04 9.99997080e-01 2.37909637e-03 3.05900059e-01] [ 3.60856592e-03 -2.37755103e-03 9.99990663e-01 9.91022162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622557844 meters Centerline goodness [0,1] 0.24980532964180657 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:0.99 [[ 9.99992552e-01 5.34328037e-04 -3.82230568e-03 3.80068254e+00] [-5.23677555e-04 9.99995980e-01 2.78686084e-03 3.03630813e-01] [ 3.82377941e-03 -2.78483843e-03 9.99988812e-01 9.90593060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65255784400006 meters Centerline goodness [0,1] 0.24568167133318974 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:0.99 [[ 9.99991696e-01 6.30221383e-04 -4.02630939e-03 3.80140168e+00] [-6.17434090e-04 9.99994765e-01 3.17638791e-03 3.01390082e-01] [ 4.02829013e-03 -3.17387555e-03 9.99986850e-01 9.90301747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68255784400003 meters Centerline goodness [0,1] 0.248090033546153 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:0.99 [[ 9.99991288e-01 7.89993250e-04 -4.09863882e-03 3.80171124e+00] [-7.75119010e-04 9.99993113e-01 3.62938843e-03 2.99124072e-01] [ 4.10147778e-03 -3.62617988e-03 9.99985014e-01 9.90116356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71255784400006 meters Centerline goodness [0,1] 0.2484647266888006 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:0.99 [[ 9.99990057e-01 1.12745259e-03 -4.31453308e-03 3.80257103e+00] [-1.10833256e-03 9.99989567e-01 4.43136986e-03 2.95512813e-01] [ 4.31948423e-03 -4.42654386e-03 9.99980874e-01 9.89625500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74255784400003 meters Centerline goodness [0,1] 0.25209789443701935 Centerline is valid? [False, False] Translation: X:3.80, Y:0.29, Z:0.99 [[ 9.99989260e-01 1.30529612e-03 -4.44692632e-03 3.80300493e+00] [-1.28383022e-03 9.99987528e-01 4.82657269e-03 2.93843237e-01] [ 4.45317096e-03 -4.82081176e-03 9.99978464e-01 9.89447758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77255784400006 meters Centerline goodness [0,1] 0.2514315688245836 Centerline is valid? [False, False] Translation: X:3.80, Y:0.29, Z:0.99 [[ 9.99988838e-01 1.47278183e-03 -4.48945700e-03 3.80329349e+00] [-1.44942622e-03 9.99985424e-01 5.20114623e-03 2.92183684e-01] [ 4.49705172e-03 -5.19458104e-03 9.99976396e-01 9.89142031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80255784400003 meters Centerline goodness [0,1] 0.24983134208178281 Centerline is valid? [False, False] Translation: X:3.80, Y:0.29, Z:0.99 [[ 9.99989032e-01 1.80654410e-03 -4.32117660e-03 3.80307402e+00] [-1.78028187e-03 9.99979970e-01 6.07370941e-03 2.87690283e-01] [ 4.33206247e-03 -6.06594988e-03 9.99972218e-01 9.88906423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83255784400006 meters Centerline goodness [0,1] 0.25146442596695995 Centerline is valid? [False, False] Translation: X:3.80, Y:0.28, Z:0.99 [[ 9.99988673e-01 2.01024853e-03 -4.31426311e-03 3.80299920e+00] [-1.98159666e-03 9.99976023e-01 6.63522723e-03 2.84854434e-01] [ 4.32749812e-03 -6.62660294e-03 9.99968680e-01 9.89074985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86255784400004 meters Centerline goodness [0,1] 0.2460107242069901 Centerline is valid? [False, False] Translation: X:3.85, Y:0.28, Z:0.99 [[ 9.99995927e-01 1.69230387e-03 -2.29830242e-03 3.84730879e+00] [-1.67778104e-03 9.99978708e-01 6.30623698e-03 2.84539395e-01] [ 2.30892555e-03 -6.30235524e-03 9.99977474e-01 9.88552181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89255784400007 meters Centerline goodness [0,1] 0.2472432432432432 Centerline is valid? [False, False] Translation: X:3.85, Y:0.28, Z:0.99 [[ 9.99995550e-01 1.94995705e-03 -2.25767599e-03 3.84707553e+00] [-1.93424673e-03 9.99974047e-01 6.94002462e-03 2.81603521e-01] [ 2.27115015e-03 -6.93562684e-03 9.99973369e-01 9.88832626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92255784400004 meters Centerline goodness [0,1] 0.25038191261839293 Centerline is valid? [False, False] Translation: X:3.85, Y:0.28, Z:0.99 [[ 9.99995179e-01 2.20402509e-03 -2.18741681e-03 3.84689535e+00] [-2.18739181e-03 9.99968897e-01 7.57755699e-03 2.78720371e-01] [ 2.20404990e-03 -7.57273572e-03 9.99968897e-01 9.88917688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95255784400007 meters Centerline goodness [0,1] 0.2490186297685918 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:0.99 [[ 9.99994649e-01 2.59177432e-03 -1.99615136e-03 3.84653038e+00] [-2.57471701e-03 9.99960553e-01 8.50078614e-03 2.74505070e-01] [ 2.01810474e-03 -8.49560113e-03 9.99961875e-01 9.88817690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98255784400004 meters Centerline goodness [0,1] 0.24835476138592283 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:0.99 [[ 9.99994348e-01 2.74329321e-03 -1.94384279e-03 3.84640450e+00] [-2.72592720e-03 9.99956849e-01 8.88088431e-03 2.72768673e-01] [ 1.96812178e-03 -8.87553534e-03 9.99958675e-01 9.88850117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01255784400007 meters Centerline goodness [0,1] 0.24652837674659311 Centerline is valid? [False, False] Translation: X:3.87, Y:0.27, Z:0.99 [[ 9.99936181e-01 1.11282641e-02 -1.94801382e-03 3.86722553e+00] [-1.11121554e-02 9.99905503e-01 8.09348955e-03 2.67736712e-01] [ 2.03789622e-03 -8.07132641e-03 9.99965350e-01 9.89871146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04255784400004 meters Centerline goodness [0,1] 0.2509954929330941 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:0.99 [[ 9.99990496e-01 2.37813582e-03 -3.65399960e-03 3.84660502e+00] [-2.34528285e-03 9.99957027e-01 8.96909107e-03 2.68945659e-01] [ 3.67517230e-03 -8.96043617e-03 9.99953101e-01 9.89273449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.072557844 meters Centerline goodness [0,1] 0.24711998964490656 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 0.99993373 0.01080981 -0.00396055 3.86807409] [-0.01077688 0.99990794 0.0082442 0.2643444 ] [ 0.0040493 -0.00820097 0.99995817 0.99005294] [ 0. 0. 0. 1. ]] SLAMing on 266.10255784400005 meters Centerline goodness [0,1] 0.24826792346284998 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 0.99993056 0.01101472 -0.00418836 3.86888027] [-0.01097826 0.99990248 0.00863177 0.26248303] [ 0.00428303 -0.00858519 0.99995397 0.98959259] [ 0. 0. 0. 1. ]] SLAMing on 266.132557844 meters Centerline goodness [0,1] 0.24832591696548145 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 0.99993067 0.011063 -0.00403288 3.86834852] [-0.01102742 0.99990099 0.00874062 0.26197079] [ 0.00412918 -0.00869555 0.99995367 0.98981306] [ 0. 0. 0. 1. ]] SLAMing on 266.16255784400005 meters Centerline goodness [0,1] 0.2505935913912911 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:0.99 [[ 9.99991230e-01 2.39449905e-03 -3.43603017e-03 3.84621319e+00] [-2.36172577e-03 9.99951983e-01 9.51068988e-03 2.65101948e-01] [ 3.45863852e-03 -9.50249151e-03 9.99948869e-01 9.89240689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.192557844 meters Centerline goodness [0,1] 0.2508691754313078 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.99 [[ 9.99992213e-01 2.47054763e-03 -3.07740564e-03 3.84512255e+00] [-2.44049964e-03 9.99949686e-01 9.72985028e-03 2.64248109e-01] [ 3.10128886e-03 -9.72226411e-03 9.99947928e-01 9.89624070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22255784400005 meters Centerline goodness [0,1] 0.24953893553776385 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.99 [[ 9.99992371e-01 2.48596692e-03 -3.01303324e-03 3.84509595e+00] [-2.45627654e-03 9.99948786e-01 9.81794818e-03 2.63765758e-01] [ 3.03728603e-03 -9.81047243e-03 9.99947263e-01 9.89390659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.252557844 meters Centerline goodness [0,1] 0.25010828135828134 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.99 [[ 9.99992440e-01 2.48761217e-03 -2.98849822e-03 3.84514663e+00] [-2.45801873e-03 9.99948312e-01 9.86564022e-03 2.63503524e-01] [ 3.01288564e-03 -9.85821985e-03 9.99946868e-01 9.89199493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28255784400005 meters Centerline goodness [0,1] 0.25127881413116826 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.99 [[ 9.99992337e-01 2.53884566e-03 -2.97985370e-03 3.84511926e+00] [-2.50893048e-03 9.99946848e-01 1.00003089e-02 2.62926559e-01] [ 3.00508456e-03 -9.99275600e-03 9.99945556e-01 9.89221196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.312557844 meters Centerline goodness [0,1] 0.25049309664694275 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:0.99 [[ 9.99992473e-01 2.57268329e-03 -2.90420528e-03 3.84477484e+00] [-2.54319468e-03 9.99945636e-01 1.01121957e-02 2.62523271e-01] [ 2.93006288e-03 -1.01047336e-02 9.99944653e-01 9.89498569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34255784400005 meters Centerline goodness [0,1] 0.24822725794210132 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:0.99 [[ 9.99992600e-01 2.53965423e-03 -2.88979626e-03 3.84476007e+00] [-2.51051446e-03 9.99946416e-01 1.00430151e-02 2.62859745e-01] [ 2.91514720e-03 -1.00356859e-02 9.99945392e-01 9.89491195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.372557844 meters Centerline goodness [0,1] 0.2478181975287307 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:0.99 [[ 9.99992918e-01 2.49390814e-03 -2.81840944e-03 3.84449017e+00] [-2.46569355e-03 9.99947255e-01 9.97034330e-03 2.63099348e-01] [ 2.84312590e-03 -9.96332337e-03 9.99946323e-01 9.89637251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40255784400006 meters Centerline goodness [0,1] 0.24938383707355039 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:0.99 [[ 9.99993293e-01 2.43609542e-03 -2.73487831e-03 3.84421819e+00] [-2.40905154e-03 9.99948599e-01 9.84863735e-03 2.63609868e-01] [ 2.75872995e-03 -9.84198284e-03 9.99947761e-01 9.89716398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43255784400003 meters Centerline goodness [0,1] 0.24746437144525424 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:0.99 [[ 9.99993714e-01 2.31908413e-03 -2.68231093e-03 3.84422263e+00] [-2.29325868e-03 9.99951372e-01 9.59138991e-03 2.64787862e-01] [ 2.70442373e-03 -9.58517838e-03 9.99950404e-01 9.89393264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46255784400006 meters Centerline goodness [0,1] 0.24919227183034454 Centerline is valid? [False, False] Translation: X:3.84, Y:0.27, Z:0.99 [[ 9.99993721e-01 2.23070805e-03 -2.75344959e-03 3.84452225e+00] [-2.20467230e-03 9.99953174e-01 9.42277530e-03 2.65470532e-01] [ 2.77434012e-03 -9.41664569e-03 9.99951814e-01 9.89161283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49255784400003 meters Centerline goodness [0,1] 0.2494896407939886 Centerline is valid? [False, False] Translation: X:3.84, Y:0.27, Z:0.99 [[ 9.99996298e-01 -7.80204663e-04 -2.60666704e-03 3.84413657e+00] [ 7.96076449e-04 9.99981118e-01 6.09344037e-03 2.66953134e-01] [ 2.60186369e-03 -6.09549292e-03 9.99978037e-01 9.89035946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52255784400006 meters Centerline goodness [0,1] 0.24852275924763534 Centerline is valid? [False, False] Translation: X:3.84, Y:0.27, Z:0.99 [[ 9.99995740e-01 -9.74830579e-04 -2.75123207e-03 3.84455565e+00] [ 9.90966431e-04 9.99982282e-01 5.86969831e-03 2.67482697e-01] [ 2.74546136e-03 -5.87239968e-03 9.99978988e-01 9.88939088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55255784400003 meters Centerline goodness [0,1] 0.25119617224880386 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:0.99 [[ 9.99995367e-01 -1.01755304e-03 -2.86882393e-03 3.84504648e+00] [ 1.03421056e-03 9.99982582e-01 5.81090138e-03 2.67749994e-01] [ 2.86286106e-03 -5.81384142e-03 9.99979001e-01 9.88595495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58255784400006 meters Centerline goodness [0,1] 0.24571465533970116 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:0.99 [[ 9.99994796e-01 -1.04410189e-03 -3.05234826e-03 3.84576377e+00] [ 1.06173121e-03 9.99982733e-01 5.77975307e-03 2.67916488e-01] [ 3.04626090e-03 -5.78296377e-03 9.99978639e-01 9.88150051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61255784400004 meters Centerline goodness [0,1] 0.24926355917518628 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:0.99 [[ 9.99994540e-01 -1.05612066e-03 -3.13109639e-03 3.84602690e+00] [ 1.07429971e-03 9.99982545e-01 5.80998636e-03 2.67667772e-01] [ 3.12490569e-03 -5.81331838e-03 9.99978220e-01 9.88074654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64255784400007 meters Centerline goodness [0,1] 0.25015814846323325 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:0.99 [[ 9.99994448e-01 -1.08169482e-03 -3.15183785e-03 3.84597098e+00] [ 1.10019658e-03 9.99982141e-01 5.87434230e-03 2.67129975e-01] [ 3.14542731e-03 -5.87777733e-03 9.99977779e-01 9.88294389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67255784400004 meters Centerline goodness [0,1] 0.24972965958735238 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:0.99 [[ 9.99993896e-01 -1.10047914e-03 -3.31619582e-03 3.84605535e+00] [ 1.12097942e-03 9.99980236e-01 6.18636155e-03 2.65364903e-01] [ 3.30932232e-03 -6.19004118e-03 9.99975366e-01 9.88972473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70255784400007 meters Centerline goodness [0,1] 0.24870936386218812 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.99 [[ 9.99993918e-01 -1.01397274e-03 -3.33693891e-03 3.84602606e+00] [ 1.03557367e-03 9.99978482e-01 6.47792941e-03 2.64000264e-01] [ 3.33029866e-03 -6.48134566e-03 9.99973450e-01 9.89166240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73255784400004 meters Centerline goodness [0,1] 0.25202437962559865 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.99 [[ 9.99994002e-01 -9.04012525e-04 -3.34347265e-03 3.84612124e+00] [ 9.26780688e-04 9.99976352e-01 6.81446646e-03 2.62399258e-01] [ 3.33723322e-03 -6.81752425e-03 9.99971192e-01 9.89104385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76255784400007 meters Centerline goodness [0,1] 0.24971141071156322 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.99 [[ 9.99994017e-01 -8.07110656e-04 -3.36361049e-03 3.84626530e+00] [ 8.31071612e-04 9.99974248e-01 7.12828331e-03 2.60828288e-01] [ 3.35777055e-03 -7.13103606e-03 9.99968936e-01 9.88968403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79255784400004 meters Centerline goodness [0,1] 0.2508240019208522 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.99 [[ 9.99994118e-01 -5.79443380e-04 -3.38064308e-03 3.84643787e+00] [ 6.05476904e-04 9.99970134e-01 7.70482612e-03 2.58228289e-01] [ 3.37607761e-03 -7.70682770e-03 9.99964603e-01 9.88785971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822557844 meters Centerline goodness [0,1] 0.24721497985304575 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.99 [[ 9.99967207e-01 7.65025543e-03 -2.65666963e-03 3.86642494e+00] [-7.63211819e-03 9.99947948e-01 6.77137698e-03 2.53639429e-01] [ 2.70833411e-03 -6.75087891e-03 9.99973545e-01 9.89784603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85255784400005 meters Centerline goodness [0,1] 0.2522607343828688 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:0.99 [[ 9.99992603e-01 -1.46668457e-03 -3.55576112e-03 3.84403554e+00] [ 1.49344983e-03 9.99970486e-01 7.53636142e-03 2.53996778e-01] [ 3.54460271e-03 -7.54161602e-03 9.99965279e-01 9.89695062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882557844 meters Centerline goodness [0,1] 0.245601946555845 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.99 [[ 9.99988076e-01 4.37624234e-03 -2.16710707e-03 3.86656091e+00] [-4.36647179e-03 9.99980373e-01 4.49295631e-03 2.51407515e-01] [ 2.18672681e-03 -4.48344012e-03 9.99987558e-01 9.89308653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91255784400005 meters Centerline goodness [0,1] 0.2476671683508923 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.99 [[ 9.99997751e-01 1.00106821e-03 -1.86993922e-03 3.86504722e+00] [-9.97832534e-04 9.99998005e-01 1.73049486e-03 2.47090950e-01] [ 1.87166783e-03 -1.72862508e-03 9.99996754e-01 9.90347048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942557844 meters Centerline goodness [0,1] 0.25319255035448696 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:0.99 [[ 9.99997569e-01 1.23289801e-03 -1.82833121e-03 3.86484682e+00] [-1.22846796e-03 9.99996312e-01 2.42214388e-03 2.43800868e-01] [ 1.83131073e-03 -2.41989195e-03 9.99995395e-01 9.90622235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97255784400005 meters Centerline goodness [0,1] 0.25144590057402794 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99997064e-01 1.42178406e-03 -1.96223623e-03 3.86519427e+00] [-1.41589257e-03 9.99994496e-01 3.00056724e-03 2.40960349e-01] [ 1.96649158e-03 -2.99778012e-03 9.99993573e-01 9.90656202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002557844 meters Centerline goodness [0,1] 0.2522123893805309 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99996693e-01 1.56277956e-03 -2.04269296e-03 3.86550515e+00] [-1.55577978e-03 9.99992928e-01 3.42385094e-03 2.38888657e-01] [ 2.04802924e-03 -3.42066164e-03 9.99992052e-01 9.90509978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03255784400005 meters Centerline goodness [0,1] 0.2522536187917136 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99996090e-01 1.81523127e-03 -2.12703608e-03 3.86614363e+00] [-1.80671303e-03 9.99990368e-01 3.99984873e-03 2.36211146e-01] [ 2.13427624e-03 -3.99599015e-03 9.99989738e-01 9.89784123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062557844 meters Centerline goodness [0,1] 0.24909684816232935 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99995629e-01 1.89188102e-03 -2.27202723e-03 3.86677817e+00] [-1.88248053e-03 9.99989689e-01 4.13252567e-03 2.35580319e-01] [ 2.27982205e-03 -4.12823056e-03 9.99988880e-01 9.89281807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09255784400005 meters Centerline goodness [0,1] 0.2494591554170993 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99995132e-01 1.94220831e-03 -2.44205940e-03 3.86738825e+00] [-1.93195866e-03 9.99989345e-01 4.19251160e-03 2.35254149e-01] [ 2.45017611e-03 -4.18777323e-03 9.99988230e-01 9.88911863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122557844 meters Centerline goodness [0,1] 0.2527743257679813 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99995070e-01 1.96040904e-03 -2.45272922e-03 3.86757270e+00] [-1.95012684e-03 9.99989331e-01 4.18753694e-03 2.35253753e-01] [ 2.46091233e-03 -4.18273317e-03 9.99988224e-01 9.88581382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15255784400006 meters Centerline goodness [0,1] 0.25277070133037216 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99996049e-01 2.09200614e-03 -1.87774043e-03 3.86605292e+00] [-2.08403322e-03 9.99988848e-01 4.23797783e-03 2.35313505e-01] [ 1.88658537e-03 -4.23404781e-03 9.99989257e-01 9.88724380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18255784400003 meters Centerline goodness [0,1] 0.25259160646864975 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99996436e-01 2.07370568e-03 -1.68157590e-03 3.86550237e+00] [-2.06665808e-03 9.99989120e-01 4.18203169e-03 2.35537192e-01] [ 1.69022991e-03 -4.17854154e-03 9.99989841e-01 9.88789272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21255784400006 meters Centerline goodness [0,1] 0.2529819876999847 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99996364e-01 2.07116968e-03 -1.72717500e-03 3.86571925e+00] [-2.06390634e-03 9.99989065e-01 4.19656036e-03 2.35334499e-01] [ 1.73584790e-03 -4.19298037e-03 9.99989703e-01 9.88577431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24255784400003 meters Centerline goodness [0,1] 0.2512477388139398 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.99 [[ 9.99995938e-01 2.06669970e-03 -1.96261111e-03 3.86647488e+00] [-2.05839899e-03 9.99988969e-01 4.22206454e-03 2.35073105e-01] [ 1.97131520e-03 -4.21800755e-03 9.99989161e-01 9.88254093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27255784400006 meters Centerline goodness [0,1] 0.25343064417446026 Centerline is valid? [False, False] Translation: X:3.87, Y:0.23, Z:0.99 [[ 9.99995722e-01 2.20308517e-03 -1.92414803e-03 3.86621719e+00] [-2.19416525e-03 9.99986894e-01 4.62564876e-03 2.33265463e-01] [ 1.93431351e-03 -4.62140707e-03 9.99987450e-01 9.88568336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30255784400003 meters Centerline goodness [0,1] 0.24968678446450943 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:0.99 [[ 9.99966682e-01 7.99286332e-03 1.65811760e-03 3.88821262e+00] [-7.99599284e-03 9.99966247e-01 1.88942696e-03 2.33023853e-01] [-1.64295970e-03 -1.90262231e-03 9.99996840e-01 9.87352704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33255784400006 meters Centerline goodness [0,1] 0.2475837387223282 Centerline is valid? [False, False] Translation: X:3.91, Y:0.24, Z:0.99 [[ 9.99994619e-01 -9.34599884e-05 3.27924496e-03 3.90707273e+00] [ 8.31150868e-05 9.99995021e-01 3.15465406e-03 2.35601833e-01] [-3.27952346e-03 -3.15436453e-03 9.99989647e-01 9.88594362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36255784400004 meters Centerline goodness [0,1] 0.2519121904844216 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:0.99 [[ 9.99994389e-01 3.75154254e-05 3.34974359e-03 3.90679018e+00] [-4.95556583e-05 9.99993539e-01 3.59436385e-03 2.33384592e-01] [-3.34958710e-03 -3.59450968e-03 9.99987930e-01 9.88859933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39255784400007 meters Centerline goodness [0,1] 0.25038425735501046 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:0.99 [[ 9.99997333e-01 1.25950556e-04 2.30592468e-03 3.91032938e+00] [-1.35733334e-04 9.99990990e-01 4.24278857e-03 2.29641188e-01] [-2.30536953e-03 -4.24309024e-03 9.99988341e-01 9.87263145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42255784400004 meters Centerline goodness [0,1] 0.24865866534508396 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:0.99 [[ 9.99998047e-01 2.92596106e-04 1.95482479e-03 3.91178679e+00] [-3.01710046e-04 9.99989080e-01 4.66361276e-03 2.27678079e-01] [-1.95343889e-03 -4.66419344e-03 9.99987215e-01 9.86257609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45255784400007 meters Centerline goodness [0,1] 0.25323410309729666 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:0.98 [[ 9.99964247e-01 8.39971523e-03 9.74712796e-04 3.89252021e+00] [-8.40347571e-03 9.99957005e-01 3.92030982e-03 2.19658006e-01] [-9.41741402e-04 -3.92836063e-03 9.99991841e-01 9.84987966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48255784400004 meters Centerline goodness [0,1] 0.25323410309729666 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:0.98 [[ 9.99964247e-01 8.39971523e-03 9.74712796e-04 3.89252021e+00] [-8.40347571e-03 9.99957005e-01 3.92030982e-03 2.19658006e-01] [-9.41741402e-04 -3.92836063e-03 9.99991841e-01 9.84987966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51255784400007 meters Centerline goodness [0,1] 0.24997292790158754 Centerline is valid? [False, False] Translation: X:3.91, Y:0.22, Z:0.99 [[ 9.99998674e-01 1.66212176e-04 1.62024149e-03 3.91281276e+00] [-1.73747118e-04 9.99989167e-01 4.65147481e-03 2.21564908e-01] [-1.61945080e-03 -4.65175015e-03 9.99987869e-01 9.85191826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54255784400004 meters Centerline goodness [0,1] 0.250348523133223 Centerline is valid? [False, False] Translation: X:3.91, Y:0.21, Z:0.99 [[ 9.99996733e-01 -1.81261336e-03 1.80212623e-03 3.91074979e+00] [ 1.80675347e-03 9.99993093e-01 3.24798513e-03 2.14469385e-01] [-1.80800112e-03 -3.24471852e-03 9.99993101e-01 9.87043562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.572557844 meters Centerline goodness [0,1] 0.24703553059160266 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:0.99 [[ 9.99976965e-01 6.73254905e-03 8.61535937e-04 3.93223115e+00] [-6.73488831e-03 9.99973562e-01 2.74175012e-03 2.07669431e-01] [-8.43054192e-04 -2.74748931e-03 9.99995870e-01 9.88081974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60255784400005 meters Centerline goodness [0,1] 0.25089449341129244 Centerline is valid? [False, False] Translation: X:3.91, Y:0.21, Z:0.99 [[ 9.99996970e-01 -1.87065678e-03 -1.60009512e-03 3.91301974e+00] [ 1.87715084e-03 9.99989969e-01 4.06671940e-03 2.07727389e-01] [ 1.59247163e-03 -4.06971070e-03 9.99990451e-01 9.87274851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.632557844 meters Centerline goodness [0,1] 0.25322506712068626 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:0.99 [[ 9.99998124e-01 -1.36897680e-03 -1.37010624e-03 3.91270897e+00] [ 1.37576556e-03 9.99986721e-01 4.96629647e-03 2.03872574e-01] [ 1.36328930e-03 -4.96817210e-03 9.99986729e-01 9.86905136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66255784400005 meters Centerline goodness [0,1] 0.24641432114741724 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:0.99 [[ 9.99972062e-01 7.47375755e-03 1.37505223e-04 3.93253287e+00] [-7.47425063e-03 9.99963963e-01 4.02605763e-03 1.99475350e-01] [-1.07410489e-04 -4.02697290e-03 9.99991886e-01 9.87930730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.692557844 meters Centerline goodness [0,1] 0.247421792580791 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:0.99 [[ 9.99971058e-01 7.60588328e-03 1.82978938e-04 3.93240822e+00] [-7.60659896e-03 9.99961850e-01 4.29392338e-03 1.98180047e-01] [-1.50312878e-04 -4.29519095e-03 9.99990764e-01 9.87930332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72255784400005 meters Centerline goodness [0,1] 0.2488434432962947 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:0.99 [[ 9.99970302e-01 7.70677129e-03 1.92745370e-05 3.93308660e+00] [-7.70677941e-03 9.99960010e-01 4.53705819e-03 1.96884407e-01] [ 1.56923036e-05 -4.53707200e-03 9.99989707e-01 9.87495038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.752557844 meters Centerline goodness [0,1] 0.2512261816919137 Centerline is valid? [False, False] Translation: X:3.93, Y:0.19, Z:0.99 [[ 9.99989904e-01 4.48511246e-03 2.74392909e-04 3.93229733e+00] [-4.48550386e-03 9.99988899e-01 1.44282243e-03 1.94826896e-01] [-2.67918642e-04 -1.44403866e-03 9.99998921e-01 9.87455427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78255784400005 meters Centerline goodness [0,1] 0.24924045138888884 Centerline is valid? [False, False] Translation: X:3.93, Y:0.19, Z:0.99 [[ 9.99989188e-01 4.64391665e-03 2.39528332e-04 3.93227032e+00] [-4.64436883e-03 9.99987366e-01 1.92311580e-03 1.92629055e-01] [-2.30594516e-04 -1.92420747e-03 9.99998122e-01 9.87704309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.812557844 meters Centerline goodness [0,1] 0.24893515299026425 Centerline is valid? [False, False] Translation: X:3.93, Y:0.19, Z:0.99 [[ 9.99988567e-01 4.77964671e-03 1.44729497e-04 3.93255272e+00] [-4.77998148e-03 9.99985675e-01 2.40850139e-03 1.90245718e-01] [-1.33215638e-04 -2.40916566e-03 9.99997089e-01 9.87702431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84255784400005 meters Centerline goodness [0,1] 0.2487930549241194 Centerline is valid? [False, False] Translation: X:3.93, Y:0.19, Z:0.99 [[ 9.99989271e-01 4.61690053e-03 -3.76401704e-04 3.93387652e+00] [-4.61580607e-03 9.99985262e-01 2.85848258e-03 1.86637518e-01] [ 3.89593486e-04 -2.85671452e-03 9.99995844e-01 9.87840115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.872557844 meters Centerline goodness [0,1] 0.2505271944468852 Centerline is valid? [False, False] Translation: X:3.91, Y:0.19, Z:0.99 [[ 9.99987821e-01 -4.55006263e-03 -1.91167071e-03 3.91253545e+00] [ 4.55732454e-03 9.99982351e-01 3.81169523e-03 1.87966964e-01] [ 1.89429352e-03 -3.82036092e-03 9.99990908e-01 9.87917630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90255784400006 meters Centerline goodness [0,1] 0.24730694354315375 Centerline is valid? [False, False] Translation: X:3.93, Y:0.19, Z:0.99 [[ 9.99990420e-01 4.29728910e-03 -8.32061252e-04 3.93318565e+00] [-4.29472081e-03 9.99986083e-01 3.06422342e-03 1.85353750e-01] [ 8.45217526e-04 -3.06062060e-03 9.99994959e-01 9.88085443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93255784400003 meters Centerline goodness [0,1] 0.24872864780284265 Centerline is valid? [False, False] Translation: X:3.93, Y:0.19, Z:0.99 [[ 9.99990442e-01 4.29948159e-03 -7.94129096e-04 3.93327729e+00] [-4.29706793e-03 9.99986218e-01 3.01646982e-03 1.85726246e-01] [ 8.07087408e-04 -3.01302857e-03 9.99995135e-01 9.87742984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96255784400006 meters Centerline goodness [0,1] 0.2510065945545955 Centerline is valid? [False, False] Translation: X:3.93, Y:0.19, Z:0.99 [[ 9.99991017e-01 4.17789785e-03 -7.14703382e-04 3.93345543e+00] [-4.17609834e-03 9.99988152e-01 2.50107578e-03 1.88216557e-01] [ 7.25144153e-04 -2.49806864e-03 9.99996617e-01 9.86977305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99255784400003 meters Centerline goodness [0,1] 0.25097843103148376 Centerline is valid? [False, False] Translation: X:3.93, Y:0.19, Z:0.99 [[ 9.99991623e-01 4.01764069e-03 -7.82522855e-04 3.93369750e+00] [-4.01608729e-03 9.99989982e-01 1.97667890e-03 1.90678346e-01] [ 7.90456602e-04 -1.97351966e-03 9.99997740e-01 9.86748882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02255784400006 meters Centerline goodness [0,1] 0.24844490843446865 Centerline is valid? [False, False] Translation: X:3.93, Y:0.19, Z:0.99 [[ 9.99992221e-01 3.85770681e-03 -8.22030284e-04 3.93392165e+00] [-3.85657542e-03 9.99991620e-01 1.37350481e-03 1.93636543e-01] [ 8.27321974e-04 -1.37032390e-03 9.99998719e-01 9.86360946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05255784400003 meters Centerline goodness [0,1] 0.24648024394991241 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:0.99 [[ 9.99992671e-01 3.73044819e-03 -8.61683978e-04 3.93404516e+00] [-3.72973831e-03 9.99992705e-01 8.23975698e-04 1.96509272e-01] [ 8.64751490e-04 -8.20755803e-04 9.99999289e-01 9.86135448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08255784400006 meters Centerline goodness [0,1] 0.24775311315646997 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:0.99 [[ 9.99993197e-01 3.59524636e-03 -8.25104326e-04 3.93396641e+00] [-3.59494345e-03 9.99993470e-01 3.68310661e-04 1.98874941e-01] [ 8.26423106e-04 -3.65341952e-04 9.99999592e-01 9.86006616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11255784400004 meters Centerline goodness [0,1] 0.25166902250733936 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:0.99 [[ 9.99994089e-01 3.39913810e-03 -5.17977193e-04 3.93290906e+00] [-3.39918000e-03 9.99994220e-01 -8.00341450e-05 2.00898257e-01] [ 5.17702151e-04 8.17943696e-05 9.99999863e-01 9.86463193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14255784400007 meters Centerline goodness [0,1] 0.25131219364074087 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:0.99 [[ 9.99994530e-01 3.27940060e-03 -4.31573204e-04 3.93232465e+00] [-3.27946938e-03 9.99994610e-01 -1.58757717e-04 2.00866675e-01] [ 4.31050248e-04 1.60172179e-04 9.99999894e-01 9.87128548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17255784400004 meters Centerline goodness [0,1] 0.2513658823273329 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:0.99 [[ 9.99994817e-01 3.18893609e-03 -4.43038784e-04 3.93214660e+00] [-3.18900949e-03 9.99994901e-01 -1.65057627e-04 2.00578603e-01] [ 4.42510167e-04 1.66469627e-04 9.99999888e-01 9.87538215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20255784400007 meters Centerline goodness [0,1] 0.25583796489532307 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:0.99 [[ 9.99994874e-01 3.13622646e-03 -6.45482597e-04 3.93266870e+00] [-3.13635436e-03 9.99995062e-01 -1.97230775e-04 2.00647930e-01] [ 6.44860849e-04 1.99254226e-04 9.99999772e-01 9.87475874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23255784400004 meters Centerline goodness [0,1] 0.24926033905625744 Centerline is valid? [False, False] Translation: X:3.96, Y:0.21, Z:0.99 [[ 9.99994576e-01 -3.28901093e-03 -1.77121592e-04 3.95547284e+00] [ 3.28935388e-03 9.99992646e-01 1.97203660e-03 2.06527055e-01] [ 1.70634240e-04 -1.97260851e-03 9.99998040e-01 9.86298661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26255784400007 meters Centerline goodness [0,1] 0.2496952016023687 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:0.98 [[ 9.99990849e-01 4.25454022e-03 4.47740744e-04 3.93616219e+00] [-4.25485625e-03 9.99990698e-01 7.07261376e-04 2.02173720e-01] [-4.44727507e-04 -7.09159976e-04 9.99999650e-01 9.84728191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29255784400004 meters Centerline goodness [0,1] 0.25041293575588974 Centerline is valid? [False, False] Translation: X:3.94, Y:0.20, Z:0.98 [[ 9.99991364e-01 4.13377060e-03 4.27828433e-04 3.93613040e+00] [-4.13393276e-03 9.99991383e-01 3.78848351e-04 2.03728169e-01] [-4.26258674e-04 -3.80613693e-04 9.99999837e-01 9.84844123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.322557844 meters Centerline goodness [0,1] 0.24806318651675696 Centerline is valid? [False, False] Translation: X:3.94, Y:0.21, Z:0.98 [[ 9.99991854e-01 4.02825392e-03 2.54432415e-04 3.93665823e+00] [-4.02826075e-03 9.99991886e-01 2.63698453e-05 2.05510264e-01] [-2.54324126e-04 -2.73945506e-05 9.99999967e-01 9.84621218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35255784400005 meters Centerline goodness [0,1] 0.24562272521697925 Centerline is valid? [False, False] Translation: X:3.94, Y:0.21, Z:0.98 [[ 9.99991820e-01 4.04175430e-03 -1.53033284e-04 3.93783252e+00] [-4.04183761e-03 9.99991682e-01 -5.48064487e-04 2.09180132e-01] [ 1.50816869e-04 5.48678540e-04 9.99999838e-01 9.84121693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.382557844 meters Centerline goodness [0,1] 0.2465927715000431 Centerline is valid? [False, False] Translation: X:3.94, Y:0.21, Z:0.98 [[ 9.99992287e-01 3.92670516e-03 -8.55059736e-05 3.93769981e+00] [-3.92677918e-03 9.99991900e-01 -8.83403798e-04 2.10864377e-01] [ 8.20364148e-05 8.83732747e-04 9.99999606e-01 9.83986594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41255784400005 meters Centerline goodness [0,1] 0.25125814252412804 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.98 [[ 9.99989327e-01 -4.58108785e-03 -6.00311917e-04 3.91717769e+00] [ 4.58129682e-03 9.99989446e-01 3.47187242e-04 2.15622834e-01] [ 5.98715086e-04 -3.49933743e-04 9.99999760e-01 9.82847991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442557844 meters Centerline goodness [0,1] 0.2520834693300259 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.98 [[ 9.99988582e-01 -4.77047351e-03 -2.81642775e-04 3.91575307e+00] [ 4.77041625e-03 9.99988601e-01 -2.03604041e-04 2.18401607e-01] [ 2.82610853e-04 2.02258162e-04 9.99999940e-01 9.83876903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47255784400005 meters Centerline goodness [0,1] 0.24985403196159417 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.98 [[ 9.99988015e-01 -4.88950557e-03 -2.49448343e-04 3.91532808e+00] [ 4.88938327e-03 9.99987928e-01 -4.88559206e-04 2.19726308e-01] [ 2.51834145e-04 4.87333702e-04 9.99999850e-01 9.84466780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502557844 meters Centerline goodness [0,1] 0.24626014335220303 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.98 [[ 9.99987414e-01 -5.01023784e-03 -2.62920956e-04 3.91530274e+00] [ 5.01002932e-03 9.99987139e-01 -7.87865263e-04 2.21120079e-01] [ 2.66864967e-04 7.86538105e-04 9.99999655e-01 9.84522836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53255784400005 meters Centerline goodness [0,1] 0.25138816588582336 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.98 [[ 9.99986808e-01 -5.13430693e-03 -1.48252961e-04 3.91500417e+00] [ 5.13413686e-03 9.99986187e-01 -1.12559736e-03 2.22774894e-01] [ 1.54030075e-04 1.12482136e-03 9.99999356e-01 9.84462237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562557844 meters Centerline goodness [0,1] 0.24526474386569097 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:0.98 [[ 9.99985322e-01 -5.41786238e-03 4.43831611e-05 3.91463521e+00] [ 5.41793834e-03 9.99983438e-01 -1.94141273e-03 2.26916522e-01] [-3.38641191e-05 1.94162470e-03 9.99998114e-01 9.84126215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59255784400005 meters Centerline goodness [0,1] 0.2497239243877617 Centerline is valid? [False, False] Translation: X:3.92, Y:0.23, Z:0.98 [[ 9.99984249e-01 -5.61159705e-03 -1.05160266e-04 3.91530932e+00] [ 5.61132195e-03 9.99981242e-01 -2.45549115e-03 2.29295630e-01] [ 1.18937520e-04 2.45486239e-03 9.99996980e-01 9.83510092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622557844 meters Centerline goodness [0,1] 0.24834630983105255 Centerline is valid? [False, False] Translation: X:3.92, Y:0.23, Z:0.98 [[ 9.99982894e-01 -5.83133603e-03 -4.55280603e-04 3.91654186e+00] [ 5.82992592e-03 9.99978387e-01 -3.03943437e-03 2.31966806e-01] [ 4.72994726e-04 3.03672812e-03 9.99995277e-01 9.82781738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65255784400006 meters Centerline goodness [0,1] 0.25358568358261324 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.98 [[ 9.99994561e-01 2.48931377e-03 -2.16378335e-03 3.89633392e+00] [-2.49807698e-03 9.99988651e-01 -4.05672474e-03 2.29453933e-01] [ 2.15366034e-03 4.06210797e-03 9.99989430e-01 9.82407295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68255784400003 meters Centerline goodness [0,1] 0.24424439515000107 Centerline is valid? [False, False] Translation: X:3.92, Y:0.24, Z:0.98 [[ 9.99992622e-01 -3.69550516e-03 -1.04794586e-03 3.91754253e+00] [ 3.69366269e-03 9.99991639e-01 -1.75468927e-03 2.37475916e-01] [ 1.05442156e-03 1.75080556e-03 9.99997911e-01 9.82471822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71255784400006 meters Centerline goodness [0,1] 0.24869938437527095 Centerline is valid? [False, False] Translation: X:3.92, Y:0.24, Z:0.98 [[ 9.99992453e-01 -3.75689726e-03 -9.89658584e-04 3.91705691e+00] [ 3.75503873e-03 9.99991195e-01 -1.87316020e-03 2.38047524e-01] [ 9.96687141e-04 1.86942986e-03 9.99997756e-01 9.83077001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74255784400003 meters Centerline goodness [0,1] 0.2402934488824059 Centerline is valid? [False, False] Translation: X:3.94, Y:0.24, Z:0.98 [[ 9.99990178e-01 4.43170104e-03 6.11207647e-05 3.93642066e+00] [-4.43148737e-03 9.99985255e-01 -3.13889004e-03 2.35491282e-01] [-7.50304857e-05 3.13858836e-03 9.99995072e-01 9.84106138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77255784400006 meters Centerline goodness [0,1] 0.2558139534883721 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:0.99 [[ 9.99993255e-01 2.39679563e-03 -2.78317872e-03 3.88915415e+00] [-2.40827080e-03 9.99988584e-01 -4.12703859e-03 2.32687663e-01] [ 2.77325528e-03 4.13371340e-03 9.99987611e-01 9.86339340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80255784400003 meters Centerline goodness [0,1] 0.2447730309953874 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:0.99 [[ 9.99995825e-01 2.81599523e-03 -6.47807928e-04 3.93427031e+00] [-2.81872174e-03 9.99987008e-01 -4.24714319e-03 2.36115644e-01] [ 6.35839577e-04 4.24895145e-03 9.99990771e-01 9.85183551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83255784400006 meters Centerline goodness [0,1] 0.2462042339059518 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:0.99 [[ 9.99995734e-01 2.83656919e-03 -6.96745842e-04 3.93426950e+00] [-2.83942915e-03 9.99987405e-01 -4.13864188e-03 2.35502893e-01] [ 6.84997522e-04 4.14060259e-03 9.99991193e-01 9.85429373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86255784400004 meters Centerline goodness [0,1] 0.24532072633501667 Centerline is valid? [False, False] Translation: X:3.95, Y:0.24, Z:0.99 [[ 9.99986582e-01 -5.17867529e-03 1.31373469e-04 3.95354232e+00] [ 5.17905087e-03 9.99981965e-01 -3.04090444e-03 2.39765432e-01] [-1.15623243e-04 3.04154402e-03 9.99995368e-01 9.86549027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89255784400007 meters Centerline goodness [0,1] 0.24880124411421656 Centerline is valid? [False, False] Translation: X:3.95, Y:0.24, Z:0.99 [[ 9.99986822e-01 -5.08701623e-03 6.90803581e-04 3.95176271e+00] [ 5.08869251e-03 9.99984059e-01 -2.44689151e-03 2.36838053e-01] [-6.78345192e-04 2.45037456e-03 9.99996768e-01 9.87367900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92255784400004 meters Centerline goodness [0,1] 0.24738352646684358 Centerline is valid? [False, False] Translation: X:3.95, Y:0.23, Z:0.99 [[ 9.99987579e-01 -4.94371447e-03 6.33001682e-04 3.95189061e+00] [ 4.94497698e-03 9.99985756e-01 -2.00869522e-03 2.34806230e-01] [-6.23062250e-04 2.01180045e-03 9.99997782e-01 9.87445299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95255784400007 meters Centerline goodness [0,1] 0.2511124134488073 Centerline is valid? [False, False] Translation: X:3.95, Y:0.23, Z:0.99 [[ 9.99988271e-01 -4.82288287e-03 4.43572088e-04 3.95247439e+00] [ 4.82358760e-03 9.99987084e-01 -1.60165968e-03 2.32800019e-01] [-4.35841742e-04 1.60378051e-03 9.99998619e-01 9.87337924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98255784400004 meters Centerline goodness [0,1] 0.2476626433182908 Centerline is valid? [False, False] Translation: X:3.95, Y:0.23, Z:0.99 [[ 9.99988674e-01 -4.75931579e-03 -2.95235944e-05 3.95395066e+00] [ 4.75927473e-03 9.99987878e-01 -1.26243196e-03 2.30863383e-01] [ 3.55315488e-05 1.26227715e-03 9.99999203e-01 9.86890244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01255784400007 meters Centerline goodness [0,1] 0.25260166156536945 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.99 [[ 9.99990908e-01 2.88835821e-03 -3.13712294e-03 3.93634658e+00] [-2.89579996e-03 9.99992998e-01 -2.37021111e-03 2.22381797e-01] [ 3.13025496e-03 2.37927404e-03 9.99992270e-01 9.85468046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04255784400004 meters Centerline goodness [0,1] 0.2468476262571645 Centerline is valid? [False, False] Translation: X:3.96, Y:0.23, Z:0.99 [[ 9.99985327e-01 -4.67148030e-03 -2.74286415e-03 3.95560214e+00] [ 4.66888744e-03 9.99988649e-01 -9.50954118e-04 2.26502110e-01] [ 2.74727538e-03 9.38134041e-04 9.99995786e-01 9.86615729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.072557844 meters Centerline goodness [0,1] 0.2495267521051372 Centerline is valid? [False, False] Translation: X:3.96, Y:0.23, Z:0.99 [[ 9.99986369e-01 -4.53614517e-03 -2.58544177e-03 3.95500380e+00] [ 4.53445001e-03 9.99989501e-01 -6.61141851e-04 2.25254580e-01] [ 2.58841366e-03 6.49409283e-04 9.99996439e-01 9.87011790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10255784400005 meters Centerline goodness [0,1] 0.2534735919351304 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.99 [[ 9.99995561e-01 2.59553087e-03 -1.46327748e-03 3.93574433e+00] [-2.59809435e-03 9.99995089e-01 -1.75270887e-03 2.15670273e-01] [ 1.45872108e-03 1.75650282e-03 9.99997393e-01 9.85250650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.132557844 meters Centerline goodness [0,1] 0.2545717351788178 Centerline is valid? [False, False] Translation: X:3.94, Y:0.21, Z:0.99 [[ 9.99995250e-01 2.68376755e-03 -1.51596906e-03 3.93586699e+00] [-2.68608692e-03 9.99995222e-01 -1.53000223e-03 2.14544368e-01] [ 1.51185564e-03 1.53406699e-03 9.99997680e-01 9.85261926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16255784400005 meters Centerline goodness [0,1] 0.2467136556257027 Centerline is valid? [False, False] Translation: X:3.96, Y:0.22, Z:0.98 [[ 9.99994507e-01 -2.96114805e-03 -1.48894955e-03 3.95873180e+00] [ 2.96316857e-03 9.99994690e-01 1.35664191e-03 2.17717746e-01] [ 1.48492442e-03 -1.36104646e-03 9.99997971e-01 9.84552523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.192557844 meters Centerline goodness [0,1] 0.24342275511084277 Centerline is valid? [False, False] Translation: X:3.96, Y:0.22, Z:0.98 [[ 9.99994216e-01 -2.92058530e-03 -1.74283450e-03 3.95969742e+00] [ 2.92274412e-03 9.99994963e-01 1.23742256e-03 2.18584429e-01] [ 1.73921172e-03 -1.24250926e-03 9.99997716e-01 9.83926870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22255784400005 meters Centerline goodness [0,1] 0.2492438912944146 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.98 [[ 9.99978489e-01 5.74663066e-03 -3.16190445e-03 3.93958122e+00] [-5.74627827e-03 9.99983483e-01 1.20521498e-04 2.16819688e-01] [ 3.16254482e-03 -1.02349723e-04 9.99994994e-01 9.83006521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.252557844 meters Centerline goodness [0,1] 0.24416071117308702 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.98 [[ 9.99979785e-01 5.57315828e-03 -3.06101123e-03 3.93923427e+00] [-5.57458018e-03 9.99984358e-01 -4.56184324e-04 2.19478873e-01] [ 3.05842096e-03 4.73238955e-04 9.99995211e-01 9.83062297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28255784400005 meters Centerline goodness [0,1] 0.2449898281608449 Centerline is valid? [False, False] Translation: X:3.96, Y:0.23, Z:0.99 [[ 9.99991249e-01 -7.68477249e-04 -4.11231972e-03 3.95627033e+00] [ 7.71439749e-04 9.99999444e-01 7.18858536e-04 2.28507779e-01] [ 4.11176500e-03 -7.22024652e-04 9.99991286e-01 9.85643055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.312557844 meters Centerline goodness [0,1] 0.25243711376098876 Centerline is valid? [False, False] Translation: X:3.96, Y:0.23, Z:0.99 [[ 9.99990850e-01 -8.90538512e-04 -4.18402033e-03 3.95645608e+00] [ 8.91236935e-04 9.99999589e-01 1.65064735e-04 2.31574386e-01] [ 4.18387161e-03 -1.68792178e-04 9.99991233e-01 9.85451067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34255784400005 meters Centerline goodness [0,1] 0.24763553727951515 Centerline is valid? [False, False] Translation: X:3.96, Y:0.24, Z:0.99 [[ 9.99990331e-01 -1.18204667e-03 -4.23573365e-03 3.95673196e+00] [ 1.17939857e-03 9.99999108e-01 -6.27624308e-04 2.35364907e-01] [ 4.23647175e-03 6.22622621e-04 9.99990832e-01 9.85078664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372557844 meters Centerline goodness [0,1] 0.24763553727951515 Centerline is valid? [False, False] Translation: X:3.96, Y:0.24, Z:0.99 [[ 9.99990331e-01 -1.18204667e-03 -4.23573365e-03 3.95673196e+00] [ 1.17939857e-03 9.99999108e-01 -6.27624308e-04 2.35364907e-01] [ 4.23647175e-03 6.22622621e-04 9.99990832e-01 9.85078664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40255784400006 meters Centerline goodness [0,1] 0.25401379914576716 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:0.99 [[ 0.99998254 0.00426058 -0.00409473 3.9326458 ] [-0.00427693 0.99998288 -0.00399246 0.2324487 ] [ 0.00407765 0.0040099 0.99998365 0.98608895] [ 0. 0. 0. 1. ]] SLAMing on 269.43255784400003 meters Centerline goodness [0,1] 0.24015510555794917 Centerline is valid? [False, False] Translation: X:3.95, Y:0.24, Z:0.99 [[ 9.99987717e-01 -4.02949167e-03 -2.88600313e-03 3.95239872e+00] [ 4.02009817e-03 9.99986627e-01 -3.25328549e-03 2.37642682e-01] [ 2.89907362e-03 3.24164352e-03 9.99990544e-01 9.87120966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46255784400006 meters Centerline goodness [0,1] 0.24946499541424638 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.99 [[ 9.99975174e-01 -5.35961308e-03 -4.57442002e-03 3.90446097e+00] [ 5.34585052e-03 9.99981164e-01 -3.01553608e-03 2.34523936e-01] [ 4.59049596e-03 2.99100705e-03 9.99984990e-01 9.89567149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49255784400003 meters Centerline goodness [0,1] 0.24564025909317388 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.99 [[ 9.99974344e-01 -5.42483288e-03 -4.67793059e-03 3.90469853e+00] [ 5.41034751e-03 9.99980548e-01 -3.10364870e-03 2.34916488e-01] [ 4.69467637e-03 3.07825984e-03 9.99984242e-01 9.89645332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52255784400006 meters Centerline goodness [0,1] 0.24743860259728956 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:0.99 [[ 9.99973133e-01 -5.55488947e-03 -4.78295749e-03 3.90499741e+00] [ 5.53872832e-03 9.99978930e-01 -3.38554506e-03 2.36071675e-01] [ 4.80166304e-03 3.35896260e-03 9.99982831e-01 9.89575706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55255784400003 meters Centerline goodness [0,1] 0.2448842452093991 Centerline is valid? [False, False] Translation: X:3.91, Y:0.24, Z:0.99 [[ 9.99971560e-01 -5.71804477e-03 -4.91763761e-03 3.90540316e+00] [ 5.69919703e-03 9.99976393e-01 -3.83819423e-03 2.38114788e-01] [ 4.93946849e-03 3.81005848e-03 9.99980542e-01 9.89383339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58255784400006 meters Centerline goodness [0,1] 0.24488243730714065 Centerline is valid? [False, False] Translation: X:3.91, Y:0.24, Z:0.99 [[ 9.99983588e-01 -1.95111203e-03 -5.38674962e-03 3.90686788e+00] [ 1.94750064e-03 9.99997875e-01 -6.75584582e-04 2.42249964e-01] [ 5.38805632e-03 6.65082795e-04 9.99985263e-01 9.88660860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61255784400004 meters Centerline goodness [0,1] 0.2466342395552853 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:0.99 [[ 9.99983420e-01 -1.97446679e-03 -5.40944232e-03 3.90705335e+00] [ 1.96786972e-03 9.99997314e-01 -1.22459822e-03 2.45474921e-01] [ 5.41184572e-03 1.21393284e-03 9.99984619e-01 9.88299573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64255784400007 meters Centerline goodness [0,1] 0.2434863456507168 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:0.99 [[ 9.99984120e-01 -2.09162205e-03 -5.23314198e-03 3.90648464e+00] [ 2.08244422e-03 9.99996285e-01 -1.75862465e-03 2.48218523e-01] [ 5.23680092e-03 1.74769900e-03 9.99984761e-01 9.88375358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67255784400004 meters Centerline goodness [0,1] 0.24433800741206302 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:0.99 [[ 9.99985641e-01 -2.23867975e-03 -4.86885567e-03 3.90528470e+00] [ 2.22793851e-03 9.99995075e-01 -2.21041900e-03 2.50343699e-01] [ 4.87378011e-03 2.19953975e-03 9.99985704e-01 9.88782808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70255784400007 meters Centerline goodness [0,1] 0.24399733453709083 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:0.99 [[ 9.99987401e-01 -2.46821506e-03 -4.37106348e-03 3.90372833e+00] [ 2.45465700e-03 9.99992169e-01 -3.10442891e-03 2.55111168e-01] [ 4.37869164e-03 3.09366033e-03 9.99985628e-01 9.89098254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73255784400004 meters Centerline goodness [0,1] 0.24523619413453035 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:0.99 [[ 9.99986413e-01 -2.66744702e-03 -4.47860219e-03 3.90422272e+00] [ 2.65097137e-03 9.99989712e-01 -3.68066266e-03 2.57935709e-01] [ 4.48837409e-03 3.66874000e-03 9.99983197e-01 9.88601704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76255784400007 meters Centerline goodness [0,1] 0.24717345543716496 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:0.99 [[ 9.99985292e-01 -2.84249928e-03 -4.61906686e-03 3.90467810e+00] [ 2.82325901e-03 9.99987334e-01 -4.16659713e-03 2.60302811e-01] [ 4.63085190e-03 4.15349502e-03 9.99980652e-01 9.88331961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79255784400004 meters Centerline goodness [0,1] 0.24372651492247221 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:0.99 [[ 9.99984645e-01 -2.97338301e-03 -4.67639083e-03 3.90473151e+00] [ 2.95248427e-03 9.99985653e-01 -4.46956103e-03 2.61719560e-01] [ 4.68961346e-03 4.45568543e-03 9.99979077e-01 9.88465735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.822557844 meters Centerline goodness [0,1] 0.24749810051014876 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:0.99 [[ 9.99985560e-01 -3.14157019e-03 -4.35997582e-03 3.90313534e+00] [ 3.12187651e-03 9.99984928e-01 -4.51640244e-03 2.61855918e-01] [ 4.37409870e-03 4.50272592e-03 9.99980296e-01 9.89928702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85255784400005 meters Centerline goodness [0,1] 0.24471064764941608 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:0.99 [[ 9.99985449e-01 -3.17696964e-03 -4.35993814e-03 3.90282959e+00] [ 3.15788913e-03 9.99985438e-01 -4.37625391e-03 2.61078538e-01] [ 4.37377788e-03 4.36242203e-03 9.99980919e-01 9.90543899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.882557844 meters Centerline goodness [0,1] 0.24912884397595614 Centerline is valid? [False, False] Translation: X:3.88, Y:0.25, Z:0.99 [[ 0.99998221 0.00416934 -0.00426631 3.88464872] [-0.00419367 0.99997491 -0.00570821 0.2542356 ] [ 0.00424241 0.005726 0.99997461 0.98884255] [ 0. 0. 0. 1. ]] SLAMing on 269.91255784400005 meters Centerline goodness [0,1] 0.24822771912329 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:0.99 [[ 0.99998057 0.0040921 -0.00470208 3.88589784] [-0.00411837 0.99997589 -0.00559084 0.25326886] [ 0.00467909 0.0056101 0.99997332 0.9885946 ] [ 0. 0. 0. 1. ]] SLAMing on 269.942557844 meters Centerline goodness [0,1] 0.24642686476389075 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:0.99 [[ 0.99997876 0.00400773 -0.00513903 3.88763953] [-0.00403578 0.99997695 -0.00546029 0.25222647] [ 0.00511703 0.00548091 0.99997189 0.98755056] [ 0. 0. 0. 1. ]] SLAMing on 269.97255784400005 meters Centerline goodness [0,1] 0.24343355797477106 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:0.99 [[ 0.99997921 0.0039548 -0.00509269 3.88752653] [-0.00398333 0.99997636 -0.0056046 0.25293002] [ 0.0050704 0.00562477 0.99997133 0.98754083] [ 0. 0. 0. 1. ]] SLAMing on 270.002557844 meters Centerline goodness [0,1] 0.24493642094317958 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:0.99 [[ 0.9999801 0.00389632 -0.00496179 3.88704511] [-0.00392524 0.99997528 -0.00583318 0.25413749] [ 0.00493894 0.00585254 0.99997068 0.98780369] [ 0. 0. 0. 1. ]] SLAMing on 270.03255784400005 meters Centerline goodness [0,1] 0.24788048309807242 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:0.99 [[ 0.99998054 0.00395587 -0.00482424 3.88669706] [-0.00398661 0.99997171 -0.00637876 0.25741104] [ 0.00479887 0.00639787 0.99996802 0.98770389] [ 0. 0. 0. 1. ]] SLAMing on 270.062557844 meters Centerline goodness [0,1] 0.2464582474562298 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:0.99 [[ 9.99980592e-01 3.87541144e-03 -4.87818018e-03 3.88695174e+00] [-3.90888578e-03 9.99968752e-01 -6.87132591e-03 2.60067137e-01] [ 4.85139853e-03 6.89026080e-03 9.99964493e-01 9.87338434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09255784400005 meters Centerline goodness [0,1] 0.247461216023508 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:0.99 [[ 9.99979822e-01 3.81050213e-03 -5.08288275e-03 3.88772123e+00] [-3.84771843e-03 9.99965716e-01 -7.33231698e-03 2.62548632e-01] [ 5.05476868e-03 7.35172653e-03 9.99960200e-01 9.86752314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122557844 meters Centerline goodness [0,1] 0.24169678196523836 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:0.99 [[ 9.99979613e-01 3.73669208e-03 -5.17782773e-03 3.88816421e+00] [-3.77633879e-03 9.99963466e-01 -7.66851282e-03 2.64336080e-01] [ 5.14898370e-03 7.68790972e-03 9.99957191e-01 9.86316775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15255784400006 meters Centerline goodness [0,1] 0.24193722127668738 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:0.99 [[ 9.99979365e-01 3.66714471e-03 -5.27457805e-03 3.88848284e+00] [-3.70856018e-03 9.99962204e-01 -7.86367079e-03 2.65269619e-01] [ 5.24554148e-03 7.88306961e-03 9.99955170e-01 9.86124133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18255784400003 meters Centerline goodness [0,1] 0.2479259453322854 Centerline is valid? [False, False] Translation: X:3.87, Y:0.27, Z:0.99 [[ 0.99996985 -0.00547155 -0.00550945 3.8660896 ] [ 0.00543137 0.99995874 -0.00728151 0.26775433] [ 0.00554906 0.00725136 0.99995831 0.9858438 ] [ 0. 0. 0. 1. ]] SLAMing on 270.21255784400006 meters Centerline goodness [0,1] 0.24596345982965262 Centerline is valid? [False, False] Translation: X:3.87, Y:0.27, Z:0.99 [[ 0.99997059 -0.00547429 -0.00537165 3.86539902] [ 0.00543627 0.99996025 -0.00706673 0.26646291] [ 0.00541012 0.00703732 0.9999606 0.9865302 ] [ 0. 0. 0. 1. ]] SLAMing on 270.24255784400003 meters Centerline goodness [0,1] 0.24870173608847745 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 0.99996842 -0.0057894 -0.00544486 3.86549771] [ 0.00575252 0.99996057 -0.00676457 0.26362575] [ 0.00548381 0.00673303 0.9999623 0.98684235] [ 0. 0. 0. 1. ]] SLAMing on 270.27255784400006 meters Centerline goodness [0,1] 0.24474977172920565 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 0.99996703 -0.00567406 -0.00580906 3.86659304] [ 0.00563728 0.99996409 -0.00632801 0.26145337] [ 0.00584476 0.00629505 0.9999631 0.98657791] [ 0. 0. 0. 1. ]] SLAMing on 270.30255784400003 meters Centerline goodness [0,1] 0.2449918610960391 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 0.99996576 -0.00552526 -0.00615985 3.86764176] [ 0.00548916 0.99996776 -0.00586108 0.25916434] [ 0.00619203 0.00582706 0.99996385 0.98634439] [ 0. 0. 0. 1. ]] SLAMing on 270.33255784400006 meters Centerline goodness [0,1] 0.2486902994848511 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 0.99996604 -0.0054004 -0.00622595 3.8677933 ] [ 0.00536609 0.9999704 -0.00551412 0.2574992 ] [ 0.00625555 0.00548052 0.99996542 0.98641969] [ 0. 0. 0. 1. ]] SLAMing on 270.36255784400004 meters Centerline goodness [0,1] 0.24633194532254898 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 0.99997041 -0.00521063 -0.00565882 3.86561656] [ 0.00518221 0.99997395 -0.00502476 0.2552019 ] [ 0.00568486 0.00499529 0.99997136 0.98783909] [ 0. 0. 0. 1. ]] SLAMing on 270.39255784400007 meters Centerline goodness [0,1] 0.24515947791511794 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:0.99 [[ 0.99997204 -0.00511487 -0.00545447 3.86474672] [ 0.00508824 0.99997512 -0.00488572 0.25471513] [ 0.00547933 0.00485783 0.99997319 0.98848585] [ 0. 0. 0. 1. ]] SLAMing on 270.42255784400004 meters Centerline goodness [0,1] 0.2482918203846406 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:0.99 [[ 9.99981232e-01 3.22755262e-03 -5.20745392e-03 3.84455901e+00] [-3.25707321e-03 9.99978619e-01 -5.67042399e-03 2.49208009e-01] [ 5.18904099e-03 5.68727863e-03 9.99970364e-01 9.87286829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45255784400007 meters Centerline goodness [0,1] 0.23896963963189133 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.99 [[ 9.99981622e-01 -1.64607855e-03 -5.83490932e-03 3.86714119e+00] [ 1.63292923e-03 9.99996118e-01 -2.25760834e-03 2.54070624e-01] [ 5.83860287e-03 2.24803885e-03 9.99980428e-01 9.86860603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48255784400004 meters Centerline goodness [0,1] 0.23966264748387656 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 9.99981294e-01 -1.69660714e-03 -5.87644377e-03 3.86743126e+00] [ 1.68209520e-03 9.99995526e-01 -2.47357207e-03 2.55194596e-01] [ 5.88061416e-03 2.46364106e-03 9.99979674e-01 9.86461634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51255784400007 meters Centerline goodness [0,1] 0.24446276330346872 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 9.99980830e-01 -1.80469058e-03 -5.92306185e-03 3.86762206e+00] [ 1.78821297e-03 9.99994520e-01 -2.78605787e-03 2.56638486e-01] [ 5.92805736e-03 2.77541277e-03 9.99978577e-01 9.86261171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54255784400004 meters Centerline goodness [0,1] 0.24242095910893446 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 9.99982258e-01 -1.92225070e-03 -5.63813143e-03 3.86665553e+00] [ 1.90447244e-03 9.99993203e-01 -3.15689329e-03 2.58447610e-01] [ 5.64416145e-03 3.14609961e-03 9.99979123e-01 9.86623981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.572557844 meters Centerline goodness [0,1] 0.2456874931850398 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 9.99983314e-01 -1.92454821e-03 -5.44676109e-03 3.86589315e+00] [ 1.90722087e-03 9.99993110e-01 -3.18462705e-03 2.58740059e-01] [ 5.45285253e-03 3.17418574e-03 9.99980095e-01 9.87083440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60255784400005 meters Centerline goodness [0,1] 0.24272012442754687 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 9.99984006e-01 -1.91629752e-03 -5.32124614e-03 3.86531018e+00] [ 1.89973933e-03 9.99993344e-01 -3.11502560e-03 2.58436019e-01] [ 5.32718003e-03 3.10486679e-03 9.99980990e-01 9.87559228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.632557844 meters Centerline goodness [0,1] 0.2473825123528003 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 9.99981267e-01 -2.06681786e-03 -5.76138940e-03 3.86658638e+00] [ 2.04996644e-03 9.99993609e-01 -2.92926092e-03 2.56759315e-01] [ 5.76740683e-03 2.91739539e-03 9.99979113e-01 9.87338317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66255784400005 meters Centerline goodness [0,1] 0.24527276678982834 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 9.99979196e-01 -2.04703689e-03 -6.11689251e-03 3.86779933e+00] [ 2.03047978e-03 9.99994262e-01 -2.71176963e-03 2.55424034e-01] [ 6.12240850e-03 2.69929299e-03 9.99977615e-01 9.86764947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692557844 meters Centerline goodness [0,1] 0.24157933324707814 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.99 [[ 9.99977352e-01 -1.99284888e-03 -6.42844211e-03 3.86878630e+00] [ 1.97704661e-03 9.99995011e-01 -2.46359931e-03 2.54076324e-01] [ 6.43331962e-03 2.45083419e-03 9.99976303e-01 9.86427244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72255784400005 meters Centerline goodness [0,1] 0.23964439445393781 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.99 [[ 9.99975244e-01 -1.85398607e-03 -6.78781132e-03 3.86985528e+00] [ 1.83961496e-03 9.99996055e-01 -2.12282528e-03 2.52575246e-01] [ 6.79172023e-03 2.11028577e-03 9.99974709e-01 9.86223799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752557844 meters Centerline goodness [0,1] 0.24699675147709688 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.99 [[ 9.99973873e-01 -1.86767896e-03 -6.98316378e-03 3.87058453e+00] [ 1.85231683e-03 9.99995852e-01 -2.20570272e-03 2.52939853e-01] [ 6.98725435e-03 2.19271006e-03 9.99973185e-01 9.85766438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78255784400005 meters Centerline goodness [0,1] 0.23958220937007702 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.99 [[ 9.99971984e-01 -1.86682601e-03 -7.24892330e-03 3.87145497e+00] [ 1.84962157e-03 9.99995459e-01 -2.37935767e-03 2.53797502e-01] [ 7.25333223e-03 2.36588324e-03 9.99970895e-01 9.85350551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812557844 meters Centerline goodness [0,1] 0.2390253377649243 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.99 [[ 9.99974355e-01 -1.28559840e-03 -7.04534195e-03 3.87093570e+00] [ 1.26774223e-03 9.99995975e-01 -2.53834558e-03 2.56354713e-01] [ 7.04857688e-03 2.52934880e-03 9.99971960e-01 9.85140536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84255784400005 meters Centerline goodness [0,1] 0.2448783889809084 Centerline is valid? [False, False] Translation: X:3.85, Y:0.25, Z:0.98 [[ 9.99939677e-01 7.80744386e-03 -7.72572082e-03 3.84977699e+00] [-7.83221723e-03 9.99964266e-01 -3.18156691e-03 2.53954313e-01] [ 7.70060484e-03 3.24188451e-03 9.99965095e-01 9.84560192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872557844 meters Centerline goodness [0,1] 0.24615884711236324 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.98 [[ 9.99935435e-01 8.00504422e-03 -8.06503967e-03 3.85073377e+00] [-8.03388971e-03 9.99961424e-01 -3.55058153e-03 2.56723277e-01] [ 8.03630599e-03 3.61514593e-03 9.99961173e-01 9.84164983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90255784400006 meters Centerline goodness [0,1] 0.23813935450510626 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.98 [[ 0.99992997 0.00819621 -0.00853721 3.8520592 ] [-0.00823047 0.99995818 -0.00398628 0.25984577] [ 0.00850418 0.00405626 0.99995561 0.98370213] [ 0. 0. 0. 1. ]] SLAMing on 270.93255784400003 meters Centerline goodness [0,1] 0.2451650713029888 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:0.98 [[ 9.99893349e-01 1.18832265e-02 -8.49000103e-03 3.85174365e+00] [-1.18925209e-02 9.99928735e-01 -1.04509106e-03 2.64762009e-01] [ 8.47697693e-03 1.14594712e-03 9.99963413e-01 9.83889133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96255784400006 meters Centerline goodness [0,1] 0.24763296827959336 Centerline is valid? [False, False] Translation: X:3.83, Y:0.27, Z:0.98 [[ 9.99974465e-01 4.39204736e-03 -5.63737894e-03 3.83034650e+00] [-4.39540396e-03 9.99990170e-01 -5.83167574e-04 2.72146942e-01] [ 5.63476222e-03 6.07931241e-04 9.99983940e-01 9.82148070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99255784400003 meters Centerline goodness [0,1] 0.24631105926069952 Centerline is valid? [False, False] Translation: X:3.85, Y:0.28, Z:0.98 [[ 9.99986855e-01 -3.24679249e-03 -3.96851649e-03 3.84763528e+00] [ 3.24941294e-03 9.99994507e-01 6.54041110e-04 2.81072006e-01] [ 3.96637116e-03 -6.66927862e-04 9.99991912e-01 9.84088212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02255784400006 meters Centerline goodness [0,1] 0.2506735002299757 Centerline is valid? [False, False] Translation: X:3.83, Y:0.28, Z:0.98 [[ 9.99980435e-01 4.99800549e-03 -3.76159637e-03 3.82659505e+00] [-4.99900658e-03 9.99987472e-01 -2.56778778e-04 2.77612435e-01] [ 3.76026586e-03 2.75577999e-04 9.99992892e-01 9.84079296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05255784400003 meters Centerline goodness [0,1] 0.24640732861546477 Centerline is valid? [False, False] Translation: X:3.85, Y:0.29, Z:0.99 [[ 9.99986589e-01 -2.83082299e-03 -4.33679433e-03 3.84571613e+00] [ 2.83304905e-03 9.99995858e-01 5.07238522e-04 2.88184476e-01] [ 4.33534047e-03 -5.19518070e-04 9.99990467e-01 9.85971257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08255784400006 meters Centerline goodness [0,1] 0.25011499288139305 Centerline is valid? [False, False] Translation: X:3.85, Y:0.29, Z:0.99 [[ 9.99985771e-01 -2.99887429e-03 -4.41196426e-03 3.84591902e+00] [ 2.99971874e-03 9.99995484e-01 1.84794278e-04 2.89577322e-01] [ 4.41139016e-03 -1.98026300e-04 9.99990250e-01 9.85946856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11255784400004 meters Centerline goodness [0,1] 0.24131187001654886 Centerline is valid? [False, False] Translation: X:3.89, Y:0.30, Z:0.99 [[ 9.99991933e-01 -3.31712331e-03 -2.26510196e-03 3.89030113e+00] [ 3.31646416e-03 9.99994457e-01 -2.94693879e-04 2.95537983e-01] [ 2.26606694e-03 2.87179372e-04 9.99997391e-01 9.85277810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14255784400007 meters Centerline goodness [0,1] 0.24783305885412155 Centerline is valid? [False, False] Translation: X:3.89, Y:0.30, Z:0.99 [[ 9.99990540e-01 -3.68917439e-03 -2.30429434e-03 3.89002258e+00] [ 3.68670245e-03 9.99992625e-01 -1.07607967e-03 2.99192612e-01] [ 2.30824719e-03 1.06757424e-03 9.99996766e-01 9.85839989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17255784400004 meters Centerline goodness [0,1] 0.2454731402734417 Centerline is valid? [False, False] Translation: X:3.89, Y:0.30, Z:0.99 [[ 9.99989768e-01 -3.85942012e-03 -2.35966132e-03 3.89004614e+00] [ 3.85584638e-03 9.99991415e-01 -1.51719030e-03 3.01410153e-01] [ 2.36549654e-03 1.50807629e-03 9.99996065e-01 9.85976705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20255784400007 meters Centerline goodness [0,1] 0.2472525076319232 Centerline is valid? [False, False] Translation: X:3.87, Y:0.30, Z:0.99 [[ 9.99984758e-01 4.36655008e-03 -3.37894238e-03 3.87040176e+00] [-4.37636377e-03 9.99986212e-01 -2.90244281e-03 2.98494428e-01] [ 3.36622213e-03 2.91718605e-03 9.99990079e-01 9.85150560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23255784400004 meters Centerline goodness [0,1] 0.2459896521117918 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:0.99 [[ 9.99985360e-01 -2.81643102e-03 -4.62032468e-03 3.88872397e+00] [ 2.80769759e-03 9.99994262e-01 -1.89561812e-03 3.07140279e-01] [ 4.62563704e-03 1.88261790e-03 9.99987530e-01 9.87078450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26255784400007 meters Centerline goodness [0,1] 0.24421216309606086 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:0.99 [[ 9.99984151e-01 -3.04176943e-03 -4.73760595e-03 3.88922962e+00] [ 3.02997670e-03 9.99992299e-01 -2.49436766e-03 3.09986844e-01] [ 4.74515675e-03 2.47997329e-03 9.99985667e-01 9.86649561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29255784400004 meters Centerline goodness [0,1] 0.24421216309606086 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:0.99 [[ 9.99984151e-01 -3.04176943e-03 -4.73760595e-03 3.88922962e+00] [ 3.02997670e-03 9.99992299e-01 -2.49436766e-03 3.09986844e-01] [ 4.74515675e-03 2.47997329e-03 9.99985667e-01 9.86649561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.322557844 meters Centerline goodness [0,1] 0.24304399524375742 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.99 [[ 9.99982825e-01 -3.44284824e-03 -4.74306935e-03 3.88921696e+00] [ 3.42555692e-03 9.99987475e-01 -3.64890858e-03 3.15625804e-01] [ 4.75557258e-03 3.63259826e-03 9.99982094e-01 9.86511497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35255784400005 meters Centerline goodness [0,1] 0.24877539024230944 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.99 [[ 9.99982797e-01 -3.64669450e-03 -4.59416221e-03 3.88860798e+00] [ 3.62761469e-03 9.99984790e-01 -4.15456632e-03 3.17970941e-01] [ 4.60924277e-03 4.13782900e-03 9.99980816e-01 9.86823262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.382557844 meters Centerline goodness [0,1] 0.24497653191443336 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.99 [[ 9.99983015e-01 -3.77426330e-03 -4.44123259e-03 3.88783693e+00] [ 3.75413523e-03 9.99982685e-01 -4.53173516e-03 3.19946923e-01] [ 4.45825965e-03 4.51498520e-03 9.99979869e-01 9.87441809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41255784400005 meters Centerline goodness [0,1] 0.25298581326294955 Centerline is valid? [False, False] Translation: X:3.84, Y:0.32, Z:0.99 [[ 9.99972917e-01 -3.70442218e-03 -6.35951116e-03 3.84023224e+00] [ 3.67525673e-03 9.99982704e-01 -4.59169162e-03 3.18754806e-01] [ 6.37641073e-03 4.56819443e-03 9.99969236e-01 9.89795830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442557844 meters Centerline goodness [0,1] 0.24824437438852054 Centerline is valid? [False, False] Translation: X:3.84, Y:0.32, Z:0.99 [[ 0.99997113 -0.00394946 -0.00649218 3.84025367] [ 0.00391686 0.9999797 -0.00502596 0.32056625] [ 0.0065119 0.00500038 0.9999663 0.99031907] [ 0. 0. 0. 1. ]] SLAMing on 271.47255784400005 meters Centerline goodness [0,1] 0.24490589684306052 Centerline is valid? [False, False] Translation: X:3.84, Y:0.32, Z:0.99 [[ 0.99997042 -0.00403309 -0.00654973 3.84050141] [ 0.00399959 0.9999789 -0.00511957 0.32080137] [ 0.00657024 0.00509322 0.99996544 0.99017857] [ 0. 0. 0. 1. ]] SLAMing on 271.502557844 meters Centerline goodness [0,1] 0.2422888471583673 Centerline is valid? [False, False] Translation: X:3.84, Y:0.32, Z:0.99 [[ 0.9999699 -0.00407093 -0.00660444 3.8406074 ] [ 0.0040369 0.99997855 -0.00515779 0.32089691] [ 0.00662529 0.00513098 0.99996489 0.99024943] [ 0. 0. 0. 1. ]] SLAMing on 271.53255784400005 meters Centerline goodness [0,1] 0.2517828713497481 Centerline is valid? [False, False] Translation: X:3.82, Y:0.32, Z:0.99 [[ 0.99996975 0.00438908 -0.00642204 3.82012943] [-0.00442914 0.99997074 -0.00623766 0.31705133] [ 0.00639448 0.00626592 0.99995992 0.98962378] [ 0. 0. 0. 1. ]] SLAMing on 271.562557844 meters Centerline goodness [0,1] 0.2465839587038563 Centerline is valid? [False, False] Translation: X:3.84, Y:0.32, Z:0.99 [[ 9.99973054e-01 -2.73793243e-03 -6.81139340e-03 3.83722188e+00] [ 2.70633612e-03 9.99985556e-01 -4.64364431e-03 3.24010508e-01] [ 6.82400900e-03 4.62508527e-03 9.99966020e-01 9.92136955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59255784400005 meters Centerline goodness [0,1] 0.24058838731909027 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:0.99 [[ 9.99973084e-01 -2.81873540e-03 -6.77399418e-03 3.83699460e+00] [ 2.78543934e-03 9.99984019e-01 -4.91969580e-03 3.25404607e-01] [ 6.78775325e-03 4.90069483e-03 9.99964954e-01 9.92327732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622557844 meters Centerline goodness [0,1] 0.25199693620746255 Centerline is valid? [False, False] Translation: X:3.79, Y:0.32, Z:0.99 [[ 9.99952621e-01 -2.84285751e-03 -9.30986398e-03 3.79077349e+00] [ 2.79378634e-03 9.99982160e-01 -5.27964916e-03 3.23051105e-01] [ 9.32470718e-03 5.25338924e-03 9.99942724e-01 9.93731881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65255784400006 meters Centerline goodness [0,1] 0.24574710152779278 Centerline is valid? [False, False] Translation: X:3.79, Y:0.32, Z:0.99 [[ 9.99950823e-01 -2.89203068e-03 -9.48614449e-03 3.79143257e+00] [ 2.84225404e-03 9.99982145e-01 -5.25658965e-03 3.22493808e-01] [ 9.50117733e-03 5.22936911e-03 9.99941189e-01 9.93327718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68255784400003 meters Centerline goodness [0,1] 0.2492421103138427 Centerline is valid? [False, False] Translation: X:3.79, Y:0.32, Z:0.99 [[ 9.99948729e-01 -2.83665305e-03 -9.72070282e-03 3.79216472e+00] [ 2.78792648e-03 9.99983501e-01 -5.02254837e-03 3.21274262e-01] [ 9.73478967e-03 4.99519026e-03 9.99940139e-01 9.93092101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71255784400006 meters Centerline goodness [0,1] 0.25178943748253557 Centerline is valid? [False, False] Translation: X:3.81, Y:0.32, Z:0.99 [[ 0.99988661 -0.01120068 -0.01006523 3.81335073] [ 0.0111616 0.99992998 -0.00393065 0.32475463] [ 0.01010855 0.00381786 0.99994162 0.99401532] [ 0. 0. 0. 1. ]] SLAMing on 271.74255784400003 meters Centerline goodness [0,1] 0.24616285119667014 Centerline is valid? [False, False] Translation: X:3.81, Y:0.32, Z:0.99 [[ 9.99884465e-01 -1.12859827e-02 -1.01824932e-02 3.81367299e+00] [ 1.12540580e-02 9.99931592e-01 -3.18713057e-03 3.20375990e-01] [ 1.02177665e-02 3.07216797e-03 9.99943078e-01 9.94226013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77255784400006 meters Centerline goodness [0,1] 0.24394358885620349 Centerline is valid? [False, False] Translation: X:3.81, Y:0.32, Z:0.99 [[ 9.99886281e-01 -1.11677929e-02 -1.01343820e-02 3.81338978e+00] [ 1.11408832e-02 9.99934272e-01 -2.70786961e-03 3.17898399e-01] [ 1.01639569e-02 2.59465571e-03 9.99944979e-01 9.94639875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80255784400003 meters Centerline goodness [0,1] 0.2470741788122689 Centerline is valid? [False, False] Translation: X:3.79, Y:0.31, Z:0.99 [[ 0.99995134 -0.00384935 -0.00908324 3.79429858] [ 0.00381334 0.99998481 -0.00397856 0.30909406] [ 0.00909842 0.00394373 0.99995083 0.99273265] [ 0. 0. 0. 1. ]] SLAMing on 271.83255784400006 meters Centerline goodness [0,1] 0.252167060677699 Centerline is valid? [False, False] Translation: X:3.79, Y:0.31, Z:0.99 [[ 9.99951471e-01 -3.72143444e-03 -9.12171428e-03 3.79438812e+00] [ 3.68889901e-03 9.99986784e-01 -3.58104497e-03 3.07090467e-01] [ 9.13492035e-03 3.54722211e-03 9.99951984e-01 9.92791559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86255784400004 meters Centerline goodness [0,1] 0.24824000866457274 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:0.99 [[ 9.99948259e-01 -3.45213834e-03 -9.56883414e-03 3.79582728e+00] [ 3.42202974e-03 9.99989148e-01 -3.16111693e-03 3.05974178e-01] [ 9.57964291e-03 3.12820853e-03 9.99949221e-01 9.92218747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89255784400007 meters Centerline goodness [0,1] 0.24973812849162014 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:0.99 [[ 9.99948171e-01 -3.42133668e-03 -9.58907303e-03 3.79595570e+00] [ 3.39092015e-03 9.99989174e-01 -3.18646488e-03 3.06416294e-01] [ 9.59987119e-03 3.15378395e-03 9.99948947e-01 9.92043485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92255784400004 meters Centerline goodness [0,1] 0.2444863704378375 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:0.99 [[ 9.99948680e-01 -3.41838672e-03 -9.53686909e-03 3.79572685e+00] [ 3.38773742e-03 9.99989051e-01 -3.22807445e-03 3.06636581e-01] [ 9.54779948e-03 3.19560037e-03 9.99949313e-01 9.92197143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95255784400007 meters Centerline goodness [0,1] 0.24826689774696709 Centerline is valid? [False, False] Translation: X:3.79, Y:0.31, Z:0.99 [[ 9.99950432e-01 -3.44893074e-03 -9.34018565e-03 3.79494918e+00] [ 3.41909861e-03 9.99989009e-01 -3.20804108e-03 3.06162946e-01] [ 9.35114731e-03 3.17594705e-03 9.99951234e-01 9.92669190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98255784400004 meters Centerline goodness [0,1] 0.2502878494927332 Centerline is valid? [False, False] Translation: X:3.79, Y:0.30, Z:0.99 [[ 9.99953068e-01 -3.42576281e-03 -9.06232595e-03 3.79379331e+00] [ 3.39949466e-03 9.99989981e-01 -2.91242758e-03 3.04314716e-01] [ 9.07221244e-03 2.88148356e-03 9.99954695e-01 9.93488857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01255784400007 meters Centerline goodness [0,1] 0.24922030667937278 Centerline is valid? [False, False] Translation: X:3.79, Y:0.30, Z:0.99 [[ 9.99952089e-01 -3.30906060e-03 -9.21245244e-03 3.79438899e+00] [ 3.28524874e-03 9.99991227e-01 -2.59868158e-03 3.02925683e-01] [ 9.22097082e-03 2.56829187e-03 9.99954188e-01 9.93106169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04255784400004 meters Centerline goodness [0,1] 0.2455883303527181 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:0.99 [[ 9.99949160e-01 -3.22227703e-03 -9.55482243e-03 3.79557083e+00] [ 3.20079732e-03 9.99992318e-01 -2.26248949e-03 3.01224483e-01] [ 9.56203939e-03 2.23179141e-03 9.99951792e-01 9.92586871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.072557844 meters Centerline goodness [0,1] 0.2478286423300463 Centerline is valid? [False, False] Translation: X:3.78, Y:0.29, Z:0.99 [[ 9.99947645e-01 1.62943524e-03 -1.01020998e-02 3.77631731e+00] [-1.69187181e-03 9.99979503e-01 -6.17509173e-03 2.92728413e-01] [ 1.00918308e-02 6.19185989e-03 9.99929905e-01 9.90803282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10255784400005 meters Centerline goodness [0,1] 0.24857817831831308 Centerline is valid? [False, False] Translation: X:3.78, Y:0.29, Z:0.99 [[ 9.99947063e-01 1.76558813e-03 -1.01367485e-02 3.77629826e+00] [-1.82219826e-03 9.99982782e-01 -5.57812715e-03 2.89620724e-01] [ 1.01267253e-02 5.59630303e-03 9.99933063e-01 9.91025011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.132557844 meters Centerline goodness [0,1] 0.2453636736544399 Centerline is valid? [False, False] Translation: X:3.80, Y:0.29, Z:0.99 [[ 0.99993775 -0.00659696 -0.00899827 3.79666045] [ 0.00655795 0.999969 -0.00435807 0.29137515] [ 0.00902674 0.00429879 0.99995002 0.99185331] [ 0. 0. 0. 1. ]] SLAMing on 272.16255784400005 meters Centerline goodness [0,1] 0.24518846527702776 Centerline is valid? [False, False] Translation: X:3.80, Y:0.29, Z:0.99 [[ 9.99940644e-01 -6.18306700e-03 -8.97092675e-03 3.79659147e+00] [ 6.15408750e-03 9.99975768e-01 -3.25439687e-03 2.86251697e-01] [ 8.99083152e-03 3.19899584e-03 9.99954465e-01 9.92004618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.192557844 meters Centerline goodness [0,1] 0.2498476406059551 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:0.99 [[ 9.99960994e-01 1.59894694e-03 -8.68645116e-03 3.77827867e+00] [-1.63718098e-03 9.99988996e-01 -4.39624633e-03 2.77997778e-01] [ 8.67932621e-03 4.41029614e-03 9.99952608e-01 9.89756187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22255784400005 meters Centerline goodness [0,1] 0.24890609958869347 Centerline is valid? [False, False] Translation: X:3.78, Y:0.28, Z:0.99 [[ 9.99960394e-01 1.79956028e-03 -8.71623624e-03 3.77837381e+00] [-1.83362839e-03 9.99990705e-01 -3.90216816e-03 2.75629817e-01] [ 8.70913304e-03 3.91799595e-03 9.99954399e-01 9.89742184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252557844 meters Centerline goodness [0,1] 0.24700156440118204 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:0.99 [[ 9.99960238e-01 2.21022903e-03 -8.63932361e-03 3.77801787e+00] [-2.23686560e-03 9.99992771e-01 -3.07473117e-03 2.71865471e-01] [ 8.63246530e-03 3.09393391e-03 9.99957953e-01 9.90048836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28255784400005 meters Centerline goodness [0,1] 0.25205985103157336 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:0.99 [[ 9.99935170e-01 -5.83397398e-03 -9.77855676e-03 3.75848978e+00] [ 5.81985805e-03 9.99981982e-01 -1.47139476e-03 2.73178012e-01] [ 9.78696465e-03 1.41438956e-03 9.99951106e-01 9.89088492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312557844 meters Centerline goodness [0,1] 0.2476611226611226 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:0.99 [[ 9.99951470e-01 2.67921364e-03 -9.48045297e-03 3.77970402e+00] [-2.69866339e-03 9.99994279e-01 -2.03936508e-03 2.67393290e-01] [ 9.47493484e-03 2.06485066e-03 9.99952980e-01 9.89890253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34255784400005 meters Centerline goodness [0,1] 0.24820591122259783 Centerline is valid? [False, False] Translation: X:3.78, Y:0.27, Z:0.99 [[ 9.99950504e-01 2.85300512e-03 -9.53149258e-03 3.77991644e+00] [-2.86856029e-03 9.99994576e-01 -1.61870343e-03 2.65250310e-01] [ 9.52682271e-03 1.64596497e-03 9.99953264e-01 9.89762496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.372557844 meters Centerline goodness [0,1] 0.24816349801548143 Centerline is valid? [False, False] Translation: X:3.78, Y:0.26, Z:0.99 [[ 9.99948095e-01 3.14618568e-03 -9.69061072e-03 3.78061107e+00] [-3.15678802e-03 9.99994435e-01 -1.07898240e-03 2.62787861e-01] [ 9.68716212e-03 1.10951760e-03 9.99952463e-01 9.89221296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40255784400006 meters Centerline goodness [0,1] 0.24568450765389205 Centerline is valid? [False, False] Translation: X:3.80, Y:0.27, Z:0.99 [[ 9.99950089e-01 -2.39737252e-03 -9.69910478e-03 3.80188048e+00] [ 2.41804278e-03 9.99994829e-01 2.11998592e-03 2.65963950e-01] [ 9.69397223e-03 -2.14333295e-03 9.99950715e-01 9.89198080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43255784400003 meters Centerline goodness [0,1] 0.2481418698656931 Centerline is valid? [False, False] Translation: X:3.80, Y:0.27, Z:0.99 [[ 9.99951851e-01 -2.27651741e-03 -9.54527521e-03 3.80179071e+00] [ 2.29664176e-03 9.99995162e-01 2.09787388e-03 2.66491100e-01] [ 9.54045318e-03 -2.11969495e-03 9.99952242e-01 9.88647253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46255784400006 meters Centerline goodness [0,1] 0.24655037750585784 Centerline is valid? [False, False] Translation: X:3.80, Y:0.27, Z:0.99 [[ 9.99953549e-01 -2.20603039e-03 -9.38258737e-03 3.80149873e+00] [ 2.22571140e-03 9.99995344e-01 2.08768585e-03 2.66709256e-01] [ 9.37793818e-03 -2.10847180e-03 9.99953803e-01 9.88377060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49255784400003 meters Centerline goodness [0,1] 0.24610341683671255 Centerline is valid? [False, False] Translation: X:3.80, Y:0.27, Z:0.99 [[ 9.99953781e-01 -2.09115828e-03 -9.38422879e-03 3.80164030e+00] [ 2.11195628e-03 9.99995335e-01 2.20690905e-03 2.65985975e-01] [ 9.37957001e-03 -2.22662613e-03 9.99953532e-01 9.88095970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52255784400006 meters Centerline goodness [0,1] 0.24652974196075017 Centerline is valid? [False, False] Translation: X:3.80, Y:0.27, Z:0.99 [[ 9.99952786e-01 -2.03020026e-03 -9.50287736e-03 3.80210826e+00] [ 2.05206316e-03 9.99995269e-01 2.29147604e-03 2.65679366e-01] [ 9.49818025e-03 -2.31086835e-03 9.99952221e-01 9.87772873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55255784400003 meters Centerline goodness [0,1] 0.24849515833551428 Centerline is valid? [False, False] Translation: X:3.80, Y:0.27, Z:0.99 [[ 9.99952437e-01 -1.96649019e-03 -9.55284263e-03 3.80238474e+00] [ 1.98912804e-03 9.99995235e-01 2.36082790e-03 2.65534860e-01] [ 9.54815456e-03 -2.37971744e-03 9.99951584e-01 9.87471266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58255784400006 meters Centerline goodness [0,1] 0.2433499449873795 Centerline is valid? [False, False] Translation: X:3.82, Y:0.26, Z:0.99 [[ 9.99937655e-01 6.56403219e-03 -9.03325329e-03 3.82275756e+00] [-6.55058889e-03 9.99977394e-01 1.51698544e-03 2.62970137e-01] [ 9.04300662e-03 -1.45771773e-03 9.99958049e-01 9.88388907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61255784400004 meters Centerline goodness [0,1] 0.24808622297399863 Centerline is valid? [False, False] Translation: X:3.82, Y:0.26, Z:0.99 [[ 9.99941211e-01 6.56605674e-03 -8.62913782e-03 3.82140883e+00] [-6.55350068e-03 9.99977427e-01 1.48254953e-03 2.63172993e-01] [ 8.63867753e-03 -1.42591131e-03 9.99961669e-01 9.88953869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64255784400007 meters Centerline goodness [0,1] 0.24561896324466825 Centerline is valid? [False, False] Translation: X:3.82, Y:0.26, Z:0.99 [[ 9.99943783e-01 6.53168798e-03 -8.35269772e-03 3.82045159e+00] [-6.52040759e-03 9.99977794e-01 1.37702880e-03 2.63743079e-01] [ 8.36150656e-03 -1.32248840e-03 9.99964167e-01 9.89388780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67255784400004 meters Centerline goodness [0,1] 0.25581497991790614 Centerline is valid? [False, False] Translation: X:3.77, Y:0.26, Z:0.99 [[ 9.99927640e-01 6.51252948e-03 -1.01144161e-02 3.77274806e+00] [-6.49503857e-03 9.99977356e-01 1.76119117e-03 2.60900618e-01] [ 1.01256569e-02 -1.69537021e-03 9.99947297e-01 9.91159460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70255784400007 meters Centerline goodness [0,1] 0.24841382882299623 Centerline is valid? [False, False] Translation: X:3.82, Y:0.27, Z:0.99 [[ 9.99947734e-01 6.94505050e-03 -7.50302294e-03 3.81626876e+00] [-6.93185699e-03 9.99974385e-01 1.78300307e-03 2.65052841e-01] [ 7.51521379e-03 -1.73090000e-03 9.99970262e-01 9.90966592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73255784400004 meters Centerline goodness [0,1] 0.24713499514405957 Centerline is valid? [False, False] Translation: X:3.82, Y:0.27, Z:0.99 [[ 9.99947648e-01 6.88591833e-03 -7.56877227e-03 3.81658245e+00] [-6.87330217e-03 9.99974948e-01 1.69162022e-03 2.65337916e-01] [ 7.58023101e-03 -1.63950920e-03 9.99969926e-01 9.90728038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76255784400007 meters Centerline goodness [0,1] 0.2521754378274116 Centerline is valid? [False, False] Translation: X:3.79, Y:0.27, Z:0.99 [[ 9.99958300e-01 -2.21935875e-03 -8.85849523e-03 3.79487965e+00] [ 2.23722963e-03 9.99995481e-01 2.00797196e-03 2.68622306e-01] [ 8.85399879e-03 -2.02770671e-03 9.99958747e-01 9.90432334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79255784400004 meters Centerline goodness [0,1] 0.24876548557567357 Centerline is valid? [False, False] Translation: X:3.82, Y:0.27, Z:0.99 [[ 9.99948465e-01 6.17465629e-03 -8.05859584e-03 3.81543461e+00] [-6.16718821e-03 9.99980530e-01 9.51243082e-04 2.67183782e-01] [ 8.06431254e-03 -9.01495182e-04 9.99967077e-01 9.91226511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.822557844 meters Centerline goodness [0,1] 0.24781997187060478 Centerline is valid? [False, False] Translation: X:3.82, Y:0.27, Z:0.99 [[ 9.99949359e-01 6.09838183e-03 -8.00553091e-03 3.81539204e+00] [-6.09316847e-03 9.99981208e-01 6.75448405e-04 2.68750629e-01] [ 8.00949961e-03 -6.26635151e-04 9.99967727e-01 9.91031806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85255784400005 meters Centerline goodness [0,1] 0.2505221023320571 Centerline is valid? [False, False] Translation: X:3.82, Y:0.27, Z:0.99 [[ 9.99950295e-01 5.96708267e-03 -7.98755804e-03 3.81567774e+00] [-5.96804571e-03 9.99982186e-01 -9.67379938e-05 2.73065966e-01] [ 7.98683851e-03 1.44403297e-04 9.99968094e-01 9.90324278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.882557844 meters Centerline goodness [0,1] 0.25163291609323457 Centerline is valid? [False, False] Translation: X:3.82, Y:0.28, Z:0.99 [[ 9.99951874e-01 5.78312299e-03 -7.92491499e-03 3.81556104e+00] [-5.78822797e-03 9.99983055e-01 -6.21382580e-04 2.75479944e-01] [ 7.92118717e-03 6.67223890e-04 9.99968404e-01 9.90171252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91255784400005 meters Centerline goodness [0,1] 0.24874011643061955 Centerline is valid? [False, False] Translation: X:3.82, Y:0.28, Z:0.99 [[ 9.99953054e-01 5.60588319e-03 -7.90334876e-03 3.81542957e+00] [-5.61488030e-03 9.99983613e-01 -1.11666279e-03 2.77781710e-01] [ 7.89695937e-03 1.16098673e-03 9.99968145e-01 9.90227798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942557844 meters Centerline goodness [0,1] 0.24693033475507298 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99981434e-01 -2.03343369e-03 -5.74432776e-03 3.83213310e+00] [ 2.03329460e-03 9.99997932e-01 -3.00529655e-05 2.87965910e-01] [ 5.74437699e-03 1.83724969e-05 9.99983501e-01 9.92398319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97255784400005 meters Centerline goodness [0,1] 0.24436373014679014 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99982814e-01 -2.16323589e-03 -5.44899504e-03 3.83103852e+00] [ 2.16143434e-03 9.99997607e-01 -3.36486848e-04 2.89488088e-01] [ 5.44970991e-03 3.24703420e-04 9.99985098e-01 9.92949583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002557844 meters Centerline goodness [0,1] 0.2514420783276229 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99983300e-01 -2.29592860e-03 -5.30371020e-03 3.83050634e+00] [ 2.29283835e-03 9.99997198e-01 -5.88665039e-04 2.90585165e-01] [ 5.30504687e-03 5.76494658e-04 9.99985762e-01 9.93233336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03255784400005 meters Centerline goodness [0,1] 0.25044474335054456 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99978412e-01 -2.61707735e-03 -6.02711821e-03 3.83265105e+00] [ 2.61078771e-03 9.99996039e-01 -1.05118792e-03 2.92318227e-01] [ 6.02984538e-03 1.03542970e-03 9.99981284e-01 9.92601599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062557844 meters Centerline goodness [0,1] 0.2532546963739625 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99977138e-01 -2.67631283e-03 -6.20977284e-03 3.83329156e+00] [ 2.66871117e-03 9.99995680e-01 -1.23210764e-03 2.93353340e-01] [ 6.21304352e-03 1.21550738e-03 9.99979960e-01 9.92251195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09255784400005 meters Centerline goodness [0,1] 0.24496969958377368 Centerline is valid? [False, False] Translation: X:3.85, Y:0.29, Z:0.99 [[ 9.99968244e-01 5.61311111e-03 -5.65727433e-03 3.85403731e+00] [-5.62495682e-03 9.99982016e-01 -2.08015742e-03 2.91658313e-01] [ 5.64549644e-03 2.11191329e-03 9.99981834e-01 9.92961026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122557844 meters Centerline goodness [0,1] 0.2510756328215432 Centerline is valid? [False, False] Translation: X:3.83, Y:0.30, Z:0.99 [[ 9.99977173e-01 -3.00406500e-03 -6.05219451e-03 3.83273220e+00] [ 2.99630459e-03 9.99994678e-01 -1.29090543e-03 2.95433609e-01] [ 6.05604026e-03 1.27274175e-03 9.99980852e-01 9.92013339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15255784400006 meters Centerline goodness [0,1] 0.2502923976608187 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99977640e-01 -3.09491795e-03 -5.92804305e-03 3.83210914e+00] [ 3.08776518e-03 9.99994494e-01 -1.21537108e-03 2.94533207e-01] [ 5.93177189e-03 1.19703949e-03 9.99981690e-01 9.92589005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18255784400003 meters Centerline goodness [0,1] 0.2502923976608187 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99977640e-01 -3.09491795e-03 -5.92804305e-03 3.83210914e+00] [ 3.08776518e-03 9.99994494e-01 -1.21537108e-03 2.94533207e-01] [ 5.93177189e-03 1.19703949e-03 9.99981690e-01 9.92589005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21255784400006 meters Centerline goodness [0,1] 0.2516787942910198 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99978201e-01 -3.02332863e-03 -5.86993124e-03 3.83170237e+00] [ 3.01771645e-03 9.99994981e-01 -9.64711775e-04 2.93376629e-01] [ 5.87281842e-03 9.46976957e-04 9.99982306e-01 9.93098815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24255784400003 meters Centerline goodness [0,1] 0.2513412945655936 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99979045e-01 -2.93207581e-03 -5.77176424e-03 3.83129143e+00] [ 2.92833494e-03 9.99995497e-01 -6.56478246e-04 2.92001542e-01] [ 5.77366310e-03 6.39562830e-04 9.99983128e-01 9.93462154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27255784400006 meters Centerline goodness [0,1] 0.2507351033468823 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99978092e-01 -3.09725144e-03 -5.85002461e-03 3.83149849e+00] [ 3.09627248e-03 9.99995191e-01 -1.76391780e-04 2.88799350e-01] [ 5.85054281e-03 1.58274646e-04 9.99982873e-01 9.93607296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30255784400003 meters Centerline goodness [0,1] 0.2528640321208021 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.99 [[ 9.99976357e-01 -3.05222120e-03 -6.16192295e-03 3.83246284e+00] [ 3.05404292e-03 9.99995295e-01 2.86253537e-04 2.86147331e-01] [ 6.16102026e-03 -3.05065546e-04 9.99980974e-01 9.93370641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33255784400006 meters Centerline goodness [0,1] 0.2477723731221213 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:0.99 [[ 9.99973901e-01 2.41976660e-03 -6.80751668e-03 3.85604510e+00] [-2.43721945e-03 9.99993762e-01 -2.55663457e-03 2.82117846e-01] [ 6.80128775e-03 2.57315925e-03 9.99973560e-01 9.92859700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36255784400004 meters Centerline goodness [0,1] 0.2507649938800489 Centerline is valid? [False, False] Translation: X:3.81, Y:0.28, Z:0.99 [[ 9.99948429e-01 1.13595223e-03 -1.00920707e-02 3.81222994e+00] [-1.16653178e-03 9.99994745e-01 -3.02468791e-03 2.76199285e-01] [ 1.00885818e-02 3.03630464e-03 9.99944499e-01 9.93229587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39255784400007 meters Centerline goodness [0,1] 0.24882106366256218 Centerline is valid? [False, False] Translation: X:3.81, Y:0.27, Z:0.99 [[ 9.99943267e-01 9.12386654e-04 -1.06127627e-02 3.81371497e+00] [-9.37122418e-04 9.99996856e-01 -2.32601704e-03 2.71148613e-01] [ 1.06106071e-02 2.33583054e-03 9.99940978e-01 9.92990613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42255784400004 meters Centerline goodness [0,1] 0.25340042628930537 Centerline is valid? [False, False] Translation: X:3.81, Y:0.27, Z:0.99 [[ 9.99943816e-01 1.06342918e-03 -1.05467325e-02 3.81346785e+00] [-1.08191543e-03 9.99997888e-01 -1.74724342e-03 2.68271721e-01] [ 1.05448522e-02 1.75855593e-03 9.99942855e-01 9.93218651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45255784400007 meters Centerline goodness [0,1] 0.24799031895583024 Centerline is valid? [False, False] Translation: X:3.83, Y:0.27, Z:0.99 [[ 9.99934508e-01 -7.27481145e-03 -8.83498664e-03 3.83347405e+00] [ 7.26991983e-03 9.99973402e-01 -5.85654619e-04 2.69781290e-01] [ 8.83901217e-03 5.21386618e-04 9.99960799e-01 9.94211778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48255784400004 meters Centerline goodness [0,1] 0.2522869000282467 Centerline is valid? [False, False] Translation: X:3.83, Y:0.27, Z:1.00 [[ 9.99939526e-01 -7.16383189e-03 -8.34414750e-03 3.83179874e+00] [ 7.16325408e-03 9.99974339e-01 -9.91326368e-05 2.67430730e-01] [ 8.34464354e-03 3.93553933e-05 9.99965182e-01 9.95091660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51255784400007 meters Centerline goodness [0,1] 0.25197960733268254 Centerline is valid? [False, False] Translation: X:3.83, Y:0.26, Z:1.00 [[ 9.99944210e-01 -7.02806164e-03 -7.88558173e-03 3.83047641e+00] [ 7.03282404e-03 9.99975103e-01 5.76370666e-04 2.64050936e-01] [ 7.88133463e-03 -6.31796419e-04 9.99968742e-01 9.95560692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54255784400004 meters Centerline goodness [0,1] 0.25113779203328856 Centerline is valid? [False, False] Translation: X:3.83, Y:0.26, Z:1.00 [[ 9.99944044e-01 -6.94975244e-03 -7.97562114e-03 3.83085245e+00] [ 6.95646288e-03 9.99975472e-01 8.13936452e-04 2.62855070e-01] [ 7.96976886e-03 -8.69373019e-04 9.99967863e-01 9.95303766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.572557844 meters Centerline goodness [0,1] 0.2501460248783126 Centerline is valid? [False, False] Translation: X:3.83, Y:0.26, Z:1.00 [[ 9.99944534e-01 -6.89492419e-03 -7.96166671e-03 3.83097709e+00] [ 6.90288516e-03 9.99975702e-01 9.72866570e-04 2.62054297e-01] [ 7.95476541e-03 -1.02777108e-03 9.99967832e-01 9.95039416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60255784400005 meters Centerline goodness [0,1] 0.24896480331262938 Centerline is valid? [False, False] Translation: X:3.83, Y:0.26, Z:1.00 [[ 9.99944774e-01 -6.87217104e-03 -7.95121166e-03 3.83096288e+00] [ 6.88078892e-03 9.99975768e-01 1.05699779e-03 2.61565733e-01] [ 7.94375512e-03 -1.11165002e-03 9.99967830e-01 9.95019796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.632557844 meters Centerline goodness [0,1] 0.24943922008454833 Centerline is valid? [False, False] Translation: X:3.83, Y:0.26, Z:1.00 [[ 9.99948787e-01 -6.81457558e-03 -7.48231573e-03 3.82937455e+00] [ 6.82565618e-03 9.99975644e-01 1.45636847e-03 2.59291140e-01] [ 7.47220896e-03 -1.50736560e-03 9.99970947e-01 9.95742287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66255784400005 meters Centerline goodness [0,1] 0.25398581375675144 Centerline is valid? [False, False] Translation: X:3.83, Y:0.26, Z:1.00 [[ 9.99949305e-01 -6.72634515e-03 -7.49287172e-03 3.82930831e+00] [ 6.74019300e-03 9.99975620e-01 1.82442011e-03 2.57353600e-01] [ 7.48041737e-03 -1.87483102e-03 9.99970264e-01 9.95926509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.692557844 meters Centerline goodness [0,1] 0.2546823035182916 Centerline is valid? [False, False] Translation: X:3.81, Y:0.25, Z:0.99 [[ 9.99967682e-01 7.14282092e-04 -8.00782899e-03 3.81188366e+00] [-7.11543510e-04 9.99999687e-01 3.44831799e-04 2.49572674e-01] [ 8.00807280e-03 -3.39122736e-04 9.99967877e-01 9.93574122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72255784400005 meters Centerline goodness [0,1] 0.25225010301676465 Centerline is valid? [False, False] Translation: X:3.82, Y:0.24, Z:0.99 [[ 9.99959803e-01 -1.74445314e-03 -8.79486194e-03 3.81648123e+00] [ 1.73209933e-03 9.99997503e-01 -1.41208327e-03 2.44120182e-01] [ 8.79730329e-03 1.39679293e-03 9.99960327e-01 9.90446307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.752557844 meters Centerline goodness [0,1] 0.2535706486132343 Centerline is valid? [False, False] Translation: X:3.82, Y:0.24, Z:0.99 [[ 9.99960003e-01 -1.58126580e-03 -8.80299038e-03 3.81658249e+00] [ 1.57385846e-03 9.99998402e-01 -8.48321231e-04 2.41407766e-01] [ 8.80431773e-03 8.34432640e-04 9.99960893e-01 9.90313789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78255784400005 meters Centerline goodness [0,1] 0.2502071612368616 Centerline is valid? [False, False] Translation: X:3.82, Y:0.24, Z:0.99 [[ 9.99961680e-01 -1.40706060e-03 -8.64053053e-03 3.81607181e+00] [ 1.40465245e-03 9.99998973e-01 -2.84766213e-04 2.38725820e-01] [ 8.64092234e-03 2.72618359e-04 9.99962629e-01 9.90548726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.812557844 meters Centerline goodness [0,1] 0.2528610354223433 Centerline is valid? [False, False] Translation: X:3.82, Y:0.23, Z:0.99 [[ 9.99960379e-01 -1.34857261e-03 -8.79897046e-03 3.81624673e+00] [ 1.35254541e-03 9.99998986e-01 4.45572121e-04 2.34168447e-01] [ 8.79836065e-03 -4.57455474e-04 9.99961189e-01 9.90911945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84255784400005 meters Centerline goodness [0,1] 0.24877816703429778 Centerline is valid? [False, False] Translation: X:3.82, Y:0.23, Z:0.99 [[ 9.99957347e-01 -1.23939220e-03 -9.15252376e-03 3.81737960e+00] [ 1.24722959e-03 9.99998860e-01 8.50651318e-04 2.32001056e-01] [ 9.15145904e-03 -8.62030333e-04 9.99957753e-01 9.90478975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.872557844 meters Centerline goodness [0,1] 0.24677119778843248 Centerline is valid? [False, False] Translation: X:3.82, Y:0.23, Z:0.99 [[ 9.99956813e-01 -1.07846979e-03 -9.23089037e-03 3.81775167e+00] [ 1.09024611e-03 9.99998598e-01 1.27081434e-03 2.29992138e-01] [ 9.22950690e-03 -1.28082340e-03 9.99956587e-01 9.90161099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90255784400006 meters Centerline goodness [0,1] 0.2498536394978208 Centerline is valid? [False, False] Translation: X:3.82, Y:0.23, Z:0.99 [[ 9.99958258e-01 -9.06228583e-04 -9.09185796e-03 3.81726899e+00] [ 9.21619819e-04 9.99998149e-01 1.68881238e-03 2.28126453e-01] [ 9.09031068e-03 -1.69712112e-03 9.99957242e-01 9.90373314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93255784400003 meters Centerline goodness [0,1] 0.2516117828380402 Centerline is valid? [False, False] Translation: X:3.82, Y:0.22, Z:0.99 [[ 9.99964956e-01 -7.39340607e-04 -8.33905367e-03 3.81501124e+00] [ 7.60621740e-04 9.99996462e-01 2.54910150e-03 2.23756076e-01] [ 8.33713951e-03 -2.55535504e-03 9.99961980e-01 9.91143376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96255784400006 meters Centerline goodness [0,1] 0.2507832216517274 Centerline is valid? [False, False] Translation: X:3.82, Y:0.22, Z:0.99 [[ 9.99962176e-01 -6.28503902e-04 -8.67476096e-03 3.81599419e+00] [ 6.55103613e-04 9.99995092e-01 3.06383272e-03 2.21054575e-01] [ 8.67279275e-03 -3.06939971e-03 9.99957680e-01 9.90842919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99255784400003 meters Centerline goodness [0,1] 0.24965625613828324 Centerline is valid? [False, False] Translation: X:3.82, Y:0.22, Z:0.99 [[ 9.99957040e-01 -5.78202226e-04 -9.25120290e-03 3.81768517e+00] [ 6.11011562e-04 9.99993533e-01 3.54406082e-03 2.18270085e-01] [ 9.24909389e-03 -3.54956116e-03 9.99950926e-01 9.90347914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02255784400006 meters Centerline goodness [0,1] 0.25704552493031896 Centerline is valid? [False, False] Translation: X:3.79, Y:0.21, Z:0.99 [[ 9.99927878e-01 4.90132508e-03 -1.09643194e-02 3.79431007e+00] [-4.89622593e-03 9.99987892e-01 4.91862333e-04 2.14337782e-01] [ 1.09665974e-02 -4.38143074e-04 9.99939769e-01 9.90983446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05255784400003 meters Centerline goodness [0,1] 0.2512378949213444 Centerline is valid? [False, False] Translation: X:3.81, Y:0.22, Z:0.99 [[ 9.99941185e-01 -3.41262456e-03 -1.02946989e-02 3.81496254e+00] [ 3.43080066e-03 9.99992586e-01 1.74843493e-03 2.15682813e-01] [ 1.02886558e-02 -1.78365116e-03 9.99945480e-01 9.91981297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08255784400006 meters Centerline goodness [0,1] 0.2448266942576306 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:0.99 [[ 9.99971914e-01 1.70274255e-03 -7.29874484e-03 3.83814627e+00] [-1.70937505e-03 9.99998132e-01 -9.02575848e-04 2.11396130e-01] [ 7.29719435e-03 9.15026790e-04 9.99972956e-01 9.90263189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11255784400004 meters Centerline goodness [0,1] 0.25130140551795943 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:0.99 [[ 9.99972613e-01 1.84256177e-03 -7.16785064e-03 3.83773074e+00] [-1.84625087e-03 9.99998167e-01 -5.08090353e-04 2.09538963e-01] [ 7.16690131e-03 5.21310088e-04 9.99974182e-01 9.90381846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14255784400007 meters Centerline goodness [0,1] 0.25236442516268975 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:0.99 [[ 9.99972833e-01 1.93786491e-03 -7.11187062e-03 3.83754721e+00] [-1.93948692e-03 9.99998095e-01 -2.21180497e-04 2.08172716e-01] [ 7.11142845e-03 2.34967868e-04 9.99974686e-01 9.90466263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17255784400004 meters Centerline goodness [0,1] 0.2491957596562817 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:0.99 [[ 9.99972735e-01 1.98679304e-03 -7.11206114e-03 3.83747430e+00] [-1.98725847e-03 9.99998024e-01 -5.83762488e-05 2.07359712e-01] [ 7.11193111e-03 7.25081609e-05 9.99974707e-01 9.90567397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20255784400007 meters Centerline goodness [0,1] 0.2523755803358355 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:0.99 [[ 9.99970806e-01 1.93201740e-03 -7.39292154e-03 3.83824900e+00] [-1.93358437e-03 9.99998110e-01 -2.04814845e-04 2.08024104e-01] [ 7.39251186e-03 2.19103703e-04 9.99972651e-01 9.90433546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23255784400004 meters Centerline goodness [0,1] 0.24736035238485954 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:0.99 [[ 9.99970356e-01 1.85680206e-03 -7.47252839e-03 3.83857007e+00] [-1.86014230e-03 9.99998173e-01 -4.40077797e-04 2.09280932e-01] [ 7.47169760e-03 4.53964717e-04 9.99971983e-01 9.90242945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26255784400007 meters Centerline goodness [0,1] 0.2502937976060936 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:0.99 [[ 9.99971007e-01 1.76940240e-03 -7.40641297e-03 3.83833817e+00] [-1.77476732e-03 9.99998167e-01 -7.17851570e-04 2.10725412e-01] [ 7.40512923e-03 7.30975416e-04 9.99972314e-01 9.90376104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29255784400004 meters Centerline goodness [0,1] 0.24969207165546603 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:0.99 [[ 9.99972974e-01 1.64950151e-03 -7.16454527e-03 3.83751991e+00] [-1.65718244e-03 9.99998058e-01 -1.06627055e-03 2.12433072e-01] [ 7.16277254e-03 1.07811469e-03 9.99973766e-01 9.90757444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.322557844 meters Centerline goodness [0,1] 0.25260919565170226 Centerline is valid? [False, False] Translation: X:3.84, Y:0.22, Z:0.99 [[ 9.99974034e-01 1.34093081e-03 -7.08049898e-03 3.83717793e+00] [-1.35441318e-03 9.99997278e-01 -1.89970312e-03 2.16274794e-01] [ 7.07793234e-03 1.90924371e-03 9.99973128e-01 9.90974122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35255784400005 meters Centerline goodness [0,1] 0.24701006001467984 Centerline is valid? [False, False] Translation: X:3.84, Y:0.22, Z:0.99 [[ 9.99971924e-01 1.15387856e-03 -7.40402752e-03 3.83850218e+00] [-1.17156747e-03 9.99996469e-01 -2.38520036e-03 2.18592310e-01] [ 7.40124914e-03 2.39380771e-03 9.99969745e-01 9.90095316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.382557844 meters Centerline goodness [0,1] 0.2501368842944436 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:0.99 [[ 9.99939069e-01 6.73276902e-04 -1.10184017e-02 3.79619821e+00] [-7.04030408e-04 9.99995867e-01 -2.78746337e-03 2.21594957e-01] [ 1.10164794e-02 2.79505082e-03 9.99935410e-01 9.89547137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41255784400005 meters Centerline goodness [0,1] 0.2537270768283566 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:0.99 [[ 9.99937940e-01 4.74358999e-04 -1.11306680e-02 3.79670036e+00] [-5.10711053e-04 9.99994545e-01 -3.26332134e-03 2.23745595e-01] [ 1.11290593e-02 3.26880337e-03 9.99932727e-01 9.89137118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442557844 meters Centerline goodness [0,1] 0.24583270437539084 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99968751e-01 4.26463744e-04 -7.89394092e-03 3.83421300e+00] [-4.54092886e-04 9.99993777e-01 -3.49858281e-03 2.27948796e-01] [ 7.89239978e-03 3.50205806e-03 9.99962722e-01 9.91806099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47255784400005 meters Centerline goodness [0,1] 0.2529799589573418 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:0.99 [[ 9.99938161e-01 -8.06840915e-03 -7.65341867e-03 3.81296547e+00] [ 8.04789443e-03 9.99963950e-01 -2.70748522e-03 2.34302583e-01] [ 7.67498787e-03 2.64572388e-03 9.99967047e-01 9.91204156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502557844 meters Centerline goodness [0,1] 0.2502762550646762 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99968936e-01 -5.07646899e-05 -7.88196706e-03 3.83256826e+00] [ 2.11325275e-05 9.99992933e-01 -3.75952601e-03 2.30526097e-01] [ 7.88210221e-03 3.75924266e-03 9.99961870e-01 9.92462899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53255784400005 meters Centerline goodness [0,1] 0.2485475199445023 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99965976e-01 -1.34380704e-04 -8.24799666e-03 3.83379558e+00] [ 1.02764683e-04 9.99992647e-01 -3.83347989e-03 2.30565840e-01] [ 8.24845116e-03 3.83250185e-03 9.99958637e-01 9.91902341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562557844 meters Centerline goodness [0,1] 0.24868529705767306 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99963645e-01 -1.75900504e-04 -8.52511518e-03 3.83464628e+00] [ 1.43431916e-04 9.99992735e-01 -3.80904235e-03 2.30167749e-01] [ 8.52572326e-03 3.80768110e-03 9.99956406e-01 9.91588575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59255784400005 meters Centerline goodness [0,1] 0.2465892629348555 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99965869e-01 -1.29079388e-04 -8.26097142e-03 3.83347129e+00] [ 9.98707171e-05 9.99993743e-01 -3.53605777e-03 2.28876829e-01] [ 8.26137616e-03 3.53511206e-03 9.99959626e-01 9.92464999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622557844 meters Centerline goodness [0,1] 0.2507924790481567 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99968061e-01 -8.51170961e-05 -7.99180767e-03 3.83241040e+00] [ 5.80095246e-05 9.99994245e-01 -3.39209045e-03 2.28220547e-01] [ 7.99205041e-03 3.39151851e-03 9.99962312e-01 9.93144258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65255784400006 meters Centerline goodness [0,1] 0.25479344605194354 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99967945e-01 -5.88002326e-05 -8.00662479e-03 3.83224194e+00] [ 3.21437452e-05 9.99994457e-01 -3.32939192e-03 2.27906144e-01] [ 8.00677617e-03 3.32902783e-03 9.99962404e-01 9.93547354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68255784400003 meters Centerline goodness [0,1] 0.25291210346404236 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99965448e-01 -5.28214617e-05 -8.31269317e-03 3.83315474e+00] [ 2.46708986e-05 9.99994265e-01 -3.38652132e-03 2.28174232e-01] [ 8.31282438e-03 3.38619922e-03 9.99959714e-01 9.93327224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71255784400006 meters Centerline goodness [0,1] 0.2526792715866516 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99960847e-01 -4.19755788e-05 -8.84892759e-03 3.83477405e+00] [ 9.74133341e-06 9.99993365e-01 -3.64274066e-03 2.29570271e-01] [ 8.84902178e-03 3.64251183e-03 9.99954212e-01 9.92822151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74255784400003 meters Centerline goodness [0,1] 0.2516572228663939 Centerline is valid? [False, False] Translation: X:3.84, Y:0.23, Z:0.99 [[ 9.99958391e-01 9.34268092e-04 -9.07436619e-03 3.83537848e+00] [-9.65231797e-04 9.99993725e-01 -3.40843691e-03 2.31725297e-01] [ 9.07112486e-03 3.41705395e-03 9.99953018e-01 9.92694414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77255784400006 meters Centerline goodness [0,1] 0.24862046491418643 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99959424e-01 1.07186670e-03 -8.94435622e-03 3.83482760e+00] [-1.10386618e-03 9.99993006e-01 -3.57344784e-03 2.33088060e-01] [ 8.94046340e-03 3.58317621e-03 9.99953613e-01 9.93061751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80255784400003 meters Centerline goodness [0,1] 0.2516469897593112 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99960987e-01 1.08691056e-03 -8.76607506e-03 3.83412993e+00] [-1.12002365e-03 9.99992254e-01 -3.77339036e-03 2.34294997e-01] [ 8.76190581e-03 3.78306136e-03 9.99954458e-01 9.93515893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83255784400006 meters Centerline goodness [0,1] 0.2495944630691035 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99962791e-01 1.14127542e-03 -8.55064122e-03 3.83333689e+00] [-1.17423746e-03 9.99991896e-01 -3.85089304e-03 2.34877087e-01] [ 8.54617700e-03 3.86079023e-03 9.99956028e-01 9.93970479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86255784400004 meters Centerline goodness [0,1] 0.2514537406700226 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:0.99 [[ 9.99965200e-01 1.15613971e-03 -8.26203488e-03 3.83227512e+00] [-1.18859956e-03 9.99991591e-01 -3.92496707e-03 2.35352473e-01] [ 8.25742759e-03 3.93465074e-03 9.99958166e-01 9.94530952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89255784400007 meters Centerline goodness [0,1] 0.2479231848095803 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:1.00 [[ 9.99969155e-01 1.29339613e-03 -7.74695454e-03 3.83055218e+00] [-1.32334511e-03 9.99991667e-01 -3.86202490e-03 2.35430062e-01] [ 7.74189486e-03 3.87215767e-03 9.99962534e-01 9.95268482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92255784400004 meters Centerline goodness [0,1] 0.2504807380679731 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:1.00 [[ 9.99968910e-01 1.35022324e-03 -7.76894031e-03 3.83073625e+00] [-1.37966247e-03 9.99991884e-01 -3.78523886e-03 2.35118099e-01] [ 7.76376635e-03 3.79583969e-03 9.99962657e-01 9.95037213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95255784400007 meters Centerline goodness [0,1] 0.2497836434443964 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99967714e-01 1.38789768e-03 -7.91483678e-03 3.83129796e+00] [-1.41734099e-03 9.99992093e-01 -3.71561982e-03 2.34779582e-01] [ 7.90961730e-03 3.72671788e-03 9.99961774e-01 9.94684551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98255784400004 meters Centerline goodness [0,1] 0.2525250340636287 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99966504e-01 1.44325354e-03 -8.05654686e-03 3.83177819e+00] [-1.47261788e-03 9.99992291e-01 -3.64003842e-03 2.34505160e-01] [ 8.05123125e-03 3.65178071e-03 9.99960920e-01 9.94447875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01255784400007 meters Centerline goodness [0,1] 0.2547252362618131 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:0.99 [[ 9.99935645e-01 -6.34811507e-03 -9.40252352e-03 3.81277955e+00] [ 6.33123973e-03 9.99978295e-01 -1.82344687e-03 2.37336551e-01] [ 9.41389489e-03 1.76379989e-03 9.99954133e-01 9.93391067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04255784400004 meters Centerline goodness [0,1] 0.25034178945769403 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99952736e-01 1.95805209e-03 -9.52322553e-03 3.83276392e+00] [-1.98634552e-03 9.99993639e-01 -2.96244195e-03 2.32898164e-01] [ 9.51736434e-03 2.98121835e-03 9.99950265e-01 9.94938616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0725578440001 meters Centerline goodness [0,1] 0.24940089380167962 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99952047e-01 1.99892945e-03 -9.58689479e-03 3.83298860e+00] [-2.02634235e-03 9.99993884e-01 -2.85055306e-03 2.32199955e-01] [ 9.58113811e-03 2.86984270e-03 9.99949982e-01 9.94825894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10255784400005 meters Centerline goodness [0,1] 0.24940089380167962 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99952047e-01 1.99892945e-03 -9.58689479e-03 3.83298860e+00] [-2.02634235e-03 9.99993884e-01 -2.85055306e-03 2.32199955e-01] [ 9.58113811e-03 2.86984270e-03 9.99949982e-01 9.94825894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.132557844 meters Centerline goodness [0,1] 0.24800103729956346 Centerline is valid? [False, False] Translation: X:3.83, Y:0.23, Z:0.99 [[ 9.99951497e-01 2.07039148e-03 -9.62893422e-03 3.83307611e+00] [-2.09646285e-03 9.99994162e-01 -2.69830241e-03 2.31490980e-01] [ 9.62329146e-03 2.71835823e-03 9.99950000e-01 9.94851491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16255784400005 meters Centerline goodness [0,1] 0.25388338833883384 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:1.00 [[ 9.99922983e-01 2.41634155e-03 -1.21732987e-02 3.78798777e+00] [-2.43554276e-03 9.99995813e-01 -1.56274388e-03 2.26969764e-01] [ 1.21694716e-02 1.59227211e-03 9.99924681e-01 9.95661963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192557844 meters Centerline goodness [0,1] 0.24785215001406657 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:1.00 [[ 9.99912264e-01 -5.86186024e-03 -1.18786869e-02 3.80903793e+00] [ 5.85248912e-03 9.99982535e-01 -8.23509860e-04 2.29563325e-01] [ 1.18833067e-02 7.53917723e-04 9.99929107e-01 9.95930477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22255784400005 meters Centerline goodness [0,1] 0.24986408611503752 Centerline is valid? [False, False] Translation: X:3.81, Y:0.23, Z:1.00 [[ 9.99909852e-01 -5.75454733e-03 -1.21315028e-02 3.80990408e+00] [ 5.74994666e-03 9.99983383e-01 -4.14078614e-04 2.27225823e-01] [ 1.21336841e-02 3.44285791e-04 9.99926325e-01 9.95566818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252557844 meters Centerline goodness [0,1] 0.24860196480621832 Centerline is valid? [False, False] Translation: X:3.81, Y:0.22, Z:1.00 [[ 9.99906184e-01 -5.61925244e-03 -1.24918539e-02 3.81088820e+00] [ 5.62073622e-03 9.99984200e-01 8.36749585e-05 2.24543520e-01] [ 1.24911863e-02 -1.53880524e-04 9.99921970e-01 9.95436003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28255784400005 meters Centerline goodness [0,1] 0.2509681068615933 Centerline is valid? [False, False] Translation: X:3.81, Y:0.22, Z:1.00 [[ 9.99905447e-01 -5.38680744e-03 -1.26522179e-02 3.81138895e+00] [ 5.39612324e-03 9.99985194e-01 7.02274430e-04 2.21669848e-01] [ 1.26482476e-02 -7.70480955e-04 9.99919711e-01 9.95279835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312557844 meters Centerline goodness [0,1] 0.2530513859975896 Centerline is valid? [False, False] Translation: X:3.81, Y:0.22, Z:1.00 [[ 9.99910346e-01 -5.01091227e-03 -1.24173234e-02 3.81069137e+00] [ 5.03540385e-03 9.99985437e-01 1.94189317e-03 2.15612010e-01] [ 1.24074119e-02 -2.00424531e-03 9.99921016e-01 9.95654935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34255784400005 meters Centerline goodness [0,1] 0.24909130246646471 Centerline is valid? [False, False] Translation: X:3.83, Y:0.21, Z:1.00 [[ 9.99941821e-01 1.14949908e-03 -1.07253393e-02 3.83223116e+00] [-1.16037868e-03 9.99998819e-01 -1.00821507e-03 2.11326355e-01] [ 1.07241677e-02 1.02060186e-03 9.99941974e-01 9.95582496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372557844 meters Centerline goodness [0,1] 0.25369849881255857 Centerline is valid? [False, False] Translation: X:3.83, Y:0.21, Z:1.00 [[ 9.99941712e-01 1.37431657e-03 -1.07090106e-02 3.83185568e+00] [-1.37798950e-03 9.99998994e-01 -3.35604405e-04 2.07933974e-01] [ 1.07085386e-02 3.50341748e-04 9.99942601e-01 9.96199113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40255784400006 meters Centerline goodness [0,1] 0.24677097780859913 Centerline is valid? [False, False] Translation: X:3.83, Y:0.20, Z:1.00 [[ 9.99940806e-01 1.63648422e-03 -1.07566770e-02 3.83190106e+00] [-1.63299678e-03 9.99998611e-01 3.32986742e-04 2.04805733e-01] [ 1.07572069e-02 -3.15401412e-04 9.99942090e-01 9.96378245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43255784400003 meters Centerline goodness [0,1] 0.2478983424459188 Centerline is valid? [False, False] Translation: X:3.83, Y:0.20, Z:1.00 [[ 9.99939814e-01 1.92224847e-03 -1.08014994e-02 3.83211444e+00] [-1.91194279e-03 9.99997707e-01 9.64341903e-04 2.02048316e-01] [ 1.08033283e-02 -9.43632015e-04 9.99941197e-01 9.96208217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46255784400006 meters Centerline goodness [0,1] 0.25175720236029153 Centerline is valid? [False, False] Translation: X:3.83, Y:0.20, Z:1.00 [[ 9.99938809e-01 2.42088864e-03 -1.07943264e-02 3.83244511e+00] [-2.39854745e-03 9.99994956e-01 2.08218188e-03 1.96663646e-01] [ 1.07993126e-02 -2.05616376e-03 9.99939572e-01 9.95761972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49255784400003 meters Centerline goodness [0,1] 0.24855037711993722 Centerline is valid? [False, False] Translation: X:3.83, Y:0.19, Z:1.00 [[ 9.99936960e-01 2.64265666e-03 -1.09129160e-02 3.83278413e+00] [-2.61468666e-03 9.99993263e-01 2.57649061e-03 1.94335744e-01] [ 1.09196513e-02 -2.54779434e-03 9.99937133e-01 9.95721306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52255784400006 meters Centerline goodness [0,1] 0.24581896551724136 Centerline is valid? [False, False] Translation: X:3.85, Y:0.20, Z:1.00 [[ 0.99993647 -0.00455831 -0.01030882 3.85134238] [ 0.00460213 0.99998046 0.00423129 0.19676433] [ 0.01028934 -0.00427846 0.99993791 0.99725479] [ 0. 0. 0. 1. ]] SLAMing on 275.55255784400003 meters Centerline goodness [0,1] 0.2511940331057946 Centerline is valid? [False, False] Translation: X:3.83, Y:0.19, Z:1.00 [[ 0.99994616 0.00498187 -0.00910238 3.82810221] [-0.00493487 0.99997441 0.00517881 0.18883871] [ 0.00912795 -0.00513361 0.99994516 0.99729313] [ 0. 0. 0. 1. ]] SLAMing on 275.58255784400006 meters Centerline goodness [0,1] 0.2484469370146678 Centerline is valid? [False, False] Translation: X:3.83, Y:0.19, Z:1.00 [[ 0.99994711 0.00516525 -0.00889343 3.82755907] [-0.0051178 0.99997259 0.00534999 0.18825097] [ 0.00892082 -0.00530419 0.99994614 0.99730256] [ 0. 0. 0. 1. ]] SLAMing on 275.61255784400004 meters Centerline goodness [0,1] 0.25294783100552587 Centerline is valid? [False, False] Translation: X:3.83, Y:0.19, Z:1.00 [[ 0.9999482 0.00528835 -0.00869624 3.82705047] [-0.00524025 0.9999709 0.00554451 0.1873435 ] [ 0.00872531 -0.00549865 0.99994682 0.99735001] [ 0. 0. 0. 1. ]] SLAMing on 275.64255784400007 meters Centerline goodness [0,1] 0.25495601943022184 Centerline is valid? [False, False] Translation: X:3.83, Y:0.19, Z:1.00 [[ 0.99994832 0.00541517 -0.00860398 3.82680353] [-0.00536513 0.99996863 0.00582764 0.18597258] [ 0.00863526 -0.00578118 0.999946 0.99739791] [ 0. 0. 0. 1. ]] SLAMing on 275.67255784400004 meters Centerline goodness [0,1] 0.2483130322302468 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:1.00 [[ 0.99995316 0.00679519 -0.00689258 3.87179208] [-0.00675357 0.99995894 0.00604262 0.18630659] [ 0.00693336 -0.00599579 0.99995799 0.99677384] [ 0. 0. 0. 1. ]] SLAMing on 275.70255784400007 meters Centerline goodness [0,1] 0.25102692834322227 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:1.00 [[ 0.9999505 0.00692329 -0.00714644 3.87268502] [-0.00687864 0.99995679 0.00625353 0.18540957] [ 0.00718943 -0.00620406 0.99995491 0.99630773] [ 0. 0. 0. 1. ]] SLAMing on 275.73255784400004 meters Centerline goodness [0,1] 0.24588858274496295 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:1.00 [[ 0.99994264 0.0072275 -0.00790487 3.87531088] [-0.00717429 0.99995156 0.00673852 0.18300968] [ 0.00795319 -0.00668142 0.99994605 0.9950991 ] [ 0. 0. 0. 1. ]] SLAMing on 275.76255784400007 meters Centerline goodness [0,1] 0.25325244206929787 Centerline is valid? [False, False] Translation: X:3.83, Y:0.18, Z:1.00 [[ 0.99991971 0.00629123 -0.01100018 3.8309967 ] [-0.00621665 0.99995755 0.00680114 0.17807571] [ 0.0110425 -0.00673221 0.99991637 0.99594839] [ 0. 0. 0. 1. ]] SLAMing on 275.79255784400004 meters Centerline goodness [0,1] 0.25188576411597996 Centerline is valid? [False, False] Translation: X:3.83, Y:0.18, Z:1.00 [[ 0.99991907 0.00636989 -0.01101257 3.83101175] [-0.00629271 0.9999555 0.0070288 0.17692058] [ 0.01105685 -0.00695893 0.99991466 0.99599973] [ 0. 0. 0. 1. ]] SLAMing on 275.8225578440001 meters Centerline goodness [0,1] 0.24834158041444288 Centerline is valid? [False, False] Translation: X:3.85, Y:0.18, Z:1.00 [[ 9.99942202e-01 -1.32182350e-03 -1.06697979e-02 3.85019218e+00] [ 1.40990958e-03 9.99964955e-01 8.25235084e-03 1.80280624e-01] [ 1.06585158e-02 -8.26691733e-03 9.99909023e-01 9.97492017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85255784400005 meters Centerline goodness [0,1] 0.24941846561881775 Centerline is valid? [False, False] Translation: X:3.85, Y:0.18, Z:1.00 [[ 9.99941934e-01 -1.23202951e-03 -1.07056622e-02 3.85015078e+00] [ 1.32684096e-03 9.99959926e-01 8.85361221e-03 1.76997371e-01] [ 1.06943252e-02 -8.86730283e-03 9.99903497e-01 9.97873817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.882557844 meters Centerline goodness [0,1] 0.250494984878484 Centerline is valid? [False, False] Translation: X:3.85, Y:0.17, Z:1.00 [[ 9.99941708e-01 -1.18735283e-03 -1.07317758e-02 3.85005503e+00] [ 1.28629675e-03 9.99956690e-01 9.21752116e-03 1.74864703e-01] [ 1.07203666e-02 -9.23078810e-03 9.99899928e-01 9.98233130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91255784400005 meters Centerline goodness [0,1] 0.2527629155337251 Centerline is valid? [False, False] Translation: X:3.85, Y:0.17, Z:1.00 [[ 9.99942961e-01 -1.12332733e-03 -1.06212991e-02 3.84963471e+00] [ 1.22561146e-03 9.99952894e-01 9.62849624e-03 1.72686414e-01] [ 1.06099828e-02 -9.64096463e-03 9.99897235e-01 9.98594715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942557844 meters Centerline goodness [0,1] 0.2477040486353641 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:1.00 [[ 0.99995282 0.00526901 -0.00816088 3.87219117] [-0.00520982 0.9999601 0.00725681 0.17105757] [ 0.0081988 -0.00721395 0.99994037 0.99728299] [ 0. 0. 0. 1. ]] SLAMing on 275.97255784400005 meters Centerline goodness [0,1] 0.24874062222990945 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:1.00 [[ 0.99995322 0.00545863 -0.00798537 3.87148813] [-0.00539596 0.99995464 0.00784811 0.16845953] [ 0.00802785 -0.00780465 0.99993732 0.99778619] [ 0. 0. 0. 1. ]] SLAMing on 276.002557844 meters Centerline goodness [0,1] 0.24745331983718477 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:1.00 [[ 9.99968918e-01 1.98668586e-03 -7.62990794e-03 3.87049420e+00] [-1.95223428e-03 9.99987879e-01 4.52013040e-03 1.67878974e-01] [ 7.63879554e-03 -4.50509454e-03 9.99960676e-01 9.97967486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03255784400005 meters Centerline goodness [0,1] 0.24850971922246223 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:1.00 [[ 9.99964811e-01 2.01619492e-03 -8.14321214e-03 3.87173382e+00] [-1.97594244e-03 9.99985806e-01 4.94809503e-03 1.65365092e-01] [ 8.15307288e-03 -4.93183039e-03 9.99954601e-01 9.98148137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062557844 meters Centerline goodness [0,1] 0.248162644053055 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:0.99 [[ 9.99953930e-01 2.04147098e-04 -9.59668696e-03 3.87833048e+00] [-1.69998615e-04 9.99993652e-01 3.55904269e-03 1.60913365e-01] [ 9.59735261e-03 -3.55724730e-03 9.99947617e-01 9.94710101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09255784400005 meters Centerline goodness [0,1] 0.24669593995371075 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:0.99 [[ 9.99951748e-01 3.38854507e-04 -9.81768353e-03 3.87927514e+00] [-3.00099957e-04 9.99992159e-01 3.94862738e-03 1.58966404e-01] [ 9.81894456e-03 -3.94549056e-03 9.99944009e-01 9.94065624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122557844 meters Centerline goodness [0,1] 0.24839293107581006 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:0.99 [[ 9.99951527e-01 4.95090590e-04 -9.83359136e-03 3.87933828e+00] [-4.52540224e-04 9.99990528e-01 4.32879622e-03 1.57176079e-01] [ 9.83564137e-03 -4.32413629e-03 9.99942279e-01 9.94067439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15255784400006 meters Centerline goodness [0,1] 0.24653835353077136 Centerline is valid? [False, False] Translation: X:3.90, Y:0.15, Z:0.99 [[ 9.99933358e-01 7.73260503e-03 -8.57246866e-03 3.89954628e+00] [-7.71881611e-03 9.99968864e-01 1.64043345e-03 1.52129688e-01] [ 8.58488657e-03 -1.57415481e-03 9.99961910e-01 9.94882297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18255784400003 meters Centerline goodness [0,1] 0.2483910810635117 Centerline is valid? [False, False] Translation: X:3.90, Y:0.15, Z:0.99 [[ 9.99932197e-01 7.79024642e-03 -8.65522655e-03 3.89976563e+00] [-7.77563133e-03 9.99968288e-01 1.72095536e-03 1.51794355e-01] [ 8.66835875e-03 -1.65353882e-03 9.99961062e-01 9.94858673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21255784400006 meters Centerline goodness [0,1] 0.24991301322199022 Centerline is valid? [False, False] Translation: X:3.90, Y:0.15, Z:0.99 [[ 9.99932487e-01 7.88371147e-03 -8.53630478e-03 3.89961976e+00] [-7.86887686e-03 9.99967473e-01 1.77002026e-03 1.51882100e-01] [ 8.54998145e-03 -1.70272963e-03 9.99961999e-01 9.94567462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24255784400003 meters Centerline goodness [0,1] 0.24826647657313206 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:1.00 [[ 9.99960846e-01 1.58830814e-03 -8.70536774e-03 3.91650401e+00] [-1.55817807e-03 9.99992777e-01 3.46678230e-03 1.57328950e-01] [ 8.71081117e-03 -3.45308204e-03 9.99956098e-01 9.96685371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27255784400006 meters Centerline goodness [0,1] 0.25087963164067595 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:1.00 [[ 9.99963878e-01 1.69253036e-03 -8.32937803e-03 3.91535658e+00] [-1.66314186e-03 9.99992373e-01 3.53395739e-03 1.57338838e-01] [ 8.33529583e-03 -3.51997680e-03 9.99959065e-01 9.97054945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30255784400003 meters Centerline goodness [0,1] 0.2501029453197807 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:1.00 [[ 9.99968174e-01 1.74265107e-03 -7.78556083e-03 3.91361314e+00] [-1.71483044e-03 9.99992126e-01 3.57861057e-03 1.56860177e-01] [ 7.79173580e-03 -3.56514576e-03 9.99963289e-01 9.97728475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33255784400006 meters Centerline goodness [0,1] 0.2519062411748094 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:1.00 [[ 9.99968422e-01 1.77210059e-03 -7.74691688e-03 3.91342261e+00] [-1.74412693e-03 9.99991941e-01 3.61620599e-03 1.56603075e-01] [ 7.75326272e-03 -3.60258019e-03 9.99963453e-01 9.97889953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36255784400004 meters Centerline goodness [0,1] 0.25190674293638415 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:1.00 [[ 9.99968890e-01 1.78367194e-03 -7.68354878e-03 3.91326768e+00] [-1.75612825e-03 9.99992014e-01 3.59001761e-03 1.56831725e-01] [ 7.68989083e-03 -3.57641263e-03 9.99964037e-01 9.97875369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39255784400007 meters Centerline goodness [0,1] 0.2528251043115438 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:1.00 [[ 9.99968831e-01 1.78970942e-03 -7.68990129e-03 3.91335783e+00] [-1.76247522e-03 9.99992157e-01 3.54687241e-03 1.57154459e-01] [ 7.69618885e-03 -3.53320860e-03 9.99964142e-01 9.97714344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42255784400004 meters Centerline goodness [0,1] 0.25316318336697263 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:1.00 [[ 9.99967774e-01 1.78045005e-03 -7.82820880e-03 3.91376321e+00] [-1.75372032e-03 9.99992614e-01 3.42007975e-03 1.57950564e-01] [ 7.83424026e-03 -3.40624105e-03 9.99963510e-01 9.97525383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45255784400007 meters Centerline goodness [0,1] 0.2509245842074529 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:1.00 [[ 9.99968075e-01 1.76914426e-03 -7.79219275e-03 3.91365193e+00] [-1.74269960e-03 9.99992704e-01 3.39922061e-03 1.58045103e-01] [ 7.79814961e-03 -3.38553264e-03 9.99963863e-01 9.97544175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48255784400004 meters Centerline goodness [0,1] 0.25019419989642677 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:1.00 [[ 9.99968352e-01 1.76917643e-03 -7.75662963e-03 3.91342959e+00] [-1.74256916e-03 9.99992580e-01 3.43567917e-03 1.57785861e-01] [ 7.76265040e-03 -3.42205397e-03 9.99964015e-01 9.97770252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51255784400007 meters Centerline goodness [0,1] 0.2513025356026398 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:1.00 [[ 9.99968103e-01 1.74982882e-03 -7.79304285e-03 3.91363699e+00] [-1.72299981e-03 9.99992571e-01 3.44807121e-03 1.57567872e-01] [ 7.79901849e-03 -3.43453382e-03 9.99963689e-01 9.97578113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54255784400004 meters Centerline goodness [0,1] 0.2510333484818975 Centerline is valid? [False, False] Translation: X:3.91, Y:0.16, Z:1.00 [[ 9.99965964e-01 1.72520855e-03 -8.06813603e-03 3.91458177e+00] [-1.69714169e-03 9.99992490e-01 3.48428225e-03 1.57190063e-01] [ 8.07408655e-03 -3.47047088e-03 9.99961382e-01 9.97126677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5725578440001 meters Centerline goodness [0,1] 0.251605739293257 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:1.00 [[ 9.99964346e-01 1.72910850e-03 -8.26534882e-03 3.91534665e+00] [-1.69979388e-03 9.99992246e-01 3.55239943e-03 1.56784910e-01] [ 8.27142721e-03 -3.53822339e-03 9.99959531e-01 9.96636208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60255784400005 meters Centerline goodness [0,1] 0.25001625170642916 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:1.00 [[ 9.99963780e-01 1.72765482e-03 -8.33387707e-03 3.91543287e+00] [-1.69648522e-03 9.99991546e-01 3.74572848e-03 1.55725946e-01] [ 8.34027793e-03 -3.73145451e-03 9.99958257e-01 9.96795438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.632557844 meters Centerline goodness [0,1] 0.24919941145923485 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:1.00 [[ 9.99965464e-01 1.76789465e-03 -8.12071036e-03 3.91447349e+00] [-1.73577136e-03 9.99990648e-01 3.96107105e-03 1.54647655e-01] [ 8.12763717e-03 -3.94683855e-03 9.99959181e-01 9.97611844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66255784400005 meters Centerline goodness [0,1] 0.25055547166555214 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:1.00 [[ 9.99966843e-01 1.81610081e-03 -7.93820128e-03 3.91360687e+00] [-1.78260638e-03 9.99989488e-01 4.22443817e-03 1.53288434e-01] [ 7.94578984e-03 -4.21014741e-03 9.99959569e-01 9.98370675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.692557844 meters Centerline goodness [0,1] 0.24902765773552293 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:1.00 [[ 9.99965864e-01 1.91075590e-03 -8.03860779e-03 3.91374088e+00] [-1.87434877e-03 9.99987964e-01 4.53413245e-03 1.51758968e-01] [ 8.04717466e-03 -4.51891052e-03 9.99957410e-01 9.98623529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72255784400005 meters Centerline goodness [0,1] 0.2519020368786862 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99928541e-01 -1.48506609e-04 -1.19537309e-02 3.87389285e+00] [ 2.00398869e-04 9.99990562e-01 4.34001243e-03 1.44493368e-01] [ 1.19529736e-02 -4.34209781e-03 9.99919133e-01 9.97326099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752557844 meters Centerline goodness [0,1] 0.25173164456758357 Centerline is valid? [False, False] Translation: X:3.88, Y:0.14, Z:1.00 [[ 9.99923948e-01 -5.52389441e-05 -1.23326672e-02 3.87515457e+00] [ 1.13455117e-04 9.99988855e-01 4.71983550e-03 1.42394595e-01] [ 1.23322690e-02 -4.72087576e-03 9.99912810e-01 9.96788890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78255784400005 meters Centerline goodness [0,1] 0.24858274782760958 Centerline is valid? [False, False] Translation: X:3.88, Y:0.14, Z:1.00 [[ 9.99921761e-01 6.95869713e-05 -1.25086669e-02 3.87556908e+00] [-5.31906497e-06 9.99986801e-01 5.13782998e-03 1.40215245e-01] [ 1.25088594e-02 -5.13736147e-03 9.99908564e-01 9.96864970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812557844 meters Centerline goodness [0,1] 0.24492878722485978 Centerline is valid? [False, False] Translation: X:3.90, Y:0.14, Z:1.00 [[ 9.99898420e-01 8.58305944e-03 -1.13789550e-02 3.89507305e+00] [-8.53906235e-03 9.99955899e-01 3.90949483e-03 1.35106208e-01] [ 1.14120086e-02 -3.81193210e-03 9.99927615e-01 9.98160879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84255784400005 meters Centerline goodness [0,1] 0.2510028778233191 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99939455e-01 -4.95152307e-04 -1.09927363e-02 3.87389248e+00] [ 5.47989010e-04 9.99988310e-01 4.80401900e-03 1.38012610e-01] [ 1.09902290e-02 -4.80975204e-03 9.99928038e-01 9.97557004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.872557844 meters Centerline goodness [0,1] 0.25100589399508466 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99941346e-01 -3.81078919e-04 -1.08239981e-02 3.87326046e+00] [ 4.34170330e-04 9.99987886e-01 4.90304606e-03 1.37773357e-01] [ 1.08219985e-02 -4.90745794e-03 9.99929398e-01 9.97952520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90255784400006 meters Centerline goodness [0,1] 0.25374708804008617 Centerline is valid? [False, False] Translation: X:3.85, Y:0.13, Z:1.00 [[ 0.99989248 0.00818477 -0.01216711 3.85345789] [-0.00813209 0.99995737 0.00437256 0.13233977] [ 0.01220238 -0.00427314 0.99991642 0.99627255] [ 0. 0. 0. 1. ]] SLAMing on 276.93255784400003 meters Centerline goodness [0,1] 0.249164387724096 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99909288e-01 1.75292744e-03 -1.33544875e-02 3.87239071e+00] [-1.68225203e-03 9.99984531e-01 5.30165507e-03 1.38453097e-01] [ 1.33635744e-02 -5.27870854e-03 9.99896770e-01 9.97500783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96255784400006 meters Centerline goodness [0,1] 0.24790637983164032 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99910660e-01 1.79083274e-03 -1.32463550e-02 3.87207260e+00] [-1.72184070e-03 9.99984904e-01 5.21795188e-03 1.39143848e-01] [ 1.32554995e-02 -5.19467759e-03 9.99898648e-01 9.97511461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99255784400003 meters Centerline goodness [0,1] 0.24790637983164032 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99910660e-01 1.79083274e-03 -1.32463550e-02 3.87207260e+00] [-1.72184070e-03 9.99984904e-01 5.21795188e-03 1.39143848e-01] [ 1.32554995e-02 -5.19467759e-03 9.99898648e-01 9.97511461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02255784400006 meters Centerline goodness [0,1] 0.2511008414352357 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99914175e-01 1.87209287e-03 -1.29667758e-02 3.87090899e+00] [-1.80349954e-03 9.99984331e-01 5.29960404e-03 1.39135980e-01] [ 1.29764940e-02 -5.27576363e-03 9.99901884e-01 9.98315693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05255784400003 meters Centerline goodness [0,1] 0.2525922853587723 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99916815e-01 1.94185898e-03 -1.27511576e-02 3.86995604e+00] [-1.87313212e-03 9.99983668e-01 5.39958501e-03 1.38923043e-01] [ 1.27614345e-02 -5.37525125e-03 9.99904122e-01 9.99058537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08255784400006 meters Centerline goodness [0,1] 0.2478715170278638 Centerline is valid? [False, False] Translation: X:3.89, Y:0.14, Z:1.00 [[ 9.99910926e-01 8.38278075e-03 -1.03860457e-02 3.89139540e+00] [-8.36019678e-03 9.99962598e-01 2.21596534e-03 1.37188208e-01] [ 1.04042332e-02 -2.12893857e-03 9.99943608e-01 9.98412551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11255784400004 meters Centerline goodness [0,1] 0.25378804419021006 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99939369e-01 -1.45543555e-03 -1.09151034e-02 3.86902666e+00] [ 1.48513055e-03 9.99995217e-01 2.71293064e-03 1.38145837e-01] [ 1.09111027e-02 -2.72897650e-03 9.99936748e-01 9.98240124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14255784400007 meters Centerline goodness [0,1] 0.25078857443266456 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.00 [[ 9.99938313e-01 -1.36531092e-03 -1.10230025e-02 3.86919317e+00] [ 1.39928387e-03 9.99994294e-01 3.07488138e-03 1.36276766e-01] [ 1.10187414e-02 -3.09011601e-03 9.99934517e-01 9.98432120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17255784400004 meters Centerline goodness [0,1] 0.25050876813163026 Centerline is valid? [False, False] Translation: X:3.89, Y:0.13, Z:1.00 [[ 9.99929827e-01 5.66264324e-03 -1.04055207e-02 3.89133211e+00] [-5.65718911e-03 9.99983845e-01 5.53516626e-04 1.33642620e-01] [ 1.04084870e-02 -4.94611786e-04 9.99945708e-01 9.98366059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20255784400007 meters Centerline goodness [0,1] 0.24898938584924013 Centerline is valid? [False, False] Translation: X:3.89, Y:0.13, Z:1.00 [[ 9.99925210e-01 5.76892733e-03 -1.07839961e-02 3.89223668e+00] [-5.75839912e-03 9.99982913e-01 1.00707697e-03 1.31319873e-01] [ 1.07896216e-02 -9.44903097e-04 9.99941344e-01 9.98449557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23255784400004 meters Centerline goodness [0,1] 0.24596460940871812 Centerline is valid? [False, False] Translation: X:3.89, Y:0.13, Z:1.00 [[ 9.99919755e-01 5.87484043e-03 -1.12236235e-02 3.89340384e+00] [-5.85853030e-03 9.99981735e-01 1.48552303e-03 1.28809950e-01] [ 1.12321458e-02 -1.41964988e-03 9.99935910e-01 9.98391803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26255784400007 meters Centerline goodness [0,1] 0.24987481221832752 Centerline is valid? [False, False] Translation: X:3.89, Y:0.13, Z:1.00 [[ 9.99937819e-01 2.29166922e-03 -1.09136023e-02 3.89280435e+00] [-2.31191009e-03 9.99995630e-01 -1.84239182e-03 1.26765350e-01] [ 1.09093325e-02 1.86750852e-03 9.99938748e-01 9.98160832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29255784400004 meters Centerline goodness [0,1] 0.2478031254058266 Centerline is valid? [False, False] Translation: X:3.89, Y:0.13, Z:1.00 [[ 9.99938621e-01 2.39584336e-03 -1.08173022e-02 3.89228903e+00] [-2.41307439e-03 9.99995840e-01 -1.58014302e-03 1.25538484e-01] [ 1.08134714e-02 1.60614898e-03 9.99940243e-01 9.98652813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3225578440001 meters Centerline goodness [0,1] 0.24904712404712404 Centerline is valid? [False, False] Translation: X:3.89, Y:0.12, Z:1.00 [[ 9.99940566e-01 2.49054192e-03 -1.06142569e-02 3.89152271e+00] [-2.50540860e-03 9.99995899e-01 -1.38756571e-03 1.24759931e-01] [ 1.06107576e-02 1.41407630e-03 9.99942704e-01 9.99080803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35255784400005 meters Centerline goodness [0,1] 0.24500571083766132 Centerline is valid? [False, False] Translation: X:3.89, Y:0.12, Z:1.00 [[ 9.99941326e-01 2.57745171e-03 -1.05214809e-02 3.89118728e+00] [-2.59052674e-03 9.99995889e-01 -1.22925959e-03 1.24219797e-01] [ 1.05182693e-02 1.25644364e-03 9.99943892e-01 9.99253141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.382557844 meters Centerline goodness [0,1] 0.25293821540347117 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:1.00 [[ 9.99918011e-01 1.36746924e-03 -1.27318636e-02 3.84455796e+00] [-1.36956523e-03 9.99999050e-01 -1.55908146e-04 1.17565099e-01] [ 1.27316383e-02 1.73332481e-04 9.99918934e-01 1.00099398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41255784400005 meters Centerline goodness [0,1] 0.25194010274346923 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:1.00 [[ 9.99916703e-01 1.47019678e-03 -1.28228586e-02 3.84458071e+00] [-1.46718464e-03 9.99998894e-01 2.44308433e-04 1.15521857e-01] [ 1.28232036e-02 -2.25474581e-04 9.99917754e-01 1.00138052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442557844 meters Centerline goodness [0,1] 0.2476820906464272 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:1.00 [[ 9.99903089e-01 -6.34429113e-03 -1.23920042e-02 3.86525600e+00] [ 6.35813055e-03 9.99979206e-01 1.07772513e-03 1.18028717e-01] [ 1.23849092e-02 -1.15641067e-03 9.99922635e-01 1.00225656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47255784400005 meters Centerline goodness [0,1] 0.2526944267620783 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:1.00 [[ 9.99912984e-01 -6.80090084e-04 -1.31742711e-02 3.84216016e+00] [ 6.61587457e-04 9.99998789e-01 -1.40875887e-03 1.12639575e-01] [ 1.31752133e-02 1.39992036e-03 9.99912223e-01 1.00273540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502557844 meters Centerline goodness [0,1] 0.24805714904210407 Centerline is valid? [False, False] Translation: X:3.86, Y:0.12, Z:1.00 [[ 9.99882004e-01 -8.17782342e-03 -1.30038786e-02 3.86219275e+00] [ 8.17176577e-03 9.99966476e-01 -5.18901391e-04 1.16707335e-01] [ 1.30076861e-02 4.12575513e-04 9.99915311e-01 1.00355121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53255784400005 meters Centerline goodness [0,1] 0.2500877731940665 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:1.00 [[ 9.99908780e-01 -3.93680259e-04 -1.35009981e-02 3.84242229e+00] [ 3.78028090e-04 9.99999254e-01 -1.16186657e-03 1.10262232e-01] [ 1.35014454e-02 1.15665683e-03 9.99908182e-01 1.00224666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562557844 meters Centerline goodness [0,1] 0.2512774599292483 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:1.00 [[ 9.99904838e-01 -4.65209517e-04 -1.37875882e-02 3.84363693e+00] [ 4.47802440e-04 9.99999099e-01 -1.26557826e-03 1.10370613e-01] [ 1.37881646e-02 1.25928371e-03 9.99904146e-01 1.00139952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59255784400005 meters Centerline goodness [0,1] 0.24829600778967864 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:1.00 [[ 9.99902658e-01 -4.93644621e-04 -1.39438806e-02 3.84408996e+00] [ 4.74645089e-04 9.99998955e-01 -1.36584782e-03 1.10813047e-01] [ 1.39445402e-02 1.35909647e-03 9.99901847e-01 1.00126648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622557844 meters Centerline goodness [0,1] 0.24965065502183403 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:1.00 [[ 9.99901447e-01 -4.09154488e-04 -1.40331519e-02 3.84398348e+00] [ 3.92417733e-04 9.99999209e-01 -1.19539114e-03 1.10174584e-01] [ 1.40336298e-02 1.18976647e-03 9.99900816e-01 1.00179290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65255784400006 meters Centerline goodness [0,1] 0.24996732453274084 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:1.00 [[ 9.99899824e-01 -3.19993882e-04 -1.41505968e-02 3.84425520e+00] [ 3.08380373e-04 9.99999614e-01 -8.22882437e-04 1.08297166e-01] [ 1.41508547e-02 8.18436237e-04 9.99899537e-01 1.00183608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68255784400003 meters Centerline goodness [0,1] 0.2501971090670171 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:1.00 [[ 9.99894656e-01 -3.02871053e-04 -1.45115195e-02 3.84509299e+00] [ 2.97480276e-04 9.99999886e-01 -3.73639780e-04 1.05665960e-01] [ 1.45116310e-02 3.69283528e-04 9.99894633e-01 1.00197956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71255784400006 meters Centerline goodness [0,1] 0.2489224607079107 Centerline is valid? [False, False] Translation: X:3.85, Y:0.10, Z:1.00 [[ 9.99889201e-01 -4.38210606e-04 -1.48792858e-02 3.84587730e+00] [ 4.38487031e-04 9.99999904e-01 1.53154447e-05 1.02789066e-01] [ 1.48792777e-02 -2.18381217e-05 9.99889297e-01 1.00231331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74255784400003 meters Centerline goodness [0,1] 0.2469550517966278 Centerline is valid? [False, False] Translation: X:3.85, Y:0.10, Z:1.00 [[ 9.99886787e-01 -5.22973572e-04 -1.50379583e-02 3.84601330e+00] [ 5.30564484e-04 9.99999734e-01 5.00798323e-04 9.95987111e-02] [ 1.50376924e-02 -5.08720233e-04 9.99886798e-01 1.00282563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77255784400006 meters Centerline goodness [0,1] 0.2518578957814188 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:1.00 [[ 9.99846713e-01 -3.07957991e-03 -1.72355970e-02 3.79967047e+00] [ 3.09152883e-03 9.99994999e-01 6.66668411e-04 9.22927847e-02] [ 1.72334577e-02 -7.19850565e-04 9.99851234e-01 1.00477749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80255784400003 meters Centerline goodness [0,1] 0.24987440753117973 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:1.01 [[ 9.99814699e-01 -1.25737691e-02 -1.45762998e-02 3.81956609e+00] [ 1.25875743e-02 9.99920407e-01 8.55741834e-04 8.76878124e-02] [ 1.45643797e-02 -1.03906352e-03 9.99893394e-01 1.00565953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83255784400006 meters Centerline goodness [0,1] 0.24895003937352345 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:1.01 [[ 9.99816212e-01 -1.24913512e-02 -1.45433415e-02 3.81909551e+00] [ 1.25163905e-02 9.99920335e-01 1.63195009e-03 8.35912916e-02] [ 1.45217976e-02 -1.81368030e-03 9.99892908e-01 1.00642466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86255784400004 meters Centerline goodness [0,1] 0.2505877231171093 Centerline is valid? [False, False] Translation: X:3.84, Y:0.08, Z:1.01 [[ 9.99884548e-01 -4.50596237e-03 -1.45116144e-02 3.83689712e+00] [ 4.51376252e-03 9.99989686e-01 5.04802795e-04 7.52559188e-02] [ 1.45091901e-02 -5.70246495e-04 9.99894574e-01 1.00870747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89255784400007 meters Centerline goodness [0,1] 0.2616280342329328 Centerline is valid? [False, False] Translation: X:3.84, Y:0.07, Z:1.01 [[ 9.99880802e-01 -4.37348323e-03 -1.48072428e-02 3.83741824e+00] [ 4.39275110e-03 9.99989547e-01 1.26897207e-03 7.12158987e-02] [ 1.48015382e-02 -1.33386535e-03 9.99889562e-01 1.00910730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92255784400004 meters Centerline goodness [0,1] 0.24754843338914134 Centerline is valid? [False, False] Translation: X:3.84, Y:0.07, Z:1.01 [[ 9.99875699e-01 -4.27561822e-03 -1.51758426e-02 3.83814564e+00] [ 4.30618024e-03 9.99988765e-01 1.98175413e-03 6.71624264e-02] [ 1.51671988e-02 -2.04685771e-03 9.99882876e-01 1.00945559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95255784400007 meters Centerline goodness [0,1] 0.2586656241855616 Centerline is valid? [False, False] Translation: X:3.84, Y:0.06, Z:1.01 [[ 9.99858280e-01 -7.89583113e-03 -1.48685955e-02 3.83682753e+00] [ 7.88504159e-03 9.99968605e-01 -7.84143758e-04 6.10327740e-02] [ 1.48743202e-02 6.66793135e-04 9.99889149e-01 1.01046137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98255784400004 meters Centerline goodness [0,1] 0.2517006802721088 Centerline is valid? [False, False] Translation: X:3.84, Y:0.06, Z:1.01 [[ 9.99863760e-01 -7.59099002e-03 -1.46573666e-02 3.83589172e+00] [ 7.59170375e-03 9.99971183e-01 -6.94664751e-06 5.75227926e-02] [ 1.46569970e-02 -1.04328684e-04 9.99892575e-01 1.01115131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01255784400007 meters Centerline goodness [0,1] 0.26112920738327905 Centerline is valid? [False, False] Translation: X:3.85, Y:0.05, Z:1.01 [[ 9.99908831e-01 1.08900887e-03 -1.34589375e-02 3.85342869e+00] [-1.10467409e-03 9.99998721e-01 -1.15654753e-03 5.02198978e-02] [ 1.34576608e-02 1.17130983e-03 9.99908756e-01 1.01296479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04255784400004 meters Centerline goodness [0,1] 0.24783276044706748 Centerline is valid? [False, False] Translation: X:3.85, Y:0.05, Z:1.01 [[ 9.99908875e-01 1.27669308e-03 -1.34391915e-02 3.85335772e+00] [-1.28535239e-03 9.99998972e-01 -6.35715052e-04 4.76736007e-02] [ 1.34383661e-02 6.52931220e-04 9.99909488e-01 1.01299861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0725578440001 meters Centerline goodness [0,1] 0.2586221837088388 Centerline is valid? [False, False] Translation: X:3.85, Y:0.05, Z:1.01 [[ 9.99906279e-01 1.44262316e-03 -1.36144218e-02 3.85403408e+00] [-1.44515943e-03 9.99998940e-01 -1.76456467e-04 4.53850641e-02] [ 1.36141528e-02 1.96114940e-04 9.99907304e-01 1.01261993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10255784400005 meters Centerline goodness [0,1] 0.25894563140524574 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99897265e-01 1.67059109e-03 -1.42361776e-02 3.85642917e+00] [-1.66301587e-03 9.99998469e-01 5.43932276e-04 4.15598994e-02] [ 1.42370645e-02 -5.20201406e-04 9.99898513e-01 1.01120800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.132557844 meters Centerline goodness [0,1] 0.246485716136555 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99892635e-01 1.79006331e-03 -1.45435427e-02 3.85744613e+00] [-1.77798094e-03 9.99998064e-01 8.43659585e-04 4.01190866e-02] [ 1.45450247e-02 -8.17710863e-04 9.99893881e-01 1.01080951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16255784400005 meters Centerline goodness [0,1] 0.25138567625365515 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99890869e-01 1.91675606e-03 -1.46483842e-02 3.85785075e+00] [-1.90029527e-03 9.99997547e-01 1.13756370e-03 3.87517248e-02] [ 1.46505287e-02 -1.10960330e-03 9.99892060e-01 1.01058149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192557844 meters Centerline goodness [0,1] 0.2572090907121347 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99888264e-01 1.97567039e-03 -1.48174091e-02 3.85841909e+00] [-1.95609395e-03 9.99997195e-01 1.33555479e-03 3.76131558e-02] [ 1.48200062e-02 -1.30642131e-03 9.99889324e-01 1.01038637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22255784400005 meters Centerline goodness [0,1] 0.26193385112138934 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99886821e-01 2.03623479e-03 -1.49063545e-02 3.85869862e+00] [-2.01371007e-03 9.99996808e-01 1.52593482e-03 3.65720731e-02] [ 1.49094141e-02 -1.49574504e-03 9.99887730e-01 1.01030518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.252557844 meters Centerline goodness [0,1] 0.25827311589957247 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99884639e-01 2.10805557e-03 -1.50421124e-02 3.85905464e+00] [-2.08164220e-03 9.99996264e-01 1.77140205e-03 3.53089346e-02] [ 1.50457905e-02 -1.73988540e-03 9.99885292e-01 1.01024570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28255784400005 meters Centerline goodness [0,1] 0.24602022914816657 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99883138e-01 2.31477360e-03 -1.51113239e-02 3.85941379e+00] [-2.27998323e-03 9.99994712e-01 2.31909317e-03 3.29099846e-02] [ 1.51166121e-02 -2.28436859e-03 9.99883128e-01 1.00988700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.312557844 meters Centerline goodness [0,1] 0.24705498804607695 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99881925e-01 2.41726611e-03 -1.51753732e-02 3.85948611e+00] [-2.37768946e-03 9.99993727e-01 2.62545291e-03 3.14328066e-02] [ 1.51816245e-02 -2.58906059e-03 9.99881400e-01 1.01004994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34255784400005 meters Centerline goodness [0,1] 0.25035447069345373 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99879514e-01 2.48674667e-03 -1.53223245e-02 3.85976044e+00] [-2.44264757e-03 9.99992823e-01 2.89613703e-03 2.99841439e-02] [ 1.53294165e-02 -2.85836105e-03 9.99878412e-01 1.01020041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.372557844 meters Centerline goodness [0,1] 0.2608332600861387 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99876948e-01 2.54210373e-03 -1.54799021e-02 3.86000148e+00] [-2.49402954e-03 9.99992010e-01 3.12410095e-03 2.87762287e-02] [ 1.54877202e-02 -3.08510919e-03 9.99875299e-01 1.01044046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40255784400006 meters Centerline goodness [0,1] 0.24994537429532837 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99875978e-01 2.54424990e-03 -1.55420562e-02 3.86004257e+00] [-2.49497846e-03 9.99991803e-01 3.18876853e-03 2.84171239e-02] [ 1.55500418e-02 -3.14959596e-03 9.99874130e-01 1.01060662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43255784400003 meters Centerline goodness [0,1] 0.2611129332021428 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99876407e-01 2.51724478e-03 -1.55188604e-02 3.85995406e+00] [-2.46877908e-03 9.99992018e-01 3.14138602e-03 2.86264378e-02] [ 1.55266442e-02 -3.10268513e-03 9.99874640e-01 1.01066674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46255784400006 meters Centerline goodness [0,1] 0.2519611261221999 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99879132e-01 2.27014023e-03 -1.53807741e-02 3.85970710e+00] [-2.23077785e-03 9.99994194e-01 2.57586737e-03 3.11970421e-02] [ 1.53865324e-02 -2.54124494e-03 9.99878391e-01 1.01046356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49255784400003 meters Centerline goodness [0,1] 0.2524909668236067 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99882171e-01 2.12223383e-03 -1.52032815e-02 3.85921610e+00] [-2.08919554e-03 9.99995423e-01 2.18865526e-03 3.30700181e-02] [ 1.52078567e-02 -2.15663475e-03 9.99882028e-01 1.01050508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52255784400006 meters Centerline goodness [0,1] 0.2484144222415291 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99883368e-01 1.96758059e-03 -1.51452892e-02 3.85903088e+00] [-1.94025788e-03 9.99996464e-01 1.81852277e-03 3.48976777e-02] [ 1.51488137e-02 -1.78892491e-03 9.99883650e-01 1.01051704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55255784400003 meters Centerline goodness [0,1] 0.26271279276121207 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99879874e-01 1.66835065e-03 -1.54095520e-02 3.85939156e+00] [-1.64773458e-03 9.99997731e-01 1.35047549e-03 3.68281404e-02] [ 1.54117701e-02 -1.32492241e-03 9.99880354e-01 1.01091378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58255784400006 meters Centerline goodness [0,1] 0.25825747724317294 Centerline is valid? [False, False] Translation: X:3.88, Y:0.04, Z:1.01 [[ 9.99868759e-01 -6.44196990e-03 -1.48649414e-02 3.88018918e+00] [ 6.46821978e-03 9.99977604e-01 1.71849021e-03 4.05635457e-02] [ 1.48535380e-02 -1.81441438e-03 9.99888034e-01 1.01208667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61255784400004 meters Centerline goodness [0,1] 0.24822357019064123 Centerline is valid? [False, False] Translation: X:3.88, Y:0.04, Z:1.01 [[ 9.99874471e-01 -6.67519523e-03 -1.43695175e-02 3.87860457e+00] [ 6.70159706e-03 9.99975942e-01 1.78998231e-03 3.96208327e-02] [ 1.43572233e-02 -1.88605633e-03 9.99895151e-01 1.01267064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64255784400007 meters Centerline goodness [0,1] 0.2504303488549452 Centerline is valid? [False, False] Translation: X:3.88, Y:0.04, Z:1.01 [[ 9.99882391e-01 -6.98789594e-03 -1.36518835e-02 3.87641214e+00] [ 7.01547980e-03 9.99973443e-01 1.97367275e-03 3.79306023e-02] [ 1.36377291e-02 -2.06921514e-03 9.99904861e-01 1.01339214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67255784400004 meters Centerline goodness [0,1] 0.24976714969567004 Centerline is valid? [False, False] Translation: X:3.88, Y:0.04, Z:1.01 [[ 9.99885052e-01 -7.38478831e-03 -1.32418720e-02 3.87503539e+00] [ 7.41363932e-03 9.99970248e-01 2.13100833e-03 3.60947374e-02] [ 1.32257410e-02 -2.22893384e-03 9.99910052e-01 1.01399840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70255784400007 meters Centerline goodness [0,1] 0.24997822868588349 Centerline is valid? [False, False] Translation: X:3.87, Y:0.03, Z:1.01 [[ 9.99884537e-01 -7.78399168e-03 -1.30507755e-02 3.87448934e+00] [ 7.81369441e-03 9.99966994e-01 2.22649300e-03 3.44614572e-02] [ 1.30330138e-02 -2.32821069e-03 9.99912356e-01 1.01414046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73255784400004 meters Centerline goodness [0,1] 0.2501301744337412 Centerline is valid? [False, False] Translation: X:3.88, Y:0.03, Z:1.01 [[ 9.99871187e-01 -8.91710132e-03 -1.33452047e-02 3.87567617e+00] [ 8.94070697e-03 9.99958569e-01 1.71023426e-03 3.27438690e-02] [ 1.33294014e-02 -1.82932952e-03 9.99909486e-01 1.01357340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76255784400007 meters Centerline goodness [0,1] 0.24860007813517382 Centerline is valid? [False, False] Translation: X:3.88, Y:0.03, Z:1.01 [[ 9.99867882e-01 -8.94515054e-03 -1.35720998e-02 3.87637660e+00] [ 8.97021658e-03 9.99958170e-01 1.78712886e-03 3.22186867e-02] [ 1.35555460e-02 -1.90863742e-03 9.99906298e-01 1.01328140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79255784400004 meters Centerline goodness [0,1] 0.24681542461005201 Centerline is valid? [False, False] Translation: X:3.88, Y:0.03, Z:1.01 [[ 9.99868439e-01 -8.96805210e-03 -1.35158983e-02 3.87641628e+00] [ 8.99178241e-03 9.99958135e-01 1.69598707e-03 3.27796568e-02] [ 1.35001228e-02 -1.81729596e-03 9.99907218e-01 1.01292340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8225578440001 meters Centerline goodness [0,1] 0.24896274526752527 Centerline is valid? [False, False] Translation: X:3.88, Y:0.03, Z:1.01 [[ 9.99869585e-01 -9.00502615e-03 -1.34060304e-02 3.87626895e+00] [ 9.02641693e-03 9.99958081e-01 1.53595717e-03 3.37039563e-02] [ 1.33916371e-02 -1.65676528e-03 9.99908955e-01 1.01268983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85255784400005 meters Centerline goodness [0,1] 0.25187632655740577 Centerline is valid? [False, False] Translation: X:3.85, Y:0.03, Z:1.01 [[ 9.99911151e-01 -1.00592810e-03 -1.32920622e-02 3.85478532e+00] [ 1.01948364e-03 9.99998967e-01 1.01308561e-03 3.12460550e-02] [ 1.32910294e-02 -1.02654664e-03 9.99911143e-01 1.01158805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.882557844 meters Centerline goodness [0,1] 0.2503752692148715 Centerline is valid? [False, False] Translation: X:3.85, Y:0.03, Z:1.01 [[ 9.99912090e-01 -1.12064584e-03 -1.32119725e-02 3.85460213e+00] [ 1.13047922e-03 9.99999090e-01 7.36832489e-04 3.24738436e-02] [ 1.32111347e-02 -7.51703574e-04 9.99912447e-01 1.01156044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91255784400005 meters Centerline goodness [0,1] 0.2503752692148715 Centerline is valid? [False, False] Translation: X:3.85, Y:0.03, Z:1.01 [[ 9.99912090e-01 -1.12064584e-03 -1.32119725e-02 3.85460213e+00] [ 1.13047922e-03 9.99999090e-01 7.36832489e-04 3.24738436e-02] [ 1.32111347e-02 -7.51703574e-04 9.99912447e-01 1.01156044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942557844 meters Centerline goodness [0,1] 0.2467957045119945 Centerline is valid? [False, False] Translation: X:3.85, Y:0.03, Z:1.01 [[ 9.99914786e-01 -1.29249728e-03 -1.29904193e-02 3.85394611e+00] [ 1.29860044e-03 9.99999050e-01 4.61396198e-04 3.35970394e-02] [ 1.29898106e-02 -4.78226244e-04 9.99915514e-01 1.01166152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97255784400005 meters Centerline goodness [0,1] 0.24650538797766908 Centerline is valid? [False, False] Translation: X:3.85, Y:0.03, Z:1.01 [[ 9.99916504e-01 -1.33509888e-03 -1.28530885e-02 3.85348109e+00] [ 1.34103448e-03 9.99998998e-01 4.53195985e-04 3.36144241e-02] [ 1.28524706e-02 -4.70394580e-04 9.99917293e-01 1.01177732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002557844 meters Centerline goodness [0,1] 0.24924422018747694 Centerline is valid? [False, False] Translation: X:3.85, Y:0.03, Z:1.01 [[ 9.99916402e-01 -1.36205348e-03 -1.28582374e-02 3.85337282e+00] [ 1.36857232e-03 9.99998939e-01 4.98192286e-04 3.33939063e-02] [ 1.28575452e-02 -5.15748065e-04 9.99917205e-01 1.01184269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03255784400005 meters Centerline goodness [0,1] 0.24726926654121517 Centerline is valid? [False, False] Translation: X:3.85, Y:0.03, Z:1.01 [[ 9.99912749e-01 -1.44893644e-03 -1.31299222e-02 3.85418347e+00] [ 1.45560716e-03 9.99998816e-01 4.98512552e-04 3.32366718e-02] [ 1.31291844e-02 -5.17581065e-04 9.99913675e-01 1.01152599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062557844 meters Centerline goodness [0,1] 0.2487503547028136 Centerline is valid? [False, False] Translation: X:3.86, Y:0.03, Z:1.01 [[ 9.99902339e-01 -1.80634405e-03 -1.38581599e-02 3.85689845e+00] [ 1.80795216e-03 9.99998360e-01 1.03513484e-04 3.43637166e-02] [ 1.38579502e-02 -1.28558265e-04 9.99903966e-01 1.00982420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09255784400005 meters Centerline goodness [0,1] 0.24465855818877058 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99899159e-01 -1.94534324e-03 -1.40672748e-02 3.85776259e+00] [ 1.94327959e-03 9.99998099e-01 -1.60366045e-04 3.54259879e-02] [ 1.40675600e-02 1.33013225e-04 9.99901038e-01 1.00923290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122557844 meters Centerline goodness [0,1] 0.24596023047264215 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99898003e-01 -2.06759116e-03 -1.41318128e-02 3.85804181e+00] [ 2.06101412e-03 9.99997761e-01 -4.79954653e-04 3.69359911e-02] [ 1.41327735e-02 4.50779833e-04 9.99900026e-01 1.00904803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15255784400006 meters Centerline goodness [0,1] 0.24855655053707215 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99896499e-01 -2.17980725e-03 -1.42210676e-02 3.85825489e+00] [ 2.16833346e-03 9.99997311e-01 -8.22185441e-04 3.86939829e-02] [ 1.42228216e-02 7.91264328e-04 9.99898537e-01 1.00909741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18255784400003 meters Centerline goodness [0,1] 0.24496928386914707 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99892738e-01 -2.32456402e-03 -1.44605655e-02 3.85891691e+00] [ 2.30733015e-03 9.99996608e-01 -1.20835324e-03 4.05576563e-02] [ 1.44633253e-02 1.17485833e-03 9.99894710e-01 1.00904248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21255784400006 meters Centerline goodness [0,1] 0.24522140462402575 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99882509e-01 -2.53602374e-03 -1.51174010e-02 3.86100172e+00] [ 2.50904407e-03 9.99995226e-01 -1.80337570e-03 4.33467707e-02] [ 1.51219022e-02 1.76523360e-03 9.99884099e-01 1.00825821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24255784400003 meters Centerline goodness [0,1] 0.24703673790137737 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99882279e-01 -2.62892080e-03 -1.51167619e-02 3.86120731e+00] [ 2.59878623e-03 9.99994598e-01 -2.01275242e-03 4.42587142e-02] [ 1.51219716e-02 1.97323024e-03 9.99883709e-01 1.00786906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27255784400006 meters Centerline goodness [0,1] 0.2489704722684658 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99886506e-01 -2.64939168e-03 -1.48308818e-02 3.86030700e+00] [ 2.61894632e-03 9.99994424e-01 -2.07188131e-03 4.45768014e-02] [ 1.48362883e-02 2.03280489e-03 9.99887870e-01 1.00817178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30255784400003 meters Centerline goodness [0,1] 0.25016371971185336 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99893173e-01 -2.65763934e-03 -1.43728494e-02 3.85883042e+00] [ 2.62847643e-03 9.99994449e-01 -2.04753751e-03 4.44429825e-02] [ 1.43782112e-02 2.00954009e-03 9.99894609e-01 1.00872812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33255784400006 meters Centerline goodness [0,1] 0.2488672926653096 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99897704e-01 -2.62787761e-03 -1.40597055e-02 3.85763872e+00] [ 2.60045482e-03 9.99994682e-01 -1.96837909e-03 4.41163579e-02] [ 1.40648034e-02 1.93161610e-03 9.99899220e-01 1.00942884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36255784400004 meters Centerline goodness [0,1] 0.24460416080358494 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99895519e-01 -2.57083108e-03 -1.42246823e-02 3.85786343e+00] [ 2.54659382e-03 9.99995275e-01 -1.72173853e-03 4.28933842e-02] [ 1.42290414e-02 1.68533415e-03 9.99897342e-01 1.00967342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39255784400007 meters Centerline goodness [0,1] 0.24992324898030793 Centerline is valid? [False, False] Translation: X:3.84, Y:0.04, Z:1.01 [[ 9.99874982e-01 5.26025719e-03 -1.49113969e-02 3.83741032e+00] [-5.29672798e-03 9.99983074e-01 -2.40739597e-03 3.83144651e-02] [ 1.48984810e-02 2.48607662e-03 9.99885921e-01 1.00821111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42255784400004 meters Centerline goodness [0,1] 0.25104868996112706 Centerline is valid? [False, False] Translation: X:3.84, Y:0.04, Z:1.01 [[ 9.99874538e-01 5.35372450e-03 -1.49078913e-02 3.83741608e+00] [-5.38659199e-03 9.99983148e-01 -2.16542349e-03 3.71922704e-02] [ 1.48960470e-02 2.24545454e-03 9.99886526e-01 1.00814120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45255784400007 meters Centerline goodness [0,1] 0.2500981290069344 Centerline is valid? [False, False] Translation: X:3.86, Y:0.04, Z:1.01 [[ 9.99891478e-01 -2.05112933e-03 -1.45885099e-02 3.85653848e+00] [ 2.03735841e-03 9.99997465e-01 -9.58755870e-04 3.89157242e-02] [ 1.45904394e-02 9.28929801e-04 9.99893122e-01 1.00995863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48255784400004 meters Centerline goodness [0,1] 0.24882248559598663 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99899051e-01 -1.83500490e-03 -1.40897602e-02 3.85461448e+00] [ 1.82729222e-03 9.99998174e-01 -5.60250027e-04 3.71674263e-02] [ 1.40907625e-02 5.34447361e-04 9.99900577e-01 1.01123403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51255784400007 meters Centerline goodness [0,1] 0.25097480832420593 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99900257e-01 -1.77481440e-03 -1.40116101e-02 3.85416370e+00] [ 1.76814636e-03 9.99998318e-01 -4.88267709e-04 3.68993504e-02] [ 1.40124531e-02 4.63444430e-04 9.99901713e-01 1.01172328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54255784400004 meters Centerline goodness [0,1] 0.24887103777681285 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99898312e-01 -1.74561501e-03 -1.41534244e-02 3.85447373e+00] [ 1.73887451e-03 9.99998369e-01 -4.88536719e-04 3.70122765e-02] [ 1.41542541e-02 4.63876012e-04 9.99899716e-01 1.01182136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5725578440001 meters Centerline goodness [0,1] 0.24805914972273568 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99898407e-01 -1.69324444e-03 -1.41530518e-02 3.85441169e+00] [ 1.68762387e-03 9.99998492e-01 -4.09061466e-04 3.67445436e-02] [ 1.41537231e-02 3.85134880e-04 9.99899757e-01 1.01192690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60255784400005 meters Centerline goodness [0,1] 0.24735917402338248 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99900331e-01 -1.64838396e-03 -1.40218299e-02 3.85398120e+00] [ 1.64369189e-03 9.99998589e-01 -3.46143717e-04 3.64964645e-02] [ 1.40223807e-02 3.23061649e-04 9.99901629e-01 1.01207743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.632557844 meters Centerline goodness [0,1] 0.24701755905341327 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99903214e-01 -1.62194330e-03 -1.38178335e-02 3.85326142e+00] [ 1.61846540e-03 9.99998656e-01 -2.62875239e-04 3.60011822e-02] [ 1.38182413e-02 2.40486111e-04 9.99904495e-01 1.01240718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66255784400005 meters Centerline goodness [0,1] 0.2488345750010892 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99907890e-01 -1.61802232e-03 -1.34756590e-02 3.85221254e+00] [ 1.61583016e-03 9.99998679e-01 -1.73561834e-04 3.54120165e-02] [ 1.34759220e-02 1.51771471e-04 9.99909184e-01 1.01267234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692557844 meters Centerline goodness [0,1] 0.2452183288409704 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99906283e-01 -1.65206538e-03 -1.35902676e-02 3.85267393e+00] [ 1.64887353e-03 9.99998610e-01 -2.46064934e-04 3.59021961e-02] [ 1.35906552e-02 2.23633242e-04 9.99907618e-01 1.01230290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72255784400005 meters Centerline goodness [0,1] 0.24729944141363647 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99904378e-01 -1.64956935e-03 -1.37300089e-02 3.85328528e+00] [ 1.64647392e-03 9.99998617e-01 -2.36750646e-04 3.61092101e-02] [ 1.37303804e-02 2.14121906e-04 9.99905711e-01 1.01172974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752557844 meters Centerline goodness [0,1] 0.24841249130132215 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99901465e-01 -1.67982142e-03 -1.39369161e-02 3.85402376e+00] [ 1.67737657e-03 9.99998576e-01 -1.87109845e-04 3.58298993e-02] [ 1.39372106e-02 1.63713951e-04 9.99902859e-01 1.01126038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78255784400005 meters Centerline goodness [0,1] 0.2503218767048554 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99896346e-01 -2.22711733e-03 -1.42245213e-02 3.85473976e+00] [ 2.22135655e-03 9.99997444e-01 -4.20775841e-04 3.53594078e-02] [ 1.42254221e-02 3.89134493e-04 9.99898738e-01 1.01114147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812557844 meters Centerline goodness [0,1] 0.24794479058497754 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99897523e-01 -2.34512384e-03 -1.41224731e-02 3.85439815e+00] [ 2.33856346e-03 9.99997150e-01 -4.81030683e-04 3.53336163e-02] [ 1.41235609e-02 4.47955089e-04 9.99900157e-01 1.01119026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84255784400005 meters Centerline goodness [0,1] 0.2446647984479413 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99898873e-01 -2.45409794e-03 -1.40079276e-02 3.85411151e+00] [ 2.44525743e-03 9.99996800e-01 -6.48200079e-04 3.61635542e-02] [ 1.40094735e-02 6.13881539e-04 9.99901674e-01 1.01108719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872557844 meters Centerline goodness [0,1] 0.24775048902412522 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99900291e-01 -2.55418741e-03 -1.38882960e-02 3.85394934e+00] [ 2.54185250e-03 9.99996359e-01 -9.05731324e-04 3.76221781e-02] [ 1.38905589e-02 8.70339014e-04 9.99903143e-01 1.01074641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90255784400006 meters Centerline goodness [0,1] 0.2493395123218849 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99899472e-01 -2.73391539e-03 -1.39129944e-02 3.85429153e+00] [ 2.71558461e-03 9.99995420e-01 -1.33625064e-03 3.97278089e-02] [ 1.39165839e-02 1.29833440e-03 9.99902317e-01 1.01021997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93255784400003 meters Centerline goodness [0,1] 0.25018551660919286 Centerline is valid? [False, False] Translation: X:3.85, Y:0.04, Z:1.01 [[ 9.99898010e-01 -2.95319970e-03 -1.39731253e-02 3.85474593e+00] [ 2.92820780e-03 9.99994077e-01 -1.80869063e-03 4.17702401e-02] [ 1.39783840e-02 1.76758995e-03 9.99900735e-01 1.00971670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96255784400006 meters Centerline goodness [0,1] 0.2505366922234392 Centerline is valid? [False, False] Translation: X:3.86, Y:0.05, Z:1.01 [[ 9.99891005e-01 -3.47736618e-03 -1.43487287e-02 3.85640546e+00] [ 3.43628389e-03 9.99989929e-01 -2.88679287e-03 4.63490006e-02] [ 1.43586226e-02 2.83717191e-03 9.99892884e-01 1.00846971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99255784400003 meters Centerline goodness [0,1] 0.24667144501639848 Centerline is valid? [False, False] Translation: X:3.86, Y:0.05, Z:1.01 [[ 9.99886356e-01 -3.66124693e-03 -1.46242896e-02 3.85764371e+00] [ 3.61144296e-03 9.99987594e-01 -3.43052333e-03 4.93109244e-02] [ 1.46366682e-02 3.37731869e-03 9.99887174e-01 1.00755143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02255784400006 meters Centerline goodness [0,1] 0.24883665042710768 Centerline is valid? [False, False] Translation: X:3.86, Y:0.05, Z:1.01 [[ 9.99894501e-01 -1.61319930e-03 -1.44355346e-02 3.85634496e+00] [ 1.58918968e-03 9.99997335e-01 -1.67454694e-03 5.41480995e-02] [ 1.44381975e-02 1.65142947e-03 9.99894400e-01 1.00829378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05255784400003 meters Centerline goodness [0,1] 0.24498236753885672 Centerline is valid? [False, False] Translation: X:3.86, Y:0.06, Z:1.01 [[ 9.99892937e-01 -1.82399638e-03 -1.45185036e-02 3.85669007e+00] [ 1.79140923e-03 9.99995848e-01 -2.25721395e-03 5.69575665e-02] [ 1.45225605e-02 2.23096371e-03 9.99892053e-01 1.00815978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08255784400006 meters Centerline goodness [0,1] 0.24794002579065855 Centerline is valid? [False, False] Translation: X:3.86, Y:0.06, Z:1.01 [[ 9.99891154e-01 -2.05984222e-03 -1.46094738e-02 3.85687343e+00] [ 2.01902553e-03 9.99994019e-01 -2.80805026e-03 5.93356678e-02] [ 1.46151706e-02 2.77824771e-03 9.99889333e-01 1.00833126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11255784400004 meters Centerline goodness [0,1] 0.24790612458558714 Centerline is valid? [False, False] Translation: X:3.86, Y:0.06, Z:1.01 [[ 9.99887112e-01 -2.43055812e-03 -1.48275490e-02 3.85749934e+00] [ 2.37620560e-03 9.99990398e-01 -3.68216114e-03 6.32733986e-02] [ 1.48363563e-02 3.64651216e-03 9.99883286e-01 1.00826236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14255784400007 meters Centerline goodness [0,1] 0.2487478031634447 Centerline is valid? [False, False] Translation: X:3.86, Y:0.07, Z:1.01 [[ 9.99887002e-01 -2.54118106e-03 -1.48164272e-02 3.85776504e+00] [ 2.48181327e-03 9.99988824e-01 -4.02390060e-03 6.52354182e-02] [ 1.48264870e-02 3.98667430e-03 9.99882134e-01 1.00777332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17255784400004 meters Centerline goodness [0,1] 0.251779379035279 Centerline is valid? [False, False] Translation: X:3.86, Y:0.07, Z:1.01 [[ 9.99887802e-01 -2.60727408e-03 -1.47508002e-02 3.85788900e+00] [ 2.54484713e-03 9.99987734e-01 -4.24929482e-03 6.65730612e-02] [ 1.47616984e-02 4.21127952e-03 9.99882172e-01 1.00730463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20255784400007 meters Centerline goodness [0,1] 0.24496724629480515 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:1.01 [[ 9.99838705e-01 -1.04227155e-02 -1.46263724e-02 3.87859259e+00] [ 1.03687256e-02 9.99939166e-01 -3.76226066e-03 7.08826247e-02] [ 1.46646955e-02 3.60999699e-03 9.99885951e-01 1.00833074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23255784400004 meters Centerline goodness [0,1] 0.24673370122363514 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:1.01 [[ 0.99983627 -0.01063616 -0.01463891 3.87815106] [ 0.01057516 0.9999351 -0.00423816 0.07269546] [ 0.01468304 0.00408266 0.99988386 1.00917122] [ 0. 0. 0. 1. ]] SLAMing on 280.26255784400007 meters Centerline goodness [0,1] 0.24705061386484073 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:1.01 [[ 0.99983945 -0.01069513 -0.01437639 3.87710659] [ 0.01063063 0.99993312 -0.0045553 0.0744806 ] [ 0.01442415 0.00440174 0.99988628 1.0099273 ] [ 0. 0. 0. 1. ]] SLAMing on 280.29255784400004 meters Centerline goodness [0,1] 0.2483592929646482 Centerline is valid? [False, False] Translation: X:3.87, Y:0.08, Z:1.01 [[ 9.99882626e-01 -7.46137005e-03 -1.33813865e-02 3.87370562e+00] [ 7.44260749e-03 9.99971250e-01 -1.45139064e-03 7.59711570e-02] [ 1.33918312e-02 1.35162788e-03 9.99909412e-01 1.01110143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3225578440001 meters Centerline goodness [0,1] 0.2445392974585684 Centerline is valid? [False, False] Translation: X:3.87, Y:0.08, Z:1.01 [[ 9.99883782e-01 -7.57696927e-03 -1.32291887e-02 3.87329281e+00] [ 7.55264232e-03 9.99969696e-01 -1.88787743e-03 7.82433451e-02] [ 1.32430922e-02 1.78774270e-03 9.99910708e-01 1.01125483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35255784400005 meters Centerline goodness [0,1] 0.24077036140411556 Centerline is valid? [False, False] Translation: X:3.89, Y:0.08, Z:1.01 [[ 9.99920863e-01 1.20473555e-03 -1.25226152e-02 3.89279141e+00] [-1.24488684e-03 9.99994108e-01 -3.19900190e-03 7.51956462e-02] [ 1.25186874e-02 3.21433798e-03 9.99916472e-01 1.01185439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.382557844 meters Centerline goodness [0,1] 0.24513795642569414 Centerline is valid? [False, False] Translation: X:3.89, Y:0.08, Z:1.01 [[ 9.99921744e-01 1.04828915e-03 -1.24662445e-02 3.89280694e+00] [-1.09354862e-03 9.99992834e-01 -3.62429949e-03 7.71565747e-02] [ 1.24623559e-02 3.63764831e-03 9.99915725e-01 1.01164624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41255784400005 meters Centerline goodness [0,1] 0.24578475141953104 Centerline is valid? [False, False] Translation: X:3.89, Y:0.08, Z:1.01 [[ 9.99932493e-01 1.18761454e-03 -1.15585468e-02 3.89041432e+00] [-1.23468553e-03 9.99990971e-01 -4.06611374e-03 8.04396742e-02] [ 1.15536134e-02 4.08011042e-03 9.99924931e-01 1.01205095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442557844 meters Centerline goodness [0,1] 0.24849263185389958 Centerline is valid? [False, False] Translation: X:3.89, Y:0.08, Z:1.01 [[ 9.99934732e-01 1.08346496e-03 -1.13735704e-02 3.88976075e+00] [-1.13372187e-03 9.99989619e-01 -4.41322785e-03 8.21799103e-02] [ 1.13686707e-02 4.42583427e-03 9.99925580e-01 1.01247653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47255784400005 meters Centerline goodness [0,1] 0.24409090909090914 Centerline is valid? [False, False] Translation: X:3.89, Y:0.08, Z:1.01 [[ 9.99935181e-01 9.75755506e-04 -1.13438349e-02 3.88956877e+00] [-1.02914154e-03 9.99988419e-01 -4.70128688e-03 8.34961406e-02] [ 1.13391162e-02 4.71265656e-03 9.99924605e-01 1.01275998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502557844 meters Centerline goodness [0,1] 0.2479039301310043 Centerline is valid? [False, False] Translation: X:3.89, Y:0.08, Z:1.01 [[ 9.99934479e-01 8.28289046e-04 -1.14171724e-02 3.88983312e+00] [-8.85589721e-04 9.99987034e-01 -5.01467335e-03 8.47779468e-02] [ 1.14128708e-02 5.02445571e-03 9.99922248e-01 1.01260672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53255784400005 meters Centerline goodness [0,1] 0.2508784106190084 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:1.01 [[ 9.99934266e-01 7.81903140e-04 -1.14390663e-02 3.89012849e+00] [-8.40432809e-04 9.99986577e-01 -5.11273541e-03 8.53252805e-02] [ 1.14349151e-02 5.12201310e-03 9.99921501e-01 1.01213858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562557844 meters Centerline goodness [0,1] 0.24962383060383364 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:1.01 [[ 9.99935156e-01 7.37394943e-04 -1.13639900e-02 3.89018442e+00] [-7.97226015e-04 9.99985841e-01 -5.26134021e-03 8.62096910e-02] [ 1.13599494e-02 5.27005871e-03 9.99921586e-01 1.01170133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59255784400005 meters Centerline goodness [0,1] 0.24830458579559078 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:1.01 [[ 9.99936118e-01 6.60653067e-04 -1.12837529e-02 3.89001152e+00] [-7.22665793e-04 9.99984655e-01 -5.49256083e-03 8.74349248e-02] [ 1.12799511e-02 5.50036434e-03 9.99921251e-01 1.01169534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622557844 meters Centerline goodness [0,1] 0.2487645586154349 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:1.01 [[ 9.99937281e-01 5.60693642e-04 -1.11856690e-02 3.88965648e+00] [-6.25247943e-04 9.99983167e-01 -5.76849935e-03 8.87847449e-02] [ 1.11822464e-02 5.77513137e-03 9.99920799e-01 1.01191484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65255784400006 meters Centerline goodness [0,1] 0.24951199410055092 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:1.01 [[ 9.99936862e-01 4.39739184e-04 -1.12284655e-02 3.88965627e+00] [-5.08295323e-04 9.99981245e-01 -6.10344255e-03 9.04479139e-02] [ 1.12255710e-02 6.10876456e-03 9.99918331e-01 1.01216020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68255784400003 meters Centerline goodness [0,1] 0.2504419949798101 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:1.01 [[ 9.99932900e-01 1.20798210e-04 -1.15836408e-02 3.89094270e+00] [-2.01170443e-04 9.99975915e-01 -6.93751164e-03 9.44451685e-02] [ 1.15825238e-02 6.93937642e-03 9.99908841e-01 1.01155362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71255784400006 meters Centerline goodness [0,1] 0.24975488594025752 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:1.01 [[ 9.99930799e-01 -7.11655158e-05 -1.17640453e-02 3.89178309e+00] [-1.61879856e-05 9.99972433e-01 -7.42520258e-03 9.67317349e-02] [ 1.17642494e-02 7.42487919e-03 9.99903232e-01 1.01092133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74255784400003 meters Centerline goodness [0,1] 0.2477885746655628 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:1.01 [[ 9.99930840e-01 -2.52242111e-04 -1.17580277e-02 3.89213998e+00] [ 1.59666727e-04 9.99968990e-01 -7.87365077e-03 9.88317837e-02] [ 1.17596491e-02 7.87122886e-03 9.99899872e-01 1.01030418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77255784400006 meters Centerline goodness [0,1] 0.24663735406874743 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:1.01 [[ 9.99931503e-01 -4.06047055e-04 -1.16972173e-02 3.89210773e+00] [ 3.09278630e-04 9.99965727e-01 -8.27339452e-03 1.00756860e-01] [ 1.17001757e-02 8.26921012e-03 9.99897358e-01 1.01009745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80255784400003 meters Centerline goodness [0,1] 0.24663735406874743 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:1.01 [[ 9.99931503e-01 -4.06047055e-04 -1.16972173e-02 3.89210773e+00] [ 3.09278630e-04 9.99965727e-01 -8.27339452e-03 1.00756860e-01] [ 1.17001757e-02 8.26921012e-03 9.99897358e-01 1.01009745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83255784400006 meters Centerline goodness [0,1] 0.24770921754271413 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:1.01 [[ 9.99931689e-01 -5.53298079e-04 -1.16752181e-02 3.89221285e+00] [ 4.52520957e-04 9.99962636e-01 -8.63258907e-03 1.02511845e-01] [ 1.16795583e-02 8.62671609e-03 9.99894578e-01 1.00985601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86255784400004 meters Centerline goodness [0,1] 0.2458436428354387 Centerline is valid? [False, False] Translation: X:3.89, Y:0.11, Z:1.01 [[ 9.99925028e-01 -7.73841056e-04 -1.22204791e-02 3.89408005e+00] [ 6.60832212e-04 9.99957010e-01 -9.24882894e-03 1.05629364e-01] [ 1.22271109e-02 9.24005985e-03 9.99882553e-01 1.00904757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89255784400007 meters Centerline goodness [0,1] 0.23991970298739418 Centerline is valid? [False, False] Translation: X:3.90, Y:0.11, Z:1.01 [[ 9.99920188e-01 -8.94638593e-04 -1.26022812e-02 3.89555037e+00] [ 7.73723182e-04 9.99953655e-01 -9.59633411e-03 1.07443468e-01] [ 1.26102824e-02 9.58581753e-03 9.99874539e-01 1.00824898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92255784400004 meters Centerline goodness [0,1] 0.24997265069467234 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:1.01 [[ 0.99987986 -0.00683259 -0.01391305 3.87442378] [ 0.00674536 0.99995736 -0.00630699 0.11527875] [ 0.01395555 0.00621239 0.99988332 1.00815951] [ 0. 0. 0. 1. ]] SLAMing on 280.95255784400007 meters Centerline goodness [0,1] 0.24485534043941704 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:1.01 [[ 0.99987896 -0.00704833 -0.01387 3.87436105] [ 0.00695271 0.99995181 -0.00693049 0.11829132] [ 0.01391818 0.00683322 0.99987979 1.00821021] [ 0. 0. 0. 1. ]] SLAMing on 280.98255784400004 meters Centerline goodness [0,1] 0.24461598339387647 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:1.01 [[ 9.99898722e-01 -3.72719619e-03 -1.37351145e-02 3.87354673e+00] [ 3.67517536e-03 9.99985986e-01 -3.81072971e-03 1.19675246e-01] [ 1.37491254e-02 3.75986481e-03 9.99898407e-01 1.00871884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01255784400007 meters Centerline goodness [0,1] 0.24846438684382488 Centerline is valid? [False, False] Translation: X:3.87, Y:0.12, Z:1.01 [[ 0.99989863 -0.00396471 -0.01367497 3.87338973] [ 0.00390289 0.99998206 -0.00454429 0.12329508] [ 0.01369275 0.00449045 0.99989617 1.00882313] [ 0. 0. 0. 1. ]] SLAMing on 281.04255784400004 meters Centerline goodness [0,1] 0.25100852613445557 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:1.01 [[ 0.99990068 -0.00412859 -0.01347546 3.87266154] [ 0.00405865 0.99997817 -0.00521376 0.12672454] [ 0.01349669 0.00515855 0.99989561 1.00936418] [ 0. 0. 0. 1. ]] SLAMing on 281.0725578440001 meters Centerline goodness [0,1] 0.2463900288797689 Centerline is valid? [False, False] Translation: X:3.87, Y:0.13, Z:1.01 [[ 0.99990486 -0.00430398 -0.01310484 3.87137364] [ 0.00422722 0.99997378 -0.00587927 0.13010409] [ 0.0131298 0.00582332 0.99989684 1.0101489 ] [ 0. 0. 0. 1. ]] SLAMing on 281.10255784400005 meters Centerline goodness [0,1] 0.2500490891240319 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.01 [[ 9.99925462e-01 -2.59716806e-03 -1.19300263e-02 3.86569717e+00] [ 2.53909965e-03 9.99984869e-01 -4.87998669e-03 1.36287679e-01] [ 1.19425200e-02 4.84933142e-03 9.99916927e-01 1.01341553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.132557844 meters Centerline goodness [0,1] 0.24843896177360048 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.01 [[ 9.99925003e-01 -2.78963953e-03 -1.19250156e-02 3.86578329e+00] [ 2.72490780e-03 9.99981485e-01 -5.44103566e-03 1.39127802e-01] [ 1.19399734e-02 5.40813303e-03 9.99914091e-01 1.01325378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16255784400005 meters Centerline goodness [0,1] 0.2470071914311165 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.01 [[ 9.99923933e-01 -2.97033517e-03 -1.19709981e-02 3.86614768e+00] [ 2.89947526e-03 9.99978200e-01 -5.93231287e-03 1.41696332e-01] [ 1.19883581e-02 5.89715200e-03 9.99910747e-01 1.01284125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192557844 meters Centerline goodness [0,1] 0.252921353232089 Centerline is valid? [False, False] Translation: X:3.87, Y:0.14, Z:1.01 [[ 9.99922547e-01 -3.17648404e-03 -1.20337150e-02 3.86652296e+00] [ 3.09900090e-03 9.99974383e-01 -6.45202238e-03 1.44228002e-01] [ 1.20539014e-02 6.41423015e-03 9.99906776e-01 1.01248830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22255784400005 meters Centerline goodness [0,1] 0.25026107388390917 Centerline is valid? [False, False] Translation: X:3.87, Y:0.15, Z:1.01 [[ 9.99922814e-01 -3.65374771e-03 -1.18750195e-02 3.86587584e+00] [ 3.56294104e-03 9.99964322e-01 -7.65904604e-03 1.49890671e-01] [ 1.19025800e-02 7.61614487e-03 9.99900156e-01 1.01309180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.252557844 meters Centerline goodness [0,1] 0.2503621386720861 Centerline is valid? [False, False] Translation: X:3.87, Y:0.15, Z:1.01 [[ 9.99923612e-01 -3.87576306e-03 -1.17365935e-02 3.86520264e+00] [ 3.77888155e-03 9.99958699e-01 -8.26560945e-03 1.52835454e-01] [ 1.17681444e-02 8.22062686e-03 9.99896961e-01 1.01370264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28255784400005 meters Centerline goodness [0,1] 0.2492716718099225 Centerline is valid? [False, False] Translation: X:3.86, Y:0.16, Z:1.01 [[ 0.99992385 -0.00413272 -0.01162802 3.86471971] [ 0.00402924 0.9999522 -0.00890873 0.15597803] [ 0.01166428 0.0088612 0.99989271 1.0140873 ] [ 0. 0. 0. 1. ]] SLAMing on 281.312557844 meters Centerline goodness [0,1] 0.2492460146488582 Centerline is valid? [False, False] Translation: X:3.86, Y:0.16, Z:1.01 [[ 9.99935624e-01 -1.34046116e-03 -1.12672589e-02 3.86365068e+00] [ 1.27110377e-03 9.99980216e-01 -6.16056658e-03 1.58065290e-01] [ 1.12752940e-02 6.14584813e-03 9.99917545e-01 1.01425723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34255784400005 meters Centerline goodness [0,1] 0.2541158073063724 Centerline is valid? [False, False] Translation: X:3.86, Y:0.16, Z:1.01 [[ 9.99936287e-01 -1.58539232e-03 -1.11762765e-02 3.86368711e+00] [ 1.51013418e-03 9.99976153e-01 -6.73896667e-03 1.60810396e-01] [ 1.11866939e-02 6.72165963e-03 9.99914835e-01 1.01384465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.372557844 meters Centerline goodness [0,1] 0.2518218096642665 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:1.01 [[ 9.99936365e-01 -2.01658255e-03 -1.10995100e-02 3.86392868e+00] [ 1.93101119e-03 9.99968376e-01 -7.71479662e-03 1.65349719e-01] [ 1.11147165e-02 7.69287241e-03 9.99908637e-01 1.01319734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40255784400006 meters Centerline goodness [0,1] 0.24838814016172506 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:1.01 [[ 9.99936556e-01 -2.22775642e-03 -1.10417544e-02 3.86379008e+00] [ 2.13733632e-03 9.99964145e-01 -8.19397194e-03 1.67563549e-01] [ 1.10596126e-02 8.16985214e-03 9.99905465e-01 1.01319989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43255784400003 meters Centerline goodness [0,1] 0.2487048859654779 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:1.01 [[ 9.99936486e-01 -2.41229244e-03 -1.10093146e-02 3.86363789e+00] [ 2.31767286e-03 9.99960340e-01 -8.59918326e-03 1.69449479e-01] [ 1.10296217e-02 8.57312111e-03 9.99902420e-01 1.01333084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46255784400006 meters Centerline goodness [0,1] 0.25246136793375495 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:1.01 [[ 9.99935711e-01 -2.58988892e-03 -1.10393465e-02 3.86369483e+00] [ 2.49083164e-03 9.99956600e-01 -8.97743475e-03 1.71170591e-01] [ 1.10621180e-02 8.94936044e-03 9.99898764e-01 1.01336490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49255784400003 meters Centerline goodness [0,1] 0.2518999675219227 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:1.01 [[ 9.99931043e-01 -2.96775725e-03 -1.13623144e-02 3.86496012e+00] [ 2.85693068e-03 9.99948311e-01 -9.75771041e-03 1.74770938e-01] [ 1.13906856e-02 9.72457620e-03 9.99887836e-01 1.01263790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52255784400006 meters Centerline goodness [0,1] 0.253034628544032 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:1.01 [[ 9.99927949e-01 -3.14263356e-03 -1.15853693e-02 3.86590106e+00] [ 3.02488295e-03 9.99943737e-01 -1.01672843e-02 1.76703620e-01] [ 1.16166695e-02 1.01315073e-02 9.99881196e-01 1.01203584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55255784400003 meters Centerline goodness [0,1] 0.24640113614356718 Centerline is valid? [False, False] Translation: X:3.89, Y:0.18, Z:1.01 [[ 0.99986827 -0.01086781 -0.01205513 3.88614503] [ 0.01075634 0.99989915 -0.00927329 0.18259897] [ 0.01215469 0.0091424 0.99988433 1.01394797] [ 0. 0. 0. 1. ]] SLAMing on 281.58255784400006 meters Centerline goodness [0,1] 0.25325225323053535 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:1.01 [[ 9.99928722e-01 -2.07376989e-03 -1.17580190e-02 3.86390646e+00] [ 1.95722052e-03 9.99948928e-01 -9.91518809e-03 1.82773541e-01] [ 1.17779803e-02 9.89146831e-03 9.99881712e-01 1.01321010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61255784400004 meters Centerline goodness [0,1] 0.2506163228234073 Centerline is valid? [False, False] Translation: X:3.86, Y:0.19, Z:1.01 [[ 9.99930366e-01 1.50669450e-03 -1.17044190e-02 3.86409935e+00] [-1.58684550e-03 9.99975336e-01 -6.84166091e-03 1.86144792e-01] [ 1.16938220e-02 6.85975760e-03 9.99908095e-01 1.01288957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64255784400007 meters Centerline goodness [0,1] 0.2509265882046947 Centerline is valid? [False, False] Translation: X:3.86, Y:0.19, Z:1.01 [[ 9.99929489e-01 1.31483770e-03 -1.18020036e-02 3.86451237e+00] [-1.40162476e-03 9.99972018e-01 -7.34833027e-03 1.88498298e-01] [ 1.17920115e-02 7.36435412e-03 9.99903353e-01 1.01266997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67255784400004 meters Centerline goodness [0,1] 0.24958927799394726 Centerline is valid? [False, False] Translation: X:3.86, Y:0.19, Z:1.01 [[ 9.99928388e-01 1.13954734e-03 -1.19130424e-02 3.86487396e+00] [-1.23282339e-03 9.99968622e-01 -7.82533232e-03 1.90762738e-01] [ 1.19037513e-02 7.83945861e-03 9.99898417e-01 1.01259530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70255784400007 meters Centerline goodness [0,1] 0.2541482240586094 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:1.01 [[ 9.99927035e-01 9.91656347e-04 -1.20391335e-02 3.86533014e+00] [-1.09084048e-03 9.99965499e-01 -8.23470873e-03 1.92829386e-01] [ 1.20305522e-02 8.24724067e-03 9.99893619e-01 1.01242070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73255784400004 meters Centerline goodness [0,1] 0.25420864335725735 Centerline is valid? [False, False] Translation: X:3.87, Y:0.19, Z:1.01 [[ 9.99926263e-01 8.71595519e-04 -1.21123288e-02 3.86565954e+00] [-9.75603216e-04 9.99962684e-01 -8.58367420e-03 1.94626536e-01] [ 1.21043953e-02 8.59485810e-03 9.99889800e-01 1.01218090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76255784400007 meters Centerline goodness [0,1] 0.2502432590222069 Centerline is valid? [False, False] Translation: X:3.89, Y:0.20, Z:1.01 [[ 0.99990255 -0.0072011 -0.01195984 3.88622745] [ 0.00710868 0.99994468 -0.00775215 0.19927906] [ 0.01201501 0.00766638 0.99989843 1.0134726 ] [ 0. 0. 0. 1. ]] SLAMing on 281.79255784400004 meters Centerline goodness [0,1] 0.2560908631560447 Centerline is valid? [False, False] Translation: X:3.87, Y:0.20, Z:1.01 [[ 9.99917705e-01 6.24007589e-04 -1.28138027e-02 3.86604436e+00] [-7.45030530e-04 9.99955145e-01 -9.44213225e-03 1.97818946e-01] [ 1.28073359e-02 9.45090189e-03 9.99873318e-01 1.01214165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8225578440001 meters Centerline goodness [0,1] 0.24686264397455737 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:1.01 [[ 9.99941632e-01 3.40004088e-04 -1.07989531e-02 3.90989264e+00] [-4.44059909e-04 9.99953486e-01 -9.63479664e-03 1.95490497e-01] [ 1.07951750e-02 9.63902966e-03 9.99895271e-01 1.01219027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85255784400005 meters Centerline goodness [0,1] 0.2505367250016265 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:1.01 [[ 9.99941861e-01 1.67662152e-04 -1.07817866e-02 3.90984972e+00] [-2.76518576e-04 9.99949000e-01 -1.00956272e-02 1.97803771e-01] [ 1.07795441e-02 1.00980216e-02 9.99890910e-01 1.01230224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.882557844 meters Centerline goodness [0,1] 0.25350406644748225 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:1.01 [[ 9.99941563e-01 7.86440629e-05 -1.08103630e-02 3.91000128e+00] [-1.90428172e-04 9.99946525e-01 -1.03398181e-02 1.98959057e-01] [ 1.08089717e-02 1.03412725e-02 9.99888106e-01 1.01220015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91255784400005 meters Centerline goodness [0,1] 0.2526116890732576 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:1.01 [[ 9.99941516e-01 -1.61802716e-05 -1.08150340e-02 3.90991693e+00] [-9.84985990e-05 9.99943781e-01 -1.06030365e-02 2.00129995e-01] [ 1.08145975e-02 1.06034817e-02 9.99885299e-01 1.01246461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942557844 meters Centerline goodness [0,1] 0.2544282365199271 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:1.01 [[ 9.99942784e-01 -9.53398246e-05 -1.06967074e-02 3.90939550e+00] [-2.08635444e-05 9.99940997e-01 -1.08628333e-02 2.01361057e-01] [ 1.06971120e-02 1.08624350e-02 9.99883783e-01 1.01293262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97255784400005 meters Centerline goodness [0,1] 0.25548240833587654 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:1.01 [[ 9.99945081e-01 -1.79338354e-04 -1.04787281e-02 3.90851016e+00] [ 6.23971682e-05 9.99937733e-01 -1.11591259e-02 2.02777398e-01] [ 1.04800768e-02 1.11578592e-02 9.99882828e-01 1.01361733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002557844 meters Centerline goodness [0,1] 0.2531473656980253 Centerline is valid? [False, False] Translation: X:3.93, Y:0.20, Z:1.01 [[ 0.99993426 -0.00594475 -0.00980438 3.93163572] [ 0.00586382 0.99994867 -0.00826265 0.2049897 ] [ 0.009853 0.00820461 0.9999178 1.01366609] [ 0. 0. 0. 1. ]] SLAMing on 282.03255784400005 meters Centerline goodness [0,1] 0.25094566712517197 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 0.99993205 -0.00602643 -0.00997908 3.93222673] [ 0.00594157 0.99994612 -0.0085117 0.20623756] [ 0.01002984 0.00845183 0.99991398 1.01346471] [ 0. 0. 0. 1. ]] SLAMing on 282.062557844 meters Centerline goodness [0,1] 0.2506097429366947 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 0.99993056 -0.00611284 -0.01007518 3.93252411] [ 0.00602472 0.99994353 -0.00875433 0.20747874] [ 0.01012813 0.00869303 0.99991092 1.01342157] [ 0. 0. 0. 1. ]] SLAMing on 282.09255784400005 meters Centerline goodness [0,1] 0.25467953584209957 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 0.99993078 -0.00619054 -0.01000572 3.93231228] [ 0.0061009 0.99994121 -0.00896399 0.20848093] [ 0.01006063 0.00890233 0.99990976 1.01349634] [ 0. 0. 0. 1. ]] SLAMing on 282.122557844 meters Centerline goodness [0,1] 0.2554448538228433 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 0.99993149 -0.00624151 -0.00990253 3.93184788] [ 0.00615109 0.99993935 -0.00913585 0.2093357 ] [ 0.00995895 0.00907432 0.99990923 1.01386063] [ 0. 0. 0. 1. ]] SLAMing on 282.15255784400006 meters Centerline goodness [0,1] 0.2535736616286841 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 0.99993273 -0.00631843 -0.00972663 3.93121421] [ 0.00622767 0.99993706 -0.00933282 0.21042315] [ 0.00978498 0.00927162 0.99990914 1.01418365] [ 0. 0. 0. 1. ]] SLAMing on 282.18255784400003 meters Centerline goodness [0,1] 0.2532412535018568 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 0.9999331 -0.00632549 -0.00968416 3.93126107] [ 0.00623525 0.99993712 -0.0093206 0.21030381] [ 0.00974251 0.00925959 0.99990967 1.01388457] [ 0. 0. 0. 1. ]] SLAMing on 282.21255784400006 meters Centerline goodness [0,1] 0.254090179230135 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 0.99993302 -0.0063431 -0.00968089 3.93142601] [ 0.00625325 0.99993735 -0.00928397 0.21002316] [ 0.00973917 0.00922281 0.99991004 1.01352172] [ 0. 0. 0. 1. ]] SLAMing on 282.24255784400003 meters Centerline goodness [0,1] 0.25476791779151786 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 0.99993296 -0.00635449 -0.00968011 3.93152091] [ 0.00626464 0.99993728 -0.00928412 0.21000011] [ 0.0097385 0.00922285 0.99991005 1.01332912] [ 0. 0. 0. 1. ]] SLAMing on 282.27255784400006 meters Centerline goodness [0,1] 0.2552444502594967 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99951351e-01 -3.24901304e-03 -9.31337271e-03 3.93059043e+00] [ 3.19256126e-03 9.99976482e-01 -6.06983962e-03 2.11056322e-01] [ 9.33287466e-03 6.03981082e-03 9.99938207e-01 1.01320318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30255784400003 meters Centerline goodness [0,1] 0.2539147455415398 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99950213e-01 -3.30730232e-03 -9.41456280e-03 3.93115317e+00] [ 3.24876804e-03 9.99975341e-01 -6.22593719e-03 2.11935931e-01] [ 9.43492171e-03 6.19504148e-03 9.99936300e-01 1.01267042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33255784400006 meters Centerline goodness [0,1] 0.25389526901871906 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99948173e-01 -3.35463754e-03 -9.61239472e-03 3.93190399e+00] [ 3.29382448e-03 9.99974506e-01 -6.33538810e-03 2.12511282e-01] [ 9.63340260e-03 6.30339821e-03 9.99933730e-01 1.01223453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36255784400004 meters Centerline goodness [0,1] 0.25443735435677417 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99946539e-01 -3.38992588e-03 -9.76865934e-03 3.93248231e+00] [ 3.32770250e-03 9.99974118e-01 -6.37892536e-03 2.12654934e-01] [ 9.79003059e-03 6.34607714e-03 9.99931939e-01 1.01185001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39255784400007 meters Centerline goodness [0,1] 0.25346444188221984 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99945651e-01 -3.41043257e-03 -9.85209318e-03 3.93283560e+00] [ 3.34763154e-03 9.99974020e-01 -6.38385788e-03 2.12657660e-01] [ 9.87360894e-03 6.35052974e-03 9.99931089e-01 1.01153339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42255784400004 meters Centerline goodness [0,1] 0.2541436464088398 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99945676e-01 -3.44841802e-03 -9.83630299e-03 3.93308797e+00] [ 3.38506488e-03 9.99973468e-01 -6.45013981e-03 2.13119796e-01] [ 9.85828479e-03 6.41649289e-03 9.99930819e-01 1.01102165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45255784400007 meters Centerline goodness [0,1] 0.25393439411418994 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99945956e-01 -3.49240466e-03 -9.79227791e-03 3.93306390e+00] [ 3.42857224e-03 9.99972815e-01 -6.52787576e-03 2.13479158e-01] [ 9.81480969e-03 6.49394943e-03 9.99930747e-01 1.01085793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48255784400004 meters Centerline goodness [0,1] 0.2541076734836567 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99946437e-01 -3.52381625e-03 -9.73164469e-03 3.93286764e+00] [ 3.45977329e-03 9.99972301e-01 -6.58991042e-03 2.13702026e-01] [ 9.75459677e-03 6.55588817e-03 9.99930932e-01 1.01092105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51255784400007 meters Centerline goodness [0,1] 0.2493041921077046 Centerline is valid? [False, False] Translation: X:3.95, Y:0.22, Z:1.01 [[ 0.99988855 -0.01196706 -0.0089263 3.95335018] [ 0.01191544 0.99991211 -0.0058141 0.21627064] [ 0.00899509 0.00570709 0.99994326 1.01196643] [ 0. 0. 0. 1. ]] SLAMing on 282.54255784400004 meters Centerline goodness [0,1] 0.25205461581945476 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99941610e-01 -3.66113698e-03 -1.01672555e-02 3.93387294e+00] [ 3.58917035e-03 9.99968442e-01 -7.08752399e-03 2.12826720e-01] [ 1.01928831e-02 7.05061814e-03 9.99923194e-01 1.01018285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5725578440001 meters Centerline goodness [0,1] 0.25191721132897604 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99939886e-01 -3.64274467e-03 -1.03418513e-02 3.93436550e+00] [ 3.57024055e-03 9.99968982e-01 -7.02057635e-03 2.12445483e-01] [ 1.03671047e-02 6.98323143e-03 9.99921876e-01 1.01004857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60255784400005 meters Centerline goodness [0,1] 0.25111260664741764 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99940715e-01 -3.60160934e-03 -1.02759863e-02 3.93413998e+00] [ 3.53008119e-03 9.99969476e-01 -6.97037672e-03 2.12268907e-01] [ 1.03007772e-02 6.93368841e-03 9.99922906e-01 1.01015111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.632557844 meters Centerline goodness [0,1] 0.2528365164746619 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99943071e-01 -3.58310221e-03 -1.00506316e-02 3.93322793e+00] [ 3.51254077e-03 9.99969124e-01 -7.02948543e-03 2.12698006e-01] [ 1.00755086e-02 6.99378200e-03 9.99924783e-01 1.01082663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66255784400005 meters Centerline goodness [0,1] 0.25280556763810347 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99963012e-01 -1.95059406e-03 -8.37674013e-03 3.92660523e+00] [ 1.90279802e-03 9.99981888e-01 -5.70998895e-03 2.12762533e-01] [ 8.38772627e-03 5.69383850e-03 9.99948612e-01 1.01415288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692557844 meters Centerline goodness [0,1] 0.2528680584278469 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99963006e-01 -2.02511277e-03 -8.35980843e-03 3.92636886e+00] [ 1.97471287e-03 9.99979853e-01 -6.03269342e-03 2.14255887e-01] [ 8.37185690e-03 6.01596203e-03 9.99946859e-01 1.01459626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72255784400005 meters Centerline goodness [0,1] 0.2528680584278469 Centerline is valid? [False, False] Translation: X:3.93, Y:0.21, Z:1.01 [[ 9.99963006e-01 -2.02511277e-03 -8.35980843e-03 3.92636886e+00] [ 1.97471287e-03 9.99979853e-01 -6.03269342e-03 2.14255887e-01] [ 8.37185690e-03 6.01596203e-03 9.99946859e-01 1.01459626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752557844 meters Centerline goodness [0,1] 0.2564405113077679 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99960675e-01 -2.09965260e-03 -8.61620252e-03 3.92708575e+00] [ 2.04481049e-03 9.99977628e-01 -6.36887755e-03 2.15924229e-01] [ 8.62938219e-03 6.35100859e-03 9.99942598e-01 1.01453336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78255784400005 meters Centerline goodness [0,1] 0.2533862985152383 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99958281e-01 -2.12719730e-03 -8.88320351e-03 3.92789046e+00] [ 2.06841408e-03 9.99975940e-01 -6.62129801e-03 2.17397605e-01] [ 8.89707459e-03 6.60264764e-03 9.99938622e-01 1.01431751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812557844 meters Centerline goodness [0,1] 0.2516335626812064 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99957602e-01 -2.14559155e-03 -8.95488471e-03 3.92816210e+00] [ 2.08477156e-03 9.99974736e-01 -6.79564005e-03 2.18526308e-01] [ 8.96923915e-03 6.77668304e-03 9.99936813e-01 1.01413824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84255784400005 meters Centerline goodness [0,1] 0.2541633193651345 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99958559e-01 -2.15524275e-03 -8.84509693e-03 3.92782325e+00] [ 2.09439939e-03 9.99974124e-01 -6.88227497e-03 2.19127866e-01] [ 8.85970103e-03 6.86346459e-03 9.99937197e-01 1.01428145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872557844 meters Centerline goodness [0,1] 0.24898767984836734 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99961248e-01 -2.18646555e-03 -8.52772188e-03 3.92676344e+00] [ 2.12740589e-03 9.99973734e-01 -6.92854106e-03 2.19253695e-01] [ 8.54264691e-03 6.91013064e-03 9.99939635e-01 1.01470764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90255784400006 meters Centerline goodness [0,1] 0.25443297172482904 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99961569e-01 -2.20820316e-03 -8.48436830e-03 3.92664500e+00] [ 2.14908889e-03 9.99973398e-01 -6.97024350e-03 2.19388418e-01] [ 8.49953431e-03 6.95174197e-03 9.99939714e-01 1.01470967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93255784400003 meters Centerline goodness [0,1] 0.25510047888740683 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99960453e-01 -2.27274583e-03 -8.59812919e-03 3.92701607e+00] [ 2.21152235e-03 9.99972183e-01 -7.12337673e-03 2.20091009e-01] [ 8.61407964e-03 7.10408006e-03 9.99937663e-01 1.01456726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96255784400006 meters Centerline goodness [0,1] 0.2554396750466571 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99959143e-01 -2.35631332e-03 -8.72702247e-03 3.92744252e+00] [ 2.29207924e-03 9.99970265e-01 -7.36306855e-03 2.21304839e-01] [ 8.74411267e-03 7.34276469e-03 9.99934810e-01 1.01439411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99255784400003 meters Centerline goodness [0,1] 0.25551132884262096 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99962302e-01 1.36647020e-03 -8.57475709e-03 3.92706954e+00] [-1.39961664e-03 9.99991568e-01 -3.86077426e-03 2.23049509e-01] [ 8.56940916e-03 3.87263009e-03 9.99955783e-01 1.01435477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02255784400006 meters Centerline goodness [0,1] 0.2522902839734523 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.01 [[ 9.99962746e-01 1.27663947e-03 -8.53673689e-03 3.92691997e+00] [-1.31246222e-03 9.99990352e-01 -4.19201922e-03 2.24827353e-01] [ 8.53130283e-03 4.20306720e-03 9.99954775e-01 1.01448486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05255784400003 meters Centerline goodness [0,1] 0.25449389179755677 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99963794e-01 1.19725649e-03 -8.42477945e-03 3.92654360e+00] [-1.23439885e-03 9.99989537e-01 -4.40488568e-03 2.25927400e-01] [ 8.41941752e-03 4.41512574e-03 9.99954809e-01 1.01463496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08255784400006 meters Centerline goodness [0,1] 0.25192757515377284 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99964740e-01 1.15693341e-03 -8.31747895e-03 3.92637392e+00] [-1.19382755e-03 9.99989465e-01 -4.43214079e-03 2.25986257e-01] [ 8.31226364e-03 4.44191415e-03 9.99955587e-01 1.01442405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11255784400004 meters Centerline goodness [0,1] 0.2548859755425802 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:1.01 [[ 9.99938444e-01 6.51036644e-04 -1.10762699e-02 3.88217399e+00] [-7.05022389e-04 9.99987889e-01 -4.87079419e-03 2.28608795e-01] [ 1.10729647e-02 4.87830338e-03 9.99926793e-01 1.01446666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14255784400007 meters Centerline goodness [0,1] 0.25246995703474295 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:1.01 [[ 0.99988639 -0.00855816 -0.0124083 3.90764056] [ 0.00850629 0.99995489 -0.00422709 0.22749029] [ 0.01244392 0.00412106 0.99991408 1.01363627] [ 0. 0. 0. 1. ]] SLAMing on 283.17255784400004 meters Centerline goodness [0,1] 0.2523804335984312 Centerline is valid? [False, False] Translation: X:3.91, Y:0.23, Z:1.01 [[ 9.99885388e-01 -8.46502539e-03 -1.25520344e-02 3.90824098e+00] [ 8.41751519e-03 9.99957226e-01 -3.83307288e-03 2.25527108e-01] [ 1.25839445e-02 3.72697662e-03 9.99913873e-01 1.01310969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20255784400007 meters Centerline goodness [0,1] 0.24929190720200645 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:1.02 [[ 9.99898325e-01 -2.13462738e-03 -1.40990526e-02 3.92481248e+00] [ 2.06375813e-03 9.99985174e-01 -5.03916321e-03 2.18293284e-01] [ 1.41096003e-02 5.00955382e-03 9.99887905e-01 1.01554092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23255784400004 meters Centerline goodness [0,1] 0.2529191355873126 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:1.02 [[ 9.99897205e-01 -2.09559698e-03 -1.41840853e-02 3.92495386e+00] [ 2.02551944e-03 9.99985682e-01 -4.95313948e-03 2.17874208e-01] [ 1.41942620e-02 4.92390018e-03 9.99887133e-01 1.01567700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26255784400007 meters Centerline goodness [0,1] 0.25030866203132107 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.02 [[ 9.99893886e-01 -2.10624511e-03 -1.44146245e-02 3.92547326e+00] [ 2.03298999e-03 9.99984955e-01 -5.09476750e-03 2.18658818e-01] [ 1.44251385e-02 5.06492208e-03 9.99883124e-01 1.01586033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29255784400004 meters Centerline goodness [0,1] 0.249216808901372 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.02 [[ 9.99886491e-01 -1.29004768e-03 -1.50113679e-02 3.92732045e+00] [ 1.21616452e-03 9.99987108e-01 -4.92990226e-03 2.20784226e-01] [ 1.50175342e-02 4.91108638e-03 9.99875170e-01 1.01554845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3225578440001 meters Centerline goodness [0,1] 0.25214787815673 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:1.02 [[ 9.99885934e-01 -1.26538828e-03 -1.50504879e-02 3.92748036e+00] [ 1.18560048e-03 9.99985204e-01 -5.30908451e-03 2.23057592e-01] [ 1.50569833e-02 5.29063506e-03 9.99872640e-01 1.01557648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35255784400005 meters Centerline goodness [0,1] 0.2526533275337103 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.02 [[ 9.99888354e-01 -1.32959081e-03 -1.48832702e-02 3.92718370e+00] [ 1.24400661e-03 9.99982648e-01 -5.75814452e-03 2.25402389e-01] [ 1.48906680e-02 5.73898676e-03 9.99872658e-01 1.01547987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.382557844 meters Centerline goodness [0,1] 0.25491051942383236 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.02 [[ 9.99890514e-01 -1.42990446e-03 -1.47280700e-02 3.92675206e+00] [ 1.33856390e-03 9.99979823e-01 -6.20979258e-03 2.27593888e-01] [ 1.47366523e-02 6.18939823e-03 9.99872253e-01 1.01566329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41255784400005 meters Centerline goodness [0,1] 0.25408459306764386 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.02 [[ 9.99891456e-01 -1.51126860e-03 -1.46557610e-02 3.92649290e+00] [ 1.41097444e-03 9.99975534e-01 -6.85125395e-03 2.31055837e-01] [ 1.46657565e-02 6.82983139e-03 9.99869126e-01 1.01592964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442557844 meters Centerline goodness [0,1] 0.25361099578261914 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.02 [[ 9.99887445e-01 -1.62900977e-03 -1.49145627e-02 3.92728728e+00] [ 1.52202186e-03 9.99973051e-01 -7.18192838e-03 2.32723931e-01] [ 1.49258603e-02 7.15841973e-03 9.99862978e-01 1.01570727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47255784400005 meters Centerline goodness [0,1] 0.24941603944977941 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.02 [[ 9.99880583e-01 -1.73286439e-03 -1.53563188e-02 3.92881290e+00] [ 1.61806891e-03 9.99970680e-01 -7.48472949e-03 2.34257421e-01] [ 1.53688386e-02 7.45898810e-03 9.99854071e-01 1.01501209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502557844 meters Centerline goodness [0,1] 0.25306631102560173 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.01 [[ 9.99876136e-01 -1.86240059e-03 -1.56283384e-02 3.92984791e+00] [ 1.74100065e-03 9.99968236e-01 -7.77794995e-03 2.35620348e-01] [ 1.56423276e-02 7.74977760e-03 9.99847618e-01 1.01437908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53255784400005 meters Centerline goodness [0,1] 0.2544261863495755 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.01 [[ 9.99878613e-01 -2.01272338e-03 -1.54502040e-02 3.92931517e+00] [ 1.88753646e-03 9.99965308e-01 -8.11291674e-03 2.37162346e-01] [ 1.54659970e-02 8.08276912e-03 9.99847724e-01 1.01452999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562557844 meters Centerline goodness [0,1] 0.2536781584067508 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.01 [[ 9.99884604e-01 -2.03425425e-03 -1.50545945e-02 3.92807262e+00] [ 1.91221969e-03 9.99965236e-01 -8.11609393e-03 2.37186862e-01] [ 1.50705813e-02 8.08636968e-03 9.99853733e-01 1.01496335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59255784400005 meters Centerline goodness [0,1] 0.2522090435759501 Centerline is valid? [False, False] Translation: X:3.95, Y:0.24, Z:1.02 [[ 0.9998512 -0.01072347 -0.01351228 3.94836816] [ 0.01062657 0.99991745 -0.00722294 0.23909944] [ 0.01358862 0.00707828 0.99988262 1.01592151] [ 0. 0. 0. 1. ]] SLAMing on 283.622557844 meters Centerline goodness [0,1] 0.2470334876709379 Centerline is valid? [False, False] Translation: X:3.95, Y:0.24, Z:1.02 [[ 0.99985337 -0.01070996 -0.01336158 3.94795788] [ 0.01061625 0.99991869 -0.0070652 0.23815161] [ 0.01343617 0.00692232 0.99988577 1.01592881] [ 0. 0. 0. 1. ]] SLAMing on 283.65255784400006 meters Centerline goodness [0,1] 0.25221709057004704 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99909332e-01 -2.60682887e-03 -1.32110792e-02 3.92850712e+00] [ 2.49803135e-03 9.99962888e-01 -8.24514511e-03 2.33809984e-01] [ 1.32320826e-02 8.21139585e-03 9.99878735e-01 1.01353706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68255784400003 meters Centerline goodness [0,1] 0.2520319888431283 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99908444e-01 -2.57422824e-03 -1.32844536e-02 3.92876307e+00] [ 2.46657964e-03 9.99964044e-01 -8.11338360e-03 2.33141665e-01] [ 1.33048617e-02 8.07987361e-03 9.99878841e-01 1.01336641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71255784400006 meters Centerline goodness [0,1] 0.2522935779816514 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99905942e-01 -2.52597249e-03 -1.34806060e-02 3.92936898e+00] [ 2.41816010e-03 9.99965012e-01 -8.00790861e-03 2.32753714e-01] [ 1.35003621e-02 7.97455714e-03 9.99877066e-01 1.01317658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74255784400003 meters Centerline goodness [0,1] 0.25066384577189615 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99906324e-01 -2.53561080e-03 -1.34504602e-02 3.92916993e+00] [ 2.42716466e-03 9.99964468e-01 -8.07284030e-03 2.33110989e-01] [ 1.34704518e-02 8.03943759e-03 9.99876950e-01 1.01342607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77255784400006 meters Centerline goodness [0,1] 0.2503681885125184 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99909587e-01 -2.58378640e-03 -1.31963088e-02 3.92822948e+00] [ 2.47508626e-03 9.99962931e-01 -8.24686217e-03 2.33937858e-01] [ 1.32171277e-02 8.21345454e-03 9.99878916e-01 1.01396176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80255784400003 meters Centerline goodness [0,1] 0.2523089657576022 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.01 [[ 9.99913149e-01 -2.66333460e-03 -1.29073908e-02 3.92714677e+00] [ 2.55377872e-03 9.99960640e-01 -8.49690293e-03 2.35104873e-01] [ 1.29295128e-02 8.46320235e-03 9.99880594e-01 1.01463174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83255784400006 meters Centerline goodness [0,1] 0.25479571771903 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 9.99914221e-01 -2.70294343e-03 -1.28158244e-02 3.92659154e+00] [ 2.58988879e-03 9.99957662e-01 -8.82989324e-03 2.37100788e-01] [ 1.28391485e-02 8.79594426e-03 9.99878886e-01 1.01529010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86255784400004 meters Centerline goodness [0,1] 0.25370636059301765 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 9.99912779e-01 -2.71717110e-03 -1.29248386e-02 3.92700987e+00] [ 2.60213313e-03 9.99956928e-01 -8.90903912e-03 2.37636492e-01] [ 1.29484893e-02 8.87462991e-03 9.99876781e-01 1.01504523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89255784400007 meters Centerline goodness [0,1] 0.2545494265428727 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 9.99917669e-01 -2.76396988e-03 -1.25306199e-02 3.92584330e+00] [ 2.65261175e-03 9.99956922e-01 -8.89480787e-03 2.37177163e-01] [ 1.25546651e-02 8.86083668e-03 9.99881926e-01 1.01533145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92255784400004 meters Centerline goodness [0,1] 0.2528305154460633 Centerline is valid? [False, False] Translation: X:3.92, Y:0.24, Z:1.02 [[ 9.99920903e-01 -2.80114755e-03 -1.22613492e-02 3.92483349e+00] [ 2.69258013e-03 9.99957106e-01 -8.86201332e-03 2.36766897e-01] [ 1.22856471e-02 8.82829770e-03 9.99885555e-01 1.01585878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95255784400007 meters Centerline goodness [0,1] 0.2547948796365066 Centerline is valid? [False, False] Translation: X:3.92, Y:0.24, Z:1.02 [[ 9.99922843e-01 -2.77051775e-03 -1.21091469e-02 3.92423696e+00] [ 2.66449230e-03 9.99958053e-01 -8.76319556e-03 2.36344235e-01] [ 1.21329175e-02 8.73025470e-03 9.99888281e-01 1.01620339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98255784400004 meters Centerline goodness [0,1] 0.25376535439906245 Centerline is valid? [False, False] Translation: X:3.92, Y:0.24, Z:1.02 [[ 9.99923920e-01 -2.74478058e-03 -1.20258586e-02 3.92400948e+00] [ 2.64064017e-03 9.99958954e-01 -8.66704443e-03 2.36019800e-01] [ 1.20491541e-02 8.63462907e-03 9.99890124e-01 1.01620410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01255784400007 meters Centerline goodness [0,1] 0.25490752050253007 Centerline is valid? [False, False] Translation: X:3.92, Y:0.24, Z:1.02 [[ 9.99922611e-01 -2.74154937e-03 -1.21348835e-02 3.92453540e+00] [ 2.63758130e-03 9.99959752e-01 -8.57542984e-03 2.35544394e-01] [ 1.21579051e-02 8.54275946e-03 9.99889597e-01 1.01571495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04255784400004 meters Centerline goodness [0,1] 0.2545696462068665 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99919164e-01 -2.74858770e-03 -1.24141740e-02 3.92564698e+00] [ 2.64421442e-03 9.99961087e-01 -8.41619262e-03 2.34578450e-01] [ 1.24368236e-02 8.38268655e-03 9.99887522e-01 1.01489316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0725578440001 meters Centerline goodness [0,1] 0.25269809558967227 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99899585e-01 -3.33043552e-03 -1.37741922e-02 3.92983603e+00] [ 3.21571648e-03 9.99960032e-01 -8.34232867e-03 2.31953586e-01] [ 1.38014252e-02 8.29719708e-03 9.99870330e-01 1.01321585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10255784400005 meters Centerline goodness [0,1] 0.2509305747922438 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99898898e-01 -3.21896870e-03 -1.38503427e-02 3.93013394e+00] [ 3.10913358e-03 9.99963609e-01 -7.94437477e-03 2.30035807e-01] [ 1.38754114e-02 7.90050902e-03 9.99872519e-01 1.01291352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.132557844 meters Centerline goodness [0,1] 0.2537537211273114 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99899708e-01 -3.11213310e-03 -1.38162254e-02 3.93004654e+00] [ 3.00594498e-03 9.99965837e-01 -7.69988001e-03 2.28961289e-01] [ 1.38397165e-02 7.65757696e-03 9.99874904e-01 1.01289752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16255784400005 meters Centerline goodness [0,1] 0.25125018942263977 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99900102e-01 -3.08176233e-03 -1.37945508e-02 3.92991512e+00] [ 2.97633795e-03 9.99966259e-01 -7.65648172e-03 2.28737930e-01] [ 1.38176808e-02 7.61465960e-03 9.99875537e-01 1.01306509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.192557844 meters Centerline goodness [0,1] 0.2529122106770212 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99898144e-01 -3.04372998e-03 -1.39440537e-02 3.93018973e+00] [ 2.93261689e-03 9.99963843e-01 -7.98202235e-03 2.30287853e-01] [ 1.39678447e-02 7.94031677e-03 9.99870917e-01 1.01337074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22255784400005 meters Centerline goodness [0,1] 0.2507825486259525 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99892188e-01 -2.92558273e-03 -1.43893332e-02 3.93140882e+00] [ 2.80819077e-03 9.99962668e-01 -8.17171280e-03 2.31713599e-01] [ 1.44127031e-02 8.13042380e-03 9.99863076e-01 1.01330289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.252557844 meters Centerline goodness [0,1] 0.25320813089609795 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99896222e-01 1.09288391e-03 -1.43648895e-02 3.93150321e+00] [-1.15372593e-03 9.99990397e-01 -4.22786313e-03 2.31244032e-01] [ 1.43601310e-02 4.24399752e-03 9.99887881e-01 1.01305152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28255784400005 meters Centerline goodness [0,1] 0.2514000302709247 Centerline is valid? [False, False] Translation: X:3.93, Y:0.23, Z:1.01 [[ 9.99892786e-01 1.38001992e-03 -1.45777986e-02 3.93203007e+00] [-1.44415922e-03 9.99989320e-01 -4.39018345e-03 2.33059446e-01] [ 1.45715844e-02 4.41076543e-03 9.99884100e-01 1.01323807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.312557844 meters Centerline goodness [0,1] 0.25239380222841223 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.01 [[ 9.99903296e-01 2.15414441e-03 -1.37389200e-02 3.92930763e+00] [-2.21471484e-03 9.99987890e-01 -4.39498467e-03 2.35582577e-01] [ 1.37292861e-02 4.42498745e-03 9.99895958e-01 1.01456454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34255784400005 meters Centerline goodness [0,1] 0.25349063751488254 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 9.99906972e-01 2.18555587e-03 -1.34636936e-02 3.92825566e+00] [-2.24830078e-03 9.99986675e-01 -4.64693255e-03 2.37077865e-01] [ 1.34533581e-02 4.67677069e-03 9.99898562e-01 1.01527420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.372557844 meters Centerline goodness [0,1] 0.2525015226659706 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 9.99909261e-01 2.18520409e-03 -1.32926660e-02 3.92771996e+00] [-2.25018034e-03 9.99985585e-01 -4.87513684e-03 2.38412301e-01] [ 1.32818212e-02 4.90460537e-03 9.99899764e-01 1.01554524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40255784400006 meters Centerline goodness [0,1] 0.25399799555536184 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 9.99910658e-01 2.15299248e-03 -1.31924660e-02 3.92746392e+00] [-2.22073169e-03 9.99984416e-01 -5.12219292e-03 2.39717027e-01] [ 1.31812324e-02 5.15103222e-03 9.99899856e-01 1.01562642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43255784400003 meters Centerline goodness [0,1] 0.253868282264743 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 9.99911512e-01 2.08568584e-03 -1.31384346e-02 3.92734882e+00] [-2.15624159e-03 9.99983319e-01 -5.35830490e-03 2.40834747e-01] [ 1.31270397e-02 5.38616039e-03 9.99899330e-01 1.01562967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46255784400006 meters Centerline goodness [0,1] 0.2541750819814538 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 9.99906543e-01 2.07635084e-03 -1.35127605e-02 3.92841374e+00] [-2.15458528e-03 9.99980988e-01 -5.77769131e-03 2.43225533e-01] [ 1.35005071e-02 5.80626574e-03 9.99892006e-01 1.01547651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49255784400003 meters Centerline goodness [0,1] 0.2519683326808474 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 9.99902465e-01 2.09427592e-03 -1.38084644e-02 3.92922886e+00] [-2.17778953e-03 9.99979413e-01 -6.03574156e-03 2.44982133e-01] [ 1.37955396e-02 6.06522479e-03 9.99886442e-01 1.01541477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52255784400006 meters Centerline goodness [0,1] 0.25127928316959947 Centerline is valid? [False, False] Translation: X:3.95, Y:0.25, Z:1.02 [[ 9.99897448e-01 -2.78867512e-03 -1.40469459e-02 3.95017415e+00] [ 2.75937585e-03 9.99993978e-01 -2.10476064e-03 2.47443417e-01] [ 1.40527308e-02 2.06578399e-03 9.99899122e-01 1.01632136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55255784400003 meters Centerline goodness [0,1] 0.2526716566434474 Centerline is valid? [False, False] Translation: X:3.95, Y:0.25, Z:1.02 [[ 9.99899453e-01 -2.75612132e-03 -1.39099919e-02 3.94982334e+00] [ 2.72206141e-03 9.99993252e-01 -2.46693183e-03 2.49660462e-01] [ 1.39166972e-02 2.42881993e-03 9.99900208e-01 1.01645984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58255784400006 meters Centerline goodness [0,1] 0.25412850025021216 Centerline is valid? [False, False] Translation: X:3.95, Y:0.25, Z:1.02 [[ 9.99907147e-01 -2.14971922e-03 -1.34564316e-02 3.94839709e+00] [ 2.11359342e-03 9.99994126e-01 -2.69829500e-03 2.53122838e-01] [ 1.34621531e-02 2.66960303e-03 9.99905817e-01 1.01709801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61255784400004 meters Centerline goodness [0,1] 0.25412850025021216 Centerline is valid? [False, False] Translation: X:3.95, Y:0.25, Z:1.02 [[ 9.99907147e-01 -2.14971922e-03 -1.34564316e-02 3.94839709e+00] [ 2.11359342e-03 9.99994126e-01 -2.69829500e-03 2.53122838e-01] [ 1.34621531e-02 2.66960303e-03 9.99905817e-01 1.01709801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64255784400007 meters Centerline goodness [0,1] 0.24922407104060695 Centerline is valid? [False, False] Translation: X:3.95, Y:0.26, Z:1.02 [[ 9.99904621e-01 -2.06947481e-03 -1.36552490e-02 3.94900469e+00] [ 2.02755885e-03 9.99993193e-01 -3.08271653e-03 2.55596581e-01] [ 1.36615357e-02 3.05473569e-03 9.99902011e-01 1.01693471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67255784400004 meters Centerline goodness [0,1] 0.2544527043229927 Centerline is valid? [False, False] Translation: X:3.95, Y:0.26, Z:1.02 [[ 9.99902305e-01 -2.04510747e-03 -1.38274388e-02 3.94963550e+00] [ 1.99797682e-03 9.99992151e-01 -3.42144244e-03 2.57697414e-01] [ 1.38343274e-02 3.39348128e-03 9.99898543e-01 1.01659291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70255784400007 meters Centerline goodness [0,1] 0.25146451654741575 Centerline is valid? [False, False] Translation: X:3.95, Y:0.26, Z:1.02 [[ 9.99898183e-01 -2.01028471e-03 -1.41273284e-02 3.95051186e+00] [ 1.95828439e-03 9.99991261e-01 -3.69370120e-03 2.59465642e-01] [ 1.41346304e-02 3.66565979e-03 9.99893382e-01 1.01635091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73255784400004 meters Centerline goodness [0,1] 0.2511546596451849 Centerline is valid? [False, False] Translation: X:3.95, Y:0.26, Z:1.02 [[ 9.99895168e-01 -2.01724627e-03 -1.43381614e-02 3.95111953e+00] [ 1.96106539e-03 9.99990350e-01 -3.93125643e-03 2.60973993e-01] [ 1.43459533e-02 3.90272624e-03 9.99889475e-01 1.01623145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76255784400007 meters Centerline goodness [0,1] 0.2480434642002458 Centerline is valid? [False, False] Translation: X:3.95, Y:0.26, Z:1.02 [[ 9.99892566e-01 -2.05258721e-03 -1.45135711e-02 3.95154092e+00] [ 1.99244548e-03 9.99989374e-01 -4.15707305e-03 2.62149748e-01] [ 1.45219496e-02 4.12770893e-03 9.99886031e-01 1.01626181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79255784400004 meters Centerline goodness [0,1] 0.2535177625293147 Centerline is valid? [False, False] Translation: X:3.95, Y:0.26, Z:1.02 [[ 9.99889170e-01 -2.11723477e-03 -1.47365422e-02 3.95220703e+00] [ 2.04903194e-03 9.99987128e-01 -4.64170397e-03 2.64587413e-01] [ 1.47461801e-02 4.61099388e-03 9.99880637e-01 1.01606514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8225578440001 meters Centerline goodness [0,1] 0.25333130778245583 Centerline is valid? [False, False] Translation: X:3.95, Y:0.27, Z:1.02 [[ 9.99887757e-01 -2.20348072e-03 -1.48195033e-02 3.95264021e+00] [ 2.13047245e-03 9.99985526e-01 -4.94048349e-03 2.66052947e-01] [ 1.48301750e-02 4.90835642e-03 9.99877980e-01 1.01567871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85255784400005 meters Centerline goodness [0,1] 0.2514218983153479 Centerline is valid? [False, False] Translation: X:3.95, Y:0.27, Z:1.02 [[ 9.99885792e-01 -2.23847550e-03 -1.49463025e-02 3.95317539e+00] [ 2.16063881e-03 9.99984032e-01 -5.22187391e-03 2.67657810e-01] [ 1.49577529e-02 5.18898397e-03 9.99874662e-01 1.01531049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.882557844 meters Centerline goodness [0,1] 0.2541148220912465 Centerline is valid? [False, False] Translation: X:3.95, Y:0.27, Z:1.02 [[ 9.99889003e-01 1.73564848e-03 -1.47976077e-02 3.95283320e+00] [-1.75963576e-03 9.99997159e-01 -1.60815810e-03 2.69604080e-01] [ 1.47947745e-02 1.63401800e-03 9.99889216e-01 1.01527184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91255784400005 meters Centerline goodness [0,1] 0.2543989547038328 Centerline is valid? [False, False] Translation: X:3.95, Y:0.27, Z:1.02 [[ 9.99891987e-01 1.67939187e-03 -1.46011705e-02 3.95212354e+00] [-1.70952823e-03 9.99996434e-01 -2.05173309e-03 2.71945804e-01] [ 1.45976728e-02 2.07647259e-03 9.99891292e-01 1.01569772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942557844 meters Centerline goodness [0,1] 0.2519341098748261 Centerline is valid? [False, False] Translation: X:3.95, Y:0.27, Z:1.02 [[ 9.99894984e-01 1.61324967e-03 -1.44020011e-02 3.95143071e+00] [-1.64927265e-03 9.99995541e-01 -2.48972209e-03 2.74237022e-01] [ 1.43979204e-02 2.51321346e-03 9.99893186e-01 1.01604053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97255784400005 meters Centerline goodness [0,1] 0.2500864304235091 Centerline is valid? [False, False] Translation: X:3.95, Y:0.28, Z:1.02 [[ 9.99895358e-01 1.59025363e-03 -1.43785791e-02 3.95132537e+00] [-1.63217140e-03 9.99994451e-01 -2.90402829e-03 2.76624635e-01] [ 1.43738812e-02 2.92719272e-03 9.99892406e-01 1.01612535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002557844 meters Centerline goodness [0,1] 0.24783171521035596 Centerline is valid? [False, False] Translation: X:3.95, Y:0.28, Z:1.02 [[ 9.99894167e-01 1.95067012e-03 -1.44169632e-02 3.95174253e+00] [-1.99700776e-03 9.99992885e-01 -3.20040884e-03 2.79653855e-01] [ 1.44106177e-02 3.22886092e-03 9.99890948e-01 1.01558004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03255784400005 meters Centerline goodness [0,1] 0.24756507498707114 Centerline is valid? [False, False] Translation: X:3.95, Y:0.28, Z:1.02 [[ 9.99895043e-01 1.86918387e-03 -1.43669681e-02 3.95161490e+00] [-1.91898267e-03 9.99992196e-01 -3.45319727e-03 2.80788313e-01] [ 1.43604014e-02 3.48040480e-03 9.99890827e-01 1.01553105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062557844 meters Centerline goodness [0,1] 0.2526975889285328 Centerline is valid? [False, False] Translation: X:3.95, Y:0.28, Z:1.02 [[ 9.99895954e-01 1.82731030e-03 -1.43087837e-02 3.95137564e+00] [-1.87790713e-03 9.99992029e-01 -3.52343120e-03 2.80988611e-01] [ 1.43022313e-02 3.54993517e-03 9.99891416e-01 1.01566756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09255784400005 meters Centerline goodness [0,1] 0.25170746514602893 Centerline is valid? [False, False] Translation: X:3.95, Y:0.28, Z:1.02 [[ 9.99896019e-01 1.86873350e-03 -1.42988945e-02 3.95110431e+00] [-1.91745403e-03 9.99992401e-01 -3.39434332e-03 2.80344881e-01] [ 1.42924427e-02 3.42140785e-03 9.99892004e-01 1.01605189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122557844 meters Centerline goodness [0,1] 0.2512863752324124 Centerline is valid? [False, False] Translation: X:3.95, Y:0.28, Z:1.02 [[ 9.99892941e-01 1.99930379e-03 -1.44951441e-02 3.95159507e+00] [-2.04372035e-03 9.99993260e-01 -3.05007183e-03 2.78827317e-01] [ 1.44889483e-02 3.07936931e-03 9.99890288e-01 1.01608753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15255784400006 meters Centerline goodness [0,1] 0.25413032998816776 Centerline is valid? [False, False] Translation: X:3.93, Y:0.28, Z:1.02 [[ 9.99860388e-01 -6.37494581e-03 -1.54455138e-02 3.93128495e+00] [ 6.34392113e-03 9.99977762e-01 -2.05681693e-03 2.82497105e-01] [ 1.54582825e-02 1.95854466e-03 9.99878595e-01 1.01501587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18255784400003 meters Centerline goodness [0,1] 0.2523356363794377 Centerline is valid? [False, False] Translation: X:3.95, Y:0.28, Z:1.02 [[ 9.99900567e-01 1.63454760e-03 -1.40065689e-02 3.95044666e+00] [-1.68022286e-03 9.99993308e-01 -3.24984131e-03 2.78230705e-01] [ 1.40011631e-02 3.27305233e-03 9.99896622e-01 1.01635732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21255784400006 meters Centerline goodness [0,1] 0.25633350207998595 Centerline is valid? [False, False] Translation: X:3.93, Y:0.28, Z:1.01 [[ 9.99893814e-01 -6.37691856e-03 -1.31032758e-02 3.92956763e+00] [ 6.34671130e-03 9.99977108e-01 -2.34561271e-03 2.83126127e-01] [ 1.31179337e-02 2.26220093e-03 9.99911397e-01 1.01486637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24255784400003 meters Centerline goodness [0,1] 0.2517047906776003 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.02 [[ 9.99930364e-01 -5.40014549e-03 -1.04931551e-02 3.97161089e+00] [ 5.38626995e-03 9.99984582e-01 -1.35015256e-03 2.84135969e-01] [ 1.05002843e-02 1.29353957e-03 9.99944034e-01 1.01563758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27255784400006 meters Centerline goodness [0,1] 0.2522993492407809 Centerline is valid? [False, False] Translation: X:3.97, Y:0.29, Z:1.02 [[ 9.99946612e-01 -1.38645352e-03 -1.02396776e-02 3.97051112e+00] [ 1.41104477e-03 9.99996137e-01 2.39473064e-03 2.85407843e-01] [ 1.02363179e-02 -2.40905144e-03 9.99944706e-01 1.01626476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30255784400003 meters Centerline goodness [0,1] 0.2542804862109528 Centerline is valid? [False, False] Translation: X:3.97, Y:0.29, Z:1.02 [[ 9.99948966e-01 -1.33086991e-03 -1.00146791e-02 3.96989307e+00] [ 1.35136965e-03 9.99997005e-01 2.04048085e-03 2.87531209e-01] [ 1.00119335e-02 -2.05391025e-03 9.99947770e-01 1.01632327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33255784400006 meters Centerline goodness [0,1] 0.251300200694879 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:1.02 [[ 9.99931041e-01 7.27474798e-03 -9.21910871e-03 3.99091437e+00] [-7.26751490e-03 9.99973257e-01 8.17833147e-04 2.87253050e-01] [ 9.22481170e-03 -7.50776740e-04 9.99957169e-01 1.01725633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36255784400004 meters Centerline goodness [0,1] 0.2540718745906292 Centerline is valid? [False, False] Translation: X:3.97, Y:0.29, Z:1.02 [[ 9.99957214e-01 -6.18537904e-04 -9.22967280e-03 3.97168623e+00] [ 6.32282599e-04 9.99998696e-01 1.48634190e-03 2.94368965e-01] [ 9.22874140e-03 -1.49211406e-03 9.99956301e-01 1.01537732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39255784400007 meters Centerline goodness [0,1] 0.25351959440346405 Centerline is valid? [False, False] Translation: X:3.97, Y:0.30, Z:1.01 [[ 9.99952350e-01 -1.30531197e-04 -9.76117333e-03 3.97348176e+00] [ 1.41643555e-04 9.99999343e-01 1.13774183e-03 2.98382244e-01] [ 9.76101840e-03 -1.13907023e-03 9.99951711e-01 1.01435942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42255784400004 meters Centerline goodness [0,1] 0.248844756807875 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:1.02 [[ 9.99925600e-01 8.25070102e-03 -8.98440549e-03 3.99432654e+00] [-8.25038693e-03 9.99965962e-01 7.20223904e-05 2.98223977e-01] [ 8.98469391e-03 2.10778963e-06 9.99959637e-01 1.01503763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45255784400007 meters Centerline goodness [0,1] 0.24989197130757934 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:1.01 [[ 9.99925986e-01 8.09495583e-03 -9.08262526e-03 3.99464212e+00] [-8.09856308e-03 9.99967141e-01 -3.60449722e-04 3.00323721e-01] [ 9.07940899e-03 4.33979257e-04 9.99958687e-01 1.01486611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48255784400004 meters Centerline goodness [0,1] 0.2482922098911755 Centerline is valid? [False, False] Translation: X:4.00, Y:0.30, Z:1.01 [[ 9.99925318e-01 7.92283273e-03 -9.30523178e-03 3.99537851e+00] [-7.93023974e-03 9.99968267e-01 -7.59376660e-04 3.02112334e-01] [ 9.29892008e-03 8.33112667e-04 9.99956417e-01 1.01453666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51255784400007 meters Centerline goodness [0,1] 0.25225714037676883 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99932572e-01 -4.04829429e-04 -1.16054717e-02 3.97665731e+00] [ 4.05637849e-04 9.99999915e-01 6.73047404e-05 3.07352910e-01] [ 1.16054435e-02 -7.20078208e-05 9.99932652e-01 1.01266491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54255784400004 meters Centerline goodness [0,1] 0.25202811157867333 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99931264e-01 -4.70092306e-04 -1.17152211e-02 3.97715568e+00] [ 4.68991023e-04 9.99999885e-01 -9.67515896e-05 3.08151820e-01] [ 1.17152653e-02 9.12506057e-05 9.99931370e-01 1.01226646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5725578440001 meters Centerline goodness [0,1] 0.2526224156692056 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99930464e-01 -5.17568990e-04 -1.17813201e-02 3.97747935e+00] [ 5.14958685e-04 9.99999842e-01 -2.24595535e-04 3.08866525e-01] [ 1.17814345e-02 2.18513024e-04 9.99930573e-01 1.01197893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60255784400005 meters Centerline goodness [0,1] 0.2509075978909153 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99930318e-01 -5.39556138e-04 -1.17926856e-02 3.97759510e+00] [ 5.36308789e-04 9.99999817e-01 -2.78530432e-04 3.09236155e-01] [ 1.17928337e-02 2.72186503e-04 9.99930425e-01 1.01182727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.632557844 meters Centerline goodness [0,1] 0.25243035877762765 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99930624e-01 -5.77972528e-04 -1.17649163e-02 3.97759092e+00] [ 5.73794817e-04 9.99999771e-01 -3.58471491e-04 3.09621726e-01] [ 1.17651208e-02 3.51695973e-04 9.99930727e-01 1.01172765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66255784400005 meters Centerline goodness [0,1] 0.24832055809146503 Centerline is valid? [False, False] Translation: X:4.00, Y:0.31, Z:1.01 [[ 9.99910222e-01 7.33407666e-03 -1.12142151e-02 3.99755941e+00] [-7.35069519e-03 9.99971944e-01 -1.44141674e-03 3.06486776e-01] [ 1.12033290e-02 1.52371961e-03 9.99936080e-01 1.01288714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.692557844 meters Centerline goodness [0,1] 0.2514086338418863 Centerline is valid? [False, False] Translation: X:4.00, Y:0.31, Z:1.01 [[ 9.99909766e-01 7.20368611e-03 -1.13386942e-02 3.99785222e+00] [-7.22448792e-03 9.99972293e-01 -1.79469626e-03 3.08190152e-01] [ 1.13254517e-02 1.87645058e-03 9.99934104e-01 1.01287519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72255784400005 meters Centerline goodness [0,1] 0.2541233161756653 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99938210e-01 -1.15752677e-03 -1.10560858e-02 3.97693692e+00] [ 1.14403178e-03 9.99998593e-01 -1.22684019e-03 3.13353649e-01] [ 1.10574904e-02 1.21411587e-03 9.99938127e-01 1.01170721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.752557844 meters Centerline goodness [0,1] 0.2524330900243309 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99937789e-01 -1.18992450e-03 -1.10906703e-02 3.97696458e+00] [ 1.17516242e-03 9.99998415e-01 -1.33745749e-03 3.13928858e-01] [ 1.10922442e-02 1.32434095e-03 9.99937602e-01 1.01178008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78255784400005 meters Centerline goodness [0,1] 0.2505792927214847 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99936463e-01 -1.13053797e-03 -1.12157265e-02 3.97740065e+00] [ 1.11597496e-03 9.99998526e-01 -1.30461913e-03 3.14102518e-01] [ 1.12171849e-02 1.29201977e-03 9.99936251e-01 1.01158068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.812557844 meters Centerline goodness [0,1] 0.25429041095890415 Centerline is valid? [False, False] Translation: X:3.96, Y:0.31, Z:1.01 [[ 9.99906533e-01 7.27255860e-03 -1.15773877e-02 3.95738682e+00] [-7.30123498e-03 9.99970377e-01 -2.43659351e-03 3.08672266e-01] [ 1.15593245e-02 2.52089499e-03 9.99930011e-01 1.01030772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84255784400005 meters Centerline goodness [0,1] 0.25269461077844313 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99939750e-01 -1.02003437e-03 -1.09295516e-02 3.97616140e+00] [ 1.00588882e-03 9.99998650e-01 -1.29966652e-03 3.12613216e-01] [ 1.09308626e-02 1.28859430e-03 9.99939426e-01 1.01178554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.872557844 meters Centerline goodness [0,1] 0.2535371427321831 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99941194e-01 -1.00482159e-03 -1.07980679e-02 3.97554750e+00] [ 9.91760358e-04 9.99998770e-01 -1.21487643e-03 3.12032688e-01] [ 1.07992753e-02 1.20409589e-03 9.99940961e-01 1.01225941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90255784400006 meters Centerline goodness [0,1] 0.2526535130559354 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99941556e-01 -9.70869019e-04 -1.07676560e-02 3.97526456e+00] [ 9.58393827e-04 9.99998864e-01 -1.16367962e-03 3.11792435e-01] [ 1.07687736e-02 1.15329195e-03 9.99941350e-01 1.01261860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93255784400003 meters Centerline goodness [0,1] 0.2515144911745478 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99942302e-01 -9.38824367e-04 -1.07009783e-02 3.97525852e+00] [ 9.26232033e-04 9.99998873e-01 -1.18164119e-03 3.11933344e-01] [ 1.07020756e-02 1.17166143e-03 9.99942045e-01 1.01232704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96255784400006 meters Centerline goodness [0,1] 0.25226026060750606 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99942731e-01 -9.35814006e-04 -1.06610602e-02 3.97526064e+00] [ 9.22909120e-04 9.99998836e-01 -1.21532477e-03 3.12052014e-01] [ 1.06621851e-02 1.20541598e-03 9.99942431e-01 1.01211816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99255784400003 meters Centerline goodness [0,1] 0.24720598349381018 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:1.01 [[ 9.99943824e-01 -8.81407724e-04 -1.05627604e-02 3.97500418e+00] [ 8.69236594e-04 9.99998953e-01 -1.15680343e-03 3.11808294e-01] [ 1.05637690e-02 1.14755690e-03 9.99943543e-01 1.01208595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02255784400006 meters Centerline goodness [0,1] 0.25412246498355373 Centerline is valid? [False, False] Translation: X:3.95, Y:0.31, Z:1.01 [[ 9.99911502e-01 7.71206640e-03 -1.08402904e-02 3.95455514e+00] [-7.73489899e-03 9.99967951e-01 -2.06592552e-03 3.06290753e-01] [ 1.08240104e-02 2.14959124e-03 9.99939108e-01 1.01089481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05255784400003 meters Centerline goodness [0,1] 0.25060152168729544 Centerline is valid? [False, False] Translation: X:3.97, Y:0.31, Z:1.01 [[ 9.99932384e-01 4.51939017e-04 -1.16199555e-02 3.97250966e+00] [-4.55980356e-04 9.99999836e-01 -3.45146003e-04 3.09868541e-01] [ 1.16197976e-02 3.50421137e-04 9.99932426e-01 1.01316808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08255784400006 meters Centerline goodness [0,1] 0.24877246868984015 Centerline is valid? [False, False] Translation: X:3.97, Y:0.31, Z:1.01 [[ 9.99930659e-01 5.40656817e-04 -1.17637341e-02 3.97292011e+00] [-5.42393860e-04 9.99999842e-01 -1.44470929e-04 3.08870998e-01] [ 1.17636541e-02 1.50841488e-04 9.99930794e-01 1.01307103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11255784400004 meters Centerline goodness [0,1] 0.24769634860489154 Centerline is valid? [False, False] Translation: X:3.97, Y:0.31, Z:1.01 [[ 9.99930430e-01 6.40112391e-04 -1.17782060e-02 3.97301303e+00] [-6.38734208e-04 9.99999789e-01 1.20772624e-04 3.07491656e-01] [ 1.17782809e-02 -1.13241079e-04 9.99930627e-01 1.01295667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14255784400007 meters Centerline goodness [0,1] 0.25148948155209394 Centerline is valid? [False, False] Translation: X:3.97, Y:0.31, Z:1.01 [[ 9.99931937e-01 7.69711924e-04 -1.16416545e-02 3.97247669e+00] [-7.64491717e-04 9.99999605e-01 4.52851087e-04 3.05883450e-01] [ 1.16419985e-02 -4.43920316e-04 9.99932131e-01 1.01331099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17255784400004 meters Centerline goodness [0,1] 0.24924594967252667 Centerline is valid? [False, False] Translation: X:3.97, Y:0.30, Z:1.01 [[ 9.99936340e-01 1.03900365e-03 -1.12354860e-02 3.97107875e+00] [-1.02751097e-03 9.99998943e-01 1.02861579e-03 3.03556277e-01] [ 1.12365429e-02 -1.01700572e-03 9.99936351e-01 1.01398104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20255784400007 meters Centerline goodness [0,1] 0.2513850415512465 Centerline is valid? [False, False] Translation: X:3.97, Y:0.30, Z:1.01 [[ 9.99937591e-01 1.11205802e-03 -1.11165238e-02 3.97080028e+00] [-1.09895768e-03 9.99998695e-01 1.18449489e-03 3.02865872e-01] [ 1.11178265e-02 -1.17220438e-03 9.99937508e-01 1.01392062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23255784400004 meters Centerline goodness [0,1] 0.25302934714033976 Centerline is valid? [False, False] Translation: X:3.97, Y:0.30, Z:1.01 [[ 9.99937337e-01 1.13135617e-03 -1.11373874e-02 3.97099975e+00] [-1.11756526e-03 9.99998601e-01 1.24439995e-03 3.02494758e-01] [ 1.11387796e-02 -1.23187521e-03 9.99937203e-01 1.01366587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26255784400007 meters Centerline goodness [0,1] 0.2467633016473827 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:1.01 [[ 9.99896158e-01 9.19584467e-03 -1.10954902e-02 3.99187109e+00] [-9.19490898e-03 9.99957717e-01 1.35341562e-04 2.99135959e-01] [ 1.10962656e-02 -3.33054858e-05 9.99938434e-01 1.01467845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29255784400004 meters Centerline goodness [0,1] 0.24960082855046817 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:1.01 [[ 9.99892318e-01 9.26224841e-03 -1.13826183e-02 3.99276486e+00] [-9.26324114e-03 9.99957095e-01 -3.44947064e-05 3.00412548e-01] [ 1.13818104e-02 1.39930930e-04 9.99935215e-01 1.01430721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3225578440001 meters Centerline goodness [0,1] 0.24704796255743056 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99926830e-01 2.00224065e-03 -1.19300705e-02 4.01034662e+00] [-1.98570373e-03 9.99997052e-01 1.39783902e-03 3.06367367e-01] [ 1.19328341e-02 -1.37404715e-03 9.99927857e-01 1.01641495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35255784400005 meters Centerline goodness [0,1] 0.2502379510253526 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99927355e-01 1.94388835e-03 -1.18956058e-02 4.01027467e+00] [-1.92893064e-03 9.99997335e-01 1.26875887e-03 3.06863756e-01] [ 1.18980405e-02 -1.24572090e-03 9.99928440e-01 1.01635262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.382557844 meters Centerline goodness [0,1] 0.25317590466819717 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99927471e-01 1.91422711e-03 -1.18906865e-02 4.01008930e+00] [-1.89937975e-03 9.99997403e-01 1.25982144e-03 3.06639878e-01] [ 1.18930672e-02 -1.23714514e-03 9.99928510e-01 1.01662516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41255784400005 meters Centerline goodness [0,1] 0.2512444840553877 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99927187e-01 1.90037331e-03 -1.19167548e-02 4.01009971e+00] [-1.88525856e-03 9.99997404e-01 1.27946632e-03 3.06490851e-01] [ 1.19191554e-02 -1.25690699e-03 9.99928174e-01 1.01673728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442557844 meters Centerline goodness [0,1] 0.24920686306247974 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99927069e-01 1.91629458e-03 -1.19241362e-02 4.01024301e+00] [-1.90103886e-03 9.99997360e-01 1.29060197e-03 3.06534334e-01] [ 1.19265779e-02 -1.26783960e-03 9.99928072e-01 1.01654091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47255784400005 meters Centerline goodness [0,1] 0.24618087545261713 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99926593e-01 1.91665823e-03 -1.19639284e-02 4.01055650e+00] [-1.90168815e-03 9.99997395e-01 1.26251850e-03 3.06731112e-01] [ 1.19663170e-02 -1.23967416e-03 9.99927633e-01 1.01617702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502557844 meters Centerline goodness [0,1] 0.2512619424164302 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99925535e-01 1.85776382e-03 -1.20612136e-02 4.01089144e+00] [-1.84463696e-03 9.99997694e-01 1.09938676e-03 3.07419793e-01] [ 1.20632282e-02 -1.07705634e-03 9.99926657e-01 1.01598591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53255784400005 meters Centerline goodness [0,1] 0.2512619424164302 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99925535e-01 1.85776382e-03 -1.20612136e-02 4.01089144e+00] [-1.84463696e-03 9.99997694e-01 1.09938676e-03 3.07419793e-01] [ 1.20632282e-02 -1.07705634e-03 9.99926657e-01 1.01598591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562557844 meters Centerline goodness [0,1] 0.25235286463980566 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99925606e-01 1.85346254e-03 -1.20559590e-02 4.01063256e+00] [-1.84469572e-03 9.99998026e-01 7.38257169e-04 3.09364783e-01] [ 1.20573035e-02 -7.15962672e-04 9.99927052e-01 1.01625465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59255784400005 meters Centerline goodness [0,1] 0.24757081953731952 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99925970e-01 1.84010367e-03 -1.20278566e-02 4.01040661e+00] [-1.83315989e-03 9.99998147e-01 5.88307423e-04 3.10309668e-01] [ 1.20289168e-02 -5.66214886e-04 9.99927490e-01 1.01648411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622557844 meters Centerline goodness [0,1] 0.25078274482518703 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99926343e-01 1.85332795e-03 -1.19947664e-02 4.01034686e+00] [-1.84701719e-03 9.99998150e-01 5.37182201e-04 3.10671144e-01] [ 1.19957398e-02 -5.14988094e-04 9.99927916e-01 1.01637635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65255784400006 meters Centerline goodness [0,1] 0.250195737277077 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99926311e-01 1.85321672e-03 -1.19974028e-02 4.01059378e+00] [-1.84723952e-03 9.99998164e-01 5.09269542e-04 3.10675144e-01] [ 1.19983246e-02 -4.87069938e-04 9.99927899e-01 1.01590982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68255784400003 meters Centerline goodness [0,1] 0.2453904671852839 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99924839e-01 1.86142030e-03 -1.21181922e-02 4.01115530e+00] [-1.85489909e-03 9.99998129e-01 5.49351467e-04 3.10196630e-01] [ 1.21191921e-02 -5.26832154e-04 9.99926421e-01 1.01543767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71255784400006 meters Centerline goodness [0,1] 0.2480975441023867 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99922514e-01 1.92406372e-03 -1.22989389e-02 4.01179152e+00] [-1.91668703e-03 9.99997976e-01 6.11541693e-04 3.09874947e-01] [ 1.23000906e-02 -5.87921091e-04 9.99924178e-01 1.01503841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74255784400003 meters Centerline goodness [0,1] 0.25120856727871843 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99922942e-01 1.98760712e-03 -1.22539670e-02 4.01146899e+00] [-1.97941801e-03 9.99997809e-01 6.80374328e-04 3.09869176e-01] [ 1.22552925e-02 -6.56066177e-04 9.99924686e-01 1.01535767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77255784400006 meters Centerline goodness [0,1] 0.25234172951122513 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99924240e-01 2.02979950e-03 -1.21406394e-02 4.01103685e+00] [-2.02096872e-03 9.99997684e-01 7.39598154e-04 3.09711289e-01] [ 1.21421126e-02 -7.15006269e-04 9.99926026e-01 1.01561298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80255784400003 meters Centerline goodness [0,1] 0.2491246271560109 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99924086e-01 1.97770244e-03 -1.21618654e-02 4.01132516e+00] [-1.96936050e-03 9.99997817e-01 6.97846986e-04 3.09447930e-01] [ 1.21632190e-02 -6.73842912e-04 9.99925798e-01 1.01522069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83255784400006 meters Centerline goodness [0,1] 0.250380948234577 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.01 [[ 9.99922480e-01 1.94082815e-03 -1.22990585e-02 4.01189062e+00] [-1.93382569e-03 9.99997961e-01 5.81216850e-04 3.09899628e-01] [ 1.23001614e-02 -5.57387559e-04 9.99924195e-01 1.01475568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86255784400004 meters Centerline goodness [0,1] 0.24674819584287633 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.01 [[ 9.99921389e-01 1.95476010e-03 -1.23852389e-02 4.01209887e+00] [-1.94859180e-03 9.99997971e-01 5.10083996e-04 3.10543053e-01] [ 1.23862109e-02 -4.85910123e-04 9.99923170e-01 1.01469950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89255784400007 meters Centerline goodness [0,1] 0.24771474878444089 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.01 [[ 9.99923034e-01 1.97945233e-03 -1.22477701e-02 4.01158227e+00] [-1.97368565e-03 9.99997936e-01 4.82904585e-04 3.11089934e-01] [ 1.22487007e-02 -4.58694169e-04 9.99924877e-01 1.01495839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92255784400004 meters Centerline goodness [0,1] 0.24994012758267836 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99924985e-01 1.94826974e-03 -1.20925245e-02 4.01105721e+00] [-1.94096523e-03 9.99997927e-01 6.15757949e-04 3.10160590e-01] [ 1.20936991e-02 -5.92240588e-04 9.99926693e-01 1.01530574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95255784400007 meters Centerline goodness [0,1] 0.24861325618324592 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99921867e-01 1.78484753e-03 -1.23722906e-02 4.01189842e+00] [-1.77796652e-03 9.99998259e-01 5.67139999e-04 3.09468670e-01] [ 1.23732813e-02 -5.45098169e-04 9.99923299e-01 1.01507308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98255784400004 meters Centerline goodness [0,1] 0.25041214750542296 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.01 [[ 9.99918053e-01 1.72736190e-03 -1.26848082e-02 4.01292810e+00] [-1.71979810e-03 9.99998337e-01 6.07171708e-04 3.08845888e-01] [ 1.26858359e-02 -5.85306642e-04 9.99919360e-01 1.01465493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01255784400007 meters Centerline goodness [0,1] 0.24990224616587742 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.01 [[ 9.99915742e-01 1.71460668e-03 -1.28673297e-02 4.01347974e+00] [-1.70682983e-03 9.99998354e-01 6.15344662e-04 3.08880854e-01] [ 1.28683636e-02 -5.93330472e-04 9.99917023e-01 1.01449433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04255784400004 meters Centerline goodness [0,1] 0.2439250123759712 Centerline is valid? [False, False] Translation: X:4.03, Y:0.31, Z:1.01 [[ 9.99922127e-01 -4.78530664e-03 -1.15256544e-02 4.03321350e+00] [ 4.82701415e-03 9.99981893e-01 3.59357129e-03 3.13240052e-01] [ 1.15082493e-02 -3.64892594e-03 9.99927120e-01 1.01483282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0725578440001 meters Centerline goodness [0,1] 0.2501853547908762 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99958096e-01 1.32590792e-03 -9.05805954e-03 4.00847118e+00] [-1.31211384e-03 9.99997971e-01 1.52862485e-03 3.07680643e-01] [ 9.06006797e-03 -1.51667559e-03 9.99957807e-01 1.01556185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10255784400005 meters Centerline goodness [0,1] 0.24790372333492638 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:1.02 [[ 9.99957991e-01 1.36785867e-03 -9.06338461e-03 4.00822542e+00] [-1.35138304e-03 9.99997424e-01 1.82369839e-03 3.06006930e-01] [ 9.06585583e-03 -1.81137367e-03 9.99957264e-01 1.01607082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.132557844 meters Centerline goodness [0,1] 0.2491311147797376 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:1.02 [[ 9.99957083e-01 1.43001592e-03 -9.15354540e-03 4.00847100e+00] [-1.41054293e-03 9.99996729e-01 2.13347297e-03 3.04346994e-01] [ 9.15656636e-03 -2.12046994e-03 9.99955829e-01 1.01611801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16255784400005 meters Centerline goodness [0,1] 0.2499781754692274 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:1.02 [[ 9.99956325e-01 1.54421418e-03 -9.21753932e-03 4.00878129e+00] [-1.52143782e-03 9.99995774e-01 2.47748124e-03 3.02643365e-01] [ 9.22132613e-03 -2.46334912e-03 9.99954448e-01 1.01592237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.192557844 meters Centerline goodness [0,1] 0.25028253499087194 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:1.02 [[ 9.99955212e-01 1.70522437e-03 -9.30951170e-03 4.00926192e+00] [-1.67707353e-03 9.99994001e-01 3.03084936e-03 2.99702695e-01] [ 9.31462413e-03 -3.01510088e-03 9.99952072e-01 1.01556466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22255784400005 meters Centerline goodness [0,1] 0.24525733546519168 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:1.02 [[ 9.99954911e-01 1.78104644e-03 -9.32759272e-03 4.00920756e+00] [-1.75114817e-03 9.99993306e-01 3.21254502e-03 2.98862594e-01] [ 9.33325197e-03 -3.19606617e-03 9.99951337e-01 1.01572856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.252557844 meters Centerline goodness [0,1] 0.2542996735534474 Centerline is valid? [False, False] Translation: X:3.96, Y:0.30, Z:1.02 [[ 9.99926573e-01 2.27141575e-03 -1.19033240e-02 3.96312116e+00] [-2.22698225e-03 9.99990508e-01 3.74479106e-03 2.95868699e-01] [ 1.19117170e-02 -3.71800760e-03 9.99922141e-01 1.01710427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28255784400005 meters Centerline goodness [0,1] 0.24917541880045135 Centerline is valid? [False, False] Translation: X:3.96, Y:0.30, Z:1.02 [[ 9.99924266e-01 2.33314080e-03 -1.20838325e-02 3.96350133e+00] [-2.28730047e-03 9.99990141e-01 3.80595774e-03 2.95801480e-01] [ 1.20925932e-02 -3.77803015e-03 9.99919745e-01 1.01721230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.312557844 meters Centerline goodness [0,1] 0.2500761631196414 Centerline is valid? [False, False] Translation: X:3.96, Y:0.30, Z:1.02 [[ 9.99922304e-01 2.37720585e-03 -1.22366589e-02 3.96396237e+00] [-2.33031992e-03 9.99989895e-01 3.84442864e-03 2.95687296e-01] [ 1.22456742e-02 -3.81561461e-03 9.99917739e-01 1.01705151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34255784400005 meters Centerline goodness [0,1] 0.2516355547801814 Centerline is valid? [False, False] Translation: X:3.96, Y:0.30, Z:1.02 [[ 9.99921682e-01 2.39098492e-03 -1.22846361e-02 3.96413828e+00] [-2.34357584e-03 9.99989757e-01 3.87216438e-03 2.95461129e-01] [ 1.22937686e-02 -3.84307114e-03 9.99917044e-01 1.01692446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.372557844 meters Centerline goodness [0,1] 0.25264030723575104 Centerline is valid? [False, False] Translation: X:3.96, Y:0.29, Z:1.02 [[ 9.99922890e-01 2.39669407e-03 -1.21848085e-02 3.96388524e+00] [-2.34845189e-03 9.99989354e-01 3.97197487e-03 2.94572369e-01] [ 1.21941984e-02 -3.94305315e-03 9.99917874e-01 1.01688652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40255784400006 meters Centerline goodness [0,1] 0.24629425852806008 Centerline is valid? [False, False] Translation: X:3.96, Y:0.29, Z:1.02 [[ 9.99923488e-01 2.46570751e-03 -1.21217958e-02 3.96372244e+00] [-2.41559942e-03 9.99988485e-01 4.14662316e-03 2.93765703e-01] [ 1.21318806e-02 -4.11702450e-03 9.99917930e-01 1.01686481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43255784400003 meters Centerline goodness [0,1] 0.24615683565074709 Centerline is valid? [False, False] Translation: X:3.96, Y:0.29, Z:1.02 [[ 9.99923893e-01 2.56319476e-03 -1.20680707e-02 3.96354380e+00] [-2.51002595e-03 9.99987087e-01 4.41882839e-03 2.92496146e-01] [ 1.20792412e-02 -4.38820091e-03 9.99917414e-01 1.01695063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46255784400006 meters Centerline goodness [0,1] 0.2460992907801418 Centerline is valid? [False, False] Translation: X:3.96, Y:0.29, Z:1.02 [[ 9.99923722e-01 2.71078932e-03 -1.20499592e-02 3.96338964e+00] [-2.65264883e-03 9.99984777e-01 4.83832000e-03 2.90437918e-01] [ 1.20628914e-02 -4.80598663e-03 9.99915691e-01 1.01718792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49255784400003 meters Centerline goodness [0,1] 0.24756073816065594 Centerline is valid? [False, False] Translation: X:3.96, Y:0.29, Z:1.02 [[ 9.99921935e-01 2.86476988e-03 -1.21621273e-02 3.96355697e+00] [-2.80084139e-03 9.99982190e-01 5.27014015e-03 2.88285118e-01] [ 1.21770084e-02 -5.23566455e-03 9.99912150e-01 1.01742311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52255784400006 meters Centerline goodness [0,1] 0.24688819136270157 Centerline is valid? [False, False] Translation: X:3.96, Y:0.28, Z:1.02 [[ 9.99916562e-01 3.10437753e-03 -1.25392013e-02 3.96457541e+00] [-3.02821769e-03 9.99976882e-01 6.08816632e-03 2.84083568e-01] [ 1.25578113e-02 -6.04968691e-03 9.99902847e-01 1.01739774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55255784400003 meters Centerline goodness [0,1] 0.2531383488797838 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.02 [[ 9.99913556e-01 3.25923571e-03 -1.27380720e-02 3.96535440e+00] [-3.17674247e-03 9.99973887e-01 6.49099396e-03 2.82095877e-01] [ 1.27588951e-02 -6.44996727e-03 9.99897799e-01 1.01695555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58255784400006 meters Centerline goodness [0,1] 0.25076299267527036 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.02 [[ 9.99911827e-01 3.38295643e-03 -1.28411296e-02 3.96589247e+00] [-3.29581241e-03 9.99971439e-01 6.80142608e-03 2.80568204e-01] [ 1.28637718e-02 -6.75850442e-03 9.99894417e-01 1.01649507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61255784400004 meters Centerline goodness [0,1] 0.2482788482355488 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.02 [[ 9.99911954e-01 3.44897021e-03 -1.28136145e-02 3.96598826e+00] [-3.35997619e-03 9.99970132e-01 6.96031799e-03 2.79699888e-01] [ 1.28372377e-02 -6.91665173e-03 9.99893677e-01 1.01622283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64255784400007 meters Centerline goodness [0,1] 0.25053110773899845 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.02 [[ 9.99915423e-01 3.58507530e-03 -1.25017598e-02 3.96523505e+00] [-3.49591049e-03 9.99968351e-01 7.14675534e-03 2.78808315e-01] [ 1.25269858e-02 -7.10244586e-03 9.99896310e-01 1.01611173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67255784400004 meters Centerline goodness [0,1] 0.2515296159687568 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.02 [[ 9.99916120e-01 3.64654222e-03 -1.24280546e-02 3.96505483e+00] [-3.55799304e-03 9.99968183e-01 7.13962105e-03 2.79152828e-01] [ 1.24536941e-02 -7.09480325e-03 9.99897279e-01 1.01603917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70255784400007 meters Centerline goodness [0,1] 0.24394020862458332 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.02 [[ 9.99916492e-01 3.71466749e-03 -1.23778084e-02 3.96508957e+00] [-3.62795906e-03 9.99968776e-01 7.02025842e-03 2.80173336e-01] [ 1.24034998e-02 -6.97476599e-03 9.99898748e-01 1.01571910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73255784400004 meters Centerline goodness [0,1] 0.24311689430824246 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.02 [[ 9.99916816e-01 3.72831630e-03 -1.23474764e-02 3.96514130e+00] [-3.64477001e-03 9.99970361e-01 6.78186943e-03 2.81595664e-01] [ 1.23723954e-02 -6.73630157e-03 9.99900768e-01 1.01540238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76255784400007 meters Centerline goodness [0,1] 0.2522747508089209 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.01 [[ 9.99916901e-01 3.79201721e-03 -1.23211619e-02 3.96522828e+00] [-3.71362347e-03 9.99972757e-01 6.37919020e-03 2.83721397e-01] [ 1.23450163e-02 -6.33290394e-03 9.99903743e-01 1.01491007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79255784400004 meters Centerline goodness [0,1] 0.25252347932941277 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:1.01 [[ 9.99917011e-01 3.74741220e-03 -1.23259079e-02 3.96527783e+00] [-3.67095681e-03 9.99973920e-01 6.21960727e-03 2.84479307e-01] [ 1.23488939e-02 -6.17384323e-03 9.99904690e-01 1.01474390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8225578440001 meters Centerline goodness [0,1] 0.24746195640409552 Centerline is valid? [False, False] Translation: X:3.99, Y:0.28, Z:1.02 [[ 0.99985951 0.01221426 -0.01147939 3.98624698] [-0.0121542 0.99991216 0.00528737 0.28327015] [ 0.01154297 -0.00514711 0.99992013 1.01522481] [ 0. 0. 0. 1. ]] SLAMing on 287.85255784400005 meters Centerline goodness [0,1] 0.2490847280334728 Centerline is valid? [False, False] Translation: X:3.97, Y:0.29, Z:1.01 [[ 9.99932093e-01 3.87108418e-03 -1.09919563e-02 3.96533250e+00] [-3.80251023e-03 9.99973222e-01 6.25261802e-03 2.87498126e-01] [ 1.10158664e-02 -6.21039640e-03 9.99920038e-01 1.01354849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882557844 meters Centerline goodness [0,1] 0.2513443798364884 Centerline is valid? [False, False] Translation: X:3.96, Y:0.29, Z:1.01 [[ 9.99934355e-01 3.82670076e-03 -1.08000524e-02 3.96475718e+00] [-3.76021253e-03 9.99973896e-01 6.16989432e-03 2.87885282e-01] [ 1.08233808e-02 -6.12887881e-03 9.99922643e-01 1.01370841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91255784400005 meters Centerline goodness [0,1] 0.25146911591868715 Centerline is valid? [False, False] Translation: X:3.96, Y:0.29, Z:1.01 [[ 9.99942844e-01 3.54290494e-03 -1.00874703e-02 3.96254330e+00] [-3.48204684e-03 9.99975671e-01 6.04422310e-03 2.87603869e-01] [ 1.01086390e-02 -6.00875259e-03 9.99930853e-01 1.01461527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942557844 meters Centerline goodness [0,1] 0.2459862015603843 Centerline is valid? [False, False] Translation: X:3.98, Y:0.28, Z:1.02 [[ 0.99988896 0.01141422 -0.00957984 3.98244996] [-0.01136738 0.99992324 0.00492978 0.28461206] [ 0.00963538 -0.00482034 0.99994196 1.01583809] [ 0. 0. 0. 1. ]] SLAMing on 287.97255784400005 meters Centerline goodness [0,1] 0.24772663455515476 Centerline is valid? [False, False] Translation: X:3.96, Y:0.29, Z:1.01 [[ 9.99935635e-01 3.18356339e-03 -1.08899756e-02 3.96324975e+00] [-3.11276792e-03 9.99973953e-01 6.51175987e-03 2.87475413e-01] [ 1.09104226e-02 -6.47744277e-03 9.99919499e-01 1.01366732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002557844 meters Centerline goodness [0,1] 0.2502115288655544 Centerline is valid? [False, False] Translation: X:3.96, Y:0.29, Z:1.01 [[ 9.99931748e-01 3.17345736e-03 -1.12440337e-02 3.96468773e+00] [-3.10100356e-03 9.99974356e-01 6.45534130e-03 2.88008563e-01] [ 1.12642311e-02 -6.42003292e-03 9.99915947e-01 1.01275746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03255784400005 meters Centerline goodness [0,1] 0.2462219343696027 Centerline is valid? [False, False] Translation: X:3.97, Y:0.29, Z:1.01 [[ 9.99928670e-01 3.04587495e-03 -1.15489238e-02 3.96595248e+00] [-2.97475085e-03 9.99976536e-01 6.17068921e-03 2.89230532e-01] [ 1.15674480e-02 -6.13589389e-03 9.99914269e-01 1.01188848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062557844 meters Centerline goodness [0,1] 0.2508974695735925 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.01 [[ 9.99901328e-01 2.45310598e-03 -1.38317084e-02 3.91885406e+00] [-2.37695899e-03 9.99981945e-01 5.51900296e-03 2.86574190e-01] [ 1.38449973e-02 -5.48558099e-03 9.99889106e-01 1.01363600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09255784400005 meters Centerline goodness [0,1] 0.24975561010579372 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.01 [[ 9.99903914e-01 2.37920238e-03 -1.36565737e-02 3.91802740e+00] [-2.30595328e-03 9.99982886e-01 5.37689440e-03 2.87119505e-01] [ 1.36691327e-02 -5.34488634e-03 9.99892288e-01 1.01428629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122557844 meters Centerline goodness [0,1] 0.2502053698819664 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.01 [[ 9.99907130e-01 2.34828555e-03 -1.34245248e-02 3.91701771e+00] [-2.27754423e-03 9.99983454e-01 5.28242030e-03 2.87656854e-01] [ 1.34367073e-02 -5.25135477e-03 9.99895934e-01 1.01498034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15255784400006 meters Centerline goodness [0,1] 0.24806118052563553 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.02 [[ 9.99912739e-01 2.38958444e-03 -1.29924783e-02 3.91525770e+00] [-2.32037047e-03 9.99983052e-01 5.33970097e-03 2.87787051e-01] [ 1.30050178e-02 -5.30908766e-03 9.99901337e-01 1.01611612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18255784400003 meters Centerline goodness [0,1] 0.2497140514060039 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.02 [[ 9.99913565e-01 2.43067099e-03 -1.29210766e-02 3.91500485e+00] [-2.36014926e-03 9.99982252e-01 5.47033259e-03 2.87167304e-01] [ 1.29341438e-02 -5.43936409e-03 9.99901556e-01 1.01626108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21255784400006 meters Centerline goodness [0,1] 0.25128717603354256 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.02 [[ 9.99912294e-01 2.43368232e-03 -1.30185089e-02 3.91538179e+00] [-2.36189950e-03 9.99981940e-01 5.52644113e-03 2.86760490e-01] [ 1.30317233e-02 -5.49520802e-03 9.99899983e-01 1.01603675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24255784400003 meters Centerline goodness [0,1] 0.25102943088726104 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.02 [[ 9.99911125e-01 2.43079326e-03 -1.31085322e-02 3.91583740e+00] [-2.35827946e-03 9.99981849e-01 5.54442524e-03 2.86597511e-01] [ 1.31217716e-02 -5.51301890e-03 9.99898708e-01 1.01564632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27255784400006 meters Centerline goodness [0,1] 0.24558494141971055 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.02 [[ 9.99910250e-01 2.41966132e-03 -1.31771108e-02 3.91623138e+00] [-2.34714360e-03 9.99982032e-01 5.51599706e-03 2.86738716e-01] [ 1.31902208e-02 -5.48457343e-03 9.99897964e-01 1.01525969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30255784400003 meters Centerline goodness [0,1] 0.24578660754643877 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.01 [[ 9.99907754e-01 2.43458565e-03 -1.33625189e-02 3.91703344e+00] [-2.36082566e-03 9.99981906e-01 5.53291801e-03 2.86642375e-01] [ 1.33757475e-02 -5.50086104e-03 9.99895409e-01 1.01466672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33255784400006 meters Centerline goodness [0,1] 0.24448854566633593 Centerline is valid? [False, False] Translation: X:3.92, Y:0.29, Z:1.01 [[ 9.99905106e-01 2.46713015e-03 -1.35533042e-02 3.91768348e+00] [-2.39043917e-03 9.99981058e-01 5.67175993e-03 2.85808442e-01] [ 1.35670404e-02 -5.63882337e-03 9.99892064e-01 1.01441069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36255784400004 meters Centerline goodness [0,1] 0.24833156951253754 Centerline is valid? [False, False] Translation: X:3.92, Y:0.28, Z:1.01 [[ 9.99902264e-01 2.52889530e-03 -1.37501782e-02 3.91820297e+00] [-2.44804968e-03 9.99979638e-01 5.89326107e-03 2.84548716e-01] [ 1.37648017e-02 -5.85902397e-03 9.99888095e-01 1.01438441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39255784400007 meters Centerline goodness [0,1] 0.2519331721448953 Centerline is valid? [False, False] Translation: X:3.91, Y:0.28, Z:1.02 [[ 9.99917376e-01 3.74316821e-04 -1.28491488e-02 3.91376372e+00] [-3.21472406e-04 9.99991484e-01 4.11449735e-03 2.81427200e-01] [ 1.28505795e-02 -4.11002675e-03 9.99908981e-01 1.01678291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42255784400004 meters Centerline goodness [0,1] 0.2519331721448953 Centerline is valid? [False, False] Translation: X:3.91, Y:0.28, Z:1.02 [[ 9.99917376e-01 3.74316821e-04 -1.28491488e-02 3.91376372e+00] [-3.21472406e-04 9.99991484e-01 4.11449735e-03 2.81427200e-01] [ 1.28505795e-02 -4.11002675e-03 9.99908981e-01 1.01678291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45255784400007 meters Centerline goodness [0,1] 0.24583557806270873 Centerline is valid? [False, False] Translation: X:3.93, Y:0.28, Z:1.02 [[ 9.99895071e-01 8.38354999e-03 -1.18136719e-02 3.93360602e+00] [-8.34802452e-03 9.99960493e-01 3.05326022e-03 2.76658629e-01] [ 1.18388024e-02 -2.95431902e-03 9.99925555e-01 1.01800701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48255784400004 meters Centerline goodness [0,1] 0.25107174103237095 Centerline is valid? [False, False] Translation: X:3.91, Y:0.28, Z:1.02 [[ 9.99928152e-01 -7.04228730e-04 -1.19664130e-02 3.91101530e+00] [ 7.47962884e-04 9.99993057e-01 3.65065991e-03 2.77536156e-01] [ 1.19637590e-02 -3.65934805e-03 9.99921736e-01 1.01744695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51255784400007 meters Centerline goodness [0,1] 0.2439851479836027 Centerline is valid? [False, False] Translation: X:3.93, Y:0.27, Z:1.02 [[ 9.99924775e-01 5.88185007e-03 -1.07632775e-02 3.93341736e+00] [-5.86845854e-03 9.99981967e-01 1.27534750e-03 2.74897229e-01] [ 1.07705848e-02 -1.21208771e-03 9.99941261e-01 1.01695286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54255784400004 meters Centerline goodness [0,1] 0.24902790979002853 Centerline is valid? [False, False] Translation: X:3.93, Y:0.27, Z:1.02 [[ 9.99922202e-01 6.07128499e-03 -1.08962658e-02 3.93392338e+00] [-6.05243936e-03 9.99980132e-01 1.76169236e-03 2.72642136e-01] [ 1.09067451e-02 -1.69560632e-03 9.99939082e-01 1.01667976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5725578440001 meters Centerline goodness [0,1] 0.25298077346121695 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:1.02 [[ 9.99886133e-01 5.70962429e-03 -1.39685848e-02 3.89040755e+00] [-5.68222944e-03 9.99981856e-01 2.00007905e-03 2.67100455e-01] [ 1.39797510e-02 -1.92047860e-03 9.99900434e-01 1.01660384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60255784400005 meters Centerline goodness [0,1] 0.25211994055424425 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:1.01 [[ 9.99877739e-01 3.78324129e-03 -1.51721471e-02 3.89616801e+00] [-3.77541769e-03 9.99992725e-01 5.44264571e-04 2.61918206e-01] [ 1.51740958e-02 -4.86916836e-04 9.99884748e-01 1.01336983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.632557844 meters Centerline goodness [0,1] 0.2488676014824126 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:1.01 [[ 9.99874296e-01 3.90890925e-03 -1.53659876e-02 3.89668200e+00] [-3.89266991e-03 9.99991833e-01 1.08660353e-03 2.58812134e-01] [ 1.53701096e-02 -1.02665222e-03 9.99881346e-01 1.01333995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66255784400005 meters Centerline goodness [0,1] 0.24594646971426115 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:1.01 [[ 9.99874302e-01 4.11955439e-03 -1.53104431e-02 3.89636899e+00] [-4.09346221e-03 9.99990116e-01 1.73515606e-03 2.55541956e-01] [ 1.53174398e-02 -1.67226523e-03 9.99881283e-01 1.01368639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.692557844 meters Centerline goodness [0,1] 0.2463308980409905 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:1.01 [[ 9.99875569e-01 4.37031959e-03 -1.51574158e-02 3.89563326e+00] [-4.33484878e-03 9.99987791e-01 2.37222718e-03 2.52574243e-01] [ 1.51675981e-02 -2.30622690e-03 9.99882306e-01 1.01432128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72255784400005 meters Centerline goodness [0,1] 0.24885799838261968 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:1.01 [[ 9.99872233e-01 -4.41981983e-03 -1.53617175e-02 3.87298639e+00] [ 4.47381917e-03 9.99983928e-01 3.48260291e-03 2.52355016e-01] [ 1.53460781e-02 -3.55088349e-03 9.99875937e-01 1.01388616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752557844 meters Centerline goodness [0,1] 0.25261239901650856 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:1.01 [[ 0.99987404 -0.00405801 -0.01534426 3.87315861] [ 0.00412904 0.99998089 0.00460036 0.24658048] [ 0.0153253 -0.00466313 0.99987169 1.01370173] [ 0. 0. 0. 1. ]] SLAMing on 288.78255784400005 meters Centerline goodness [0,1] 0.24844410712349563 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:1.02 [[ 9.99859019e-01 4.05907083e-03 -1.62931371e-02 3.89468213e+00] [-3.99692534e-03 9.99984620e-01 3.84496544e-03 2.40770346e-01] [ 1.63084935e-02 -3.77930092e-03 9.99859865e-01 1.01507708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812557844 meters Centerline goodness [0,1] 0.24792261750194755 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:1.01 [[ 0.99985141 0.00419383 -0.01672059 3.89625769] [-0.00412453 0.99998277 0.00417669 0.23921015] [ 0.01673782 -0.0041071 0.99985148 1.0142683 ] [ 0. 0. 0. 1. ]] SLAMing on 288.84255784400005 meters Centerline goodness [0,1] 0.251204779868728 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:1.01 [[ 0.99984573 0.00431254 -0.01702707 3.89733818] [-0.00423747 0.99998116 0.0044422 0.23799052] [ 0.01704591 -0.00436936 0.99984516 1.01375052] [ 0. 0. 0. 1. ]] SLAMing on 288.872557844 meters Centerline goodness [0,1] 0.2525607772453511 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:1.01 [[ 0.99984507 0.00442302 -0.01703741 3.8974532 ] [-0.00434348 0.99997951 0.00470251 0.23677773] [ 0.01705786 -0.00462778 0.99984379 1.0136058 ] [ 0. 0. 0. 1. ]] SLAMing on 288.90255784400006 meters Centerline goodness [0,1] 0.24806907923283872 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 0.99988941 0.00451722 -0.01416896 3.93488349] [-0.00445639 0.99998073 0.00432208 0.23645943] [ 0.01418821 -0.00425846 0.99989027 1.01655258] [ 0. 0. 0. 1. ]] SLAMing on 288.93255784400003 meters Centerline goodness [0,1] 0.24695095391584632 Centerline is valid? [False, False] Translation: X:3.93, Y:0.24, Z:1.02 [[ 0.99989209 0.00463421 -0.01394052 3.93399044] [-0.00457065 0.99997903 0.00458795 0.23536793] [ 0.01396149 -0.00452374 0.9998923 1.01711209] [ 0. 0. 0. 1. ]] SLAMing on 288.96255784400006 meters Centerline goodness [0,1] 0.24281900004306445 Centerline is valid? [False, False] Translation: X:3.95, Y:0.24, Z:1.02 [[ 9.99911436e-01 -3.12729467e-03 -1.29359852e-02 3.95328409e+00] [ 3.20432370e-03 9.99977235e-01 5.93819761e-03 2.39929045e-01] [ 1.29171202e-02 -5.97912278e-03 9.99898694e-01 1.01809238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99255784400003 meters Centerline goodness [0,1] 0.24928827556231659 Centerline is valid? [False, False] Translation: X:3.95, Y:0.24, Z:1.02 [[ 9.99909286e-01 -2.95334173e-03 -1.31414552e-02 3.95391987e+00] [ 3.03852777e-03 9.99974472e-01 6.46700026e-03 2.37398724e-01] [ 1.31220204e-02 -6.50634429e-03 9.99892734e-01 1.01796557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02255784400006 meters Centerline goodness [0,1] 0.24655808903365906 Centerline is valid? [False, False] Translation: X:3.95, Y:0.24, Z:1.02 [[ 9.99908528e-01 -2.91405519e-03 -1.32077070e-02 3.95414464e+00] [ 3.00255658e-03 9.99973142e-01 6.68586949e-03 2.36073897e-01] [ 1.31878693e-02 -6.72491481e-03 9.99890422e-01 1.01792040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05255784400003 meters Centerline goodness [0,1] 0.2503715684560238 Centerline is valid? [False, False] Translation: X:3.95, Y:0.23, Z:1.02 [[ 9.99910134e-01 -2.83340655e-03 -1.31033060e-02 3.95376096e+00] [ 2.92492972e-03 9.99971426e-01 6.97085747e-03 2.34606236e-01] [ 1.30831803e-02 -7.00855727e-03 9.99889849e-01 1.01815320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08255784400006 meters Centerline goodness [0,1] 0.2473076339682333 Centerline is valid? [False, False] Translation: X:3.97, Y:0.23, Z:1.02 [[ 0.99992203 0.00526274 -0.01132429 3.97279918] [-0.00519581 0.99996891 0.00593201 0.22994721] [ 0.01135516 -0.00587271 0.99991828 1.01936236] [ 0. 0. 0. 1. ]] SLAMing on 289.11255784400004 meters Centerline goodness [0,1] 0.24916275954454115 Centerline is valid? [False, False] Translation: X:3.97, Y:0.23, Z:1.02 [[ 0.99992171 0.00539439 -0.0112903 3.97267321] [-0.00532278 0.99996559 0.00636246 0.22791969] [ 0.01132423 -0.00630187 0.99991602 1.01949912] [ 0. 0. 0. 1. ]] SLAMing on 289.14255784400007 meters Centerline goodness [0,1] 0.24846833097132892 Centerline is valid? [False, False] Translation: X:3.97, Y:0.23, Z:1.02 [[ 0.99991789 0.00551633 -0.01156617 3.97356024] [-0.00543825 0.99996229 0.00677075 0.22576405] [ 0.01160308 -0.0067073 0.99991019 1.01919908] [ 0. 0. 0. 1. ]] SLAMing on 289.17255784400004 meters Centerline goodness [0,1] 0.24897888241939692 Centerline is valid? [False, False] Translation: X:3.98, Y:0.22, Z:1.02 [[ 9.99924960e-01 1.67327720e-03 -1.21356714e-02 3.97533786e+00] [-1.63447135e-03 9.99993522e-01 3.20688135e-03 2.23529987e-01] [ 1.21409588e-02 -3.18680529e-03 9.99921218e-01 1.01851809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20255784400007 meters Centerline goodness [0,1] 0.24691198065129139 Centerline is valid? [False, False] Translation: X:3.98, Y:0.22, Z:1.02 [[ 9.99923715e-01 1.81589452e-03 -1.22175060e-02 3.97552251e+00] [-1.77261119e-03 9.99992118e-01 3.55262693e-03 2.21863392e-01] [ 1.22238609e-02 -3.53069902e-03 9.99919052e-01 1.01860369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23255784400004 meters Centerline goodness [0,1] 0.2501413473665899 Centerline is valid? [False, False] Translation: X:3.98, Y:0.22, Z:1.02 [[ 9.99924002e-01 1.97877518e-03 -1.21686236e-02 3.97528641e+00] [-1.93131927e-03 9.99990489e-01 3.91037423e-03 2.20329346e-01] [ 1.21762456e-02 -3.88657556e-03 9.99918313e-01 1.01880966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26255784400007 meters Centerline goodness [0,1] 0.2491152182461659 Centerline is valid? [False, False] Translation: X:3.97, Y:0.22, Z:1.02 [[ 9.99926216e-01 2.09803451e-03 -1.19649842e-02 3.97468960e+00] [-2.04842456e-03 9.99989262e-01 4.15701008e-03 2.19253671e-01] [ 1.19735773e-02 -4.13219399e-03 9.99919776e-01 1.01899089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29255784400004 meters Centerline goodness [0,1] 0.24637994848596356 Centerline is valid? [False, False] Translation: X:3.97, Y:0.22, Z:1.02 [[ 9.99929670e-01 2.32877991e-03 -1.16288948e-02 3.97349909e+00] [-2.27688666e-03 9.99987401e-01 4.47368791e-03 2.17810368e-01] [ 1.16391665e-02 -4.44689560e-03 9.99922374e-01 1.01956139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3225578440001 meters Centerline goodness [0,1] 0.2449414499741691 Centerline is valid? [False, False] Translation: X:3.97, Y:0.22, Z:1.02 [[ 9.99929406e-01 2.41981152e-03 -1.16329946e-02 3.97352154e+00] [-2.36638051e-03 9.99986599e-01 4.60462970e-03 2.17331238e-01] [ 1.16439810e-02 -4.57677655e-03 9.99921732e-01 1.01950130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35255784400005 meters Centerline goodness [0,1] 0.2520543167898167 Centerline is valid? [False, False] Translation: X:3.97, Y:0.22, Z:1.02 [[ 9.99928337e-01 2.50205389e-03 -1.17072791e-02 3.97375965e+00] [-2.44703133e-03 9.99985905e-01 4.71182483e-03 2.17009023e-01] [ 1.17189033e-02 -4.68283909e-03 9.99920366e-01 1.01938023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382557844 meters Centerline goodness [0,1] 0.24904770149770583 Centerline is valid? [False, False] Translation: X:3.97, Y:0.22, Z:1.02 [[ 9.99927570e-01 2.59508696e-03 -1.17524479e-02 3.97416109e+00] [-2.53803707e-03 9.99984937e-01 4.86661461e-03 2.16445389e-01] [ 1.17649002e-02 -4.83643398e-03 9.99919095e-01 1.01886304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41255784400005 meters Centerline goodness [0,1] 0.248471615720524 Centerline is valid? [False, False] Translation: X:3.97, Y:0.22, Z:1.02 [[ 9.99927276e-01 2.69429267e-03 -1.17551852e-02 3.97416431e+00] [-2.63388593e-03 9.99983264e-01 5.15119039e-03 2.15013751e-01] [ 1.17688673e-02 -5.11985395e-03 9.99917637e-01 1.01888016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442557844 meters Centerline goodness [0,1] 0.2503645980714394 Centerline is valid? [False, False] Translation: X:3.97, Y:0.21, Z:1.02 [[ 9.99934183e-01 -1.10642495e-03 -1.14195633e-02 3.97285658e+00] [ 1.12750744e-03 9.99997672e-01 1.83990066e-03 2.11784281e-01] [ 1.14175010e-02 -1.85265520e-03 9.99933102e-01 1.01963392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47255784400005 meters Centerline goodness [0,1] 0.24566536627654967 Centerline is valid? [False, False] Translation: X:3.97, Y:0.21, Z:1.02 [[ 9.99935032e-01 -9.71083213e-04 -1.13573015e-02 3.97231072e+00] [ 9.98788704e-04 9.99996539e-01 2.43402562e-03 2.08729093e-01] [ 1.13548986e-02 -2.44521104e-03 9.99932541e-01 1.02041001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502557844 meters Centerline goodness [0,1] 0.2507170795306388 Centerline is valid? [False, False] Translation: X:3.97, Y:0.21, Z:1.02 [[ 9.99936389e-01 -7.96048566e-04 -1.12510045e-02 3.97169983e+00] [ 8.30255649e-04 9.99995047e-01 3.03601449e-03 2.05838919e-01] [ 1.12485320e-02 -3.04516258e-03 9.99932096e-01 1.02112287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53255784400005 meters Centerline goodness [0,1] 0.24396535047180967 Centerline is valid? [False, False] Translation: X:3.99, Y:0.20, Z:1.02 [[ 9.99934760e-01 5.72369515e-03 -9.88507844e-03 3.99337921e+00] [-5.72078096e-03 9.99983584e-01 3.23057889e-04 2.03081642e-01] [ 9.88676525e-03 -2.66486444e-04 9.99951089e-01 1.02094763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562557844 meters Centerline goodness [0,1] 0.25010311516335615 Centerline is valid? [False, False] Translation: X:3.97, Y:0.20, Z:1.02 [[ 9.99928738e-01 -2.89487007e-03 -1.15818575e-02 3.97421727e+00] [ 2.91808993e-03 9.99993765e-01 1.98845069e-03 2.01846832e-01] [ 1.15760290e-02 -2.02210589e-03 9.99930951e-01 1.01944055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59255784400005 meters Centerline goodness [0,1] 0.25197762335562257 Centerline is valid? [False, False] Translation: X:3.97, Y:0.20, Z:1.02 [[ 9.99928232e-01 -2.76449198e-03 -1.16571203e-02 3.97461881e+00] [ 2.79145695e-03 9.99993465e-01 2.29754075e-03 2.00471843e-01] [ 1.16506925e-02 -2.32991621e-03 9.99929414e-01 1.01906366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622557844 meters Centerline goodness [0,1] 0.25254973902028877 Centerline is valid? [False, False] Translation: X:3.97, Y:0.20, Z:1.02 [[ 9.99927739e-01 -2.59347114e-03 -1.17384043e-02 3.97489641e+00] [ 2.62557900e-03 9.99992852e-01 2.72069993e-03 1.98622338e-01] [ 1.17312643e-02 -2.75132344e-03 9.99927401e-01 1.01898605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65255784400006 meters Centerline goodness [0,1] 0.24829740163969982 Centerline is valid? [False, False] Translation: X:3.97, Y:0.20, Z:1.02 [[ 9.99927640e-01 -2.37036827e-03 -1.17939407e-02 3.97476325e+00] [ 2.40940452e-03 9.99991663e-01 3.29674965e-03 1.95974373e-01] [ 1.17860279e-02 -3.32492747e-03 9.99925014e-01 1.01950784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68255784400003 meters Centerline goodness [0,1] 0.2452320200666004 Centerline is valid? [False, False] Translation: X:3.97, Y:0.19, Z:1.02 [[ 9.99915511e-01 -6.03259537e-03 -1.15142623e-02 3.97332207e+00] [ 6.03807266e-03 9.99981673e-01 4.40992296e-04 1.90342151e-01] [ 1.15113910e-02 -5.10478990e-04 9.99933611e-01 1.02080831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71255784400006 meters Centerline goodness [0,1] 0.2520180539883691 Centerline is valid? [False, False] Translation: X:3.97, Y:0.19, Z:1.02 [[ 9.99914654e-01 -5.89820192e-03 -1.16574389e-02 3.97367735e+00] [ 5.91285634e-03 9.99981771e-01 1.22302147e-03 1.86105545e-01] [ 1.16500127e-02 -1.29184585e-03 9.99931302e-01 1.02094341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74255784400003 meters Centerline goodness [0,1] 0.2505024466969591 Centerline is valid? [False, False] Translation: X:3.97, Y:0.18, Z:1.02 [[ 9.99912807e-01 -5.69577147e-03 -1.19137069e-02 3.97446354e+00] [ 5.72073202e-03 9.99981510e-01 2.06208375e-03 1.81868603e-01] [ 1.19017414e-02 -2.13005907e-03 9.99926903e-01 1.02080236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77255784400006 meters Centerline goodness [0,1] 0.24894926123315564 Centerline is valid? [False, False] Translation: X:4.00, Y:0.18, Z:1.02 [[ 9.99930325e-01 9.97838698e-04 -1.17621749e-02 3.99593112e+00] [-1.00017091e-03 9.99999481e-01 -1.92399765e-04 1.75721969e-01] [ 1.17619768e-02 2.04150545e-04 9.99930805e-01 1.02110967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80255784400003 meters Centerline goodness [0,1] 0.2507928922101056 Centerline is valid? [False, False] Translation: X:4.00, Y:0.17, Z:1.02 [[ 9.99928516e-01 1.23967564e-03 -1.18922666e-02 3.99609165e+00] [-1.23262849e-03 9.99999060e-01 5.99893908e-04 1.71708784e-01] [ 1.18929991e-02 -5.85192279e-04 9.99929105e-01 1.02145434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83255784400006 meters Centerline goodness [0,1] 0.2491977909235773 Centerline is valid? [False, False] Translation: X:4.00, Y:0.17, Z:1.02 [[ 9.99927605e-01 1.45344088e-03 -1.19445123e-02 3.99604466e+00] [-1.43805932e-03 9.99998126e-01 1.29623882e-03 1.68133215e-01] [ 1.19463739e-02 -1.27896806e-03 9.99927822e-01 1.02182057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86255784400004 meters Centerline goodness [0,1] 0.25154263378642483 Centerline is valid? [False, False] Translation: X:4.00, Y:0.16, Z:1.02 [[ 9.99922790e-01 1.85225070e-03 -1.22875081e-02 3.99701171e+00] [-1.82322764e-03 9.99995523e-01 2.37277868e-03 1.62916813e-01] [ 1.22918481e-02 -2.35019255e-03 9.99921690e-01 1.02165513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89255784400007 meters Centerline goodness [0,1] 0.2509459400687165 Centerline is valid? [False, False] Translation: X:4.00, Y:0.16, Z:1.02 [[ 9.99916887e-01 1.98061875e-03 -1.27395779e-02 3.99871870e+00] [-1.94778488e-03 9.99994751e-01 2.58920350e-03 1.61945203e-01] [ 1.27446392e-02 -2.56417435e-03 9.99915496e-01 1.02067369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92255784400004 meters Centerline goodness [0,1] 0.2506820381941389 Centerline is valid? [False, False] Translation: X:3.98, Y:0.16, Z:1.02 [[ 9.99835712e-01 1.00271527e-02 -1.50998465e-02 3.98014356e+00] [-1.00042766e-02 9.99948692e-01 1.58976761e-03 1.55629762e-01] [ 1.51150126e-02 -1.43844339e-03 9.99884727e-01 1.01834710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95255784400007 meters Centerline goodness [0,1] 0.24840461202327646 Centerline is valid? [False, False] Translation: X:4.00, Y:0.16, Z:1.02 [[ 9.99886212e-01 2.64392499e-03 -1.48517176e-02 3.99936137e+00] [-2.61030337e-03 9.99993988e-01 2.28274942e-03 1.60553380e-01] [ 1.48576637e-02 -2.24372218e-03 9.99887101e-01 1.01914510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98255784400004 meters Centerline goodness [0,1] 0.2493748233196338 Centerline is valid? [False, False] Translation: X:4.00, Y:0.16, Z:1.02 [[ 9.99889889e-01 2.72573454e-03 -1.45870137e-02 3.99864738e+00] [-2.69242627e-03 9.99993724e-01 2.30257099e-03 1.60681335e-01] [ 1.45931984e-02 -2.26304299e-03 9.99890953e-01 1.01919256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01255784400007 meters Centerline goodness [0,1] 0.24946967401186193 Centerline is valid? [False, False] Translation: X:4.00, Y:0.16, Z:1.02 [[ 9.99893728e-01 2.82612102e-03 -1.43019264e-02 3.99773176e+00] [-2.79274444e-03 9.99993332e-01 2.35314654e-03 1.60869203e-01] [ 1.43084813e-02 -2.31295484e-03 9.99894953e-01 1.01947360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04255784400004 meters Centerline goodness [0,1] 0.24974061905585332 Centerline is valid? [False, False] Translation: X:4.00, Y:0.16, Z:1.02 [[ 9.99895412e-01 2.92862892e-03 -1.41629201e-02 3.99719608e+00] [-2.89307083e-03 9.99992613e-01 2.53048345e-03 1.60288568e-01] [ 1.41702263e-02 -2.48924446e-03 9.99896499e-01 1.01979349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0725578440001 meters Centerline goodness [0,1] 0.25200833731382166 Centerline is valid? [False, False] Translation: X:4.00, Y:0.16, Z:1.02 [[ 9.99895678e-01 3.09790349e-03 -1.41079936e-02 3.99697704e+00] [-3.05644337e-03 9.99990950e-01 2.95938192e-03 1.58334399e-01] [ 1.41170338e-02 -2.91595291e-03 9.99896098e-01 1.01995326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10255784400005 meters Centerline goodness [0,1] 0.2512758148928316 Centerline is valid? [False, False] Translation: X:4.00, Y:0.15, Z:1.02 [[ 9.99905421e-01 -4.87407945e-04 -1.37445038e-02 3.99682470e+00] [ 4.89441113e-04 9.99999870e-01 1.44562573e-04 1.53298929e-01] [ 1.37444315e-02 -1.51276025e-04 9.99905529e-01 1.01911602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.132557844 meters Centerline goodness [0,1] 0.25346820177834095 Centerline is valid? [False, False] Translation: X:4.00, Y:0.15, Z:1.02 [[ 9.99906682e-01 -3.05203022e-04 -1.36577486e-02 3.99657584e+00] [ 3.17862189e-04 9.99999522e-01 9.24724190e-04 1.49282760e-01] [ 1.36574599e-02 -9.28979178e-04 9.99906301e-01 1.01926189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16255784400005 meters Centerline goodness [0,1] 0.2479040622299049 Centerline is valid? [False, False] Translation: X:4.00, Y:0.15, Z:1.02 [[ 9.99904649e-01 -1.57540625e-04 -1.38082663e-02 3.99696772e+00] [ 1.79669208e-04 9.99998702e-01 1.60133473e-03 1.45683441e-01] [ 1.38079961e-02 -1.60366296e-03 9.99903379e-01 1.01931231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.192557844 meters Centerline goodness [0,1] 0.24803883326832232 Centerline is valid? [False, False] Translation: X:4.00, Y:0.14, Z:1.02 [[ 9.99901392e-01 7.30209621e-05 -1.40428389e-02 3.99768879e+00] [-4.16369405e-05 9.99997501e-01 2.23515667e-03 1.42612777e-01] [ 1.40429670e-02 -2.23435156e-03 9.99898896e-01 1.01916747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22255784400005 meters Centerline goodness [0,1] 0.25283545629035076 Centerline is valid? [False, False] Translation: X:4.00, Y:0.14, Z:1.02 [[ 9.99897758e-01 3.91182984e-04 -1.42940512e-02 3.99862453e+00] [-3.48057306e-04 9.99995381e-01 3.01939990e-03 1.38828132e-01] [ 1.42951664e-02 -3.01411604e-03 9.99893276e-01 1.01872529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.252557844 meters Centerline goodness [0,1] 0.2497938278571119 Centerline is valid? [False, False] Translation: X:4.00, Y:0.14, Z:1.02 [[ 9.99896884e-01 4.99432768e-04 -1.43517346e-02 3.99891859e+00] [-4.53227310e-04 9.99994705e-01 3.22257550e-03 1.37879736e-01] [ 1.43532681e-02 -3.21573861e-03 9.99891816e-01 1.01851422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28255784400005 meters Centerline goodness [0,1] 0.25201709625365254 Centerline is valid? [False, False] Translation: X:4.00, Y:0.14, Z:1.02 [[ 9.99896546e-01 5.87426011e-04 -1.43719592e-02 3.99909651e+00] [-5.40311672e-04 9.99994469e-01 3.28187597e-03 1.37742015e-01] [ 1.43738075e-02 -3.27377111e-03 9.99891332e-01 1.01827654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.312557844 meters Centerline goodness [0,1] 0.249341792912944 Centerline is valid? [False, False] Translation: X:4.00, Y:0.14, Z:1.02 [[ 9.99896417e-01 6.95576543e-04 -1.43760762e-02 3.99918834e+00] [-6.49125351e-04 9.99994555e-01 3.23555902e-03 1.38300086e-01] [ 1.43782485e-02 -3.22589199e-03 9.99891424e-01 1.01809416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34255784400005 meters Centerline goodness [0,1] 0.249341792912944 Centerline is valid? [False, False] Translation: X:4.00, Y:0.14, Z:1.02 [[ 9.99896417e-01 6.95576543e-04 -1.43760762e-02 3.99918834e+00] [-6.49125351e-04 9.99994555e-01 3.23555902e-03 1.38300086e-01] [ 1.43782485e-02 -3.22589199e-03 9.99891424e-01 1.01809416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.372557844 meters Centerline goodness [0,1] 0.2531104880399544 Centerline is valid? [False, False] Translation: X:3.95, Y:0.13, Z:1.02 [[ 9.99852067e-01 6.88600333e-04 -1.71863276e-02 3.95329556e+00] [-6.13760485e-04 9.99990309e-01 4.35951019e-03 1.34708727e-01] [ 1.71891630e-02 -4.34831699e-03 9.99842800e-01 1.01970902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40255784400006 meters Centerline goodness [0,1] 0.2488131204143289 Centerline is valid? [False, False] Translation: X:3.97, Y:0.13, Z:1.02 [[ 9.99816579e-01 9.81573329e-03 -1.64456360e-02 3.97429899e+00] [-9.76323302e-03 9.99946993e-01 3.26960556e-03 1.33534371e-01] [ 1.64768579e-02 -3.10844327e-03 9.99859415e-01 1.02073479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43255784400003 meters Centerline goodness [0,1] 0.2485770554245028 Centerline is valid? [False, False] Translation: X:3.97, Y:0.14, Z:1.02 [[ 9.99820721e-01 9.76789036e-03 -1.62208224e-02 3.97368089e+00] [-9.72140606e-03 9.99948418e-01 2.94210126e-03 1.35171665e-01] [ 1.62487238e-02 -2.78388460e-03 9.99864105e-01 1.02075420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46255784400006 meters Centerline goodness [0,1] 0.2535405796465997 Centerline is valid? [False, False] Translation: X:3.95, Y:0.14, Z:1.02 [[ 9.99880961e-01 3.22259333e-04 -1.54259827e-02 3.95120199e+00] [-2.71102167e-04 9.99994458e-01 3.31827496e-03 1.39190738e-01] [ 1.54269666e-02 -3.31369793e-03 9.99875506e-01 1.01997861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49255784400003 meters Centerline goodness [0,1] 0.25012435927936505 Centerline is valid? [False, False] Translation: X:3.97, Y:0.14, Z:1.02 [[ 9.99889974e-01 8.40299621e-03 -1.22241679e-02 3.96952160e+00] [-8.38214984e-03 9.99963328e-01 1.75557702e-03 1.38131106e-01] [ 1.22384717e-02 -1.65291905e-03 9.99923741e-01 1.02047627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52255784400006 meters Centerline goodness [0,1] 0.2507424508465024 Centerline is valid? [False, False] Translation: X:3.97, Y:0.14, Z:1.02 [[ 9.99895863e-01 8.38577049e-03 -1.17449045e-02 3.96784478e+00] [-8.36540078e-03 9.99963421e-01 1.78239947e-03 1.38109924e-01] [ 1.17594217e-02 -1.68396303e-03 9.99929438e-01 1.02129817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55255784400003 meters Centerline goodness [0,1] 0.24603140460314044 Centerline is valid? [False, False] Translation: X:3.99, Y:0.14, Z:1.02 [[ 9.99930647e-01 2.11780671e-04 -1.17752725e-02 3.98844609e+00] [-1.80600033e-04 9.99996475e-01 2.64897620e-03 1.42513033e-01] [ 1.17757920e-02 -2.64666587e-03 9.99927160e-01 1.02289341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58255784400006 meters Centerline goodness [0,1] 0.250493953145016 Centerline is valid? [False, False] Translation: X:3.99, Y:0.14, Z:1.02 [[ 9.99923009e-01 1.40748459e-04 -1.24079386e-02 3.99038721e+00] [-1.07117527e-04 9.99996319e-01 2.71105963e-03 1.41887780e-01] [ 1.24082745e-02 -2.70952179e-03 9.99919343e-01 1.02228659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61255784400004 meters Centerline goodness [0,1] 0.25231728860875446 Centerline is valid? [False, False] Translation: X:3.99, Y:0.14, Z:1.02 [[ 9.99914485e-01 7.87249439e-05 -1.30773074e-02 3.99231380e+00] [-4.18832055e-05 9.99996030e-01 2.81747660e-03 1.41041084e-01] [ 1.30774773e-02 -2.81668794e-03 9.99910519e-01 1.02183259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64255784400007 meters Centerline goodness [0,1] 0.24928372981420388 Centerline is valid? [False, False] Translation: X:3.99, Y:0.14, Z:1.02 [[ 9.99909268e-01 3.99990334e-05 -1.34704685e-02 3.99343226e+00] [-8.45920420e-08 9.99995610e-01 2.96309468e-03 1.40065986e-01] [ 1.34705279e-02 -2.96282469e-03 9.99904879e-01 1.02160711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67255784400004 meters Centerline goodness [0,1] 0.25331302361005337 Centerline is valid? [False, False] Translation: X:3.99, Y:0.14, Z:1.02 [[ 9.99908825e-01 8.67905016e-05 -1.35030931e-02 3.99332423e+00] [-4.28178627e-05 9.99994696e-01 3.25674140e-03 1.38565444e-01] [ 1.35033042e-02 -3.25586630e-03 9.99903525e-01 1.02199892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70255784400007 meters Centerline goodness [0,1] 0.24797343911693692 Centerline is valid? [False, False] Translation: X:3.99, Y:0.13, Z:1.02 [[ 9.99913329e-01 -2.96572002e-03 -1.28272827e-02 3.99017835e+00] [ 2.97516033e-03 9.99995317e-01 7.16935845e-04 1.34959083e-01] [ 1.28250965e-02 -7.55036930e-04 9.99917470e-01 1.02385268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73255784400004 meters Centerline goodness [0,1] 0.25257125424910665 Centerline is valid? [False, False] Translation: X:3.99, Y:0.13, Z:1.02 [[ 9.99914939e-01 -2.86012997e-03 -1.27253406e-02 3.98977940e+00] [ 2.87542537e-03 9.99995165e-01 1.18382991e-03 1.32537962e-01] [ 1.27218932e-02 -1.22031998e-03 9.99918329e-01 1.02415954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76255784400007 meters Centerline goodness [0,1] 0.2510192068717434 Centerline is valid? [False, False] Translation: X:3.99, Y:0.13, Z:1.02 [[ 9.99916954e-01 -2.73548891e-03 -1.25937216e-02 3.98926770e+00] [ 2.75700239e-03 9.99994769e-01 1.69122643e-03 1.30000300e-01] [ 1.25890294e-02 -1.72580691e-03 9.99919266e-01 1.02454806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79255784400004 meters Centerline goodness [0,1] 0.2492769888203047 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:1.02 [[ 9.99944023e-01 3.62142816e-03 -9.94160398e-03 4.01023263e+00] [-3.63473709e-03 9.99992522e-01 -1.32096861e-03 1.27609346e-01] [ 9.93674585e-03 1.35702978e-03 9.99949709e-01 1.02393551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8225578440001 meters Centerline goodness [0,1] 0.25221258229062216 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:1.02 [[ 9.99945620e-01 3.89238489e-03 -9.67504812e-03 4.00924064e+00] [-3.89766396e-03 9.99992265e-01 -5.26842259e-04 1.23803152e-01] [ 9.67292262e-03 5.64523695e-04 9.99953057e-01 1.02457412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85255784400005 meters Centerline goodness [0,1] 0.254015401540154 Centerline is valid? [False, False] Translation: X:4.01, Y:0.12, Z:1.02 [[ 9.99943591e-01 3.99106054e-03 -9.84308792e-03 4.00979544e+00] [-3.99381539e-03 9.99991991e-01 -2.60235976e-04 1.22512981e-01] [ 9.84197047e-03 2.99532773e-04 9.99951522e-01 1.02436546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.882557844 meters Centerline goodness [0,1] 0.25047097291093745 Centerline is valid? [False, False] Translation: X:4.03, Y:0.13, Z:1.03 [[ 9.99932774e-01 -2.87667030e-03 -1.12326329e-02 4.02960965e+00] [ 2.88371850e-03 9.99995655e-01 6.11328864e-04 1.26103717e-01] [ 1.12308255e-02 -6.43679518e-04 9.99936725e-01 1.02550071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91255784400005 meters Centerline goodness [0,1] 0.25203429394183996 Centerline is valid? [False, False] Translation: X:4.03, Y:0.13, Z:1.02 [[ 9.99922047e-01 -2.66579444e-03 -1.21980980e-02 4.03250593e+00] [ 2.67469254e-03 9.99996169e-01 7.13211159e-04 1.25641896e-01] [ 1.21961500e-02 -7.45781724e-04 9.99925346e-01 1.02455598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942557844 meters Centerline goodness [0,1] 0.2511967969361999 Centerline is valid? [False, False] Translation: X:4.03, Y:0.13, Z:1.02 [[ 9.99920053e-01 -2.62465948e-03 -1.23692833e-02 4.03313874e+00] [ 2.63246580e-03 9.99996346e-01 6.14865929e-04 1.26338559e-01] [ 1.23676243e-02 -6.47378487e-04 9.99923308e-01 1.02413377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97255784400005 meters Centerline goodness [0,1] 0.2501688122154697 Centerline is valid? [False, False] Translation: X:4.03, Y:0.13, Z:1.02 [[ 9.99919504e-01 -2.58635933e-03 -1.24216342e-02 4.03348859e+00] [ 2.59289556e-03 9.99996508e-01 5.10121364e-04 1.27054421e-01] [ 1.24202714e-02 -5.42288301e-04 9.99922718e-01 1.02371547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002557844 meters Centerline goodness [0,1] 0.2521818816547391 Centerline is valid? [False, False] Translation: X:4.03, Y:0.13, Z:1.02 [[ 9.99919363e-01 -2.52805728e-03 -1.24449028e-02 4.03373054e+00] [ 2.53413679e-03 9.99996677e-01 4.72769363e-04 1.27416770e-01] [ 1.24436663e-02 -5.04268326e-04 9.99922447e-01 1.02337223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03255784400005 meters Centerline goodness [0,1] 0.25315819381911964 Centerline is valid? [False, False] Translation: X:4.03, Y:0.13, Z:1.02 [[ 9.99921668e-01 -2.51484613e-03 -1.22610796e-02 4.03330640e+00] [ 2.51973135e-03 9.99996752e-01 3.83001427e-04 1.27957352e-01] [ 1.22600765e-02 -4.13866052e-04 9.99924757e-01 1.02327253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062557844 meters Centerline goodness [0,1] 0.24932442657327536 Centerline is valid? [False, False] Translation: X:4.05, Y:0.13, Z:1.02 [[ 9.99923389e-01 6.25398839e-03 -1.06819706e-02 4.05290452e+00] [-6.26436273e-03 9.99979939e-01 -9.38017907e-04 1.25430336e-01] [ 1.06758899e-02 1.00486178e-03 9.99942506e-01 1.02422963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09255784400005 meters Centerline goodness [0,1] 0.25312643226609044 Centerline is valid? [False, False] Translation: X:4.03, Y:0.13, Z:1.02 [[ 9.99933153e-01 -2.80063798e-03 -1.12181042e-02 4.03258617e+00] [ 2.80494650e-03 9.99995998e-01 3.68352811e-04 1.25798161e-01] [ 1.12170277e-02 -3.99794370e-04 9.99937007e-01 1.02345318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122557844 meters Centerline goodness [0,1] 0.2494536642361036 Centerline is valid? [False, False] Translation: X:4.03, Y:0.12, Z:1.02 [[ 9.99932077e-01 -2.69627153e-03 -1.13389698e-02 4.03267950e+00] [ 2.70496323e-03 9.99996059e-01 7.51267550e-04 1.23785205e-01] [ 1.13368994e-02 -7.81888017e-04 9.99935430e-01 1.02381150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15255784400006 meters Centerline goodness [0,1] 0.262093383491923 Centerline is valid? [False, False] Translation: X:3.99, Y:0.12, Z:1.03 [[ 9.99897095e-01 -4.38255162e-03 -1.36599082e-02 3.98694406e+00] [ 4.39877174e-03 9.99989655e-01 1.15760689e-03 1.17729250e-01] [ 1.36546936e-02 -1.21757458e-03 9.99906029e-01 1.02514230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18255784400003 meters Centerline goodness [0,1] 0.2502758725144427 Centerline is valid? [False, False] Translation: X:4.03, Y:0.12, Z:1.03 [[ 9.99930170e-01 -3.34762244e-03 -1.13335483e-02 4.03027472e+00] [ 3.35821465e-03 9.99993942e-01 9.15687782e-04 1.19156457e-01] [ 1.13304143e-02 -9.53684327e-04 9.99935354e-01 1.02515572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21255784400006 meters Centerline goodness [0,1] 0.2542179762478636 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:1.02 [[ 9.99936594e-01 3.44269505e-03 -1.07217251e-02 4.01221689e+00] [-3.44097833e-03 9.99994064e-01 1.78559172e-04 1.10290794e-01] [ 1.07222762e-02 -1.41654627e-04 9.99942505e-01 1.02307069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24255784400003 meters Centerline goodness [0,1] 0.25293874801729566 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:1.02 [[ 9.99933871e-01 3.50769284e-03 -1.09521999e-02 4.01289891e+00] [-3.50243639e-03 9.99993742e-01 4.99088533e-04 1.08517217e-01] [ 1.09538820e-02 -4.60696145e-04 9.99939898e-01 1.02289113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27255784400006 meters Centerline goodness [0,1] 0.2501515676424736 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:1.02 [[ 9.99931901e-01 3.61247252e-03 -1.10969630e-02 4.01325427e+00] [-3.60333712e-03 9.99993153e-01 8.43117821e-04 1.06770898e-01] [ 1.10999327e-02 -8.03074307e-04 9.99938071e-01 1.02292840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30255784400003 meters Centerline goodness [0,1] 0.2534024345099406 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:1.02 [[ 9.99932819e-01 3.73287022e-03 -1.09737613e-02 4.01282391e+00] [-3.72085175e-03 9.99992456e-01 1.11541356e-03 1.05634717e-01] [ 1.09778422e-02 -1.07450689e-03 9.99939164e-01 1.02313308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33255784400006 meters Centerline goodness [0,1] 0.2532001657326035 Centerline is valid? [False, False] Translation: X:4.01, Y:0.10, Z:1.02 [[ 9.99934833e-01 3.85673124e-03 -1.07450280e-02 4.01201934e+00] [-3.84223313e-03 9.99991681e-01 1.36960161e-03 1.04704867e-01] [ 1.07502208e-02 -1.32822746e-03 9.99941333e-01 1.02353263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36255784400004 meters Centerline goodness [0,1] 0.25205432056050514 Centerline is valid? [False, False] Translation: X:4.03, Y:0.11, Z:1.03 [[ 9.99936271e-01 -2.96518272e-03 -1.08931840e-02 4.02964248e+00] [ 2.99647835e-03 9.99991427e-01 2.85775847e-03 1.08800495e-01] [ 1.08846168e-02 -2.89021754e-03 9.99936584e-01 1.02583503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39255784400007 meters Centerline goodness [0,1] 0.24903495719307323 Centerline is valid? [False, False] Translation: X:4.03, Y:0.11, Z:1.03 [[ 9.99935149e-01 -2.94640545e-03 -1.10007316e-02 4.03015888e+00] [ 2.97943741e-03 9.99991099e-01 2.98752568e-03 1.07932907e-01] [ 1.09918312e-02 -3.02010793e-03 9.99935027e-01 1.02547895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42255784400004 meters Centerline goodness [0,1] 0.24936689682041513 Centerline is valid? [False, False] Translation: X:4.03, Y:0.11, Z:1.02 [[ 9.99927813e-01 -2.98620275e-03 -1.16383422e-02 4.03225448e+00] [ 3.02422979e-03 9.99990142e-01 3.25116422e-03 1.05700173e-01] [ 1.16285189e-02 -3.28612655e-03 9.99926987e-01 1.02466362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45255784400007 meters Centerline goodness [0,1] 0.2546951716242102 Centerline is valid? [False, False] Translation: X:3.99, Y:0.10, Z:1.03 [[ 0.99988608 -0.00399637 -0.01455562 3.9880171 ] [ 0.00406024 0.99998225 0.00436112 0.10044908] [ 0.01453793 -0.00441972 0.99988455 1.02524671] [ 0. 0. 0. 1. ]] SLAMing on 291.48255784400004 meters Centerline goodness [0,1] 0.24825235177353933 Centerline is valid? [False, False] Translation: X:4.03, Y:0.10, Z:1.03 [[ 9.99919633e-01 -3.00466250e-03 -1.23166290e-02 4.03192485e+00] [ 3.05820697e-03 9.99985946e-01 4.33080534e-03 9.98264182e-02] [ 1.23034433e-02 -4.36812409e-03 9.99914769e-01 1.02526745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51255784400007 meters Centerline goodness [0,1] 0.25165996854796435 Centerline is valid? [False, False] Translation: X:4.01, Y:0.09, Z:1.03 [[ 9.99943936e-01 1.67436732e-03 -1.04557056e-02 4.00838676e+00] [-1.65998086e-03 9.99997664e-01 1.38447047e-03 9.41788460e-02] [ 1.04579993e-02 -1.36703658e-03 9.99944379e-01 1.02503447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54255784400004 meters Centerline goodness [0,1] 0.252160473671608 Centerline is valid? [False, False] Translation: X:4.01, Y:0.09, Z:1.03 [[ 9.99945205e-01 1.78350454e-03 -1.03153630e-02 4.00760605e+00] [-1.76502665e-03 9.99996822e-01 1.80012383e-03 9.19917790e-02] [ 1.03185408e-02 -1.78181830e-03 9.99945175e-01 1.02584474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5725578440001 meters Centerline goodness [0,1] 0.25306435697840146 Centerline is valid? [False, False] Translation: X:4.01, Y:0.09, Z:1.03 [[ 9.99946348e-01 1.91768935e-03 -1.01795620e-02 4.00712166e+00] [-1.89582271e-03 9.99995876e-01 2.15730782e-03 9.03208011e-02] [ 1.01836571e-02 -2.13789344e-03 9.99945860e-01 1.02611193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60255784400005 meters Centerline goodness [0,1] 0.25031454726886204 Centerline is valid? [False, False] Translation: X:4.01, Y:0.09, Z:1.03 [[ 9.99945837e-01 2.03604343e-03 -1.02066954e-02 4.00737271e+00] [-2.01126531e-03 9.99995007e-01 2.43731117e-03 8.90890169e-02] [ 1.02116070e-02 -2.41665079e-03 9.99944940e-01 1.02582909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.632557844 meters Centerline goodness [0,1] 0.2515635858234886 Centerline is valid? [False, False] Translation: X:4.01, Y:0.09, Z:1.03 [[ 9.99944688e-01 2.13231291e-03 -1.02992298e-02 4.00795013e+00] [-2.10490854e-03 9.99994218e-01 2.67092418e-03 8.79270107e-02] [ 1.03048655e-02 -2.64909751e-03 9.99943394e-01 1.02524997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66255784400005 meters Centerline goodness [0,1] 0.2530131061886677 Centerline is valid? [False, False] Translation: X:4.01, Y:0.09, Z:1.03 [[ 9.99943043e-01 2.33015758e-03 -1.04154374e-02 4.00841619e+00] [-2.29799887e-03 9.99992559e-01 3.09850210e-03 8.57291105e-02] [ 1.04225799e-02 -3.07439096e-03 9.99940957e-01 1.02504238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.692557844 meters Centerline goodness [0,1] 0.25195367464011253 Centerline is valid? [False, False] Translation: X:4.03, Y:0.09, Z:1.03 [[ 0.9999436 -0.00457353 -0.0095858 4.02686659] [ 0.00461684 0.99997922 0.00450014 0.09008646] [ 0.00956502 -0.00454414 0.99994393 1.0263888 ] [ 0. 0. 0. 1. ]] SLAMing on 291.72255784400005 meters Centerline goodness [0,1] 0.24855092762179753 Centerline is valid? [False, False] Translation: X:4.03, Y:0.09, Z:1.03 [[ 0.99994611 -0.00441248 -0.00939725 4.02634331] [ 0.00445709 0.99997887 0.00473163 0.08940395] [ 0.00937617 -0.00477326 0.99994465 1.02647046] [ 0. 0. 0. 1. ]] SLAMing on 291.752557844 meters Centerline goodness [0,1] 0.2484121687084203 Centerline is valid? [False, False] Translation: X:4.03, Y:0.09, Z:1.03 [[ 0.99994752 -0.00431434 -0.00929192 4.02632491] [ 0.00435984 0.99997858 0.00488224 0.0888185 ] [ 0.00927066 -0.0049225 0.99994491 1.02610589] [ 0. 0. 0. 1. ]] SLAMing on 291.78255784400005 meters Centerline goodness [0,1] 0.2514985665884806 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:1.02 [[ 9.99932741e-01 2.38223552e-03 -1.13506599e-02 4.01003419e+00] [-2.35053229e-03 9.99993302e-01 2.80559651e-03 8.10510080e-02] [ 1.13572675e-02 -2.77872772e-03 9.99931643e-01 1.02278828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.812557844 meters Centerline goodness [0,1] 0.25124519398811607 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:1.02 [[ 9.99929805e-01 2.42738202e-03 -1.15970674e-02 4.01090501e+00] [-2.39294020e-03 9.99992688e-01 2.98282637e-03 8.01099316e-02] [ 1.16042230e-02 -2.95486590e-03 9.99928303e-01 1.02232232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84255784400005 meters Centerline goodness [0,1] 0.25354563072586334 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:1.02 [[ 9.99930949e-01 2.53152791e-03 -1.14755837e-02 4.01059906e+00] [-2.49508164e-03 9.99991802e-01 3.18918855e-03 7.94828500e-02] [ 1.14835631e-02 -3.16033582e-03 9.99929068e-01 1.02229950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.872557844 meters Centerline goodness [0,1] 0.2508418962093083 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99956440e-01 4.12328879e-03 -8.37360884e-03 4.05297035e+00] [-4.09646269e-03 9.99986431e-01 3.21827775e-03 8.22292563e-02] [ 8.38676510e-03 -3.18383538e-03 9.99959762e-01 1.02180718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90255784400006 meters Centerline goodness [0,1] 0.2498277495478426 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99958339e-01 4.24106970e-03 -8.08294501e-03 4.05186396e+00] [-4.21265472e-03 9.99984899e-01 3.52921386e-03 8.08727245e-02] [ 8.09779059e-03 -3.49501617e-03 9.99961105e-01 1.02246644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93255784400003 meters Centerline goodness [0,1] 0.2518999675219227 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99974684e-01 1.17686280e-03 -7.01755355e-03 4.04765080e+00] [-1.17176040e-03 9.99999046e-01 7.31157150e-04 7.80697132e-02] [ 7.01840732e-03 -7.22915749e-04 9.99975109e-01 1.02434104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96255784400006 meters Centerline goodness [0,1] 0.24986494370853773 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99972683e-01 1.17204276e-03 -7.29786879e-03 4.04844252e+00] [-1.16607309e-03 9.99998982e-01 8.22202675e-04 7.74943972e-02] [ 7.29882502e-03 -8.13670367e-04 9.99973032e-01 1.02419680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99255784400003 meters Centerline goodness [0,1] 0.2619037237289613 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99969846e-01 1.18869764e-03 -7.67425656e-03 4.04962906e+00] [-1.18183794e-03 9.99998898e-01 8.98331305e-04 7.71750990e-02] [ 7.67531595e-03 -8.89234489e-04 9.99970149e-01 1.02375374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02255784400006 meters Centerline goodness [0,1] 0.2485005393743258 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99966602e-01 1.13643628e-03 -8.09347451e-03 4.05105822e+00] [-1.12923103e-03 9.99998962e-01 8.94768655e-04 7.70327229e-02] [ 8.09448296e-03 -8.85599369e-04 9.99966847e-01 1.02311423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05255784400003 meters Centerline goodness [0,1] 0.2510782703886152 Centerline is valid? [False, False] Translation: X:4.01, Y:0.07, Z:1.02 [[ 9.99939630e-01 -1.67929318e-03 -1.08588966e-02 4.00647243e+00] [ 1.68421938e-03 9.99998483e-01 4.44526913e-04 7.23846979e-02] [ 1.08581336e-02 -4.62788841e-04 9.99940942e-01 1.02390624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08255784400006 meters Centerline goodness [0,1] 0.2518849053700569 Centerline is valid? [False, False] Translation: X:4.01, Y:0.07, Z:1.02 [[ 9.99941628e-01 -1.64892499e-03 -1.06781025e-02 4.00581405e+00] [ 1.65591953e-03 9.99998420e-01 6.46228239e-04 7.13222950e-02] [ 1.06770201e-02 -6.63872596e-04 9.99942779e-01 1.02428020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11255784400004 meters Centerline goodness [0,1] 0.24958692060179144 Centerline is valid? [False, False] Translation: X:4.03, Y:0.07, Z:1.02 [[ 9.99951036e-01 5.10796581e-03 -8.47555489e-03 4.02722258e+00] [-5.12714462e-03 9.99984341e-01 -2.24265490e-03 7.06940630e-02] [ 8.46396677e-03 2.28600049e-03 9.99961567e-01 1.02313451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14255784400007 meters Centerline goodness [0,1] 0.25281648546365365 Centerline is valid? [False, False] Translation: X:4.03, Y:0.07, Z:1.02 [[ 9.99951613e-01 5.12182867e-03 -8.39867405e-03 4.02684898e+00] [-5.13980353e-03 9.99984544e-01 -2.12001718e-03 7.02403554e-02] [ 8.38768588e-03 2.16308213e-03 9.99962483e-01 1.02339735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17255784400004 meters Centerline goodness [0,1] 0.25462298220423796 Centerline is valid? [False, False] Translation: X:4.05, Y:0.07, Z:1.03 [[ 9.99966504e-01 -2.81711657e-03 -7.68473583e-03 4.04668118e+00] [ 2.80986320e-03 9.99995597e-01 -9.54500668e-04 7.39883617e-02] [ 7.68739093e-03 9.32875639e-04 9.99970016e-01 1.02522388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20255784400007 meters Centerline goodness [0,1] 0.24615384615384617 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99976860e-01 3.34198040e-03 -5.92547792e-03 4.06806896e+00] [-3.36796300e-03 9.99984735e-01 -4.38035148e-03 7.30333685e-02] [ 5.91074841e-03 4.40020691e-03 9.99972850e-01 1.02418743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23255784400004 meters Centerline goodness [0,1] 0.24615384615384617 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99976860e-01 3.34198040e-03 -5.92547792e-03 4.06806896e+00] [-3.36796300e-03 9.99984735e-01 -4.38035148e-03 7.30333685e-02] [ 5.91074841e-03 4.40020691e-03 9.99972850e-01 1.02418743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26255784400007 meters Centerline goodness [0,1] 0.2492347104926076 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99959838e-01 -6.27434496e-03 -6.39960311e-03 4.04753527e+00] [ 6.25254125e-03 9.99974600e-01 -3.42137664e-03 7.54798401e-02] [ 6.42090746e-03 3.38122545e-03 9.99973669e-01 1.02335057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29255784400004 meters Centerline goodness [0,1] 0.24958799548963484 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99959397e-01 -6.32053821e-03 -6.42295060e-03 4.04753340e+00] [ 6.29876857e-03 9.99974369e-01 -3.40394782e-03 7.52776022e-02] [ 6.44430076e-03 3.36335293e-03 9.99973579e-01 1.02341302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3225578440001 meters Centerline goodness [0,1] 0.2507049585701271 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99959615e-01 -6.31883069e-03 -6.39072136e-03 4.04743504e+00] [ 6.29726040e-03 9.99974427e-01 -3.38976107e-03 7.54109815e-02] [ 6.41197725e-03 3.34938014e-03 9.99973834e-01 1.02339517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35255784400005 meters Centerline goodness [0,1] 0.2523898064092749 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:1.02 [[ 9.99960068e-01 -6.32147294e-03 -6.31670734e-03 4.04723061e+00] [ 6.30007174e-03 9.99974367e-01 -3.40220485e-03 7.56447255e-02] [ 6.33805237e-03 3.36227328e-03 9.99974262e-01 1.02334597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.382557844 meters Centerline goodness [0,1] 0.24863883847549906 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99986786e-01 1.85487517e-03 -4.79446168e-03 4.06601264e+00] [-1.87968437e-03 9.99984842e-01 -5.17523755e-03 7.33336025e-02] [ 4.78478959e-03 5.18418124e-03 9.99975115e-01 1.02406156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41255784400005 meters Centerline goodness [0,1] 0.2514715145196672 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99987072e-01 1.83285786e-03 -4.74309585e-03 4.06559925e+00] [-1.85729848e-03 9.99984995e-01 -5.15361811e-03 7.31195536e-02] [ 4.73357883e-03 5.16236083e-03 9.99975471e-01 1.02449145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442557844 meters Centerline goodness [0,1] 0.25051098064796695 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99987279e-01 1.70303884e-03 -4.74775028e-03 4.06543863e+00] [-1.72709101e-03 9.99985674e-01 -5.06652534e-03 7.24897915e-02] [ 4.73905377e-03 5.07466069e-03 9.99975894e-01 1.02471467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47255784400005 meters Centerline goodness [0,1] 0.24694408322496753 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99986842e-01 1.67888527e-03 -4.84734428e-03 4.06583753e+00] [-1.70318645e-03 9.99985982e-01 -5.01352912e-03 7.21549246e-02] [ 4.83885919e-03 5.02171908e-03 9.99975684e-01 1.02440802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502557844 meters Centerline goodness [0,1] 0.25084782608695655 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99986562e-01 1.64741414e-03 -4.91554098e-03 4.06604138e+00] [-1.67177419e-03 9.99986323e-01 -4.95573604e-03 7.16448686e-02] [ 4.90730960e-03 4.96388712e-03 9.99975639e-01 1.02432676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53255784400005 meters Centerline goodness [0,1] 0.24936575977604758 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99986553e-01 1.60158205e-03 -4.93250110e-03 4.06599143e+00] [-1.62573776e-03 9.99986687e-01 -4.89714371e-03 7.09924884e-02] [ 4.92459226e-03 4.90509681e-03 9.99975844e-01 1.02442550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562557844 meters Centerline goodness [0,1] 0.2632370900209351 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99986890e-01 9.78328693e-04 -5.02621894e-03 4.06587979e+00] [-1.00394392e-03 9.99986510e-01 -5.09632837e-03 6.98555389e-02] [ 5.02116525e-03 5.10130760e-03 9.99974382e-01 1.02491230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59255784400005 meters Centerline goodness [0,1] 0.2540526292667926 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99985923e-01 1.00920599e-03 -5.20915714e-03 4.06622902e+00] [-1.03440117e-03 9.99987770e-01 -4.83628363e-03 6.85929685e-02] [ 5.20421263e-03 4.84160390e-03 9.99974737e-01 1.02494344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622557844 meters Centerline goodness [0,1] 0.2522870679679483 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99984258e-01 1.03851959e-03 -5.51416275e-03 4.06715870e+00] [-1.06370242e-03 9.99989010e-01 -4.56596986e-03 6.73615822e-02] [ 5.50936030e-03 4.57176341e-03 9.99974373e-01 1.02452686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65255784400006 meters Centerline goodness [0,1] 0.2485647551898016 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:1.02 [[ 9.99982762e-01 1.08129191e-03 -5.77113243e-03 4.06800991e+00] [-1.10558687e-03 9.99990534e-01 -4.20821018e-03 6.55640804e-02] [ 5.76652750e-03 4.21451813e-03 9.99974492e-01 1.02404672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68255784400003 meters Centerline goodness [0,1] 0.25015326677176386 Centerline is valid? [False, False] Translation: X:4.07, Y:0.06, Z:1.02 [[ 9.99981587e-01 1.02335777e-03 -5.98153868e-03 4.06847506e+00] [-1.04673104e-03 9.99991825e-01 -3.90574445e-03 6.35503210e-02] [ 5.97749281e-03 3.91193360e-03 9.99974483e-01 1.02409096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71255784400006 meters Centerline goodness [0,1] 0.2560690840199146 Centerline is valid? [False, False] Translation: X:4.07, Y:0.06, Z:1.03 [[ 9.99986066e-01 1.44622992e-05 -5.27898504e-03 4.06587782e+00] [-3.69123850e-05 9.99990957e-01 -4.25265503e-03 6.06957632e-02] [ 5.27887580e-03 4.25279063e-03 9.99977023e-01 1.02539216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74255784400003 meters Centerline goodness [0,1] 0.247224437881303 Centerline is valid? [False, False] Translation: X:4.11, Y:0.06, Z:1.03 [[ 9.99993663e-01 8.85884616e-04 -3.44816215e-03 4.10880414e+00] [-9.01568014e-04 9.99989245e-01 -4.54944151e-03 5.89936666e-02] [ 3.44409478e-03 4.55252143e-03 9.99983706e-01 1.02538253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77255784400006 meters Centerline goodness [0,1] 0.2477803460715906 Centerline is valid? [False, False] Translation: X:4.11, Y:0.06, Z:1.03 [[ 9.99993416e-01 9.96028434e-04 -3.48930326e-03 4.10904909e+00] [-1.01066263e-03 9.99990691e-01 -4.19476811e-03 5.74378713e-02] [ 3.48509267e-03 4.19826700e-03 9.99985114e-01 1.02501963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80255784400003 meters Centerline goodness [0,1] 0.25092620842958635 Centerline is valid? [False, False] Translation: X:4.11, Y:0.06, Z:1.02 [[ 9.99992698e-01 1.07973239e-03 -3.66570935e-03 4.10968471e+00] [-1.09374582e-03 9.99992094e-01 -3.82299358e-03 5.56618132e-02] [ 3.66155256e-03 3.82697502e-03 9.99985974e-01 1.02455097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83255784400006 meters Centerline goodness [0,1] 0.25323037097163414 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:1.02 [[ 9.99992645e-01 1.18214455e-03 -3.64866909e-03 4.10958165e+00] [-1.19466980e-03 9.99993395e-01 -3.43255635e-03 5.37421410e-02] [ 3.64458721e-03 3.43689005e-03 9.99987452e-01 1.02457596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86255784400004 meters Centerline goodness [0,1] 0.25416794967668144 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:1.02 [[ 9.99991467e-01 1.23914695e-03 -3.94092676e-03 4.11009273e+00] [-1.25047447e-03 9.99995091e-01 -2.87316520e-03 5.06270446e-02] [ 3.93734714e-03 2.87806871e-03 9.99988107e-01 1.02480773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89255784400007 meters Centerline goodness [0,1] 0.25023481356894783 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:1.02 [[ 9.99990610e-01 1.28368642e-03 -4.13913139e-03 4.11062226e+00] [-1.29505645e-03 9.99995393e-01 -2.74545033e-03 5.00277776e-02] [ 4.13558802e-03 2.75078496e-03 9.99987665e-01 1.02475332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92255784400004 meters Centerline goodness [0,1] 0.2524809954652003 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:1.02 [[ 9.99990206e-01 1.31425791e-03 -4.22611477e-03 4.11082322e+00] [-1.32569895e-03 9.99995461e-01 -2.70556290e-03 4.98872272e-02] [ 4.22253978e-03 2.71113896e-03 9.99987410e-01 1.02478372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95255784400007 meters Centerline goodness [0,1] 0.2528395386571942 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:1.02 [[ 9.99990417e-01 1.31313095e-03 -4.17631111e-03 4.11063218e+00] [-1.32465687e-03 9.99995319e-01 -2.75826544e-03 5.01557416e-02] [ 4.17266959e-03 2.76377119e-03 9.99987475e-01 1.02493175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98255784400004 meters Centerline goodness [0,1] 0.2529044962257959 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:1.03 [[ 9.99990921e-01 1.30547913e-03 -4.05634322e-03 4.11017354e+00] [-1.31699116e-03 9.99995109e-01 -2.83665826e-03 5.05248164e-02] [ 4.05262018e-03 2.84197467e-03 9.99987750e-01 1.02525556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01255784400007 meters Centerline goodness [0,1] 0.25439950602037664 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:1.03 [[ 9.99991743e-01 1.26527966e-03 -3.86177028e-03 4.10955763e+00] [-1.27694281e-03 9.99994627e-01 -3.01918691e-03 5.14155512e-02] [ 3.85792942e-03 3.02409324e-03 9.99987986e-01 1.02552230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04255784400004 meters Centerline goodness [0,1] 0.24527447895338061 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:1.02 [[ 9.99992640e-01 3.31319466e-03 -1.93435078e-03 4.15387292e+00] [-3.31901971e-03 9.99989944e-01 -3.01596621e-03 5.45068546e-02] [ 1.92433885e-03 3.02236416e-03 9.99993581e-01 1.02447037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0725578440001 meters Centerline goodness [0,1] 0.24579759119660338 Centerline is valid? [False, False] Translation: X:4.15, Y:0.06, Z:1.02 [[ 9.99992796e-01 3.26977844e-03 -1.92800508e-03 4.15417565e+00] [-3.27582608e-03 9.99989698e-01 -3.14196314e-03 5.52329705e-02] [ 1.91771169e-03 3.14825631e-03 9.99993205e-01 1.02391696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10255784400005 meters Centerline goodness [0,1] 0.2478051543472104 Centerline is valid? [False, False] Translation: X:4.15, Y:0.06, Z:1.02 [[ 9.99992942e-01 3.17893230e-03 -2.00274392e-03 4.15465606e+00] [-3.18544386e-03 9.99989624e-01 -3.25656477e-03 5.55495563e-02] [ 1.99237074e-03 3.26292141e-03 9.99992692e-01 1.02336138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.132557844 meters Centerline goodness [0,1] 0.2506589983225497 Centerline is valid? [False, False] Translation: X:4.16, Y:0.06, Z:1.02 [[ 9.99993241e-01 2.54864852e-03 -2.64982685e-03 4.15644112e+00] [-2.55820085e-03 9.99990220e-01 -3.60777035e-03 5.50269966e-02] [ 2.64060599e-03 3.61452475e-03 9.99989981e-01 1.02293518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16255784400005 meters Centerline goodness [0,1] 0.24417597644409805 Centerline is valid? [False, False] Translation: X:4.16, Y:0.05, Z:1.02 [[ 9.99993092e-01 2.33585781e-03 -2.89117244e-03 4.15691063e+00] [-2.34638256e-03 9.99990614e-01 -3.64228485e-03 5.44687052e-02] [ 2.88263744e-03 3.64904349e-03 9.99989187e-01 1.02299783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.192557844 meters Centerline goodness [0,1] 0.24896311088678702 Centerline is valid? [False, False] Translation: X:4.14, Y:0.06, Z:1.02 [[ 9.99966200e-01 -7.12659457e-03 -4.10017627e-03 4.13664135e+00] [ 7.11547152e-03 9.99970983e-01 -2.72104353e-03 5.85245840e-02] [ 4.11944907e-03 2.69177687e-03 9.99987892e-01 1.02264439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22255784400005 meters Centerline goodness [0,1] 0.24690415976279756 Centerline is valid? [False, False] Translation: X:4.14, Y:0.06, Z:1.02 [[ 9.99965343e-01 -7.19450867e-03 -4.18948643e-03 4.13699856e+00] [ 7.18334027e-03 9.99970622e-01 -2.67479030e-03 5.83164337e-02] [ 4.20860716e-03 2.64460310e-03 9.99987647e-01 1.02225115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.252557844 meters Centerline goodness [0,1] 0.24336503672249066 Centerline is valid? [False, False] Translation: X:4.14, Y:0.06, Z:1.02 [[ 9.99964978e-01 -7.25439949e-03 -4.17326761e-03 4.13700360e+00] [ 7.24318243e-03 9.99970132e-01 -2.69669986e-03 5.84292010e-02] [ 4.19270590e-03 2.66637768e-03 9.99987656e-01 1.02208318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28255784400005 meters Centerline goodness [0,1] 0.2501634485463976 Centerline is valid? [False, False] Translation: X:4.14, Y:0.06, Z:1.02 [[ 9.99965816e-01 -7.49657768e-03 -3.48841511e-03 4.13506273e+00] [ 7.48650301e-03 9.99967793e-01 -2.89218592e-03 5.89075010e-02] [ 3.50998425e-03 2.86597102e-03 9.99989733e-01 1.02252506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.312557844 meters Centerline goodness [0,1] 0.2446679906743805 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:1.02 [[ 9.99996264e-01 1.19866323e-03 -2.45654001e-03 4.15359038e+00] [-1.20866511e-03 9.99990970e-01 -4.07409998e-03 5.41594295e-02] [ 2.45163435e-03 4.07705389e-03 9.99988683e-01 1.02326508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34255784400005 meters Centerline goodness [0,1] 0.24841954335121985 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:1.02 [[ 9.99996286e-01 1.19813938e-03 -2.44806756e-03 4.15354348e+00] [-1.20804324e-03 9.99991077e-01 -4.04811931e-03 5.40442409e-02] [ 2.44319551e-03 4.05106164e-03 9.99988810e-01 1.02324720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.372557844 meters Centerline goodness [0,1] 0.2480766280165706 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:1.02 [[ 9.99995870e-01 1.21281341e-03 -2.60558942e-03 4.15406644e+00] [-1.22316715e-03 9.99991349e-01 -3.97575451e-03 5.36931374e-02] [ 2.60074503e-03 3.97892516e-03 9.99988702e-01 1.02297898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40255784400006 meters Centerline goodness [0,1] 0.23797228677166715 Centerline is valid? [False, False] Translation: X:4.18, Y:0.06, Z:1.02 [[ 9.99972586e-01 -6.29633020e-03 -3.89648596e-03 4.17581410e+00] [ 6.28318125e-03 9.99974556e-01 -3.37765696e-03 5.65045403e-02] [ 3.91765366e-03 3.35308204e-03 9.99986704e-01 1.02379731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43255784400003 meters Centerline goodness [0,1] 0.2463351412577055 Centerline is valid? [False, False] Translation: X:4.16, Y:0.05, Z:1.02 [[ 9.99986751e-01 1.56834194e-03 -4.90280133e-03 4.15555071e+00] [-1.58915843e-03 9.99989728e-01 -4.24482732e-03 5.24660455e-02] [ 4.89609362e-03 4.25256241e-03 9.99978972e-01 1.02281561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46255784400006 meters Centerline goodness [0,1] 0.24567210330335565 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:1.02 [[ 9.99987788e-01 1.53935625e-03 -4.69614046e-03 4.15475339e+00] [-1.56029048e-03 9.99988849e-01 -4.45735073e-03 5.36393008e-02] [ 4.68922664e-03 4.46462364e-03 9.99979039e-01 1.02336720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49255784400003 meters Centerline goodness [0,1] 0.24651922867414755 Centerline is valid? [False, False] Translation: X:4.15, Y:0.06, Z:1.02 [[ 9.99989574e-01 1.53644036e-03 -4.30011506e-03 4.15352932e+00] [-1.55709805e-03 9.99987245e-01 -4.80476763e-03 5.58826601e-02] [ 4.29267797e-03 4.81141324e-03 9.99979211e-01 1.02387520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52255784400006 meters Centerline goodness [0,1] 0.2489248946613961 Centerline is valid? [False, False] Translation: X:4.15, Y:0.06, Z:1.02 [[ 9.99977889e-01 5.34838112e-03 -3.95183800e-03 4.15246559e+00] [-5.35523276e-03 9.99984172e-01 -1.72524150e-03 6.09463871e-02] [ 3.94254820e-03 1.74636637e-03 9.99990703e-01 1.02448216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55255784400003 meters Centerline goodness [0,1] 0.2478443559329453 Centerline is valid? [False, False] Translation: X:4.15, Y:0.06, Z:1.02 [[ 9.99980018e-01 5.15060716e-03 -3.66544944e-03 4.15190652e+00] [-5.15965987e-03 9.99983652e-01 -2.46458329e-03 6.45769025e-02] [ 3.65269541e-03 2.48344651e-03 9.99990245e-01 1.02444307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58255784400006 meters Centerline goodness [0,1] 0.24699136653004272 Centerline is valid? [False, False] Translation: X:4.15, Y:0.07, Z:1.02 [[ 9.99981755e-01 4.88031156e-03 -3.55969589e-03 4.15169513e+00] [-4.89171425e-03 9.99982910e-01 -3.20163397e-03 6.79134439e-02] [ 3.54401008e-03 3.21898857e-03 9.99988539e-01 1.02446226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61255784400004 meters Centerline goodness [0,1] 0.2501200925804621 Centerline is valid? [False, False] Translation: X:4.15, Y:0.07, Z:1.02 [[ 9.99983103e-01 4.65420212e-03 -3.48309450e-03 4.15157736e+00] [-4.66734235e-03 9.99981986e-01 -3.77400409e-03 7.05472674e-02] [ 3.46546678e-03 3.79019711e-03 9.99986812e-01 1.02435871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64255784400007 meters Centerline goodness [0,1] 0.24636140815131335 Centerline is valid? [False, False] Translation: X:4.17, Y:0.08, Z:1.03 [[ 9.99984629e-01 -1.90935678e-03 -5.20532245e-03 4.17007622e+00] [ 1.89636421e-03 9.99995077e-01 -2.49981046e-03 7.61673765e-02] [ 5.21006985e-03 2.48990085e-03 9.99983328e-01 1.02726193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67255784400004 meters Centerline goodness [0,1] 0.25212240868706814 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99921030e-01 -1.06450283e-02 -6.67960305e-03 4.15073883e+00] [ 1.06380503e-02 9.99942832e-01 -1.07933191e-03 8.19737610e-02] [ 6.69071070e-03 1.00818873e-03 9.99977109e-01 1.02623776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70255784400007 meters Centerline goodness [0,1] 0.2459702787721011 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.02 [[ 9.99897163e-01 -1.20659162e-02 -7.75094614e-03 4.15435033e+00] [ 1.20503883e-02 9.99925296e-01 -2.04694920e-03 8.26103103e-02] [ 7.77506543e-03 1.95333678e-03 9.99967866e-01 1.02473841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73255784400004 meters Centerline goodness [0,1] 0.24512510597595705 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.02 [[ 9.99890742e-01 -1.24409110e-02 -7.98297218e-03 4.15487960e+00] [ 1.24248934e-02 9.99920701e-01 -2.05293980e-03 8.13416455e-02] [ 8.00787958e-03 1.95352792e-03 9.99966028e-01 1.02470823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76255784400007 meters Centerline goodness [0,1] 0.23688914733690858 Centerline is valid? [False, False] Translation: X:4.17, Y:0.08, Z:1.03 [[ 9.99952196e-01 -5.42403980e-03 -8.13546314e-03 4.17356119e+00] [ 5.39145966e-03 9.99977380e-01 -4.02130476e-03 7.51174835e-02] [ 8.15709084e-03 3.97725050e-03 9.99958821e-01 1.02587050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79255784400004 meters Centerline goodness [0,1] 0.24882505380594722 Centerline is valid? [False, False] Translation: X:4.13, Y:0.08, Z:1.03 [[ 9.99922276e-01 -6.41573951e-03 -1.06902353e-02 4.12844265e+00] [ 6.37954652e-03 9.99973815e-01 -3.41628072e-03 7.63235440e-02] [ 1.07118733e-02 3.34781634e-03 9.99937022e-01 1.02670237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8225578440001 meters Centerline goodness [0,1] 0.2431643159989617 Centerline is valid? [False, False] Translation: X:4.15, Y:0.07, Z:1.03 [[ 9.99945718e-01 1.96976465e-03 -1.02314175e-02 4.14821541e+00] [-2.01443903e-03 9.99988475e-01 -4.35792296e-03 7.09071266e-02] [ 1.02227155e-02 4.37829696e-03 9.99938161e-01 1.02667254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85255784400005 meters Centerline goodness [0,1] 0.24550794373279583 Centerline is valid? [False, False] Translation: X:4.15, Y:0.07, Z:1.03 [[ 9.99944144e-01 1.94584919e-03 -1.03885784e-02 4.14884319e+00] [-1.99145945e-03 9.99988417e-01 -4.38188583e-03 7.10008321e-02] [ 1.03799315e-02 4.40232951e-03 9.99936436e-01 1.02627148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.882557844 meters Centerline goodness [0,1] 0.24468015308911972 Centerline is valid? [False, False] Translation: X:4.15, Y:0.07, Z:1.03 [[ 9.99941529e-01 1.88950281e-03 -1.06474297e-02 4.14958530e+00] [-1.93891520e-03 9.99987391e-01 -4.63237047e-03 7.21393891e-02] [ 1.06385425e-02 4.65274407e-03 9.99932584e-01 1.02622997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91255784400005 meters Centerline goodness [0,1] 0.24801661020653476 Centerline is valid? [False, False] Translation: X:4.15, Y:0.07, Z:1.03 [[ 9.99944785e-01 1.91334761e-03 -1.03327839e-02 4.14859601e+00] [-1.96388675e-03 9.99986149e-01 -4.88321475e-03 7.36205082e-02] [ 1.03232975e-02 4.90323754e-03 9.99934692e-01 1.02674016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942557844 meters Centerline goodness [0,1] 0.24437705883636207 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99950192e-01 2.03404691e-03 -9.77117322e-03 4.14694893e+00] [-2.08414963e-03 9.99984720e-01 -5.12016239e-03 7.54988758e-02] [ 9.76060927e-03 5.14027196e-03 9.99939152e-01 1.02734001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97255784400005 meters Centerline goodness [0,1] 0.2506383166050361 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99955115e-01 2.13596784e-03 -9.23070026e-03 4.14541827e+00] [-2.18614811e-03 9.99982870e-01 -5.42957002e-03 7.76539308e-02] [ 9.21894475e-03 5.44950600e-03 9.99942655e-01 1.02793225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002557844 meters Centerline goodness [0,1] 0.24929407901937184 Centerline is valid? [False, False] Translation: X:4.14, Y:0.08, Z:1.03 [[ 9.99956833e-01 2.08350936e-03 -9.05486620e-03 4.14495613e+00] [-2.13691057e-03 9.99980360e-01 -5.89184772e-03 8.00239450e-02] [ 9.04241264e-03 5.91094283e-03 9.99941646e-01 1.02817319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03255784400005 meters Centerline goodness [0,1] 0.24661003995894926 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99955549e-01 1.96321861e-03 -9.22204081e-03 4.14554618e+00] [-2.02156780e-03 9.99977972e-01 -6.32208957e-03 8.19978216e-02] [ 9.20942603e-03 6.34045153e-03 9.99937491e-01 1.02797168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062557844 meters Centerline goodness [0,1] 0.24685627111256403 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99950398e-01 1.86939395e-03 -9.78294128e-03 4.14744872e+00] [-1.93554566e-03 9.99975299e-01 -6.75685075e-03 8.42923478e-02] [ 9.77006842e-03 6.77545093e-03 9.99929317e-01 1.02707339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09255784400005 meters Centerline goodness [0,1] 0.24440541243819935 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99950334e-01 1.90926184e-03 -9.78188252e-03 4.14747958e+00] [-1.97495902e-03 9.99975531e-01 -6.71095805e-03 8.43752807e-02] [ 9.76883019e-03 6.72994356e-03 9.99929636e-01 1.02696380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122557844 meters Centerline goodness [0,1] 0.24388763655280044 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99952330e-01 1.93866445e-03 -9.56968183e-03 4.14666478e+00] [-2.00216652e-03 9.99976013e-01 -6.63064064e-03 8.40551419e-02] [ 9.55659769e-03 6.64948465e-03 9.99932226e-01 1.02739633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15255784400006 meters Centerline goodness [0,1] 0.24388763655280044 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99952330e-01 1.93866445e-03 -9.56968183e-03 4.14666478e+00] [-2.00216652e-03 9.99976013e-01 -6.63064064e-03 8.40551419e-02] [ 9.55659769e-03 6.64948465e-03 9.99932226e-01 1.02739633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18255784400003 meters Centerline goodness [0,1] 0.24695701579947993 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99954462e-01 1.94459281e-03 -9.34303751e-03 4.14578682e+00] [-2.00599060e-03 9.99976427e-01 -6.56663181e-03 8.37061670e-02] [ 9.33004785e-03 6.58507483e-03 9.99934791e-01 1.02788680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21255784400006 meters Centerline goodness [0,1] 0.24680069126944193 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99955593e-01 1.91662794e-03 -9.22701381e-03 4.14535677e+00] [-1.97726761e-03 9.99976480e-01 -6.56734126e-03 8.36292952e-02] [ 9.21420964e-03 6.58529390e-03 9.99935864e-01 1.02808427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24255784400003 meters Centerline goodness [0,1] 0.24690412637290504 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:1.03 [[ 9.99953919e-01 1.82723041e-03 -9.42452658e-03 4.14629723e+00] [-1.89062526e-03 9.99975619e-01 -6.72206418e-03 8.44882572e-02] [ 9.41201404e-03 6.73957266e-03 9.99932994e-01 1.02725298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27255784400006 meters Centerline goodness [0,1] 0.2427819810418297 Centerline is valid? [False, False] Translation: X:4.15, Y:0.09, Z:1.03 [[ 9.99952386e-01 1.72757172e-03 -9.60426386e-03 4.14709976e+00] [-1.79421038e-03 9.99974349e-01 -6.93416433e-03 8.54534102e-02] [ 9.59203823e-03 6.95106623e-03 9.99929835e-01 1.02664125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30255784400003 meters Centerline goodness [0,1] 0.24061334080959262 Centerline is valid? [False, False] Translation: X:4.17, Y:0.09, Z:1.03 [[ 0.9999273 -0.00569029 -0.01063054 4.16697582] [ 0.00562512 0.99996526 -0.00615047 0.08983884] [ 0.01066517 0.00609023 0.99992458 1.02869791] [ 0. 0. 0. 1. ]] SLAMing on 294.33255784400006 meters Centerline goodness [0,1] 0.2419020023353371 Centerline is valid? [False, False] Translation: X:4.17, Y:0.09, Z:1.03 [[ 0.9999266 -0.0059074 -0.01057808 4.16675453] [ 0.00583657 0.99996042 -0.00671454 0.0927283 ] [ 0.01061733 0.00665231 0.99992151 1.02884097] [ 0. 0. 0. 1. ]] SLAMing on 294.36255784400004 meters Centerline goodness [0,1] 0.24380254832278758 Centerline is valid? [False, False] Translation: X:4.16, Y:0.09, Z:1.03 [[ 9.99946340e-01 -3.05435706e-03 -9.89885592e-03 4.16450754e+00] [ 3.01760546e-03 9.99988507e-01 -3.72552363e-03 9.34662538e-02] [ 9.91012123e-03 3.69545288e-03 9.99944065e-01 1.02948706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39255784400007 meters Centerline goodness [0,1] 0.2430793056720656 Centerline is valid? [False, False] Translation: X:4.16, Y:0.09, Z:1.03 [[ 9.99947558e-01 -3.13019835e-03 -9.75102010e-03 4.16399303e+00] [ 3.09211770e-03 9.99987544e-01 -3.91793042e-03 9.44480883e-02] [ 9.76316254e-03 3.88757366e-03 9.99944782e-01 1.02971862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42255784400004 meters Centerline goodness [0,1] 0.2430793056720656 Centerline is valid? [False, False] Translation: X:4.16, Y:0.09, Z:1.03 [[ 9.99947558e-01 -3.13019835e-03 -9.75102010e-03 4.16399303e+00] [ 3.09211770e-03 9.99987544e-01 -3.91793042e-03 9.44480883e-02] [ 9.76316254e-03 3.88757366e-03 9.99944782e-01 1.02971862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45255784400007 meters Centerline goodness [0,1] 0.24303519061583578 Centerline is valid? [False, False] Translation: X:4.16, Y:0.10, Z:1.03 [[ 9.99946322e-01 -3.36487957e-03 -9.79954927e-03 4.16420906e+00] [ 3.32266140e-03 9.99985143e-01 -4.32127377e-03 9.59779707e-02] [ 9.81394425e-03 4.28848123e-03 9.99942646e-01 1.02950770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48255784400004 meters Centerline goodness [0,1] 0.24383164005805513 Centerline is valid? [False, False] Translation: X:4.16, Y:0.10, Z:1.03 [[ 9.99944538e-01 -3.46537908e-03 -9.94541334e-03 4.16483197e+00] [ 3.41993443e-03 9.99983651e-01 -4.58278215e-03 9.72716321e-02] [ 9.96113182e-03 4.54851532e-03 9.99940042e-01 1.02909473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51255784400007 meters Centerline goodness [0,1] 0.24882834742236437 Centerline is valid? [False, False] Translation: X:4.17, Y:0.10, Z:1.03 [[ 9.99942951e-01 -3.57982236e-03 -1.00637839e-02 4.16548086e+00] [ 3.53045954e-03 9.99981672e-01 -4.91848999e-03 9.90218357e-02] [ 1.00812068e-02 4.88267961e-03 9.99937262e-01 1.02851022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54255784400004 meters Centerline goodness [0,1] 0.2446412639000718 Centerline is valid? [False, False] Translation: X:4.17, Y:0.10, Z:1.03 [[ 9.99941767e-01 -3.69048821e-03 -1.01411445e-02 4.16581878e+00] [ 3.63681725e-03 9.99979311e-01 -5.30575076e-03 1.01075977e-01] [ 1.01605155e-02 5.26856030e-03 9.99934501e-01 1.02834078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5725578440001 meters Centerline goodness [0,1] 0.24245834235014063 Centerline is valid? [False, False] Translation: X:4.17, Y:0.10, Z:1.03 [[ 9.99941661e-01 -3.83327112e-03 -1.00985740e-02 4.16563768e+00] [ 3.77520733e-03 9.99976270e-01 -5.76250356e-03 1.03387877e-01] [ 1.01204236e-02 5.72404317e-03 9.99932404e-01 1.02857449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60255784400005 meters Centerline goodness [0,1] 0.24609298157417325 Centerline is valid? [False, False] Translation: X:4.17, Y:0.11, Z:1.03 [[ 9.99939438e-01 -4.18955385e-03 -1.01768274e-02 4.16559606e+00] [ 4.12070668e-03 9.99968548e-01 -6.77666549e-03 1.08055349e-01] [ 1.02048985e-02 6.73431936e-03 9.99925252e-01 1.02916927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.632557844 meters Centerline goodness [0,1] 0.2494710394075641 Centerline is valid? [False, False] Translation: X:4.17, Y:0.11, Z:1.03 [[ 0.99993708 -0.00436527 -0.01033335 4.16616657] [ 0.0042902 0.99996433 -0.00727545 0.11056807] [ 0.01036474 0.00723066 0.99992014 1.02891477] [ 0. 0. 0. 1. ]] SLAMing on 294.66255784400005 meters Centerline goodness [0,1] 0.24289769649164628 Centerline is valid? [False, False] Translation: X:4.19, Y:0.11, Z:1.03 [[ 0.99989384 -0.00997252 -0.01062391 4.1902219 ] [ 0.00992491 0.99994051 -0.00452433 0.11337871] [ 0.0106684 0.00441841 0.99993333 1.02836805] [ 0. 0. 0. 1. ]] SLAMing on 294.692557844 meters Centerline goodness [0,1] 0.24317784067584214 Centerline is valid? [False, False] Translation: X:4.19, Y:0.11, Z:1.03 [[ 9.99921157e-01 -6.72278516e-03 -1.06058338e-02 4.18999909e+00] [ 6.71024507e-03 9.99976745e-01 -1.21751899e-03 1.13798060e-01] [ 1.06137722e-02 1.14625525e-03 9.99943015e-01 1.02844940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72255784400005 meters Centerline goodness [0,1] 0.2422422205356175 Centerline is valid? [False, False] Translation: X:4.19, Y:0.12, Z:1.03 [[ 9.99921584e-01 -6.91458643e-03 -1.04409553e-02 4.18948053e+00] [ 6.89690660e-03 9.99974722e-01 -1.72837374e-03 1.16211488e-01] [ 1.04526424e-02 1.65622791e-03 9.99943998e-01 1.02867046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.752557844 meters Centerline goodness [0,1] 0.244762811634349 Centerline is valid? [False, False] Translation: X:4.19, Y:0.12, Z:1.03 [[ 9.99922321e-01 -7.07730383e-03 -1.02597707e-02 4.18888181e+00] [ 7.05503794e-03 9.99972682e-01 -2.20478403e-03 1.18528339e-01] [ 1.02750944e-02 2.13222970e-03 9.99944937e-01 1.02897438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78255784400005 meters Centerline goodness [0,1] 0.24831937343631028 Centerline is valid? [False, False] Translation: X:4.19, Y:0.12, Z:1.03 [[ 9.99942163e-01 -3.59441593e-03 -1.01366522e-02 4.18843767e+00] [ 3.60303595e-03 9.99993163e-01 8.32247363e-04 1.22227074e-01] [ 1.01335915e-02 -8.68721951e-04 9.99948276e-01 1.02903860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.812557844 meters Centerline goodness [0,1] 0.24171813587871982 Centerline is valid? [False, False] Translation: X:4.19, Y:0.13, Z:1.03 [[ 9.99938808e-01 -3.78696880e-03 -1.03941704e-02 4.18945514e+00] [ 3.78966169e-03 9.99992791e-01 2.39393361e-04 1.25264840e-01] [ 1.03931889e-02 -2.78769101e-04 9.99945950e-01 1.02847101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84255784400005 meters Centerline goodness [0,1] 0.24509654526851998 Centerline is valid? [False, False] Translation: X:4.19, Y:0.13, Z:1.03 [[ 9.99935734e-01 -4.00540870e-03 -1.06058913e-02 4.19034768e+00] [ 4.00220762e-03 9.99991939e-01 -3.23027224e-04 1.27852552e-01] [ 1.06070996e-02 2.80559485e-04 9.99943704e-01 1.02791944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.872557844 meters Centerline goodness [0,1] 0.2454328487741375 Centerline is valid? [False, False] Translation: X:4.19, Y:0.13, Z:1.03 [[ 9.99934430e-01 -4.20526695e-03 -1.06513975e-02 4.19062393e+00] [ 4.19617079e-03 9.99990812e-01 -8.76191843e-04 1.30419135e-01] [ 1.06549843e-02 8.31439307e-04 9.99942888e-01 1.02767844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90255784400006 meters Centerline goodness [0,1] 0.2406302684476721 Centerline is valid? [False, False] Translation: X:4.19, Y:0.13, Z:1.03 [[ 9.99934804e-01 -4.40061124e-03 -1.05366907e-02 4.19023424e+00] [ 4.38552949e-03 9.99989326e-01 -1.45403358e-03 1.33285990e-01] [ 1.05429769e-02 1.40772981e-03 9.99943430e-01 1.02792582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93255784400003 meters Centerline goodness [0,1] 0.24294667447357576 Centerline is valid? [False, False] Translation: X:4.19, Y:0.14, Z:1.03 [[ 9.99935862e-01 -4.55261922e-03 -1.03704509e-02 4.18962090e+00] [ 4.53212569e-03 9.99987732e-01 -1.99879088e-03 1.36222931e-01] [ 1.03794234e-02 1.95166250e-03 9.99944228e-01 1.02830639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96255784400006 meters Centerline goodness [0,1] 0.24569350377839239 Centerline is valid? [False, False] Translation: X:4.19, Y:0.14, Z:1.03 [[ 9.99947444e-01 -2.85928263e-03 -9.84552372e-03 4.18698538e+00] [ 2.85072494e-03 9.99995547e-01 -8.83120301e-04 1.42598538e-01] [ 9.84800497e-03 8.55007007e-04 9.99951142e-01 1.02974494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99255784400003 meters Centerline goodness [0,1] 0.24291139786802474 Centerline is valid? [False, False] Translation: X:4.19, Y:0.14, Z:1.03 [[ 9.99945382e-01 -3.04716131e-03 -9.99742816e-03 4.18765590e+00] [ 3.03440392e-03 9.99994563e-01 -1.29098831e-03 1.44355785e-01] [ 1.00013077e-02 1.26058157e-03 9.99949191e-01 1.02926111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02255784400006 meters Centerline goodness [0,1] 0.2459069929460942 Centerline is valid? [False, False] Translation: X:4.19, Y:0.15, Z:1.03 [[ 9.99945209e-01 -3.19482809e-03 -9.96858166e-03 4.18771326e+00] [ 3.17867725e-03 9.99993610e-01 -1.63559826e-03 1.45907989e-01] [ 9.97374342e-03 1.60382174e-03 9.99948975e-01 1.02903766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05255784400003 meters Centerline goodness [0,1] 0.24448254161151017 Centerline is valid? [False, False] Translation: X:4.19, Y:0.15, Z:1.03 [[ 9.99945839e-01 -3.28807105e-03 -9.87458808e-03 4.18742941e+00] [ 3.26918356e-03 9.99992797e-01 -1.92826944e-03 1.47520371e-01] [ 9.88085724e-03 1.89588316e-03 9.99949386e-01 1.02914923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08255784400006 meters Centerline goodness [0,1] 0.24602966841186735 Centerline is valid? [False, False] Translation: X:4.19, Y:0.15, Z:1.03 [[ 9.99946412e-01 -3.39814046e-03 -9.77885191e-03 4.18717119e+00] [ 3.37592245e-03 9.99991685e-01 -2.28765790e-03 1.49506381e-01] [ 9.78654438e-03 2.25452266e-03 9.99949569e-01 1.02922927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11255784400004 meters Centerline goodness [0,1] 0.24881283235223317 Centerline is valid? [False, False] Translation: X:4.19, Y:0.15, Z:1.03 [[ 9.99944964e-01 -3.71694354e-03 -9.81087499e-03 4.18720179e+00] [ 3.68686814e-03 9.99988455e-01 -3.08182524e-03 1.53178905e-01] [ 9.82221669e-03 3.04548422e-03 9.99947123e-01 1.02940755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14255784400007 meters Centerline goodness [0,1] 0.24730078244525067 Centerline is valid? [False, False] Translation: X:4.19, Y:0.15, Z:1.03 [[ 9.99943377e-01 -3.89528586e-03 -9.90298847e-03 4.18733141e+00] [ 3.86098030e-03 9.99986488e-01 -3.48092393e-03 1.54794959e-01] [ 9.91641385e-03 3.44249158e-03 9.99944905e-01 1.02961391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17255784400004 meters Centerline goodness [0,1] 0.2515838099428068 Centerline is valid? [False, False] Translation: X:4.19, Y:0.16, Z:1.03 [[ 9.99943493e-01 -4.07063770e-03 -9.82038444e-03 4.18700229e+00] [ 4.03250982e-03 9.99984267e-01 -3.89920600e-03 1.56584665e-01] [ 9.83610219e-03 3.85938487e-03 9.99944177e-01 1.02984281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20255784400007 meters Centerline goodness [0,1] 0.25254685777287766 Centerline is valid? [False, False] Translation: X:4.19, Y:0.16, Z:1.03 [[ 9.99944457e-01 -4.19143009e-03 -9.67035715e-03 4.18642002e+00] [ 4.15062685e-03 9.99982416e-01 -4.23563205e-03 1.58256743e-01] [ 9.68794046e-03 4.19525875e-03 9.99944270e-01 1.03021825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23255784400004 meters Centerline goodness [0,1] 0.24655479720036522 Centerline is valid? [False, False] Translation: X:4.21, Y:0.16, Z:1.03 [[ 9.99890992e-01 -1.20896276e-02 -8.47614705e-03 4.20607617e+00] [ 1.20638709e-02 9.99922475e-01 -3.08330441e-03 1.62789237e-01] [ 8.51276594e-03 2.98071316e-03 9.99959323e-01 1.03171107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26255784400007 meters Centerline goodness [0,1] 0.24692433315187812 Centerline is valid? [False, False] Translation: X:4.21, Y:0.16, Z:1.03 [[ 9.99891666e-01 -1.21533719e-02 -8.30368893e-03 4.20554043e+00] [ 1.21269778e-02 9.99921276e-01 -3.22158484e-03 1.63543189e-01] [ 8.34218835e-03 3.12053718e-03 9.99960334e-01 1.03185034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29255784400004 meters Centerline goodness [0,1] 0.24709213678937048 Centerline is valid? [False, False] Translation: X:4.21, Y:0.16, Z:1.03 [[ 9.99891526e-01 -1.21970617e-02 -8.25642069e-03 4.20543260e+00] [ 1.21708941e-02 9.99920772e-01 -3.21222328e-03 1.63327860e-01] [ 8.29494624e-03 3.11138681e-03 9.99960756e-01 1.03176978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3225578440001 meters Centerline goodness [0,1] 0.24767245485644995 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 0.99995531 -0.00461777 -0.00825 4.22434888] [ 0.0045782 0.99997796 -0.004809 0.15765326] [ 0.00827203 0.00477101 0.9999544 1.03309395] [ 0. 0. 0. 1. ]] SLAMing on 295.35255784400005 meters Centerline goodness [0,1] 0.25062061996089546 Centerline is valid? [False, False] Translation: X:4.20, Y:0.16, Z:1.03 [[ 9.99945856e-01 1.92001346e-03 -1.02273258e-02 4.20162834e+00] [-1.99466058e-03 9.99971412e-01 -7.29359896e-03 1.57512368e-01] [ 1.02130296e-02 7.31360410e-03 9.99921099e-01 1.03360280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.382557844 meters Centerline goodness [0,1] 0.24270545580110492 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 0.99992026 -0.00599372 -0.01111545 4.22375717] [ 0.00592365 0.99996244 -0.00632677 0.16075632] [ 0.01115295 0.00626042 0.99991821 1.03457885] [ 0. 0. 0. 1. ]] SLAMing on 295.41255784400005 meters Centerline goodness [0,1] 0.24731159388741342 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 0.99991947 -0.0060177 -0.01117358 4.22401805] [ 0.0059464 0.99996182 -0.00640299 0.16116351] [ 0.01121168 0.00633603 0.99991707 1.03437585] [ 0. 0. 0. 1. ]] SLAMing on 295.442557844 meters Centerline goodness [0,1] 0.24626186451696785 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 0.99991761 -0.00604099 -0.0113264 4.22447011] [ 0.00596775 0.99996114 -0.00648905 0.1615875 ] [ 0.01136516 0.00642092 0.9999148 1.03427827] [ 0. 0. 0. 1. ]] SLAMing on 295.47255784400005 meters Centerline goodness [0,1] 0.2457553707553708 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:1.03 [[ 9.99927987e-01 -2.39078957e-03 -1.17602734e-02 4.22551831e+00] [ 2.35908026e-03 9.99993547e-01 -2.70944083e-03 1.60811502e-01] [ 1.17666752e-02 2.68150229e-03 9.99927175e-01 1.03410252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502557844 meters Centerline goodness [0,1] 0.24728817251143542 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:1.03 [[ 9.99927519e-01 -2.40819877e-03 -1.17965221e-02 4.22557955e+00] [ 2.37550811e-03 9.99993302e-01 -2.78444053e-03 1.61222858e-01] [ 1.18031486e-02 2.75621597e-03 9.99926542e-01 1.03417935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53255784400005 meters Centerline goodness [0,1] 0.24908907326923924 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:1.03 [[ 9.99929366e-01 -2.40149310e-03 -1.16402785e-02 4.22507762e+00] [ 2.36893572e-03 9.99993246e-01 -2.80994019e-03 1.61326718e-01] [ 1.16469479e-02 2.78216664e-03 9.99928302e-01 1.03441417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562557844 meters Centerline goodness [0,1] 0.24765161681312498 Centerline is valid? [False, False] Translation: X:4.25, Y:0.16, Z:1.04 [[ 9.99894200e-01 -1.06175134e-02 -9.94271669e-03 4.24543651e+00] [ 1.05975985e-02 9.99941735e-01 -2.05351511e-03 1.63267516e-01] [ 9.96394060e-03 1.94792893e-03 9.99948461e-01 1.03505876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59255784400005 meters Centerline goodness [0,1] 0.24931279724246258 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99961143e-01 -2.49020796e-03 -8.45638665e-03 4.22365728e+00] [ 2.46730687e-03 9.99993264e-01 -2.71749574e-03 1.59460986e-01] [ 8.46309682e-03 2.69652565e-03 9.99960552e-01 1.03359860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622557844 meters Centerline goodness [0,1] 0.2504207190470987 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99962051e-01 -2.45923667e-03 -8.35760925e-03 4.22333072e+00] [ 2.43690919e-03 9.99993438e-01 -2.68064904e-03 1.59445143e-01] [ 8.36414675e-03 2.66018057e-03 9.99961482e-01 1.03370439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65255784400006 meters Centerline goodness [0,1] 0.2506275511317748 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99961170e-01 -2.41488033e-03 -8.47510261e-03 4.22405365e+00] [ 2.39169747e-03 9.99993374e-01 -2.74447758e-03 1.60343759e-01] [ 8.48167403e-03 2.72410113e-03 9.99960319e-01 1.03305016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68255784400003 meters Centerline goodness [0,1] 0.24605767555323232 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99961057e-01 -2.42263051e-03 -8.48621074e-03 4.22423845e+00] [ 2.39896490e-03 9.99993209e-01 -2.79778350e-03 1.60615604e-01] [ 8.49293111e-03 2.77731642e-03 9.99960078e-01 1.03280325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71255784400006 meters Centerline goodness [0,1] 0.2480107830775251 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99961583e-01 -2.47045140e-03 -8.41010155e-03 4.22403638e+00] [ 2.44622305e-03 9.99992832e-01 -2.88993130e-03 1.60834810e-01] [ 8.41718070e-03 2.86924730e-03 9.99960458e-01 1.03281003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74255784400003 meters Centerline goodness [0,1] 0.24804696024091122 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99961931e-01 -2.49581195e-03 -8.36102700e-03 4.22386599e+00] [ 2.47148624e-03 9.99992687e-01 -2.91848651e-03 1.60767766e-01] [ 8.36824985e-03 2.89771124e-03 9.99960787e-01 1.03283877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77255784400006 meters Centerline goodness [0,1] 0.24854695625573575 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99961727e-01 -2.46939910e-03 -8.39328723e-03 4.22394505e+00] [ 2.44577443e-03 9.99993022e-01 -2.82380926e-03 1.60344197e-01] [ 8.40020178e-03 2.80317310e-03 9.99960789e-01 1.03277409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80255784400003 meters Centerline goodness [0,1] 0.24358531317494603 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99961529e-01 -2.41644637e-03 -8.43219058e-03 4.22405997e+00] [ 2.39437059e-03 9.99993683e-01 -2.62714922e-03 1.59588078e-01] [ 8.43848567e-03 2.60685836e-03 9.99960997e-01 1.03262200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83255784400006 meters Centerline goodness [0,1] 0.24302858010893857 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99960357e-01 -2.35480066e-03 -8.58720372e-03 4.22451032e+00] [ 2.33492347e-03 9.99994573e-01 -2.32403629e-03 1.58187345e-01] [ 8.59262976e-03 2.30389369e-03 9.99960429e-01 1.03236995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86255784400004 meters Centerline goodness [0,1] 0.2440589353612167 Centerline is valid? [False, False] Translation: X:4.22, Y:0.16, Z:1.03 [[ 9.99959646e-01 -2.35349148e-03 -8.66992558e-03 4.22481399e+00] [ 2.33607157e-03 9.99995234e-01 -2.01881367e-03 1.56398814e-01] [ 8.67463552e-03 1.99847863e-03 9.99960378e-01 1.03203873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89255784400007 meters Centerline goodness [0,1] 0.24689049317213185 Centerline is valid? [False, False] Translation: X:4.22, Y:0.15, Z:1.03 [[ 9.99961596e-01 -2.91785285e-03 -8.26395658e-03 4.22384977e+00] [ 2.90043388e-03 9.99993549e-01 -2.11902590e-03 1.54991960e-01] [ 8.27008627e-03 2.09497546e-03 9.99963608e-01 1.03179695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92255784400004 meters Centerline goodness [0,1] 0.24536086928344603 Centerline is valid? [False, False] Translation: X:4.22, Y:0.15, Z:1.03 [[ 9.99962295e-01 -2.88731146e-03 -8.18973397e-03 4.22367334e+00] [ 2.87106324e-03 9.99993888e-01 -1.99503718e-03 1.54469897e-01] [ 8.19544421e-03 1.97144871e-03 9.99964473e-01 1.03170997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95255784400007 meters Centerline goodness [0,1] 0.25041626500744896 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99940779e-01 -2.72624073e-03 -1.05359665e-02 4.17757939e+00] [ 2.71110705e-03 9.99995273e-01 -1.45039854e-03 1.58129488e-01] [ 1.05398708e-02 1.42174851e-03 9.99943443e-01 1.03285038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98255784400004 meters Centerline goodness [0,1] 0.24935036576045422 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99941368e-01 -2.75773666e-03 -1.04716862e-02 4.17741088e+00] [ 2.74241758e-03 9.99995149e-01 -1.47698294e-03 1.58148857e-01] [ 1.04757085e-02 1.44817861e-03 9.99944080e-01 1.03284440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01255784400007 meters Centerline goodness [0,1] 0.24701655052264804 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99941803e-01 -2.79147596e-03 -1.04210802e-02 4.17720670e+00] [ 2.77551744e-03 9.99994954e-01 -1.54551743e-03 1.58323089e-01] [ 1.04253418e-02 1.51650360e-03 9.99944505e-01 1.03298331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04255784400004 meters Centerline goodness [0,1] 0.24701655052264804 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99941803e-01 -2.79147596e-03 -1.04210802e-02 4.17720670e+00] [ 2.77551744e-03 9.99994954e-01 -1.54551743e-03 1.58323089e-01] [ 1.04253418e-02 1.51650360e-03 9.99944505e-01 1.03298331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0725578440001 meters Centerline goodness [0,1] 0.24332491527984634 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99941329e-01 -2.82567942e-03 -1.04572160e-02 4.17740457e+00] [ 2.80885002e-03 9.99994737e-01 -1.62369508e-03 1.58670192e-01] [ 1.04617490e-02 1.59422706e-03 9.99944004e-01 1.03275085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10255784400005 meters Centerline goodness [0,1] 0.24448231969105305 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99937626e-01 -2.81398908e-03 -1.08085458e-02 4.17900828e+00] [ 2.79585068e-03 9.99994659e-01 -1.69289705e-03 1.59448333e-01] [ 1.08132519e-02 1.66257238e-03 9.99940153e-01 1.03157145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.132557844 meters Centerline goodness [0,1] 0.24201355275895453 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99936920e-01 -2.80905705e-03 -1.08750225e-02 4.17933797e+00] [ 2.79059256e-03 9.99994640e-01 -1.71268300e-03 1.59611344e-01] [ 1.08797752e-02 1.68222721e-03 9.99939398e-01 1.03131652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16255784400005 meters Centerline goodness [0,1] 0.2455604643104643 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99936889e-01 -2.83659515e-03 -1.08706661e-02 4.17927840e+00] [ 2.81750459e-03 9.99994462e-01 -1.77106596e-03 1.59755541e-01] [ 1.08756297e-02 1.74032603e-03 9.99939344e-01 1.03142478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.192557844 meters Centerline goodness [0,1] 0.2458358636245337 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99936778e-01 -2.85923078e-03 -1.08749353e-02 4.17917159e+00] [ 2.83956768e-03 9.99994307e-01 -1.82312337e-03 1.59871525e-01] [ 1.08800861e-02 1.79212800e-03 9.99939204e-01 1.03162799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22255784400005 meters Centerline goodness [0,1] 0.2459400273194423 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99935588e-01 -2.89869062e-03 -1.09734761e-02 4.17933810e+00] [ 2.87739316e-03 9.99993947e-01 -1.95610385e-03 1.60491127e-01] [ 1.09790798e-02 1.92440285e-03 9.99937876e-01 1.03178676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.252557844 meters Centerline goodness [0,1] 0.24478182489520206 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99936195e-01 -2.93344765e-03 -1.09087483e-02 4.17915296e+00] [ 2.91069508e-03 9.99993557e-01 -2.10100939e-03 1.61272320e-01] [ 1.09148412e-02 2.06912329e-03 9.99938291e-01 1.03187385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28255784400005 meters Centerline goodness [0,1] 0.24543993746199944 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99938784e-01 -2.97251003e-03 -1.06579724e-02 4.17830569e+00] [ 2.94682199e-03 9.99992718e-01 -2.42511291e-03 1.63113292e-01] [ 1.06651034e-02 2.39355731e-03 9.99940261e-01 1.03239718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.312557844 meters Centerline goodness [0,1] 0.24843414750438875 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99938765e-01 -3.01756510e-03 -1.06471268e-02 4.17810716e+00] [ 2.98993373e-03 9.99992124e-01 -2.61015879e-03 1.64025696e-01] [ 1.06549193e-02 2.57816475e-03 9.99939911e-01 1.03274176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34255784400005 meters Centerline goodness [0,1] 0.24889906256812733 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:1.03 [[ 9.99939225e-01 -3.07011421e-03 -1.05887285e-02 4.17785176e+00] [ 3.04068662e-03 9.99991474e-01 -2.79412370e-03 1.64934915e-01] [ 1.05972165e-02 2.76175688e-03 9.99940034e-01 1.03296668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.372557844 meters Centerline goodness [0,1] 0.25003284719484953 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:1.03 [[ 9.99939957e-01 -3.11295774e-03 -1.05067070e-02 4.17762678e+00] [ 3.08206935e-03 9.99990885e-01 -2.95478595e-03 1.65789656e-01] [ 1.05158094e-02 2.92222614e-03 9.99940437e-01 1.03304449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40255784400006 meters Centerline goodness [0,1] 0.25146224548133167 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:1.03 [[ 9.99939618e-01 -3.13894492e-03 -1.05312431e-02 4.17761055e+00] [ 3.10683106e-03 9.99990479e-01 -3.06436494e-03 1.66405290e-01] [ 1.05407617e-02 3.03146111e-03 9.99939849e-01 1.03319428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43255784400003 meters Centerline goodness [0,1] 0.2504307618486772 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:1.03 [[ 9.99938772e-01 -3.15151019e-03 -1.06075327e-02 4.17778473e+00] [ 3.11836779e-03 9.99990210e-01 -3.13951189e-03 1.66798033e-01] [ 1.06173230e-02 3.10624147e-03 9.99938810e-01 1.03324919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46255784400006 meters Centerline goodness [0,1] 0.24689199689199692 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:1.03 [[ 9.99939204e-01 -3.11900338e-03 -1.05763529e-02 4.17748545e+00] [ 3.08418618e-03 9.99989777e-01 -3.30669964e-03 1.67754852e-01] [ 1.05865584e-02 3.27387916e-03 9.99938601e-01 1.03370901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49255784400003 meters Centerline goodness [0,1] 0.25007610350076104 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:1.03 [[ 9.99939445e-01 -3.17336082e-03 -1.05373589e-02 4.17730087e+00] [ 3.13663341e-03 9.99988955e-01 -3.50014623e-03 1.68697620e-01] [ 1.05483498e-02 3.46688245e-03 9.99938355e-01 1.03391665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52255784400006 meters Centerline goodness [0,1] 0.24780692277775374 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:1.03 [[ 9.99938107e-01 -3.18980679e-03 -1.06586918e-02 4.17760612e+00] [ 3.15117741e-03 9.99988414e-01 -3.63904499e-03 1.69526888e-01] [ 1.06701762e-02 3.60523233e-03 9.99936573e-01 1.03397997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55255784400003 meters Centerline goodness [0,1] 0.24923733984136665 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:1.03 [[ 9.99935890e-01 -3.20395695e-03 -1.08604675e-02 4.17820036e+00] [ 3.16346771e-03 9.99987990e-01 -3.74326119e-03 1.70205580e-01] [ 1.08723303e-02 3.70866447e-03 9.99934017e-01 1.03384379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58255784400006 meters Centerline goodness [0,1] 0.24617611475976497 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:1.03 [[ 9.99931368e-01 -3.15521781e-03 -1.12828607e-02 4.17947136e+00] [ 3.11339634e-03 9.99988226e-01 -3.72228274e-03 1.70374670e-01] [ 1.12944725e-02 3.68689926e-03 9.99929418e-01 1.03348866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61255784400004 meters Centerline goodness [0,1] 0.24590163934426235 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:1.03 [[ 9.99929154e-01 -3.13272116e-03 -1.14835943e-02 4.18010418e+00] [ 3.09007192e-03 9.99988270e-01 -3.72979102e-03 1.70416546e-01] [ 1.14951440e-02 3.69404164e-03 9.99927105e-01 1.03329301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64255784400007 meters Centerline goodness [0,1] 0.2509004656066064 Centerline is valid? [False, False] Translation: X:4.13, Y:0.17, Z:1.03 [[ 9.99904284e-01 -3.30584956e-03 -1.34348141e-02 4.13261545e+00] [ 3.25558180e-03 9.99987625e-01 -3.76175327e-03 1.73740621e-01] [ 1.34470837e-02 3.71765507e-03 9.99902673e-01 1.03478179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67255784400004 meters Centerline goodness [0,1] 0.2508360472995126 Centerline is valid? [False, False] Translation: X:4.13, Y:0.17, Z:1.04 [[ 9.99907121e-01 -3.29008455e-03 -1.32259262e-02 4.13194163e+00] [ 3.24090775e-03 9.99987762e-01 -3.73792728e-03 1.73609964e-01] [ 1.32380624e-02 3.69471610e-03 9.99905547e-01 1.03502458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70255784400007 meters Centerline goodness [0,1] 0.24652552279516815 Centerline is valid? [False, False] Translation: X:4.13, Y:0.17, Z:1.04 [[ 9.99909707e-01 -3.26643427e-03 -1.30348643e-02 4.13130581e+00] [ 3.21875045e-03 9.99988058e-01 -3.67747937e-03 1.73366896e-01] [ 1.30467208e-02 3.63519135e-03 9.99908280e-01 1.03525646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73255784400004 meters Centerline goodness [0,1] 0.2488743169398907 Centerline is valid? [False, False] Translation: X:4.13, Y:0.17, Z:1.04 [[ 9.99910239e-01 -3.20573594e-03 -1.30090868e-02 4.13119532e+00] [ 3.16010370e-03 9.99988788e-01 -3.52676227e-03 1.72690405e-01] [ 1.30202468e-02 3.48533564e-03 9.99909159e-01 1.03531134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76255784400007 meters Centerline goodness [0,1] 0.25202238838602475 Centerline is valid? [False, False] Translation: X:4.13, Y:0.17, Z:1.04 [[ 9.99909746e-01 -3.10846840e-03 -1.30704760e-02 4.13144647e+00] [ 3.06609522e-03 9.99989983e-01 -3.26068971e-03 1.71424486e-01] [ 1.30804808e-02 3.22032010e-03 9.99909261e-01 1.03505683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79255784400004 meters Centerline goodness [0,1] 0.24406779661016953 Centerline is valid? [False, False] Translation: X:4.13, Y:0.17, Z:1.03 [[ 9.99903324e-01 -3.07678065e-03 -1.35600717e-02 4.13271160e+00] [ 3.04094892e-03 9.99991832e-01 -2.66227121e-03 1.67825235e-01] [ 1.35681522e-02 2.62077835e-03 9.99904514e-01 1.03473996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8225578440001 meters Centerline goodness [0,1] 0.24715390631789347 Centerline is valid? [False, False] Translation: X:4.13, Y:0.17, Z:1.03 [[ 9.99905249e-01 -2.95505561e-03 -1.34447597e-02 4.13226024e+00] [ 2.92384329e-03 9.99992986e-01 -2.34058736e-03 1.66233605e-01] [ 1.34515820e-02 2.30105522e-03 9.99906876e-01 1.03492010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85255784400005 meters Centerline goodness [0,1] 0.24812079363691986 Centerline is valid? [False, False] Translation: X:4.13, Y:0.16, Z:1.04 [[ 9.99908392e-01 -2.83625060e-03 -1.32349243e-02 4.13153505e+00] [ 2.80971400e-03 9.99994006e-01 -2.02320682e-03 1.64654297e-01] [ 1.32405833e-02 1.98583512e-03 9.99910368e-01 1.03521396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.882557844 meters Centerline goodness [0,1] 0.2477270249645699 Centerline is valid? [False, False] Translation: X:4.13, Y:0.16, Z:1.04 [[ 9.99910583e-01 -2.73551102e-03 -1.30897991e-02 4.13099271e+00] [ 2.71272308e-03 9.99994775e-01 -1.75833163e-03 1.63335494e-01] [ 1.30945406e-02 1.72266541e-03 9.99912779e-01 1.03548652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91255784400005 meters Centerline goodness [0,1] 0.2442476732161324 Centerline is valid? [False, False] Translation: X:4.15, Y:0.16, Z:1.04 [[ 9.99910665e-01 5.42949062e-03 -1.22140614e-02 4.14993700e+00] [-5.46447410e-03 9.99981058e-01 -2.83264895e-03 1.56272567e-01] [ 1.21984502e-02 2.89913931e-03 9.99921393e-01 1.03664116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942557844 meters Centerline goodness [0,1] 0.24746423927178152 Centerline is valid? [False, False] Translation: X:4.15, Y:0.16, Z:1.04 [[ 9.99904384e-01 5.59691020e-03 -1.26450955e-02 4.15116793e+00] [-5.62965336e-03 9.99980889e-01 -2.55528598e-03 1.55316560e-01] [ 1.26305522e-02 2.62622916e-03 9.99916783e-01 1.03641202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97255784400005 meters Centerline goodness [0,1] 0.24594670649609285 Centerline is valid? [False, False] Translation: X:4.15, Y:0.16, Z:1.04 [[ 9.99901465e-01 5.64849487e-03 -1.28512229e-02 4.15181485e+00] [-5.68110077e-03 9.99980732e-01 -2.50209255e-03 1.55114728e-01] [ 1.28368422e-02 2.57485510e-03 9.99914289e-01 1.03622064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002557844 meters Centerline goodness [0,1] 0.24768157392962387 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:1.04 [[ 9.99901810e-01 5.70096127e-03 -1.28011197e-02 4.15152848e+00] [-5.73280187e-03 9.99980561e-01 -2.45201353e-03 1.54829094e-01] [ 1.27868921e-02 2.52515905e-03 9.99915056e-01 1.03650917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03255784400005 meters Centerline goodness [0,1] 0.24920696997349323 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:1.04 [[ 9.99904027e-01 5.76217700e-03 -1.25989527e-02 4.15079397e+00] [-5.79259803e-03 9.99980392e-01 -2.37941052e-03 1.54381617e-01] [ 1.25849951e-02 2.45216283e-03 9.99917799e-01 1.03691670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062557844 meters Centerline goodness [0,1] 0.25030914415880245 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:1.04 [[ 9.99905689e-01 5.95146029e-03 -1.23771202e-02 4.14994921e+00] [-5.97611210e-03 9.99980230e-01 -1.95569296e-03 1.52465662e-01] [ 1.23652363e-02 2.02947558e-03 9.99921488e-01 1.03732170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09255784400005 meters Centerline goodness [0,1] 0.25269147954475546 Centerline is valid? [False, False] Translation: X:4.13, Y:0.16, Z:1.04 [[ 9.99906876e-01 -2.41544826e-03 -1.34314858e-02 4.13063630e+00] [ 2.40918112e-03 9.99996981e-01 -4.82760773e-04 1.56684898e-01] [ 1.34326114e-02 4.50356934e-04 9.99909677e-01 1.03620220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122557844 meters Centerline goodness [0,1] 0.24862979571499755 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:1.04 [[ 9.99905764e-01 4.02824635e-03 -1.31238527e-02 4.15284674e+00] [-4.06799583e-03 9.99987215e-01 -3.00351038e-03 1.51781577e-01] [ 1.31115860e-02 3.05661512e-03 9.99909368e-01 1.03563880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15255784400006 meters Centerline goodness [0,1] 0.24809797333911343 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:1.04 [[ 9.99904258e-01 4.09692205e-03 -1.32170431e-02 4.15307075e+00] [-4.13375047e-03 9.99987646e-01 -2.76031978e-03 1.50457818e-01] [ 1.32055710e-02 2.81469146e-03 9.99908841e-01 1.03556129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18255784400003 meters Centerline goodness [0,1] 0.2505892108938548 Centerline is valid? [False, False] Translation: X:4.15, Y:0.15, Z:1.04 [[ 9.99904290e-01 4.18310022e-03 -1.31875762e-02 4.15282933e+00] [-4.21654902e-03 9.99987961e-01 -2.50960393e-03 1.49199531e-01] [ 1.31769195e-02 2.56496980e-03 9.99909891e-01 1.03577463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21255784400006 meters Centerline goodness [0,1] 0.2482493299904902 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.04 [[ 9.99923666e-01 -3.71573090e-03 -1.17837270e-02 4.17231273e+00] [ 3.70233754e-03 9.99992476e-01 -1.15820853e-03 1.50633367e-01] [ 1.17879419e-02 1.11449278e-03 9.99929899e-01 1.03722531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24255784400003 meters Centerline goodness [0,1] 0.24739082521229927 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.04 [[ 9.99929573e-01 -3.53582072e-03 -1.13290019e-02 4.17089142e+00] [ 3.52727789e-03 9.99993480e-01 -7.73958886e-04 1.49192386e-01] [ 1.13316646e-02 7.33943841e-04 9.99935525e-01 1.03764321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27255784400006 meters Centerline goodness [0,1] 0.251213008698693 Centerline is valid? [False, False] Translation: X:4.15, Y:0.14, Z:1.04 [[ 9.99928853e-01 4.37537096e-03 -1.10970767e-02 4.15107690e+00] [-4.39633997e-03 9.99988595e-01 -1.86590799e-03 1.44696064e-01] [ 1.10887861e-02 1.91456176e-03 9.99936685e-01 1.03519849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30255784400003 meters Centerline goodness [0,1] 0.24703565864635624 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.04 [[ 9.99927788e-01 -3.91917454e-03 -1.13603913e-02 4.17270110e+00] [ 3.90517664e-03 9.99991588e-01 -1.25408828e-03 1.45358236e-01] [ 1.13652107e-02 1.20963338e-03 9.99934682e-01 1.03583229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33255784400006 meters Centerline goodness [0,1] 0.24812650694007 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.04 [[ 9.99928749e-01 -3.82225264e-03 -1.13086854e-02 4.17269160e+00] [ 3.81179672e-03 9.99992288e-01 -9.46001581e-04 1.43718856e-01] [ 1.13122140e-02 9.02827768e-04 9.99935607e-01 1.03555677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36255784400004 meters Centerline goodness [0,1] 0.24952053003225527 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.04 [[ 9.99932044e-01 -3.69585070e-03 -1.10566124e-02 4.17190040e+00] [ 3.68969292e-03 9.99993026e-01 -5.77278671e-04 1.41876373e-01] [ 1.10586688e-02 5.36443937e-04 9.99938707e-01 1.03573545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39255784400007 meters Centerline goodness [0,1] 0.25002723133564253 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.04 [[ 9.99935231e-01 -3.52974966e-03 -1.08201503e-02 4.17110661e+00] [ 3.52878285e-03 9.99993768e-01 -1.08443115e-04 1.39649498e-01] [ 1.08204656e-02 7.02541304e-05 9.99941455e-01 1.03599923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42255784400004 meters Centerline goodness [0,1] 0.24830331506134173 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.04 [[ 9.99936332e-01 -3.20617301e-03 -1.08190527e-02 4.17103876e+00] [ 3.21504956e-03 9.99994509e-01 8.03162240e-04 1.35259637e-01] [ 1.08164182e-02 -8.37894895e-04 9.99941150e-01 1.03597217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45255784400007 meters Centerline goodness [0,1] 0.2466178128523112 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.04 [[ 9.99933569e-01 -3.05901567e-03 -1.11130398e-02 4.17186889e+00] [ 3.07279177e-03 9.99994531e-01 1.22277130e-03 1.33197857e-01] [ 1.11092386e-02 -1.25683813e-03 9.99937501e-01 1.03571938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48255784400004 meters Centerline goodness [0,1] 0.24823905149407188 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.04 [[ 9.99930047e-01 -2.94329627e-03 -1.14559376e-02 4.17296124e+00] [ 2.96113377e-03 9.99994429e-01 1.54040271e-03 1.31664563e-01] [ 1.14513399e-02 -1.57421752e-03 9.99933192e-01 1.03525261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51255784400007 meters Centerline goodness [0,1] 0.2470557502666696 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.03 [[ 9.99926555e-01 -2.81937913e-03 -1.17870998e-02 4.17404104e+00] [ 2.84109431e-03 9.99994297e-01 1.82594506e-03 1.30415680e-01] [ 1.17818846e-02 -1.85929922e-03 9.99928863e-01 1.03476649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54255784400004 meters Centerline goodness [0,1] 0.24425237683664647 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.03 [[ 9.99925087e-01 -2.68908803e-03 -1.19410574e-02 4.17458590e+00] [ 2.71416657e-03 9.99994144e-01 2.08448586e-03 1.29342386e-01] [ 1.19353821e-02 -2.11673973e-03 9.99926530e-01 1.03446913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5725578440001 meters Centerline goodness [0,1] 0.244937256598875 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.03 [[ 9.99926715e-01 -2.61046001e-03 -1.18215588e-02 4.17419672e+00] [ 2.63697429e-03 9.99994042e-01 2.22784322e-03 1.28683538e-01] [ 1.18156727e-02 -2.25885310e-03 9.99927641e-01 1.03463136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60255784400005 meters Centerline goodness [0,1] 0.24546948661390078 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.04 [[ 9.99934486e-01 -2.51455569e-03 -1.11669650e-02 4.17195476e+00] [ 2.53966147e-03 9.99994278e-01 2.23460766e-03 1.28446938e-01] [ 1.11612820e-02 -2.26282157e-03 9.99935151e-01 1.03575535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.632557844 meters Centerline goodness [0,1] 0.2440582838640043 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.04 [[ 9.99935973e-01 -2.50510571e-03 -1.10351226e-02 4.17147820e+00] [ 2.52890560e-03 9.99994505e-01 2.14331502e-03 1.28942354e-01] [ 1.10296928e-02 -2.17108458e-03 9.99936814e-01 1.03602727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66255784400005 meters Centerline goodness [0,1] 0.24877408056042027 Centerline is valid? [False, False] Translation: X:4.15, Y:0.13, Z:1.04 [[ 9.99913469e-01 6.00499272e-03 -1.17044440e-02 4.14968163e+00] [-5.98862754e-03 9.99981042e-01 1.43274926e-03 1.27142947e-01] [ 1.17128258e-02 -1.36253173e-03 9.99930474e-01 1.03517127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.692557844 meters Centerline goodness [0,1] 0.24920345426179435 Centerline is valid? [False, False] Translation: X:4.15, Y:0.13, Z:1.03 [[ 9.99912090e-01 5.97604882e-03 -1.18363818e-02 4.15022332e+00] [-5.96092494e-03 9.99981372e-01 1.31261311e-03 1.27848712e-01] [ 1.18440056e-02 -1.24194193e-03 9.99929086e-01 1.03481179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72255784400005 meters Centerline goodness [0,1] 0.24577415700967153 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.04 [[ 9.99922215e-01 -1.74952608e-03 -1.23491966e-02 4.17070297e+00] [ 1.77626361e-03 9.99996102e-01 2.15448696e-03 1.30833429e-01] [ 1.23453792e-02 -2.17625480e-03 9.99921425e-01 1.03595604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.752557844 meters Centerline goodness [0,1] 0.24484966894605453 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.04 [[ 9.99920507e-01 -1.77847960e-03 -1.24826574e-02 4.17140057e+00] [ 1.80466015e-03 9.99996195e-01 2.08640289e-03 1.31122223e-01] [ 1.24788993e-02 -2.10876399e-03 9.99919912e-01 1.03533803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78255784400005 meters Centerline goodness [0,1] 0.24879755137735027 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.03 [[ 9.99919910e-01 -1.80377192e-03 -1.25268003e-02 4.17170499e+00] [ 1.82920449e-03 9.99996289e-01 2.01909143e-03 1.31483544e-01] [ 1.25231119e-02 -2.04184380e-03 9.99919498e-01 1.03499527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.812557844 meters Centerline goodness [0,1] 0.2487862485238158 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.04 [[ 9.99920495e-01 -1.80666150e-03 -1.24795660e-02 4.17155460e+00] [ 1.83158365e-03 9.99996351e-01 1.98589620e-03 1.31671388e-01] [ 1.24759327e-02 -2.00859568e-03 9.99920155e-01 1.03506189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84255784400005 meters Centerline goodness [0,1] 0.2492163691771876 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:1.04 [[ 9.99919438e-01 -1.84737431e-03 -1.25580143e-02 4.17176750e+00] [ 1.86845723e-03 9.99996864e-01 1.66731707e-03 1.33397642e-01] [ 1.25548948e-02 -1.69064686e-03 9.99919755e-01 1.03513438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.872557844 meters Centerline goodness [0,1] 0.2445051372089999 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.03 [[ 9.99918037e-01 -1.90695115e-03 -1.26603211e-02 4.17217466e+00] [ 1.92433480e-03 9.99997222e-01 1.36104150e-03 1.35076792e-01] [ 1.26576904e-02 -1.38529264e-03 9.99918929e-01 1.03494227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90255784400006 meters Centerline goodness [0,1] 0.24666115630573804 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.03 [[ 9.99916505e-01 -2.02006138e-03 -1.27633545e-02 4.17263916e+00] [ 2.03286379e-03 9.99997444e-01 9.90166223e-04 1.36896662e-01] [ 1.27613217e-02 -1.01602971e-03 9.99918055e-01 1.03464656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93255784400003 meters Centerline goodness [0,1] 0.24710894704808273 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.03 [[ 9.99916009e-01 -2.14761987e-03 -1.27813594e-02 4.17288531e+00] [ 2.15577901e-03 9.99997481e-01 6.24619872e-04 1.38615797e-01] [ 1.27799857e-02 -6.52121196e-04 9.99918120e-01 1.03433530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96255784400006 meters Centerline goodness [0,1] 0.24710894704808273 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.03 [[ 9.99916009e-01 -2.14761987e-03 -1.27813594e-02 4.17288531e+00] [ 2.15577901e-03 9.99997481e-01 6.24619872e-04 1.38615797e-01] [ 1.27799857e-02 -6.52121196e-04 9.99918120e-01 1.03433530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99255784400003 meters Centerline goodness [0,1] 0.24906379344326912 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.03 [[ 9.99915928e-01 -2.25350622e-03 -1.27694703e-02 4.17286971e+00] [ 2.25736053e-03 9.99997411e-01 2.87432706e-04 1.40346511e-01] [ 1.27687895e-02 -3.16233839e-04 9.99918426e-01 1.03436326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02255784400006 meters Centerline goodness [0,1] 0.24727763742486275 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:1.03 [[ 9.99917235e-01 -2.33619724e-03 -1.26516783e-02 4.17256170e+00] [ 2.33611077e-03 9.99997271e-01 -2.16138419e-05 1.42098211e-01] [ 1.26516943e-02 -7.94366893e-06 9.99919964e-01 1.03441011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05255784400003 meters Centerline goodness [0,1] 0.24699292196795342 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99921128e-01 -2.54249853e-03 -1.22993101e-02 4.17158182e+00] [ 2.53506640e-03 9.99996595e-01 -6.19825243e-04 1.45104706e-01] [ 1.23008441e-02 5.88596789e-04 9.99924169e-01 1.03464947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08255784400006 meters Centerline goodness [0,1] 0.2471968371248947 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99921868e-01 -2.67728316e-03 -1.22102252e-02 4.17135267e+00] [ 2.66671369e-03 9.99996056e-01 -8.81824175e-04 1.46085081e-01] [ 1.22125380e-02 8.49194101e-04 9.99925064e-01 1.03465377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11255784400004 meters Centerline goodness [0,1] 0.246801844922113 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99922608e-01 -2.76444806e-03 -1.21299403e-02 4.17112626e+00] [ 2.75203875e-03 9.99995673e-01 -1.03960355e-03 1.46692306e-01] [ 1.21327617e-02 1.00614103e-03 9.99925889e-01 1.03464999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14255784400007 meters Centerline goodness [0,1] 0.24517936245982797 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99923086e-01 -2.80594187e-03 -1.20808864e-02 4.17105978e+00] [ 2.79244922e-03 9.99995459e-01 -1.13358277e-03 1.47254344e-01] [ 1.20840123e-02 1.09976032e-03 9.99926381e-01 1.03449258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17255784400004 meters Centerline goodness [0,1] 0.2461889250814332 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99922626e-01 -2.84645020e-03 -1.21094587e-02 4.17129209e+00] [ 2.83167154e-03 9.99995225e-01 -1.23739389e-03 1.47948056e-01] [ 1.21129230e-02 1.20300814e-03 9.99925912e-01 1.03417618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20255784400007 meters Centerline goodness [0,1] 0.24681063050964935 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99921708e-01 -2.89103333e-03 -1.21745320e-02 4.17158578e+00] [ 2.87504616e-03 9.99994982e-01 -1.33046239e-03 1.48499693e-01] [ 1.21783174e-02 1.29535588e-03 9.99925003e-01 1.03393892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23255784400004 meters Centerline goodness [0,1] 0.24527566725112016 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99923027e-01 -2.99219995e-03 -1.20410212e-02 4.17122429e+00] [ 2.97364903e-03 9.99994365e-01 -1.55825242e-03 1.49579856e-01] [ 1.20456159e-02 1.52232671e-03 9.99926290e-01 1.03398085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26255784400007 meters Centerline goodness [0,1] 0.2489969472307021 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99923974e-01 -3.03886066e-03 -1.19504018e-02 4.17092522e+00] [ 3.01877133e-03 9.99994001e-01 -1.69873756e-03 1.50253309e-01] [ 1.19554924e-02 1.66253288e-03 9.99927148e-01 1.03413401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29255784400004 meters Centerline goodness [0,1] 0.24951585177448488 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99924453e-01 -3.11158543e-03 -1.18914593e-02 4.17079405e+00] [ 3.08937687e-03 9.99993450e-01 -1.88551909e-03 1.51057334e-01] [ 1.18972484e-02 1.84863944e-03 9.99927516e-01 1.03408506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3225578440001 meters Centerline goodness [0,1] 0.2579959691552751 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99924578e-01 -3.19083781e-03 -1.18598457e-02 4.17081827e+00] [ 3.16635132e-03 9.99992818e-01 -2.08285819e-03 1.51925273e-01] [ 1.18664066e-02 2.04514866e-03 9.99927500e-01 1.03388805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35255784400005 meters Centerline goodness [0,1] 0.24751504054407536 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99923973e-01 -3.24755658e-03 -1.18954818e-02 4.17100166e+00] [ 3.22142298e-03 9.99992357e-01 -2.21543751e-03 1.52507173e-01] [ 1.19025856e-02 2.17694869e-03 9.99926792e-01 1.03373755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.382557844 meters Centerline goodness [0,1] 0.2483467400967021 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99923578e-01 -3.24916414e-03 -1.19281964e-02 4.17112870e+00] [ 3.22368220e-03 9.99992482e-01 -2.15488323e-03 1.52172286e-01] [ 1.19351083e-02 2.11626583e-03 9.99926535e-01 1.03358863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41255784400005 meters Centerline goodness [0,1] 0.24909106648199442 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99923828e-01 -3.18934236e-03 -1.19233551e-02 4.17106115e+00] [ 3.16622831e-03 9.99993073e-01 -1.95692707e-03 1.51171930e-01] [ 1.19295138e-02 1.91902595e-03 9.99926999e-01 1.03360822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442557844 meters Centerline goodness [0,1] 0.25072002094606394 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99924731e-01 -3.10652996e-03 -1.18693242e-02 4.17095811e+00] [ 3.08657720e-03 9.99993793e-01 -1.69898503e-03 1.49877246e-01] [ 1.18745285e-02 1.66222157e-03 9.99928114e-01 1.03347388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47255784400005 meters Centerline goodness [0,1] 0.24752090219716116 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.03 [[ 9.99925038e-01 -3.03029742e-03 -1.18631799e-02 4.17085134e+00] [ 3.01273317e-03 9.99994339e-01 -1.49815928e-03 1.48851390e-01] [ 1.18676526e-02 1.46230638e-03 9.99928508e-01 1.03357778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502557844 meters Centerline goodness [0,1] 0.25230748945147674 Centerline is valid? [False, False] Translation: X:4.12, Y:0.15, Z:1.03 [[ 9.99897134e-01 -3.01989293e-03 -1.40214904e-02 4.12395476e+00] [ 3.00489707e-03 9.99994891e-01 -1.09043585e-03 1.50984085e-01] [ 1.40247117e-02 1.04819055e-03 9.99901099e-01 1.03486997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53255784400005 meters Centerline goodness [0,1] 0.2512948857453754 Centerline is valid? [False, False] Translation: X:4.14, Y:0.15, Z:1.04 [[ 9.99898563e-01 5.41797940e-03 -1.31722722e-02 4.14317226e+00] [-5.44720287e-03 9.99982780e-01 -2.18369453e-03 1.45646907e-01] [ 1.31602141e-02 2.25522507e-03 9.99910857e-01 1.03593194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562557844 meters Centerline goodness [0,1] 0.24871403661726244 Centerline is valid? [False, False] Translation: X:4.14, Y:0.15, Z:1.04 [[ 9.99898542e-01 5.41513520e-03 -1.31750153e-02 4.14325798e+00] [-5.44548636e-03 9.99982599e-01 -2.26890856e-03 1.46137464e-01] [ 1.31624996e-02 2.34042273e-03 9.99910632e-01 1.03583875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59255784400005 meters Centerline goodness [0,1] 0.2433465825628618 Centerline is valid? [False, False] Translation: X:4.16, Y:0.15, Z:1.04 [[ 9.99910721e-01 -2.21826341e-03 -1.31768552e-02 4.16327601e+00] [ 2.20120015e-03 9.99996720e-01 -1.30930372e-03 1.49961234e-01] [ 1.31797164e-02 1.28018193e-03 9.99912324e-01 1.03723092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622557844 meters Centerline goodness [0,1] 0.24746913983410623 Centerline is valid? [False, False] Translation: X:4.16, Y:0.15, Z:1.04 [[ 9.99908892e-01 -2.25941324e-03 -1.33080272e-02 4.16370056e+00] [ 2.23857941e-03 9.99996246e-01 -1.58019677e-03 1.51434600e-01] [ 1.33115475e-02 1.55026173e-03 9.99910196e-01 1.03715264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65255784400006 meters Centerline goodness [0,1] 0.24908721222589036 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:1.04 [[ 9.99900124e-01 -1.76483122e-03 -1.40224232e-02 4.16581779e+00] [ 1.73977574e-03 9.99996869e-01 -1.79881318e-03 1.54553057e-01] [ 1.40255539e-02 1.77423765e-03 9.99900063e-01 1.03667461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68255784400003 meters Centerline goodness [0,1] 0.2502069626595791 Centerline is valid? [False, False] Translation: X:4.17, Y:0.16, Z:1.04 [[ 9.99897320e-01 -1.83030351e-03 -1.42126178e-02 4.16644570e+00] [ 1.79916673e-03 9.99995954e-01 -2.20326142e-03 1.56635011e-01] [ 1.42165929e-02 2.17746432e-03 9.99896568e-01 1.03647291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71255784400006 meters Centerline goodness [0,1] 0.25024624072493273 Centerline is valid? [False, False] Translation: X:4.17, Y:0.16, Z:1.04 [[ 9.99896972e-01 -1.99233859e-03 -1.42153604e-02 4.16650096e+00] [ 1.95413852e-03 9.99994444e-01 -2.70062293e-03 1.58950374e-01] [ 1.42206620e-02 2.67256590e-03 9.99895310e-01 1.03643706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74255784400003 meters Centerline goodness [0,1] 0.24773151565145657 Centerline is valid? [False, False] Translation: X:4.17, Y:0.16, Z:1.04 [[ 9.99896045e-01 -2.14127110e-03 -1.42588164e-02 4.16669832e+00] [ 2.09645002e-03 9.99992817e-01 -3.15759958e-03 1.61142981e-01] [ 1.42654753e-02 3.12737844e-03 9.99893352e-01 1.03631091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77255784400006 meters Centerline goodness [0,1] 0.2499022291748142 Centerline is valid? [False, False] Translation: X:4.17, Y:0.16, Z:1.04 [[ 9.99893619e-01 -2.29604597e-03 -1.44041070e-02 4.16734830e+00] [ 2.24427089e-03 9.99990967e-01 -3.60960145e-03 1.63370519e-01] [ 1.44122647e-02 3.57689074e-03 9.99889740e-01 1.03588019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80255784400003 meters Centerline goodness [0,1] 0.24839887210649414 Centerline is valid? [False, False] Translation: X:4.17, Y:0.17, Z:1.04 [[ 9.99891647e-01 -2.43855155e-03 -1.45171425e-02 4.16795211e+00] [ 2.38008577e-03 9.99988993e-01 -4.04327698e-03 1.65683336e-01] [ 1.45268424e-02 4.00828683e-03 9.99886446e-01 1.03537006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83255784400006 meters Centerline goodness [0,1] 0.24954744716581967 Centerline is valid? [False, False] Translation: X:4.17, Y:0.17, Z:1.04 [[ 9.99888710e-01 -2.75607098e-03 -1.46619417e-02 4.16854214e+00] [ 2.68456879e-03 9.99984420e-01 -4.89416878e-03 1.69960295e-01] [ 1.46752020e-02 4.85426312e-03 9.99880530e-01 1.03506503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86255784400004 meters Centerline goodness [0,1] 0.25102420856610796 Centerline is valid? [False, False] Translation: X:4.17, Y:0.17, Z:1.04 [[ 9.99888626e-01 -2.90093493e-03 -1.46396651e-02 4.16841023e+00] [ 2.82445525e-03 9.99982271e-01 -5.24211623e-03 1.71540970e-01] [ 1.46546126e-02 5.20018332e-03 9.99879093e-01 1.03522625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89255784400007 meters Centerline goodness [0,1] 0.25264221836479095 Centerline is valid? [False, False] Translation: X:4.17, Y:0.17, Z:1.04 [[ 9.99889151e-01 -3.04786062e-03 -1.45737974e-02 4.16814644e+00] [ 2.96698799e-03 9.99980099e-01 -5.56758526e-03 1.73016140e-01] [ 1.45904766e-02 5.52372782e-03 9.99878296e-01 1.03536606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92255784400004 meters Centerline goodness [0,1] 0.25022358920664 Centerline is valid? [False, False] Translation: X:4.17, Y:0.17, Z:1.04 [[ 9.99889355e-01 -3.15570953e-03 -1.45368442e-02 4.16790927e+00] [ 3.07114720e-03 9.99978256e-01 -5.83575931e-03 1.74471000e-01] [ 1.45549441e-02 5.79046882e-03 9.99877305e-01 1.03561043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95255784400007 meters Centerline goodness [0,1] 0.24649094261850524 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:1.04 [[ 9.99891273e-01 -3.25643103e-03 -1.43818526e-02 4.16739625e+00] [ 3.16886123e-03 9.99976328e-01 -6.10750673e-03 1.76006320e-01] [ 1.44014008e-02 6.06126858e-03 9.99877923e-01 1.03579205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98255784400004 meters Centerline goodness [0,1] 0.24832708924356284 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:1.04 [[ 9.99893212e-01 -3.38952587e-03 -1.42153061e-02 4.16685620e+00] [ 3.29860544e-03 9.99973986e-01 -6.41452994e-03 1.77490590e-01] [ 1.42366786e-02 6.36695426e-03 9.99878382e-01 1.03600342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01255784400007 meters Centerline goodness [0,1] 0.2524483608524004 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:1.04 [[ 9.99894655e-01 -3.65502044e-03 -1.40470633e-02 4.16649042e+00] [ 3.55811459e-03 9.99969744e-01 -6.91746698e-03 1.79480243e-01] [ 1.40719218e-02 6.86675720e-03 9.99877407e-01 1.03595091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04255784400004 meters Centerline goodness [0,1] 0.24814222759872118 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:1.04 [[ 9.99895095e-01 -3.75913471e-03 -1.39881272e-02 4.16631083e+00] [ 3.66019259e-03 9.99968151e-01 -7.09218391e-03 1.80215710e-01] [ 1.40143422e-02 7.04024066e-03 9.99877009e-01 1.03596958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0725578440001 meters Centerline goodness [0,1] 0.24996737570142247 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:1.04 [[ 9.99896256e-01 -3.82827343e-03 -1.38860395e-02 4.16596243e+00] [ 3.72782505e-03 9.99966752e-01 -7.25245183e-03 1.81039142e-01] [ 1.39133422e-02 7.19993470e-03 9.99877282e-01 1.03612641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10255784400005 meters Centerline goodness [0,1] 0.2529685757396838 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:1.04 [[ 9.99896291e-01 -3.90401250e-03 -1.38624106e-02 4.16590375e+00] [ 3.80123875e-03 9.99965154e-01 -7.43246861e-03 1.81913896e-01] [ 1.38909440e-02 7.37900346e-03 9.99876288e-01 1.03613044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.132557844 meters Centerline goodness [0,1] 0.2502063871388225 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:1.04 [[ 9.99894211e-01 -4.00674888e-03 -1.39825732e-02 4.16620143e+00] [ 3.90021486e-03 9.99963224e-01 -7.63802678e-03 1.82803567e-01] [ 1.40126627e-02 7.58268372e-03 9.99873066e-01 1.03614044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16255784400005 meters Centerline goodness [0,1] 0.24878991122398042 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:1.04 [[ 9.99891671e-01 -4.07986703e-03 -1.41421854e-02 4.16676868e+00] [ 3.96955817e-03 9.99961550e-01 -7.81930138e-03 1.83661416e-01] [ 1.41735433e-02 7.76231610e-03 9.99869420e-01 1.03586896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.192557844 meters Centerline goodness [0,1] 0.24946796959826278 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:1.04 [[ 9.99888503e-01 -4.16153717e-03 -1.43409948e-02 4.16738879e+00] [ 4.04610000e-03 9.99959259e-01 -8.06908819e-03 1.84911987e-01] [ 1.43739903e-02 8.01016341e-03 9.99864604e-01 1.03569839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22255784400005 meters Centerline goodness [0,1] 0.2526556876431454 Centerline is valid? [False, False] Translation: X:4.17, Y:0.19, Z:1.04 [[ 9.99903455e-01 -8.87013950e-04 -1.38670219e-02 4.16587095e+00] [ 8.20169280e-04 9.99988022e-01 -4.82534962e-03 1.85672692e-01] [ 1.38711359e-02 4.81351045e-03 9.99892205e-01 1.03604530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.252557844 meters Centerline goodness [0,1] 0.2501835456704815 Centerline is valid? [False, False] Translation: X:4.19, Y:0.19, Z:1.04 [[ 0.99989761 0.00836256 -0.01161221 4.18635408] [-0.00842713 0.99994924 -0.00552283 0.18577042] [ 0.01156544 0.00562012 0.99991732 1.03594068] [ 0. 0. 0. 1. ]] SLAMing on 299.28255784400005 meters Centerline goodness [0,1] 0.2506385557816355 Centerline is valid? [False, False] Translation: X:4.19, Y:0.19, Z:1.04 [[ 0.99990041 0.0082322 -0.01146274 4.18582741] [-0.00830258 0.99994689 -0.00610544 0.18853542] [ 0.01141187 0.0062 0.99991566 1.03638063] [ 0. 0. 0. 1. ]] SLAMing on 299.312557844 meters Centerline goodness [0,1] 0.25324235067690226 Centerline is valid? [False, False] Translation: X:4.17, Y:0.20, Z:1.04 [[ 9.99948636e-01 1.99578591e-03 -9.93687385e-03 4.16510404e+00] [-2.03735634e-03 9.99989209e-01 -4.17508812e-03 1.96660398e-01] [ 9.92843404e-03 4.19511863e-03 9.99941912e-01 1.03503831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34255784400005 meters Centerline goodness [0,1] 0.24823996890251798 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:1.04 [[ 9.99945708e-01 -3.34961170e-03 -9.86715021e-03 4.18787091e+00] [ 3.33757865e-03 9.99993667e-01 -1.23572081e-03 2.00759720e-01] [ 9.87122690e-03 1.20272133e-03 9.99950555e-01 1.03512163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.372557844 meters Centerline goodness [0,1] 0.2536136949211756 Centerline is valid? [False, False] Translation: X:4.17, Y:0.20, Z:1.03 [[ 9.99921222e-01 5.75024982e-03 -1.11572571e-02 4.16671092e+00] [-5.77456615e-03 9.99981019e-01 -2.14842819e-03 2.03248668e-01] [ 1.11446914e-02 2.21268726e-03 9.99935448e-01 1.03427504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40255784400006 meters Centerline goodness [0,1] 0.25377689607813214 Centerline is valid? [False, False] Translation: X:4.17, Y:0.21, Z:1.03 [[ 9.99918196e-01 5.64126394e-03 -1.14794630e-02 4.16776326e+00] [-5.67483992e-03 9.99979709e-01 -2.89440556e-03 2.07504430e-01] [ 1.14629020e-02 2.95931290e-03 9.99929920e-01 1.03399049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43255784400003 meters Centerline goodness [0,1] 0.24899572372683687 Centerline is valid? [False, False] Translation: X:4.17, Y:0.22, Z:1.03 [[ 9.99915736e-01 5.40196773e-03 -1.18042138e-02 4.16864950e+00] [-5.45008153e-03 9.99976956e-01 -4.04762525e-03 2.15917908e-01] [ 1.17820767e-02 4.11161811e-03 9.99922136e-01 1.03405577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46255784400006 meters Centerline goodness [0,1] 0.25098361364520727 Centerline is valid? [False, False] Translation: X:4.17, Y:0.22, Z:1.03 [[ 0.9999171 0.00512536 -0.01181162 4.16869387] [-0.00518152 0.99997539 -0.00472926 0.21903274] [ 0.01178709 0.00479007 0.99991906 1.0340555 ] [ 0. 0. 0. 1. ]] SLAMing on 299.49255784400003 meters Centerline goodness [0,1] 0.25477303508235394 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:1.03 [[ 9.99925016e-01 -2.86601440e-03 -1.19058444e-02 4.14986036e+00] [ 2.82284110e-03 9.99989386e-01 -3.64145050e-03 2.27798993e-01] [ 1.19161545e-02 3.60756914e-03 9.99922492e-01 1.03221790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52255784400006 meters Centerline goodness [0,1] 0.24768783011749484 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:1.03 [[ 9.99871795e-01 -1.09396199e-02 -1.16926306e-02 4.17008957e+00] [ 1.09092568e-02 9.99936961e-01 -2.65740957e-03 2.33884738e-01] [ 1.17209645e-02 2.52951096e-03 9.99928108e-01 1.03376177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55255784400003 meters Centerline goodness [0,1] 0.24963142832364926 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:1.03 [[ 9.99925185e-01 -2.84098070e-03 -1.18976022e-02 4.15075294e+00] [ 2.79321617e-03 9.99987981e-01 -4.02932900e-03 2.32560171e-01] [ 1.19089064e-02 3.99579497e-03 9.99921103e-01 1.03195369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58255784400006 meters Centerline goodness [0,1] 0.2539270442446985 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:1.03 [[ 9.99923262e-01 -3.00360800e-03 -1.20186848e-02 4.15122695e+00] [ 2.95158174e-03 9.99986208e-01 -4.34418087e-03 2.33879124e-01] [ 1.20315673e-02 4.30837337e-03 9.99918336e-01 1.03166340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61255784400004 meters Centerline goodness [0,1] 0.24933428589985063 Centerline is valid? [False, False] Translation: X:4.15, Y:0.24, Z:1.03 [[ 9.99916946e-01 -3.32740875e-03 -1.24511179e-02 4.15276176e+00] [ 3.26574155e-03 9.99982318e-01 -4.96980240e-03 2.36685809e-01] [ 1.24674343e-02 4.92872750e-03 9.99910131e-01 1.03090886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64255784400007 meters Centerline goodness [0,1] 0.2540656236898431 Centerline is valid? [False, False] Translation: X:4.11, Y:0.24, Z:1.03 [[ 9.99885101e-01 -2.58448188e-03 -1.49367261e-02 4.10716868e+00] [ 2.51667579e-03 9.99986452e-01 -4.55657009e-03 2.41768833e-01] [ 1.49483001e-02 4.51845564e-03 9.99878059e-01 1.03162752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67255784400004 meters Centerline goodness [0,1] 0.2534846456087978 Centerline is valid? [False, False] Translation: X:4.11, Y:0.24, Z:1.03 [[ 9.99885632e-01 -2.72804762e-03 -1.48754906e-02 4.10699301e+00] [ 2.65398716e-03 9.99983997e-01 -4.99616012e-03 2.44102043e-01] [ 1.48888823e-02 4.95610936e-03 9.99876872e-01 1.03171765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70255784400007 meters Centerline goodness [0,1] 0.25253624765968563 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:1.03 [[ 9.99886074e-01 -2.86703268e-03 -1.48195789e-02 4.10675968e+00] [ 2.78641481e-03 9.99981224e-01 -5.45774518e-03 2.46567514e-01] [ 1.48349482e-02 5.41582990e-03 9.99875289e-01 1.03196826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73255784400004 meters Centerline goodness [0,1] 0.25411604155661205 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:1.03 [[ 9.99886269e-01 -3.08078153e-03 -1.47633646e-02 4.10645490e+00] [ 2.99178093e-03 9.99977243e-01 -6.04677546e-03 2.49391823e-01] [ 1.47816575e-02 6.00191900e-03 9.99872732e-01 1.03232501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76255784400007 meters Centerline goodness [0,1] 0.24487999656519688 Centerline is valid? [False, False] Translation: X:4.15, Y:0.25, Z:1.03 [[ 9.99915650e-01 -2.93263205e-03 -1.26527437e-02 4.15158164e+00] [ 2.85620030e-03 9.99977592e-01 -6.05457289e-03 2.50043973e-01] [ 1.26702160e-02 6.01792342e-03 9.99901620e-01 1.03197624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79255784400004 meters Centerline goodness [0,1] 0.25308601658938024 Centerline is valid? [False, False] Translation: X:4.13, Y:0.25, Z:1.03 [[ 0.99988216 0.0053102 -0.01440366 4.13015132] [-0.00542499 0.99995374 -0.00794219 0.25406743] [ 0.01436082 0.00801939 0.99986472 1.03173566] [ 0. 0. 0. 1. ]] SLAMing on 299.8225578440001 meters Centerline goodness [0,1] 0.2552782270402588 Centerline is valid? [False, False] Translation: X:4.13, Y:0.26, Z:1.03 [[ 0.99988222 0.00511001 -0.01447206 4.13034931] [-0.00523326 0.99995025 -0.00849133 0.25673236] [ 0.01442795 0.00856606 0.99985922 1.0317896 ] [ 0. 0. 0. 1. ]] SLAMing on 299.85255784400005 meters Centerline goodness [0,1] 0.2552782270402588 Centerline is valid? [False, False] Translation: X:4.13, Y:0.26, Z:1.03 [[ 0.99988222 0.00511001 -0.01447206 4.13034931] [-0.00523326 0.99995025 -0.00849133 0.25673236] [ 0.01442795 0.00856606 0.99985922 1.0317896 ] [ 0. 0. 0. 1. ]] SLAMing on 299.882557844 meters Centerline goodness [0,1] 0.25455220296056946 Centerline is valid? [False, False] Translation: X:4.13, Y:0.26, Z:1.03 [[ 0.99988227 0.00492785 -0.01453144 4.13042627] [-0.00505882 0.9999468 -0.00898941 0.25917716] [ 0.01448637 0.00906187 0.999854 1.03198257] [ 0. 0. 0. 1. ]] SLAMing on 299.91255784400005 meters Centerline goodness [0,1] 0.24780805943074335 Centerline is valid? [False, False] Translation: X:4.15, Y:0.26, Z:1.03 [[ 9.99891514e-01 -3.26765377e-03 -1.43625289e-02 4.15063373e+00] [ 3.15233339e-03 9.99962673e-01 -8.04457211e-03 2.64505654e-01] [ 1.43882797e-02 7.99842391e-03 9.99864492e-01 1.03366689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942557844 meters Centerline goodness [0,1] 0.25483793726463355 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 9.99889504e-01 -3.38241352e-03 -1.44754532e-02 4.15085718e+00] [ 3.26237477e-03 9.99960165e-01 -8.30816744e-03 2.65756294e-01] [ 1.45029782e-02 8.26002507e-03 9.99860708e-01 1.03379932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97255784400005 meters Centerline goodness [0,1] 0.25155131264916464 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 9.99885956e-01 -3.57840946e-03 -1.46720726e-02 4.15169285e+00] [ 3.45232203e-03 9.99956973e-01 -8.61004329e-03 2.67002786e-01] [ 1.47022516e-02 8.55840865e-03 9.99855288e-01 1.03319305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002557844 meters Centerline goodness [0,1] 0.24811410734414285 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 9.99886098e-01 -3.63114540e-03 -1.46494119e-02 4.15166136e+00] [ 3.50452313e-03 9.99956361e-01 -8.65993701e-03 2.67079050e-01] [ 1.46802181e-02 8.60761143e-03 9.99855190e-01 1.03313947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03255784400005 meters Centerline goodness [0,1] 0.2538732700844286 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 9.99887338e-01 -3.65557681e-03 -1.45584220e-02 4.15133541e+00] [ 3.52913747e-03 9.99955916e-01 -8.70120319e-03 2.67205748e-01] [ 1.45895881e-02 8.64884423e-03 9.99856160e-01 1.03329683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062557844 meters Centerline goodness [0,1] 0.2515859440968238 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 9.99889509e-01 -3.70984586e-03 -1.43946663e-02 4.15072401e+00] [ 3.58393712e-03 9.99955183e-01 -8.76286120e-03 2.67357656e-01] [ 1.44265301e-02 8.71030340e-03 9.99857993e-01 1.03359588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09255784400005 meters Centerline goodness [0,1] 0.25541974420986124 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 9.99889473e-01 -3.76403431e-03 -1.43831169e-02 4.15057666e+00] [ 3.63699258e-03 9.99954236e-01 -8.84867020e-03 2.67630357e-01] [ 1.44157653e-02 8.79538089e-03 9.99857403e-01 1.03381301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122557844 meters Centerline goodness [0,1] 0.2540694019983961 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 9.99889622e-01 -3.81583168e-03 -1.43590601e-02 4.15045048e+00] [ 3.68732938e-03 9.99953014e-01 -8.96507245e-03 2.68164595e-01] [ 1.43925947e-02 8.91113633e-03 9.99856712e-01 1.03395245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15255784400006 meters Centerline goodness [0,1] 0.2564857205144975 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 9.99891676e-01 -3.98731432e-03 -1.41682003e-02 4.14965372e+00] [ 3.85315190e-03 9.99947602e-01 -9.48397644e-03 2.70727394e-01] [ 1.42052735e-02 9.42835687e-03 9.99854648e-01 1.03458219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18255784400003 meters Centerline goodness [0,1] 0.24963390472908953 Centerline is valid? [False, False] Translation: X:4.17, Y:0.28, Z:1.04 [[ 0.99983486 -0.01219246 -0.0134756 4.16939068] [ 0.01207933 0.99989138 -0.00844489 0.2750705 ] [ 0.0135771 0.00828072 0.99987354 1.03624961] [ 0. 0. 0. 1. ]] SLAMing on 300.21255784400006 meters Centerline goodness [0,1] 0.252141929900476 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 9.99900242e-01 -3.62698346e-03 -1.36510682e-02 4.14894239e+00] [ 3.49358858e-03 9.99946043e-01 -9.78294831e-03 2.73767303e-01] [ 1.36858142e-02 9.73428116e-03 9.99858961e-01 1.03470655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24255784400003 meters Centerline goodness [0,1] 0.25450670841759626 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:1.03 [[ 9.99897257e-01 -3.75359373e-03 -1.38342601e-02 4.14942995e+00] [ 3.61360223e-03 9.99942157e-01 -1.01303328e-02 2.75446489e-01] [ 1.38714850e-02 1.00793005e-02 9.99852984e-01 1.03469334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27255784400006 meters Centerline goodness [0,1] 0.25710577261527634 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:1.03 [[ 9.99895001e-01 -3.83551463e-03 -1.39741097e-02 4.14988817e+00] [ 3.69025643e-03 9.99939049e-01 -1.04058079e-02 2.76862453e-01] [ 1.40131696e-02 1.03531472e-02 9.99848210e-01 1.03455016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30255784400003 meters Centerline goodness [0,1] 0.25592932677662217 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:1.03 [[ 9.99893160e-01 -3.90119250e-03 -1.40872280e-02 4.15012117e+00] [ 3.75117121e-03 9.99936142e-01 -1.06602199e-02 2.78182878e-01] [ 1.41279160e-02 1.06062374e-02 9.99843943e-01 1.03469387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33255784400006 meters Centerline goodness [0,1] 0.24943994485610888 Centerline is valid? [False, False] Translation: X:4.17, Y:0.28, Z:1.04 [[ 0.99984788 -0.0121508 -0.01251311 4.16914495] [ 0.01203137 0.99988176 -0.00957621 0.28356616] [ 0.01262799 0.00942421 0.99987585 1.03650216] [ 0. 0. 0. 1. ]] SLAMing on 300.36255784400004 meters Centerline goodness [0,1] 0.25178332108425927 Centerline is valid? [False, False] Translation: X:4.17, Y:0.28, Z:1.04 [[ 0.99985081 -0.01217204 -0.0122555 4.16826702] [ 0.01205459 0.99988114 -0.00961173 0.28380925] [ 0.01237104 0.00946256 0.9998787 1.03684081] [ 0. 0. 0. 1. ]] SLAMing on 300.39255784400007 meters Centerline goodness [0,1] 0.25333970501987535 Centerline is valid? [False, False] Translation: X:4.17, Y:0.28, Z:1.04 [[ 0.99985195 -0.01213669 -0.01219723 4.16804076] [ 0.01202157 0.99988292 -0.00946732 0.28316991] [ 0.0123107 0.00931929 0.99988079 1.03692172] [ 0. 0. 0. 1. ]] SLAMing on 300.42255784400004 meters Centerline goodness [0,1] 0.2523473418377258 Centerline is valid? [False, False] Translation: X:4.17, Y:0.28, Z:1.04 [[ 0.99984715 -0.0121793 -0.01254387 4.16915535] [ 0.01206444 0.99988497 -0.00919212 0.28146399] [ 0.01265438 0.00903939 0.99987907 1.03636511] [ 0. 0. 0. 1. ]] SLAMing on 300.45255784400007 meters Centerline goodness [0,1] 0.25358914121639253 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:1.03 [[ 0.99988671 -0.00455413 -0.01434639 4.15167866] [ 0.00439863 0.99993144 -0.01085229 0.27570685] [ 0.01439482 0.01078796 0.99983819 1.03392931] [ 0. 0. 0. 1. ]] SLAMing on 300.48255784400004 meters Centerline goodness [0,1] 0.2513794152148412 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:1.03 [[ 0.99987331 -0.00476193 -0.01518817 4.15407827] [ 0.00460288 0.99993439 -0.01048967 0.27294032] [ 0.01523713 0.01041843 0.99982963 1.03311195] [ 0. 0. 0. 1. ]] SLAMing on 300.51255784400007 meters Centerline goodness [0,1] 0.250405098844118 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:1.03 [[ 0.9998685 -0.00486492 -0.01546966 4.1550202 ] [ 0.00470948 0.99993822 -0.01006818 0.27032362] [ 0.01551768 0.009994 0.99982965 1.03249045] [ 0. 0. 0. 1. ]] SLAMing on 300.54255784400004 meters Centerline goodness [0,1] 0.25552787636956853 Centerline is valid? [False, False] Translation: X:4.11, Y:0.27, Z:1.03 [[ 0.99982186 -0.0052659 -0.01812498 4.10961717] [ 0.00508749 0.99993829 -0.00987568 0.2692533 ] [ 0.01817587 0.00978171 0.99978696 1.03309848] [ 0. 0. 0. 1. ]] SLAMing on 300.5725578440001 meters Centerline goodness [0,1] 0.2511311727392782 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 0.99984308 -0.00617591 -0.01660357 4.155751 ] [ 0.00601731 0.99993596 -0.0095851 0.26281432] [ 0.0166617 0.00948368 0.99981621 1.03217553] [ 0. 0. 0. 1. ]] SLAMing on 300.60255784400005 meters Centerline goodness [0,1] 0.2532399299474606 Centerline is valid? [False, False] Translation: X:4.14, Y:0.26, Z:1.03 [[ 9.99858668e-01 2.43370163e-03 -1.66349113e-02 4.13526318e+00] [-2.60715448e-03 9.99942381e-01 -1.04133168e-02 2.57755617e-01] [ 1.66086099e-02 1.04552149e-02 9.99807403e-01 1.03022955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.632557844 meters Centerline goodness [0,1] 0.24942558633545753 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 0.9998602 -0.00610984 -0.01556422 4.15615358] [ 0.00596413 0.99993812 -0.00939117 0.25766835] [ 0.01562064 0.00929703 0.99983477 1.03099005] [ 0. 0. 0. 1. ]] SLAMing on 300.66255784400005 meters Centerline goodness [0,1] 0.24952904748500526 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 0.99986208 -0.0059787 -0.0154946 4.15575759] [ 0.00583815 0.99994155 -0.00910032 0.25625847] [ 0.01554811 0.00900861 0.99983854 1.03135075] [ 0. 0. 0. 1. ]] SLAMing on 300.692557844 meters Centerline goodness [0,1] 0.25242612820401233 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 0.99986484 -0.00583191 -0.01537143 4.15520037] [ 0.00569623 0.99994456 -0.00885589 0.25528495] [ 0.01542223 0.00876714 0.99984263 1.03175158] [ 0. 0. 0. 1. ]] SLAMing on 300.72255784400005 meters Centerline goodness [0,1] 0.25288789708584936 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:1.03 [[ 0.99986595 -0.00551783 -0.01541511 4.15517439] [ 0.00538738 0.99994944 -0.00849102 0.25392167] [ 0.01546119 0.00840683 0.99984513 1.03205966] [ 0. 0. 0. 1. ]] SLAMing on 300.752557844 meters Centerline goodness [0,1] 0.2526327241079199 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:1.03 [[ 0.99986009 -0.00543011 -0.01582159 4.15626501] [ 0.00529658 0.99995011 -0.00846948 0.25386322] [ 0.01586679 0.00838449 0.99983896 1.03198606] [ 0. 0. 0. 1. ]] SLAMing on 300.78255784400005 meters Centerline goodness [0,1] 0.2540029271063151 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:1.03 [[ 9.99874075e-01 -1.96452094e-03 -1.57471908e-02 4.15569146e+00] [ 1.88522332e-03 9.99985477e-01 -5.04893111e-03 2.52910688e-01] [ 1.57568809e-02 5.01860836e-03 9.99863258e-01 1.03234950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.812557844 meters Centerline goodness [0,1] 0.25185136925315443 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:1.03 [[ 9.99870999e-01 -1.65934337e-03 -1.59759531e-02 4.15624640e+00] [ 1.57812578e-03 9.99985775e-01 -5.09500537e-03 2.54083181e-01] [ 1.59841802e-02 5.06913605e-03 9.99859395e-01 1.03252536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84255784400005 meters Centerline goodness [0,1] 0.25301810865191143 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 9.99876305e-01 -1.31656554e-03 -1.56729773e-02 4.15546536e+00] [ 1.23555717e-03 9.99985835e-01 -5.17722655e-03 2.55521254e-01] [ 1.56795715e-02 5.15722129e-03 9.99863768e-01 1.03279486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.872557844 meters Centerline goodness [0,1] 0.25247975050894444 Centerline is valid? [False, False] Translation: X:4.18, Y:0.25, Z:1.03 [[ 0.99986916 0.00847244 -0.01377954 4.17563104] [-0.00854542 0.99994973 -0.00524556 0.25405575] [ 0.01373441 0.00536263 0.9998913 1.03349611] [ 0. 0. 0. 1. ]] SLAMing on 300.90255784400006 meters Centerline goodness [0,1] 0.25434749405424273 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 9.99930210e-01 2.55727406e-03 -1.15341403e-02 4.15926045e+00] [-2.60266534e-03 9.99988922e-01 -3.92209315e-03 2.60361756e-01] [ 1.15239827e-02 3.95183894e-03 9.99925788e-01 1.03039425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93255784400003 meters Centerline goodness [0,1] 0.25403840292593727 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 9.99930950e-01 2.51743904e-03 -1.14785900e-02 4.15904255e+00] [-2.56472085e-03 9.99988280e-01 -4.10627267e-03 2.61245371e-01] [ 1.14681182e-02 4.13542851e-03 9.99925687e-01 1.03053695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96255784400006 meters Centerline goodness [0,1] 0.25302671332623294 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 9.99932414e-01 2.48675258e-03 -1.13570671e-02 4.15874304e+00] [-2.53457675e-03 9.99987974e-01 -4.19851100e-03 2.61618267e-01] [ 1.13464899e-02 4.22701260e-03 9.99926692e-01 1.03053780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99255784400003 meters Centerline goodness [0,1] 0.2547955992038321 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 9.99934336e-01 2.47486437e-03 -1.11892335e-02 4.15824358e+00] [-2.52255410e-03 9.99987787e-01 -4.25000706e-03 2.61849690e-01] [ 1.11785787e-02 4.27795343e-03 9.99928367e-01 1.03065938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02255784400006 meters Centerline goodness [0,1] 0.2547524363064283 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 9.99936497e-01 2.48029091e-03 -1.09931711e-02 4.15764027e+00] [-2.52703951e-03 9.99987815e-01 -4.24066406e-03 2.61836121e-01] [ 1.09825191e-02 4.26817494e-03 9.99930581e-01 1.03084355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05255784400003 meters Centerline goodness [0,1] 0.25423469164441725 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 9.99935247e-01 2.53802452e-03 -1.10932082e-02 4.15796498e+00] [-2.58346090e-03 9.99988325e-01 -4.08346512e-03 2.61277410e-01] [ 1.10827148e-02 4.11185958e-03 9.99930131e-01 1.03070516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08255784400006 meters Centerline goodness [0,1] 0.24979473661466656 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:1.03 [[ 9.99919449e-01 -5.85789430e-03 -1.12596547e-02 4.17926957e+00] [ 5.82310968e-03 9.99978179e-01 -3.11962070e-03 2.63948831e-01] [ 1.12776834e-02 3.05380321e-03 9.99931742e-01 1.03159054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11255784400004 meters Centerline goodness [0,1] 0.25346577884510424 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 9.99933161e-01 2.51076774e-03 -1.12858011e-02 4.15945312e+00] [-2.55741753e-03 9.99988239e-01 -4.12096459e-03 2.59298509e-01] [ 1.12753216e-02 4.14955166e-03 9.99927822e-01 1.02986118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14255784400007 meters Centerline goodness [0,1] 0.25412858046641507 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:1.03 [[ 9.99935262e-01 2.54208348e-03 -1.10909920e-02 4.15879088e+00] [-2.58603605e-03 9.99988853e-01 -3.95036718e-03 2.58293745e-01] [ 1.10808262e-02 3.97879315e-03 9.99930690e-01 1.03010374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17255784400004 meters Centerline goodness [0,1] 0.250955579070119 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:1.03 [[ 9.99939389e-01 -6.03894934e-03 -9.20599410e-03 4.17899966e+00] [ 6.01179059e-03 9.99977504e-01 -2.97493923e-03 2.58871013e-01] [ 9.22375251e-03 2.91941440e-03 9.99953199e-01 1.03113320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20255784400007 meters Centerline goodness [0,1] 0.25109903198562056 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:1.03 [[ 9.99947587e-01 -6.02944770e-03 -8.27464497e-03 4.17596798e+00] [ 6.00842794e-03 9.99978665e-01 -2.56277312e-03 2.56375386e-01] [ 8.28992054e-03 2.51292119e-03 9.99962481e-01 1.03228146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23255784400004 meters Centerline goodness [0,1] 0.2534127467176768 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:1.03 [[ 9.99948577e-01 -5.92330143e-03 -8.23157157e-03 4.17583207e+00] [ 5.90472649e-03 9.99979970e-01 -2.27902285e-03 2.55118819e-01] [ 8.24490603e-03 2.23030047e-03 9.99963523e-01 1.03228817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26255784400007 meters Centerline goodness [0,1] 0.25485474089804494 Centerline is valid? [False, False] Translation: X:4.18, Y:0.25, Z:1.03 [[ 9.99947873e-01 -5.82654705e-03 -8.38469520e-03 4.17634925e+00] [ 5.80993555e-03 9.99981114e-01 -2.00416474e-03 2.53847293e-01] [ 8.39621421e-03 1.95534573e-03 9.99962839e-01 1.03201578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29255784400004 meters Centerline goodness [0,1] 0.25161905174467714 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99959289e-01 2.03293511e-03 -8.79132928e-03 4.19664249e+00] [-2.05605813e-03 9.99994449e-01 -2.62197009e-03 2.46420504e-01] [ 8.78595019e-03 2.63993883e-03 9.99957918e-01 1.03267290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3225578440001 meters Centerline goodness [0,1] 0.25130087444672355 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99957332e-01 2.10252311e-03 -8.99518690e-03 4.19729892e+00] [-2.12439585e-03 9.99994809e-01 -2.42274139e-03 2.45403178e-01] [ 8.99004634e-03 2.44174736e-03 9.99956608e-01 1.03241391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35255784400005 meters Centerline goodness [0,1] 0.24664295721521712 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99955585e-01 2.13554900e-03 -9.17974007e-03 4.19788964e+00] [-2.15714587e-03 9.99994928e-01 -2.34340989e-03 2.45003547e-01] [ 9.17468904e-03 2.36310785e-03 9.99955119e-01 1.03219688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.382557844 meters Centerline goodness [0,1] 0.2500433764205777 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99953483e-01 2.11134834e-03 -9.41141150e-03 4.19859888e+00] [-2.13472894e-03 9.99994659e-01 -2.47492884e-03 2.45697447e-01] [ 9.40613580e-03 2.49490452e-03 9.99952649e-01 1.03200335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41255784400005 meters Centerline goodness [0,1] 0.2520000867246276 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99952039e-01 2.08649474e-03 -9.56905041e-03 4.19916320e+00] [-2.11144059e-03 9.99994397e-01 -2.59756956e-03 2.46452283e-01] [ 9.56357699e-03 2.61764946e-03 9.99950842e-01 1.03172049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442557844 meters Centerline goodness [0,1] 0.24831649831649827 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99951063e-01 2.10019313e-03 -9.66746424e-03 4.19963690e+00] [-2.12566514e-03 9.99994295e-01 -2.62529743e-03 2.46843675e-01] [ 9.66189545e-03 2.64571875e-03 9.99949823e-01 1.03133403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47255784400005 meters Centerline goodness [0,1] 0.24809813823446547 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99950935e-01 2.12942764e-03 -9.67432987e-03 4.19991872e+00] [-2.15440182e-03 9.99994372e-01 -2.57180127e-03 2.46819935e-01] [ 9.66879896e-03 2.59251748e-03 9.99949895e-01 1.03088008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502557844 meters Centerline goodness [0,1] 0.2525038268095342 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99951373e-01 2.14834310e-03 -9.62474324e-03 4.20003718e+00] [-2.17262377e-03 9.99994482e-01 -2.51299011e-03 2.46649740e-01] [ 9.61929137e-03 2.53377885e-03 9.99950523e-01 1.03045092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53255784400005 meters Centerline goodness [0,1] 0.2491845067075673 Centerline is valid? [False, False] Translation: X:4.22, Y:0.25, Z:1.03 [[ 9.99943436e-01 -6.63482374e-03 -8.31286795e-03 4.22104337e+00] [ 6.62068206e-03 9.99976591e-01 -1.72754583e-03 2.48154373e-01] [ 8.32413531e-03 1.67241126e-03 9.99963955e-01 1.03084179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562557844 meters Centerline goodness [0,1] 0.2517464255402494 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:1.03 [[ 9.99971952e-01 1.36637876e-03 -7.36402155e-03 4.20062862e+00] [-1.38823014e-03 9.99994647e-01 -2.96302246e-03 2.44394893e-01] [ 7.35993352e-03 2.97316230e-03 9.99968495e-01 1.02919819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59255784400005 meters Centerline goodness [0,1] 0.25113343022625223 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:1.03 [[ 9.99971817e-01 1.33150320e-03 -7.38866309e-03 4.20060340e+00] [-1.35372612e-03 9.99994573e-01 -3.00351886e-03 2.44447703e-01] [ 7.38462379e-03 3.01343644e-03 9.99968193e-01 1.02935281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622557844 meters Centerline goodness [0,1] 0.25177304964539005 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:1.03 [[ 9.99970435e-01 1.30205206e-03 -7.57852695e-03 4.20127537e+00] [-1.32526463e-03 9.99994444e-01 -3.05872425e-03 2.44657836e-01] [ 7.57450222e-03 3.06867737e-03 9.99966605e-01 1.02897211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65255784400006 meters Centerline goodness [0,1] 0.25167033014864304 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99967939e-01 1.26382125e-03 -7.90714629e-03 4.20237418e+00] [-1.28926914e-03 9.99994004e-01 -3.21407211e-03 2.45600882e-01] [ 7.90303687e-03 3.22416350e-03 9.99963573e-01 1.02852969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68255784400003 meters Centerline goodness [0,1] 0.24814606010668283 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99965575e-01 1.23296271e-03 -8.20543352e-03 4.20336456e+00] [-1.26180544e-03 9.99993041e-01 -3.51082874e-03 2.47450038e-01] [ 8.20104770e-03 3.52106154e-03 9.99960172e-01 1.02818881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71255784400006 meters Centerline goodness [0,1] 0.2505217845030002 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99972198e-01 1.64614696e-03 -7.27274232e-03 4.20080486e+00] [-1.67459964e-03 9.99990962e-01 -3.90787961e-03 2.51828330e-01] [ 7.26624364e-03 3.91994990e-03 9.99965917e-01 1.02891477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74255784400003 meters Centerline goodness [0,1] 0.25071496663489035 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99973506e-01 1.48165960e-03 -7.12681565e-03 4.20025447e+00] [-1.51386044e-03 9.99988661e-01 -4.51499503e-03 2.54732285e-01] [ 7.12004516e-03 4.52566441e-03 9.99964411e-01 1.02937554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77255784400006 meters Centerline goodness [0,1] 0.25071496663489035 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:1.03 [[ 9.99973506e-01 1.48165960e-03 -7.12681565e-03 4.20025447e+00] [-1.51386044e-03 9.99988661e-01 -4.51499503e-03 2.54732285e-01] [ 7.12004516e-03 4.52566441e-03 9.99964411e-01 1.02937554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80255784400003 meters Centerline goodness [0,1] 0.24760255438900314 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:1.03 [[ 9.99973785e-01 1.27731179e-03 -7.12719166e-03 4.20018567e+00] [-1.31362295e-03 9.99986171e-01 -5.09238273e-03 2.57357357e-01] [ 7.12058854e-03 5.10161168e-03 9.99961635e-01 1.02955753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83255784400006 meters Centerline goodness [0,1] 0.2507476919075896 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:1.03 [[ 9.99973699e-01 1.11441647e-03 -7.16652350e-03 4.20012610e+00] [-1.15435589e-03 9.99983814e-01 -5.57133435e-03 2.59699135e-01] [ 7.16019872e-03 5.57946053e-03 9.99958800e-01 1.02991624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86255784400004 meters Centerline goodness [0,1] 0.2503169121825414 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:1.03 [[ 9.99973593e-01 9.67549832e-04 -7.20252170e-03 4.20016184e+00] [-1.01048052e-03 9.99981733e-01 -5.95925719e-03 2.61543941e-01] [ 7.19662425e-03 5.96637784e-03 9.99956305e-01 1.03004119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89255784400007 meters Centerline goodness [0,1] 0.2475759674487057 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:1.03 [[ 0.99994742 -0.00744521 -0.00705167 4.22067572] [ 0.00740914 0.99995941 -0.00512714 0.26593102] [ 0.00708956 0.00507462 0.99996199 1.03130705] [ 0. 0. 0. 1. ]] SLAMing on 301.92255784400004 meters Centerline goodness [0,1] 0.2509429437286066 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:1.03 [[ 9.99957735e-01 3.90042521e-04 -9.18563985e-03 4.20305955e+00] [-4.55199928e-04 9.99974745e-01 -7.09237676e-03 2.64059329e-01] [ 9.18264154e-03 7.09625831e-03 9.99932659e-01 1.02931621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95255784400007 meters Centerline goodness [0,1] 0.24667783118380127 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:1.03 [[ 9.99957148e-01 3.40342919e-04 -9.25127065e-03 4.20327162e+00] [-4.06989746e-04 9.99973974e-01 -7.20314500e-03 2.64600145e-01] [ 9.24857833e-03 7.20660150e-03 9.99931262e-01 1.02924462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98255784400004 meters Centerline goodness [0,1] 0.24839837557278432 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:1.03 [[ 9.99957963e-01 2.42115060e-04 -9.16594846e-03 4.20292356e+00] [-3.10395357e-04 9.99972210e-01 -7.44865380e-03 2.65806271e-01] [ 9.16389031e-03 7.45118575e-03 9.99930249e-01 1.02949570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01255784400007 meters Centerline goodness [0,1] 0.24980971228497484 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:1.03 [[ 9.99959067e-01 1.58583934e-04 -9.04648544e-03 4.20241791e+00] [-2.28261003e-04 9.99970316e-01 -7.70160231e-03 2.67137163e-01] [ 9.04499555e-03 7.70335202e-03 9.99929421e-01 1.02990387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04255784400004 meters Centerline goodness [0,1] 0.2547553600879604 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:1.03 [[ 9.99960091e-01 9.05226857e-05 -8.93357852e-03 4.20199537e+00] [-1.61201583e-04 9.99968693e-01 -7.91119682e-03 2.68271411e-01] [ 8.93258269e-03 7.91232119e-03 9.99928800e-01 1.03019789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0725578440001 meters Centerline goodness [0,1] 0.24993519958527732 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:1.03 [[ 0.99996482 -0.00609608 -0.005761 4.22370643] [ 0.00606612 0.99996806 -0.00520316 0.26953968] [ 0.00579253 0.00516803 0.99996987 1.02941984] [ 0. 0. 0. 1. ]] SLAMing on 302.10255784400005 meters Centerline goodness [0,1] 0.2505807516119928 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:1.03 [[ 0.99996502 -0.00616109 -0.00565658 4.22319523] [ 0.00613074 0.99996681 -0.00536608 0.27034683] [ 0.00568945 0.00533121 0.9999696 1.02986407] [ 0. 0. 0. 1. ]] SLAMing on 302.132557844 meters Centerline goodness [0,1] 0.2532480293469005 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:1.03 [[ 0.9999652 -0.00619247 -0.00558999 4.22291761] [ 0.00616185 0.99996601 -0.00547802 0.27099595] [ 0.00562372 0.00544338 0.99996937 1.03005546] [ 0. 0. 0. 1. ]] SLAMing on 302.16255784400005 meters Centerline goodness [0,1] 0.2552175061641423 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:1.03 [[ 0.99996535 -0.00617971 -0.00557676 4.22291446] [ 0.00614908 0.99996601 -0.00549171 0.27130863] [ 0.00561051 0.00545722 0.99996937 1.02999833] [ 0. 0. 0. 1. ]] SLAMing on 302.192557844 meters Centerline goodness [0,1] 0.2511004576160384 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:1.03 [[ 0.99996592 -0.00614259 -0.0055166 4.22279652] [ 0.00611274 0.99996667 -0.00541228 0.27116976] [ 0.00554966 0.00537838 0.99997014 1.02990569] [ 0. 0. 0. 1. ]] SLAMing on 302.22255784400005 meters Centerline goodness [0,1] 0.25408692619556217 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:1.03 [[ 0.99996728 -0.00609456 -0.00531946 4.22216297] [ 0.00606649 0.99996768 -0.0052767 0.27052996] [ 0.00535145 0.00524426 0.99997193 1.03015759] [ 0. 0. 0. 1. ]] SLAMing on 302.252557844 meters Centerline goodness [0,1] 0.253332173686156 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:1.03 [[ 0.99996816 -0.0060775 -0.00517201 4.22167428] [ 0.00605098 0.99996854 -0.00512897 0.26961814] [ 0.00520302 0.00509751 0.99997347 1.03029937] [ 0. 0. 0. 1. ]] SLAMing on 302.28255784400005 meters Centerline goodness [0,1] 0.2539675619114057 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:1.03 [[ 0.99996708 -0.00595627 -0.00551038 4.22271326] [ 0.00593093 0.99997181 -0.00460426 0.2669786 ] [ 0.00553765 0.00457143 0.99997422 1.02981643] [ 0. 0. 0. 1. ]] SLAMing on 302.312557844 meters Centerline goodness [0,1] 0.2495418777622076 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:1.03 [[ 9.99981181e-01 1.95983697e-03 -5.81341590e-03 4.24234684e+00] [-1.98835884e-03 9.99985996e-01 -4.90450057e-03 2.59974639e-01] [ 5.80372246e-03 4.91596743e-03 9.99971075e-01 1.03046442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34255784400005 meters Centerline goodness [0,1] 0.250921229462002 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:1.03 [[ 9.99981046e-01 2.04579099e-03 -5.80702002e-03 4.24227026e+00] [-2.07315372e-03 9.99986759e-01 -4.70990617e-03 2.59220685e-01] [ 5.79730764e-03 4.72185574e-03 9.99972047e-01 1.03054777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.372557844 meters Centerline goodness [0,1] 0.2513769790699182 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:1.03 [[ 9.99982327e-01 2.09381209e-03 -5.56430814e-03 4.24129391e+00] [-2.11921586e-03 9.99987342e-01 -4.56351801e-03 2.58422177e-01] [ 5.55468256e-03 4.57522933e-03 9.99974106e-01 1.03116022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40255784400006 meters Centerline goodness [0,1] 0.24858416417235518 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:1.03 [[ 9.99983587e-01 2.09291609e-03 -5.33346346e-03 4.24031174e+00] [-2.11660630e-03 9.99987903e-01 -4.44003978e-03 2.57405329e-01] [ 5.32410631e-03 4.45125575e-03 9.99975920e-01 1.03177546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43255784400003 meters Centerline goodness [0,1] 0.2527179798154806 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:1.03 [[ 9.99982164e-01 2.00663695e-03 -5.62541249e-03 4.24105543e+00] [-2.03044421e-03 9.99988994e-01 -4.22958012e-03 2.55300020e-01] [ 5.61686335e-03 4.24092677e-03 9.99975232e-01 1.03155514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46255784400006 meters Centerline goodness [0,1] 0.2524625174337517 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:1.03 [[ 9.99980375e-01 2.07297988e-03 -5.91198005e-03 4.24205086e+00] [-2.09677473e-03 9.99989715e-01 -4.02149945e-03 2.54381418e-01] [ 5.90358276e-03 4.03381662e-03 9.99974438e-01 1.03100149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49255784400003 meters Centerline goodness [0,1] 0.2529260757951529 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:1.03 [[ 9.99978953e-01 2.18187582e-03 -6.11006998e-03 4.24279177e+00] [-2.20448609e-03 9.99990739e-01 -3.69620582e-03 2.53080319e-01] [ 6.10194874e-03 3.70959759e-03 9.99974502e-01 1.03043683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52255784400006 meters Centerline goodness [0,1] 0.24944960069069722 Centerline is valid? [False, False] Translation: X:4.26, Y:0.25, Z:1.03 [[ 9.99960857e-01 -6.51348741e-03 -5.98831270e-03 4.26428440e+00] [ 6.49857234e-03 9.99975742e-01 -2.50678998e-03 2.53867918e-01] [ 6.00449538e-03 2.46777638e-03 9.99978928e-01 1.03120967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55255784400003 meters Centerline goodness [0,1] 0.2522392624634072 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:1.03 [[ 9.99980519e-01 1.79445772e-03 -5.97845251e-03 4.24364010e+00] [-1.81504729e-03 9.99992435e-01 -3.44031965e-03 2.48104470e-01] [ 5.97223378e-03 3.45110380e-03 9.99976211e-01 1.02941679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58255784400006 meters Centerline goodness [0,1] 0.2520135326858016 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:1.03 [[ 9.99980399e-01 1.79934154e-03 -5.99702785e-03 4.24372572e+00] [-1.81747569e-03 9.99993789e-01 -3.01977829e-03 2.45363299e-01] [ 5.99155699e-03 3.03061855e-03 9.99977458e-01 1.02917172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61255784400004 meters Centerline goodness [0,1] 0.2536247707223338 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:1.03 [[ 9.99983305e-01 1.30835511e-03 -5.62829581e-03 4.24242149e+00] [-1.32379923e-03 9.99995367e-01 -2.74116390e-03 2.40581435e-01] [ 5.62468332e-03 2.74856887e-03 9.99980404e-01 1.02937932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64255784400007 meters Centerline goodness [0,1] 0.25088752272924064 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:1.03 [[ 9.99961002e-01 -7.26527862e-03 -5.02103042e-03 4.26280117e+00] [ 7.25803727e-03 9.99972596e-01 -1.45892488e-03 2.39810697e-01] [ 5.03149232e-03 1.42242516e-03 9.99986330e-01 1.03052344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67255784400004 meters Centerline goodness [0,1] 0.2500702444506884 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:1.03 [[ 9.99962774e-01 -7.07006329e-03 -4.94628802e-03 4.26261307e+00] [ 7.06550779e-03 9.99974599e-01 -9.37863995e-04 2.37286007e-01] [ 4.95279314e-03 9.02881045e-04 9.99987327e-01 1.03043968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70255784400007 meters Centerline goodness [0,1] 0.25102357453777524 Centerline is valid? [False, False] Translation: X:4.26, Y:0.23, Z:1.03 [[ 9.99964644e-01 -6.87617233e-03 -4.84035150e-03 4.26246452e+00] [ 6.87447341e-03 9.99976303e-01 -3.67540995e-04 2.34405323e-01] [ 4.84276407e-03 3.34253132e-04 9.99988218e-01 1.03014794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73255784400004 meters Centerline goodness [0,1] 0.2527217019057346 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:1.03 [[ 9.99990816e-01 1.24961163e-03 -4.09965778e-03 4.24270388e+00] [-1.25507300e-03 9.99998328e-01 -1.32985159e-03 2.27429500e-01] [ 4.09798913e-03 1.33498474e-03 9.99990712e-01 1.02740488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76255784400007 meters Centerline goodness [0,1] 0.2522645812968394 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:1.03 [[ 9.99990695e-01 1.49695548e-03 -4.04581374e-03 4.24270291e+00] [-1.49937944e-03 9.99998698e-01 -5.96159706e-04 2.23752906e-01] [ 4.04491605e-03 6.02220368e-04 9.99991638e-01 1.02700920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79255784400004 meters Centerline goodness [0,1] 0.2511325457895307 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:1.03 [[ 9.99989911e-01 1.96419869e-03 -4.03976947e-03 4.24236065e+00] [-1.96082781e-03 9.99997726e-01 8.38215588e-04 2.15990431e-01] [ 4.04140670e-03 -8.30285839e-04 9.99991489e-01 1.02719005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8225578440001 meters Centerline goodness [0,1] 0.24726033307446715 Centerline is valid? [False, False] Translation: X:4.24, Y:0.21, Z:1.03 [[ 9.99988702e-01 2.28004079e-03 -4.17094221e-03 4.24255600e+00] [-2.27321261e-03 9.99996070e-01 1.64109123e-03 2.12300270e-01] [ 4.17466757e-03 -1.63159125e-03 9.99989955e-01 1.02733186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85255784400005 meters Centerline goodness [0,1] 0.2543794178337797 Centerline is valid? [False, False] Translation: X:4.20, Y:0.21, Z:1.03 [[ 9.99975156e-01 2.45023556e-03 -6.60939776e-03 4.19661529e+00] [-2.43769822e-03 9.99995216e-01 1.90428650e-03 2.12490803e-01] [ 6.61403209e-03 -1.88812747e-03 9.99976344e-01 1.02867075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.882557844 meters Centerline goodness [0,1] 0.24790178860385337 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99986291e-01 1.58399279e-03 -4.99087751e-03 4.24195952e+00] [-1.57575549e-03 9.99997391e-01 1.65397116e-03 2.04444645e-01] [ 4.99348436e-03 -1.64608409e-03 9.99986178e-01 1.02781302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91255784400005 meters Centerline goodness [0,1] 0.250249793648725 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99985304e-01 1.93276031e-03 -5.06520713e-03 4.24255931e+00] [-1.92014437e-03 9.99995046e-01 2.49438567e-03 2.00262740e-01] [ 5.07000309e-03 -2.48462308e-03 9.99984061e-01 1.02701499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942557844 meters Centerline goodness [0,1] 0.2509358405153652 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99984889e-01 2.09122810e-03 -5.08421288e-03 4.24259395e+00] [-2.07713111e-03 9.99993989e-01 2.77640030e-03 1.99159156e-01] [ 5.08998841e-03 -2.76579777e-03 9.99983221e-01 1.02702956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97255784400005 meters Centerline goodness [0,1] 0.2497941316690504 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99984515e-01 2.22719282e-03 -5.09985153e-03 4.24249293e+00] [-2.21190654e-03 9.99993050e-01 3.00107702e-03 1.98347622e-01] [ 5.10650007e-03 -2.98975015e-03 9.99982492e-01 1.02729531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.002557844 meters Centerline goodness [0,1] 0.25220988460701066 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99984495e-01 2.30682445e-03 -5.06837977e-03 4.24214830e+00] [-2.29105208e-03 9.99992522e-01 3.11552095e-03 1.97887459e-01] [ 5.07552883e-03 -3.10386073e-03 9.99982302e-01 1.02780495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03255784400005 meters Centerline goodness [0,1] 0.2502606202762575 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99984223e-01 2.34387502e-03 -5.10496186e-03 4.24200576e+00] [-2.32790948e-03 9.99992388e-01 3.13115514e-03 1.97804329e-01] [ 5.11226204e-03 -3.11922185e-03 9.99982067e-01 1.02825952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.062557844 meters Centerline goodness [0,1] 0.25083306109114667 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99984843e-01 2.49315541e-03 -4.90892792e-03 4.24150282e+00] [-2.47719444e-03 9.99991635e-01 3.25481632e-03 1.97503235e-01] [ 4.91700162e-03 -3.24260662e-03 9.99982654e-01 1.02834238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09255784400005 meters Centerline goodness [0,1] 0.24669269139015393 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99985573e-01 2.54358581e-03 -4.73112019e-03 4.24114108e+00] [-2.52766405e-03 9.99991133e-01 3.36826554e-03 1.96990456e-01] [ 4.73964571e-03 -3.35625827e-03 9.99983136e-01 1.02818366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.122557844 meters Centerline goodness [0,1] 0.2528201870632817 Centerline is valid? [False, False] Translation: X:4.22, Y:0.20, Z:1.03 [[ 0.99997255 -0.00557622 -0.00487956 4.22196066] [ 0.00559927 0.99997317 0.00472321 0.20139194] [ 0.00485309 -0.0047504 0.99997694 1.02667992] [ 0. 0. 0. 1. ]] SLAMing on 303.15255784400006 meters Centerline goodness [0,1] 0.2513408625125365 Centerline is valid? [False, False] Translation: X:4.22, Y:0.20, Z:1.03 [[ 0.99997229 -0.00550366 -0.00501302 4.22231575] [ 0.00552838 0.99997257 0.00492986 0.20041468] [ 0.00498575 -0.00495744 0.99997528 1.02659131] [ 0. 0. 0. 1. ]] SLAMing on 303.18255784400003 meters Centerline goodness [0,1] 0.25075744459833793 Centerline is valid? [False, False] Translation: X:4.24, Y:0.19, Z:1.03 [[ 9.99981452e-01 1.75427633e-03 -5.83245715e-03 4.24051052e+00] [-1.73289355e-03 9.99991767e-01 3.66920354e-03 1.93573585e-01] [ 5.83884592e-03 -3.65902845e-03 9.99976259e-01 1.02857771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21255784400006 meters Centerline goodness [0,1] 0.248489442338928 Centerline is valid? [False, False] Translation: X:4.24, Y:0.19, Z:1.03 [[ 9.99981265e-01 1.79324267e-03 -5.85271639e-03 4.24064058e+00] [-1.77106912e-03 9.99991244e-01 3.79157782e-03 1.92931125e-01] [ 5.85946436e-03 -3.78114122e-03 9.99975685e-01 1.02842349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24255784400003 meters Centerline goodness [0,1] 0.25678460637351674 Centerline is valid? [False, False] Translation: X:4.24, Y:0.19, Z:1.03 [[ 9.99982262e-01 1.73215820e-03 -5.69862524e-03 4.24028335e+00] [-1.71139450e-03 9.99991887e-01 3.64649418e-03 1.93494925e-01] [ 5.70489531e-03 -3.63667690e-03 9.99977114e-01 1.02841458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27255784400006 meters Centerline goodness [0,1] 0.25152851777447816 Centerline is valid? [False, False] Translation: X:4.24, Y:0.19, Z:1.03 [[ 9.99982375e-01 1.62971625e-03 -5.70911991e-03 4.24036710e+00] [-1.61066747e-03 9.99993127e-01 3.33956304e-03 1.94953288e-01] [ 5.71452321e-03 -3.33030869e-03 9.99978126e-01 1.02837830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30255784400003 meters Centerline goodness [0,1] 0.2520500741516183 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99981166e-01 1.53129937e-03 -5.94324729e-03 4.24106141e+00] [-1.51375563e-03 9.99994487e-01 2.95525335e-03 1.96862274e-01] [ 5.94773990e-03 -2.94620107e-03 9.99977972e-01 1.02827124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33255784400006 meters Centerline goodness [0,1] 0.2501077307592864 Centerline is valid? [False, False] Translation: X:4.26, Y:0.19, Z:1.03 [[ 9.99934712e-01 9.93910427e-03 -5.63786691e-03 4.26185163e+00] [-9.92867989e-03 9.99948953e-01 1.87397990e-03 1.93706002e-01] [ 5.65620480e-03 -1.81788098e-03 9.99982351e-01 1.02890220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36255784400004 meters Centerline goodness [0,1] 0.2509601117220913 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99980783e-01 1.84503510e-03 -5.91857341e-03 4.24236050e+00] [-1.82991664e-03 9.99995052e-01 2.55880772e-03 2.02324153e-01] [ 5.92326522e-03 -2.54792805e-03 9.99979211e-01 1.02817631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39255784400007 meters Centerline goodness [0,1] 0.25159506129826015 Centerline is valid? [False, False] Translation: X:4.24, Y:0.20, Z:1.03 [[ 9.99980999e-01 1.71353859e-03 -5.92154501e-03 4.24218236e+00] [-1.70107005e-03 9.99996327e-01 2.11001887e-03 2.04438072e-01] [ 5.92513886e-03 -2.09990582e-03 9.99980241e-01 1.02856738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42255784400004 meters Centerline goodness [0,1] 0.25081050501533975 Centerline is valid? [False, False] Translation: X:4.24, Y:0.21, Z:1.03 [[ 9.99981889e-01 1.65164411e-03 -5.78745438e-03 4.24183980e+00] [-1.64332895e-03 9.99997611e-01 1.44121655e-03 2.08049006e-01] [ 5.78982093e-03 -1.43167975e-03 9.99982214e-01 1.02876567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45255784400007 meters Centerline goodness [0,1] 0.25143415906127775 Centerline is valid? [False, False] Translation: X:4.24, Y:0.21, Z:1.03 [[ 9.99981324e-01 1.53287607e-03 -5.91619715e-03 4.24228506e+00] [-1.52668002e-03 9.99998282e-01 1.05167663e-03 2.10013611e-01] [ 5.91779907e-03 -1.04262485e-03 9.99981946e-01 1.02858596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48255784400004 meters Centerline goodness [0,1] 0.24853605306942672 Centerline is valid? [False, False] Translation: X:4.24, Y:0.21, Z:1.03 [[ 9.99980392e-01 1.44238670e-03 -6.09388476e-03 4.24293103e+00] [-1.43778534e-03 9.99998678e-01 7.59392136e-04 2.11514178e-01] [ 6.09497204e-03 -7.50615548e-04 9.99981144e-01 1.02827810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51255784400007 meters Centerline goodness [0,1] 0.25048991856464753 Centerline is valid? [False, False] Translation: X:4.24, Y:0.21, Z:1.03 [[ 9.99979845e-01 1.34722147e-03 -6.20444926e-03 4.24337557e+00] [-1.34407501e-03 9.99998966e-01 5.11272043e-04 2.12785831e-01] [ 6.20513164e-03 -5.02922493e-04 9.99980622e-01 1.02798631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54255784400004 meters Centerline goodness [0,1] 0.24567503941599533 Centerline is valid? [False, False] Translation: X:4.24, Y:0.21, Z:1.03 [[ 9.99979417e-01 1.24157285e-03 -6.29480999e-03 4.24371684e+00] [-1.24010739e-03 9.99999203e-01 2.36701696e-04 2.14135265e-01] [ 6.29509886e-03 -2.28890584e-04 9.99980159e-01 1.02780372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5725578440001 meters Centerline goodness [0,1] 0.25068618481244287 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:1.03 [[ 9.99980651e-01 1.06568616e-03 -6.12882957e-03 4.24353917e+00] [-1.06778496e-03 9.99999372e-01 -3.39185079e-04 2.17092506e-01] [ 6.12846426e-03 3.45722788e-04 9.99981161e-01 1.02750547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60255784400005 meters Centerline goodness [0,1] 0.2493874807571388 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:1.03 [[ 9.99981860e-01 9.55146723e-04 -5.94704847e-03 4.24303195e+00] [-9.59030160e-04 9.99999329e-01 -6.50185019e-04 2.18523097e-01] [ 5.94642345e-03 6.55876623e-04 9.99982105e-01 1.02762918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6325578440001 meters Centerline goodness [0,1] 0.2489824047552387 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:1.03 [[ 9.99983124e-01 8.27876013e-04 -5.75041679e-03 4.24236420e+00] [-8.33753341e-04 9.99999132e-01 -1.01974783e-03 2.20257746e-01] [ 5.74956758e-03 1.02452505e-03 9.99982946e-01 1.02796833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66255784400005 meters Centerline goodness [0,1] 0.2489824047552387 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:1.03 [[ 9.99983124e-01 8.27876013e-04 -5.75041679e-03 4.24236420e+00] [-8.33753341e-04 9.99999132e-01 -1.01974783e-03 2.20257746e-01] [ 5.74956758e-03 1.02452505e-03 9.99982946e-01 1.02796833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.692557844 meters Centerline goodness [0,1] 0.25004879529830193 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:1.03 [[ 9.99984197e-01 6.91746877e-04 -5.57916662e-03 4.24183311e+00] [-6.99676598e-04 9.99998748e-01 -1.41948267e-03 2.22244691e-01] [ 5.57817771e-03 1.42336385e-03 9.99983429e-01 1.02817939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72255784400005 meters Centerline goodness [0,1] 0.25009785586917754 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:1.03 [[ 9.99984070e-01 5.71607898e-04 -5.61545330e-03 4.24199784e+00] [-5.81765486e-04 9.99998197e-01 -1.80739646e-03 2.24244727e-01] [ 5.61441005e-03 1.81063454e-03 9.99982600e-01 1.02809754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.752557844 meters Centerline goodness [0,1] 0.252682755902063 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:1.03 [[ 9.99983619e-01 4.51123062e-04 -5.70592194e-03 4.24252610e+00] [-4.64403305e-04 9.99997186e-01 -2.32633835e-03 2.27323662e-01] [ 5.70485642e-03 2.32895009e-03 9.99981015e-01 1.02760662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78255784400005 meters Centerline goodness [0,1] 0.2502762311242065 Centerline is valid? [False, False] Translation: X:4.26, Y:0.23, Z:1.03 [[ 9.99957802e-01 -7.87683822e-03 -4.72764493e-03 4.26271955e+00] [ 7.87038880e-03 9.99968074e-01 -1.38125089e-03 2.31335682e-01] [ 4.73837388e-03 1.34398420e-03 9.99987871e-01 1.02867392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.812557844 meters Centerline goodness [0,1] 0.25188002798181186 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:1.03 [[ 9.99993574e-01 4.07739599e-04 -3.56169391e-03 4.24138596e+00] [-4.15913865e-04 9.99997281e-01 -2.29461094e-03 2.28096391e-01] [ 3.56074862e-03 2.29607755e-03 9.99991025e-01 1.02725358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84255784400005 meters Centerline goodness [0,1] 0.25230601092896177 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:1.03 [[ 9.99994461e-01 3.37519192e-04 -3.31120839e-03 4.24058722e+00] [-3.45552961e-04 9.99996998e-01 -2.42596260e-03 2.28598562e-01] [ 3.31037964e-03 2.42709336e-03 9.99991575e-01 1.02755388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.872557844 meters Centerline goodness [0,1] 0.2528743169398907 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:1.03 [[ 9.99994858e-01 2.56939453e-04 -3.19666062e-03 4.24015254e+00] [-2.65322727e-04 9.99996526e-01 -2.62236218e-03 2.29520725e-01] [ 3.19597573e-03 2.62319684e-03 9.99991452e-01 1.02782086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90255784400006 meters Centerline goodness [0,1] 0.2470995931896941 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:1.03 [[ 9.99962543e-01 -7.63024049e-03 -4.08550834e-03 4.26115515e+00] [ 7.62334248e-03 9.99969495e-01 -1.70132792e-03 2.36204463e-01] [ 4.09836525e-03 1.67011897e-03 9.99990207e-01 1.02943890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93255784400003 meters Centerline goodness [0,1] 0.2515909685293348 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:1.03 [[ 9.99986478e-01 1.13681080e-03 -5.07464899e-03 4.24045896e+00] [-1.15019178e-03 9.99995868e-01 -2.63468860e-03 2.35326067e-01] [ 5.07163288e-03 2.64048980e-03 9.99983653e-01 1.02830394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96255784400006 meters Centerline goodness [0,1] 0.2508176482055059 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:1.03 [[ 9.99986442e-01 1.00188494e-03 -5.10995216e-03 4.24064529e+00] [-1.01728302e-03 9.99994948e-01 -3.01164199e-03 2.37220652e-01] [ 5.10690902e-03 3.01679943e-03 9.99982409e-01 1.02819091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99255784400003 meters Centerline goodness [0,1] 0.25036908380373424 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:1.03 [[ 9.99987010e-01 8.28500266e-04 -5.02917470e-03 4.24053035e+00] [-8.45935329e-04 9.99993637e-01 -3.46564739e-03 2.39382116e-01] [ 5.02627141e-03 3.46985672e-03 9.99981348e-01 1.02806820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02255784400006 meters Centerline goodness [0,1] 0.2519478245644752 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:1.03 [[ 9.99987357e-01 6.36696165e-04 -4.98809121e-03 4.24054800e+00] [-6.56472647e-04 9.99991927e-01 -3.96410594e-03 2.41698825e-01] [ 4.98552702e-03 3.96733037e-03 9.99979702e-01 1.02791223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05255784400003 meters Centerline goodness [0,1] 0.2512752610215112 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:1.03 [[ 9.99986525e-01 4.74576135e-04 -5.16957491e-03 4.24110540e+00] [-4.97421914e-04 9.99990113e-01 -4.41888733e-03 2.43921811e-01] [ 5.16742670e-03 4.42139924e-03 9.99976874e-01 1.02777777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08255784400006 meters Centerline goodness [0,1] 0.2541787630861265 Centerline is valid? [False, False] Translation: X:4.22, Y:0.25, Z:1.03 [[ 9.99946781e-01 -5.57642165e-03 -8.67976445e-03 4.22024453e+00] [ 5.55892916e-03 9.99982472e-01 -2.03814206e-03 2.50528586e-01] [ 8.69097785e-03 1.98978339e-03 9.99960253e-01 1.02832410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11255784400004 meters Centerline goodness [0,1] 0.25213063489616594 Centerline is valid? [False, False] Translation: X:4.22, Y:0.25, Z:1.03 [[ 9.99944015e-01 -5.73613874e-03 -8.89173176e-03 4.22099001e+00] [ 5.71419496e-03 9.99980570e-01 -2.49132949e-03 2.52785963e-01] [ 8.90584961e-03 2.44038092e-03 9.99957364e-01 1.02794901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14255784400007 meters Centerline goodness [0,1] 0.24644078064823227 Centerline is valid? [False, False] Translation: X:4.27, Y:0.25, Z:1.03 [[ 9.99958233e-01 -5.56620131e-03 -7.24906341e-03 4.26625160e+00] [ 5.55101056e-03 9.99982359e-01 -2.11398361e-03 2.53167374e-01] [ 7.26070238e-03 2.07365569e-03 9.99971491e-01 1.02714217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17255784400004 meters Centerline goodness [0,1] 0.2463542342810161 Centerline is valid? [False, False] Translation: X:4.27, Y:0.26, Z:1.03 [[ 9.99956669e-01 -5.80277849e-03 -7.27930872e-03 4.26651074e+00] [ 5.78288042e-03 9.99979493e-01 -2.75158781e-03 2.56280269e-01] [ 7.29512630e-03 2.70937321e-03 9.99969720e-01 1.02687527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20255784400007 meters Centerline goodness [0,1] 0.24584961464562505 Centerline is valid? [False, False] Translation: X:4.27, Y:0.26, Z:1.03 [[ 9.99955327e-01 -6.07949598e-03 -7.23759503e-03 4.26642616e+00] [ 6.05448751e-03 9.99975643e-01 -3.47226713e-03 2.59795767e-01] [ 7.25852838e-03 3.42829209e-03 9.99967780e-01 1.02685585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23255784400004 meters Centerline goodness [0,1] 0.24544729639447427 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99977676e-01 -3.63823958e-03 -5.60449514e-03 4.26089779e+00] [ 3.62847884e-03 9.99991884e-01 -1.75077558e-03 2.67033094e-01] [ 5.61081940e-03 1.73040070e-03 9.99982762e-01 1.02864910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26255784400007 meters Centerline goodness [0,1] 0.24860007813517382 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99978067e-01 -3.91341801e-03 -5.34321179e-03 4.25989781e+00] [ 3.90032473e-03 9.99989371e-01 -2.45867699e-03 2.70372191e-01] [ 5.35277683e-03 2.43778281e-03 9.99982702e-01 1.02929902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29255784400004 meters Centerline goodness [0,1] 0.24944214562707168 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99978593e-01 -4.14683184e-03 -5.06135853e-03 4.25903210e+00] [ 4.13166388e-03 9.99986954e-01 -3.00360165e-03 2.72779039e-01] [ 5.07374793e-03 2.98262552e-03 9.99982680e-01 1.02957908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3225578440001 meters Centerline goodness [0,1] 0.2515918722155819 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99978295e-01 -4.36412450e-03 -4.93602520e-03 4.25872503e+00] [ 4.34711673e-03 9.99984596e-01 -3.45113557e-03 2.74656268e-01] [ 4.95101035e-03 3.42960318e-03 9.99981862e-01 1.02955810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35255784400005 meters Centerline goodness [0,1] 0.25048253128320797 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:1.03 [[ 9.99977166e-01 -4.50212595e-03 -5.03971596e-03 4.25915962e+00] [ 4.48347447e-03 9.99983082e-01 -3.70609865e-03 2.75748314e-01] [ 5.05631602e-03 3.68341859e-03 9.99980433e-01 1.02920559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3825578440001 meters Centerline goodness [0,1] 0.25284822558819675 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:1.03 [[ 9.99976204e-01 -4.57921961e-03 -5.15959405e-03 4.25965964e+00] [ 4.55925629e-03 9.99982101e-01 -3.87430799e-03 2.76614643e-01] [ 5.17724301e-03 3.85069188e-03 9.99979184e-01 1.02882023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41255784400005 meters Centerline goodness [0,1] 0.24922510024926847 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:1.03 [[ 9.99974293e-01 -4.74253584e-03 -5.37787134e-03 4.26060680e+00] [ 4.72049240e-03 9.99980436e-01 -4.10422636e-03 2.77829600e-01] [ 5.39723056e-03 4.07873465e-03 9.99977117e-01 1.02808833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442557844 meters Centerline goodness [0,1] 0.2515136281174182 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:1.03 [[ 9.99973631e-01 -4.75134837e-03 -5.49195713e-03 4.26106454e+00] [ 4.72890661e-03 9.99980446e-01 -4.09208429e-03 2.77809902e-01] [ 5.51129266e-03 4.06600543e-03 9.99976546e-01 1.02774719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47255784400005 meters Centerline goodness [0,1] 0.2469719541421076 Centerline is valid? [False, False] Translation: X:4.28, Y:0.27, Z:1.03 [[ 9.99979686e-01 3.04213087e-03 -5.60112375e-03 4.28089923e+00] [-3.06857945e-03 9.99984155e-01 -4.71949020e-03 2.71863303e-01] [ 5.58667769e-03 4.73658183e-03 9.99973177e-01 1.02832482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502557844 meters Centerline goodness [0,1] 0.24769214139011997 Centerline is valid? [False, False] Translation: X:4.28, Y:0.27, Z:1.03 [[ 9.99979317e-01 3.05806789e-03 -5.65802814e-03 4.28113768e+00] [-3.08482604e-03 9.99984072e-01 -4.72656918e-03 2.72055899e-01] [ 5.64348384e-03 4.74392546e-03 9.99972823e-01 1.02816777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53255784400005 meters Centerline goodness [0,1] 0.24699691604304597 Centerline is valid? [False, False] Translation: X:4.28, Y:0.27, Z:1.03 [[ 9.99979952e-01 3.12296756e-03 -5.50846735e-03 4.28073293e+00] [-3.14865691e-03 9.99984180e-01 -4.66112022e-03 2.71820471e-01] [ 5.49382367e-03 4.67837105e-03 9.99973965e-01 1.02822284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562557844 meters Centerline goodness [0,1] 0.251743679163034 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:1.03 [[ 9.99979601e-01 -4.34599710e-03 -4.68074532e-03 4.26175723e+00] [ 4.32896923e-03 9.99983998e-01 -3.64186327e-03 2.77294700e-01] [ 4.69649795e-03 3.62152618e-03 9.99982414e-01 1.02667066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59255784400005 meters Centerline goodness [0,1] 0.25197090465612615 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:1.03 [[ 9.99980213e-01 -4.32849854e-03 -4.56492332e-03 4.26121139e+00] [ 4.31201841e-03 9.99984173e-01 -3.61384960e-03 2.76986099e-01] [ 4.58049361e-03 3.59409406e-03 9.99983051e-01 1.02708851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622557844 meters Centerline goodness [0,1] 0.25180906713164775 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:1.03 [[ 9.99980601e-01 -4.28339742e-03 -4.52223516e-03 4.26091342e+00] [ 4.26730401e-03 9.99984550e-01 -3.56239968e-03 2.76754890e-01] [ 4.53742446e-03 3.54303282e-03 9.99983429e-01 1.02739351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65255784400006 meters Centerline goodness [0,1] 0.2519160425013064 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:1.03 [[ 9.99980658e-01 -4.24692138e-03 -4.54401448e-03 4.26090613e+00] [ 4.23080805e-03 9.99984749e-01 -3.54981163e-03 2.76861042e-01] [ 4.55902095e-03 3.53051811e-03 9.99983375e-01 1.02749233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68255784400003 meters Centerline goodness [0,1] 0.2506216350623798 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:1.03 [[ 9.99980324e-01 -4.16250813e-03 -4.69300484e-03 4.26134933e+00] [ 4.14638069e-03 9.99985483e-01 -3.44099193e-03 2.76548019e-01] [ 4.70725987e-03 3.42146525e-03 9.99983067e-01 1.02734113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71255784400006 meters Centerline goodness [0,1] 0.24811590436590436 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99979318e-01 -3.90835147e-03 -5.10764161e-03 4.26284123e+00] [ 3.89332426e-03 9.99988073e-01 -2.94874247e-03 2.74515314e-01] [ 5.11910542e-03 2.92879578e-03 9.99982608e-01 1.02649752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74255784400003 meters Centerline goodness [0,1] 0.24969623329283108 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99979422e-01 -3.81973319e-03 -5.15420878e-03 4.26313878e+00] [ 3.80581286e-03 9.99989092e-01 -2.70788103e-03 2.73207769e-01] [ 5.16449594e-03 2.68820936e-03 9.99983051e-01 1.02614815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77255784400006 meters Centerline goodness [0,1] 0.2511511183851609 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99980057e-01 -3.75701559e-03 -5.07642814e-03 4.26278041e+00] [ 3.74428167e-03 9.99989826e-01 -2.51562017e-03 2.72128653e-01] [ 5.08582772e-03 2.49656242e-03 9.99983951e-01 1.02635570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80255784400003 meters Centerline goodness [0,1] 0.2534116465425009 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99981554e-01 -3.66028710e-03 -4.84711404e-03 4.26190932e+00] [ 3.64905642e-03 9.99990642e-01 -2.32380397e-03 2.71286814e-01] [ 4.85557447e-03 2.30607371e-03 9.99985553e-01 1.02684833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83255784400006 meters Centerline goodness [0,1] 0.2514836473900801 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99982930e-01 -3.59746864e-03 -4.60416692e-03 4.26094366e+00] [ 3.58715332e-03 9.99991042e-01 -2.24673052e-03 2.71159368e-01] [ 4.61220822e-03 2.23017632e-03 9.99986877e-01 1.02746246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86255784400004 meters Centerline goodness [0,1] 0.25320818520766497 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99983714e-01 -3.54750769e-03 -4.47056761e-03 4.26044110e+00] [ 3.53785745e-03 9.99991399e-01 -2.16467794e-03 2.70900433e-01] [ 4.47820837e-03 2.14882645e-03 9.99987664e-01 1.02773056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89255784400007 meters Centerline goodness [0,1] 0.25162746289384597 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99983313e-01 -3.49514465e-03 -4.59967047e-03 4.26112962e+00] [ 3.48587068e-03 9.99991879e-01 -2.02269929e-03 2.70245014e-01] [ 4.60670274e-03 2.00663168e-03 9.99987376e-01 1.02704259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92255784400004 meters Centerline goodness [0,1] 0.2513786466555654 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99982763e-01 -3.44820127e-03 -4.75232627e-03 4.26178163e+00] [ 3.43956660e-03 9.99992421e-01 -1.82391191e-03 2.69167264e-01] [ 4.75857947e-03 1.80753452e-03 9.99987044e-01 1.02649731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95255784400007 meters Centerline goodness [0,1] 0.2522956791065937 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:1.03 [[ 9.99983072e-01 -3.35931221e-03 -4.75093152e-03 4.26182489e+00] [ 3.35190811e-03 9.99993157e-01 -1.56555684e-03 2.67964606e-01] [ 4.75615820e-03 1.54960565e-03 9.99987489e-01 1.02633283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98255784400004 meters Centerline goodness [0,1] 0.2500538259484132 Centerline is valid? [False, False] Translation: X:4.28, Y:0.26, Z:1.03 [[ 9.99981716e-01 4.10779662e-03 -4.43776018e-03 4.28015714e+00] [-4.11890470e-03 9.99988400e-01 -2.49685106e-03 2.61168374e-01] [ 4.42745214e-03 2.51508412e-03 9.99987036e-01 1.02772192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01255784400007 meters Centerline goodness [0,1] 0.25037792078780285 Centerline is valid? [False, False] Translation: X:4.28, Y:0.26, Z:1.03 [[ 9.99981709e-01 4.18423531e-03 -4.36740902e-03 4.27994072e+00] [-4.19407584e-03 9.99988682e-01 -2.24645169e-03 2.60031803e-01] [ 4.35795990e-03 2.26472784e-03 9.99987940e-01 1.02773776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04255784400004 meters Centerline goodness [0,1] 0.25270820695034235 Centerline is valid? [False, False] Translation: X:4.28, Y:0.26, Z:1.03 [[ 9.99981571e-01 4.20918047e-03 -4.37506705e-03 4.28017255e+00] [-4.21741608e-03 9.99989349e-01 -1.87487897e-03 2.57772253e-01] [ 4.36712875e-03 1.89329590e-03 9.99988672e-01 1.02726493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0725578440001 meters Centerline goodness [0,1] 0.2542605887358981 Centerline is valid? [False, False] Translation: X:4.28, Y:0.26, Z:1.03 [[ 9.99981519e-01 4.23228911e-03 -4.36447897e-03 4.28026102e+00] [-4.23988089e-03 9.99989512e-01 -1.73166263e-03 2.56840599e-01] [ 4.35710430e-03 1.75013550e-03 9.99988976e-01 1.02703255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10255784400005 meters Centerline goodness [0,1] 0.24923722761993383 Centerline is valid? [False, False] Translation: X:4.30, Y:0.26, Z:1.03 [[ 9.99982648e-01 -4.19166583e-03 -4.13938580e-03 4.29994610e+00] [ 4.18871244e-03 9.99990967e-01 -7.21898457e-04 2.59215875e-01] [ 4.14237436e-03 7.04547234e-04 9.99991172e-01 1.02845444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1325578440001 meters Centerline goodness [0,1] 0.2511670124481328 Centerline is valid? [False, False] Translation: X:4.30, Y:0.26, Z:1.03 [[ 9.99982009e-01 -4.21208556e-03 -4.27079709e-03 4.30033286e+00] [ 4.20848835e-03 9.99990782e-01 -8.50916720e-04 2.59936724e-01] [ 4.27434186e-03 8.32927812e-04 9.99990518e-01 1.02837920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16255784400005 meters Centerline goodness [0,1] 0.2545227834532846 Centerline is valid? [False, False] Translation: X:4.28, Y:0.26, Z:1.03 [[ 9.99970885e-01 4.86692873e-03 -5.87723868e-03 4.27977272e+00] [-4.87708637e-03 9.99986636e-01 -1.71520636e-03 2.59074487e-01] [ 5.86881235e-03 1.74382022e-03 9.99981258e-01 1.02768034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.192557844 meters Centerline goodness [0,1] 0.2539058256013559 Centerline is valid? [False, False] Translation: X:4.30, Y:0.26, Z:1.03 [[ 9.99969191e-01 -1.95044531e-03 -7.60346341e-03 4.30015795e+00] [ 1.95078239e-03 9.99998097e-01 3.69162387e-05 2.64184444e-01] [ 7.60337693e-03 -5.17478039e-05 9.99971093e-01 1.02958764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22255784400005 meters Centerline goodness [0,1] 0.25232383481724974 Centerline is valid? [False, False] Translation: X:4.30, Y:0.27, Z:1.03 [[ 9.99965449e-01 -1.47291236e-03 -8.18111404e-03 4.30195616e+00] [ 1.47086627e-03 9.99998885e-01 -2.56110908e-04 2.67671997e-01] [ 8.18148215e-03 2.44068734e-04 9.99966501e-01 1.02917104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.252557844 meters Centerline goodness [0,1] 0.2511967422617887 Centerline is valid? [False, False] Translation: X:4.30, Y:0.27, Z:1.03 [[ 9.99966626e-01 -1.54383676e-03 -8.02269927e-03 4.30131779e+00] [ 1.53781503e-03 9.99998531e-01 -7.56700304e-04 2.70344404e-01] [ 8.02385570e-03 7.44337623e-04 9.99967531e-01 1.02969121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28255784400005 meters Centerline goodness [0,1] 0.2503741622020259 Centerline is valid? [False, False] Translation: X:4.30, Y:0.27, Z:1.03 [[ 9.99968607e-01 -1.65234582e-03 -7.74952243e-03 4.30027493e+00] [ 1.64192009e-03 9.99997739e-01 -1.35150766e-03 2.73395752e-01] [ 7.75173807e-03 1.33874114e-03 9.99969059e-01 1.03042670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.312557844 meters Centerline goodness [0,1] 0.2521929349591735 Centerline is valid? [False, False] Translation: X:4.30, Y:0.28, Z:1.03 [[ 9.99970117e-01 -1.73175564e-03 -7.53431629e-03 4.29945370e+00] [ 1.71689865e-03 9.99996570e-01 -1.97793037e-03 2.76714309e-01] [ 7.53771574e-03 1.96493561e-03 9.99969660e-01 1.03105853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34255784400005 meters Centerline goodness [0,1] 0.25080107387200135 Centerline is valid? [False, False] Translation: X:4.30, Y:0.28, Z:1.03 [[ 9.99970656e-01 1.68227205e-03 -7.47372234e-03 4.29828264e+00] [-1.67768539e-03 9.99998401e-01 6.19932501e-04 2.82457869e-01] [ 7.47475328e-03 -6.07375755e-04 9.99971879e-01 1.03244840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.372557844 meters Centerline goodness [0,1] 0.25765418019124486 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.03 [[ 9.99960039e-01 -4.00144681e-03 -7.99434111e-03 4.27473682e+00] [ 4.02740006e-03 9.99986664e-01 3.23299584e-03 2.89551222e-01] [ 7.98129784e-03 -3.26506305e-03 9.99962818e-01 1.03357426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40255784400006 meters Centerline goodness [0,1] 0.2572845492616266 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.03 [[ 9.99958674e-01 -4.22940729e-03 -8.04752578e-03 4.27470181e+00] [ 4.24948076e-03 9.99987898e-01 2.47890216e-03 2.93248542e-01] [ 8.03694411e-03 -2.51299752e-03 9.99964546e-01 1.03384918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43255784400003 meters Centerline goodness [0,1] 0.25190324966285293 Centerline is valid? [False, False] Translation: X:4.30, Y:0.29, Z:1.03 [[ 9.99970287e-01 3.86113847e-03 -6.67213590e-03 4.29542463e+00] [-3.85242753e-03 9.99991711e-01 1.31792818e-03 2.92519652e-01] [ 6.67716929e-03 -1.29218510e-03 9.99976873e-01 1.03416370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46255784400006 meters Centerline goodness [0,1] 0.25367718947574247 Centerline is valid? [False, False] Translation: X:4.29, Y:0.30, Z:1.03 [[ 9.99972572e-01 3.58668436e-03 -6.48004662e-03 4.29466519e+00] [-3.58301488e-03 9.99993414e-01 5.77793608e-04 2.96060206e-01] [ 6.48207631e-03 -5.54559656e-04 9.99978837e-01 1.03467615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49255784400003 meters Centerline goodness [0,1] 0.24981149960145632 Centerline is valid? [False, False] Translation: X:4.29, Y:0.30, Z:1.04 [[ 9.99974928e-01 3.32818014e-03 -6.25039844e-03 4.29374915e+00] [-3.32880218e-03 9.99994456e-01 -8.91197377e-05 2.99317226e-01] [ 6.25006718e-03 1.09923843e-04 9.99980462e-01 1.03529011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52255784400006 meters Centerline goodness [0,1] 0.2565993958761984 Centerline is valid? [False, False] Translation: X:4.27, Y:0.31, Z:1.04 [[ 9.99982012e-01 -2.43129005e-03 -5.48309656e-03 4.26950201e+00] [ 2.44294420e-03 9.99994769e-01 2.11977418e-03 3.09033884e-01] [ 5.47791410e-03 -2.13313094e-03 9.99982721e-01 1.03603967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55255784400003 meters Centerline goodness [0,1] 0.25430613175785743 Centerline is valid? [False, False] Translation: X:4.27, Y:0.31, Z:1.04 [[ 9.99980387e-01 -2.59245247e-03 -5.70123533e-03 4.27009019e+00] [ 2.60187910e-03 9.99995259e-01 1.64664247e-03 3.11455408e-01] [ 5.69693946e-03 -1.66144410e-03 9.99982392e-01 1.03598668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58255784400006 meters Centerline goodness [0,1] 0.25430613175785743 Centerline is valid? [False, False] Translation: X:4.27, Y:0.31, Z:1.04 [[ 9.99980387e-01 -2.59245247e-03 -5.70123533e-03 4.27009019e+00] [ 2.60187910e-03 9.99995259e-01 1.64664247e-03 3.11455408e-01] [ 5.69693946e-03 -1.66144410e-03 9.99982392e-01 1.03598668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61255784400004 meters Centerline goodness [0,1] 0.2521439708939709 Centerline is valid? [False, False] Translation: X:4.27, Y:0.31, Z:1.04 [[ 9.99978103e-01 -2.76885915e-03 -6.01055298e-03 4.27105301e+00] [ 2.77588905e-03 9.99995473e-01 1.16156490e-03 3.13885759e-01] [ 6.00730956e-03 -1.17822410e-03 9.99981262e-01 1.03569180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64255784400007 meters Centerline goodness [0,1] 0.2507933081489476 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:1.04 [[ 9.99975507e-01 -2.93290606e-03 -6.35475646e-03 4.27207059e+00] [ 2.93712035e-03 9.99995473e-01 6.53940710e-04 3.16430945e-01] [ 6.35280974e-03 -6.72589378e-04 9.99979595e-01 1.03546189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67255784400004 meters Centerline goodness [0,1] 0.251280499665017 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:1.04 [[ 9.99974311e-01 -3.13154274e-03 -6.44752861e-03 4.27222931e+00] [ 3.13225686e-03 9.99995089e-01 1.00664577e-04 3.19076875e-01] [ 6.44718172e-03 -1.20857307e-04 9.99979209e-01 1.03559341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70255784400007 meters Centerline goodness [0,1] 0.2503020365895754 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:1.04 [[ 9.99974081e-01 -3.28818867e-03 -6.40511512e-03 4.27200766e+00] [ 3.28544614e-03 9.99994507e-01 -4.38652895e-04 3.21781116e-01] [ 6.40652231e-03 4.17597865e-04 9.99979391e-01 1.03581753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73255784400004 meters Centerline goodness [0,1] 0.2553427156632786 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:1.04 [[ 9.99976154e-01 -3.16647636e-03 -6.13724386e-03 4.27120973e+00] [ 3.15943043e-03 9.99994339e-01 -1.15741581e-03 3.26594436e-01] [ 6.14087405e-03 1.13799801e-03 9.99980497e-01 1.03618174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76255784400007 meters Centerline goodness [0,1] 0.2540322580645161 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:1.04 [[ 9.99974212e-01 -3.21718886e-03 -6.42066788e-03 4.27186535e+00] [ 3.20651310e-03 9.99993461e-01 -1.67231908e-03 3.29479950e-01] [ 6.42600606e-03 1.65168800e-03 9.99977989e-01 1.03629749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79255784400004 meters Centerline goodness [0,1] 0.2540505226480836 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:1.04 [[ 9.99971958e-01 -3.29003174e-03 -6.72749163e-03 4.27247688e+00] [ 3.27525722e-03 9.99992203e-01 -2.20598087e-03 3.32363023e-01] [ 6.73469692e-03 2.18388475e-03 9.99974937e-01 1.03656455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8225578440001 meters Centerline goodness [0,1] 0.25298572046733014 Centerline is valid? [False, False] Translation: X:4.27, Y:0.34, Z:1.04 [[ 9.99968793e-01 -3.32830011e-03 -7.16483729e-03 4.27346418e+00] [ 3.30858765e-03 9.99990714e-01 -2.76137529e-03 3.35495784e-01] [ 7.17396144e-03 2.73758362e-03 9.99970520e-01 1.03674490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85255784400005 meters Centerline goodness [0,1] 0.2546042426758133 Centerline is valid? [False, False] Translation: X:4.25, Y:0.34, Z:1.04 [[ 9.99932005e-01 7.39326826e-03 -9.01799787e-03 4.25351832e+00] [-7.42030051e-03 9.99968065e-01 -2.96782233e-03 3.39358241e-01] [ 8.99576798e-03 3.03453679e-03 9.99954933e-01 1.03650462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8825578440001 meters Centerline goodness [0,1] 0.24874513197749892 Centerline is valid? [False, False] Translation: X:4.27, Y:0.35, Z:1.04 [[ 9.99958933e-01 1.11067983e-04 -9.06204970e-03 4.27469129e+00] [-1.22790759e-04 9.99999156e-01 -1.29306581e-03 3.45314951e-01] [ 9.06189844e-03 1.29412544e-03 9.99958103e-01 1.03708066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91255784400005 meters Centerline goodness [0,1] 0.2497244494391736 Centerline is valid? [False, False] Translation: X:4.28, Y:0.35, Z:1.04 [[ 9.99957703e-01 -1.60073958e-05 -9.19738655e-03 4.27508138e+00] [-5.30271296e-07 9.99998383e-01 -1.79807804e-03 3.47697281e-01] [ 9.19740047e-03 1.79800686e-03 9.99956087e-01 1.03696631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942557844 meters Centerline goodness [0,1] 0.25152046403913164 Centerline is valid? [False, False] Translation: X:4.28, Y:0.35, Z:1.04 [[ 9.99956589e-01 -9.94782694e-05 -9.31715151e-03 4.27538430e+00] [ 7.96518921e-05 9.99997732e-01 -2.12829097e-03 3.49210126e-01] [ 9.31734209e-03 2.12745645e-03 9.99954329e-01 1.03694642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97255784400005 meters Centerline goodness [0,1] 0.24934807439494844 Centerline is valid? [False, False] Translation: X:4.28, Y:0.35, Z:1.04 [[ 9.99955141e-01 -1.50783674e-04 -9.47067502e-03 4.27570684e+00] [ 1.28330114e-04 9.99997180e-01 -2.37141397e-03 3.50354431e-01] [ 9.47100589e-03 2.37009222e-03 9.99952340e-01 1.03701889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002557844 meters Centerline goodness [0,1] 0.25099401406912225 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:1.04 [[ 9.99912705e-01 2.16978526e-03 -1.30335649e-02 4.23203015e+00] [-2.18627240e-03 9.99996828e-01 -1.25086031e-03 3.52053078e-01] [ 1.30308094e-02 1.27924604e-03 9.99914277e-01 1.03817304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03255784400005 meters Centerline goodness [0,1] 0.2514903856576124 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:1.04 [[ 9.99909945e-01 2.20402820e-03 -1.32380049e-02 4.23249830e+00] [-2.22076089e-03 9.99996754e-01 -1.24942200e-03 3.52191720e-01] [ 1.32352082e-02 1.27870792e-03 9.99911593e-01 1.03825871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062557844 meters Centerline goodness [0,1] 0.24981605713049126 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:1.04 [[ 9.99911963e-01 2.21178864e-03 -1.30833192e-02 4.23199660e+00] [-2.22787377e-03 9.99996780e-01 -1.21499137e-03 3.51827598e-01] [ 1.30805897e-02 1.24403239e-03 9.99913672e-01 1.03842619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09255784400005 meters Centerline goodness [0,1] 0.25349044891202543 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:1.04 [[ 9.99914859e-01 2.26411902e-03 -1.28509779e-02 4.23104201e+00] [-2.27814315e-03 9.99996825e-01 -1.07675477e-03 3.51009294e-01] [ 1.28484992e-02 1.10593946e-03 9.99916843e-01 1.03904992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122557844 meters Centerline goodness [0,1] 0.2547030134122975 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:1.04 [[ 9.99917874e-01 2.33801557e-03 -1.26007314e-02 4.23007012e+00] [-2.34970151e-03 9.99996823e-01 -9.12676898e-04 3.50169332e-01] [ 1.25985575e-02 9.42209901e-04 9.99920191e-01 1.03962945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15255784400006 meters Centerline goodness [0,1] 0.2518988163503776 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:1.04 [[ 9.99912581e-01 2.70682270e-03 -1.29423456e-02 4.23117276e+00] [-2.71036831e-03 9.99996294e-01 -2.56421976e-04 3.47559812e-01] [ 1.29416036e-02 2.91478083e-04 9.99916211e-01 1.03918076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18255784400003 meters Centerline goodness [0,1] 0.2536869957491108 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:1.04 [[ 9.99909478e-01 2.89408889e-03 -1.31400503e-02 4.23196091e+00] [-2.89186274e-03 9.99995801e-01 1.88414354e-04 3.45473731e-01] [ 1.31405404e-02 -1.50398076e-04 9.99913648e-01 1.03865982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21255784400006 meters Centerline goodness [0,1] 0.2515873187856199 Centerline is valid? [False, False] Translation: X:4.23, Y:0.34, Z:1.04 [[ 9.99907790e-01 3.04733175e-03 -1.32335030e-02 4.23237644e+00] [-3.03948787e-03 9.99995193e-01 6.12801004e-04 3.43187432e-01] [ 1.32353068e-02 -5.72521426e-04 9.99912246e-01 1.03834941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24255784400003 meters Centerline goodness [0,1] 0.2493311469750582 Centerline is valid? [False, False] Translation: X:4.23, Y:0.34, Z:1.04 [[ 9.99907258e-01 3.23049776e-03 -1.32302562e-02 4.23233728e+00] [-3.21602187e-03 9.99994207e-01 1.11527953e-03 3.40639110e-01] [ 1.32337825e-02 -1.07262730e-03 9.99911854e-01 1.03840435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27255784400006 meters Centerline goodness [0,1] 0.24870958685182387 Centerline is valid? [False, False] Translation: X:4.23, Y:0.33, Z:1.04 [[ 9.99908549e-01 3.70770204e-03 -1.30056504e-02 4.23140214e+00] [-3.67799215e-03 9.99990574e-01 2.30755777e-03 3.34989404e-01] [ 1.30140836e-02 -2.25951206e-03 9.99912760e-01 1.03903835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30255784400003 meters Centerline goodness [0,1] 0.2465313684936229 Centerline is valid? [False, False] Translation: X:4.23, Y:0.33, Z:1.04 [[ 9.99908606e-01 3.96484947e-03 -1.29251642e-02 4.23108976e+00] [-3.92663116e-03 9.99987848e-01 2.98092898e-03 3.31766718e-01] [ 1.29368261e-02 -2.92990419e-03 9.99912023e-01 1.03921718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33255784400006 meters Centerline goodness [0,1] 0.2505135690344902 Centerline is valid? [False, False] Translation: X:4.23, Y:0.33, Z:1.04 [[ 9.99908007e-01 4.24612091e-03 -1.28820464e-02 4.23098298e+00] [-4.19857217e-03 9.99984282e-01 3.71588741e-03 3.28142435e-01] [ 1.28976220e-02 -3.66145937e-03 9.99910118e-01 1.03923368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36255784400004 meters Centerline goodness [0,1] 0.2567235569083596 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:1.04 [[ 0.99990597 0.00451123 -0.01295017 4.23123877] [-0.00445468 0.99998043 0.0043927 0.32472413] [ 0.01296974 -0.0043346 0.99990649 1.03910043] [ 0. 0. 0. 1. ]] SLAMing on 306.39255784400007 meters Centerline goodness [0,1] 0.2520288255534636 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:1.04 [[ 0.99990302 0.00473392 -0.01309766 4.23159292] [-0.00466938 0.99997683 0.00495392 0.32196217] [ 0.01312081 -0.00489228 0.99990195 1.03909732] [ 0. 0. 0. 1. ]] SLAMing on 306.42255784400004 meters Centerline goodness [0,1] 0.24909200968523004 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:1.04 [[ 0.99990236 0.00492535 -0.01307715 4.23143974] [-0.00485539 0.99997376 0.00537624 0.32002156] [ 0.01310329 -0.00531222 0.99990004 1.03926531] [ 0. 0. 0. 1. ]] SLAMing on 306.45255784400007 meters Centerline goodness [0,1] 0.24723691566679573 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:1.04 [[ 0.99990293 0.00542941 -0.01283195 4.23047073] [-0.00535219 0.99996741 0.00604411 0.31748676] [ 0.01286435 -0.00597485 0.9998994 1.03984515] [ 0. 0. 0. 1. ]] SLAMing on 306.48255784400004 meters Centerline goodness [0,1] 0.2534295404955821 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:1.04 [[ 0.99990154 0.00554067 -0.01289266 4.23065674] [-0.00546138 0.99996601 0.0061774 0.3168968 ] [ 0.01292645 -0.00610638 0.9998978 1.03975076] [ 0. 0. 0. 1. ]] SLAMing on 306.51255784400007 meters Centerline goodness [0,1] 0.251265809148299 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:1.04 [[ 0.99989771 0.00570259 -0.0131171 4.2312918 ] [-0.00561997 0.99996419 0.00632753 0.31639274] [ 0.01315271 -0.00625316 0.99989395 1.0395557 ] [ 0. 0. 0. 1. ]] SLAMing on 306.54255784400004 meters Centerline goodness [0,1] 0.2572085158045354 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:1.04 [[ 0.99989519 0.00584769 -0.01324408 4.23165863] [-0.00576154 0.99996206 0.00653382 0.31557403] [ 0.01328179 -0.00645683 0.99989095 1.03941886] [ 0. 0. 0. 1. ]] SLAMing on 306.5725578440001 meters Centerline goodness [0,1] 0.2545013850415513 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:1.04 [[ 0.99989397 0.00602146 -0.01325866 4.23164389] [-0.00593105 0.99995896 0.00684776 0.3141952 ] [ 0.01329935 -0.0067684 0.99988865 1.03944818] [ 0. 0. 0. 1. ]] SLAMing on 306.60255784400005 meters Centerline goodness [0,1] 0.2555422863966996 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:1.04 [[ 0.99989241 0.00618849 -0.01329923 4.23181958] [-0.00609257 0.99995522 0.00724085 0.31222428] [ 0.01334344 -0.00715905 0.99988534 1.03930782] [ 0. 0. 0. 1. ]] SLAMing on 306.6325578440001 meters Centerline goodness [0,1] 0.25269165909975355 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:1.04 [[ 9.99901611e-01 3.09074807e-03 -1.36827043e-02 4.23304536e+00] [-3.03261036e-03 9.99986295e-01 4.26770414e-03 3.09578312e-01] [ 1.36957072e-02 -4.22578993e-03 9.99897280e-01 1.03879638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66255784400005 meters Centerline goodness [0,1] 0.2566323413910463 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:1.04 [[ 9.99900001e-01 3.18594056e-03 -1.37781361e-02 4.23336842e+00] [-3.12510008e-03 9.99985282e-01 4.43500454e-03 3.08938680e-01] [ 1.37920630e-02 -4.39150299e-03 9.99895241e-01 1.03864933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.692557844 meters Centerline goodness [0,1] 0.25690535410394033 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:1.04 [[ 9.99897801e-01 3.29532701e-03 -1.39114796e-02 4.23384266e+00] [-3.23236743e-03 9.99984444e-01 4.54578970e-03 3.08789368e-01] [ 1.39262431e-02 -4.50035810e-03 9.99892898e-01 1.03837586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72255784400005 meters Centerline goodness [0,1] 0.2564803959880162 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:1.04 [[ 9.99895598e-01 3.34394045e-03 -1.40573910e-02 4.23439707e+00] [-3.28050814e-03 9.99984345e-01 4.53302087e-03 3.08949736e-01] [ 1.40723291e-02 -4.48643223e-03 9.99890915e-01 1.03802402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.752557844 meters Centerline goodness [0,1] 0.24901177279367537 Centerline is valid? [False, False] Translation: X:4.24, Y:0.31, Z:1.04 [[ 9.99887105e-01 3.49352776e-03 -1.46141478e-02 4.23617894e+00] [-3.43128720e-03 9.99984946e-01 4.28183339e-03 3.10234654e-01] [ 1.46288865e-02 -4.23120465e-03 9.99884040e-01 1.03725995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78255784400005 meters Centerline goodness [0,1] 0.258592793423124 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:1.04 [[ 0.99983633 0.00471696 -0.01746618 4.19052183] [-0.00463501 0.99997807 0.00472963 0.31051285] [ 0.01748811 -0.0046479 0.99983627 1.03838797] [ 0. 0. 0. 1. ]] SLAMing on 306.812557844 meters Centerline goodness [0,1] 0.2557547539271572 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:1.04 [[ 0.99983357 0.00487018 -0.01758164 4.19074076] [-0.00479278 0.99997865 0.00444176 0.31287016] [ 0.0176029 -0.00435676 0.99983556 1.03837578] [ 0. 0. 0. 1. ]] SLAMing on 306.84255784400005 meters Centerline goodness [0,1] 0.2559887066999674 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:1.04 [[ 9.99833404e-01 4.87577128e-03 -1.75894934e-02 4.19073930e+00] [-4.80598064e-03 9.99980420e-01 4.00783698e-03 3.15449118e-01] [ 1.76086903e-02 -3.92263452e-03 9.99837260e-01 1.03828103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.872557844 meters Centerline goodness [0,1] 0.25416964886025983 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:1.04 [[ 9.99833146e-01 4.70108991e-03 -1.76516293e-02 4.19087460e+00] [-4.64104565e-03 9.99983310e-01 3.44105176e-03 3.18051500e-01] [ 1.76675114e-02 -3.35855559e-03 9.99838276e-01 1.03819047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90255784400006 meters Centerline goodness [0,1] 0.2568775417001935 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:1.04 [[ 9.99834772e-01 4.47579514e-03 -1.76180391e-02 4.19052148e+00] [-4.42644069e-03 9.99986172e-01 2.83935859e-03 3.20635095e-01] [ 1.76305039e-02 -2.76090424e-03 9.99840759e-01 1.03845328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93255784400003 meters Centerline goodness [0,1] 0.2552811922114653 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:1.04 [[ 9.99837927e-01 4.49640695e-03 -1.74327765e-02 4.18979870e+00] [-4.44731534e-03 9.99986039e-01 2.85379826e-03 3.20846777e-01] [ 1.74453650e-02 -2.77580668e-03 9.99843965e-01 1.03889741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96255784400006 meters Centerline goodness [0,1] 0.25379417542799165 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:1.04 [[ 9.99855711e-01 -3.51147142e-03 -1.66200818e-02 4.20811560e+00] [ 3.58575946e-03 9.99983705e-01 4.44208865e-03 3.25770595e-01] [ 1.66042128e-02 -4.50104332e-03 9.99852009e-01 1.04098764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99255784400003 meters Centerline goodness [0,1] 0.2518909600258593 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:1.04 [[ 9.99854488e-01 -3.50497129e-03 -1.66948620e-02 4.20811519e+00] [ 3.58202526e-03 9.99983061e-01 4.58776560e-03 3.24877490e-01] [ 1.66784992e-02 -4.64689944e-03 9.99850106e-01 1.04139056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02255784400006 meters Centerline goodness [0,1] 0.25546036221667934 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:1.04 [[ 9.99851445e-01 -3.50309342e-03 -1.68765242e-02 4.20862163e+00] [ 3.58451579e-03 9.99982071e-01 4.79676282e-03 3.23413471e-01] [ 1.68594181e-02 -4.85654440e-03 9.99846075e-01 1.04138739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05255784400003 meters Centerline goodness [0,1] 0.2542882481451839 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:1.04 [[ 9.99845918e-01 -3.48894222e-03 -1.72037073e-02 4.20957639e+00] [ 3.57657659e-03 9.99980773e-01 5.06578963e-03 3.21640781e-01] [ 1.71857022e-02 -5.12653946e-03 9.99839172e-01 1.04124535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08255784400006 meters Centerline goodness [0,1] 0.2520255128426133 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:1.04 [[ 9.99846664e-01 -3.23745768e-03 -1.72095147e-02 4.20941336e+00] [ 3.33652116e-03 9.99978013e-01 5.73072811e-03 3.18643394e-01] [ 1.71905834e-02 -5.78726929e-03 9.99835482e-01 1.04166501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11255784400004 meters Centerline goodness [0,1] 0.253808640110483 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:1.04 [[ 9.99853525e-01 -3.12020283e-03 -1.68283299e-02 4.20805546e+00] [ 3.22238340e-03 9.99976517e-01 6.04824370e-03 3.17185423e-01] [ 1.68090629e-02 -6.10158511e-03 9.99840100e-01 1.04235815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14255784400007 meters Centerline goodness [0,1] 0.25602259150646245 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:1.04 [[ 9.99857298e-01 -2.99778334e-03 -1.66251657e-02 4.20719986e+00] [ 3.10425237e-03 9.99974817e-01 6.38198396e-03 3.15513175e-01] [ 1.66056153e-02 -6.43268195e-03 9.99841424e-01 1.04301547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17255784400004 meters Centerline goodness [0,1] 0.2547396702272875 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:1.04 [[ 9.99857083e-01 -2.88896704e-03 -1.66573543e-02 4.20722798e+00] [ 3.00043814e-03 9.99973248e-01 6.67090146e-03 3.14023935e-01] [ 1.66376366e-02 -6.71992744e-03 9.99839003e-01 1.04314071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20255784400007 meters Centerline goodness [0,1] 0.25379041851411266 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:1.04 [[ 9.99848072e-01 -2.74588170e-03 -1.72131902e-02 4.20891413e+00] [ 2.86526808e-03 9.99971987e-01 6.91492904e-03 3.12834515e-01] [ 1.71937204e-02 -6.96319887e-03 9.99827930e-01 1.04261077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23255784400004 meters Centerline goodness [0,1] 0.25190459700458834 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:1.04 [[ 9.99847176e-01 -2.67777608e-03 -1.72758257e-02 4.20913501e+00] [ 2.79986412e-03 9.99971252e-01 7.04667488e-03 3.12252923e-01] [ 1.72564596e-02 -7.09396794e-03 9.99825930e-01 1.04251278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26255784400007 meters Centerline goodness [0,1] 0.25576478793426616 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:1.04 [[ 9.99849349e-01 -2.60315381e-03 -1.71610892e-02 4.20880367e+00] [ 2.72711475e-03 9.99970333e-01 7.20393240e-03 3.11521859e-01] [ 1.71418272e-02 -7.24964738e-03 9.99826785e-01 1.04258344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29255784400004 meters Centerline goodness [0,1] 0.2530279151104299 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:1.04 [[ 0.99985561 0.00541821 -0.01610592 4.22826037] [-0.00531925 0.99996675 0.00618083 0.30695436] [ 0.01613888 -0.00609426 0.99985119 1.04396955] [ 0. 0. 0. 1. ]] SLAMing on 307.3225578440001 meters Centerline goodness [0,1] 0.2537999522973178 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:1.04 [[ 0.9998557 0.00552497 -0.01606396 4.22804206] [-0.00542163 0.99996438 0.00646908 0.30553087] [ 0.01609913 -0.00638105 0.99985004 1.04418064] [ 0. 0. 0. 1. ]] SLAMing on 307.35255784400005 meters Centerline goodness [0,1] 0.25288976599943613 Centerline is valid? [False, False] Translation: X:4.23, Y:0.30, Z:1.04 [[ 0.99985442 0.00561518 -0.01611251 4.22818734] [-0.00550751 0.99996226 0.00671858 0.30434661] [ 0.01614963 -0.00662886 0.99984761 1.04416703] [ 0. 0. 0. 1. ]] SLAMing on 307.3825578440001 meters Centerline goodness [0,1] 0.253619232700832 Centerline is valid? [False, False] Translation: X:4.23, Y:0.30, Z:1.04 [[ 0.99984706 0.0057337 -0.01652244 4.22968377] [-0.00561796 0.99995942 0.00704321 0.30282706] [ 0.01656215 -0.00694931 0.99983869 1.04337686] [ 0. 0. 0. 1. ]] SLAMing on 307.41255784400005 meters Centerline goodness [0,1] 0.25347017933799654 Centerline is valid? [False, False] Translation: X:4.23, Y:0.30, Z:1.04 [[ 0.99984318 0.00575756 -0.01674691 4.2306 ] [-0.00563873 0.99995865 0.00713417 0.30231875] [ 0.01678729 -0.00703862 0.99983431 1.04276055] [ 0. 0. 0. 1. ]] SLAMing on 307.442557844 meters Centerline goodness [0,1] 0.2529220493892258 Centerline is valid? [False, False] Translation: X:4.23, Y:0.30, Z:1.04 [[ 0.99984194 0.00579611 -0.01680778 4.23082789] [-0.00567517 0.99995773 0.00723396 0.30170126] [ 0.016849 -0.00713743 0.99983257 1.04262636] [ 0. 0. 0. 1. ]] SLAMing on 307.47255784400005 meters Centerline goodness [0,1] 0.2529220493892258 Centerline is valid? [False, False] Translation: X:4.23, Y:0.30, Z:1.04 [[ 0.99984194 0.00579611 -0.01680778 4.23082789] [-0.00567517 0.99995773 0.00723396 0.30170126] [ 0.016849 -0.00713743 0.99983257 1.04262636] [ 0. 0. 0. 1. ]] SLAMing on 307.502557844 meters Centerline goodness [0,1] 0.2497682340512688 Centerline is valid? [False, False] Translation: X:4.28, Y:0.30, Z:1.04 [[ 0.99987877 0.00525275 -0.01465757 4.27515304] [-0.00515423 0.99996393 0.00675066 0.30328836] [ 0.0146925 -0.00667429 0.99986978 1.04227612] [ 0. 0. 0. 1. ]] SLAMing on 307.53255784400005 meters Centerline goodness [0,1] 0.25159506129826015 Centerline is valid? [False, False] Translation: X:4.28, Y:0.30, Z:1.04 [[ 0.99987841 0.00531437 -0.01466028 4.27519782] [-0.0052133 0.99996244 0.00692335 0.30239252] [ 0.01469652 -0.00684608 0.99986856 1.04219017] [ 0. 0. 0. 1. ]] SLAMing on 307.562557844 meters Centerline goodness [0,1] 0.24991887857745476 Centerline is valid? [False, False] Translation: X:4.28, Y:0.30, Z:1.04 [[ 0.99987597 0.0054361 -0.01478148 4.27557068] [-0.00532727 0.99995849 0.00739143 0.29988404] [ 0.01482104 -0.00731176 0.99986343 1.04212871] [ 0. 0. 0. 1. ]] SLAMing on 307.59255784400005 meters Centerline goodness [0,1] 0.25075247396115286 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:1.04 [[ 9.99892417e-01 2.11585039e-03 -1.45147230e-02 4.27471954e+00] [-2.05786323e-03 9.99989847e-01 4.00883098e-03 2.99834766e-01] [ 1.45230577e-02 -3.97853039e-03 9.99886620e-01 1.04231308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622557844 meters Centerline goodness [0,1] 0.25119993018588005 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:1.04 [[ 9.99892176e-01 2.17690624e-03 -1.45223050e-02 4.27470076e+00] [-2.11492762e-03 9.99988597e-01 4.28181576e-03 2.98222120e-01] [ 1.45314605e-02 -4.25064045e-03 9.99885378e-01 1.04240947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65255784400006 meters Centerline goodness [0,1] 0.24684653497479392 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:1.04 [[ 9.99891202e-01 2.34247387e-03 -1.45635664e-02 4.27490923e+00] [-2.27220989e-03 9.99985709e-01 4.83931682e-03 2.95233360e-01] [ 1.45746942e-02 -4.80569883e-03 9.99882235e-01 1.04229947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68255784400003 meters Centerline goodness [0,1] 0.24975561010579372 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99891598e-01 2.46287418e-03 -1.45163933e-02 4.27463745e+00] [-2.38866662e-03 9.99984003e-01 5.12710680e-03 2.93916404e-01] [ 1.45287885e-02 -5.09187619e-03 9.99881487e-01 1.04257187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71255784400006 meters Centerline goodness [0,1] 0.25162893068055525 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99892800e-01 2.59873083e-03 -1.44095164e-02 4.27412016e+00] [-2.52023862e-03 9.99981903e-01 5.46273407e-03 2.92390410e-01] [ 1.44234518e-02 -5.42583305e-03 9.99881255e-01 1.04304719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74255784400003 meters Centerline goodness [0,1] 0.252415748718508 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99892561e-01 2.74233468e-03 -1.43994891e-02 4.27384356e+00] [-2.65939879e-03 9.99979785e-01 5.77563423e-03 2.90949294e-01] [ 1.44150367e-02 -5.73671972e-03 9.99879641e-01 1.04346155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77255784400006 meters Centerline goodness [0,1] 0.25015185699409925 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99891418e-01 2.88790097e-03 -1.44503030e-02 4.27397920e+00] [-2.80012589e-03 9.99977530e-01 6.09082245e-03 2.89414887e-01] [ 1.44675680e-02 -6.04969843e-03 9.99877038e-01 1.04345885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80255784400003 meters Centerline goodness [0,1] 0.25184443622276875 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99890045e-01 3.01871009e-03 -1.45184527e-02 4.27412234e+00] [-2.92667663e-03 9.99975517e-01 6.35614232e-03 2.88059406e-01] [ 1.45372846e-02 -6.31295261e-03 9.99874399e-01 1.04349803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83255784400006 meters Centerline goodness [0,1] 0.25274053369437044 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99891057e-01 3.33887155e-03 -1.43779678e-02 4.27363679e+00] [-3.24103504e-03 9.99971474e-01 6.82254596e-03 2.86020582e-01] [ 1.44003373e-02 -6.77520320e-03 9.99873355e-01 1.04368162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86255784400004 meters Centerline goodness [0,1] 0.24577440496723013 Centerline is valid? [False, False] Translation: X:4.29, Y:0.28, Z:1.04 [[ 0.99984203 0.01205447 -0.01306159 4.29420972] [-0.01197395 0.99990893 0.0062253 0.28283755] [ 0.01313544 -0.00606792 0.99989531 1.04456201] [ 0. 0. 0. 1. ]] SLAMing on 307.89255784400007 meters Centerline goodness [0,1] 0.2513566687566212 Centerline is valid? [False, False] Translation: X:4.29, Y:0.28, Z:1.04 [[ 0.99984296 0.01214953 -0.01290109 4.29358608] [-0.01206872 0.99990717 0.00632359 0.2826372 ] [ 0.01297672 -0.0061669 0.99989678 1.04490105] [ 0. 0. 0. 1. ]] SLAMing on 307.92255784400004 meters Centerline goodness [0,1] 0.2501078609025801 Centerline is valid? [False, False] Translation: X:4.29, Y:0.28, Z:1.05 [[ 0.99984385 0.01219924 -0.01278477 4.29310164] [-0.01211798 0.999906 0.00641446 0.28217877] [ 0.01286182 -0.00625853 0.9998977 1.04515771] [ 0. 0. 0. 1. ]] SLAMing on 307.95255784400007 meters Centerline goodness [0,1] 0.24752815751010226 Centerline is valid? [False, False] Translation: X:4.29, Y:0.28, Z:1.05 [[ 0.99984403 0.01223367 -0.0127376 4.29285165] [-0.01215133 0.9999049 0.0065219 0.28148879] [ 0.01281618 -0.0063661 0.9998976 1.04536487] [ 0. 0. 0. 1. ]] SLAMing on 307.98255784400004 meters Centerline goodness [0,1] 0.24771176927726446 Centerline is valid? [False, False] Translation: X:4.29, Y:0.28, Z:1.05 [[ 0.99984442 0.01224347 -0.01269809 4.29262325] [-0.01216067 0.99990442 0.00657752 0.28097106] [ 0.0127774 -0.00642208 0.99989774 1.04550902] [ 0. 0. 0. 1. ]] SLAMing on 308.01255784400007 meters Centerline goodness [0,1] 0.24842000819654453 Centerline is valid? [False, False] Translation: X:4.29, Y:0.28, Z:1.05 [[ 0.99984531 0.01221299 -0.01265677 4.29235308] [-0.01213153 0.99990533 0.00649296 0.28146444] [ 0.01273487 -0.00633841 0.99989882 1.04574616] [ 0. 0. 0. 1. ]] SLAMing on 308.04255784400004 meters Centerline goodness [0,1] 0.2515642652298601 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99918418e-01 3.76409317e-03 -1.22060669e-02 4.27118535e+00] [-3.67597707e-03 9.99967082e-01 7.23345907e-03 2.86455190e-01] [ 1.22328925e-02 -7.18799973e-03 9.99899339e-01 1.04473586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0725578440001 meters Centerline goodness [0,1] 0.25089908574894926 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.05 [[ 9.99919938e-01 3.69831235e-03 -1.21012063e-02 4.27064180e+00] [-3.61321658e-03 9.99968646e-01 7.04632991e-03 2.87528739e-01] [ 1.21268864e-02 -7.00204149e-03 9.99901950e-01 1.04518374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10255784400005 meters Centerline goodness [0,1] 0.251226714143037 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.05 [[ 9.99922383e-01 3.57825434e-03 -1.19341607e-02 4.26997116e+00] [-3.49752918e-03 9.99970911e-01 6.77823440e-03 2.88734619e-01] [ 1.19580678e-02 -6.73596821e-03 9.99905811e-01 1.04556835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1325578440001 meters Centerline goodness [0,1] 0.25216824258232806 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.05 [[ 9.99924114e-01 3.33891361e-03 -1.18582575e-02 4.26990003e+00] [-3.26440742e-03 9.99974846e-01 6.29687145e-03 2.90606771e-01] [ 1.18789839e-02 -6.25768342e-03 9.99909862e-01 1.04529503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16255784400005 meters Centerline goodness [0,1] 0.24910618134826623 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99920432e-01 3.22652373e-03 -1.21950408e-02 4.27111503e+00] [-3.15287496e-03 9.99976706e-01 6.05364707e-03 2.91740094e-01] [ 1.22142890e-02 -6.01471596e-03 9.99907313e-01 1.04461734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.192557844 meters Centerline goodness [0,1] 0.2483962243773895 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99917311e-01 3.17960858e-03 -1.24603566e-02 4.27207040e+00] [-3.10577809e-03 9.99977534e-01 5.94010871e-03 2.92378690e-01] [ 1.24789639e-02 -5.90091843e-03 9.99904723e-01 1.04414513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22255784400005 meters Centerline goodness [0,1] 0.24871136799879223 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99914680e-01 3.14953307e-03 -1.26772447e-02 4.27271452e+00] [-3.07456001e-03 9.99977696e-01 5.92913838e-03 2.92439329e-01] [ 1.26956360e-02 -5.88965556e-03 9.99902062e-01 1.04397913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.252557844 meters Centerline goodness [0,1] 0.2504990886207794 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99913690e-01 3.17580625e-03 -1.27486124e-02 4.27276808e+00] [-3.09761094e-03 9.99976299e-01 6.14870019e-03 2.91185115e-01] [ 1.27678373e-02 -6.10867925e-03 9.99899828e-01 1.04427168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28255784400005 meters Centerline goodness [0,1] 0.2522682445759369 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.04 [[ 9.99914152e-01 3.14497694e-03 -1.27199751e-02 4.27238651e+00] [-3.06363163e-03 9.99974766e-01 6.40952143e-03 2.89435500e-01] [ 1.27398119e-02 -6.37000187e-03 9.99898555e-01 1.04489471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.312557844 meters Centerline goodness [0,1] 0.250005402018194 Centerline is valid? [False, False] Translation: X:4.29, Y:0.29, Z:1.04 [[ 9.99911375e-01 7.86189588e-03 -1.07439531e-02 4.29418949e+00] [-7.83042879e-03 9.99964938e-01 2.96775308e-03 2.85871347e-01] [ 1.07669085e-02 -2.88336031e-03 9.99937878e-01 1.04484334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34255784400005 meters Centerline goodness [0,1] 0.25448671136781076 Centerline is valid? [False, False] Translation: X:4.25, Y:0.28, Z:1.05 [[ 9.99883555e-01 6.98694259e-03 -1.35668606e-02 4.24800186e+00] [-6.95350728e-03 9.99972674e-01 2.51009328e-03 2.82574004e-01] [ 1.35840278e-02 -2.41546373e-03 9.99904815e-01 1.04613499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.372557844 meters Centerline goodness [0,1] 0.2513110651724513 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:1.05 [[ 9.99912822e-01 -1.19388997e-03 -1.31500072e-02 4.26860676e+00] [ 1.23908296e-03 9.99993353e-01 3.42911587e-03 2.85969840e-01] [ 1.31458258e-02 -3.44511087e-03 9.99907655e-01 1.04647991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40255784400006 meters Centerline goodness [0,1] 0.2525087260034904 Centerline is valid? [False, False] Translation: X:4.27, Y:0.28, Z:1.05 [[ 9.99911490e-01 -1.11992576e-03 -1.32573476e-02 4.26912608e+00] [ 1.16834966e-03 9.99992673e-01 3.64542745e-03 2.84825792e-01] [ 1.32531679e-02 -3.66059401e-03 9.99905472e-01 1.04607955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43255784400003 meters Centerline goodness [0,1] 0.2516567840948727 Centerline is valid? [False, False] Translation: X:4.27, Y:0.28, Z:1.05 [[ 9.99911691e-01 -1.03424607e-03 -1.32492044e-02 4.26906411e+00] [ 1.08484967e-03 9.99992143e-01 3.81275162e-03 2.83998955e-01] [ 1.32451570e-02 -3.82678831e-03 9.99904956e-01 1.04613247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46255784400006 meters Centerline goodness [0,1] 0.2518182410282017 Centerline is valid? [False, False] Translation: X:4.27, Y:0.28, Z:1.05 [[ 9.99912854e-01 -8.10580941e-04 -1.31767729e-02 4.26846220e+00] [ 8.66330243e-04 9.99990696e-01 4.22571952e-03 2.82055746e-01] [ 1.31732251e-02 -4.23676670e-03 9.99904253e-01 1.04682360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49255784400003 meters Centerline goodness [0,1] 0.25129382213464413 Centerline is valid? [False, False] Translation: X:4.27, Y:0.28, Z:1.05 [[ 9.99910826e-01 -7.01495843e-04 -1.33359369e-02 4.26893594e+00] [ 7.61172349e-04 9.99989718e-01 4.47031522e-03 2.80777800e-01] [ 1.33326639e-02 -4.48006753e-03 9.99901080e-01 1.04667426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52255784400006 meters Centerline goodness [0,1] 0.2480583259416308 Centerline is valid? [False, False] Translation: X:4.27, Y:0.28, Z:1.05 [[ 9.99907588e-01 -5.84579939e-04 -1.35821433e-02 4.26983252e+00] [ 6.49667139e-04 9.99988325e-01 4.78819772e-03 2.79035574e-01] [ 1.35791857e-02 -4.79657910e-03 9.99896294e-01 1.04625270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55255784400003 meters Centerline goodness [0,1] 0.2515061555924212 Centerline is valid? [False, False] Translation: X:4.27, Y:0.28, Z:1.05 [[ 9.99903844e-01 -4.21715457e-04 -1.38609428e-02 4.27070953e+00] [ 4.94329177e-04 9.99986171e-01 5.23572022e-03 2.76728049e-01] [ 1.38585431e-02 -5.24206864e-03 9.99890225e-01 1.04595637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58255784400006 meters Centerline goodness [0,1] 0.25087092745557726 Centerline is valid? [False, False] Translation: X:4.27, Y:0.27, Z:1.05 [[ 9.99904827e-01 -2.86648507e-03 -1.34952286e-02 4.26818091e+00] [ 2.91451811e-03 9.99989484e-01 3.54094037e-03 2.70331869e-01] [ 1.34849366e-02 -3.57993545e-03 9.99902666e-01 1.04779236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61255784400004 meters Centerline goodness [0,1] 0.2530782138732103 Centerline is valid? [False, False] Translation: X:4.27, Y:0.27, Z:1.05 [[ 9.99906656e-01 -2.62365828e-03 -1.34088068e-02 4.26764490e+00] [ 2.68111212e-03 9.99987295e-01 4.26860552e-03 2.66827625e-01] [ 1.33974371e-02 -4.30415759e-03 9.99900987e-01 1.04846639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64255784400007 meters Centerline goodness [0,1] 0.2614007049499748 Centerline is valid? [False, False] Translation: X:4.27, Y:0.26, Z:1.05 [[ 9.99909035e-01 -2.37608835e-03 -1.32769100e-02 4.26695495e+00] [ 2.44227106e-03 9.99984663e-01 4.97080995e-03 2.63518292e-01] [ 1.32648953e-02 -5.00278359e-03 9.99899502e-01 1.04920284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67255784400004 meters Centerline goodness [0,1] 0.2607838412162903 Centerline is valid? [False, False] Translation: X:4.27, Y:0.26, Z:1.05 [[ 9.99909687e-01 -2.15744819e-03 -1.32651031e-02 4.26678472e+00] [ 2.23195328e-03 9.99981804e-01 5.60438698e-03 2.60459179e-01] [ 1.32527705e-02 -5.63348793e-03 9.99896309e-01 1.04957633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70255784400007 meters Centerline goodness [0,1] 0.24884474195638095 Centerline is valid? [False, False] Translation: X:4.29, Y:0.26, Z:1.05 [[ 9.99916616e-01 4.21015840e-03 -1.22079776e-02 4.28940435e+00] [-4.17405404e-03 9.99986844e-01 2.98141217e-03 2.57578270e-01] [ 1.22203692e-02 -2.93020682e-03 9.99921035e-01 1.04906476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73255784400004 meters Centerline goodness [0,1] 0.25247567944858873 Centerline is valid? [False, False] Translation: X:4.29, Y:0.26, Z:1.05 [[ 9.99914837e-01 4.37059084e-03 -1.22970049e-02 4.28966747e+00] [-4.32921384e-03 9.99984885e-01 3.38941261e-03 2.55532901e-01] [ 1.23116327e-02 -3.33588759e-03 9.99918644e-01 1.04901395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76255784400007 meters Centerline goodness [0,1] 0.25952662204138777 Centerline is valid? [False, False] Translation: X:4.29, Y:0.25, Z:1.05 [[ 9.99913132e-01 4.59188390e-03 -1.23548606e-02 4.28981590e+00] [-4.54325369e-03 9.99981833e-01 3.96131164e-03 2.52615516e-01] [ 1.23728260e-02 -3.90483627e-03 9.99915829e-01 1.04903572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79255784400004 meters Centerline goodness [0,1] 0.2573095623987034 Centerline is valid? [False, False] Translation: X:4.31, Y:0.26, Z:1.05 [[ 9.99929954e-01 -3.27152445e-03 -1.13747541e-02 4.30942762e+00] [ 3.33026252e-03 9.99981199e-01 5.14879664e-03 2.55998408e-01] [ 1.13576958e-02 -5.18631690e-03 9.99922049e-01 1.04996613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8225578440001 meters Centerline goodness [0,1] 0.25107361297878805 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:1.05 [[ 9.99930854e-01 -3.13816856e-03 -1.13330822e-02 4.30928797e+00] [ 3.20023569e-03 9.99979959e-01 5.46265678e-03 2.54537136e-01] [ 1.13157123e-02 -5.49854760e-03 9.99920857e-01 1.05004162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85255784400005 meters Centerline goodness [0,1] 0.25206088890827405 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:1.05 [[ 9.99931538e-01 -2.99786633e-03 -1.13107063e-02 4.30918795e+00] [ 3.06393666e-03 9.99978320e-01 5.82859845e-03 2.52784019e-01] [ 1.12929877e-02 -5.86285470e-03 9.99919044e-01 1.05015795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8825578440001 meters Centerline goodness [0,1] 0.2520596312279325 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:1.05 [[ 9.99930093e-01 -2.87534862e-03 -1.14691824e-02 4.30955159e+00] [ 2.94676751e-03 9.99976345e-01 6.21499492e-03 2.50793235e-01] [ 1.14510408e-02 -6.24835746e-03 9.99914912e-01 1.05024498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91255784400005 meters Centerline goodness [0,1] 0.2591236102027469 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:1.05 [[ 9.99928269e-01 -2.76062978e-03 -1.16548617e-02 4.31012953e+00] [ 2.83812587e-03 9.99973941e-01 6.63795548e-03 2.48456902e-01] [ 1.16362330e-02 -6.67055730e-03 9.99910047e-01 1.05010646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942557844 meters Centerline goodness [0,1] 0.2512502456814658 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:1.05 [[ 9.99910570e-01 -6.59041609e-03 -1.16369586e-02 4.31028056e+00] [ 6.62914910e-03 9.99972605e-01 3.29301742e-03 2.45139782e-01] [ 1.16149374e-02 -3.36986605e-03 9.99926866e-01 1.04994821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97255784400005 meters Centerline goodness [0,1] 0.2513478260869565 Centerline is valid? [False, False] Translation: X:4.33, Y:0.24, Z:1.05 [[ 9.99935404e-01 1.26370827e-03 -1.12956293e-02 4.32857584e+00] [-1.24105441e-03 9.99997205e-01 2.01232589e-03 2.38735292e-01] [ 1.12981407e-02 -1.99817741e-03 9.99934177e-01 1.05229164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002557844 meters Centerline goodness [0,1] 0.2482690192187399 Centerline is valid? [False, False] Translation: X:4.33, Y:0.24, Z:1.05 [[ 9.99936385e-01 1.43682298e-03 -1.11875763e-02 4.32802135e+00] [-1.40944359e-03 9.99995994e-01 2.45480337e-03 2.36642329e-01] [ 1.11910586e-02 -2.43887895e-03 9.99934404e-01 1.05279014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03255784400005 meters Centerline goodness [0,1] 0.25198318089210625 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:1.05 [[ 9.99938530e-01 1.73496915e-03 -1.09510822e-02 4.32698917e+00] [-1.70061419e-03 9.99993606e-01 3.14566147e-03 2.33537459e-01] [ 1.09564698e-02 -3.12684454e-03 9.99935087e-01 1.05362001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062557844 meters Centerline goodness [0,1] 0.25893357472304845 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:1.05 [[ 9.99939626e-01 1.88870908e-03 -1.08248117e-02 4.32657876e+00] [-1.85104255e-03 9.99992202e-01 3.48861058e-03 2.31994656e-01] [ 1.08313162e-02 -3.46836277e-03 9.99935324e-01 1.05380198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09255784400005 meters Centerline goodness [0,1] 0.26119013441211014 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:1.05 [[ 9.99940356e-01 2.02778281e-03 -1.07318007e-02 4.32623221e+00] [-1.98711147e-03 9.99990809e-01 3.79910369e-03 2.30550269e-01] [ 1.07394058e-02 -3.77755182e-03 9.99935196e-01 1.05401221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122557844 meters Centerline goodness [0,1] 0.25050156401682666 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:1.05 [[ 9.99941533e-01 2.18001471e-03 -1.05914590e-02 4.32572809e+00] [-2.13589716e-03 9.99989004e-01 4.17491601e-03 2.28716458e-01] [ 1.06004439e-02 -4.15204965e-03 9.99935193e-01 1.05428668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15255784400006 meters Centerline goodness [0,1] 0.24766506330752136 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:1.05 [[ 9.99942531e-01 2.31830127e-03 -1.04670787e-02 4.32521525e+00] [-2.27123228e-03 9.99987266e-01 4.50651069e-03 2.27022894e-01] [ 1.04773929e-02 -4.48247854e-03 9.99935064e-01 1.05462404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18255784400003 meters Centerline goodness [0,1] 0.2600391559712856 Centerline is valid? [False, False] Translation: X:4.33, Y:0.22, Z:1.06 [[ 9.99939913e-01 2.53866650e-03 -1.06641740e-02 4.32543977e+00] [-2.48473854e-03 9.99984075e-01 5.06713681e-03 2.24058222e-01] [ 1.06768680e-02 -5.04033466e-03 9.99930297e-01 1.05509786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21255784400006 meters Centerline goodness [0,1] 0.25977016488171534 Centerline is valid? [False, False] Translation: X:4.33, Y:0.22, Z:1.05 [[ 9.99938270e-01 2.61717358e-03 -1.07984309e-02 4.32600595e+00] [-2.56036773e-03 9.99982830e-01 5.27103962e-03 2.22885214e-01] [ 1.08120407e-02 -5.24306629e-03 9.99927802e-01 1.05470046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24255784400003 meters Centerline goodness [0,1] 0.2633529684294129 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:1.06 [[ 9.99902235e-01 1.88372750e-03 -1.38553695e-02 4.28170271e+00] [-1.81065719e-03 9.99984398e-01 5.28444556e-03 2.18221492e-01] [ 1.38651078e-02 -5.25884161e-03 9.99890046e-01 1.05525607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27255784400006 meters Centerline goodness [0,1] 0.25818727438785716 Centerline is valid? [False, False] Translation: X:4.30, Y:0.21, Z:1.06 [[ 0.99985288 0.01042955 -0.01361774 4.30236531] [-0.01036887 0.99993603 0.00451863 0.21339783] [ 0.013664 -0.00437677 0.99989706 1.05609363] [ 0. 0. 0. 1. ]] SLAMing on 309.30255784400003 meters Centerline goodness [0,1] 0.25795535888592436 Centerline is valid? [False, False] Translation: X:4.30, Y:0.21, Z:1.06 [[ 0.99985022 0.01056101 -0.01371156 4.3027176 ] [-0.01049546 0.99993319 0.00484406 0.21186061] [ 0.01376181 -0.00469942 0.99989426 1.05589457] [ 0. 0. 0. 1. ]] SLAMing on 309.33255784400006 meters Centerline goodness [0,1] 0.26082196579886585 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99892793e-01 1.72508303e-03 -1.45405020e-02 4.28233472e+00] [-1.63796276e-03 9.99980650e-01 6.00133938e-03 2.13165586e-01] [ 1.45505735e-02 -5.97687919e-03 9.99876271e-01 1.05483547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36255784400004 meters Centerline goodness [0,1] 0.2601023853610718 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99891637e-01 1.83880184e-03 -1.46059205e-02 4.28237144e+00] [-1.74677964e-03 9.99978562e-01 6.31059612e-03 2.11507538e-01] [ 1.46172113e-02 -6.28439896e-03 9.99873414e-01 1.05509031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39255784400007 meters Centerline goodness [0,1] 0.2601023853610718 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99891637e-01 1.83880184e-03 -1.46059205e-02 4.28237144e+00] [-1.74677964e-03 9.99978562e-01 6.31059612e-03 2.11507538e-01] [ 1.46172113e-02 -6.28439896e-03 9.99873414e-01 1.05509031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42255784400004 meters Centerline goodness [0,1] 0.26069384366671033 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99893637e-01 2.01284896e-03 -1.44451621e-02 4.28151631e+00] [-1.91472765e-03 9.99975024e-01 6.80329464e-03 2.08778776e-01] [ 1.44584953e-02 -6.77491247e-03 9.99872518e-01 1.05589496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45255784400007 meters Centerline goodness [0,1] 0.26104776646536876 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99896768e-01 2.07723411e-03 -1.42175534e-02 4.28083786e+00] [-1.97898854e-03 9.99974093e-01 6.92074452e-03 2.08328359e-01] [ 1.42315611e-02 -6.89189371e-03 9.99874974e-01 1.05607664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48255784400004 meters Centerline goodness [0,1] 0.25813219136603516 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99897978e-01 2.12378199e-03 -1.41252976e-02 4.28053159e+00] [-2.02612221e-03 9.99973972e-01 6.92454146e-03 2.08558277e-01] [ 1.41396361e-02 -6.89521542e-03 9.99876256e-01 1.05616917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51255784400007 meters Centerline goodness [0,1] 0.25985483941066534 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99901269e-01 2.38607371e-03 -1.38477136e-02 4.28013364e+00] [-2.29161953e-03 9.99974030e-01 6.83278608e-03 2.10004964e-01] [ 1.38636575e-02 -6.80037778e-03 9.99880770e-01 1.05558795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54255784400004 meters Centerline goodness [0,1] 0.26088192834332213 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99900263e-01 2.34006311e-03 -1.39279719e-02 4.28059172e+00] [-2.25012406e-03 9.99976540e-01 6.46961192e-03 2.11980112e-01] [ 1.39427844e-02 -6.43762699e-03 9.99882071e-01 1.05503370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5725578440001 meters Centerline goodness [0,1] 0.25845669429077467 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99898656e-01 2.27025288e-03 -1.40543045e-02 4.28109034e+00] [-2.18497440e-03 9.99979129e-01 6.08016761e-03 2.14019171e-01] [ 1.40678147e-02 -6.04884313e-03 9.99882747e-01 1.05457219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60255784400005 meters Centerline goodness [0,1] 0.25879107751786457 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:1.05 [[ 9.99897791e-01 2.19205960e-03 -1.41280545e-02 4.28133164e+00] [-2.11123775e-03 9.99981337e-01 5.73304160e-03 2.15868159e-01] [ 1.41403580e-02 -5.70262795e-03 9.99883758e-01 1.05433606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6325578440001 meters Centerline goodness [0,1] 0.2561101994990932 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:1.05 [[ 9.99897054e-01 2.11409297e-03 -1.41919495e-02 4.28160860e+00] [-2.03662798e-03 9.99982962e-01 5.47061094e-03 2.17253223e-01] [ 1.42032730e-02 -5.44114404e-03 9.99884324e-01 1.05403693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66255784400005 meters Centerline goodness [0,1] 0.2558787329144264 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:1.05 [[ 9.99896167e-01 2.07895325e-03 -1.42595185e-02 4.28183096e+00] [-2.00249462e-03 9.99983554e-01 5.37412007e-03 2.17839287e-01] [ 1.42704566e-02 -5.34500745e-03 9.99883886e-01 1.05392824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.692557844 meters Centerline goodness [0,1] 0.26025842500436525 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:1.05 [[ 9.99891737e-01 2.02875700e-03 -1.45738997e-02 4.28247756e+00] [-1.94707003e-03 9.99982329e-01 5.61702229e-03 2.16227722e-01] [ 1.45850378e-02 -5.58803777e-03 9.99878018e-01 1.05419062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72255784400005 meters Centerline goodness [0,1] 0.25780843310775636 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99886200e-01 1.96029242e-03 -1.49581122e-02 4.28334886e+00] [-1.87279118e-03 9.99981067e-01 5.86151908e-03 2.14482645e-01] [ 1.49693193e-02 -5.83283862e-03 9.99870940e-01 1.05441274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.752557844 meters Centerline goodness [0,1] 0.25902196652719667 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99882860e-01 1.97541908e-03 -1.51777670e-02 4.28386109e+00] [-1.88177851e-03 9.99979124e-01 6.18139436e-03 2.12622936e-01] [ 1.51896610e-02 -6.15210907e-03 9.99865704e-01 1.05458136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78255784400005 meters Centerline goodness [0,1] 0.2566616879883975 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99883013e-01 2.03832381e-03 -1.51593178e-02 4.28372573e+00] [-1.93993075e-03 9.99976977e-01 6.50247438e-03 2.10906789e-01] [ 1.51722230e-02 -6.47230565e-03 9.99863947e-01 1.05480790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.812557844 meters Centerline goodness [0,1] 0.26056415081952866 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99886329e-01 2.14308555e-03 -1.49243291e-02 4.28287245e+00] [-2.04166389e-03 9.99974743e-01 6.80764971e-03 2.09535761e-01] [ 1.49385415e-02 -6.77640541e-03 9.99865451e-01 1.05535524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84255784400005 meters Centerline goodness [0,1] 0.26014772207333814 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99889330e-01 2.21116334e-03 -1.47118349e-02 4.28203059e+00] [-2.10863927e-03 9.99973412e-01 6.98068204e-03 2.08747752e-01] [ 1.47268792e-02 -6.94888754e-03 9.99867407e-01 1.05593352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.872557844 meters Centerline goodness [0,1] 0.26229436567408737 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99891211e-01 2.27825555e-03 -1.45731131e-02 4.28163150e+00] [-2.17413263e-03 9.99972027e-01 7.15672176e-03 2.07656859e-01] [ 1.45890102e-02 -7.12425930e-03 9.99868194e-01 1.05603659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90255784400006 meters Centerline goodness [0,1] 0.258441080285015 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99889159e-01 2.30004019e-03 -1.47098117e-02 4.28229090e+00] [-2.19493212e-03 9.99971975e-01 7.15759683e-03 2.07595112e-01] [ 1.47258622e-02 -7.12451644e-03 9.99866186e-01 1.05546710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93255784400003 meters Centerline goodness [0,1] 0.2587335298196949 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99887576e-01 2.28569035e-03 -1.48192867e-02 4.28293351e+00] [-2.18088501e-03 9.99972526e-01 7.08453303e-03 2.07945680e-01] [ 1.48350727e-02 -7.05141739e-03 9.99865090e-01 1.05480675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96255784400006 meters Centerline goodness [0,1] 0.2564512989119855 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99887828e-01 2.36294493e-03 -1.47901184e-02 4.28311935e+00] [-2.25949799e-03 9.99972897e-01 7.00713423e-03 2.08786636e-01] [ 1.48062750e-02 -6.97292998e-03 9.99866067e-01 1.05427572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99255784400003 meters Centerline goodness [0,1] 0.25665707672673 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99889274e-01 2.36512540e-03 -1.46916673e-02 4.28274063e+00] [-2.26300277e-03 9.99973192e-01 6.96379804e-03 2.09061655e-01] [ 1.47077437e-02 -6.92977968e-03 9.99867821e-01 1.05447800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02255784400006 meters Centerline goodness [0,1] 0.2469276139410188 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99890177e-01 2.33382828e-03 -1.46351047e-02 4.28244985e+00] [-2.23365556e-03 9.99973994e-01 6.85730201e-03 2.09566471e-01] [ 1.46507279e-02 -6.82385914e-03 9.99869387e-01 1.05468533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05255784400003 meters Centerline goodness [0,1] 0.2584842242220535 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99890481e-01 2.26616077e-03 -1.46249796e-02 4.28243272e+00] [-2.16883221e-03 9.99975421e-01 6.66738677e-03 2.10461638e-01] [ 1.46397295e-02 -6.63493744e-03 9.99870820e-01 1.05463852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08255784400006 meters Centerline goodness [0,1] 0.25725004851333577 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99890853e-01 2.17738187e-03 -1.46130377e-02 4.28249241e+00] [-2.08374679e-03 9.99977222e-01 6.41980968e-03 2.11680281e-01] [ 1.46266832e-02 -6.38865910e-03 9.99872614e-01 1.05440770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11255784400004 meters Centerline goodness [0,1] 0.2585097595965744 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99892848e-01 2.12397794e-03 -1.44838564e-02 4.28219834e+00] [-2.03325854e-03 9.99978243e-01 6.27533495e-03 2.12438622e-01] [ 1.44968699e-02 -6.24521311e-03 9.99875411e-01 1.05432158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14255784400007 meters Centerline goodness [0,1] 0.25212507589556765 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99896338e-01 2.08044675e-03 -1.42472588e-02 4.28137041e+00] [-1.99233177e-03 9.99978819e-01 6.19609968e-03 2.12937734e-01] [ 1.42598476e-02 -6.16707212e-03 9.99879305e-01 1.05470600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17255784400004 meters Centerline goodness [0,1] 0.2583618931933539 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99894883e-01 2.08839506e-03 -1.43478667e-02 4.28145821e+00] [-1.99844899e-03 9.99978281e-01 6.28043082e-03 2.12444869e-01] [ 1.43606711e-02 -6.25109716e-03 9.99877340e-01 1.05500189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20255784400007 meters Centerline goodness [0,1] 0.26123841175441664 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99891432e-01 2.09508017e-03 -1.45854000e-02 4.28191418e+00] [-2.00166260e-03 9.99977411e-01 6.41652283e-03 2.11587723e-01] [ 1.45985136e-02 -6.38663115e-03 9.99873039e-01 1.05527587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23255784400004 meters Centerline goodness [0,1] 0.2580183462364193 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99888489e-01 2.11789917e-03 -1.47825540e-02 4.28232927e+00] [-2.01971546e-03 9.99975825e-01 6.65363547e-03 2.10232512e-01] [ 1.47962884e-02 -6.62303697e-03 9.99868594e-01 1.05542756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26255784400007 meters Centerline goodness [0,1] 0.2591682789504576 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99888937e-01 1.99475574e-03 -1.47693484e-02 4.28232450e+00] [-1.89140085e-03 9.99973651e-01 7.00859587e-03 2.07608324e-01] [ 1.47829397e-02 -6.97988272e-03 9.99866364e-01 1.05558000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29255784400004 meters Centerline goodness [0,1] 0.24807197943444725 Centerline is valid? [False, False] Translation: X:4.30, Y:0.20, Z:1.06 [[ 0.99985568 0.01007542 -0.01367846 4.30175196] [-0.00999869 0.99993396 0.00566647 0.20372966] [ 0.01373465 -0.00552889 0.99989039 1.05676807] [ 0. 0. 0. 1. ]] SLAMing on 310.3225578440001 meters Centerline goodness [0,1] 0.25876482405547274 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99908981e-01 1.37206700e-03 -1.34218927e-02 4.28117953e+00] [-1.28239058e-03 9.99976815e-01 6.68768045e-03 2.06621408e-01] [ 1.34307574e-02 -6.66985963e-03 9.99887558e-01 1.05528435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35255784400005 meters Centerline goodness [0,1] 0.2585834126091845 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99909646e-01 1.38477437e-03 -1.33709547e-02 4.28104648e+00] [-1.29568255e-03 9.99976920e-01 6.66945111e-03 2.06906014e-01] [ 1.33798818e-02 -6.65152399e-03 9.99888362e-01 1.05526680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3825578440001 meters Centerline goodness [0,1] 0.2606060606060606 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99909053e-01 1.37425867e-03 -1.34162650e-02 4.28121255e+00] [-1.28649466e-03 9.99977734e-01 6.54805235e-03 2.07726685e-01] [ 1.34249650e-02 -6.53019687e-03 9.99888557e-01 1.05512431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41255784400005 meters Centerline goodness [0,1] 0.25455208355673753 Centerline is valid? [False, False] Translation: X:4.30, Y:0.21, Z:1.06 [[ 0.99986379 0.01018235 -0.01298944 4.30269445] [-0.01010921 0.99993275 0.00568398 0.2062856 ] [ 0.01304645 -0.00555189 0.99989948 1.0557959 ] [ 0. 0. 0. 1. ]] SLAMing on 310.442557844 meters Centerline goodness [0,1] 0.25905510102215756 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99909801e-01 1.61000396e-03 -1.33340469e-02 4.28213199e+00] [-1.52591023e-03 9.99978899e-01 6.31446656e-03 2.11597221e-01] [ 1.33439319e-02 -6.29355045e-03 9.99891159e-01 1.05481006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47255784400005 meters Centerline goodness [0,1] 0.2571829465731247 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99910922e-01 1.59483075e-03 -1.32515918e-02 4.28183956e+00] [-1.51266564e-03 9.99979585e-01 6.20810717e-03 2.12198167e-01] [ 1.32612221e-02 -6.18750893e-03 9.99892922e-01 1.05488210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502557844 meters Centerline goodness [0,1] 0.2592568589328149 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99912777e-01 1.59134854e-03 -1.31113047e-02 4.28142735e+00] [-1.51085131e-03 9.99979965e-01 6.14714768e-03 2.12625915e-01] [ 1.31208242e-02 -6.12680227e-03 9.99895148e-01 1.05495269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53255784400005 meters Centerline goodness [0,1] 0.25808058925476607 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99914458e-01 1.55853809e-03 -1.29864143e-02 4.28112375e+00] [-1.47988354e-03 9.99980518e-01 6.06408989e-03 2.12991656e-01] [ 1.29956124e-02 -6.04435278e-03 9.99897285e-01 1.05489714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562557844 meters Centerline goodness [0,1] 0.2580931167960556 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.05 [[ 9.99915773e-01 1.52617595e-03 -1.28886658e-02 4.28098419e+00] [-1.44822450e-03 9.99980618e-01 6.05523034e-03 2.12806272e-01] [ 1.28976573e-02 -6.03605464e-03 9.99898603e-01 1.05471488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59255784400005 meters Centerline goodness [0,1] 0.2579878075143759 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99915855e-01 1.48601849e-03 -1.28869785e-02 4.28076612e+00] [-1.40759087e-03 9.99980448e-01 6.09273983e-03 2.12393510e-01] [ 1.28957805e-02 -6.07408757e-03 9.99898397e-01 1.05507475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622557844 meters Centerline goodness [0,1] 0.2607583870615233 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99915276e-01 1.45781426e-03 -1.29350615e-02 4.28080475e+00] [-1.37993512e-03 9.99980881e-01 6.02766240e-03 2.12771080e-01] [ 1.29436014e-02 -6.00930217e-03 9.99898171e-01 1.05521117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65255784400006 meters Centerline goodness [0,1] 0.2605626106533191 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:1.06 [[ 9.99914658e-01 1.42678243e-03 -1.29862136e-02 4.28090387e+00] [-1.35033615e-03 9.99981721e-01 5.89359185e-03 2.13540434e-01] [ 1.29943851e-02 -5.87555312e-03 9.99898307e-01 1.05522766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68255784400003 meters Centerline goodness [0,1] 0.26005292152865134 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:1.05 [[ 9.99913783e-01 1.34553063e-03 -1.30619984e-02 4.28119469e+00] [-1.27242228e-03 9.99983489e-01 5.60372436e-03 2.15002393e-01] [ 1.30693227e-02 -5.58662085e-03 9.99898986e-01 1.05497615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71255784400006 meters Centerline goodness [0,1] 0.2610536940732451 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:1.05 [[ 9.99913454e-01 1.17486527e-03 -1.31035691e-02 4.28148909e+00] [-1.10786521e-03 9.99986283e-01 5.11920295e-03 2.17244726e-01] [ 1.31094037e-02 -5.10424291e-03 9.99901040e-01 1.05457862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74255784400003 meters Centerline goodness [0,1] 0.2618772232285097 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:1.05 [[ 9.99913989e-01 9.94111563e-04 -1.30776947e-02 4.28154588e+00] [-9.34851287e-04 9.99989272e-01 4.53673375e-03 2.20077388e-01] [ 1.30820645e-02 -4.52411784e-03 9.99904191e-01 1.05421580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77255784400006 meters Centerline goodness [0,1] 0.260234492696666 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.05 [[ 9.99917801e-01 8.29435847e-04 -1.27946218e-02 4.28094076e+00] [-7.83253804e-04 9.99993162e-01 3.61407741e-03 2.25554086e-01] [ 1.27975319e-02 -3.60375891e-03 9.99911614e-01 1.05380560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80255784400003 meters Centerline goodness [0,1] 0.25947351316217093 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.05 [[ 9.99918530e-01 7.09989208e-04 -1.27447434e-02 4.28095309e+00] [-6.68774648e-04 9.99994535e-01 3.23781835e-03 2.27682367e-01] [ 1.27469725e-02 -3.22903121e-03 9.99913540e-01 1.05351790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83255784400006 meters Centerline goodness [0,1] 0.2538918765921313 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.05 [[ 9.99919153e-01 5.82372237e-04 -1.27023186e-02 4.28077716e+00] [-5.44712886e-04 9.99995447e-01 2.96802025e-03 2.28955062e-01] [ 1.27039892e-02 -2.96086118e-03 9.99914917e-01 1.05360675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86255784400004 meters Centerline goodness [0,1] 0.25944202757396706 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.05 [[ 9.99919675e-01 4.55346847e-04 -1.26663265e-02 4.28048202e+00] [-4.19607109e-04 9.99995924e-01 2.82414847e-03 2.29392558e-01] [ 1.26675608e-02 -2.81860674e-03 9.99915791e-01 1.05394219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89255784400007 meters Centerline goodness [0,1] 0.2611210546994368 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.05 [[ 9.99919909e-01 3.34865736e-04 -1.26516047e-02 4.28014024e+00] [-3.00206831e-04 9.99996198e-01 2.74128669e-03 2.29404199e-01] [ 1.26524746e-02 -2.73726904e-03 9.99916208e-01 1.05448997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92255784400004 meters Centerline goodness [0,1] 0.26088179909525766 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.05 [[ 9.99918263e-01 2.32971991e-04 -1.27833438e-02 4.28026051e+00] [-1.97891970e-04 9.99996212e-01 2.74539392e-03 2.29104122e-01] [ 1.27839349e-02 -2.74263980e-03 9.99914521e-01 1.05489263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95255784400007 meters Centerline goodness [0,1] 0.2617130387343153 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.05 [[ 9.99916526e-01 -8.98692421e-05 -1.29202432e-02 4.28062370e+00] [ 1.22262296e-04 9.99996852e-01 2.50638715e-03 2.29630424e-01] [ 1.29199773e-02 -2.50775759e-03 9.99913389e-01 1.05492626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98255784400004 meters Centerline goodness [0,1] 0.2623997202002317 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.05 [[ 9.99916801e-01 -1.74541668e-04 -1.28980707e-02 4.28061234e+00] [ 2.04492672e-04 9.99997286e-01 2.32084825e-03 2.30551815e-01] [ 1.28976306e-02 -2.32329272e-03 9.99914123e-01 1.05482084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01255784400007 meters Centerline goodness [0,1] 0.25509313789643584 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.05 [[ 9.99919204e-01 -2.98732422e-04 -1.27081426e-02 4.28011455e+00] [ 3.24192482e-04 9.99997945e-01 2.00143176e-03 2.32199335e-01] [ 1.27075186e-02 -2.00538993e-03 9.99917245e-01 1.05483574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04255784400004 meters Centerline goodness [0,1] 0.25038412430478907 Centerline is valid? [False, False] Translation: X:4.28, Y:0.23, Z:1.06 [[ 9.99920878e-01 -4.18131443e-04 -1.25723395e-02 4.27955689e+00] [ 4.37923143e-04 9.99998669e-01 1.57151391e-03 2.34608209e-01] [ 1.25716657e-02 -1.57689529e-03 9.99919730e-01 1.05515240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0725578440001 meters Centerline goodness [0,1] 0.25400126989687566 Centerline is valid? [False, False] Translation: X:4.28, Y:0.24, Z:1.06 [[ 9.99923516e-01 -5.70036963e-04 -1.23546620e-02 4.27879309e+00] [ 5.83242240e-04 9.99999263e-01 1.06527307e-03 2.37347979e-01] [ 1.23540456e-02 -1.07239736e-03 9.99923111e-01 1.05546123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10255784400005 meters Centerline goodness [0,1] 0.24933755574226069 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:1.06 [[ 9.99905570e-01 7.92289164e-03 -1.12284831e-02 4.29956509e+00] [-7.92623095e-03 9.99968555e-01 -2.52924969e-04 2.38194157e-01] [ 1.12261261e-02 3.41900636e-04 9.99936927e-01 1.05639776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1325578440001 meters Centerline goodness [0,1] 0.2539747955664491 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:1.06 [[ 9.99905912e-01 7.60890285e-03 -1.14137065e-02 4.30014207e+00] [-7.62035120e-03 9.99970504e-01 -9.59880352e-04 2.41245444e-01] [ 1.14060662e-02 1.04676649e-03 9.99934401e-01 1.05611357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16255784400005 meters Centerline goodness [0,1] 0.25273086203114714 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.05 [[ 9.99933890e-01 -1.30595852e-03 -1.14241418e-02 4.27889389e+00] [ 1.30276369e-03 9.99999110e-01 -2.87093824e-04 2.45621143e-01] [ 1.14245066e-02 2.72191887e-04 9.99934701e-01 1.05476484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.192557844 meters Centerline goodness [0,1] 0.25162482338876213 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.06 [[ 9.99934835e-01 -1.34958265e-03 -1.13359477e-02 4.27848188e+00] [ 1.34537063e-03 9.99999023e-01 -3.79180457e-04 2.46236933e-01] [ 1.13364483e-02 3.63904697e-04 9.99935674e-01 1.05509751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22255784400005 meters Centerline goodness [0,1] 0.2518123019490385 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.06 [[ 9.99937820e-01 -1.35902417e-03 -1.10683859e-02 4.27754145e+00] [ 1.35460226e-03 9.99999000e-01 -4.06995952e-04 2.46665222e-01] [ 1.10689279e-02 3.91977384e-04 9.99938661e-01 1.05553868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.252557844 meters Centerline goodness [0,1] 0.25056413817045653 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.06 [[ 9.99938800e-01 -1.39297668e-03 -1.09752543e-02 4.27709610e+00] [ 1.38838378e-03 9.99998945e-01 -4.26085545e-04 2.46805547e-01] [ 1.09758363e-02 4.10821603e-04 9.99939679e-01 1.05593966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28255784400005 meters Centerline goodness [0,1] 0.25056413817045653 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.06 [[ 9.99938800e-01 -1.39297668e-03 -1.09752543e-02 4.27709610e+00] [ 1.38838378e-03 9.99998945e-01 -4.26085545e-04 2.46805547e-01] [ 1.09758363e-02 4.10821603e-04 9.99939679e-01 1.05593966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.312557844 meters Centerline goodness [0,1] 0.24846956371788242 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.06 [[ 9.99937988e-01 -1.45129624e-03 -1.10414323e-02 4.27715923e+00] [ 1.44625562e-03 9.99998846e-01 -4.64489937e-04 2.46774904e-01] [ 1.10420936e-02 4.48492400e-04 9.99938934e-01 1.05615225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34255784400005 meters Centerline goodness [0,1] 0.24863641263339442 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.06 [[ 9.99936921e-01 -1.53784806e-03 -1.11260504e-02 4.27736253e+00] [ 1.53177545e-03 9.99998673e-01 -5.54302329e-04 2.46876431e-01] [ 1.11268881e-02 5.37224753e-04 9.99937950e-01 1.05617029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.372557844 meters Centerline goodness [0,1] 0.25011367819327457 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.06 [[ 9.99938324e-01 -1.55990936e-03 -1.09961626e-02 4.27708364e+00] [ 1.55292217e-03 9.99998587e-01 -6.43930501e-04 2.47489980e-01] [ 1.09971516e-02 6.26814601e-04 9.99939333e-01 1.05605107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40255784400006 meters Centerline goodness [0,1] 0.25578434385564386 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:1.05 [[ 9.99915384e-01 6.51431883e-03 -1.12600416e-02 4.25682167e+00] [-6.53267973e-03 9.99977390e-01 -1.59461354e-03 2.42146086e-01] [ 1.12493992e-02 1.66803685e-03 9.99935332e-01 1.05484996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43255784400003 meters Centerline goodness [0,1] 0.2504959889588545 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.06 [[ 9.99939989e-01 -1.52894578e-03 -1.08480644e-02 4.27694259e+00] [ 1.51877749e-03 9.99998400e-01 -9.45512646e-04 2.46869749e-01] [ 1.08494927e-02 9.28980108e-04 9.99940711e-01 1.05557098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46255784400006 meters Centerline goodness [0,1] 0.247144854285407 Centerline is valid? [False, False] Translation: X:4.28, Y:0.25, Z:1.06 [[ 9.99938296e-01 -1.49863046e-03 -1.10071846e-02 4.27739141e+00] [ 1.48975501e-03 9.99998559e-01 -8.14487555e-04 2.45992062e-01] [ 1.10083894e-02 7.98039289e-04 9.99939087e-01 1.05548450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49255784400003 meters Centerline goodness [0,1] 0.25428996673087023 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:1.06 [[ 9.99898667e-01 -2.06869793e-03 -1.40845960e-02 4.23318386e+00] [ 2.05976236e-03 9.99997668e-01 -6.48898220e-04 2.41552665e-01] [ 1.40859055e-02 6.19821545e-04 9.99900597e-01 1.05564380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52255784400006 meters Centerline goodness [0,1] 0.25304804903051326 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:1.06 [[ 9.99893526e-01 -1.91071907e-03 -1.44667413e-02 4.23440592e+00] [ 1.90859601e-03 9.99998166e-01 -1.60559373e-04 2.39123829e-01] [ 1.44670215e-02 1.32931113e-04 9.99895338e-01 1.05519655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55255784400003 meters Centerline goodness [0,1] 0.2514603374519554 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:1.06 [[ 9.99894020e-01 -1.78737213e-03 -1.44483159e-02 4.23424313e+00] [ 1.79103700e-03 9.99998367e-01 2.40717786e-04 2.37059356e-01] [ 1.44478621e-02 -2.66569744e-04 9.99895589e-01 1.05546645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58255784400006 meters Centerline goodness [0,1] 0.25114214571830684 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:1.06 [[ 9.99895794e-01 -1.67767465e-03 -1.43382958e-02 4.23372482e+00] [ 1.68697072e-03 9.99998375e-01 6.36267789e-04 2.34959115e-01] [ 1.43372051e-02 -6.60389772e-04 9.99896999e-01 1.05593935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61255784400004 meters Centerline goodness [0,1] 0.2561705473766983 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:1.06 [[ 9.99897657e-01 -1.54721203e-03 -1.42225600e-02 4.23331907e+00] [ 1.56162334e-03 9.99998278e-01 1.00222133e-03 2.33155644e-01] [ 1.42209848e-02 -1.02432904e-03 9.99898352e-01 1.05616637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64255784400007 meters Centerline goodness [0,1] 0.24827779212951007 Centerline is valid? [False, False] Translation: X:4.25, Y:0.23, Z:1.06 [[ 9.99888064e-01 6.64372228e-03 -1.34059894e-02 4.25301642e+00] [-6.64322828e-03 9.99977930e-01 8.13815446e-05 2.28169290e-01] [ 1.34062342e-02 7.68661291e-06 9.99910132e-01 1.05751169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67255784400004 meters Centerline goodness [0,1] 0.2559258364271435 Centerline is valid? [False, False] Translation: X:4.21, Y:0.22, Z:1.06 [[ 9.99858782e-01 5.93326947e-03 -1.57229625e-02 4.20706675e+00] [-5.92765240e-03 9.99982350e-01 4.03831901e-04 2.23159163e-01] [ 1.57250810e-02 -3.10574617e-04 9.99876305e-01 1.05829688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70255784400007 meters Centerline goodness [0,1] 0.24818743142359245 Centerline is valid? [False, False] Translation: X:4.25, Y:0.22, Z:1.06 [[ 9.99889528e-01 4.72360269e-03 -1.40932376e-02 4.25304006e+00] [-4.73440461e-03 9.99988524e-01 -7.33195890e-04 2.20881385e-01] [ 1.40896125e-02 7.99837981e-04 9.99900417e-01 1.05761889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73255784400004 meters Centerline goodness [0,1] 0.25267866884888157 Centerline is valid? [False, False] Translation: X:4.23, Y:0.22, Z:1.06 [[ 9.99870346e-01 -4.35603713e-03 -1.55021549e-02 4.23118084e+00] [ 4.35695949e-03 9.99990508e-01 2.57259316e-05 2.20775268e-01] [ 1.55018957e-02 -9.32648570e-05 9.99879834e-01 1.05732000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76255784400007 meters Centerline goodness [0,1] 0.2486666234803826 Centerline is valid? [False, False] Translation: X:4.25, Y:0.22, Z:1.06 [[ 9.99893501e-01 2.53063390e-03 -1.43730078e-02 4.25265894e+00] [-2.56544810e-03 9.99993819e-01 -2.40427168e-03 2.17359631e-01] [ 1.43668346e-02 2.44088883e-03 9.99893812e-01 1.05726331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79255784400004 meters Centerline goodness [0,1] 0.24999458041579048 Centerline is valid? [False, False] Translation: X:4.25, Y:0.22, Z:1.06 [[ 9.99894632e-01 2.69344177e-03 -1.42643203e-02 4.25232130e+00] [-2.72223638e-03 9.99994295e-01 -1.99961415e-03 2.15393950e-01] [ 1.42588531e-02 2.03823430e-03 9.99896260e-01 1.05739804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8225578440001 meters Centerline goodness [0,1] 0.24724966564562756 Centerline is valid? [False, False] Translation: X:4.25, Y:0.21, Z:1.06 [[ 9.99895409e-01 2.85202499e-03 -1.41787564e-02 4.25202534e+00] [-2.87579782e-03 9.99994493e-01 -1.65654533e-03 2.13829787e-01] [ 1.41739538e-02 1.69714731e-03 9.99898104e-01 1.05753498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85255784400005 meters Centerline goodness [0,1] 0.25071515256588073 Centerline is valid? [False, False] Translation: X:4.25, Y:0.21, Z:1.06 [[ 9.99896206e-01 2.96620642e-03 -1.40989149e-02 4.25181148e+00] [-2.98678415e-03 9.99994505e-01 -1.43869342e-03 2.12868286e-01] [ 1.40945699e-02 1.48065450e-03 9.99899570e-01 1.05758275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8825578440001 meters Centerline goodness [0,1] 0.2615698532603977 Centerline is valid? [False, False] Translation: X:4.25, Y:0.21, Z:1.06 [[ 9.99895841e-01 3.18363173e-03 -1.40773102e-02 4.25175211e+00] [-3.19826209e-03 9.99994369e-01 -1.01689651e-03 2.10682232e-01] [ 1.40739935e-02 1.06181352e-03 9.99900393e-01 1.05759599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91255784400005 meters Centerline goodness [0,1] 0.2524062540830103 Centerline is valid? [False, False] Translation: X:4.25, Y:0.21, Z:1.06 [[ 9.99895763e-01 3.31655660e-03 -1.40521557e-02 4.25171319e+00] [-3.32621676e-03 9.99994248e-01 -6.64134876e-04 2.08836634e-01] [ 1.40498722e-02 7.10806164e-04 9.99901043e-01 1.05755679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942557844 meters Centerline goodness [0,1] 0.2608010363813019 Centerline is valid? [False, False] Translation: X:4.27, Y:0.21, Z:1.06 [[ 9.99897784e-01 -4.23477423e-03 -1.36560401e-02 4.27055374e+00] [ 4.24537326e-03 9.99990709e-01 7.47246741e-04 2.11540611e-01] [ 1.36527488e-02 -8.05145348e-04 9.99906473e-01 1.05903977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97255784400005 meters Centerline goodness [0,1] 0.2540085311167013 Centerline is valid? [False, False] Translation: X:4.25, Y:0.20, Z:1.06 [[ 9.99903411e-01 3.60559816e-03 -1.34226492e-02 4.25096461e+00] [-3.60412867e-03 9.99993496e-01 1.33666616e-04 2.03499785e-01] [ 1.34230438e-02 -8.52767502e-05 9.99909903e-01 1.05740819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002557844 meters Centerline goodness [0,1] 0.2519233276828792 Centerline is valid? [False, False] Translation: X:4.25, Y:0.20, Z:1.06 [[ 9.99903225e-01 3.78024198e-03 -1.33884144e-02 4.25097220e+00] [-3.77300402e-03 9.99992722e-01 5.65831241e-04 2.01461503e-01] [ 1.33904560e-02 -5.15261941e-04 9.99910211e-01 1.05728706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03255784400005 meters Centerline goodness [0,1] 0.25309742207538144 Centerline is valid? [False, False] Translation: X:4.25, Y:0.20, Z:1.06 [[ 9.99897766e-01 4.11168550e-03 -1.36949813e-02 4.25204668e+00] [-4.09206560e-03 9.99990561e-01 1.46034784e-03 1.96951406e-01] [ 1.37008566e-02 -1.40415778e-03 9.99905153e-01 1.05684205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062557844 meters Centerline goodness [0,1] 0.2608468488080984 Centerline is valid? [False, False] Translation: X:4.25, Y:0.19, Z:1.06 [[ 9.99894373e-01 4.26136178e-03 -1.38954791e-02 4.25257406e+00] [-4.23540623e-03 9.99989232e-01 1.89680658e-03 1.94687902e-01] [ 1.39034125e-02 -1.83775322e-03 9.99901654e-01 1.05685133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09255784400005 meters Centerline goodness [0,1] 0.25419700867745165 Centerline is valid? [False, False] Translation: X:4.25, Y:0.19, Z:1.06 [[ 9.99892112e-01 4.44345716e-03 -1.40006901e-02 4.25282390e+00] [-4.41085937e-03 9.99987491e-01 2.35831877e-03 1.92457913e-01] [ 1.40109941e-02 -2.29630926e-03 9.99899204e-01 1.05690864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122557844 meters Centerline goodness [0,1] 0.2496058400466512 Centerline is valid? [False, False] Translation: X:4.27, Y:0.20, Z:1.06 [[ 9.99905388e-01 -3.08707544e-03 -1.34047004e-02 4.27236197e+00] [ 3.13765802e-03 9.99988031e-01 3.75410658e-03 1.95151285e-01] [ 1.33929508e-02 -3.79581076e-03 9.99903106e-01 1.05835331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15255784400006 meters Centerline goodness [0,1] 0.2606603221400854 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99907443e-01 -2.92620905e-03 -1.32869325e-02 4.27197623e+00] [ 2.98142452e-03 9.99986995e-01 4.13771737e-03 1.93359009e-01] [ 1.32746519e-02 -4.17694838e-03 9.99903164e-01 1.05853447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18255784400003 meters Centerline goodness [0,1] 0.2501943172985578 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99909332e-01 -2.79294357e-03 -1.31729645e-02 4.27165507e+00] [ 2.85196974e-03 9.99985968e-01 4.46420264e-03 1.91795370e-01] [ 1.31603114e-02 -4.50136678e-03 9.99903267e-01 1.05864622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21255784400006 meters Centerline goodness [0,1] 0.24967650103519667 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99910217e-01 -2.66522272e-03 -1.31321882e-02 4.27193731e+00] [ 2.72801172e-03 9.99984923e-01 4.76571421e-03 1.90170177e-01] [ 1.31192885e-02 -4.80111109e-03 9.99902412e-01 1.05805903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24255784400003 meters Centerline goodness [0,1] 0.25155695874059336 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99908825e-01 -2.62615187e-03 -1.32456006e-02 4.27260620e+00] [ 2.69003459e-03 9.99984826e-01 4.80743063e-03 1.89972600e-01] [ 1.32327745e-02 -4.84262343e-03 9.99900716e-01 1.05737472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27255784400006 meters Centerline goodness [0,1] 0.2503342966829142 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99906722e-01 -2.60622688e-03 -1.34072934e-02 4.27325395e+00] [ 2.67057944e-03 9.99984990e-01 4.78415582e-03 1.90167978e-01] [ 1.33946236e-02 -4.81951480e-03 9.99898673e-01 1.05692083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30255784400003 meters Centerline goodness [0,1] 0.2595393457499676 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99906274e-01 -2.61828248e-03 -1.34383113e-02 4.27348098e+00] [ 2.68193623e-03 9.99985260e-01 4.72090420e-03 1.90505987e-01] [ 1.34257526e-02 -4.75650242e-03 9.99898557e-01 1.05665848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33255784400006 meters Centerline goodness [0,1] 0.25084569346864427 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99906375e-01 -2.64138244e-03 -1.34262824e-02 4.27339738e+00] [ 2.70406534e-03 9.99985520e-01 4.65266371e-03 1.90845925e-01] [ 1.34137986e-02 -4.68853365e-03 9.99899039e-01 1.05672204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36255784400004 meters Centerline goodness [0,1] 0.25251801684466446 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99907766e-01 -2.66319022e-03 -1.33179102e-02 4.27299494e+00] [ 2.72446621e-03 9.99985777e-01 4.58499716e-03 1.91136834e-01] [ 1.33055100e-02 -4.62085846e-03 9.99900801e-01 1.05690785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39255784400007 meters Centerline goodness [0,1] 0.2512762583364109 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99911499e-01 -2.71355411e-03 -1.30242369e-02 4.27181672e+00] [ 2.77284822e-03 9.99985865e-01 4.53670040e-03 1.91287074e-01] [ 1.30117422e-02 -4.57241313e-03 9.99904889e-01 1.05762755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42255784400004 meters Centerline goodness [0,1] 0.2594070571905702 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99912615e-01 -2.73756018e-03 -1.29332018e-02 4.27150607e+00] [ 2.79595181e-03 9.99985971e-01 4.49894078e-03 1.91608415e-01] [ 1.29207042e-02 -4.53470825e-03 9.99906242e-01 1.05775445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45255784400007 meters Centerline goodness [0,1] 0.2591885441527446 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99911768e-01 -2.77831957e-03 -1.29899179e-02 4.27170294e+00] [ 2.83641205e-03 9.99986050e-01 4.45583890e-03 1.91823937e-01] [ 1.29773569e-02 -4.49229051e-03 9.99905699e-01 1.05763290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48255784400004 meters Centerline goodness [0,1] 0.2599677896752851 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99910279e-01 -2.81494236e-03 -1.30962148e-02 4.27218545e+00] [ 2.87325384e-03 9.99986034e-01 4.43586159e-03 1.91761967e-01] [ 1.30835452e-02 -4.47309234e-03 9.99904402e-01 1.05727092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51255784400007 meters Centerline goodness [0,1] 0.25886904631795227 Centerline is valid? [False, False] Translation: X:4.27, Y:0.19, Z:1.06 [[ 9.99910232e-01 -2.86734219e-03 -1.30883903e-02 4.27234841e+00] [ 2.92565744e-03 9.99985870e-01 4.43852409e-03 1.91397341e-01] [ 1.30754786e-02 -4.47641780e-03 9.99904492e-01 1.05696278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54255784400004 meters Centerline goodness [0,1] 0.25940354066571436 Centerline is valid? [False, False] Translation: X:4.29, Y:0.19, Z:1.06 [[ 9.99954427e-01 2.03327907e-03 -9.32789653e-03 4.29366693e+00] [-2.02607016e-03 9.99997642e-01 7.82218489e-04 1.92952968e-01] [ 9.32946500e-03 -7.63283868e-04 9.99956188e-01 1.05580739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5725578440001 meters Centerline goodness [0,1] 0.26137354017779324 Centerline is valid? [False, False] Translation: X:4.29, Y:0.19, Z:1.06 [[ 9.99957028e-01 2.02525990e-03 -9.04652322e-03 4.29262599e+00] [-2.01763252e-03 9.99997601e-01 8.52175389e-04 1.92673022e-01] [ 9.04822740e-03 -8.33886211e-04 9.99958716e-01 1.05640707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60255784400005 meters Centerline goodness [0,1] 0.2517887637534857 Centerline is valid? [False, False] Translation: X:4.29, Y:0.19, Z:1.06 [[ 9.99957698e-01 2.01421533e-03 -8.97467244e-03 4.29224997e+00] [-2.00570883e-03 9.99997531e-01 9.56734117e-04 1.92148131e-01] [ 8.97657735e-03 -9.38693066e-04 9.99959269e-01 1.05679767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6325578440001 meters Centerline goodness [0,1] 0.2513882863340564 Centerline is valid? [False, False] Translation: X:4.29, Y:0.19, Z:1.06 [[ 9.99956129e-01 1.93468677e-03 -9.16498862e-03 4.29283861e+00] [-1.92584034e-03 9.99997671e-01 9.73968606e-04 1.91750797e-01] [ 9.16685160e-03 -9.56275572e-04 9.99957526e-01 1.05661129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66255784400005 meters Centerline goodness [0,1] 0.2571434732914969 Centerline is valid? [False, False] Translation: X:4.29, Y:0.19, Z:1.06 [[ 9.99950814e-01 1.80540392e-03 -9.75248426e-03 4.29462370e+00] [-1.79589866e-03 9.99997904e-01 9.83320189e-04 1.91031203e-01] [ 9.75423910e-03 -9.65757349e-04 9.99951960e-01 1.05607043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.692557844 meters Centerline goodness [0,1] 0.25145704690716064 Centerline is valid? [False, False] Translation: X:4.30, Y:0.19, Z:1.06 [[ 9.99946428e-01 1.73146932e-03 -1.02051002e-02 4.29609734e+00] [-1.72086286e-03 9.99997970e-01 1.04801912e-03 1.90248577e-01] [ 1.02068941e-02 -1.03040140e-03 9.99947377e-01 1.05545551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72255784400005 meters Centerline goodness [0,1] 0.250807437150838 Centerline is valid? [False, False] Translation: X:4.30, Y:0.19, Z:1.05 [[ 9.99938741e-01 1.46439792e-03 -1.09713376e-02 4.29828616e+00] [-1.45174207e-03 9.99998272e-01 1.16141266e-03 1.88691964e-01] [ 1.09730194e-02 -1.14541396e-03 9.99939139e-01 1.05493056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.752557844 meters Centerline goodness [0,1] 0.2597554377231901 Centerline is valid? [False, False] Translation: X:4.30, Y:0.19, Z:1.06 [[ 9.99938991e-01 1.49976197e-03 -1.09437509e-02 4.29807267e+00] [-1.48387838e-03 9.99997834e-01 1.45936013e-03 1.87034094e-01] [ 1.09459159e-02 -1.44303190e-03 9.99939050e-01 1.05523905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78255784400005 meters Centerline goodness [0,1] 0.25152191338633856 Centerline is valid? [False, False] Translation: X:4.30, Y:0.18, Z:1.06 [[ 9.99941398e-01 1.54612374e-03 -1.07149349e-02 4.29724375e+00] [-1.52694837e-03 9.99997219e-01 1.79754278e-03 1.84992861e-01] [ 1.07176843e-02 -1.78107629e-03 9.99940978e-01 1.05574541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.812557844 meters Centerline goodness [0,1] 0.25146732750749967 Centerline is valid? [False, False] Translation: X:4.30, Y:0.18, Z:1.06 [[ 9.99943450e-01 1.61601939e-03 -1.05111550e-02 4.29636008e+00] [-1.59321602e-03 9.99996360e-01 2.17745599e-03 1.82803158e-01] [ 1.05146356e-02 -2.16058631e-03 9.99942385e-01 1.05641784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84255784400005 meters Centerline goodness [0,1] 0.26093553561364724 Centerline is valid? [False, False] Translation: X:4.30, Y:0.18, Z:1.06 [[ 9.99944314e-01 1.74948604e-03 -1.04071373e-02 4.29586486e+00] [-1.72260319e-03 9.99995158e-01 2.59152025e-03 1.80732508e-01] [ 1.04116208e-02 -2.57344857e-03 9.99942486e-01 1.05684229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.872557844 meters Centerline goodness [0,1] 0.26165046427481586 Centerline is valid? [False, False] Translation: X:4.30, Y:0.18, Z:1.06 [[ 9.99944039e-01 1.91781455e-03 -1.04038612e-02 4.29589783e+00] [-1.88643063e-03 9.99993644e-01 3.02554026e-03 1.78707907e-01] [ 1.04095975e-02 -3.00574479e-03 9.99941301e-01 1.05679147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90255784400006 meters Centerline goodness [0,1] 0.2500054038864752 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:1.06 [[ 9.99941717e-01 2.22191154e-03 -1.05653133e-02 4.29666272e+00] [-2.18174348e-03 9.99990355e-01 3.81188854e-03 1.74754446e-01] [ 1.05736811e-02 -3.78861557e-03 9.99936920e-01 1.05625168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93255784400003 meters Centerline goodness [0,1] 0.25945009742368474 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:1.06 [[ 9.99940681e-01 2.37573331e-03 -1.06296529e-02 4.29687224e+00] [-2.33104347e-03 9.99988401e-01 4.21467732e-03 1.72684753e-01] [ 1.06395426e-02 -4.18964913e-03 9.99934621e-01 1.05618235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96255784400006 meters Centerline goodness [0,1] 0.24978451991036033 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:1.06 [[ 9.99940118e-01 2.54099790e-03 -1.06444354e-02 4.29689710e+00] [-2.49216646e-03 9.99986322e-01 4.59826379e-03 1.70771426e-01] [ 1.06559740e-02 -4.57146073e-03 9.99932774e-01 1.05621890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99255784400003 meters Centerline goodness [0,1] 0.2588682977168164 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:1.06 [[ 9.99940868e-01 2.70713514e-03 -1.05323772e-02 4.29649759e+00] [-2.65488347e-03 9.99984116e-01 4.97187436e-03 1.69004166e-01] [ 1.05456694e-02 -4.94361813e-03 9.99932172e-01 1.05644018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02255784400006 meters Centerline goodness [0,1] 0.26124401913875595 Centerline is valid? [False, False] Translation: X:4.28, Y:0.16, Z:1.06 [[ 9.99893728e-01 1.05084397e-02 -1.01047691e-02 4.27600626e+00] [-1.04650214e-02 9.99935821e-01 4.34013644e-03 1.61643661e-01] [ 1.01497286e-02 -4.23392857e-03 9.99939527e-01 1.05509993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05255784400003 meters Centerline goodness [0,1] 0.2599259211124829 Centerline is valid? [False, False] Translation: X:4.28, Y:0.16, Z:1.06 [[ 0.99989292 0.01066535 -0.0100196 4.27555391] [-0.01061875 0.99993261 0.00469205 0.15999884] [ 0.01006897 -0.00458515 0.99993879 1.05550982] [ 0. 0. 0. 1. ]] SLAMing on 313.08255784400006 meters Centerline goodness [0,1] 0.26269315673289184 Centerline is valid? [False, False] Translation: X:4.25, Y:0.16, Z:1.05 [[ 9.99944158e-01 1.92234949e-03 -1.03915788e-02 4.25485390e+00] [-1.85883227e-03 9.99979554e-01 6.11858037e-03 1.59666465e-01] [ 1.04031284e-02 -6.09892250e-03 9.99927286e-01 1.05478397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11255784400004 meters Centerline goodness [0,1] 0.260236975082767 Centerline is valid? [False, False] Translation: X:4.26, Y:0.16, Z:1.05 [[ 9.99942468e-01 2.07133585e-03 -1.05247594e-02 4.25534641e+00] [-2.00330972e-03 9.99977063e-01 6.46987532e-03 1.57867253e-01] [ 1.05379193e-02 -6.44841874e-03 9.99923682e-01 1.05455807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14255784400007 meters Centerline goodness [0,1] 0.26007985764506747 Centerline is valid? [False, False] Translation: X:4.26, Y:0.16, Z:1.05 [[ 9.99940560e-01 2.20772550e-03 -1.06771670e-02 4.25593275e+00] [-2.13476284e-03 9.99974328e-01 6.84009891e-03 1.55886559e-01] [ 1.06919940e-02 -6.81689912e-03 9.99919602e-01 1.05422971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17255784400004 meters Centerline goodness [0,1] 0.2590102263636953 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99938592e-01 2.34193008e-03 -1.08318294e-02 4.25662217e+00] [-2.26408001e-03 9.99971561e-01 7.19384551e-03 1.53953882e-01] [ 1.08483689e-02 -7.16887962e-03 9.99915456e-01 1.05376195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20255784400007 meters Centerline goodness [0,1] 0.2590102263636953 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99938592e-01 2.34193008e-03 -1.08318294e-02 4.25662217e+00] [-2.26408001e-03 9.99971561e-01 7.19384551e-03 1.53953882e-01] [ 1.08483689e-02 -7.16887962e-03 9.99915456e-01 1.05376195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23255784400004 meters Centerline goodness [0,1] 0.2580652145671849 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99936416e-01 2.47927985e-03 -1.10008146e-02 4.25728068e+00] [-2.39643378e-03 9.99968720e-01 7.53770493e-03 1.52134193e-01] [ 1.10191586e-02 -7.51086292e-03 9.99911079e-01 1.05342900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26255784400007 meters Centerline goodness [0,1] 0.2596047704595139 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99933976e-01 2.57112066e-03 -1.11997028e-02 4.25803230e+00] [-2.48364910e-03 9.99966362e-01 7.81708658e-03 1.50390768e-01] [ 1.12194247e-02 -7.78875433e-03 9.99906726e-01 1.05304093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29255784400004 meters Centerline goodness [0,1] 0.25773240566139977 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99932475e-01 2.79003148e-03 -1.12809787e-02 4.25870412e+00] [-2.69665937e-03 9.99962053e-01 8.28370798e-03 1.47984221e-01] [ 1.13036624e-02 -8.25272767e-03 9.99902055e-01 1.05229426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3225578440001 meters Centerline goodness [0,1] 0.25999608210173475 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99932599e-01 2.85798098e-03 -1.12529993e-02 4.25875033e+00] [-2.76447066e-03 9.99961595e-01 8.31661738e-03 1.48054273e-01] [ 1.12763359e-02 -8.28494824e-03 9.99902097e-01 1.05209753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35255784400005 meters Centerline goodness [0,1] 0.25973176316650315 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99933153e-01 2.87497603e-03 -1.11993042e-02 4.25884704e+00] [-2.78330198e-03 9.99962566e-01 8.19269452e-03 1.48839107e-01] [ 1.12224388e-02 -8.16097582e-03 9.99903723e-01 1.05165938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3825578440001 meters Centerline goodness [0,1] 0.25666508231430674 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99932816e-01 2.90530575e-03 -1.12215590e-02 4.25909058e+00] [-2.81517655e-03 9.99963722e-01 8.03925201e-03 1.49878531e-01] [ 1.12445084e-02 -8.00712123e-03 9.99904719e-01 1.05128986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41255784400005 meters Centerline goodness [0,1] 0.25969745257689203 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99933155e-01 2.85976237e-03 -1.12030417e-02 4.25923472e+00] [-2.77217282e-03 9.99965533e-01 7.82611515e-03 1.50992609e-01] [ 1.12250363e-02 -7.79453525e-03 9.99906618e-01 1.05091787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442557844 meters Centerline goodness [0,1] 0.25689127935977796 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99934201e-01 2.79417923e-03 -1.11259048e-02 4.25911367e+00] [-2.70971092e-03 9.99967449e-01 7.59988952e-03 1.52149018e-01] [ 1.11467781e-02 -7.56924147e-03 9.99909224e-01 1.05074299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47255784400005 meters Centerline goodness [0,1] 0.2508111403871698 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99935799e-01 2.69072834e-03 -1.10072001e-02 4.25878463e+00] [-2.61040432e-03 9.99969909e-01 7.30527650e-03 1.53690351e-01] [ 1.10265254e-02 -7.27607425e-03 9.99912733e-01 1.05070254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502557844 meters Centerline goodness [0,1] 0.2508849269256661 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99936758e-01 2.63208038e-03 -1.09339658e-02 4.25839619e+00] [-2.55292525e-03 9.99970481e-01 7.24703935e-03 1.53890436e-01] [ 1.09527178e-02 -7.21866744e-03 9.99913961e-01 1.05105300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53255784400005 meters Centerline goodness [0,1] 0.2579736522794245 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99938545e-01 2.56151217e-03 -1.07863106e-02 4.25763342e+00] [-2.48342336e-03 9.99970658e-01 7.24680318e-03 1.53685362e-01] [ 1.08045569e-02 -7.21957086e-03 9.99915566e-01 1.05171956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562557844 meters Centerline goodness [0,1] 0.2600117210392655 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99937990e-01 2.41968308e-03 -1.08701969e-02 4.25761127e+00] [-2.34093982e-03 9.99970972e-01 7.25085206e-03 1.53153581e-01] [ 1.08874261e-02 -7.22495595e-03 9.99914628e-01 1.05214321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59255784400005 meters Centerline goodness [0,1] 0.2588077056577577 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99934006e-01 2.25855837e-03 -1.12641970e-02 4.25859196e+00] [-2.17737492e-03 9.99971606e-01 7.21427552e-03 1.52737966e-01] [ 1.12801710e-02 -7.18927304e-03 9.99910532e-01 1.05214634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622557844 meters Centerline goodness [0,1] 0.24771709166092348 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99930579e-01 2.17497868e-03 -1.15804694e-02 4.25946747e+00] [-2.09117225e-03 9.99971575e-01 7.24407383e-03 1.52318227e-01] [ 1.15958960e-02 -7.21935418e-03 9.99906704e-01 1.05201998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65255784400006 meters Centerline goodness [0,1] 0.2499836882054851 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99930157e-01 2.21288233e-03 -1.16096414e-02 4.25963952e+00] [-2.12671492e-03 9.99970142e-01 7.42915923e-03 1.51646298e-01] [ 1.16257346e-02 -7.40394996e-03 9.99905007e-01 1.05187268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68255784400003 meters Centerline goodness [0,1] 0.2609026976420127 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99929709e-01 2.19523678e-03 -1.16514891e-02 4.25983140e+00] [-2.10881635e-03 9.99970216e-01 7.42422529e-03 1.51617508e-01] [ 1.16674400e-02 -7.39913259e-03 9.99904557e-01 1.05172785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71255784400006 meters Centerline goodness [0,1] 0.26009475377059155 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99928804e-01 2.16634974e-03 -1.17342716e-02 4.26010695e+00] [-2.07956107e-03 9.99970433e-01 7.40332924e-03 1.51529927e-01] [ 1.17499629e-02 -7.37840002e-03 9.99903744e-01 1.05165083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74255784400003 meters Centerline goodness [0,1] 0.2609868592811766 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99929347e-01 2.16168674e-03 -1.16888150e-02 4.25994927e+00] [-2.07491872e-03 9.99970243e-01 7.43020597e-03 1.51202568e-01] [ 1.17045290e-02 -7.40542766e-03 9.99904077e-01 1.05171118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77255784400006 meters Centerline goodness [0,1] 0.25113078105049014 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99930922e-01 2.18961670e-03 -1.15479845e-02 4.25940073e+00] [-2.10276190e-03 9.99969453e-01 7.52799475e-03 1.50709411e-01] [ 1.15641152e-02 -7.50319208e-03 9.99904982e-01 1.05200788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80255784400003 meters Centerline goodness [0,1] 0.25961246694698514 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99933346e-01 2.33076190e-03 -1.13080471e-02 4.25853028e+00] [-2.24261749e-03 9.99967055e-01 7.80126768e-03 1.49721257e-01] [ 1.13258575e-02 -7.77538807e-03 9.99905630e-01 1.05246009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83255784400006 meters Centerline goodness [0,1] 0.2581573481045525 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99937404e-01 2.49278377e-03 -1.09074872e-02 4.25730692e+00] [-2.40284466e-03 9.99963073e-01 8.25098019e-03 1.47524801e-01] [ 1.09276523e-02 -8.22425472e-03 9.99906470e-01 1.05291585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86255784400004 meters Centerline goodness [0,1] 0.2498651069432154 Centerline is valid? [False, False] Translation: X:4.26, Y:0.15, Z:1.05 [[ 9.99937597e-01 2.55558227e-03 -1.08752299e-02 4.25708405e+00] [-2.46281162e-03 9.99960541e-01 8.53531336e-03 1.45766692e-01] [ 1.08966135e-02 -8.50799709e-03 9.99904434e-01 1.05320575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89255784400007 meters Centerline goodness [0,1] 0.2585207062323496 Centerline is valid? [False, False] Translation: X:4.26, Y:0.14, Z:1.05 [[ 9.99936478e-01 2.61748021e-03 -1.09630985e-02 4.25731615e+00] [-2.52127320e-03 9.99958275e-01 8.78017795e-03 1.44283332e-01] [ 1.09856230e-02 -8.75197925e-03 9.99901355e-01 1.05319363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92255784400004 meters Centerline goodness [0,1] 0.2613318777292576 Centerline is valid? [False, False] Translation: X:4.24, Y:0.14, Z:1.05 [[ 0.99988065 0.01028096 -0.01153222 4.23784575] [-0.01018984 0.99991662 0.00793197 0.13760366] [ 0.01161281 -0.00781351 0.99990204 1.05162946] [ 0. 0. 0. 1. ]] SLAMing on 313.95255784400007 meters Centerline goodness [0,1] 0.262416297685781 Centerline is valid? [False, False] Translation: X:4.24, Y:0.14, Z:1.05 [[ 0.99987876 0.01035778 -0.01162644 4.2383202 ] [-0.01026421 0.99991468 0.00807933 0.13705999] [ 0.01170913 -0.00795901 0.99989977 1.05123308] [ 0. 0. 0. 1. ]] SLAMing on 313.98255784400004 meters Centerline goodness [0,1] 0.2579886508296114 Centerline is valid? [False, False] Translation: X:4.26, Y:0.14, Z:1.05 [[ 9.99925661e-01 2.97529180e-03 -1.18245738e-02 4.25773017e+00] [-2.87275746e-03 9.99958212e-01 8.67883884e-03 1.40526741e-01] [ 1.18499017e-02 -8.64422453e-03 9.99892423e-01 1.05219157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01255784400007 meters Centerline goodness [0,1] 0.2576959558506511 Centerline is valid? [False, False] Translation: X:4.26, Y:0.14, Z:1.05 [[ 9.99931701e-01 1.98616341e-04 -1.16856689e-02 4.25712107e+00] [-1.32411442e-04 9.99983939e-01 5.66597884e-03 1.40504776e-01] [ 1.16866066e-02 -5.66404454e-03 9.99915667e-01 1.05230144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04255784400004 meters Centerline goodness [0,1] 0.26069640914036996 Centerline is valid? [False, False] Translation: X:4.26, Y:0.14, Z:1.05 [[ 9.99930779e-01 2.38652439e-04 -1.17635119e-02 4.25721507e+00] [-1.70996601e-04 9.99983442e-01 5.75200025e-03 1.40054834e-01] [ 1.17646898e-02 -5.74959057e-03 9.99914263e-01 1.05243265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0725578440001 meters Centerline goodness [0,1] 0.2565481054578298 Centerline is valid? [False, False] Translation: X:4.28, Y:0.14, Z:1.05 [[ 0.9998975 0.00922758 -0.01094732 4.27731665] [-0.00917331 0.99994543 0.00499779 0.13648093] [ 0.01099284 -0.00489685 0.99992759 1.05346362] [ 0. 0. 0. 1. ]] SLAMing on 314.10255784400005 meters Centerline goodness [0,1] 0.25784370883807306 Centerline is valid? [False, False] Translation: X:4.28, Y:0.13, Z:1.05 [[ 0.99989667 0.00937726 -0.0108958 4.27705864] [-0.00931936 0.99994225 0.00535208 0.13490834] [ 0.01094536 -0.00524998 0.99992632 1.053673 ] [ 0. 0. 0. 1. ]] SLAMing on 314.1325578440001 meters Centerline goodness [0,1] 0.26048939641109303 Centerline is valid? [False, False] Translation: X:4.26, Y:0.14, Z:1.05 [[ 9.99931259e-01 3.24253839e-04 -1.17206181e-02 4.25683039e+00] [-2.45388132e-04 9.99977326e-01 6.72961287e-03 1.35102415e-01] [ 1.17225345e-02 -6.72627416e-03 9.99908666e-01 1.05256879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16255784400005 meters Centerline goodness [0,1] 0.26111123220786014 Centerline is valid? [False, False] Translation: X:4.26, Y:0.13, Z:1.05 [[ 9.99925132e-01 -3.52095758e-03 -1.17189240e-02 4.25688470e+00] [ 3.56127948e-03 9.99987805e-01 3.42166306e-03 1.31554013e-01] [ 1.17067336e-02 -3.46314125e-03 9.99925477e-01 1.05250945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.192557844 meters Centerline goodness [0,1] 0.2606890287419711 Centerline is valid? [False, False] Translation: X:4.28, Y:0.13, Z:1.05 [[ 9.99922785e-01 3.14215337e-03 -1.20229698e-02 4.27825809e+00] [-3.13168857e-03 9.99994701e-01 8.89128052e-04 1.26493293e-01] [ 1.20256999e-02 -8.51407200e-04 9.99927326e-01 1.05333185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22255784400005 meters Centerline goodness [0,1] 0.26258500445390753 Centerline is valid? [False, False] Translation: X:4.28, Y:0.12, Z:1.05 [[ 9.99921212e-01 3.31405706e-03 -1.21072882e-02 4.27848886e+00] [-3.29562798e-03 9.99993381e-01 1.54178228e-03 1.23088117e-01] [ 1.21123176e-02 -1.50175969e-03 9.99925515e-01 1.05332517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.252557844 meters Centerline goodness [0,1] 0.26178624991849064 Centerline is valid? [False, False] Translation: X:4.28, Y:0.12, Z:1.05 [[ 9.99920571e-01 3.45239980e-03 -1.21215589e-02 4.27829814e+00] [-3.42632605e-03 9.99991773e-01 2.17113121e-03 1.19519467e-01] [ 1.21289548e-02 -2.12942635e-03 9.99924174e-01 1.05377715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28255784400005 meters Centerline goodness [0,1] 0.24992462419778616 Centerline is valid? [False, False] Translation: X:4.28, Y:0.12, Z:1.05 [[ 9.99920189e-01 3.57542371e-03 -1.21174144e-02 4.27792523e+00] [-3.54174055e-03 9.99989808e-01 2.80005185e-03 1.15671637e-01] [ 1.21273023e-02 -2.75691164e-03 9.99922661e-01 1.05439984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.312557844 meters Centerline goodness [0,1] 0.2623539195518011 Centerline is valid? [False, False] Translation: X:4.23, Y:0.11, Z:1.06 [[ 9.99891585e-01 1.73328177e-03 -1.46223985e-02 4.23184628e+00] [-1.68930781e-03 9.99994016e-01 3.01911691e-03 1.08908927e-01] [ 1.46275440e-02 -2.99408786e-03 9.99888529e-01 1.05575939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34255784400005 meters Centerline goodness [0,1] 0.24878353356586147 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.06 [[ 9.99831338e-01 2.38835473e-03 -1.82096255e-02 4.27593664e+00] [-2.32163912e-03 9.99990519e-01 3.68401537e-03 1.02849014e-01] [ 1.82182516e-02 -3.64111784e-03 9.99827404e-01 1.05697844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.372557844 meters Centerline goodness [0,1] 0.24929760103738918 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.06 [[ 9.99823519e-01 2.60346605e-03 -1.86051941e-02 4.27761412e+00] [-2.52506484e-03 9.99987839e-01 4.23619231e-03 1.00121019e-01] [ 1.86159967e-02 -4.18846538e-03 9.99817934e-01 1.05591838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40255784400006 meters Centerline goodness [0,1] 0.25812125423434373 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.06 [[ 9.99817847e-01 2.81241984e-03 -1.88775620e-02 4.27870043e+00] [-2.72318535e-03 9.99985006e-01 4.75105652e-03 9.74692330e-02] [ 1.88906409e-02 -4.69878400e-03 9.99810515e-01 1.05527883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43255784400003 meters Centerline goodness [0,1] 0.25049271219110736 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.06 [[ 9.99816793e-01 2.99804241e-03 -1.89048357e-02 4.27877292e+00] [-2.90045906e-03 9.99982340e-01 5.18712756e-03 9.52234580e-02] [ 1.89200531e-02 -5.13134454e-03 9.99807832e-01 1.05531165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46255784400006 meters Centerline goodness [0,1] 0.2581975217551702 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99819616e-01 3.20481411e-03 -1.87206839e-02 4.27801185e+00] [-3.10099134e-03 9.99979667e-01 5.57228465e-03 9.34826587e-02] [ 1.87381614e-02 -5.51322682e-03 9.99809225e-01 1.05584424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49255784400003 meters Centerline goodness [0,1] 0.2588063793215988 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99825348e-01 3.89370278e-03 -1.82787533e-02 4.27683246e+00] [-3.77976157e-03 9.99973238e-01 6.26394728e-03 9.14951273e-02] [ 1.83026541e-02 -6.19376394e-03 9.99813308e-01 1.05597467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52255784400006 meters Centerline goodness [0,1] 0.25773352094382507 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99820267e-01 4.01636238e-03 -1.85283982e-02 4.27795009e+00] [-3.90181349e-03 9.99973078e-01 6.21435494e-03 9.20265034e-02] [ 1.85528585e-02 -6.14094367e-03 9.99809022e-01 1.05512179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55255784400003 meters Centerline goodness [0,1] 0.25893245240372076 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.05 [[ 9.99819933e-01 4.07445592e-03 -1.85337849e-02 4.27853220e+00] [-3.96211482e-03 9.99973581e-01 6.09410860e-03 9.27661341e-02] [ 1.85581254e-02 -6.01957826e-03 9.99809662e-01 1.05414040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58255784400006 meters Centerline goodness [0,1] 0.25913541915452587 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.05 [[ 9.99825630e-01 4.13597938e-03 -1.82100017e-02 4.27804351e+00] [-4.02735950e-03 9.99973905e-01 5.99748466e-03 9.34552762e-02] [ 1.82343320e-02 -5.92310065e-03 9.99816196e-01 1.05359520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61255784400004 meters Centerline goodness [0,1] 0.26056230837809047 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.05 [[ 9.99833251e-01 4.20994287e-03 -1.77692665e-02 4.27689508e+00] [-4.10534628e-03 9.99974057e-01 5.91875481e-03 9.42039135e-02] [ 1.77937231e-02 -5.84481887e-03 9.99824595e-01 1.05367132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64255784400007 meters Centerline goodness [0,1] 0.2624368037469086 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.05 [[ 9.99840022e-01 4.23621292e-03 -1.73776908e-02 4.27570884e+00] [-4.13577868e-03 9.99974561e-01 5.81136525e-03 9.50078500e-02] [ 1.74018669e-02 -5.73856528e-03 9.99832108e-01 1.05399656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67255784400004 meters Centerline goodness [0,1] 0.2598750788918148 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.05 [[ 9.99842896e-01 4.15533710e-03 -1.72312718e-02 4.27506320e+00] [-4.06137700e-03 9.99976714e-01 5.48429582e-03 9.68752765e-02] [ 1.72536596e-02 -5.41345152e-03 9.99836490e-01 1.05437253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70255784400007 meters Centerline goodness [0,1] 0.25890880680585093 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.05 [[ 9.99838683e-01 4.01534637e-03 -1.75066915e-02 4.27593135e+00] [-3.92304860e-03 9.99978242e-01 5.30330117e-03 9.73897684e-02] [ 1.75276052e-02 -5.23376606e-03 9.99832681e-01 1.05406857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73255784400004 meters Centerline goodness [0,1] 0.2606126676114684 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.05 [[ 9.99836599e-01 3.91282604e-03 -1.76483807e-02 4.27635553e+00] [-3.82053249e-03 9.99978866e-01 5.26026361e-03 9.72219675e-02] [ 1.76685902e-02 -5.19197787e-03 9.99830418e-01 1.05394357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76255784400007 meters Centerline goodness [0,1] 0.2601100949243639 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.05 [[ 9.99833675e-01 3.76161659e-03 -1.78458147e-02 4.27672618e+00] [-3.66824372e-03 9.99979427e-01 5.26205192e-03 9.67312948e-02] [ 1.78652414e-02 -5.19571391e-03 9.99826904e-01 1.05415453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79255784400004 meters Centerline goodness [0,1] 0.2619483690912262 Centerline is valid? [False, False] Translation: X:4.28, Y:0.10, Z:1.05 [[ 9.99836301e-01 3.70637190e-03 -1.77096899e-02 4.27599271e+00] [-3.61129210e-03 9.99978911e-01 5.39776776e-03 9.59246000e-02] [ 1.77293225e-02 -5.33292929e-03 9.99828601e-01 1.05483621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8225578440001 meters Centerline goodness [0,1] 0.26004558775643116 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99838842e-01 3.61781209e-03 -1.75841528e-02 4.27531069e+00] [-3.52034753e-03 9.99978288e-01 5.57054669e-03 9.47588945e-02] [ 1.76039242e-02 -5.50774662e-03 9.99829869e-01 1.05550091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85255784400005 meters Centerline goodness [0,1] 0.26251827286016627 Centerline is valid? [False, False] Translation: X:4.27, Y:0.09, Z:1.06 [[ 9.99843852e-01 3.04483909e-03 -1.74069155e-02 4.27460878e+00] [-2.94972656e-03 9.99980595e-01 5.48713200e-03 9.35338741e-02] [ 1.74232852e-02 -5.43492955e-03 9.99833431e-01 1.05611226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8825578440001 meters Centerline goodness [0,1] 0.260321276363239 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99840006e-01 3.01274360e-03 -1.76319513e-02 4.27536263e+00] [-2.91437054e-03 9.99980060e-01 5.60228783e-03 9.28148708e-02] [ 1.76484780e-02 -5.55000546e-03 9.99828850e-01 1.05578365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91255784400005 meters Centerline goodness [0,1] 0.25905569740771195 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99833235e-01 2.97704904e-03 -1.80177571e-02 4.27657663e+00] [-2.87444658e-03 9.99979522e-01 5.71773986e-03 9.20878420e-02] [ 1.80344102e-02 -5.66499526e-03 9.99821318e-01 1.05537108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942557844 meters Centerline goodness [0,1] 0.25945099404010963 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99828684e-01 2.98921327e-03 -1.82665855e-02 4.27723074e+00] [-2.88142871e-03 9.99978301e-01 5.92411396e-03 9.08910116e-02] [ 1.82838976e-02 -5.87046520e-03 9.99815601e-01 1.05530532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97255784400005 meters Centerline goodness [0,1] 0.2584259883809482 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99820612e-01 2.72486022e-03 -1.87435032e-02 4.27850983e+00] [-2.61078843e-03 9.99977940e-01 6.10771769e-03 8.86186929e-02] [ 1.87597324e-02 -6.05768672e-03 9.99805670e-01 1.05526840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002557844 meters Centerline goodness [0,1] 0.24834629721402257 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99818261e-01 2.75099468e-03 -1.88646928e-02 4.27882935e+00] [-2.63336076e-03 9.99976953e-01 6.25767395e-03 8.77163680e-02] [ 1.88814728e-02 -6.20685914e-03 9.99802463e-01 1.05524972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03255784400005 meters Centerline goodness [0,1] 0.2596139197806263 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99818972e-01 2.74463808e-03 -1.88278882e-02 4.27867321e+00] [-2.62815349e-03 9.99977272e-01 6.20876721e-03 8.80788670e-02] [ 1.88445011e-02 -6.15816068e-03 9.99803462e-01 1.05535560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062557844 meters Centerline goodness [0,1] 0.2571126593472962 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99822159e-01 2.74449471e-03 -1.86579379e-02 4.27833127e+00] [-2.63277639e-03 9.99978476e-01 6.00963853e-03 8.94125443e-02] [ 1.86740297e-02 -5.95944759e-03 9.99807864e-01 1.05521496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09255784400005 meters Centerline goodness [0,1] 0.2571126593472962 Centerline is valid? [False, False] Translation: X:4.28, Y:0.09, Z:1.06 [[ 9.99822159e-01 2.74449471e-03 -1.86579379e-02 4.27833127e+00] [-2.63277639e-03 9.99978476e-01 6.00963853e-03 8.94125443e-02] [ 1.86740297e-02 -5.95944759e-03 9.99807864e-01 1.05521496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122557844 meters Centerline goodness [0,1] 0.26455398545150866 Centerline is valid? [False, False] Translation: X:4.23, Y:0.09, Z:1.06 [[ 9.99769368e-01 2.28794661e-03 -2.13536136e-02 4.23285178e+00] [-2.14200886e-03 9.99974212e-01 6.85470718e-03 8.89297841e-02] [ 2.13687462e-02 -6.80738664e-03 9.99748486e-01 1.05588066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15255784400006 meters Centerline goodness [0,1] 0.2569862540730671 Centerline is valid? [False, False] Translation: X:4.27, Y:0.10, Z:1.06 [[ 0.99976221 0.00639932 -0.02084625 4.27452556] [-0.00625361 0.99995561 0.00704738 0.09763969] [ 0.02089042 -0.00691534 0.99975785 1.05672669] [ 0. 0. 0. 1. ]] SLAMing on 315.18255784400003 meters Centerline goodness [0,1] 0.25670630381768345 Centerline is valid? [False, False] Translation: X:4.27, Y:0.10, Z:1.06 [[ 0.99976726 0.00636379 -0.0206136 4.27411422] [-0.00623086 0.99995942 0.00650654 0.10084073] [ 0.02065417 -0.00637659 0.99976634 1.05640973] [ 0. 0. 0. 1. ]] SLAMing on 315.21255784400006 meters Centerline goodness [0,1] 0.2585439619788291 Centerline is valid? [False, False] Translation: X:4.27, Y:0.10, Z:1.06 [[ 0.99977248 0.00628062 -0.02038499 4.27357733] [-0.0061601 0.99996321 0.00596949 0.10388446] [ 0.02042173 -0.00584256 0.99977438 1.05624914] [ 0. 0. 0. 1. ]] SLAMing on 315.24255784400003 meters Centerline goodness [0,1] 0.2628736994600289 Centerline is valid? [False, False] Translation: X:4.25, Y:0.11, Z:1.06 [[ 9.99777597e-01 -1.13570796e-03 -2.10586508e-02 4.25006387e+00] [ 1.31106831e-03 9.99964568e-01 8.31530048e-03 1.07270649e-01] [ 2.10484609e-02 -8.34106047e-03 9.99743662e-01 1.05669951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27255784400006 meters Centerline goodness [0,1] 0.26234911488005586 Centerline is valid? [False, False] Translation: X:4.25, Y:0.11, Z:1.06 [[ 9.99779260e-01 -1.25168171e-03 -2.09729501e-02 4.24973067e+00] [ 1.41905627e-03 9.99967252e-01 7.96751557e-03 1.09044700e-01] [ 2.09622904e-02 -7.99551862e-03 9.99748295e-01 1.05684607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30255784400003 meters Centerline goodness [0,1] 0.26067059946213234 Centerline is valid? [False, False] Translation: X:4.25, Y:0.11, Z:1.06 [[ 9.99780050e-01 -1.34741971e-03 -2.09293046e-02 4.24939681e+00] [ 1.51027620e-03 9.99968693e-01 7.76740984e-03 1.09972126e-01] [ 2.09181834e-02 -7.79731043e-03 9.99750785e-01 1.05720171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33255784400006 meters Centerline goodness [0,1] 0.2607715648027742 Centerline is valid? [False, False] Translation: X:4.25, Y:0.11, Z:1.06 [[ 9.99777604e-01 -1.58513466e-03 -2.10292723e-02 4.24933680e+00] [ 1.74344743e-03 9.99970265e-01 7.51201286e-03 1.10462987e-01] [ 2.10167394e-02 -7.54700565e-03 9.99750639e-01 1.05763040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36255784400004 meters Centerline goodness [0,1] 0.2617896799477466 Centerline is valid? [False, False] Translation: X:4.25, Y:0.11, Z:1.06 [[ 9.99775128e-01 -1.65601699e-03 -2.11412243e-02 4.24970107e+00] [ 1.81218741e-03 9.99971199e-01 7.36998955e-03 1.11190271e-01] [ 2.11284106e-02 -7.40664410e-03 9.99749335e-01 1.05745392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39255784400007 meters Centerline goodness [0,1] 0.25996270760157847 Centerline is valid? [False, False] Translation: X:4.25, Y:0.11, Z:1.06 [[ 9.99774636e-01 -1.73572533e-03 -2.11581064e-02 4.24995766e+00] [ 1.88738742e-03 9.99972656e-01 7.15017667e-03 1.12505278e-01] [ 2.11451171e-02 -7.18849882e-03 9.99750574e-01 1.05709577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42255784400004 meters Centerline goodness [0,1] 0.2636106915347738 Centerline is valid? [False, False] Translation: X:4.25, Y:0.11, Z:1.06 [[ 9.99773581e-01 -1.83928175e-03 -2.11991598e-02 4.25017826e+00] [ 1.98521842e-03 9.99974464e-01 6.86508987e-03 1.14015236e-01] [ 2.11859916e-02 -6.90562044e-03 9.99751702e-01 1.05687462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45255784400007 meters Centerline goodness [0,1] 0.25913017123806636 Centerline is valid? [False, False] Translation: X:4.27, Y:0.12, Z:1.06 [[ 0.99977974 0.00677208 -0.01986463 4.2703032 ] [-0.00667055 0.99996437 0.00517316 0.11508268] [ 0.01989896 -0.00503951 0.9997893 1.05768954] [ 0. 0. 0. 1. ]] SLAMing on 315.48255784400004 meters Centerline goodness [0,1] 0.2593505426557703 Centerline is valid? [False, False] Translation: X:4.27, Y:0.12, Z:1.06 [[ 0.99978316 0.00669996 -0.01971666 4.26983142] [-0.00660433 0.99996613 0.00491181 0.11650843] [ 0.0197489 -0.00478053 0.99979354 1.05785019] [ 0. 0. 0. 1. ]] SLAMing on 315.51255784400007 meters Centerline goodness [0,1] 0.25926086016857575 Centerline is valid? [False, False] Translation: X:4.27, Y:0.12, Z:1.06 [[ 0.99978772 0.00661193 -0.01951398 4.26935772] [-0.00652314 0.9999681 0.00461012 0.11821733] [ 0.01954384 -0.00448184 0.99979896 1.05773909] [ 0. 0. 0. 1. ]] SLAMing on 315.54255784400004 meters Centerline goodness [0,1] 0.26210281693199833 Centerline is valid? [False, False] Translation: X:4.27, Y:0.12, Z:1.06 [[ 9.99789645e-01 6.51126469e-03 -1.94491379e-02 4.26931199e+00] [-6.42891761e-03 9.99970117e-01 4.29349922e-03 1.19970252e-01] [ 1.94765128e-02 -4.16755916e-03 9.99801629e-01 1.05750305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5725578440001 meters Centerline goodness [0,1] 0.26357760981487566 Centerline is valid? [False, False] Translation: X:4.27, Y:0.12, Z:1.06 [[ 9.99791594e-01 6.38883719e-03 -1.93894761e-02 4.26929486e+00] [-6.31398871e-03 9.99972387e-01 3.91903011e-03 1.21930401e-01] [ 1.94139788e-02 -3.79578842e-03 9.99804326e-01 1.05725464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60255784400005 meters Centerline goodness [0,1] 0.2610082684086026 Centerline is valid? [False, False] Translation: X:4.29, Y:0.13, Z:1.06 [[ 9.99817334e-01 -9.30115586e-04 -1.90901672e-02 4.28797898e+00] [ 1.01718530e-03 9.99989123e-01 4.55176889e-03 1.29774520e-01] [ 1.90857259e-02 -4.57035567e-03 9.99807405e-01 1.05875320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6325578440001 meters Centerline goodness [0,1] 0.2605697931572786 Centerline is valid? [False, False] Translation: X:4.29, Y:0.13, Z:1.06 [[ 9.99832618e-01 -1.07859442e-03 -1.82639560e-02 4.28522930e+00] [ 1.15169195e-03 9.99991368e-01 3.99223869e-03 1.32775633e-01] [ 1.82594923e-02 -4.01260491e-03 9.99825230e-01 1.05982714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66255784400005 meters Centerline goodness [0,1] 0.2587986810060562 Centerline is valid? [False, False] Translation: X:4.28, Y:0.13, Z:1.06 [[ 9.99835786e-01 -1.19849143e-03 -1.80821564e-02 4.28456904e+00] [ 1.26631249e-03 9.99992205e-01 3.73973373e-03 1.33878384e-01] [ 1.80775335e-02 -3.76201728e-03 9.99829510e-01 1.06013648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.692557844 meters Centerline goodness [0,1] 0.2559206982006249 Centerline is valid? [False, False] Translation: X:4.28, Y:0.13, Z:1.06 [[ 9.99834072e-01 -1.30133577e-03 -1.81696404e-02 4.28468674e+00] [ 1.36624955e-03 9.99992727e-01 3.56069490e-03 1.34584802e-01] [ 1.81648746e-02 -3.58492834e-03 9.99828578e-01 1.06026012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72255784400005 meters Centerline goodness [0,1] 0.25820512267224827 Centerline is valid? [False, False] Translation: X:4.29, Y:0.14, Z:1.06 [[ 9.99827646e-01 -1.41961672e-03 -1.85111465e-02 4.28579845e+00] [ 1.48288561e-03 9.99993105e-01 3.40460261e-03 1.35123421e-01] [ 1.85061856e-02 -3.43146572e-03 9.99822857e-01 1.05981786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.752557844 meters Centerline goodness [0,1] 0.26211396259243147 Centerline is valid? [False, False] Translation: X:4.29, Y:0.14, Z:1.06 [[ 9.99818149e-01 -1.54597664e-03 -1.90073543e-02 4.28740525e+00] [ 1.60915057e-03 9.99993231e-01 3.30881248e-03 1.35204011e-01] [ 1.90021103e-02 -3.33879646e-03 9.99813869e-01 1.05919527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78255784400005 meters Centerline goodness [0,1] 0.26168733517860643 Centerline is valid? [False, False] Translation: X:4.29, Y:0.13, Z:1.06 [[ 9.99808343e-01 -1.63687487e-03 -1.95089168e-02 4.28893072e+00] [ 1.70260454e-03 9.99992929e-01 3.35307887e-03 1.34536044e-01] [ 1.95032903e-02 -3.38565220e-03 9.99804060e-01 1.05871886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.812557844 meters Centerline goodness [0,1] 0.2588263255693358 Centerline is valid? [False, False] Translation: X:4.31, Y:0.13, Z:1.06 [[ 9.99798306e-01 4.71227634e-03 -1.95228375e-02 4.31072606e+00] [-4.70829588e-03 9.99988885e-01 2.49846773e-04 1.32313030e-01] [ 1.95237979e-02 -1.57877085e-04 9.99809380e-01 1.05894638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84255784400005 meters Centerline goodness [0,1] 0.26001084010840103 Centerline is valid? [False, False] Translation: X:4.31, Y:0.13, Z:1.06 [[ 9.99795584e-01 4.72357511e-03 -1.96590450e-02 4.31105189e+00] [-4.71447156e-03 9.99988757e-01 5.09391599e-04 1.30762631e-01] [ 1.96612302e-02 -4.16605463e-04 9.99806613e-01 1.05896200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.872557844 meters Centerline goodness [0,1] 0.25699646947386545 Centerline is valid? [False, False] Translation: X:4.33, Y:0.13, Z:1.06 [[ 9.99809658e-01 -3.83828316e-03 -1.91289199e-02 4.33231289e+00] [ 3.86427477e-03 9.99991660e-01 1.32198227e-03 1.31321319e-01] [ 1.91236862e-02 -1.39565004e-03 9.99816151e-01 1.05995385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90255784400006 meters Centerline goodness [0,1] 0.2611733055627875 Centerline is valid? [False, False] Translation: X:4.33, Y:0.13, Z:1.06 [[ 9.99801986e-01 -3.79408342e-03 -1.95344184e-02 4.33319747e+00] [ 3.82806503e-03 9.99991224e-01 1.70247678e-03 1.29076337e-01] [ 1.95277876e-02 -1.77691869e-03 9.99807736e-01 1.06018492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93255784400003 meters Centerline goodness [0,1] 0.25866649387675755 Centerline is valid? [False, False] Translation: X:4.33, Y:0.13, Z:1.06 [[ 9.99794834e-01 -3.72937674e-03 -1.99093448e-02 4.33417349e+00] [ 3.77279589e-03 9.99990585e-01 2.14372785e-03 1.26414808e-01] [ 1.99011626e-02 -2.21840192e-03 9.99799491e-01 1.06015421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96255784400006 meters Centerline goodness [0,1] 0.26198972930629294 Centerline is valid? [False, False] Translation: X:4.34, Y:0.12, Z:1.06 [[ 9.99784707e-01 -3.78813114e-03 -2.04007294e-02 4.33578293e+00] [ 3.84533703e-03 9.99988782e-01 2.76561211e-03 1.21622399e-01] [ 2.03900240e-02 -2.84346437e-03 9.99788058e-01 1.05966718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99255784400003 meters Centerline goodness [0,1] 0.26368955014571505 Centerline is valid? [False, False] Translation: X:4.34, Y:0.12, Z:1.06 [[ 9.99782856e-01 -3.61255836e-03 -2.05229217e-02 4.33603708e+00] [ 3.68036817e-03 9.99987890e-01 3.26729267e-03 1.19093822e-01] [ 2.05108699e-02 -3.34211510e-03 9.99784044e-01 1.05977097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02255784400006 meters Centerline goodness [0,1] 0.26323715570299877 Centerline is valid? [False, False] Translation: X:4.34, Y:0.12, Z:1.06 [[ 9.99781817e-01 -3.42450612e-03 -2.06056324e-02 4.33609115e+00] [ 3.50301028e-03 9.99986739e-01 3.77495154e-03 1.16577932e-01] [ 2.05924318e-02 -3.84630965e-03 9.99780555e-01 1.06006895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05255784400003 meters Centerline goodness [0,1] 0.26059340468111025 Centerline is valid? [False, False] Translation: X:4.34, Y:0.11, Z:1.06 [[ 9.99783539e-01 -3.25381306e-03 -2.05496222e-02 4.33576882e+00] [ 3.34132485e-03 9.99985490e-01 4.22566075e-03 1.14231561e-01] [ 2.05355745e-02 -4.29340902e-03 9.99779904e-01 1.06040247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08255784400006 meters Centerline goodness [0,1] 0.26359805227416644 Centerline is valid? [False, False] Translation: X:4.34, Y:0.11, Z:1.06 [[ 9.99783658e-01 -3.08436985e-03 -2.05699749e-02 4.33558677e+00] [ 3.18139122e-03 9.99983962e-01 4.68559494e-03 1.11849679e-01] [ 2.05551929e-02 -4.75002238e-03 9.99777436e-01 1.06085604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11255784400004 meters Centerline goodness [0,1] 0.261998821398171 Centerline is valid? [False, False] Translation: X:4.34, Y:0.11, Z:1.06 [[ 9.99784936e-01 -2.87863717e-03 -2.05376527e-02 4.33531058e+00] [ 2.98570224e-03 9.99982104e-01 5.18435408e-03 1.09458867e-01] [ 2.05223613e-02 -5.24455842e-03 9.99775638e-01 1.06116980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14255784400007 meters Centerline goodness [0,1] 0.2615926647263497 Centerline is valid? [False, False] Translation: X:4.34, Y:0.11, Z:1.06 [[ 9.99785926e-01 -2.45530619e-03 -2.05444471e-02 4.33552823e+00] [ 2.58142948e-03 9.99977973e-01 6.11477919e-03 1.05278460e-01] [ 2.05289810e-02 -6.16650422e-03 9.99770241e-01 1.06094477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17255784400004 meters Centerline goodness [0,1] 0.2502431538677675 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:1.06 [[ 0.99976549 0.00675324 -0.02057558 4.35687827] [-0.00664237 0.99996308 0.00545186 0.10053561] [ 0.02061164 -0.00531391 0.99977344 1.06172474] [ 0. 0. 0. 1. ]] SLAMing on 316.20255784400007 meters Centerline goodness [0,1] 0.2612374866415127 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:1.06 [[ 0.99976033 0.00684332 -0.02079563 4.35779667] [-0.00672871 0.99996181 0.00557613 0.09998589] [ 0.020833 -0.00543486 0.9997682 1.06112858] [ 0. 0. 0. 1. ]] SLAMing on 316.23255784400004 meters Centerline goodness [0,1] 0.25841166936790927 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:1.06 [[ 0.99975719 0.00693179 -0.02091691 4.3583061 ] [-0.00681545 0.99996093 0.00562835 0.09977349] [ 0.02095511 -0.00548443 0.99976537 1.06080439] [ 0. 0. 0. 1. ]] SLAMing on 316.26255784400007 meters Centerline goodness [0,1] 0.26241351463430607 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:1.06 [[ 0.99975833 0.00695199 -0.0208554 4.35826176] [-0.00683637 0.9999609 0.00560981 0.09975203] [ 0.02089358 -0.00546588 0.99976676 1.06066579] [ 0. 0. 0. 1. ]] SLAMing on 316.29255784400004 meters Centerline goodness [0,1] 0.26169587460542065 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:1.06 [[ 0.9997605 0.00699841 -0.02073562 4.35791234] [-0.00688341 0.99996056 0.00561214 0.09980435] [ 0.02077408 -0.00546806 0.99976924 1.06072299] [ 0. 0. 0. 1. ]] SLAMing on 316.3225578440001 meters Centerline goodness [0,1] 0.26267371733240097 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:1.06 [[ 0.99977262 0.00727161 -0.02004574 4.35610965] [-0.0071567 0.99995758 0.00579798 0.09993288] [ 0.02008705 -0.0056532 0.99978225 1.06084552] [ 0. 0. 0. 1. ]] SLAMing on 316.35255784400005 meters Centerline goodness [0,1] 0.25930580231399225 Centerline is valid? [False, False] Translation: X:4.37, Y:0.11, Z:1.06 [[ 9.99769318e-01 1.35907420e-03 -2.14351014e-02 4.37265420e+00] [-1.21135280e-03 9.99975440e-01 6.90304437e-03 1.05708569e-01] [ 2.14439567e-02 -6.87548649e-03 9.99746410e-01 1.06352501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3825578440001 meters Centerline goodness [0,1] 0.2613755687784389 Centerline is valid? [False, False] Translation: X:4.37, Y:0.11, Z:1.06 [[ 9.99769426e-01 1.33633773e-03 -2.14314875e-02 4.37258581e+00] [-1.18960309e-03 9.99975776e-01 6.85797267e-03 1.05899124e-01] [ 2.14401329e-02 -6.83089644e-03 9.99746798e-01 1.06362368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41255784400005 meters Centerline goodness [0,1] 0.25779679699150615 Centerline is valid? [False, False] Translation: X:4.39, Y:0.10, Z:1.06 [[ 0.9997449 0.00978203 -0.02035791 4.39213769] [-0.00967657 0.99993928 0.00527262 0.10326304] [ 0.02040825 -0.00507428 0.99977885 1.06483831] [ 0. 0. 0. 1. ]] SLAMing on 316.442557844 meters Centerline goodness [0,1] 0.263056768558952 Centerline is valid? [False, False] Translation: X:4.37, Y:0.11, Z:1.06 [[ 9.99790359e-01 3.75514594e-04 -2.04718606e-02 4.37105585e+00] [-2.49105156e-04 9.99980891e-01 6.17699032e-03 1.06376499e-01] [ 2.04737890e-02 -6.17059572e-03 9.99771348e-01 1.06384998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47255784400005 meters Centerline goodness [0,1] 0.2638937664618086 Centerline is valid? [False, False] Translation: X:4.37, Y:0.11, Z:1.06 [[ 9.99796750e-01 3.98280323e-04 -2.01568894e-02 4.36973744e+00] [-2.70361906e-04 9.99979812e-01 6.34846603e-03 1.05463184e-01] [ 2.01590109e-02 -6.34172604e-03 9.99776673e-01 1.06479820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502557844 meters Centerline goodness [0,1] 0.2621270084162204 Centerline is valid? [False, False] Translation: X:4.37, Y:0.10, Z:1.06 [[ 9.99793836e-01 3.94165710e-04 -2.03009769e-02 4.37002262e+00] [-2.63114836e-04 9.99979114e-01 6.45766394e-03 1.04702779e-01] [ 2.03030983e-02 -6.45099111e-03 9.99773059e-01 1.06493514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53255784400005 meters Centerline goodness [0,1] 0.2511650085614583 Centerline is valid? [False, False] Translation: X:4.37, Y:0.10, Z:1.06 [[ 9.99786567e-01 3.41397745e-04 -2.06568350e-02 4.37119766e+00] [-2.06911060e-04 9.99978773e-01 6.51230451e-03 1.04072533e-01] [ 2.06586198e-02 -6.50664044e-03 9.99765415e-01 1.06444861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562557844 meters Centerline goodness [0,1] 0.26254910519423835 Centerline is valid? [False, False] Translation: X:4.37, Y:0.10, Z:1.06 [[ 9.99782590e-01 3.71657137e-04 -2.08478781e-02 4.37194728e+00] [-2.33001649e-04 9.99977842e-01 6.65285502e-03 1.03279501e-01] [ 2.08498887e-02 -6.64655104e-03 9.99760524e-01 1.06399690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59255784400005 meters Centerline goodness [0,1] 0.26430165886111967 Centerline is valid? [False, False] Translation: X:4.37, Y:0.10, Z:1.06 [[ 9.99783446e-01 4.08685108e-04 -2.08060913e-02 4.37184578e+00] [-2.68200580e-04 9.99977153e-01 6.75442921e-03 1.02773254e-01] [ 2.08083764e-02 -6.74738631e-03 9.99760713e-01 1.06399257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622557844 meters Centerline goodness [0,1] 0.2599956587801172 Centerline is valid? [False, False] Translation: X:4.39, Y:0.10, Z:1.07 [[ 0.99978223 0.00923149 -0.01871538 4.3911958 ] [-0.00913373 0.99994423 0.00530203 0.10181127] [ 0.01876328 -0.00512993 0.99981079 1.06544696] [ 0. 0. 0. 1. ]] SLAMing on 316.65255784400006 meters Centerline goodness [0,1] 0.2499675703722921 Centerline is valid? [False, False] Translation: X:4.39, Y:0.10, Z:1.07 [[ 0.99978203 0.00918267 -0.01875033 4.3914136 ] [-0.00908987 0.99994604 0.0050288 0.10332486] [ 0.0187955 -0.00485726 0.99981155 1.06523871] [ 0. 0. 0. 1. ]] SLAMing on 316.68255784400003 meters Centerline goodness [0,1] 0.26196724867151067 Centerline is valid? [False, False] Translation: X:4.39, Y:0.11, Z:1.06 [[ 0.9997789 0.00910766 -0.01895282 4.39236913] [-0.00902146 0.99994859 0.00462881 0.10539761] [ 0.018994 -0.00445681 0.99980966 1.06443769] [ 0. 0. 0. 1. ]] SLAMing on 316.71255784400006 meters Centerline goodness [0,1] 0.25256158709396115 Centerline is valid? [False, False] Translation: X:4.39, Y:0.11, Z:1.06 [[ 9.99777053e-01 9.04665058e-03 -1.90788300e-02 4.39321596e+00] [-8.96852136e-03 9.99951059e-01 4.17667004e-03 1.07860203e-01] [ 1.91156812e-02 -4.00462997e-03 9.99809259e-01 1.06345716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74255784400003 meters Centerline goodness [0,1] 0.262993535988819 Centerline is valid? [False, False] Translation: X:4.39, Y:0.11, Z:1.06 [[ 9.99778255e-01 9.02365297e-03 -1.90266728e-02 4.39358274e+00] [-8.95486188e-03 9.99953068e-01 3.69761363e-03 1.10621074e-01] [ 1.90591458e-02 -3.52641247e-03 9.99812139e-01 1.06255817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77255784400006 meters Centerline goodness [0,1] 0.2588462038200009 Centerline is valid? [False, False] Translation: X:4.39, Y:0.11, Z:1.06 [[ 9.99783760e-01 8.99467108e-03 -1.87491327e-02 4.39303936e+00] [-8.93560663e-03 9.99954855e-01 3.23164908e-03 1.13306431e-01] [ 1.87773539e-02 -3.06341539e-03 9.99818997e-01 1.06219931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80255784400003 meters Centerline goodness [0,1] 0.2506924009001211 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99803311e-01 9.28227278e-03 -1.75265236e-02 4.38955429e+00] [-9.23459680e-03 9.99953442e-01 2.79919524e-03 1.17332315e-01] [ 1.75516905e-02 -2.63679429e-03 9.99842480e-01 1.06267957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83255784400006 meters Centerline goodness [0,1] 0.2606667968156873 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99808961e-01 9.13580325e-03 -1.72794312e-02 4.38892645e+00] [-9.09707024e-03 9.99955932e-01 2.31884414e-03 1.19805557e-01] [ 1.72998542e-02 -2.16120895e-03 9.99848011e-01 1.06263058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86255784400004 meters Centerline goodness [0,1] 0.25282798075672863 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99809679e-01 8.98487730e-03 -1.73169744e-02 4.38911794e+00] [-8.95348663e-03 9.99958132e-01 1.88939031e-03 1.21873572e-01] [ 1.73332253e-02 -1.73398342e-03 9.99848265e-01 1.06240218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89255784400007 meters Centerline goodness [0,1] 0.24891779553334914 Centerline is valid? [False, False] Translation: X:4.39, Y:0.13, Z:1.06 [[ 9.99807691e-01 8.71878740e-03 -1.75659965e-02 4.39039924e+00] [-8.69867781e-03 9.99961420e-01 1.22088482e-03 1.25129419e-01] [ 1.75759635e-02 -1.06784909e-03 9.99844961e-01 1.06126479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92255784400004 meters Centerline goodness [0,1] 0.2490301724137931 Centerline is valid? [False, False] Translation: X:4.39, Y:0.13, Z:1.06 [[ 9.99804086e-01 8.59074639e-03 -1.78322106e-02 4.39124623e+00] [-8.57358708e-03 9.99962707e-01 1.03849233e-03 1.25773524e-01] [ 1.78404670e-02 -8.85402863e-04 9.99840454e-01 1.06097294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95255784400007 meters Centerline goodness [0,1] 0.2507387993701331 Centerline is valid? [False, False] Translation: X:4.39, Y:0.13, Z:1.06 [[ 9.99801454e-01 8.49035564e-03 -1.80268138e-02 4.39163383e+00] [-8.47300826e-03 9.99963564e-01 1.03846997e-03 1.25361709e-01] [ 1.80349739e-02 -8.85522447e-04 9.99836964e-01 1.06116584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98255784400004 meters Centerline goodness [0,1] 0.25332086875230997 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99801299e-01 8.37221879e-03 -1.80905542e-02 4.39147976e+00] [-8.35335906e-03 9.99964485e-01 1.11783246e-03 1.24393603e-01] [ 1.80992705e-02 -9.66493452e-04 9.99835728e-01 1.06171774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01255784400007 meters Centerline goodness [0,1] 0.25332086875230997 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99801299e-01 8.37221879e-03 -1.80905542e-02 4.39147976e+00] [-8.35335906e-03 9.99964485e-01 1.11783246e-03 1.24393603e-01] [ 1.80992705e-02 -9.66493452e-04 9.99835728e-01 1.06171774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04255784400004 meters Centerline goodness [0,1] 0.26388858523360803 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99800683e-01 8.27256393e-03 -1.81702806e-02 4.39133372e+00] [-8.25126793e-03 9.99965181e-01 1.24668274e-03 1.23318397e-01] [ 1.81799612e-02 -1.09650640e-03 9.99834130e-01 1.06234142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0725578440001 meters Centerline goodness [0,1] 0.26353448845247796 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99796838e-01 -1.49584855e-03 -2.01008680e-02 4.37234723e+00] [ 1.54296843e-03 9.99996098e-01 2.32886661e-03 1.23772338e-01] [ 2.00973060e-02 -2.35940848e-03 9.99795245e-01 1.06110547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10255784400005 meters Centerline goodness [0,1] 0.26198441695646435 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99791077e-01 -1.49210279e-03 -2.03856935e-02 4.37318620e+00] [ 1.54409878e-03 9.99995594e-01 2.53510969e-03 1.22621911e-01] [ 2.03818211e-02 -2.56605757e-03 9.99788976e-01 1.06089548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1325578440001 meters Centerline goodness [0,1] 0.2626848044790482 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99784179e-01 -1.51850574e-03 -2.07193068e-02 4.37408921e+00] [ 1.57567654e-03 9.99994996e-01 2.74325455e-03 1.21159089e-01] [ 2.07150375e-02 -2.77530943e-03 9.99781569e-01 1.06080602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16255784400005 meters Centerline goodness [0,1] 0.25283545629035076 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99783724e-01 -1.47099619e-03 -2.07446598e-02 4.37405001e+00] [ 1.53457702e-03 9.99994173e-01 3.04933963e-03 1.19295082e-01] [ 2.07400534e-02 -3.08051441e-03 9.99780156e-01 1.06105301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.192557844 meters Centerline goodness [0,1] 0.2522286313581542 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99785790e-01 -1.37637556e-03 -2.06513676e-02 4.37352537e+00] [ 1.44562953e-03 9.99993381e-01 3.33892739e-03 1.17778431e-01] [ 2.06466353e-02 -3.36806638e-03 9.99781162e-01 1.06155957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22255784400005 meters Centerline goodness [0,1] 0.2531041069723018 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99789674e-01 -1.28489502e-03 -2.04684346e-02 4.37292871e+00] [ 1.35781701e-03 9.99992780e-01 3.54915659e-03 1.16823840e-01] [ 2.04637266e-02 -3.57620250e-03 9.99784200e-01 1.06179910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.252557844 meters Centerline goodness [0,1] 0.26302111768688174 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99796191e-01 -1.09085813e-03 -2.01590241e-02 4.37222068e+00] [ 1.16575888e-03 9.99992460e-01 3.70411690e-03 1.16922860e-01] [ 2.01548314e-02 -3.72686253e-03 9.99789925e-01 1.06170319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28255784400005 meters Centerline goodness [0,1] 0.26208983822152543 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99796810e-01 -1.07455680e-03 -2.01291714e-02 4.37228277e+00] [ 1.14787878e-03 9.99992748e-01 3.63137368e-03 1.17449660e-01] [ 2.01251233e-02 -3.65374168e-03 9.99790793e-01 1.06147127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.312557844 meters Centerline goodness [0,1] 0.259765203504683 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99787073e-01 7.63734926e-03 -1.91697450e-02 4.39203298e+00] [-7.59948382e-03 9.99969028e-01 2.04734199e-03 1.15595539e-01] [ 1.91847876e-02 -1.90122589e-03 9.99814147e-01 1.06278399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34255784400005 meters Centerline goodness [0,1] 0.2616447853026561 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99790409e-01 7.61988707e-03 -1.90019974e-02 4.39143632e+00] [-7.58417127e-03 9.99969337e-01 1.95093797e-03 1.16076866e-01] [ 1.90162806e-02 -1.80641467e-03 9.99817542e-01 1.06304400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.372557844 meters Centerline goodness [0,1] 0.26119936715719205 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99794857e-01 7.62109449e-03 -1.87660231e-02 4.39071144e+00] [-7.58662695e-03 9.99969402e-01 1.90720755e-03 1.16355578e-01] [ 1.87799839e-02 -1.76444548e-03 9.99822084e-01 1.06323473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40255784400006 meters Centerline goodness [0,1] 0.26325399413107275 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99798551e-01 7.64663910e-03 -1.85576389e-02 4.39018489e+00] [-7.61319007e-03 9.99969266e-01 1.87241932e-03 1.16805336e-01] [ 1.85713862e-02 -1.73075929e-03 9.99826039e-01 1.06323702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43255784400003 meters Centerline goodness [0,1] 0.2616336955110168 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99801828e-01 7.65452362e-03 -1.83769915e-02 4.38987293e+00] [-7.62168126e-03 9.99969231e-01 1.85651962e-03 1.16870826e-01] [ 1.83906369e-02 -1.71608813e-03 9.99829405e-01 1.06301077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46255784400006 meters Centerline goodness [0,1] 0.26307507376243033 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99801279e-01 -1.53717357e-03 -1.98756151e-02 4.37076859e+00] [ 1.59494368e-03 9.99994549e-01 2.89105706e-03 1.19622234e-01] [ 1.98710627e-02 -2.92218304e-03 9.99798281e-01 1.06166772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49255784400003 meters Centerline goodness [0,1] 0.2634022978482199 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99797223e-01 -1.55421618e-03 -2.00772805e-02 4.37132642e+00] [ 1.61198195e-03 9.99994607e-01 2.86130732e-03 1.19727820e-01] [ 2.00727251e-02 -2.89309133e-03 9.99794337e-01 1.06156580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52255784400006 meters Centerline goodness [0,1] 0.26242991469773325 Centerline is valid? [False, False] Translation: X:4.37, Y:0.12, Z:1.06 [[ 9.99797964e-01 -1.50797166e-03 -2.00438680e-02 4.37126924e+00] [ 1.56543373e-03 9.99994709e-01 2.85143432e-03 1.20178670e-01] [ 2.00394621e-02 -2.88223558e-03 9.99795035e-01 1.06144972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55255784400003 meters Centerline goodness [0,1] 0.257667120534267 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99787397e-01 7.48349044e-03 -1.92134965e-02 4.39135655e+00] [-7.44982376e-03 9.99970588e-01 1.82321988e-03 1.17914093e-01] [ 1.92265755e-02 -1.67969510e-03 9.99813741e-01 1.06223239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58255784400006 meters Centerline goodness [0,1] 0.2628255378451354 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99785476e-01 7.42916834e-03 -1.93341413e-02 4.39191847e+00] [-7.39728623e-03 9.99971160e-01 1.72000140e-03 1.18220579e-01] [ 1.93463618e-02 -1.57661224e-03 9.99811599e-01 1.06180036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61255784400004 meters Centerline goodness [0,1] 0.2637546428028411 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99782967e-01 7.30840606e-03 -1.95091113e-02 4.39285055e+00] [-7.28121762e-03 9.99972419e-01 1.46429693e-03 1.18981011e-01] [ 1.95192749e-02 -1.32192905e-03 9.99808607e-01 1.06096608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64255784400007 meters Centerline goodness [0,1] 0.2616019101367484 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99783305e-01 7.28886377e-03 -1.94991064e-02 4.39286833e+00] [-7.26341113e-03 9.99972675e-01 1.37582767e-03 1.19480464e-01] [ 1.95086018e-02 -1.23389951e-03 9.99808928e-01 1.06088717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67255784400004 meters Centerline goodness [0,1] 0.2641290548526901 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:1.06 [[ 9.99784771e-01 7.31736234e-03 -1.94130998e-02 4.39247108e+00] [-7.29147911e-03 9.99972432e-01 1.40373422e-03 1.19485791e-01] [ 1.94228363e-02 -1.26188188e-03 9.99810563e-01 1.06117712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70255784400007 meters Centerline goodness [0,1] 0.26082730316448866 Centerline is valid? [False, False] Translation: X:4.41, Y:0.12, Z:1.06 [[ 9.99829459e-01 -1.35319905e-04 -1.84671372e-02 4.41176264e+00] [ 1.78178528e-04 9.99997295e-01 2.31917930e-03 1.24184628e-01] [ 1.84667734e-02 -2.32207423e-03 9.99826778e-01 1.06259630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73255784400004 meters Centerline goodness [0,1] 0.2608526124252665 Centerline is valid? [False, False] Translation: X:4.41, Y:0.12, Z:1.06 [[ 9.99832929e-01 -1.20210692e-04 -1.82783747e-02 4.41118554e+00] [ 1.63621571e-04 9.99997170e-01 2.37350876e-03 1.23893501e-01] [ 1.82780377e-02 -2.37610295e-03 9.99830119e-01 1.06275584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76255784400007 meters Centerline goodness [0,1] 0.26519796776454096 Centerline is valid? [False, False] Translation: X:4.41, Y:0.12, Z:1.06 [[ 9.99834989e-01 -1.28486277e-04 -1.81652968e-02 4.41089855e+00] [ 1.71983762e-04 9.99997122e-01 2.39299560e-03 1.23759809e-01] [ 1.81649371e-02 -2.39572486e-03 9.99832134e-01 1.06275302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79255784400004 meters Centerline goodness [0,1] 0.26186135347484485 Centerline is valid? [False, False] Translation: X:4.41, Y:0.12, Z:1.06 [[ 9.99839780e-01 -1.18266301e-04 -1.78997476e-02 4.41033467e+00] [ 1.61139388e-04 9.99997122e-01 2.39375497e-03 1.24105109e-01] [ 1.78994130e-02 -2.39625580e-03 9.99836921e-01 1.06260823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8225578440001 meters Centerline goodness [0,1] 0.25940790609356124 Centerline is valid? [False, False] Translation: X:4.41, Y:0.12, Z:1.06 [[ 9.99840106e-01 -1.82536724e-04 -1.78809435e-02 4.41024428e+00] [ 2.22858249e-04 9.99997437e-01 2.25303323e-03 1.24792896e-01] [ 1.78804864e-02 -2.25665790e-03 9.99837585e-01 1.06269628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85255784400005 meters Centerline goodness [0,1] 0.26108352930929357 Centerline is valid? [False, False] Translation: X:4.41, Y:0.13, Z:1.06 [[ 9.99838210e-01 -2.42471931e-04 -1.79859694e-02 4.41041775e+00] [ 2.80282360e-04 9.99997756e-01 2.09972703e-03 1.25527384e-01] [ 1.79854199e-02 -2.10442847e-03 9.99836035e-01 1.06282301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8825578440001 meters Centerline goodness [0,1] 0.2598251385041551 Centerline is valid? [False, False] Translation: X:4.41, Y:0.13, Z:1.06 [[ 9.99825242e-01 -4.69529774e-04 -1.86886240e-02 4.41260530e+00] [ 4.99471921e-04 9.99998599e-01 1.59752358e-03 1.27562071e-01] [ 1.86878478e-02 -1.60657884e-03 9.99824076e-01 1.06205271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91255784400005 meters Centerline goodness [0,1] 0.26306353579080854 Centerline is valid? [False, False] Translation: X:4.41, Y:0.13, Z:1.06 [[ 9.99820495e-01 -5.95622313e-04 -1.89373600e-02 4.41368925e+00] [ 6.20750113e-04 9.99998935e-01 1.32103983e-03 1.28742626e-01] [ 1.89365529e-02 -1.33255807e-03 9.99819799e-01 1.06123467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942557844 meters Centerline goodness [0,1] 0.252475889806686 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:1.06 [[ 9.99801876e-01 8.08711599e-03 -1.81880999e-02 4.43427789e+00] [-8.08988300e-03 9.99967273e-01 -7.85614963e-05 1.27730647e-01] [ 1.81868694e-02 2.25685532e-04 9.99834580e-01 1.06168695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97255784400005 meters Centerline goodness [0,1] 0.2597893365186231 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:1.06 [[ 9.99803623e-01 8.00644996e-03 -1.81276503e-02 4.43410345e+00] [-8.01295279e-03 9.99967855e-01 -2.86117342e-04 1.28768205e-01] [ 1.81247768e-02 4.31317161e-04 9.99835640e-01 1.06171248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002557844 meters Centerline goodness [0,1] 0.26155384548497895 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:1.06 [[ 9.99806126e-01 7.93348976e-03 -1.80213748e-02 4.43354313e+00] [-7.94243839e-03 9.99968368e-01 -4.25036797e-04 1.29410576e-01] [ 1.80174327e-02 5.68088052e-04 9.99837511e-01 1.06217596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03255784400005 meters Centerline goodness [0,1] 0.26021936345809904 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.06 [[ 9.99857417e-01 2.55152565e-04 -1.68843553e-02 4.45275650e+00] [-2.48471766e-04 9.99999890e-01 3.97776470e-04 1.34371724e-01] [ 1.68844549e-02 -3.93524468e-04 9.99857370e-01 1.06387693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062557844 meters Centerline goodness [0,1] 0.2617779509829393 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.06 [[ 9.99862056e-01 6.95033421e-06 -1.66093021e-02 4.45168624e+00] [-2.70170525e-06 9.99999967e-01 2.55820587e-04 1.34593434e-01] [ 1.66093034e-02 -2.55740425e-04 9.99862023e-01 1.06452675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09255784400005 meters Centerline goodness [0,1] 0.2655393253498267 Centerline is valid? [False, False] Translation: X:4.41, Y:0.13, Z:1.07 [[ 9.99815310e-01 -1.71777931e-03 -1.91414281e-02 4.40596374e+00] [ 1.72671956e-03 9.99998408e-01 4.50545142e-04 1.31503757e-01] [ 1.91406237e-02 -4.83513809e-04 9.99816685e-01 1.06532051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122557844 meters Centerline goodness [0,1] 0.26170942397013497 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:1.06 [[ 9.99833098e-01 4.95389879e-03 -1.75850779e-02 4.42775149e+00] [-4.99910619e-03 9.99984310e-01 -2.52775506e-03 1.31401869e-01] [ 1.75722797e-02 2.61524284e-03 9.99842175e-01 1.06461601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15255784400006 meters Centerline goodness [0,1] 0.26279069767441865 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:1.06 [[ 9.99834022e-01 4.91889328e-03 -1.75423295e-02 4.42760978e+00] [-4.96329056e-03 9.99984587e-01 -2.48822658e-03 1.31065094e-01] [ 1.75298198e-02 2.57488127e-03 9.99843025e-01 1.06467502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18255784400003 meters Centerline goodness [0,1] 0.2638592982303578 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:1.06 [[ 9.99829105e-01 4.78750320e-03 -1.78560992e-02 4.42838980e+00] [-4.83272668e-03 9.99985221e-01 -2.49037245e-03 1.30777827e-01] [ 1.78439126e-02 2.57624051e-03 9.99837466e-01 1.06465791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21255784400006 meters Centerline goodness [0,1] 0.2640132453216565 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:1.06 [[ 9.99826267e-01 4.76774374e-03 -1.80195356e-02 4.42891550e+00] [-4.81258008e-03 9.99985429e-01 -2.44566287e-03 1.30434639e-01] [ 1.80076128e-02 2.53195844e-03 9.99834644e-01 1.06444569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24255784400003 meters Centerline goodness [0,1] 0.25963843711527246 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.07 [[ 9.99834777e-01 -2.77770212e-03 -1.79639458e-02 4.44901400e+00] [ 2.75177357e-03 9.99995136e-01 -1.46792326e-03 1.34340551e-01] [ 1.79679359e-02 1.41824801e-03 9.99837558e-01 1.06587838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27255784400006 meters Centerline goodness [0,1] 0.2511185682326622 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.07 [[ 9.99836459e-01 -2.70794596e-03 -1.78807752e-02 4.44862541e+00] [ 2.68595710e-03 9.99995607e-01 -1.25364944e-03 1.33226127e-01] [ 1.78840914e-02 1.20541742e-03 9.99839340e-01 1.06619847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30255784400003 meters Centerline goodness [0,1] 0.26235790841182205 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.07 [[ 9.99840383e-01 -2.57726997e-03 -1.76795274e-02 4.44772205e+00] [ 2.56111688e-03 9.99996282e-01 -9.36241020e-04 1.31778212e-01] [ 1.76818746e-02 8.90812244e-04 9.99843267e-01 1.06688340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33255784400006 meters Centerline goodness [0,1] 0.26632031215748164 Centerline is valid? [False, False] Translation: X:4.43, Y:0.12, Z:1.06 [[ 9.99865458e-01 4.33395916e-03 -1.58203378e-02 4.42777564e+00] [-4.36117883e-03 9.99989068e-01 -1.68645536e-03 1.24960103e-01] [ 1.58128558e-02 1.75522379e-03 9.99873428e-01 1.06491236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36255784400004 meters Centerline goodness [0,1] 0.2640033038450671 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.07 [[ 9.99899238e-01 -2.81698475e-03 -1.39132620e-02 4.44618022e+00] [ 2.81438096e-03 9.99996018e-01 -2.06720657e-04 1.27495882e-01] [ 1.39137889e-02 1.67542608e-04 9.99903185e-01 1.06621485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39255784400007 meters Centerline goodness [0,1] 0.26219459365794495 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.07 [[ 9.99900487e-01 -2.72642998e-03 -1.38413443e-02 4.44626675e+00] [ 2.72588872e-03 9.99996283e-01 -5.79708842e-05 1.26920466e-01] [ 1.38414509e-02 2.02351513e-05 9.99904202e-01 1.06579203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42255784400004 meters Centerline goodness [0,1] 0.26378964796096205 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.07 [[ 9.99901405e-01 -2.63595741e-03 -1.37924296e-02 4.44644839e+00] [ 2.63741703e-03 9.99996518e-01 8.76396112e-05 1.26364953e-01] [ 1.37921506e-02 -1.24007359e-04 9.99904876e-01 1.06526742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45255784400007 meters Centerline goodness [0,1] 0.26563386428103863 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.06 [[ 9.99903055e-01 -2.53751749e-03 -1.36909472e-02 4.44639539e+00] [ 2.54202230e-03 9.99996720e-01 3.11643553e-04 1.25232991e-01] [ 1.36901115e-02 -3.46416034e-04 9.99906226e-01 1.06494437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48255784400004 meters Centerline goodness [0,1] 0.263661172361096 Centerline is valid? [False, False] Translation: X:4.45, Y:0.12, Z:1.06 [[ 9.99902609e-01 -2.41754224e-03 -1.37451345e-02 4.44662355e+00] [ 2.42670930e-03 9.99996844e-01 6.50291340e-04 1.23373786e-01] [ 1.37435190e-02 -6.83583453e-04 9.99905320e-01 1.06484504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51255784400007 meters Centerline goodness [0,1] 0.26466745067293873 Centerline is valid? [False, False] Translation: X:4.45, Y:0.12, Z:1.06 [[ 9.99899321e-01 -2.28695484e-03 -1.40042016e-02 4.44739777e+00] [ 2.30222340e-03 9.99996773e-01 1.07426027e-03 1.20892960e-01] [ 1.40016996e-02 -1.10639292e-03 9.99901359e-01 1.06470276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54255784400004 meters Centerline goodness [0,1] 0.2613676034211905 Centerline is valid? [False, False] Translation: X:4.45, Y:0.12, Z:1.06 [[ 9.99885108e-01 -2.08309475e-03 -1.50143499e-02 4.45042398e+00] [ 2.11225309e-03 9.99995914e-01 1.92643580e-03 1.15467576e-01] [ 1.50102756e-02 -1.95792858e-03 9.99885423e-01 1.06388016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5725578440001 meters Centerline goodness [0,1] 0.25984082134460673 Centerline is valid? [False, False] Translation: X:4.47, Y:0.11, Z:1.07 [[ 9.99848238e-01 6.65361519e-03 -1.61006295e-02 4.47183473e+00] [-6.63329665e-03 9.99977135e-01 1.31504729e-03 1.08704452e-01] [ 1.61090111e-02 -1.20804746e-03 9.99869512e-01 1.06510766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60255784400005 meters Centerline goodness [0,1] 0.26340050046095087 Centerline is valid? [False, False] Translation: X:4.43, Y:0.10, Z:1.07 [[ 9.99803586e-01 5.31863277e-03 -1.90919045e-02 4.42794301e+00] [-5.27831998e-03 9.99983734e-01 2.16128324e-03 1.01958876e-01] [ 1.91030890e-02 -2.06008555e-03 9.99815397e-01 1.06534026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6325578440001 meters Centerline goodness [0,1] 0.26237268996069407 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.07 [[ 9.99829027e-01 -2.23037794e-03 -1.83559592e-02 4.44834975e+00] [ 2.28841401e-03 9.99992448e-01 3.14130444e-03 1.03178060e-01] [ 1.83488142e-02 -3.18277339e-03 9.99826580e-01 1.06592471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66255784400005 meters Centerline goodness [0,1] 0.2633625089590166 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.07 [[ 9.99831043e-01 -2.01728925e-03 -1.82706466e-02 4.44802776e+00] [ 2.08490774e-03 9.99991046e-01 3.68264436e-03 1.00478834e-01] [ 1.82630541e-02 -3.72011477e-03 9.99826296e-01 1.06617520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.692557844 meters Centerline goodness [0,1] 0.2640288556126352 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.07 [[ 9.99832420e-01 -1.63083901e-03 -1.82338213e-02 4.44798891e+00] [ 1.71320205e-03 9.99988397e-01 4.50233990e-03 9.66613259e-02] [ 1.82262672e-02 -4.53282361e-03 9.99823613e-01 1.06624459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72255784400005 meters Centerline goodness [0,1] 0.26109835852570484 Centerline is valid? [False, False] Translation: X:4.47, Y:0.09, Z:1.07 [[ 9.99810351e-01 7.47787994e-03 -1.79817634e-02 4.46876897e+00] [-7.41946590e-03 9.99966987e-01 3.31303828e-03 9.32146497e-02] [ 1.80059442e-02 -3.17899489e-03 9.99832826e-01 1.06726638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.752557844 meters Centerline goodness [0,1] 0.2642318206670312 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.07 [[ 9.99818190e-01 -1.27732207e-03 -1.90251055e-02 4.45060184e+00] [ 1.37074854e-03 9.99987063e-01 4.89846298e-03 9.59668060e-02] [ 1.90186024e-02 -4.92365103e-03 9.99807007e-01 1.06544516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78255784400005 meters Centerline goodness [0,1] 0.26460159665876315 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.07 [[ 9.99822331e-01 -1.16822105e-03 -1.88133295e-02 4.45006583e+00] [ 1.26330743e-03 9.99986485e-01 5.04311130e-03 9.54287263e-02] [ 1.88071838e-02 -5.06598232e-03 9.99810295e-01 1.06545538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.812557844 meters Centerline goodness [0,1] 0.25767782201657163 Centerline is valid? [False, False] Translation: X:4.47, Y:0.09, Z:1.07 [[ 9.99861099e-01 7.15586268e-03 -1.50524811e-02 4.46954767e+00] [-7.10094064e-03 9.99967947e-01 3.69899166e-03 9.30385830e-02] [ 1.50784681e-02 -3.59159109e-03 9.99879863e-01 1.06527232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84255784400005 meters Centerline goodness [0,1] 0.2620156726164562 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.06 [[ 9.99878765e-01 -2.30297616e-03 -1.53997264e-02 4.44890760e+00] [ 2.37525811e-03 9.99986241e-01 4.67707456e-03 9.53408190e-02] [ 1.53887433e-02 -4.71308586e-03 9.99870478e-01 1.06424479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.872557844 meters Centerline goodness [0,1] 0.26283220427305887 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.06 [[ 9.99876917e-01 -2.31762434e-03 -1.55170614e-02 4.44937153e+00] [ 2.39062140e-03 9.99986156e-01 4.68741425e-03 9.51789751e-02] [ 1.55059829e-02 -4.72393273e-03 9.99868616e-01 1.06395473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90255784400006 meters Centerline goodness [0,1] 0.26283220427305887 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.06 [[ 9.99876917e-01 -2.31762434e-03 -1.55170614e-02 4.44937153e+00] [ 2.39062140e-03 9.99986156e-01 4.68741425e-03 9.51789751e-02] [ 1.55059829e-02 -4.72393273e-03 9.99868616e-01 1.06395473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93255784400003 meters Centerline goodness [0,1] 0.2618041561030575 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.06 [[ 9.99874993e-01 -2.35469347e-03 -1.56349862e-02 4.44998776e+00] [ 2.42684360e-03 9.99986488e-01 4.59729067e-03 9.56078019e-02] [ 1.56239497e-02 -4.63465965e-03 9.99867197e-01 1.06341317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96255784400006 meters Centerline goodness [0,1] 0.26417559446041283 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.06 [[ 9.99875783e-01 -2.34031836e-03 -1.55865572e-02 4.45012049e+00] [ 2.41147152e-03 9.99986751e-01 4.54780538e-03 9.62097497e-02] [ 1.55757074e-02 -4.58482700e-03 9.99868180e-01 1.06294926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99255784400003 meters Centerline goodness [0,1] 0.2640287927666952 Centerline is valid? [False, False] Translation: X:4.45, Y:0.10, Z:1.06 [[ 9.99878969e-01 -2.35575173e-03 -1.53785167e-02 4.44950424e+00] [ 2.42456532e-03 9.99987126e-01 4.45754781e-03 9.69246620e-02] [ 1.53678179e-02 -4.49429452e-03 9.99871808e-01 1.06311517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02255784400006 meters Centerline goodness [0,1] 0.2618213469698618 Centerline is valid? [False, False] Translation: X:4.47, Y:0.10, Z:1.06 [[ 9.99900343e-01 4.91284356e-03 -1.32351293e-02 4.46958869e+00] [-4.89413014e-03 9.99986978e-01 1.44593844e-03 9.69003930e-02] [ 1.32420606e-02 -1.38101989e-03 9.99911366e-01 1.06314126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05255784400003 meters Centerline goodness [0,1] 0.26572458353478967 Centerline is valid? [False, False] Translation: X:4.47, Y:0.10, Z:1.06 [[ 9.99901176e-01 4.88588245e-03 -1.31820420e-02 4.46917898e+00] [-4.86746866e-03 9.99987133e-01 1.42860614e-03 9.68903340e-02] [ 1.31888524e-02 -1.36430178e-03 9.99912093e-01 1.06360600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08255784400006 meters Centerline goodness [0,1] 0.26191561896076265 Centerline is valid? [False, False] Translation: X:4.49, Y:0.10, Z:1.06 [[ 9.99918874e-01 -2.55582513e-03 -1.24784849e-02 4.48860513e+00] [ 2.58332938e-03 9.99994268e-01 2.18851284e-03 1.02578159e-01] [ 1.24728199e-02 -2.22057133e-03 9.99919746e-01 1.06495887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11255784400004 meters Centerline goodness [0,1] 0.26237731260314423 Centerline is valid? [False, False] Translation: X:4.49, Y:0.10, Z:1.06 [[ 9.99918146e-01 -2.59116830e-03 -1.25294583e-02 4.48869036e+00] [ 2.61759258e-03 9.99994384e-01 2.09303346e-03 1.03069931e-01] [ 1.25239645e-02 -2.12565915e-03 9.99919313e-01 1.06499104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14255784400007 meters Centerline goodness [0,1] 0.26263439690070955 Centerline is valid? [False, False] Translation: X:4.49, Y:0.10, Z:1.06 [[ 9.99916082e-01 -2.66713703e-03 -1.26773303e-02 4.48942467e+00] [ 2.69209726e-03 9.99994471e-01 1.95222982e-03 1.03626806e-01] [ 1.26720533e-02 -1.98619460e-03 9.99917734e-01 1.06435463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17255784400004 meters Centerline goodness [0,1] 0.26206716774557937 Centerline is valid? [False, False] Translation: X:4.49, Y:0.10, Z:1.06 [[ 9.99911855e-01 -2.78739143e-03 -1.29812616e-02 4.49053400e+00] [ 2.81050584e-03 9.99994497e-01 1.76269589e-03 1.04283724e-01] [ 1.29762768e-02 -1.79902443e-03 9.99914186e-01 1.06374367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20255784400007 meters Centerline goodness [0,1] 0.2644579365772691 Centerline is valid? [False, False] Translation: X:4.49, Y:0.10, Z:1.06 [[ 9.99913157e-01 -2.77115689e-03 -1.28840984e-02 4.48995930e+00] [ 2.79370617e-03 9.99994597e-01 1.73249493e-03 1.04645702e-01] [ 1.28792277e-02 -1.76833886e-03 9.99915496e-01 1.06428422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23255784400004 meters Centerline goodness [0,1] 0.2631693703122274 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99916962e-01 -2.71269219e-03 -1.25980134e-02 4.48869480e+00] [ 2.73428662e-03 9.99994822e-01 1.69720594e-03 1.05262008e-01] [ 1.25933441e-02 -1.73151158e-03 9.99919202e-01 1.06518630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26255784400007 meters Centerline goodness [0,1] 0.26270392716342483 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99920249e-01 -2.70888440e-03 -1.23352082e-02 4.48771645e+00] [ 2.72800435e-03 9.99995103e-01 1.53346840e-03 1.06370333e-01] [ 1.23309938e-02 -1.56699661e-03 9.99922743e-01 1.06573882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29255784400004 meters Centerline goodness [0,1] 0.26311097582188203 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99921145e-01 -2.76070084e-03 -1.22507781e-02 4.48759558e+00] [ 2.77569732e-03 9.99995419e-01 1.20729109e-03 1.08154744e-01] [ 1.22473890e-02 -1.24120034e-03 9.99924228e-01 1.06553935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3225578440001 meters Centerline goodness [0,1] 0.26266440942831093 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.06 [[ 9.99918279e-01 -2.82963127e-03 -1.24671034e-02 4.48863098e+00] [ 2.83902816e-03 9.99995699e-01 7.36101505e-04 1.10704583e-01] [ 1.24649669e-02 -7.71435808e-04 9.99922012e-01 1.06459230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35255784400005 meters Centerline goodness [0,1] 0.26114801788893227 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.06 [[ 9.99914437e-01 -4.45237546e-05 -1.30811892e-02 4.49263221e+00] [ 7.92222593e-05 9.99996480e-01 2.65204350e-03 1.16667765e-01] [ 1.30810251e-02 -2.65285290e-03 9.99910921e-01 1.06131336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3825578440001 meters Centerline goodness [0,1] 0.2583227528029439 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.06 [[ 9.99916232e-01 -1.77168239e-04 -1.29420905e-02 4.49229943e+00] [ 2.03535155e-04 9.99997907e-01 2.03601086e-03 1.19917691e-01] [ 1.29417027e-02 -2.03847448e-03 9.99914175e-01 1.06114545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41255784400005 meters Centerline goodness [0,1] 0.2549451018925962 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.06 [[ 9.99918980e-01 -3.62342176e-04 -1.27240638e-02 4.49148663e+00] [ 3.80745135e-04 9.99998885e-01 1.44391877e-03 1.22955174e-01] [ 1.27235264e-02 -1.44864641e-03 9.99918003e-01 1.06147620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442557844 meters Centerline goodness [0,1] 0.261315578303585 Centerline is valid? [False, False] Translation: X:4.44, Y:0.12, Z:1.06 [[ 9.99881562e-01 -1.22574548e-03 -1.53414345e-02 4.44428922e+00] [ 1.25827444e-03 9.99996981e-01 2.11086121e-03 1.21592173e-01] [ 1.53388008e-02 -2.12991494e-03 9.99880085e-01 1.06358556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47255784400005 meters Centerline goodness [0,1] 0.24988711862220214 Centerline is valid? [False, False] Translation: X:4.44, Y:0.13, Z:1.06 [[ 9.99881610e-01 -1.57787372e-03 -1.53061035e-02 4.44429899e+00] [ 1.59550498e-03 9.99998078e-01 1.13976770e-03 1.26603824e-01] [ 1.53042757e-02 -1.16405373e-03 9.99882205e-01 1.06326991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502557844 meters Centerline goodness [0,1] 0.25764098148945325 Centerline is valid? [False, False] Translation: X:4.44, Y:0.13, Z:1.06 [[ 9.99882120e-01 -1.75858432e-03 -1.52529938e-02 4.44438621e+00] [ 1.76994222e-03 9.99998166e-01 7.31166517e-04 1.28439404e-01] [ 1.52516800e-02 -7.58077244e-04 9.99883399e-01 1.06285141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53255784400005 meters Centerline goodness [0,1] 0.25920175949285207 Centerline is valid? [False, False] Translation: X:4.44, Y:0.13, Z:1.06 [[ 9.99883692e-01 -1.93214859e-03 -1.51284106e-02 4.44423508e+00] [ 1.93743852e-03 9.99998067e-01 3.35020122e-04 1.30276816e-01] [ 1.51277341e-02 -3.64291522e-04 9.99885503e-01 1.06251760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562557844 meters Centerline goodness [0,1] 0.2589281867918839 Centerline is valid? [False, False] Translation: X:4.44, Y:0.13, Z:1.06 [[ 9.99884512e-01 -2.07417230e-03 -1.50552224e-02 4.44412971e+00] [ 2.07446773e-03 9.99997848e-01 4.00589353e-06 1.31915994e-01] [ 1.50551817e-02 -3.52370039e-05 9.99886664e-01 1.06235270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59255784400005 meters Centerline goodness [0,1] 0.2595442885166742 Centerline is valid? [False, False] Translation: X:4.44, Y:0.13, Z:1.06 [[ 9.99884795e-01 -2.22816793e-03 -1.50143941e-02 4.44406905e+00] [ 2.22297520e-03 9.99997463e-01 -3.62530678e-04 1.33697950e-01] [ 1.50151638e-02 3.29112286e-04 9.99887212e-01 1.06222672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622557844 meters Centerline goodness [0,1] 0.2618001601488952 Centerline is valid? [False, False] Translation: X:4.44, Y:0.14, Z:1.06 [[ 9.99885249e-01 -2.52804240e-03 -1.49364884e-02 4.44360349e+00] [ 2.51127384e-03 9.99996195e-01 -1.14130619e-03 1.37730279e-01] [ 1.49393168e-02 1.10366561e-03 9.99887793e-01 1.06251068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65255784400006 meters Centerline goodness [0,1] 0.26284894338638143 Centerline is valid? [False, False] Translation: X:4.44, Y:0.14, Z:1.06 [[ 9.99886325e-01 -2.67962375e-03 -1.48376533e-02 4.44342141e+00] [ 2.65635283e-03 9.99995211e-01 -1.58785512e-03 1.40093496e-01] [ 1.48418371e-02 1.54826058e-03 9.99888655e-01 1.06234791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68255784400003 meters Centerline goodness [0,1] 0.26298460599188866 Centerline is valid? [False, False] Translation: X:4.44, Y:0.14, Z:1.06 [[ 9.99884666e-01 -2.88389582e-03 -1.49110267e-02 4.44376826e+00] [ 2.85248470e-03 9.99993669e-01 -2.12740908e-03 1.42751063e-01] [ 1.49170675e-02 2.08463024e-03 9.99886561e-01 1.06200768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71255784400006 meters Centerline goodness [0,1] 0.2591324200913242 Centerline is valid? [False, False] Translation: X:4.46, Y:0.14, Z:1.06 [[ 9.99886874e-01 5.82826264e-03 -1.38661541e-02 4.46424636e+00] [-5.87854124e-03 9.99976284e-01 -3.58800312e-03 1.43741209e-01] [ 1.38449134e-02 3.66910999e-03 9.99897423e-01 1.06223718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74255784400003 meters Centerline goodness [0,1] 0.262472037008883 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99949769e-01 -1.63702855e-04 -1.00216315e-02 4.44847873e+00] [ 1.35528758e-04 9.99996037e-01 -2.81194287e-03 1.51542739e-01] [ 1.00220521e-02 2.81044340e-03 9.99945828e-01 1.05779884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77255784400006 meters Centerline goodness [0,1] 0.26122998133761555 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99949041e-01 -3.13848488e-04 -1.00904519e-02 4.44864781e+00] [ 2.82536826e-04 9.99995142e-01 -3.10437385e-03 1.52862393e-01] [ 1.00913772e-02 3.10136473e-03 9.99944271e-01 1.05778334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80255784400003 meters Centerline goodness [0,1] 0.2632895967970059 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99946216e-01 -5.10756968e-04 -1.03588040e-02 4.44939430e+00] [ 4.75374635e-04 9.99994046e-01 -3.41785209e-03 1.54034126e-01] [ 1.03604880e-02 3.41274395e-03 9.99940505e-01 1.05762720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83255784400006 meters Centerline goodness [0,1] 0.2633502273073326 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99943431e-01 -6.70936008e-04 -1.06152645e-02 4.44993836e+00] [ 6.33119888e-04 9.99993444e-01 -3.56538791e-03 1.54407678e-01] [ 1.06175871e-02 3.55846549e-03 9.99937300e-01 1.05778362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86255784400004 meters Centerline goodness [0,1] 0.2634256642170718 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99942987e-01 -7.60883472e-04 -1.06510433e-02 4.44968527e+00] [ 7.23035318e-04 9.99993413e-01 -3.55686898e-03 1.54147149e-01] [ 1.06536795e-02 3.54896511e-03 9.99936950e-01 1.05840152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89255784400007 meters Centerline goodness [0,1] 0.26328596880024335 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99945434e-01 -8.50409165e-04 -1.04118319e-02 4.44871164e+00] [ 8.13557427e-04 9.99993392e-01 -3.54313354e-03 1.53920860e-01] [ 1.04147763e-02 3.53446958e-03 9.99939518e-01 1.05909954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92255784400004 meters Centerline goodness [0,1] 0.26347007251867083 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99943194e-01 -1.11244283e-03 -1.06005293e-02 4.44929554e+00] [ 1.07308517e-03 9.99992513e-01 -3.71776592e-03 1.54274045e-01] [ 1.06045858e-02 3.70617945e-03 9.99936902e-01 1.05896459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95255784400007 meters Centerline goodness [0,1] 0.2646911428260159 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99941751e-01 -1.16431220e-03 -1.07302587e-02 4.44982096e+00] [ 1.12367157e-03 9.99992176e-01 -3.79273005e-03 1.54620782e-01] [ 1.07345907e-02 3.78045184e-03 9.99935236e-01 1.05856916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98255784400004 meters Centerline goodness [0,1] 0.26491698845910505 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99940950e-01 -1.16568870e-03 -1.08044810e-02 4.45006492e+00] [ 1.12448432e-03 9.99992076e-01 -3.81892906e-03 1.54917502e-01] [ 1.08088471e-02 3.80655409e-03 9.99934337e-01 1.05845005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01255784400007 meters Centerline goodness [0,1] 0.2631498935846762 Centerline is valid? [False, False] Translation: X:4.45, Y:0.16, Z:1.06 [[ 9.99940049e-01 -1.18933043e-03 -1.08850551e-02 4.45031068e+00] [ 1.14729718e-03 9.99991865e-01 -3.86698634e-03 1.55217136e-01] [ 1.08895656e-02 3.85426612e-03 9.99933279e-01 1.05838100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04255784400004 meters Centerline goodness [0,1] 0.26299068674384196 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99937217e-01 -1.27520036e-03 -1.11326710e-02 4.45084757e+00] [ 1.23195202e-03 9.99991672e-01 -3.89080647e-03 1.54622645e-01] [ 1.11375399e-02 3.87684728e-03 9.99930460e-01 1.05856330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0725578440001 meters Centerline goodness [0,1] 0.26158847112363204 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99935871e-01 -1.28653780e-03 -1.12516160e-02 4.45101512e+00] [ 1.24341648e-03 9.99991859e-01 -3.83861133e-03 1.53987781e-01] [ 1.12564629e-02 3.82437472e-03 9.99929331e-01 1.05879268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10255784400005 meters Centerline goodness [0,1] 0.25976486800740706 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99935114e-01 -1.29579118e-03 -1.13175948e-02 4.45128200e+00] [ 1.25237034e-03 9.99991832e-01 -3.84282322e-03 1.53860178e-01] [ 1.13224818e-02 3.82840006e-03 9.99928570e-01 1.05860467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1325578440001 meters Centerline goodness [0,1] 0.26230293528438287 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99934700e-01 -1.27463070e-03 -1.13565121e-02 4.45147769e+00] [ 1.23098627e-03 9.99991834e-01 -3.84928105e-03 1.54017558e-01] [ 1.13613258e-02 3.83504998e-03 9.99928104e-01 1.05841122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16255784400005 meters Centerline goodness [0,1] 0.25909159499019163 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99933891e-01 -1.21246050e-03 -1.14342759e-02 4.45190657e+00] [ 1.16913816e-03 9.99992117e-01 -3.79473703e-03 1.54005057e-01] [ 1.14387867e-02 3.78111792e-03 9.99927426e-01 1.05800756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.192557844 meters Centerline goodness [0,1] 0.26317739896237524 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99934378e-01 -1.15640276e-03 -1.13974821e-02 4.45190465e+00] [ 1.11440891e-03 9.99992570e-01 -3.69014683e-03 1.53496295e-01] [ 1.14016648e-02 3.67720322e-03 9.99928238e-01 1.05786305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22255784400005 meters Centerline goodness [0,1] 0.26300892662747655 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99938237e-01 -9.05163902e-04 -1.10771652e-02 4.45079736e+00] [ 8.70841309e-04 9.99994807e-01 -3.10293088e-03 1.50668467e-01] [ 1.10799163e-02 3.09309278e-03 9.99933832e-01 1.05838079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.252557844 meters Centerline goodness [0,1] 0.2615683732987686 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99939259e-01 -7.34043412e-04 -1.09972450e-02 4.45037291e+00] [ 7.03872859e-04 9.99995979e-01 -2.74708394e-03 1.49176856e-01] [ 1.09992173e-02 2.73917641e-03 9.99935755e-01 1.05874614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28255784400005 meters Centerline goodness [0,1] 0.25809439693242286 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99939617e-01 -5.66781074e-04 -1.09745328e-02 4.45020134e+00] [ 5.40880152e-04 9.99997062e-01 -2.36291764e-03 1.47480081e-01] [ 1.09758398e-02 2.35683905e-03 9.99936986e-01 1.05896085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.312557844 meters Centerline goodness [0,1] 0.2610590684361176 Centerline is valid? [False, False] Translation: X:4.45, Y:0.15, Z:1.06 [[ 9.99937481e-01 -4.50069371e-04 -1.11728325e-02 4.45076587e+00] [ 4.27685203e-04 9.99997897e-01 -2.00575453e-03 1.45660047e-01] [ 1.11737117e-02 2.00085067e-03 9.99935570e-01 1.05888294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34255784400005 meters Centerline goodness [0,1] 0.259032892037233 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99935293e-01 -3.43119994e-04 -1.13707003e-02 4.45146513e+00] [ 3.24714322e-04 9.99998634e-01 -1.62049957e-03 1.43513880e-01] [ 1.13712408e-02 1.61670248e-03 9.99934038e-01 1.05857918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.372557844 meters Centerline goodness [0,1] 0.25997926386728876 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99935079e-01 -7.72260352e-05 -1.13943807e-02 4.45133830e+00] [ 6.79230964e-05 9.99999664e-01 -8.16834438e-04 1.39457481e-01] [ 1.13944400e-02 8.16007466e-04 9.99934748e-01 1.05893679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40255784400006 meters Centerline goodness [0,1] 0.2604231957983012 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99937649e-01 7.81305641e-05 -1.11665756e-02 4.45051196e+00] [-8.31663926e-05 9.99999895e-01 -4.50509754e-04 1.37815106e-01] [ 1.11665392e-02 4.51410348e-04 9.99937550e-01 1.05938006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43255784400003 meters Centerline goodness [0,1] 0.2530413097690556 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99938019e-01 1.77444504e-04 -1.11322065e-02 4.45031471e+00] [-1.79913196e-04 9.99999959e-01 -2.20760157e-04 1.36709846e-01] [ 1.11321669e-02 2.22749305e-04 9.99938011e-01 1.05957946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46255784400006 meters Centerline goodness [0,1] 0.26070888264534253 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99937086e-01 1.79327183e-04 -1.12157005e-02 4.45077931e+00] [-1.81678830e-04 9.99999962e-01 -2.08656095e-04 1.36500317e-01] [ 1.12156626e-02 2.10680623e-04 9.99937080e-01 1.05914704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49255784400003 meters Centerline goodness [0,1] 0.25722593150979967 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99933886e-01 1.95410841e-04 -1.14971950e-02 4.45213562e+00] [-2.00097576e-04 9.99999897e-01 -4.06492651e-04 1.37699317e-01] [ 1.14971144e-02 4.08766337e-04 9.99933822e-01 1.05801557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52255784400006 meters Centerline goodness [0,1] 0.26232073011734025 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99935423e-01 1.78551912e-04 -1.13630490e-02 4.45185710e+00] [-1.84379982e-04 9.99999852e-01 -5.11851198e-04 1.38421022e-01] [ 1.13629560e-02 5.13913263e-04 9.99935307e-01 1.05791456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55255784400003 meters Centerline goodness [0,1] 0.2532037405836003 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99938050e-01 1.54622265e-04 -1.11297535e-02 4.45108174e+00] [-1.61556892e-04 9.99999793e-01 -6.22174670e-04 1.39063033e-01] [ 1.11296550e-02 6.23934215e-04 9.99937869e-01 1.05822393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58255784400006 meters Centerline goodness [0,1] 0.26107145181938507 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99939579e-01 1.24727598e-04 -1.09919720e-02 4.45048962e+00] [-1.32533994e-04 9.99999740e-01 -7.09465144e-04 1.39481789e-01] [ 1.09918806e-02 7.10879087e-04 9.99939335e-01 1.05861797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61255784400004 meters Centerline goodness [0,1] 0.26091572948492925 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99939362e-01 8.07723027e-05 -1.10120964e-02 4.45047890e+00] [-8.93427307e-05 9.99999694e-01 -7.77784258e-04 1.39747456e-01] [ 1.10120302e-02 7.78720945e-04 9.99939063e-01 1.05870350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64255784400007 meters Centerline goodness [0,1] 0.2619021584621777 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99938522e-01 3.23766966e-05 -1.10883191e-02 4.45077952e+00] [-4.19453853e-05 9.99999627e-01 -8.62720664e-04 1.40157087e-01] [ 1.10882870e-02 8.63132730e-04 9.99938151e-01 1.05847982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67255784400004 meters Centerline goodness [0,1] 0.26141222948186416 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99930025e-01 -2.63127304e-04 -1.18269487e-02 4.45309323e+00] [ 2.50433300e-04 9.99999391e-01 -1.07478001e-03 1.40475968e-01] [ 1.18272243e-02 1.07174294e-03 9.99929482e-01 1.05764145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70255784400007 meters Centerline goodness [0,1] 0.2587125871258713 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99926823e-01 -3.83898311e-04 -1.20913955e-02 4.45388327e+00] [ 3.70707852e-04 9.99999334e-01 -1.09311869e-03 1.40074669e-01] [ 1.20918071e-02 1.08855632e-03 9.99926299e-01 1.05744367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73255784400004 meters Centerline goodness [0,1] 0.261059837947918 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99926206e-01 -4.16667475e-04 -1.21412468e-02 4.45385511e+00] [ 4.04964483e-04 9.99999451e-01 -9.66346169e-04 1.39147815e-01] [ 1.21416428e-02 9.61358085e-04 9.99925825e-01 1.05769240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76255784400007 meters Centerline goodness [0,1] 0.2612213906063564 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99926266e-01 -4.30068860e-04 -1.21357612e-02 4.45351916e+00] [ 4.19751505e-04 9.99999548e-01 -8.52695669e-04 1.38441234e-01] [ 1.21361224e-02 8.47538793e-04 9.99925995e-01 1.05822798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79255784400004 meters Centerline goodness [0,1] 0.26045050898852073 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99926278e-01 -4.14808484e-04 -1.21353805e-02 4.45332928e+00] [ 4.05683107e-04 9.99999633e-01 -7.54416638e-04 1.38067887e-01] [ 1.21356890e-02 7.49437902e-04 9.99926079e-01 1.05854774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8225578440001 meters Centerline goodness [0,1] 0.26045050898852073 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99926278e-01 -4.14808484e-04 -1.21353805e-02 4.45332928e+00] [ 4.05683107e-04 9.99999633e-01 -7.54416638e-04 1.38067887e-01] [ 1.21356890e-02 7.49437902e-04 9.99926079e-01 1.05854774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85255784400005 meters Centerline goodness [0,1] 0.26046933748217294 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99925477e-01 -4.51590967e-04 -1.21998858e-02 4.45332896e+00] [ 4.44306541e-04 9.99999721e-01 -5.99793375e-04 1.37212952e-01] [ 1.22001532e-02 5.94328188e-04 9.99925399e-01 1.05885426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8825578440001 meters Centerline goodness [0,1] 0.2593581735946586 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99923617e-01 -5.11282392e-04 -1.23490658e-02 4.45373021e+00] [ 5.04540227e-04 9.99999722e-01 -5.49074828e-04 1.36578678e-01] [ 1.23493431e-02 5.42802287e-04 9.99923597e-01 1.05881302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91255784400005 meters Centerline goodness [0,1] 0.2598100854182023 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99921233e-01 -5.24021528e-04 -1.25400368e-02 4.45423827e+00] [ 5.18222332e-04 9.99999757e-01 -4.65699416e-04 1.36011473e-01] [ 1.25402778e-02 4.59164207e-04 9.99921262e-01 1.05869755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942557844 meters Centerline goodness [0,1] 0.25859232966842693 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:1.06 [[ 9.99920364e-01 -4.51060913e-04 -1.26119811e-02 4.45439781e+00] [ 4.48059129e-04 9.99999871e-01 -2.40834994e-04 1.35080910e-01] [ 1.26120881e-02 2.35164901e-04 9.99920437e-01 1.05869631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97255784400005 meters Centerline goodness [0,1] 0.2616803997194951 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:1.06 [[ 9.99871234e-01 -9.33518370e-03 -1.30525433e-02 4.43077472e+00] [ 9.35672150e-03 9.99954961e-01 1.58999073e-03 1.33503569e-01] [ 1.30371126e-02 -1.71191501e-03 9.99913548e-01 1.05975812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002557844 meters Centerline goodness [0,1] 0.2641756229425999 Centerline is valid? [False, False] Translation: X:4.45, Y:0.13, Z:1.06 [[ 9.99921461e-01 -1.69553634e-03 -1.24176232e-02 4.44898401e+00] [ 1.69000711e-03 9.99998468e-01 -4.55753061e-04 1.27195705e-01] [ 1.24183769e-02 4.34731395e-04 9.99922794e-01 1.06196544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03255784400005 meters Centerline goodness [0,1] 0.24739650572338412 Centerline is valid? [False, False] Translation: X:4.47, Y:0.12, Z:1.06 [[ 9.99931951e-01 4.00442395e-03 -1.09570903e-02 4.47039024e+00] [-4.05090654e-03 9.99982877e-01 -4.22333855e-03 1.23743731e-01] [ 1.09399907e-02 4.26743731e-03 9.99931050e-01 1.06159081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062557844 meters Centerline goodness [0,1] 0.2599150448615145 Centerline is valid? [False, False] Translation: X:4.47, Y:0.12, Z:1.06 [[ 9.99931576e-01 4.10955261e-03 -1.09524317e-02 4.47019488e+00] [-4.15169313e-03 9.99984056e-01 -3.82763997e-03 1.21629137e-01] [ 1.09365272e-02 3.87284920e-03 9.99932694e-01 1.06188127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09255784400005 meters Centerline goodness [0,1] 0.26220029128535094 Centerline is valid? [False, False] Translation: X:4.47, Y:0.12, Z:1.06 [[ 9.99931781e-01 4.25158136e-03 -1.08792362e-02 4.46979608e+00] [-4.29009660e-03 9.99984604e-01 -3.51936750e-03 1.20414552e-01] [ 1.08641059e-02 3.56580038e-03 9.99934626e-01 1.06223442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122557844 meters Centerline goodness [0,1] 0.25920805340130915 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99927599e-01 -1.07762680e-03 -1.19847683e-02 4.48540681e+00] [ 1.06205434e-03 9.99998584e-01 -1.30564345e-03 1.24958183e-01] [ 1.19861584e-02 1.29282045e-03 9.99927328e-01 1.06576592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15255784400006 meters Centerline goodness [0,1] 0.25976245592021285 Centerline is valid? [False, False] Translation: X:4.49, Y:0.13, Z:1.07 [[ 9.99926479e-01 -1.09953676e-03 -1.20759298e-02 4.48586864e+00] [ 1.08277579e-03 9.99998442e-01 -1.39441533e-03 1.25346065e-01] [ 1.20774441e-02 1.38123729e-03 9.99926111e-01 1.06539080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18255784400003 meters Centerline goodness [0,1] 0.2624415697358409 Centerline is valid? [False, False] Translation: X:4.49, Y:0.13, Z:1.07 [[ 9.99926928e-01 -1.12681795e-03 -1.20361748e-02 4.48584108e+00] [ 1.10880399e-03 9.99998255e-01 -1.50322031e-03 1.25800708e-01] [ 1.20378476e-02 1.48976471e-03 9.99926433e-01 1.06523091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21255784400006 meters Centerline goodness [0,1] 0.2595522420407014 Centerline is valid? [False, False] Translation: X:4.49, Y:0.13, Z:1.07 [[ 9.99926656e-01 -1.14661832e-03 -1.20568473e-02 4.48589318e+00] [ 1.12774574e-03 9.99998129e-01 -1.57198222e-03 1.26118277e-01] [ 1.20586272e-02 1.55826986e-03 9.99926078e-01 1.06518867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24255784400003 meters Centerline goodness [0,1] 0.259271300691419 Centerline is valid? [False, False] Translation: X:4.49, Y:0.13, Z:1.07 [[ 9.99926291e-01 -1.07536214e-03 -1.20936334e-02 4.48592303e+00] [ 1.05873273e-03 9.99998485e-01 -1.38137329e-03 1.25335048e-01] [ 1.20951005e-02 1.36846755e-03 9.99925915e-01 1.06524637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27255784400006 meters Centerline goodness [0,1] 0.26086956521739135 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99926353e-01 -1.03336431e-03 -1.20921908e-02 4.48586946e+00] [ 1.01870750e-03 9.99998739e-01 -1.21818540e-03 1.24505372e-01] [ 1.20934344e-02 1.20577728e-03 9.99926145e-01 1.06529789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30255784400003 meters Centerline goodness [0,1] 0.2622359384508389 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99925929e-01 -1.04707047e-03 -1.21260058e-02 4.48582575e+00] [ 1.03351439e-03 9.99998834e-01 -1.12414675e-03 1.23848403e-01] [ 1.21271687e-02 1.11153109e-03 9.99925845e-01 1.06548582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33255784400006 meters Centerline goodness [0,1] 0.25018906246623884 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99925080e-01 -1.07506933e-03 -1.21933507e-02 4.48590995e+00] [ 1.06302864e-03 9.99998941e-01 -9.93917759e-04 1.22951808e-01] [ 1.21944064e-02 9.80881414e-04 9.99925164e-01 1.06558832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36255784400004 meters Centerline goodness [0,1] 0.25713424220886905 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99921200e-01 -1.44450465e-03 -1.24702673e-02 4.48662712e+00] [ 1.43158151e-03 9.99998429e-01 -1.04518005e-03 1.22205476e-01] [ 1.24717575e-02 1.02724548e-03 9.99921697e-01 1.06548954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39255784400007 meters Centerline goodness [0,1] 0.26071335249542726 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99919388e-01 -1.49483432e-03 -1.26088799e-02 4.48682380e+00] [ 1.48387938e-03 9.99998513e-01 -8.78138204e-04 1.21142226e-01] [ 1.26101739e-02 8.59357358e-04 9.99920119e-01 1.06569751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42255784400004 meters Centerline goodness [0,1] 0.262511493497964 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99919269e-01 -1.58062479e-03 -1.26077923e-02 4.48656000e+00] [ 1.57166207e-03 9.99998505e-01 -7.20763714e-04 1.20063323e-01] [ 1.26089127e-02 7.00890337e-04 9.99920259e-01 1.06612042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45255784400007 meters Centerline goodness [0,1] 0.26251145337929227 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99916312e-01 -1.67471846e-03 -1.28282275e-02 4.48680396e+00] [ 1.66845782e-03 9.99998484e-01 -4.98723246e-04 1.18648145e-01] [ 1.28290432e-02 4.77278152e-04 9.99917591e-01 1.06655982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48255784400004 meters Centerline goodness [0,1] 0.2616454733181176 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99915426e-01 -1.74170717e-03 -1.28882354e-02 4.48686469e+00] [ 1.73805579e-03 9.99998446e-01 -2.94506765e-04 1.17456665e-01] [ 1.28887283e-02 2.72081385e-04 9.99916900e-01 1.06662634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51255784400007 meters Centerline goodness [0,1] 0.2506984903944034 Centerline is valid? [False, False] Translation: X:4.49, Y:0.12, Z:1.07 [[ 9.99917457e-01 -2.39080527e-03 -1.26239054e-02 4.48638746e+00] [ 2.38696194e-03 9.99997100e-01 -3.19507232e-04 1.15672845e-01] [ 1.26246327e-02 2.89348077e-04 9.99920264e-01 1.06640205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54255784400004 meters Centerline goodness [0,1] 0.25026084688287975 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99913619e-01 -2.58677471e-03 -1.28865367e-02 4.48709224e+00] [ 2.58501027e-03 9.99996647e-01 -1.53575704e-04 1.14034295e-01] [ 1.28868908e-02 1.20250608e-04 9.99916953e-01 1.06624137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5725578440001 meters Centerline goodness [0,1] 0.2594722451282496 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99907407e-01 -2.75457750e-03 -1.33263027e-02 4.48818263e+00] [ 2.75558531e-03 9.99996202e-01 5.72647658e-05 1.12235857e-01] [ 1.33260944e-02 -9.39812276e-05 9.99911199e-01 1.06614036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60255784400005 meters Centerline goodness [0,1] 0.2505752116344693 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99902944e-01 -2.78726021e-03 -1.36503877e-02 4.48895511e+00] [ 2.79270742e-03 9.99996028e-01 3.80006296e-04 1.10322598e-01] [ 1.36492743e-02 -4.18090953e-04 9.99906757e-01 1.06609024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6325578440001 meters Centerline goodness [0,1] 0.24975520595339118 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99901325e-01 -2.75635787e-03 -1.37747040e-02 4.48936025e+00] [ 2.76529710e-03 9.99995978e-01 6.29955647e-04 1.09046882e-01] [ 1.37729122e-02 -6.67984635e-04 9.99904926e-01 1.06586345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66255784400005 meters Centerline goodness [0,1] 0.25018998197885234 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99905064e-01 -2.78067721e-03 -1.34956188e-02 4.48844468e+00] [ 2.79375498e-03 9.99995646e-01 9.50282611e-04 1.07152224e-01] [ 1.34929176e-02 -9.87895847e-04 9.99908478e-01 1.06623293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.692557844 meters Centerline goodness [0,1] 0.2508090263449384 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99907238e-01 -2.76897245e-03 -1.33359567e-02 4.48776665e+00] [ 2.78304700e-03 9.99995590e-01 1.03694135e-03 1.06594149e-01] [ 1.33330266e-02 -1.07395976e-03 9.99910535e-01 1.06665655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72255784400005 meters Centerline goodness [0,1] 0.249009890276365 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99908284e-01 -2.74931584e-03 -1.32614008e-02 4.48756308e+00] [ 2.76418302e-03 9.99995571e-01 1.10288832e-03 1.06295639e-01] [ 1.32583099e-02 -1.13944411e-03 9.99911456e-01 1.06667540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.752557844 meters Centerline goodness [0,1] 0.25845337046868877 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99907991e-01 -2.74623489e-03 -1.32841144e-02 4.48783116e+00] [ 2.76128537e-03 9.99995566e-01 1.11475966e-03 1.06268287e-01] [ 1.32809941e-02 -1.15133832e-03 9.99911141e-01 1.06630459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78255784400005 meters Centerline goodness [0,1] 0.24712618934860286 Centerline is valid? [False, False] Translation: X:4.51, Y:0.10, Z:1.07 [[ 9.99903951e-01 5.63664234e-03 -1.26616096e-02 4.50754850e+00] [-5.64110809e-03 9.99984039e-01 -3.17013057e-04 1.01587670e-01] [ 1.26596206e-02 3.88408117e-04 9.99919788e-01 1.06702376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.812557844 meters Centerline goodness [0,1] 0.25119627631807895 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99917761e-01 -3.08341176e-03 -1.24484104e-02 4.48758950e+00] [ 3.09361931e-03 9.99994894e-01 8.00815562e-04 1.07019022e-01] [ 1.24458776e-02 -8.39260347e-04 9.99922195e-01 1.06607546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84255784400005 meters Centerline goodness [0,1] 0.2509012726404031 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99920633e-01 -3.03236409e-03 -1.22283279e-02 4.48682729e+00] [ 3.04245214e-03 9.99995047e-01 8.06455602e-04 1.07269140e-01] [ 1.22258218e-02 -8.43595698e-04 9.99924906e-01 1.06645193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.872557844 meters Centerline goodness [0,1] 0.2611907676167162 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99922601e-01 -3.04940271e-03 -1.20620582e-02 4.48635064e+00] [ 3.05810534e-03 9.99995077e-01 7.03109565e-04 1.07880714e-01] [ 1.20598547e-02 -7.39942190e-04 9.99927004e-01 1.06654592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90255784400006 meters Centerline goodness [0,1] 0.25983459502034745 Centerline is valid? [False, False] Translation: X:4.49, Y:0.11, Z:1.07 [[ 9.99921181e-01 -3.10011598e-03 -1.21664122e-02 4.48694125e+00] [ 3.10724621e-03 9.99995012e-01 5.67199730e-04 1.08521111e-01] [ 1.21645931e-02 -6.04959061e-04 9.99925826e-01 1.06594832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93255784400003 meters Centerline goodness [0,1] 0.2495998615737336 Centerline is valid? [False, False] Translation: X:4.51, Y:0.11, Z:1.07 [[ 9.99909704e-01 5.51324317e-03 -1.22550928e-02 4.50769262e+00] [-5.52260491e-03 9.99984484e-01 -7.30195759e-04 1.05235430e-01] [ 1.22508769e-02 7.97809862e-04 9.99924637e-01 1.06636653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96255784400006 meters Centerline goodness [0,1] 0.24920992250746787 Centerline is valid? [False, False] Translation: X:4.51, Y:0.11, Z:1.07 [[ 9.99908176e-01 5.39113706e-03 -1.24328189e-02 4.50849722e+00] [-5.40537993e-03 9.99984772e-01 -1.11226773e-03 1.07220140e-01] [ 1.24266332e-02 1.17936970e-03 9.99922091e-01 1.06580447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99255784400003 meters Centerline goodness [0,1] 0.25847125435540075 Centerline is valid? [False, False] Translation: X:4.51, Y:0.11, Z:1.07 [[ 9.99912264e-01 5.30394837e-03 -1.21380420e-02 4.50753165e+00] [-5.32589219e-03 9.99984240e-01 -1.77624558e-03 1.11204946e-01] [ 1.21284296e-02 1.84073564e-03 9.99924754e-01 1.06629194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02255784400006 meters Centerline goodness [0,1] 0.2609512573463547 Centerline is valid? [False, False] Translation: X:4.51, Y:0.11, Z:1.07 [[ 9.99915080e-01 5.15578832e-03 -1.19687228e-02 4.50686420e+00] [-5.18207681e-03 9.99984226e-01 -2.16645975e-03 1.12963182e-01] [ 1.19573642e-02 2.22829862e-03 9.99926025e-01 1.06674226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05255784400003 meters Centerline goodness [0,1] 0.24906549123830513 Centerline is valid? [False, False] Translation: X:4.53, Y:0.12, Z:1.07 [[ 9.99931748e-01 -2.48744996e-03 -1.14154359e-02 4.52634569e+00] [ 2.47012545e-03 9.99995777e-01 -1.53148813e-03 1.18773393e-01] [ 1.14191972e-02 1.50318604e-03 9.99933669e-01 1.06836403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08255784400006 meters Centerline goodness [0,1] 0.26090660841070457 Centerline is valid? [False, False] Translation: X:4.53, Y:0.12, Z:1.07 [[ 9.99932370e-01 -2.65647685e-03 -1.13224968e-02 4.52634878e+00] [ 2.63434586e-03 9.99994591e-01 -1.96906965e-03 1.20926995e-01] [ 1.13276663e-02 1.93910911e-03 9.99933960e-01 1.06796070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11255784400004 meters Centerline goodness [0,1] 0.24900662251655625 Centerline is valid? [False, False] Translation: X:4.53, Y:0.13, Z:1.06 [[ 9.99923106e-01 -6.74348059e-04 -1.23825466e-02 4.53173865e+00] [ 6.69602699e-04 9.99999701e-01 -3.87371574e-04 1.25581121e-01] [ 1.23828041e-02 3.79050400e-04 9.99923258e-01 1.06466406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14255784400007 meters Centerline goodness [0,1] 0.2488055861815509 Centerline is valid? [False, False] Translation: X:4.53, Y:0.13, Z:1.06 [[ 9.99920869e-01 -9.26163807e-04 -1.25458012e-02 4.53238431e+00] [ 9.14676749e-04 9.99999157e-01 -9.21316770e-04 1.27913212e-01] [ 1.25466439e-02 9.09768513e-04 9.99920874e-01 1.06425581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17255784400004 meters Centerline goodness [0,1] 0.25008662508662505 Centerline is valid? [False, False] Translation: X:4.53, Y:0.13, Z:1.06 [[ 9.99920034e-01 -1.14312832e-03 -1.25944078e-02 4.53240273e+00] [ 1.12563099e-03 9.99998392e-01 -1.39629447e-03 1.30003500e-01] [ 1.25959836e-02 1.38200616e-03 9.99919712e-01 1.06441256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20255784400007 meters Centerline goodness [0,1] 0.24586927599673836 Centerline is valid? [False, False] Translation: X:4.53, Y:0.13, Z:1.06 [[ 9.99921233e-01 -1.34955087e-03 -1.24782025e-02 4.53202151e+00] [ 1.32643567e-03 9.99997389e-01 -1.86053650e-03 1.32277406e-01] [ 1.24806808e-02 1.84383842e-03 9.99920413e-01 1.06452057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23255784400004 meters Centerline goodness [0,1] 0.24988565330080803 Centerline is valid? [False, False] Translation: X:4.49, Y:0.14, Z:1.07 [[ 9.99887959e-01 -1.99864841e-03 -1.48348889e-02 4.48518794e+00] [ 1.98031934e-03 9.99997258e-01 -1.25012562e-03 1.35689332e-01] [ 1.48373468e-02 1.22060773e-03 9.99889175e-01 1.06582072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26255784400007 meters Centerline goodness [0,1] 0.2518922916304158 Centerline is valid? [False, False] Translation: X:4.49, Y:0.14, Z:1.06 [[ 9.99883159e-01 -2.49693825e-03 -1.50808869e-02 4.48648258e+00] [ 2.46830287e-03 9.99995116e-01 -1.91710095e-03 1.38479453e-01] [ 1.50856001e-02 1.87965276e-03 9.99884439e-01 1.06461132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29255784400004 meters Centerline goodness [0,1] 0.24992423914455175 Centerline is valid? [False, False] Translation: X:4.49, Y:0.14, Z:1.06 [[ 9.99878109e-01 -2.73433547e-03 -1.53717298e-02 4.48739989e+00] [ 2.70169143e-03 9.99994052e-01 -2.14400650e-03 1.39100651e-01] [ 1.53775008e-02 2.10221549e-03 9.99879549e-01 1.06417786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3225578440001 meters Centerline goodness [0,1] 0.25140823544823365 Centerline is valid? [False, False] Translation: X:4.49, Y:0.14, Z:1.06 [[ 9.99875737e-01 -2.86887184e-03 -1.55009971e-02 4.48786094e+00] [ 2.83385347e-03 9.99993384e-01 -2.28059768e-03 1.39590872e-01] [ 1.55074372e-02 2.23638674e-03 9.99877251e-01 1.06383441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35255784400005 meters Centerline goodness [0,1] 0.25264356240558705 Centerline is valid? [False, False] Translation: X:4.49, Y:0.14, Z:1.06 [[ 9.99876127e-01 -2.91523581e-03 -1.54671225e-02 4.48775427e+00] [ 2.87895397e-03 9.99993053e-01 -2.36748674e-03 1.40248944e-01] [ 1.54739168e-02 2.32266434e-03 9.99877574e-01 1.06378856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3825578440001 meters Centerline goodness [0,1] 0.2608228666622827 Centerline is valid? [False, False] Translation: X:4.49, Y:0.14, Z:1.06 [[ 9.99877034e-01 -3.10406264e-03 -1.53714313e-02 4.48763558e+00] [ 3.06194634e-03 9.99991496e-01 -2.76268465e-03 1.42340285e-01] [ 1.53798761e-02 2.71527844e-03 9.99878036e-01 1.06354105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41255784400005 meters Centerline goodness [0,1] 0.24964836734252271 Centerline is valid? [False, False] Translation: X:4.51, Y:0.14, Z:1.06 [[ 9.99889249e-01 3.77747523e-03 -1.43951306e-02 4.50937213e+00] [-3.85618024e-03 9.99977748e-01 -5.44364565e-03 1.40523570e-01] [ 1.43742471e-02 5.49855298e-03 9.99881566e-01 1.06269072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442557844 meters Centerline goodness [0,1] 0.2513601503266546 Centerline is valid? [False, False] Translation: X:4.51, Y:0.14, Z:1.06 [[ 9.99888481e-01 3.66974524e-03 -1.44761115e-02 4.50977495e+00] [-3.75235785e-03 9.99976807e-01 -5.68379604e-03 1.41586654e-01] [ 1.44549177e-02 5.73748174e-03 9.99879061e-01 1.06235764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47255784400005 meters Centerline goodness [0,1] 0.2482547616995605 Centerline is valid? [False, False] Translation: X:4.53, Y:0.15, Z:1.06 [[ 9.99883950e-01 -3.89079951e-03 -1.47291705e-02 4.53016518e+00] [ 3.81835914e-03 9.99980493e-01 -4.94308831e-03 1.46845736e-01] [ 1.47481157e-02 4.88627340e-03 9.99879301e-01 1.06376290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502557844 meters Centerline goodness [0,1] 0.2514132892676987 Centerline is valid? [False, False] Translation: X:4.53, Y:0.15, Z:1.06 [[ 9.99883432e-01 -4.03845902e-03 -1.47245614e-02 4.53016460e+00] [ 3.96026631e-03 9.99977923e-01 -5.33565596e-03 1.48720584e-01] [ 1.47457841e-02 5.27672081e-03 9.99877352e-01 1.06376115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53255784400005 meters Centerline goodness [0,1] 0.2527962250961202 Centerline is valid? [False, False] Translation: X:4.53, Y:0.15, Z:1.06 [[ 9.99882925e-01 -4.19772875e-03 -1.47144371e-02 4.53007835e+00] [ 4.11297766e-03 9.99974807e-01 -5.78526126e-03 1.50898253e-01] [ 1.47383514e-02 5.72406380e-03 9.99875000e-01 1.06393055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562557844 meters Centerline goodness [0,1] 0.2512859468258275 Centerline is valid? [False, False] Translation: X:4.53, Y:0.16, Z:1.06 [[ 9.99887200e-01 -4.50312943e-03 -1.43286177e-02 4.52895209e+00] [ 4.40707678e-03 9.99967655e-01 -6.72808213e-03 1.55576916e-01] [ 1.43584516e-02 6.66417589e-03 9.99874704e-01 1.06431632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59255784400005 meters Centerline goodness [0,1] 0.26234345288833516 Centerline is valid? [False, False] Translation: X:4.53, Y:0.16, Z:1.06 [[ 0.99988916 -0.00466435 -0.01413911 4.52831401] [ 0.0045632 0.99996383 -0.0071777 0.1578081 ] [ 0.01417208 0.00711238 0.99987428 1.06460927] [ 0. 0. 0. 1. ]] SLAMing on 322.622557844 meters Centerline goodness [0,1] 0.25021641274238227 Centerline is valid? [False, False] Translation: X:4.53, Y:0.16, Z:1.06 [[ 0.99988886 -0.00482361 -0.01410705 4.52821896] [ 0.00471655 0.9999599 -0.00761273 0.16000954] [ 0.01414321 0.00754535 0.99987151 1.06465248] [ 0. 0. 0. 1. ]] SLAMing on 322.65255784400006 meters Centerline goodness [0,1] 0.2514916597709159 Centerline is valid? [False, False] Translation: X:4.53, Y:0.16, Z:1.06 [[ 0.99988546 -0.00512562 -0.01424067 4.52886734] [ 0.00500664 0.99995237 -0.00837786 0.1637954 ] [ 0.01428293 0.0083056 0.9998635 1.06417802] [ 0. 0. 0. 1. ]] SLAMing on 322.68255784400003 meters Centerline goodness [0,1] 0.25084488734835353 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988433 -0.00526391 -0.01426914 4.52895474] [ 0.00514036 0.9999491 -0.00868164 0.16513915] [ 0.01431411 0.00860729 0.9998605 1.06413914] [ 0. 0. 0. 1. ]] SLAMing on 322.71255784400006 meters Centerline goodness [0,1] 0.25084488734835353 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988433 -0.00526391 -0.01426914 4.52895474] [ 0.00514036 0.9999491 -0.00868164 0.16513915] [ 0.01431411 0.00860729 0.9998605 1.06413914] [ 0. 0. 0. 1. ]] SLAMing on 322.74255784400003 meters Centerline goodness [0,1] 0.2497246160824208 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988502 -0.00537844 -0.01417783 4.52869983] [ 0.00525205 0.99994628 -0.0089362 0.16630393] [ 0.01422513 0.00886071 0.99985956 1.06416375] [ 0. 0. 0. 1. ]] SLAMing on 322.77255784400006 meters Centerline goodness [0,1] 0.25523834468308015 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988631 -0.00547392 -0.0140497 4.52827683] [ 0.00534527 0.99994359 -0.00917862 0.16756092] [ 0.01409915 0.00910248 0.99985917 1.06430197] [ 0. 0. 0. 1. ]] SLAMing on 322.80255784400003 meters Centerline goodness [0,1] 0.24896283491789106 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988376 -0.00566921 -0.01415384 4.52874395] [ 0.00553249 0.99993784 -0.00968017 0.17029924] [ 0.01420784 0.00960074 0.99985297 1.06398149] [ 0. 0. 0. 1. ]] SLAMing on 322.83255784400006 meters Centerline goodness [0,1] 0.25042125729099163 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988026 -0.00579083 -0.0143505 4.52948655] [ 0.00564873 0.99993482 -0.00992253 0.17137738] [ 0.01440703 0.00984028 0.99984779 1.06356272] [ 0. 0. 0. 1. ]] SLAMing on 322.86255784400004 meters Centerline goodness [0,1] 0.24915452653485948 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99987829 -0.0058469 -0.0144646 4.52999465] [ 0.00570237 0.99993361 -0.01001288 0.17179112] [ 0.01452218 0.00992918 0.99984525 1.06314773] [ 0. 0. 0. 1. ]] SLAMing on 322.89255784400007 meters Centerline goodness [0,1] 0.2525910379297661 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99987964 -0.00587343 -0.01436016 4.5298268 ] [ 0.00572967 0.99993327 -0.01003144 0.17186915] [ 0.01441812 0.00994796 0.99984657 1.06295715] [ 0. 0. 0. 1. ]] SLAMing on 322.92255784400004 meters Centerline goodness [0,1] 0.251265011835733 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988081 -0.00590601 -0.01426505 4.52959408] [ 0.00576258 0.99993264 -0.01007492 0.17207057] [ 0.01432359 0.00999152 0.99984749 1.0629116 ] [ 0. 0. 0. 1. ]] SLAMing on 322.95255784400007 meters Centerline goodness [0,1] 0.2516278867859003 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988287 -0.00592846 -0.01411055 4.52911312] [ 0.00578562 0.99993182 -0.01014297 0.17251915] [ 0.01416972 0.01006014 0.99984899 1.06303317] [ 0. 0. 0. 1. ]] SLAMing on 322.98255784400004 meters Centerline goodness [0,1] 0.2539248100545204 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988373 -0.00599209 -0.01402202 4.52874364] [ 0.0058472 0.99992933 -0.01035126 0.17371563] [ 0.01408306 0.01026807 0.99984811 1.06329647] [ 0. 0. 0. 1. ]] SLAMing on 323.01255784400007 meters Centerline goodness [0,1] 0.25241916193706915 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 0.99988137 -0.00601743 -0.01417848 4.52922586] [ 0.00586911 0.99992786 -0.01047961 0.17450338] [ 0.01424052 0.01039515 0.99984456 1.06312769] [ 0. 0. 0. 1. ]] SLAMing on 323.04255784400004 meters Centerline goodness [0,1] 0.25248020189713694 Centerline is valid? [False, False] Translation: X:4.53, Y:0.17, Z:1.06 [[ 9.99889648e-01 -2.92109819e-03 -1.45656923e-02 4.52993662e+00] [ 2.81568476e-03 9.99969737e-01 -7.25236669e-03 1.74218895e-01] [ 1.45864364e-02 7.21055398e-03 9.99867613e-01 1.06319008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0725578440001 meters Centerline goodness [0,1] 0.25047581970758714 Centerline is valid? [False, False] Translation: X:4.53, Y:0.18, Z:1.06 [[ 9.99886874e-01 -2.98659017e-03 -1.47417851e-02 4.53042886e+00] [ 2.87636939e-03 9.99967795e-01 -7.49230808e-03 1.75545261e-01] [ 1.47636868e-02 7.44905769e-03 9.99863263e-01 1.06313536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10255784400005 meters Centerline goodness [0,1] 0.24702688728024824 Centerline is valid? [False, False] Translation: X:4.53, Y:0.18, Z:1.06 [[ 9.99885539e-01 -3.07957942e-03 -1.48130192e-02 4.53067719e+00] [ 2.96418448e-03 9.99965141e-01 -7.80575981e-03 1.77192487e-01] [ 1.48365413e-02 7.76095783e-03 9.99859812e-01 1.06305525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1325578440001 meters Centerline goodness [0,1] 0.2494610210417385 Centerline is valid? [False, False] Translation: X:4.53, Y:0.18, Z:1.07 [[ 9.99906546e-01 -8.28253716e-04 -1.36459868e-02 4.52568688e+00] [ 7.45299880e-04 9.99981221e-01 -6.08295573e-03 1.82179790e-01] [ 1.36507687e-02 6.07221690e-03 9.99888386e-01 1.06546843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16255784400005 meters Centerline goodness [0,1] 0.25287256644842393 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:1.07 [[ 9.99907473e-01 -9.90989339e-04 -1.35670273e-02 4.52532873e+00] [ 9.01193085e-04 9.99977660e-01 -6.62322695e-03 1.85032407e-01] [ 1.35732877e-02 6.61038761e-03 9.99886028e-01 1.06583728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.192557844 meters Centerline goodness [0,1] 0.25058300224563823 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:1.07 [[ 9.99905463e-01 -1.15897217e-03 -1.37011823e-02 4.52570412e+00] [ 1.06045618e-03 9.99973550e-01 -7.19540760e-03 1.88000581e-01] [ 1.37091592e-02 7.18019786e-03 9.99880245e-01 1.06585135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22255784400005 meters Centerline goodness [0,1] 0.26143309202826304 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:1.07 [[ 9.99900669e-01 -1.38639245e-03 -1.40260496e-02 4.52674088e+00] [ 1.27666166e-03 9.99968536e-01 -7.82928825e-03 1.91123665e-01] [ 1.40364628e-02 7.81060404e-03 9.99870978e-01 1.06555948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.252557844 meters Centerline goodness [0,1] 0.25376588219883855 Centerline is valid? [False, False] Translation: X:4.53, Y:0.20, Z:1.07 [[ 9.99898369e-01 -1.84304361e-03 -1.41369881e-02 4.52739150e+00] [ 1.71482581e-03 9.99957338e-01 -9.07643509e-03 1.97417733e-01] [ 1.41531133e-02 9.05127017e-03 9.99858872e-01 1.06508204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28255784400005 meters Centerline goodness [0,1] 0.2532089698607449 Centerline is valid? [False, False] Translation: X:4.53, Y:0.20, Z:1.07 [[ 9.99899617e-01 -2.06466748e-03 -1.40176313e-02 4.52711872e+00] [ 1.92890529e-03 9.99951174e-01 -9.69172377e-03 2.00530308e-01] [ 1.40369571e-02 9.66371220e-03 9.99854778e-01 1.06509026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.312557844 meters Centerline goodness [0,1] 0.25185153103209323 Centerline is valid? [False, False] Translation: X:4.53, Y:0.20, Z:1.06 [[ 9.99899549e-01 -2.28058512e-03 -1.39889284e-02 4.52716014e+00] [ 2.13685448e-03 9.99944866e-01 -1.02809554e-02 2.03561273e-01] [ 1.40116037e-02 1.02500304e-02 9.99849295e-01 1.06496004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34255784400005 meters Centerline goodness [0,1] 0.2526231181978146 Centerline is valid? [False, False] Translation: X:4.53, Y:0.21, Z:1.06 [[ 9.99894582e-01 -4.23047150e-04 -1.45136341e-02 4.53046771e+00] [ 2.94952993e-04 9.99961000e-01 -8.82678664e-03 2.09313752e-01] [ 1.45168022e-02 8.82157529e-03 9.99855711e-01 1.06273331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.372557844 meters Centerline goodness [0,1] 0.25502640902471363 Centerline is valid? [False, False] Translation: X:4.53, Y:0.21, Z:1.06 [[ 9.99893428e-01 -6.19603666e-04 -1.45859373e-02 4.53090775e+00] [ 4.85346238e-04 9.99957503e-01 -9.20632106e-03 2.10937259e-01] [ 1.45910217e-02 9.19826069e-03 9.99851236e-01 1.06230147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40255784400006 meters Centerline goodness [0,1] 0.254565264763565 Centerline is valid? [False, False] Translation: X:4.53, Y:0.21, Z:1.06 [[ 9.99895093e-01 -7.67354304e-04 -1.44642088e-02 4.53061247e+00] [ 6.29743234e-04 9.99954523e-01 -9.51605712e-03 2.12247137e-01] [ 1.44708532e-02 9.50595009e-03 9.99850104e-01 1.06228761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43255784400003 meters Centerline goodness [0,1] 0.25390052298737387 Centerline is valid? [False, False] Translation: X:4.53, Y:0.21, Z:1.06 [[ 9.99897545e-01 -9.00627743e-04 -1.42859439e-02 4.53009951e+00] [ 7.60462414e-04 9.99951554e-01 -9.81381502e-03 2.13638050e-01] [ 1.42940904e-02 9.80194562e-03 9.99849789e-01 1.06239343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46255784400006 meters Centerline goodness [0,1] 0.2524993479961749 Centerline is valid? [False, False] Translation: X:4.55, Y:0.22, Z:1.06 [[ 0.99986171 -0.00889386 -0.01405217 4.54968484] [ 0.00877226 0.99992375 -0.00869172 0.21870095] [ 0.0141284 0.00856725 0.99986349 1.0642993 ] [ 0. 0. 0. 1. ]] SLAMing on 323.49255784400003 meters Centerline goodness [0,1] 0.2496007940960684 Centerline is valid? [False, False] Translation: X:4.55, Y:0.22, Z:1.06 [[ 0.99986024 -0.00897242 -0.01410663 4.55004714] [ 0.00884746 0.99992129 -0.00889566 0.21983931] [ 0.01418533 0.00876961 0.99986093 1.06394374] [ 0. 0. 0. 1. ]] SLAMing on 323.52255784400006 meters Centerline goodness [0,1] 0.2532948303189526 Centerline is valid? [False, False] Translation: X:4.55, Y:0.22, Z:1.06 [[ 0.99985088 -0.00916652 -0.01463564 4.55219739] [ 0.00903231 0.99991679 -0.00921027 0.22100544] [ 0.01471885 0.0090767 0.99985047 1.06257436] [ 0. 0. 0. 1. ]] SLAMing on 323.55255784400003 meters Centerline goodness [0,1] 0.25431346326705107 Centerline is valid? [False, False] Translation: X:4.53, Y:0.22, Z:1.06 [[ 9.99878210e-01 -8.50843788e-04 -1.55833513e-02 4.53217149e+00] [ 6.88845082e-04 9.99945702e-01 -1.03980458e-02 2.18377509e-01] [ 1.55913523e-02 1.03860449e-02 9.99824505e-01 1.06078499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58255784400006 meters Centerline goodness [0,1] 0.2514102924330517 Centerline is valid? [False, False] Translation: X:4.55, Y:0.22, Z:1.06 [[ 0.99984274 -0.00868769 -0.01546015 4.55230857] [ 0.00854426 0.99992007 -0.00931949 0.22253207] [ 0.01553988 0.00918593 0.99983705 1.06257892] [ 0. 0. 0. 1. ]] SLAMing on 323.61255784400004 meters Centerline goodness [0,1] 0.2522284725227174 Centerline is valid? [False, False] Translation: X:4.55, Y:0.22, Z:1.06 [[ 0.99987567 -0.00515157 -0.01490322 4.55040566] [ 0.00506718 0.99997095 -0.00569475 0.22233287] [ 0.01493212 0.00561853 0.99987272 1.06311839] [ 0. 0. 0. 1. ]] SLAMing on 323.64255784400007 meters Centerline goodness [0,1] 0.251920752762431 Centerline is valid? [False, False] Translation: X:4.55, Y:0.22, Z:1.06 [[ 9.99893002e-01 -1.32727087e-03 -1.45678482e-02 4.54926127e+00] [ 1.29649800e-03 9.99996909e-01 -2.12162331e-03 2.23685584e-01] [ 1.45706191e-02 2.10250912e-03 9.99891632e-01 1.06356365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67255784400004 meters Centerline goodness [0,1] 0.251590702506168 Centerline is valid? [False, False] Translation: X:4.55, Y:0.23, Z:1.06 [[ 9.99892176e-01 -1.47800958e-03 -1.46100203e-02 4.54943765e+00] [ 1.44110379e-03 9.99995745e-01 -2.53626533e-03 2.25697169e-01] [ 1.46137068e-02 2.51493730e-03 9.99890051e-01 1.06352009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70255784400007 meters Centerline goodness [0,1] 0.2535626748801596 Centerline is valid? [False, False] Translation: X:4.55, Y:0.23, Z:1.06 [[ 9.99892362e-01 -1.61858582e-03 -1.45823318e-02 4.54945086e+00] [ 1.57574905e-03 9.99994411e-01 -2.94859129e-03 2.27716291e-01] [ 1.45870229e-02 2.92529582e-03 9.99889325e-01 1.06340060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73255784400004 meters Centerline goodness [0,1] 0.25356490739935655 Centerline is valid? [False, False] Translation: X:4.55, Y:0.23, Z:1.06 [[ 9.99893400e-01 -1.77934203e-03 -1.44921265e-02 4.54912351e+00] [ 1.72946393e-03 9.99992541e-01 -3.45354355e-03 2.30204530e-01] [ 1.44981635e-02 3.42811179e-03 9.99889019e-01 1.06364177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76255784400007 meters Centerline goodness [0,1] 0.25007005669203075 Centerline is valid? [False, False] Translation: X:4.57, Y:0.23, Z:1.06 [[ 0.99992094 0.00599495 -0.01105316 4.56850292] [-0.00605303 0.99996801 -0.00522856 0.23259363] [ 0.01102146 0.00529505 0.99992524 1.06411674] [ 0. 0. 0. 1. ]] SLAMing on 323.79255784400004 meters Centerline goodness [0,1] 0.2512421689349752 Centerline is valid? [False, False] Translation: X:4.57, Y:0.24, Z:1.06 [[ 0.99992393 0.00578737 -0.01089238 4.56772445] [-0.00585034 0.99996631 -0.00575835 0.23512082] [ 0.01085869 0.00582164 0.9999241 1.06482134] [ 0. 0. 0. 1. ]] SLAMing on 323.8225578440001 meters Centerline goodness [0,1] 0.26111351819757367 Centerline is valid? [False, False] Translation: X:4.57, Y:0.24, Z:1.07 [[ 0.99992585 0.00555386 -0.01083768 4.56746723] [-0.00562289 0.99996403 -0.00634992 0.23790293] [ 0.01080203 0.00641039 0.99992111 1.06511206] [ 0. 0. 0. 1. ]] SLAMing on 323.85255784400005 meters Centerline goodness [0,1] 0.2641888937472672 Centerline is valid? [False, False] Translation: X:4.57, Y:0.24, Z:1.07 [[ 0.99992619 0.00531285 -0.01092672 4.5676998 ] [-0.00538902 0.99996131 -0.0069526 0.24078453] [ 0.01088936 0.00701097 0.99991613 1.06516716] [ 0. 0. 0. 1. ]] SLAMing on 323.8825578440001 meters Centerline goodness [0,1] 0.2639328171011015 Centerline is valid? [False, False] Translation: X:4.57, Y:0.24, Z:1.06 [[ 0.99992647 0.00508565 -0.01100871 4.56807625] [-0.00516896 0.99995812 -0.0075525 0.24371803] [ 0.01096984 0.00760884 0.99991088 1.06493264] [ 0. 0. 0. 1. ]] SLAMing on 323.91255784400005 meters Centerline goodness [0,1] 0.26153245570279127 Centerline is valid? [False, False] Translation: X:4.59, Y:0.25, Z:1.07 [[ 9.99910941e-01 -2.04416225e-03 -1.31882946e-02 4.58842203e+00] [ 1.95142271e-03 9.99973308e-01 -7.04099854e-03 2.54407659e-01] [ 1.32023356e-02 7.01463554e-03 9.99888240e-01 1.06725993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942557844 meters Centerline goodness [0,1] 0.25351046106579544 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99908930e-01 -2.26272785e-03 -1.33045596e-02 4.58879184e+00] [ 2.16191215e-03 9.99968881e-01 -7.58703581e-03 2.57118330e-01] [ 1.33213130e-02 7.55758157e-03 9.99882706e-01 1.06718139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97255784400005 meters Centerline goodness [0,1] 0.2553065908842497 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99906942e-01 -2.43864961e-03 -1.34224028e-02 4.58907886e+00] [ 2.33107747e-03 9.99965089e-01 -8.02419207e-03 2.59335300e-01] [ 1.34415024e-02 7.99215670e-03 9.99877718e-01 1.06721093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002557844 meters Centerline goodness [0,1] 0.256066634602772 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99903423e-01 -2.76963288e-03 -1.36188908e-02 4.58963320e+00] [ 2.65155975e-03 9.99958811e-01 -8.68023156e-03 2.62383132e-01] [ 1.36423709e-02 8.64328195e-03 9.99869581e-01 1.06710130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03255784400005 meters Centerline goodness [0,1] 0.25264252295962575 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99903168e-01 -2.93458659e-03 -1.36030307e-02 4.58981910e+00] [ 2.81389614e-03 9.99956586e-01 -8.88298525e-03 2.63065116e-01] [ 1.36285080e-02 8.84384758e-03 9.99868016e-01 1.06667531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062557844 meters Centerline goodness [0,1] 0.2544337745479712 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99903613e-01 -3.07390186e-03 -1.35394185e-02 4.58987284e+00] [ 2.95210661e-03 9.99955084e-01 -9.00642298e-03 2.63324510e-01] [ 1.35664952e-02 8.96558507e-03 9.99867776e-01 1.06627800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09255784400005 meters Centerline goodness [0,1] 0.2547126835723118 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99906141e-01 -3.15161361e-03 -1.33332769e-02 4.58949067e+00] [ 3.03166400e-03 9.99954841e-01 -9.00692596e-03 2.63127801e-01] [ 1.33610611e-02 8.96565856e-03 9.99870541e-01 1.06596238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122557844 meters Centerline goodness [0,1] 0.2535867539335096 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99908161e-01 -3.17831894e-03 -1.31745260e-02 4.58894947e+00] [ 3.06029180e-03 9.99955093e-01 -8.96923864e-03 2.62936239e-01] [ 1.32024415e-02 8.92809702e-03 9.99872984e-01 1.06616002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15255784400006 meters Centerline goodness [0,1] 0.2635640326975477 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99910541e-01 -3.17072414e-03 -1.29945097e-02 4.58841205e+00] [ 3.05474974e-03 9.99955416e-01 -8.93502838e-03 2.62951876e-01] [ 1.30222609e-02 8.89453409e-03 9.99875646e-01 1.06627475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18255784400003 meters Centerline goodness [0,1] 0.25522537853994853 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99907145e-01 -3.24640840e-03 -1.32348881e-02 4.58916455e+00] [ 3.12630922e-03 9.99953843e-01 -9.08505067e-03 2.63772139e-01] [ 1.32637710e-02 9.04283073e-03 9.99871141e-01 1.06603184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21255784400006 meters Centerline goodness [0,1] 0.252676891128945 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.07 [[ 9.99904119e-01 -3.27773757e-03 -1.34539617e-02 4.58996506e+00] [ 3.15419485e-03 9.99952763e-01 -9.19359829e-03 2.64387254e-01] [ 1.34834604e-02 9.15028038e-03 9.99867226e-01 1.06565084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24255784400003 meters Centerline goodness [0,1] 0.26246816291878006 Centerline is valid? [False, False] Translation: X:4.59, Y:0.27, Z:1.07 [[ 9.99902735e-01 -3.33098504e-03 -1.35434148e-02 4.59042158e+00] [ 3.20419213e-03 9.99950940e-01 -9.37290550e-03 2.65324250e-01] [ 1.35739714e-02 9.32859814e-03 9.99864353e-01 1.06528296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27255784400006 meters Centerline goodness [0,1] 0.25606685478619495 Centerline is valid? [False, False] Translation: X:4.59, Y:0.27, Z:1.07 [[ 9.99900838e-01 -3.38245099e-03 -1.36701434e-02 4.59084893e+00] [ 3.25136369e-03 9.99948631e-01 -9.60018853e-03 2.66434405e-01] [ 1.37019134e-02 9.55478995e-03 9.99860472e-01 1.06516750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30255784400003 meters Centerline goodness [0,1] 0.25180088858215066 Centerline is valid? [False, False] Translation: X:4.59, Y:0.27, Z:1.07 [[ 9.99896694e-01 -3.47978487e-03 -1.39460301e-02 4.59152667e+00] [ 3.34009215e-03 9.99944145e-01 -1.00274705e-02 2.68564862e-01] [ 1.39801446e-02 9.97985354e-03 9.99852468e-01 1.06527355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33255784400006 meters Centerline goodness [0,1] 0.25550526590651923 Centerline is valid? [False, False] Translation: X:4.59, Y:0.27, Z:1.07 [[ 9.99895323e-01 -3.51233399e-03 -1.40358888e-02 4.59163558e+00] [ 3.36933800e-03 9.99942317e-01 -1.01985756e-02 2.69619942e-01] [ 1.40708999e-02 1.01502164e-02 9.99849480e-01 1.06550312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36255784400004 meters Centerline goodness [0,1] 0.24958610161474126 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.07 [[ 0.99986746 -0.00955108 -0.0131849 4.61397273] [ 0.00945957 0.99993085 -0.00698601 0.2705554 ] [ 0.01325071 0.00686036 0.99988867 1.06572954] [ 0. 0. 0. 1. ]] SLAMing on 324.39255784400007 meters Centerline goodness [0,1] 0.2525311400384258 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.07 [[ 0.99986859 -0.0095678 -0.01308636 4.61352016] [ 0.00947601 0.99993019 -0.0070582 0.27106426] [ 0.01315298 0.00693327 0.99988946 1.0660532 ] [ 0. 0. 0. 1. ]] SLAMing on 324.42255784400004 meters Centerline goodness [0,1] 0.2532945109457565 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.07 [[ 0.99987059 -0.0095594 -0.01293938 4.61295397] [ 0.00946908 0.9999305 -0.00702366 0.27084416] [ 0.01300562 0.00690023 0.99989161 1.06633959] [ 0. 0. 0. 1. ]] SLAMing on 324.45255784400007 meters Centerline goodness [0,1] 0.25484944053225045 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.07 [[ 0.99987279 -0.00952696 -0.01279208 4.61254953] [ 0.00943916 0.9999316 -0.00690703 0.27015322] [ 0.01285701 0.00678541 0.99989432 1.06633608] [ 0. 0. 0. 1. ]] SLAMing on 324.48255784400004 meters Centerline goodness [0,1] 0.2527636560302866 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.07 [[ 0.99987419 -0.00950237 -0.01270084 4.6124933 ] [ 0.00942164 0.99993513 -0.00640108 0.26724887] [ 0.01276084 0.00628062 0.99989885 1.06586113] [ 0. 0. 0. 1. ]] SLAMing on 324.51255784400007 meters Centerline goodness [0,1] 0.254094981884451 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.07 [[ 0.99987401 -0.0093552 -0.01282366 4.6128885 ] [ 0.0092791 0.99993906 -0.00598113 0.26532384] [ 0.01287883 0.00586138 0.99989988 1.0655988 ] [ 0. 0. 0. 1. ]] SLAMing on 324.54255784400004 meters Centerline goodness [0,1] 0.2549878556557946 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.07 [[ 0.99987449 -0.00919996 -0.01289836 4.61322244] [ 0.00912973 0.99994324 -0.00549303 0.26299667] [ 0.01294816 0.00537458 0.99990172 1.06523505] [ 0. 0. 0. 1. ]] SLAMing on 324.5725578440001 meters Centerline goodness [0,1] 0.2561638749972702 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.06 [[ 9.99916173e-01 -1.17861642e-03 -1.28941288e-02 4.59401790e+00] [ 1.09221551e-03 9.99976919e-01 -6.70578499e-03 2.57766404e-01] [ 1.29017347e-02 6.69113969e-03 9.99894381e-01 1.06291909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60255784400005 meters Centerline goodness [0,1] 0.26378329061128736 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.06 [[ 9.99917456e-01 -1.07384630e-03 -1.28034591e-02 4.59349456e+00] [ 9.93193649e-04 9.99979636e-01 -6.30398141e-03 2.55484757e-01] [ 1.28099679e-02 6.29074474e-03 9.99898160e-01 1.06332253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6325578440001 meters Centerline goodness [0,1] 0.26378329061128736 Centerline is valid? [False, False] Translation: X:4.59, Y:0.26, Z:1.06 [[ 9.99917456e-01 -1.07384630e-03 -1.28034591e-02 4.59349456e+00] [ 9.93193649e-04 9.99979636e-01 -6.30398141e-03 2.55484757e-01] [ 1.28099679e-02 6.29074474e-03 9.99898160e-01 1.06332253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66255784400005 meters Centerline goodness [0,1] 0.2630026868214683 Centerline is valid? [False, False] Translation: X:4.59, Y:0.25, Z:1.06 [[ 9.99919007e-01 -1.02876996e-03 -1.26854561e-02 4.59306820e+00] [ 9.50214002e-04 9.99980346e-01 -6.19707338e-03 2.54969084e-01] [ 1.26915821e-02 6.18451756e-03 9.99900333e-01 1.06353828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.692557844 meters Centerline goodness [0,1] 0.263003950843647 Centerline is valid? [False, False] Translation: X:4.59, Y:0.25, Z:1.06 [[ 9.99921042e-01 -9.61867107e-04 -1.25293646e-02 4.59269243e+00] [ 8.85346068e-04 9.99980933e-01 -6.11145155e-03 2.54702924e-01] [ 1.25350041e-02 6.09987617e-03 9.99902828e-01 1.06351570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72255784400005 meters Centerline goodness [0,1] 0.2539644662342452 Centerline is valid? [False, False] Translation: X:4.59, Y:0.25, Z:1.06 [[ 9.99922108e-01 -9.31189047e-04 -1.24462973e-02 4.59249679e+00] [ 8.55968492e-04 9.99981347e-01 -6.04757036e-03 2.54410625e-01] [ 1.24516966e-02 6.03644567e-03 9.99904254e-01 1.06347244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.752557844 meters Centerline goodness [0,1] 0.2606843152521845 Centerline is valid? [False, False] Translation: X:4.59, Y:0.25, Z:1.06 [[ 9.99921582e-01 -8.79025029e-04 -1.24922789e-02 4.59282762e+00] [ 8.05193220e-04 9.99982188e-01 -5.91399651e-03 2.53664811e-01] [ 1.24972549e-02 5.90347404e-03 9.99904479e-01 1.06308809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78255784400005 meters Centerline goodness [0,1] 0.2622753705566001 Centerline is valid? [False, False] Translation: X:4.59, Y:0.25, Z:1.06 [[ 9.99919570e-01 -7.27796004e-04 -1.26619014e-02 4.59349894e+00] [ 6.59106588e-04 9.99985050e-01 -5.42821689e-03 2.51034346e-01] [ 1.26656627e-02 5.41943476e-03 9.99905101e-01 1.06253604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.812557844 meters Centerline goodness [0,1] 0.2548398298463408 Centerline is valid? [False, False] Translation: X:4.59, Y:0.25, Z:1.06 [[ 9.99920111e-01 -6.27185649e-04 -1.26245394e-02 4.59317813e+00] [ 5.62319532e-04 9.99986627e-01 -5.14099178e-03 2.49613094e-01] [ 1.26275949e-02 5.13348205e-03 9.99907091e-01 1.06281868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84255784400005 meters Centerline goodness [0,1] 0.2535920316314846 Centerline is valid? [False, False] Translation: X:4.59, Y:0.25, Z:1.06 [[ 9.99922891e-01 -5.13434265e-04 -1.24075623e-02 4.59220577e+00] [ 4.53325480e-04 9.99988151e-01 -4.84685514e-03 2.48213398e-01] [ 1.24099038e-02 4.84085674e-03 9.99911276e-01 1.06348300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.872557844 meters Centerline goodness [0,1] 0.26240316824788934 Centerline is valid? [False, False] Translation: X:4.59, Y:0.25, Z:1.06 [[ 9.99925180e-01 -3.09983020e-04 -1.22285642e-02 4.59158904e+00] [ 2.58146520e-04 9.99990976e-01 -4.24031933e-03 2.45123982e-01] [ 1.22297683e-02 4.23684531e-03 9.99916237e-01 1.06367370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90255784400006 meters Centerline goodness [0,1] 0.25474337012381554 Centerline is valid? [False, False] Translation: X:4.59, Y:0.24, Z:1.06 [[ 9.99925167e-01 -2.30348481e-04 -1.22314068e-02 4.59171560e+00] [ 1.82306916e-04 9.99992266e-01 -3.92869171e-03 2.43402766e-01] [ 1.22322172e-02 3.92616785e-03 9.99917476e-01 1.06337771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93255784400003 meters Centerline goodness [0,1] 0.2562660179835802 Centerline is valid? [False, False] Translation: X:4.59, Y:0.24, Z:1.06 [[ 9.99926025e-01 -1.06259895e-04 -1.21627834e-02 4.59157882e+00] [ 6.25831818e-05 9.99993549e-01 -3.59133725e-03 2.41734125e-01] [ 1.21630865e-02 3.59031039e-03 9.99919581e-01 1.06321463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96255784400006 meters Centerline goodness [0,1] 0.2597098939164322 Centerline is valid? [False, False] Translation: X:4.59, Y:0.24, Z:1.06 [[ 9.99927937e-01 4.51832495e-05 -1.20049164e-02 4.59105358e+00] [-8.39079694e-05 9.99994795e-01 -3.22525432e-03 2.40076745e-01] [ 1.20047082e-02 3.22602921e-03 9.99922737e-01 1.06334660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99255784400003 meters Centerline goodness [0,1] 0.255441478439425 Centerline is valid? [False, False] Translation: X:4.59, Y:0.24, Z:1.06 [[ 9.99929531e-01 1.84844141e-04 -1.18700990e-02 4.59050989e+00] [-2.19422758e-04 9.99995736e-01 -2.91184956e-03 2.38696454e-01] [ 1.18695102e-02 2.91424893e-03 9.99925308e-01 1.06364422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02255784400006 meters Centerline goodness [0,1] 0.25303020517126307 Centerline is valid? [False, False] Translation: X:4.59, Y:0.24, Z:1.06 [[ 9.99928817e-01 4.00317462e-04 -1.19248328e-02 4.59079548e+00] [-4.27716110e-04 9.99997275e-01 -2.29515104e-03 2.35358427e-01] [ 1.19238815e-02 2.30008811e-03 9.99926263e-01 1.06331410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05255784400003 meters Centerline goodness [0,1] 0.25542734206923523 Centerline is valid? [False, False] Translation: X:4.59, Y:0.23, Z:1.06 [[ 9.99928928e-01 4.85481811e-04 -1.19123116e-02 4.59083631e+00] [-5.09640880e-04 9.99997820e-01 -2.02512388e-03 2.33851759e-01] [ 1.19113025e-02 2.03105095e-03 9.99926995e-01 1.06310891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08255784400006 meters Centerline goodness [0,1] 0.2598138930967323 Centerline is valid? [False, False] Translation: X:4.59, Y:0.23, Z:1.06 [[ 9.99928861e-01 6.20203114e-04 -1.19117207e-02 4.59086309e+00] [-6.40309542e-04 9.99998377e-01 -1.68421376e-03 2.32247034e-01] [ 1.19106568e-02 1.69172114e-03 9.99927635e-01 1.06296803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11255784400004 meters Centerline goodness [0,1] 0.26270964360587 Centerline is valid? [False, False] Translation: X:4.59, Y:0.23, Z:1.06 [[ 9.99925360e-01 9.04499300e-04 -1.21842815e-02 4.59164375e+00] [-9.17308276e-04 9.99999033e-01 -1.04572301e-03 2.29715841e-01] [ 1.21833239e-02 1.05682170e-03 9.99925222e-01 1.06269608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14255784400007 meters Centerline goodness [0,1] 0.2514421007318123 Centerline is valid? [False, False] Translation: X:4.61, Y:0.23, Z:1.06 [[ 9.99899587e-01 -7.38107374e-03 -1.20969474e-02 4.61314842e+00] [ 7.38037789e-03 9.99972759e-01 -1.02163435e-04 2.30224806e-01] [ 1.20973719e-02 1.28731333e-05 9.99926824e-01 1.06359048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17255784400004 meters Centerline goodness [0,1] 0.253358635412848 Centerline is valid? [False, False] Translation: X:4.61, Y:0.23, Z:1.06 [[ 9.99900129e-01 -7.28415067e-03 -1.21108572e-02 4.61321162e+00] [ 7.28671568e-03 9.99973437e-01 1.67680885e-04 2.28757575e-01] [ 1.21093141e-02 -2.55912511e-04 9.99926647e-01 1.06349953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20255784400007 meters Centerline goodness [0,1] 0.259664794778951 Centerline is valid? [False, False] Translation: X:4.61, Y:0.23, Z:1.06 [[ 9.99901113e-01 -7.21174918e-03 -1.20729078e-02 4.61303773e+00] [ 7.21630373e-03 9.99973906e-01 3.33733127e-04 2.27879720e-01] [ 1.20701860e-02 -4.20821894e-04 9.99927064e-01 1.06360674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23255784400004 meters Centerline goodness [0,1] 0.25378779691788966 Centerline is valid? [False, False] Translation: X:4.61, Y:0.23, Z:1.06 [[ 9.99900603e-01 -7.13764935e-03 -1.21588921e-02 4.61320960e+00] [ 7.14350475e-03 9.99974389e-01 4.38210918e-04 2.27542603e-01] [ 1.21554529e-02 -5.25024465e-04 9.99925982e-01 1.06368595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26255784400007 meters Centerline goodness [0,1] 0.2591995819361582 Centerline is valid? [False, False] Translation: X:4.61, Y:0.23, Z:1.06 [[ 9.99899118e-01 -7.02540520e-03 -1.23448997e-02 4.61378432e+00] [ 7.03203466e-03 9.99975153e-01 4.93694845e-04 2.27782848e-01] [ 1.23411246e-02 -5.80454803e-04 9.99923677e-01 1.06354463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29255784400004 meters Centerline goodness [0,1] 0.2528186962719772 Centerline is valid? [False, False] Translation: X:4.63, Y:0.22, Z:1.06 [[ 9.99928358e-01 1.02808562e-03 -1.19257223e-02 4.63310197e+00] [-1.03549461e-03 9.99999275e-01 -6.15103261e-04 2.21832996e-01] [ 1.19250813e-02 6.27408214e-04 9.99928697e-01 1.06463212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3225578440001 meters Centerline goodness [0,1] 0.26307705810075477 Centerline is valid? [False, False] Translation: X:4.59, Y:0.22, Z:1.07 [[ 9.99895839e-01 6.75296636e-04 -1.44172102e-02 4.58728349e+00] [-6.90993972e-04 9.99999174e-01 -1.08383786e-03 2.24916601e-01] [ 1.44164663e-02 1.09368717e-03 9.99895479e-01 1.06561439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35255784400005 meters Centerline goodness [0,1] 0.26014772207333814 Centerline is valid? [False, False] Translation: X:4.59, Y:0.22, Z:1.07 [[ 9.99898318e-01 7.23848952e-04 -1.42418197e-02 4.58678121e+00] [-7.37250684e-04 9.99999290e-01 -9.35784969e-04 2.24071995e-01] [ 1.42411322e-02 9.46189608e-04 9.99898142e-01 1.06569775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3825578440001 meters Centerline goodness [0,1] 0.2590588691772111 Centerline is valid? [False, False] Translation: X:4.61, Y:0.22, Z:1.07 [[ 9.99891409e-01 -7.49373076e-03 -1.26891162e-02 4.60711923e+00] [ 7.49897435e-03 9.99971815e-01 3.65705210e-04 2.24193588e-01] [ 1.26860181e-02 -4.60820855e-04 9.99919423e-01 1.06665313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41255784400005 meters Centerline goodness [0,1] 0.2628641200069771 Centerline is valid? [False, False] Translation: X:4.59, Y:0.22, Z:1.06 [[ 9.99918521e-01 9.50714969e-04 -1.27297923e-02 4.58671218e+00] [-9.56047470e-04 9.99999458e-01 -4.12820417e-04 2.20327029e-01] [ 1.27293929e-02 4.24957066e-04 9.99918888e-01 1.06482530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442557844 meters Centerline goodness [0,1] 0.25178799075214453 Centerline is valid? [False, False] Translation: X:4.59, Y:0.22, Z:1.06 [[ 9.99916578e-01 9.93414807e-04 -1.28783199e-02 4.58727637e+00] [-9.97411571e-04 9.99999456e-01 -3.03929188e-04 2.19812263e-01] [ 1.28780109e-02 3.16748819e-04 9.99917025e-01 1.06451491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47255784400005 meters Centerline goodness [0,1] 0.25302377912889196 Centerline is valid? [False, False] Translation: X:4.59, Y:0.22, Z:1.06 [[ 9.99914273e-01 1.05262992e-03 -1.30513614e-02 4.58789038e+00] [-1.05491975e-03 9.99999429e-01 -1.68564769e-04 2.19206902e-01] [ 1.30511765e-02 1.82318457e-04 9.99914813e-01 1.06417896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502557844 meters Centerline goodness [0,1] 0.25144851056497297 Centerline is valid? [False, False] Translation: X:4.59, Y:0.22, Z:1.06 [[ 9.99912907e-01 1.09681888e-03 -1.31519875e-02 4.58836821e+00] [-1.09796879e-03 9.99999394e-01 -8.02125596e-05 2.18743543e-01] [ 1.31518916e-02 9.46460455e-05 9.99913506e-01 1.06379971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53255784400005 meters Centerline goodness [0,1] 0.2541266375545852 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.06 [[ 9.99875346e-01 1.14103016e-03 -1.57477348e-02 4.54251870e+00] [-1.14332886e-03 9.99999337e-01 -1.36967843e-04 2.21714279e-01] [ 1.57475680e-02 1.54955609e-04 9.99875987e-01 1.06471185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562557844 meters Centerline goodness [0,1] 0.2542524035324314 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.07 [[ 9.99880186e-01 1.23318074e-03 -1.54302301e-02 4.54131748e+00] [-1.23176642e-03 9.99999236e-01 1.01162331e-04 2.20279233e-01] [ 1.54303430e-02 -8.21437715e-05 9.99880942e-01 1.06537020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59255784400005 meters Centerline goodness [0,1] 0.25333016175071366 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.07 [[ 9.99882590e-01 1.30518292e-03 -1.52676998e-02 4.54061364e+00] [-1.30071281e-03 9.99999108e-01 3.02708298e-04 2.19279797e-01] [ 1.52680813e-02 -2.82813864e-04 9.99883396e-01 1.06579842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622557844 meters Centerline goodness [0,1] 0.2539078546256459 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.07 [[ 9.99883744e-01 1.41316049e-03 -1.51822869e-02 4.54029040e+00] [-1.40482347e-03 9.99998857e-01 5.59778940e-04 2.18095870e-01] [ 1.51830606e-02 -5.38385430e-04 9.99884586e-01 1.06593988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65255784400006 meters Centerline goodness [0,1] 0.26105532542453747 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.07 [[ 9.99883792e-01 1.49746601e-03 -1.51710558e-02 4.54023228e+00] [-1.48508037e-03 9.99998555e-01 8.27632005e-04 2.16735547e-01] [ 1.51722732e-02 -8.05005590e-04 9.99884570e-01 1.06592346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68255784400003 meters Centerline goodness [0,1] 0.25337676438653634 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.07 [[ 9.99880691e-01 1.65007096e-03 -1.53583950e-02 4.54091614e+00] [-1.62845122e-03 9.99997666e-01 1.42008184e-03 2.13280219e-01] [ 1.53607024e-02 -1.39490201e-03 9.99881044e-01 1.06543717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71255784400006 meters Centerline goodness [0,1] 0.24978995669876558 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.07 [[ 9.99879291e-01 1.77353876e-03 -1.54355921e-02 4.54110453e+00] [-1.74730773e-03 9.99997007e-01 1.71270670e-03 2.11843414e-01] [ 1.54385835e-02 -1.68552924e-03 9.99879397e-01 1.06541242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74255784400003 meters Centerline goodness [0,1] 0.25420017776236203 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.07 [[ 9.99879574e-01 1.86069262e-03 -1.54069832e-02 4.54098260e+00] [-1.83214464e-03 9.99996579e-01 1.86683240e-03 2.11212057e-01] [ 1.54104041e-02 -1.83837976e-03 9.99879563e-01 1.06547355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77255784400006 meters Centerline goodness [0,1] 0.2531063939943049 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.07 [[ 9.99882062e-01 1.90633173e-03 -1.52390380e-02 4.54040177e+00] [-1.87745032e-03 9.99996415e-01 1.90930712e-03 2.11126706e-01] [ 1.52426232e-02 -1.88047140e-03 9.99882056e-01 1.06576178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80255784400003 meters Centerline goodness [0,1] 0.25514866708534556 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.07 [[ 9.99891145e-01 2.01298037e-03 -1.46166511e-02 4.53854385e+00] [-1.98686489e-03 9.99996404e-01 1.80099541e-03 2.11947187e-01] [ 1.46202239e-02 -1.77175805e-03 9.99891549e-01 1.06644058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83255784400006 meters Centerline goodness [0,1] 0.26122528700709646 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.07 [[ 9.99889443e-01 1.96860452e-03 -1.47386125e-02 4.53901883e+00] [-1.94418315e-03 9.99996714e-01 1.67110977e-03 2.12515112e-01] [ 1.47418539e-02 -1.64227045e-03 9.99889984e-01 1.06618015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86255784400004 meters Centerline goodness [0,1] 0.2594623771996114 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.07 [[ 9.99885382e-01 1.95989770e-03 -1.50127148e-02 4.54011589e+00] [-1.93558766e-03 9.99996792e-01 1.63365570e-03 2.12678712e-01] [ 1.50158685e-02 -1.60441003e-03 9.99885968e-01 1.06547476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89255784400007 meters Centerline goodness [0,1] 0.26134171453343447 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.06 [[ 9.99882759e-01 1.99253227e-03 -1.51821482e-02 4.54093607e+00] [-1.96639461e-03 9.99996559e-01 1.73633810e-03 2.12232148e-01] [ 1.51855557e-02 -1.70628044e-03 9.99883237e-01 1.06477496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92255784400004 meters Centerline goodness [0,1] 0.26240809826123 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.06 [[ 9.99882779e-01 2.01037683e-03 -1.51784903e-02 4.54108803e+00] [-1.98247627e-03 9.99996318e-01 1.85298714e-03 2.11559183e-01] [ 1.51821596e-02 -1.82267894e-03 9.99883083e-01 1.06445952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95255784400007 meters Centerline goodness [0,1] 0.2542077265195779 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.06 [[ 9.99881268e-01 1.96930099e-03 -1.52830414e-02 4.54153065e+00] [-1.93852410e-03 9.99996064e-01 2.02834618e-03 2.10251946e-01] [ 1.52869756e-02 -1.99847881e-03 9.99881150e-01 1.06402268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98255784400004 meters Centerline goodness [0,1] 0.2523127586281604 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.06 [[ 9.99877172e-01 1.95483759e-03 -1.55505316e-02 4.54257955e+00] [-1.92399392e-03 9.99996153e-01 1.99816151e-03 2.10491387e-01] [ 1.55543778e-02 -1.96799695e-03 9.99877087e-01 1.06336127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01255784400007 meters Centerline goodness [0,1] 0.2522536187917136 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.06 [[ 9.99874009e-01 1.93461845e-03 -1.57551241e-02 4.54351333e+00] [-1.90539558e-03 9.99996437e-01 1.86961666e-03 2.11415567e-01] [ 1.57586849e-02 -1.83936136e-03 9.99874132e-01 1.06268321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04255784400004 meters Centerline goodness [0,1] 0.25095320623916806 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.06 [[ 9.99871998e-01 1.86153629e-03 -1.58909366e-02 4.54396412e+00] [-1.83600654e-03 9.99997001e-01 1.62099792e-03 2.12748387e-01] [ 1.58939065e-02 -1.59161456e-03 9.99872417e-01 1.06254770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0725578440001 meters Centerline goodness [0,1] 0.2516527582096022 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.06 [[ 9.99873421e-01 1.79051091e-03 -1.58093741e-02 4.54353610e+00] [-1.76747578e-03 9.99997356e-01 1.47090734e-03 2.13312535e-01] [ 1.58119659e-02 -1.44277847e-03 9.99873942e-01 1.06293996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10255784400005 meters Centerline goodness [0,1] 0.253169823716194 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.06 [[ 9.99876997e-01 1.75723499e-03 -1.55853776e-02 4.54268781e+00] [-1.73606857e-03 9.99997552e-01 1.37152001e-03 2.13803322e-01] [ 1.55877495e-02 -1.34429402e-03 9.99877600e-01 1.06338992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1325578440001 meters Centerline goodness [0,1] 0.2517322016282695 Centerline is valid? [False, False] Translation: X:4.56, Y:0.22, Z:1.07 [[ 9.99879633e-01 -6.09454739e-03 -1.42680055e-02 4.56214058e+00] [ 6.13550184e-03 9.99977178e-01 2.82835773e-03 2.16776398e-01] [ 1.42504423e-02 -2.91555866e-03 9.99894207e-01 1.06507118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16255784400005 meters Centerline goodness [0,1] 0.2505130365282008 Centerline is valid? [False, False] Translation: X:4.56, Y:0.22, Z:1.07 [[ 9.99882244e-01 -6.10450752e-03 -1.40795494e-02 4.56144581e+00] [ 6.14413359e-03 9.99977280e-01 2.77290493e-03 2.17251218e-01] [ 1.40623023e-02 -2.85908503e-03 9.99897033e-01 1.06540991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.192557844 meters Centerline goodness [0,1] 0.260264394187698 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:1.06 [[ 9.99905795e-01 1.99669789e-03 -1.35799135e-02 4.54052750e+00] [-1.97495432e-03 9.99996747e-01 1.61437858e-03 2.14730740e-01] [ 1.35830928e-02 -1.58740679e-03 9.99906485e-01 1.06368609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22255784400005 meters Centerline goodness [0,1] 0.25152458803684963 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.06 [[ 9.99902621e-01 1.74897770e-03 -1.38452257e-02 4.54131828e+00] [-1.73367989e-03 9.99997874e-01 1.11684111e-03 2.16698487e-01] [ 1.38471496e-02 -1.09272916e-03 9.99903527e-01 1.06348747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.252557844 meters Centerline goodness [0,1] 0.25493997952114333 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.06 [[ 9.99901169e-01 1.61045114e-03 -1.39663574e-02 4.54185102e+00] [-1.60010076e-03 9.99998437e-01 7.52235803e-04 2.18563106e-01] [ 1.39675470e-02 -7.29813879e-04 9.99902183e-01 1.06312546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28255784400005 meters Centerline goodness [0,1] 0.24984872060857533 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.06 [[ 9.99900192e-01 1.46770059e-03 -1.40517861e-02 4.54197838e+00] [-1.46358741e-03 9.99998883e-01 3.02994584e-04 2.21033055e-01] [ 1.40522151e-02 -2.82398325e-04 9.99901223e-01 1.06333002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.312557844 meters Centerline goodness [0,1] 0.2523109793319962 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.06 [[ 9.99902563e-01 1.34320976e-03 -1.38946086e-02 4.54141203e+00] [-1.34528755e-03 9.99999085e-01 -1.40194013e-04 2.23465785e-01] [ 1.38944076e-02 1.58872597e-04 9.99903455e-01 1.06370279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34255784400005 meters Centerline goodness [0,1] 0.25428894888095444 Centerline is valid? [False, False] Translation: X:4.54, Y:0.23, Z:1.06 [[ 9.99905053e-01 1.00248798e-03 -1.37433289e-02 4.54077103e+00] [-1.01670135e-03 9.99998956e-01 -1.02725365e-03 2.27613356e-01] [ 1.37422848e-02 1.04112897e-03 9.99905028e-01 1.06430299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.372557844 meters Centerline goodness [0,1] 0.2606584505508862 Centerline is valid? [False, False] Translation: X:4.54, Y:0.23, Z:1.06 [[ 9.99907359e-01 8.42613742e-04 -1.35854315e-02 4.54028895e+00] [-8.61233093e-04 9.99998698e-01 -1.36474591e-03 2.28980985e-01] [ 1.35842639e-02 1.37631971e-03 9.99906782e-01 1.06447170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40255784400006 meters Centerline goodness [0,1] 0.2508726665654879 Centerline is valid? [False, False] Translation: X:4.54, Y:0.23, Z:1.06 [[ 9.99909953e-01 6.95427700e-04 -1.34016062e-02 4.53974687e+00] [-7.17651390e-04 9.99998375e-01 -1.65354784e-03 2.30193364e-01] [ 1.34004345e-02 1.66301663e-03 9.99908827e-01 1.06461159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43255784400003 meters Centerline goodness [0,1] 0.24951011003682255 Centerline is valid? [False, False] Translation: X:4.54, Y:0.23, Z:1.06 [[ 9.99912370e-01 6.34453297e-04 -1.32230697e-02 4.53913761e+00] [-6.57581902e-04 9.99998262e-01 -1.74483571e-03 2.30594779e-01] [ 1.32219397e-02 1.75337806e-03 9.99911049e-01 1.06484591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46255784400006 meters Centerline goodness [0,1] 0.2539242043187928 Centerline is valid? [False, False] Translation: X:4.54, Y:0.23, Z:1.06 [[ 9.99915038e-01 6.49519063e-04 -1.30190083e-02 4.53858061e+00] [-6.71116024e-04 9.99998406e-01 -1.65457890e-03 2.30153154e-01] [ 1.30179129e-02 1.66317559e-03 9.99913880e-01 1.06485980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49255784400003 meters Centerline goodness [0,1] 0.2525845509679926 Centerline is valid? [False, False] Translation: X:4.54, Y:0.23, Z:1.06 [[ 9.99909298e-01 3.09949303e-04 -1.34647544e-02 4.53998689e+00] [-3.28590433e-04 9.99998991e-01 -1.38224866e-03 2.27493204e-01] [ 1.34643124e-02 1.38654768e-03 9.99908391e-01 1.06411905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52255784400006 meters Centerline goodness [0,1] 0.2525845509679926 Centerline is valid? [False, False] Translation: X:4.54, Y:0.23, Z:1.06 [[ 9.99909298e-01 3.09949303e-04 -1.34647544e-02 4.53998689e+00] [-3.28590433e-04 9.99998991e-01 -1.38224866e-03 2.27493204e-01] [ 1.34643124e-02 1.38654768e-03 9.99908391e-01 1.06411905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55255784400003 meters Centerline goodness [0,1] 0.2525924645696509 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.06 [[ 9.99905094e-01 3.63193879e-04 -1.37721037e-02 4.54100014e+00] [-3.76034764e-04 9.99999497e-01 -9.29805630e-04 2.24967504e-01] [ 1.37717591e-02 9.34896175e-04 9.99904728e-01 1.06354071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58255784400006 meters Centerline goodness [0,1] 0.2531228313671062 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.06 [[ 9.99902929e-01 5.31697181e-04 -1.39229643e-02 4.54154481e+00] [-5.37585769e-04 9.99999768e-01 -4.19201502e-04 2.22535224e-01] [ 1.39227382e-02 4.26645598e-04 9.99902983e-01 1.06311612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61255784400004 meters Centerline goodness [0,1] 0.25393984371589473 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.06 [[ 9.99904357e-01 7.42076226e-04 -1.38103925e-02 4.54116525e+00] [-7.40765592e-04 9.99999721e-01 1.00017145e-04 2.20180576e-01] [ 1.38104629e-02 -8.97773151e-05 9.99904627e-01 1.06317179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64255784400007 meters Centerline goodness [0,1] 0.24973606532652493 Centerline is valid? [False, False] Translation: X:4.56, Y:0.22, Z:1.06 [[ 9.99924891e-01 -6.76327412e-03 -1.02210594e-02 4.56061330e+00] [ 6.78162039e-03 9.99975453e-01 1.76135621e-03 2.17222239e-01] [ 1.02088960e-02 -1.83053926e-03 9.99946212e-01 1.06339188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67255784400004 meters Centerline goodness [0,1] 0.2586314992973733 Centerline is valid? [False, False] Translation: X:4.56, Y:0.22, Z:1.06 [[ 9.99925570e-01 -6.70350515e-03 -1.01940119e-02 4.56033747e+00] [ 6.72304720e-03 9.99975625e-01 1.88395380e-03 2.16452963e-01] [ 1.01811343e-02 -1.95234840e-03 9.99946265e-01 1.06375338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70255784400007 meters Centerline goodness [0,1] 0.24652509652509658 Centerline is valid? [False, False] Translation: X:4.58, Y:0.21, Z:1.07 [[ 9.99943068e-01 1.30282437e-03 -1.05907469e-02 4.58044528e+00] [-1.29705645e-03 9.99999007e-01 5.51469319e-04 2.10538861e-01] [ 1.05914549e-02 -5.37701126e-04 9.99943764e-01 1.06526222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73255784400004 meters Centerline goodness [0,1] 0.24976192537442643 Centerline is valid? [False, False] Translation: X:4.58, Y:0.21, Z:1.06 [[ 9.99934786e-01 1.40949982e-03 -1.13330134e-02 4.58265048e+00] [-1.40429104e-03 9.99998905e-01 4.67556374e-04 2.11616380e-01] [ 1.13336600e-02 -4.51611034e-04 9.99935670e-01 1.06467871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76255784400007 meters Centerline goodness [0,1] 0.2608363358445245 Centerline is valid? [False, False] Translation: X:4.58, Y:0.21, Z:1.06 [[ 9.99916306e-01 5.49233950e-03 -1.17138592e-02 4.58417341e+00] [-5.44343346e-03 9.99976352e-01 4.20286288e-03 2.13511081e-01] [ 1.17366657e-02 -4.13874752e-03 9.99922558e-01 1.06386758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79255784400004 meters Centerline goodness [0,1] 0.2532617204488128 Centerline is valid? [False, False] Translation: X:4.58, Y:0.22, Z:1.06 [[ 9.99916010e-01 5.39530835e-03 -1.17840128e-02 4.58433497e+00] [-5.35099737e-03 9.99978507e-01 3.78856013e-03 2.15531635e-01] [ 1.18042000e-02 -3.72518571e-03 9.99923389e-01 1.06401263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8225578440001 meters Centerline goodness [0,1] 0.25852438156447477 Centerline is valid? [False, False] Translation: X:4.58, Y:0.22, Z:1.06 [[ 9.99916702e-01 5.23256991e-03 -1.17987069e-02 4.58420147e+00] [-5.19347536e-03 9.99980930e-01 3.34166930e-03 2.17373401e-01] [ 1.18159674e-02 -3.28011465e-03 9.99924809e-01 1.06433889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85255784400005 meters Centerline goodness [0,1] 0.2628254337288619 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.07 [[ 9.99884101e-01 5.45268553e-03 -1.42145389e-02 4.53715306e+00] [-5.40888572e-03 9.99980511e-01 3.11796410e-03 2.22880923e-01] [ 1.42312631e-02 -3.04071792e-03 9.99894107e-01 1.06611935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8825578440001 meters Centerline goodness [0,1] 0.25383761186230325 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:1.07 [[ 9.99884565e-01 5.38884099e-03 -1.42062556e-02 4.53712864e+00] [-5.34881079e-03 9.99981621e-01 2.85427814e-03 2.24422055e-01] [ 1.42213757e-02 -2.77796208e-03 9.99895012e-01 1.06611009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91255784400005 meters Centerline goodness [0,1] 0.26101953935159916 Centerline is valid? [False, False] Translation: X:4.54, Y:0.23, Z:1.07 [[ 9.99884804e-01 5.31647441e-03 -1.42166745e-02 4.53724136e+00] [-5.27950261e-03 9.99982587e-01 2.63686161e-03 2.25706048e-01] [ 1.42304457e-02 -2.56150088e-03 9.99895461e-01 1.06598037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942557844 meters Centerline goodness [0,1] 0.2494441686273663 Centerline is valid? [False, False] Translation: X:4.56, Y:0.23, Z:1.07 [[ 9.99886570e-01 -3.51679606e-03 -1.46450906e-02 4.56002368e+00] [ 3.55918173e-03 9.99989550e-01 2.86913225e-03 2.29069336e-01] [ 1.46348475e-02 -2.92093135e-03 9.99888638e-01 1.06628511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97255784400005 meters Centerline goodness [0,1] 0.2526651066042642 Centerline is valid? [False, False] Translation: X:4.56, Y:0.23, Z:1.07 [[ 9.99887277e-01 -3.56895677e-03 -1.45840778e-02 4.55992439e+00] [ 3.61078661e-03 9.99989440e-01 2.84286113e-03 2.28978919e-01] [ 1.45737777e-02 -2.89520067e-03 9.99889605e-01 1.06611151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002557844 meters Centerline goodness [0,1] 0.2543471595637511 Centerline is valid? [False, False] Translation: X:4.56, Y:0.23, Z:1.07 [[ 9.99888823e-01 -3.56872866e-03 -1.44777755e-02 4.55946524e+00] [ 3.61036614e-03 9.99989419e-01 2.85084172e-03 2.29022099e-01] [ 1.44674484e-02 -2.90279484e-03 9.99891127e-01 1.06639015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03255784400005 meters Centerline goodness [0,1] 0.25284208238234973 Centerline is valid? [False, False] Translation: X:4.56, Y:0.23, Z:1.07 [[ 9.99887465e-01 -3.60504911e-03 -1.45622884e-02 4.55973194e+00] [ 3.64746370e-03 9.99989180e-01 2.88712389e-03 2.28864481e-01] [ 1.45517227e-02 -2.93991441e-03 9.99889796e-01 1.06627059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062557844 meters Centerline goodness [0,1] 0.2519790921118268 Centerline is valid? [False, False] Translation: X:4.56, Y:0.23, Z:1.07 [[ 9.99888972e-01 -3.62175761e-03 -1.44542950e-02 4.55934321e+00] [ 3.66358300e-03 9.99989176e-01 2.86820186e-03 2.28798688e-01] [ 1.44437506e-02 -2.92083792e-03 9.99891417e-01 1.06644569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09255784400005 meters Centerline goodness [0,1] 0.25373718060142536 Centerline is valid? [False, False] Translation: X:4.56, Y:0.23, Z:1.07 [[ 9.99891733e-01 -3.66955811e-03 -1.42497935e-02 4.55852290e+00] [ 3.70872500e-03 9.99989415e-01 2.72314132e-03 2.29478751e-01] [ 1.42396500e-02 -2.77569506e-03 9.99894758e-01 1.06696615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122557844 meters Centerline goodness [0,1] 0.25482499182204776 Centerline is valid? [False, False] Translation: X:4.56, Y:0.23, Z:1.07 [[ 9.99894170e-01 -3.72596493e-03 -1.40629490e-02 4.55773160e+00] [ 3.76152131e-03 9.99989793e-01 2.50277006e-03 2.30730491e-01] [ 1.40534802e-02 -2.55540327e-03 9.99897980e-01 1.06752432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15255784400006 meters Centerline goodness [0,1] 0.2551513165082486 Centerline is valid? [False, False] Translation: X:4.56, Y:0.23, Z:1.07 [[ 9.99895953e-01 -3.83715356e-03 -1.39054023e-02 4.55715440e+00] [ 3.86658449e-03 9.99990340e-01 2.09024441e-03 2.33001450e-01] [ 1.38972474e-02 -2.14379334e-03 9.99901130e-01 1.06794381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18255784400003 meters Centerline goodness [0,1] 0.2530467346364482 Centerline is valid? [False, False] Translation: X:4.58, Y:0.23, Z:1.07 [[ 9.99905113e-01 4.00776271e-03 -1.31796551e-02 4.57652927e+00] [-4.00064814e-03 9.99991837e-01 5.66135609e-04 2.28596625e-01] [ 1.31818165e-02 -5.13354728e-04 9.99912984e-01 1.06903373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21255784400006 meters Centerline goodness [0,1] 0.2506515605143559 Centerline is valid? [False, False] Translation: X:4.58, Y:0.23, Z:1.07 [[ 9.99905086e-01 3.85565695e-03 -1.32269925e-02 4.57678185e+00] [-3.85280991e-03 9.99992549e-01 2.40719548e-04 2.29955427e-01] [ 1.32278221e-02 -1.89735612e-04 9.99912491e-01 1.06883322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24255784400003 meters Centerline goodness [0,1] 0.25321423151139344 Centerline is valid? [False, False] Translation: X:4.58, Y:0.23, Z:1.07 [[ 9.99903850e-01 3.73561954e-03 -1.33542143e-02 4.57734663e+00] [-3.73736827e-03 9.99993010e-01 -1.05996104e-04 2.31794719e-01] [ 1.33537250e-02 1.55895529e-04 9.99910823e-01 1.06847440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27255784400006 meters Centerline goodness [0,1] 0.2511275599387125 Centerline is valid? [False, False] Translation: X:4.58, Y:0.23, Z:1.07 [[ 9.99899925e-01 3.65969166e-03 -1.36655296e-02 4.57836530e+00] [-3.66611555e-03 9.99993181e-01 -4.45058073e-04 2.33981802e-01] [ 1.36638077e-02 4.95112945e-04 9.99906523e-01 1.06816019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30255784400003 meters Centerline goodness [0,1] 0.26134154598868575 Centerline is valid? [False, False] Translation: X:4.56, Y:0.24, Z:1.07 [[ 9.99898437e-01 -2.71351028e-03 -1.39911240e-02 4.55723426e+00] [ 2.74192145e-03 9.99994217e-01 2.01187477e-03 2.42163275e-01] [ 1.39855839e-02 -2.05003300e-03 9.99900095e-01 1.06746332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33255784400006 meters Centerline goodness [0,1] 0.25101468048359243 Centerline is valid? [False, False] Translation: X:4.58, Y:0.24, Z:1.07 [[ 9.99920379e-01 3.41333267e-03 -1.21484121e-02 4.57752950e+00] [-3.42701508e-03 9.99993517e-01 -1.10563270e-03 2.39986119e-01] [ 1.21445595e-02 1.14717747e-03 9.99925594e-01 1.06757328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36255784400004 meters Centerline goodness [0,1] 0.26292887757544114 Centerline is valid? [False, False] Translation: X:4.58, Y:0.24, Z:1.07 [[ 9.99923781e-01 3.31077239e-03 -1.18941820e-02 4.57671878e+00] [-3.32619690e-03 9.99993652e-01 -1.27726356e-03 2.40600068e-01] [ 1.18898778e-02 1.31672860e-03 9.99928446e-01 1.06782313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39255784400007 meters Centerline goodness [0,1] 0.26316591889184127 Centerline is valid? [False, False] Translation: X:4.58, Y:0.24, Z:1.07 [[ 9.99924005e-01 3.26352746e-03 -1.18883851e-02 4.57675594e+00] [-3.28003574e-03 9.99993683e-01 -1.36937243e-03 2.41108534e-01] [ 1.18838411e-02 1.40826270e-03 9.99928393e-01 1.06768922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42255784400004 meters Centerline goodness [0,1] 0.2523946463707324 Centerline is valid? [False, False] Translation: X:4.58, Y:0.24, Z:1.07 [[ 9.99913546e-01 2.93889691e-03 -1.28165466e-02 4.57983503e+00] [-2.95878491e-03 9.99994448e-01 -1.53305797e-03 2.41291438e-01] [ 1.28119700e-02 1.57084683e-03 9.99916689e-01 1.06624496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45255784400007 meters Centerline goodness [0,1] 0.25273129281193096 Centerline is valid? [False, False] Translation: X:4.58, Y:0.24, Z:1.07 [[ 9.99911173e-01 2.90296925e-03 -1.30083941e-02 4.58066861e+00] [-2.92229108e-03 9.99994655e-01 -1.46657346e-03 2.40596296e-01] [ 1.30040672e-02 1.50445750e-03 9.99914312e-01 1.06560125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48255784400004 meters Centerline goodness [0,1] 0.25232144406838497 Centerline is valid? [False, False] Translation: X:4.58, Y:0.24, Z:1.07 [[ 9.99910013e-01 2.87884879e-03 -1.31025850e-02 4.58099996e+00] [-2.89809557e-03 9.99994749e-01 -1.45018011e-03 2.40375743e-01] [ 1.30983414e-02 1.48802216e-03 9.99913106e-01 1.06540643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51255784400007 meters Centerline goodness [0,1] 0.2503015941404567 Centerline is valid? [False, False] Translation: X:4.58, Y:0.24, Z:1.07 [[ 9.99908939e-01 2.88648373e-03 -1.31826136e-02 4.58103789e+00] [-2.90633751e-03 9.99994671e-01 -1.48714867e-03 2.40784571e-01] [ 1.31782508e-02 1.52532637e-03 9.99912000e-01 1.06571016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54255784400004 meters Centerline goodness [0,1] 0.2532418167206064 Centerline is valid? [False, False] Translation: X:4.58, Y:0.24, Z:1.07 [[ 9.99910583e-01 2.87575215e-03 -1.30597213e-02 4.58053693e+00] [-2.89809727e-03 9.99994368e-01 -1.69239297e-03 2.42089846e-01] [ 1.30547808e-02 1.73008998e-03 9.99913286e-01 1.06613893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5725578440001 meters Centerline goodness [0,1] 0.25179902755267425 Centerline is valid? [False, False] Translation: X:4.58, Y:0.24, Z:1.07 [[ 9.99915730e-01 3.19393093e-03 -1.25829571e-02 4.57908399e+00] [-3.21949708e-03 9.99992793e-01 -2.01207626e-03 2.44737469e-01] [ 1.25764400e-02 2.05241750e-03 9.99918807e-01 1.06689178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60255784400005 meters Centerline goodness [0,1] 0.25259897773542406 Centerline is valid? [False, False] Translation: X:4.58, Y:0.25, Z:1.07 [[ 9.99916190e-01 3.27989650e-03 -1.25241651e-02 4.57892391e+00] [-3.30923598e-03 9.99991827e-01 -2.32262467e-03 2.46632774e-01] [ 1.25164447e-02 2.36387543e-03 9.99918872e-01 1.06705513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6325578440001 meters Centerline goodness [0,1] 0.2525381534798138 Centerline is valid? [False, False] Translation: X:4.58, Y:0.25, Z:1.07 [[ 9.99915431e-01 3.54459728e-03 -1.25126321e-02 4.57889152e+00] [-3.57717410e-03 9.99990268e-01 -2.58209482e-03 2.48998500e-01] [ 1.25033578e-02 2.62663632e-03 9.99918380e-01 1.06717561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66255784400005 meters Centerline goodness [0,1] 0.2547359231776517 Centerline is valid? [False, False] Translation: X:4.58, Y:0.25, Z:1.07 [[ 9.99911796e-01 3.94179064e-03 -1.26831688e-02 4.57932287e+00] [-3.97777758e-03 9.99988131e-01 -2.81340279e-03 2.51837799e-01] [ 1.26719284e-02 2.86360546e-03 9.99915607e-01 1.06733041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.692557844 meters Centerline goodness [0,1] 0.25499652415710805 Centerline is valid? [False, False] Translation: X:4.58, Y:0.26, Z:1.07 [[ 9.99885521e-01 7.95585337e-03 -1.28705014e-02 4.57931417e+00] [-7.95436735e-03 9.99968350e-01 1.66646609e-04 2.57657836e-01] [ 1.28714199e-02 -6.42508350e-05 9.99917158e-01 1.06824490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72255784400005 meters Centerline goodness [0,1] 0.25130562389399624 Centerline is valid? [False, False] Translation: X:4.60, Y:0.26, Z:1.07 [[ 9.99913159e-01 1.03296419e-03 -1.31379892e-02 4.59709671e+00] [-1.01569806e-03 9.99998612e-01 1.32081826e-03 2.64652231e-01] [ 1.31393353e-02 -1.30735933e-03 9.99912821e-01 1.07088252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.752557844 meters Centerline goodness [0,1] 0.26346744505195285 Centerline is valid? [False, False] Translation: X:4.60, Y:0.27, Z:1.07 [[ 9.99915951e-01 9.47213108e-04 -1.29303210e-02 4.59638787e+00] [-9.37242908e-04 9.99999259e-01 7.77109263e-04 2.67505810e-01] [ 1.29310475e-02 -7.64925096e-04 9.99916098e-01 1.07126329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78255784400005 meters Centerline goodness [0,1] 0.2531769093984473 Centerline is valid? [False, False] Translation: X:4.60, Y:0.27, Z:1.07 [[ 9.99919333e-01 7.88650289e-04 -1.26769704e-02 4.59569098e+00] [-7.86496818e-04 9.99999675e-01 1.74857155e-04 2.70432704e-01] [ 1.26771042e-02 -1.64872653e-04 9.99919629e-01 1.07142598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.812557844 meters Centerline goodness [0,1] 0.26447762499180205 Centerline is valid? [False, False] Translation: X:4.59, Y:0.27, Z:1.07 [[ 9.99922828e-01 6.56810145e-04 -1.24059514e-02 4.59496109e+00] [-6.60911478e-04 9.99999728e-01 -3.26497064e-04 2.73088039e-01] [ 1.24057336e-02 3.34671104e-04 9.99922990e-01 1.07156813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84255784400005 meters Centerline goodness [0,1] 0.2624853305515713 Centerline is valid? [False, False] Translation: X:4.59, Y:0.28, Z:1.07 [[ 9.99923004e-01 6.14053623e-04 -1.23939086e-02 4.59497426e+00] [-6.28176017e-04 9.99999158e-01 -1.13560169e-03 2.78274820e-01] [ 1.23932009e-02 1.14329981e-03 9.99922548e-01 1.07157243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.872557844 meters Centerline goodness [0,1] 0.2626589143923287 Centerline is valid? [False, False] Translation: X:4.60, Y:0.28, Z:1.07 [[ 9.99919617e-01 4.74414202e-04 -1.26702340e-02 4.59578027e+00] [-4.95598951e-04 9.99998485e-01 -1.66892180e-03 2.81192628e-01] [ 1.26694231e-02 1.67506701e-03 9.99918337e-01 1.07140540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90255784400006 meters Centerline goodness [0,1] 0.25978670688355054 Centerline is valid? [False, False] Translation: X:4.60, Y:0.28, Z:1.07 [[ 9.99916213e-01 3.54317527e-04 -1.29398936e-02 4.59661747e+00] [-3.83067081e-04 9.99997464e-01 -2.21936570e-03 2.84293121e-01] [ 1.29390744e-02 2.22413660e-03 9.99913813e-01 1.07117925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93255784400003 meters Centerline goodness [0,1] 0.2513872395552197 Centerline is valid? [False, False] Translation: X:4.60, Y:0.29, Z:1.07 [[ 9.99913734e-01 2.27438604e-04 -1.31328792e-02 4.59715261e+00] [-2.63682759e-04 9.99996162e-01 -2.75813716e-03 2.87208502e-01] [ 1.31322014e-02 2.76136214e-03 9.99909956e-01 1.07114983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96255784400006 meters Centerline goodness [0,1] 0.2628104915754733 Centerline is valid? [False, False] Translation: X:4.60, Y:0.29, Z:1.07 [[ 9.99915433e-01 5.79794629e-05 -1.30047213e-02 4.59669845e+00] [-1.01580141e-04 9.99994377e-01 -3.35204518e-03 2.90267794e-01] [ 1.30044538e-02 3.35308273e-03 9.99909816e-01 1.07142584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99255784400003 meters Centerline goodness [0,1] 0.2532706856046727 Centerline is valid? [False, False] Translation: X:4.60, Y:0.29, Z:1.07 [[ 9.99921166e-01 2.46787192e-04 -1.25539122e-02 4.59550520e+00] [-2.96230618e-04 9.99992207e-01 -3.93678044e-03 2.94740196e-01] [ 1.25528428e-02 3.94018894e-03 9.99913447e-01 1.07161891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02255784400006 meters Centerline goodness [0,1] 0.264108303092201 Centerline is valid? [False, False] Translation: X:4.60, Y:0.30, Z:1.07 [[ 9.99919967e-01 1.62162034e-04 -1.26503938e-02 4.59591279e+00] [-2.16201168e-04 9.99990858e-01 -4.27048475e-03 2.96536540e-01] [ 1.26495856e-02 4.27287800e-03 9.99910861e-01 1.07133830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05255784400003 meters Centerline goodness [0,1] 0.2652612322233595 Centerline is valid? [False, False] Translation: X:4.60, Y:0.30, Z:1.07 [[ 9.99918854e-01 9.90638451e-05 -1.27387570e-02 4.59629321e+00] [-1.56576288e-04 9.99989800e-01 -4.51384289e-03 2.97779584e-01] [ 1.27381799e-02 4.51547119e-03 9.99908670e-01 1.07106278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08255784400006 meters Centerline goodness [0,1] 0.25435404211073565 Centerline is valid? [False, False] Translation: X:4.60, Y:0.30, Z:1.07 [[ 9.99915903e-01 5.84368790e-05 -1.29685820e-02 4.59681971e+00] [-1.22760133e-04 9.99987696e-01 -4.95918899e-03 3.00160771e-01] [ 1.29681326e-02 4.96036396e-03 9.99903607e-01 1.07115381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11255784400004 meters Centerline goodness [0,1] 0.264730850438606 Centerline is valid? [False, False] Translation: X:4.60, Y:0.30, Z:1.07 [[ 9.99915479e-01 3.67107696e-06 -1.30013474e-02 4.59689958e+00] [-7.28068934e-05 9.99985861e-01 -5.31711925e-03 3.02210739e-01] [ 1.30011441e-02 5.31761643e-03 9.99901342e-01 1.07114348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14255784400007 meters Centerline goodness [0,1] 0.26306899389319593 Centerline is valid? [False, False] Translation: X:4.60, Y:0.30, Z:1.07 [[ 9.99914443e-01 1.61757552e-05 -1.30807595e-02 4.59718361e+00] [-9.06708999e-05 9.99983782e-01 -5.69444380e-03 3.04701196e-01] [ 1.30804552e-02 5.69514264e-03 9.99898228e-01 1.07104152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17255784400004 meters Centerline goodness [0,1] 0.2560555143368394 Centerline is valid? [False, False] Translation: X:4.60, Y:0.31, Z:1.07 [[ 9.99914478e-01 -1.95750780e-05 -1.30781019e-02 4.59721451e+00] [-5.93043801e-05 9.99981812e-01 -6.03099980e-03 3.06721180e-01] [ 1.30779821e-02 6.03125960e-03 9.99896290e-01 1.07096984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20255784400007 meters Centerline goodness [0,1] 0.2555816175831813 Centerline is valid? [False, False] Translation: X:4.60, Y:0.31, Z:1.07 [[ 9.99914559e-01 -3.38917957e-05 -1.30718809e-02 4.59725658e+00] [-4.90575089e-05 9.99979867e-01 -6.34525602e-03 3.08615824e-01] [ 1.30718327e-02 6.34535515e-03 9.99894426e-01 1.07087351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23255784400004 meters Centerline goodness [0,1] 0.25507132574270386 Centerline is valid? [False, False] Translation: X:4.60, Y:0.31, Z:1.07 [[ 9.99907929e-01 3.88340242e-04 -1.35640079e-02 4.59889764e+00] [-4.77500704e-04 9.99978299e-01 -6.57069253e-03 3.11350148e-01] [ 1.35611619e-02 6.57656439e-03 9.99886415e-01 1.07008306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26255784400007 meters Centerline goodness [0,1] 0.2536740110921686 Centerline is valid? [False, False] Translation: X:4.62, Y:0.31, Z:1.07 [[ 9.99887105e-01 -4.82893359e-03 -1.42288214e-02 4.62135384e+00] [ 4.78210697e-03 9.99983044e-01 -3.32315783e-03 3.14640243e-01] [ 1.42446274e-02 3.25473892e-03 9.99893243e-01 1.06994696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29255784400004 meters Centerline goodness [0,1] 0.2566934330656694 Centerline is valid? [False, False] Translation: X:4.58, Y:0.32, Z:1.07 [[ 9.99846757e-01 -3.79788813e-03 -1.70891327e-02 4.57673256e+00] [ 3.74720272e-03 9.99988488e-01 -2.99698798e-03 3.15282159e-01] [ 1.71003182e-02 2.93249227e-03 9.99849478e-01 1.07023417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3225578440001 meters Centerline goodness [0,1] 0.2521356458710846 Centerline is valid? [False, False] Translation: X:4.62, Y:0.32, Z:1.07 [[ 9.99886294e-01 -3.04259656e-03 -1.47696457e-02 4.62057758e+00] [ 3.00837287e-03 9.99992740e-01 -2.33882863e-03 3.15912810e-01] [ 1.47766546e-02 2.29413009e-03 9.99888187e-01 1.07039670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35255784400005 meters Centerline goodness [0,1] 0.2543612830613393 Centerline is valid? [False, False] Translation: X:4.62, Y:0.32, Z:1.07 [[ 9.99891306e-01 -2.92989099e-03 -1.44496075e-02 4.61941043e+00] [ 2.89716852e-03 9.99993193e-01 -2.28500521e-03 3.15958675e-01] [ 1.44562039e-02 2.24289389e-03 9.99892988e-01 1.07096516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3825578440001 meters Centerline goodness [0,1] 0.25435835088252534 Centerline is valid? [False, False] Translation: X:4.62, Y:0.32, Z:1.07 [[ 9.99891973e-01 -2.84999068e-03 -1.44194480e-02 4.61927756e+00] [ 2.81838789e-03 9.99993583e-01 -2.21152509e-03 3.15914266e-01] [ 1.44256583e-02 2.17064658e-03 9.99893589e-01 1.07102936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41255784400005 meters Centerline goodness [0,1] 0.2544120520112011 Centerline is valid? [False, False] Translation: X:4.62, Y:0.32, Z:1.07 [[ 9.99891437e-01 -2.77115905e-03 -1.44718627e-02 4.61952157e+00] [ 2.74095661e-03 9.99994025e-01 -2.10639426e-03 3.15581571e-01] [ 1.44776134e-02 2.06649884e-03 9.99893058e-01 1.07080082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442557844 meters Centerline goodness [0,1] 0.2544120520112011 Centerline is valid? [False, False] Translation: X:4.62, Y:0.32, Z:1.07 [[ 9.99891437e-01 -2.77115905e-03 -1.44718627e-02 4.61952157e+00] [ 2.74095661e-03 9.99994025e-01 -2.10639426e-03 3.15581571e-01] [ 1.44776134e-02 2.06649884e-03 9.99893058e-01 1.07080082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47255784400005 meters Centerline goodness [0,1] 0.25374913314840497 Centerline is valid? [False, False] Translation: X:4.62, Y:0.32, Z:1.07 [[ 9.99889738e-01 -2.71735010e-03 -1.45989131e-02 4.62010248e+00] [ 2.68804115e-03 9.99994333e-01 -2.02685935e-03 3.15248168e-01] [ 1.46043381e-02 1.98739338e-03 9.99891376e-01 1.07036895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502557844 meters Centerline goodness [0,1] 0.2630144156325649 Centerline is valid? [False, False] Translation: X:4.62, Y:0.31, Z:1.07 [[ 9.99888131e-01 -2.58762150e-03 -1.47319567e-02 4.62073679e+00] [ 2.56034260e-03 9.99994973e-01 -1.87024111e-03 3.14590931e-01] [ 1.47367222e-02 1.83231303e-03 9.99889730e-01 1.06983668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53255784400005 meters Centerline goodness [0,1] 0.2552803129074316 Centerline is valid? [False, False] Translation: X:4.62, Y:0.31, Z:1.07 [[ 9.99887359e-01 -2.48814777e-03 -1.48013011e-02 4.62091478e+00] [ 2.46226588e-03 9.99995408e-01 -1.76658951e-03 3.14306194e-01] [ 1.48056287e-02 1.72994578e-03 9.99888894e-01 1.06977742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562557844 meters Centerline goodness [0,1] 0.25198916175648356 Centerline is valid? [False, False] Translation: X:4.62, Y:0.31, Z:1.07 [[ 9.99886022e-01 -2.37896122e-03 -1.49092070e-02 4.62121721e+00] [ 2.35432371e-03 9.99995834e-01 -1.66983653e-03 3.14116516e-01] [ 1.49131174e-02 1.63454511e-03 9.99887457e-01 1.06968977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59255784400005 meters Centerline goodness [0,1] 0.2556135029567722 Centerline is valid? [False, False] Translation: X:4.60, Y:0.31, Z:1.07 [[ 9.99858801e-01 6.06687791e-03 -1.56707328e-02 4.60121178e+00] [-6.10917603e-03 9.99977820e-01 -2.65272043e-03 3.08561295e-01] [ 1.56542915e-02 2.74808113e-03 9.99873688e-01 1.06825489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622557844 meters Centerline goodness [0,1] 0.25027449460698836 Centerline is valid? [False, False] Translation: X:4.62, Y:0.31, Z:1.07 [[ 9.99867335e-01 -1.86267767e-03 -1.61815591e-02 4.62155239e+00] [ 1.82948551e-03 9.99996193e-01 -2.06579454e-03 3.11790713e-01] [ 1.61853454e-02 2.03591656e-03 9.99866936e-01 1.06870907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65255784400006 meters Centerline goodness [0,1] 0.2533307252613506 Centerline is valid? [False, False] Translation: X:4.62, Y:0.31, Z:1.07 [[ 9.99868008e-01 -1.85803491e-03 -1.61404669e-02 4.62133768e+00] [ 1.82349476e-03 9.99996017e-01 -2.15442578e-03 3.12320376e-01] [ 1.61444056e-02 2.12470936e-03 9.99867413e-01 1.06885997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68255784400003 meters Centerline goodness [0,1] 0.2648339862986715 Centerline is valid? [False, False] Translation: X:4.62, Y:0.31, Z:1.07 [[ 9.99873905e-01 -1.79074813e-03 -1.57786749e-02 4.62008939e+00] [ 1.75446906e-03 9.99995786e-01 -2.31278926e-03 3.13657638e-01] [ 1.57827501e-02 2.28481444e-03 9.99872834e-01 1.06942247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71255784400006 meters Centerline goodness [0,1] 0.2609146934803762 Centerline is valid? [False, False] Translation: X:4.64, Y:0.31, Z:1.07 [[ 9.99884800e-01 7.02993782e-03 -1.34523603e-02 4.64084925e+00] [-7.06908109e-03 9.99970911e-01 -2.86443524e-03 3.13562620e-01] [ 1.34318322e-02 2.95920108e-03 9.99905410e-01 1.07003399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74255784400003 meters Centerline goodness [0,1] 0.2532609401025331 Centerline is valid? [False, False] Translation: X:4.64, Y:0.32, Z:1.07 [[ 9.99889438e-01 7.02603522e-03 -1.31051946e-02 4.63979039e+00] [-7.06913901e-03 9.99969746e-01 -3.24564273e-03 3.15860382e-01] [ 1.30819942e-02 3.33792633e-03 9.99908856e-01 1.07032392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77255784400006 meters Centerline goodness [0,1] 0.2594619144426662 Centerline is valid? [False, False] Translation: X:4.64, Y:0.32, Z:1.07 [[ 9.99890547e-01 6.87669424e-03 -1.30998182e-02 4.63982745e+00] [-6.92626678e-03 9.99969009e-01 -3.74261348e-03 3.18158412e-01] [ 1.30736754e-02 3.83293668e-03 9.99907189e-01 1.07015674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80255784400003 meters Centerline goodness [0,1] 0.25378516346258284 Centerline is valid? [False, False] Translation: X:4.64, Y:0.32, Z:1.07 [[ 9.99892197e-01 6.72284698e-03 -1.30536851e-02 4.63981855e+00] [-6.78098779e-03 9.99967263e-01 -4.41483678e-03 3.21486170e-01] [ 1.30235775e-02 4.50287773e-03 9.99905051e-01 1.06982872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83255784400006 meters Centerline goodness [0,1] 0.25425451400151367 Centerline is valid? [False, False] Translation: X:4.66, Y:0.33, Z:1.07 [[ 9.99918958e-01 -6.72865435e-04 -1.27132027e-02 4.65719905e+00] [ 6.38859504e-04 9.99996208e-01 -2.67872340e-03 3.28409880e-01] [ 1.27149570e-02 2.67038436e-03 9.99915596e-01 1.07244715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86255784400004 meters Centerline goodness [0,1] 0.2518610955720987 Centerline is valid? [False, False] Translation: X:4.66, Y:0.33, Z:1.07 [[ 9.99917566e-01 -7.87979864e-04 -1.28155889e-02 4.65737940e+00] [ 7.49515012e-04 9.99995201e-01 -3.00593724e-03 3.30319417e-01] [ 1.28178960e-02 2.99608397e-03 9.99913359e-01 1.07256627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89255784400007 meters Centerline goodness [0,1] 0.2631476431632256 Centerline is valid? [False, False] Translation: X:4.66, Y:0.33, Z:1.07 [[ 9.99913003e-01 -8.73528370e-04 -1.31614653e-02 4.65864928e+00] [ 8.32894140e-04 9.99994871e-01 -3.09252875e-03 3.30365424e-01] [ 1.31640992e-02 3.08129760e-03 9.99908602e-01 1.07190698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92255784400004 meters Centerline goodness [0,1] 0.25458142214299684 Centerline is valid? [False, False] Translation: X:4.66, Y:0.33, Z:1.07 [[ 9.99909010e-01 -9.38408163e-04 -1.34570037e-02 4.65969195e+00] [ 8.96187920e-04 9.99994659e-01 -3.14310494e-03 3.30281507e-01] [ 1.34598813e-02 3.13075894e-03 9.99904510e-01 1.07137568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95255784400007 meters Centerline goodness [0,1] 0.25599912977265316 Centerline is valid? [False, False] Translation: X:4.66, Y:0.33, Z:1.07 [[ 9.99906486e-01 -9.79702624e-04 -1.36403849e-02 4.66023832e+00] [ 9.36797912e-04 9.99994595e-01 -3.15145219e-03 3.30144917e-01] [ 1.36433987e-02 3.13837920e-03 9.99901999e-01 1.07123868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98255784400004 meters Centerline goodness [0,1] 0.25411631993405215 Centerline is valid? [False, False] Translation: X:4.66, Y:0.33, Z:1.07 [[ 9.99906064e-01 -9.79783715e-04 -1.36712205e-02 4.66015362e+00] [ 9.37091824e-04 9.99994666e-01 -3.12881289e-03 3.30100027e-01] [ 1.36742132e-02 3.11570780e-03 9.99901649e-01 1.07149712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01255784400007 meters Centerline goodness [0,1] 0.2528323874058568 Centerline is valid? [False, False] Translation: X:4.66, Y:0.33, Z:1.07 [[ 9.99905680e-01 -9.31253351e-04 -1.37026756e-02 4.66013506e+00] [ 8.90036738e-04 9.99995063e-01 -3.01371533e-03 3.29713472e-01] [ 1.37054144e-02 3.00123520e-03 9.99901572e-01 1.07168561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04255784400004 meters Centerline goodness [0,1] 0.25244765777978606 Centerline is valid? [False, False] Translation: X:4.66, Y:0.33, Z:1.07 [[ 9.99905876e-01 -9.34883291e-04 -1.36881459e-02 4.65998280e+00] [ 8.94019207e-04 9.99995127e-01 -2.99117770e-03 3.29510968e-01] [ 1.36908756e-02 2.97865869e-03 9.99901839e-01 1.07192712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0725578440001 meters Centerline goodness [0,1] 0.25470266990291257 Centerline is valid? [False, False] Translation: X:4.66, Y:0.33, Z:1.07 [[ 9.99906692e-01 -9.49510274e-04 -1.36274249e-02 4.65974339e+00] [ 9.08276487e-04 9.99994992e-01 -3.03166458e-03 3.29698799e-01] [ 1.36302353e-02 3.01900423e-03 9.99902546e-01 1.07206089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10255784400005 meters Centerline goodness [0,1] 0.2569528283249556 Centerline is valid? [False, False] Translation: X:4.61, Y:0.33, Z:1.07 [[ 9.99867261e-01 -6.44311111e-04 -1.62802090e-02 4.61432587e+00] [ 5.95956183e-04 9.99995398e-01 -2.97484321e-03 3.28257110e-01] [ 1.62820507e-02 2.96474604e-03 9.99863043e-01 1.07278476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1325578440001 meters Centerline goodness [0,1] 0.25671466225194417 Centerline is valid? [False, False] Translation: X:4.61, Y:0.33, Z:1.07 [[ 9.99865183e-01 -6.34166582e-04 -1.64077560e-02 4.61469612e+00] [ 5.84808794e-04 9.99995290e-01 -3.01282179e-03 3.28574812e-01] [ 1.64095893e-02 3.00282021e-03 9.99860845e-01 1.07267757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16255784400005 meters Centerline goodness [0,1] 0.2564035375040943 Centerline is valid? [False, False] Translation: X:4.62, Y:0.33, Z:1.07 [[ 9.99863562e-01 -6.12455827e-04 -1.65070648e-02 4.61504643e+00] [ 5.63369331e-04 9.99995407e-01 -2.97815196e-03 3.28419365e-01] [ 1.65088130e-02 2.96844605e-03 9.99859314e-01 1.07249439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.192557844 meters Centerline goodness [0,1] 0.25353177517604875 Centerline is valid? [False, False] Translation: X:4.62, Y:0.33, Z:1.07 [[ 9.99862809e-01 -5.58419331e-04 -1.65544810e-02 4.61518921e+00] [ 5.11875794e-04 9.99995905e-01 -2.81564099e-03 3.27402938e-01] [ 1.65559855e-02 2.80678087e-03 9.99859001e-01 1.07244648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22255784400005 meters Centerline goodness [0,1] 0.25538910421112226 Centerline is valid? [False, False] Translation: X:4.61, Y:0.33, Z:1.07 [[ 9.99863801e-01 -5.17366039e-04 -1.64957883e-02 4.61489930e+00] [ 4.72825787e-04 9.99996233e-01 -2.70388417e-03 3.26776435e-01] [ 1.64971250e-02 2.69571628e-03 9.99860279e-01 1.07267833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.252557844 meters Centerline goodness [0,1] 0.25332499838330713 Centerline is valid? [False, False] Translation: X:4.61, Y:0.33, Z:1.07 [[ 9.99863708e-01 -4.42994394e-04 -1.65036335e-02 4.61492874e+00] [ 4.00720350e-04 9.99996631e-01 -2.56471803e-03 3.26161126e-01] [ 1.65047141e-02 2.55775514e-03 9.99860516e-01 1.07264334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28255784400005 meters Centerline goodness [0,1] 0.2556577316898193 Centerline is valid? [False, False] Translation: X:4.61, Y:0.33, Z:1.07 [[ 9.99863705e-01 -3.68045341e-04 -1.65056364e-02 4.61495107e+00] [ 3.27419969e-04 9.99996911e-01 -2.46393776e-03 3.25889924e-01] [ 1.65064923e-02 2.45819766e-03 9.99860737e-01 1.07261474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.312557844 meters Centerline goodness [0,1] 0.2571428571428571 Centerline is valid? [False, False] Translation: X:4.61, Y:0.32, Z:1.07 [[ 9.99866831e-01 -1.62769893e-04 -1.63185090e-02 4.61429827e+00] [ 1.28943168e-04 9.99997841e-01 -2.07393612e-03 3.24226357e-01] [ 1.63188113e-02 2.07155578e-03 9.99864693e-01 1.07292668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34255784400005 meters Centerline goodness [0,1] 0.25821669029057404 Centerline is valid? [False, False] Translation: X:4.57, Y:0.32, Z:1.07 [[ 9.99825291e-01 -4.93130287e-04 -1.86853923e-02 4.56825853e+00] [ 4.49141894e-04 9.99997118e-01 -2.35828288e-03 3.19793253e-01] [ 1.86865014e-02 2.34947848e-03 9.99822632e-01 1.07390061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.372557844 meters Centerline goodness [0,1] 0.25682880992963597 Centerline is valid? [False, False] Translation: X:4.59, Y:0.32, Z:1.07 [[ 9.99813763e-01 -8.62367944e-03 -1.72647291e-02 4.58800567e+00] [ 8.60585459e-03 9.99962357e-01 -1.10647260e-03 3.21450187e-01] [ 1.72736211e-02 9.57688786e-04 9.99850341e-01 1.07473337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40255784400006 meters Centerline goodness [0,1] 0.2566740035304117 Centerline is valid? [False, False] Translation: X:4.59, Y:0.32, Z:1.07 [[ 9.99819145e-01 -8.41560444e-03 -1.70544458e-02 4.58736428e+00] [ 8.40661417e-03 9.99964485e-01 -5.98774240e-04 3.19018771e-01] [ 1.70588792e-02 4.55295803e-04 9.99854383e-01 1.07495856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43255784400003 meters Centerline goodness [0,1] 0.25610365893427833 Centerline is valid? [False, False] Translation: X:4.59, Y:0.32, Z:1.08 [[ 9.99823274e-01 -8.22425086e-03 -1.69051025e-02 4.58692636e+00] [ 8.22384089e-03 9.99966179e-01 -9.37695031e-05 3.16478822e-01] [ 1.69053020e-02 -4.52719420e-05 9.99857094e-01 1.07510014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46255784400006 meters Centerline goodness [0,1] 0.254981638019079 Centerline is valid? [False, False] Translation: X:4.59, Y:0.31, Z:1.07 [[ 9.99822366e-01 -7.87235805e-03 -1.71249140e-02 4.58808658e+00] [ 7.88897847e-03 9.99968474e-01 9.03201984e-04 3.10525851e-01] [ 1.71172638e-02 -1.03813962e-03 9.99852950e-01 1.07426633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49255784400003 meters Centerline goodness [0,1] 0.26289615460117344 Centerline is valid? [False, False] Translation: X:4.59, Y:0.31, Z:1.07 [[ 9.99817264e-01 -7.64860053e-03 -1.75196255e-02 4.58947535e+00] [ 7.67594873e-03 9.99969423e-01 1.49428969e-03 3.07654698e-01] [ 1.75076606e-02 -1.62849638e-03 9.99845403e-01 1.07360258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52255784400006 meters Centerline goodness [0,1] 0.2539751310601793 Centerline is valid? [False, False] Translation: X:4.61, Y:0.30, Z:1.08 [[ 9.99826789e-01 3.04856836e-04 -1.86091351e-02 4.60996545e+00] [-2.84543982e-04 9.99999361e-01 1.09419086e-03 3.00364647e-01] [ 1.86094568e-02 -1.08870621e-03 9.99826236e-01 1.07506875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55255784400003 meters Centerline goodness [0,1] 0.26275754151091024 Centerline is valid? [False, False] Translation: X:4.61, Y:0.29, Z:1.08 [[ 9.99830956e-01 8.05225339e-04 -1.83687655e-02 4.60923387e+00] [-7.59919662e-04 9.99996653e-01 2.47329860e-03 2.92669512e-01] [ 1.83706956e-02 -2.45892172e-03 9.99828221e-01 1.07539780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58255784400006 meters Centerline goodness [0,1] 0.2622822299651568 Centerline is valid? [False, False] Translation: X:4.61, Y:0.29, Z:1.08 [[ 9.99832823e-01 1.01737837e-03 -1.82562840e-02 4.60864169e+00] [-9.58809357e-04 9.99994367e-01 3.21662262e-03 2.88538553e-01] [ 1.82594537e-02 -3.19858057e-03 9.99828166e-01 1.07596415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61255784400004 meters Centerline goodness [0,1] 0.26314871727805755 Centerline is valid? [False, False] Translation: X:4.61, Y:0.28, Z:1.08 [[ 9.99834022e-01 1.23874438e-03 -1.81767470e-02 4.60819954e+00] [-1.16673053e-03 9.99991431e-01 3.97193680e-03 2.84433511e-01] [ 1.81815114e-02 -3.95007018e-03 9.99826900e-01 1.07642928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64255784400007 meters Centerline goodness [0,1] 0.26367822614085246 Centerline is valid? [False, False] Translation: X:4.61, Y:0.28, Z:1.08 [[ 9.99832906e-01 1.49630572e-03 -1.82186800e-02 4.60819616e+00] [-1.41170728e-03 9.99988167e-01 4.65547612e-03 2.81042228e-01] [ 1.82254304e-02 -4.62897878e-03 9.99823187e-01 1.07666131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67255784400004 meters Centerline goodness [0,1] 0.25536666811223385 Centerline is valid? [False, False] Translation: X:4.61, Y:0.28, Z:1.08 [[ 9.99831410e-01 1.72977388e-03 -1.82800185e-02 4.60851357e+00] [-1.63403820e-03 9.99984879e-01 5.25081575e-03 2.78243455e-01] [ 1.82888248e-02 -5.22006027e-03 9.99819119e-01 1.07641594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70255784400007 meters Centerline goodness [0,1] 0.2545620042477569 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.08 [[ 9.99830938e-01 2.19175312e-03 -1.82562741e-02 4.60899150e+00] [-2.07521970e-03 9.99977368e-01 6.39969882e-03 2.72378284e-01] [ 1.82698874e-02 -6.36073110e-03 9.99812859e-01 1.07568010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73255784400004 meters Centerline goodness [0,1] 0.25575826185396433 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.08 [[ 9.99828845e-01 2.42439642e-03 -1.83412871e-02 4.60935356e+00] [-2.29611509e-03 9.99972780e-01 7.01195788e-03 2.69225542e-01] [ 1.83577876e-02 -6.96864405e-03 9.99807196e-01 1.07544962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76255784400007 meters Centerline goodness [0,1] 0.25627177700348436 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99821768e-01 2.80203687e-03 -1.86703067e-02 4.61037231e+00] [-2.65450401e-03 9.99965096e-01 7.92210765e-03 2.64800293e-01] [ 1.86918531e-02 -7.87113528e-03 9.99794309e-01 1.07519706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79255784400004 meters Centerline goodness [0,1] 0.2536488808648555 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99819143e-01 2.91924011e-03 -1.87925517e-02 4.61076331e+00] [-2.76605291e-03 9.99962780e-01 8.17232343e-03 2.63644341e-01] [ 1.88157092e-02 -8.11886421e-03 9.99790005e-01 1.07505417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8225578440001 meters Centerline goodness [0,1] 0.25489941033645513 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.07 [[ 9.99817132e-01 3.00575404e-03 -1.88856631e-02 4.61107075e+00] [-2.84841174e-03 9.99961059e-01 8.35269246e-03 2.62658923e-01] [ 1.89100338e-02 -8.29737087e-03 9.99786759e-01 1.07492690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85255784400005 meters Centerline goodness [0,1] 0.25288646222241407 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.07 [[ 9.99815341e-01 3.02666338e-03 -1.89769281e-02 4.61138314e+00] [-2.86773676e-03 9.99960638e-01 8.39635543e-03 2.62246995e-01] [ 1.90015940e-02 -8.34038413e-03 9.99784666e-01 1.07475841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8825578440001 meters Centerline goodness [0,1] 0.254277247853265 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.07 [[ 9.99817196e-01 3.03789454e-03 -1.88771452e-02 4.61125300e+00] [-2.88047126e-03 9.99960898e-01 8.36095978e-03 2.62478027e-01] [ 1.89018067e-02 -8.30505629e-03 9.99786851e-01 1.07448945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91255784400005 meters Centerline goodness [0,1] 0.2623435326842837 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.07 [[ 9.99834929e-01 3.71459212e-03 -1.77852628e-02 4.60829903e+00] [-3.55880291e-03 9.99955095e-01 8.78310621e-03 2.62928577e-01] [ 1.78170898e-02 -8.71836214e-03 9.99803251e-01 1.07485555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942557844 meters Centerline goodness [0,1] 0.2620766362070094 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.07 [[ 9.99837460e-01 3.71412282e-03 -1.76425507e-02 4.60791271e+00] [-3.56145578e-03 9.99956013e-01 8.67689410e-03 2.63641144e-01] [ 1.76740017e-02 -8.61265059e-03 9.99806707e-01 1.07485985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97255784400005 meters Centerline goodness [0,1] 0.2548934224564001 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.07 [[ 9.99836600e-01 3.65389702e-03 -1.77037141e-02 4.60809987e+00] [-3.50313053e-03 9.99957400e-01 8.53963461e-03 2.64116867e-01] [ 1.77341629e-02 -8.47622082e-03 9.99806808e-01 1.07475536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002557844 meters Centerline goodness [0,1] 0.2554131395121102 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.07 [[ 9.99834268e-01 3.61263434e-03 -1.78433300e-02 4.60848307e+00] [-3.46141427e-03 9.99957896e-01 8.49850503e-03 2.64107266e-01] [ 1.78732807e-02 -8.43533341e-03 9.99804676e-01 1.07465298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03255784400005 meters Centerline goodness [0,1] 0.2534605999093009 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.07 [[ 9.99832310e-01 3.63100917e-03 -1.79490405e-02 4.60865452e+00] [-3.47769447e-03 9.99957268e-01 8.56551171e-03 2.63786877e-01] [ 1.79793749e-02 -8.50165408e-03 9.99802212e-01 1.07479535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062557844 meters Centerline goodness [0,1] 0.25162750592800176 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99834571e-01 3.69913561e-03 -1.78086485e-02 4.60791702e+00] [-3.54331604e-03 9.99955236e-01 8.77327400e-03 2.63027484e-01] [ 1.78403048e-02 -8.70872097e-03 9.99802921e-01 1.07547519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09255784400005 meters Centerline goodness [0,1] 0.2540471333709474 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99836411e-01 3.68027615e-03 -1.77089263e-02 4.60751260e+00] [-3.52506194e-03 9.99955172e-01 8.78799099e-03 2.62869593e-01] [ 1.77404746e-02 -8.72412832e-03 9.99804563e-01 1.07575906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122557844 meters Centerline goodness [0,1] 0.2552053901325799 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99837767e-01 3.64399195e-03 -1.76397586e-02 4.60726988e+00] [-3.49117671e-03 9.99956180e-01 8.68616983e-03 2.63361760e-01] [ 1.76706380e-02 -8.62317714e-03 9.99806676e-01 1.07584166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15255784400006 meters Centerline goodness [0,1] 0.24993018109948661 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99837791e-01 3.56627707e-03 -1.76542562e-02 4.60736532e+00] [-3.41707329e-03 9.99958253e-01 8.47439721e-03 2.64417437e-01] [ 1.76837412e-02 -8.41269670e-03 9.99808238e-01 1.07568900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18255784400003 meters Centerline goodness [0,1] 0.26208723214867247 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.08 [[ 9.99833271e-01 3.45007701e-03 -1.79311737e-02 4.60833467e+00] [-3.30564378e-03 9.99961906e-01 8.07827449e-03 2.66601912e-01] [ 1.79583613e-02 -8.01765354e-03 9.99806589e-01 1.07517626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21255784400006 meters Centerline goodness [0,1] 0.25508494855228525 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.08 [[ 9.99832204e-01 3.43072340e-03 -1.79942488e-02 4.60852912e+00] [-3.28622219e-03 9.99962167e-01 8.05384167e-03 2.66660487e-01] [ 1.80211985e-02 -7.99335717e-03 9.99805652e-01 1.07511169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24255784400003 meters Centerline goodness [0,1] 0.25482986685231923 Centerline is valid? [False, False] Translation: X:4.61, Y:0.27, Z:1.08 [[ 9.99831015e-01 3.45392378e-03 -1.80557870e-02 4.60861982e+00] [-3.30611761e-03 9.99960836e-01 8.20953320e-03 2.65615996e-01] [ 1.80834350e-02 -8.14845136e-03 9.99803277e-01 1.07524171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27255784400006 meters Centerline goodness [0,1] 0.2539219739332884 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99840777e-01 -5.87094854e-04 -1.78346634e-02 4.60796204e+00] [ 6.64911032e-04 9.99990285e-01 4.35758226e-03 2.64584990e-01] [ 1.78319319e-02 -4.36874690e-03 9.99831454e-01 1.07541492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30255784400003 meters Centerline goodness [0,1] 0.25397137121410496 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99841215e-01 -4.79751882e-04 -1.78133367e-02 4.60784844e+00] [ 5.62991576e-04 9.99988946e-01 4.66816543e-03 2.63074502e-01] [ 1.78109002e-02 -4.67745296e-03 9.99830432e-01 1.07553631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33255784400006 meters Centerline goodness [0,1] 0.25397137121410496 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99841215e-01 -4.79751882e-04 -1.78133367e-02 4.60784844e+00] [ 5.62991576e-04 9.99988946e-01 4.66816543e-03 2.63074502e-01] [ 1.78109002e-02 -4.67745296e-03 9.99830432e-01 1.07553631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36255784400004 meters Centerline goodness [0,1] 0.2509369749709215 Centerline is valid? [False, False] Translation: X:4.63, Y:0.26, Z:1.08 [[ 9.99825039e-01 7.82299168e-03 -1.69909193e-02 4.62751157e+00] [-7.75842481e-03 9.99962443e-01 3.86268008e-03 2.58227820e-01] [ 1.70204989e-02 -3.73018149e-03 9.99848183e-01 1.07688185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39255784400007 meters Centerline goodness [0,1] 0.2551229508196722 Centerline is valid? [False, False] Translation: X:4.61, Y:0.26, Z:1.08 [[ 9.99844822e-01 -1.08440505e-03 -1.75828451e-02 4.60669568e+00] [ 1.16942748e-03 9.99987671e-01 4.82597249e-03 2.60288572e-01] [ 1.75773950e-02 -4.84578547e-03 9.99833763e-01 1.07568095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42255784400004 meters Centerline goodness [0,1] 0.2518440236380106 Centerline is valid? [False, False] Translation: X:4.63, Y:0.26, Z:1.08 [[ 9.99820841e-01 7.00753629e-03 -1.75835262e-02 4.62721793e+00] [-6.94442821e-03 9.99969235e-01 3.64754219e-03 2.55839532e-01] [ 1.76085455e-02 -3.52478117e-03 9.99838745e-01 1.07693104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45255784400007 meters Centerline goodness [0,1] 0.25064716541548016 Centerline is valid? [False, False] Translation: X:4.63, Y:0.25, Z:1.08 [[ 9.99820188e-01 7.05686300e-03 -1.76008979e-02 4.62754552e+00] [-6.99123573e-03 9.99968389e-01 3.78738049e-03 2.54941168e-01] [ 1.76270686e-02 -3.66364745e-03 9.99837919e-01 1.07647065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48255784400004 meters Centerline goodness [0,1] 0.25488785718956386 Centerline is valid? [False, False] Translation: X:4.63, Y:0.25, Z:1.08 [[ 9.99820128e-01 7.16259714e-03 -1.75615925e-02 4.62740993e+00] [-7.09390165e-03 9.99966954e-01 3.97086917e-03 2.53934449e-01] [ 1.75894539e-02 -3.84557471e-03 9.99837898e-01 1.07650761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51255784400007 meters Centerline goodness [0,1] 0.2498327398295025 Centerline is valid? [False, False] Translation: X:4.65, Y:0.26, Z:1.08 [[ 9.99841567e-01 -1.97737487e-04 -1.77989026e-02 4.64647101e+00] [ 2.88016943e-04 9.99987107e-01 5.06977175e-03 2.59464613e-01] [ 1.77976706e-02 -5.07409492e-03 9.99828734e-01 1.07811642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54255784400004 meters Centerline goodness [0,1] 0.2548865790677911 Centerline is valid? [False, False] Translation: X:4.65, Y:0.26, Z:1.08 [[ 9.99838072e-01 -1.78934328e-04 -1.79943922e-02 4.64708539e+00] [ 2.68751697e-04 9.99987518e-01 4.98911460e-03 2.60020298e-01] [ 1.79932749e-02 -4.99314274e-03 9.99825640e-01 1.07787927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5725578440001 meters Centerline goodness [0,1] 0.25249804500825446 Centerline is valid? [False, False] Translation: X:4.65, Y:0.26, Z:1.08 [[ 9.99829574e-01 -8.74054383e-05 -1.84611768e-02 4.64871707e+00] [ 1.77649868e-04 9.99988044e-01 4.88675235e-03 2.60718272e-01] [ 1.84605289e-02 -4.88919914e-03 9.99817636e-01 1.07697327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60255784400005 meters Centerline goodness [0,1] 0.25084516565246784 Centerline is valid? [False, False] Translation: X:4.65, Y:0.26, Z:1.08 [[ 9.99831431e-01 -5.96507908e-05 -1.83604532e-02 4.64845596e+00] [ 1.49633549e-04 9.99987986e-01 4.89956593e-03 2.60768053e-01] [ 1.83599403e-02 -4.90148736e-03 9.99819428e-01 1.07695337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6325578440001 meters Centerline goodness [0,1] 0.25146947185771606 Centerline is valid? [False, False] Translation: X:4.65, Y:0.26, Z:1.08 [[ 9.99835436e-01 -1.44242516e-05 -1.81411395e-02 4.64770759e+00] [ 1.04913585e-04 9.99987559e-01 4.98713146e-03 2.60472582e-01] [ 1.81408418e-02 -4.98821400e-03 9.99822998e-01 1.07728945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66255784400005 meters Centerline goodness [0,1] 0.25434944563740747 Centerline is valid? [False, False] Translation: X:4.65, Y:0.26, Z:1.08 [[ 9.99837835e-01 4.48076856e-05 -1.80083804e-02 4.64727472e+00] [ 4.84535847e-05 9.99986591e-01 5.17830088e-03 2.59486272e-01] [ 1.80083709e-02 -5.17833372e-03 9.99824426e-01 1.07750260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.692557844 meters Centerline goodness [0,1] 0.2555439376116412 Centerline is valid? [False, False] Translation: X:4.65, Y:0.26, Z:1.08 [[ 9.99835089e-01 -1.12636356e-04 -1.81598944e-02 4.64746611e+00] [ 2.11637297e-04 9.99985127e-01 5.44979575e-03 2.57261145e-01] [ 1.81590105e-02 -5.45274033e-03 9.99820243e-01 1.07789215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72255784400005 meters Centerline goodness [0,1] 0.2483866093975956 Centerline is valid? [False, False] Translation: X:4.67, Y:0.26, Z:1.08 [[ 9.99828765e-01 6.15429123e-03 -1.74517771e-02 4.66967286e+00] [-6.10814819e-03 9.99977711e-01 2.69610270e-03 2.55402114e-01] [ 1.74679807e-02 -2.58904300e-03 9.99844071e-01 1.07806358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.752557844 meters Centerline goodness [0,1] 0.25478612843233783 Centerline is valid? [False, False] Translation: X:4.65, Y:0.26, Z:1.08 [[ 9.99833745e-01 -2.91340142e-03 -1.79998667e-02 4.64788423e+00] [ 2.97954418e-03 9.99988904e-01 3.64890064e-03 2.57434787e-01] [ 1.79890363e-02 -3.70192539e-03 9.99831331e-01 1.07721970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78255784400005 meters Centerline goodness [0,1] 0.25068303048701157 Centerline is valid? [False, False] Translation: X:4.67, Y:0.25, Z:1.08 [[ 9.99842738e-01 5.15821442e-03 -1.69673984e-02 4.66692639e+00] [-5.11715881e-03 9.99983876e-01 2.46220284e-03 2.53402416e-01] [ 1.69798254e-02 -2.37499075e-03 9.99853012e-01 1.07864924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.812557844 meters Centerline goodness [0,1] 0.2505871452888324 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:1.08 [[ 9.99876430e-01 -3.09046708e-03 -1.54134002e-02 4.68599594e+00] [ 3.14294300e-03 9.99989344e-01 3.38150460e-03 2.56186098e-01] [ 1.54027856e-02 -3.42953019e-03 9.99875489e-01 1.08057666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84255784400005 meters Centerline goodness [0,1] 0.2549667434682432 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:1.08 [[ 9.99875613e-01 -3.05706313e-03 -1.54729914e-02 4.68586783e+00] [ 3.11139134e-03 9.99989075e-01 3.48830981e-03 2.55580014e-01] [ 1.54621583e-02 -3.53601844e-03 9.99874201e-01 1.08106491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.872557844 meters Centerline goodness [0,1] 0.2621397294294491 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:1.08 [[ 9.99875197e-01 -3.00305997e-03 -1.55103670e-02 4.68581391e+00] [ 3.05972201e-03 9.99988728e-01 3.63073495e-03 2.54844733e-01] [ 1.54992888e-02 -3.67773923e-03 9.99873115e-01 1.08128551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90255784400006 meters Centerline goodness [0,1] 0.24955813251713588 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:1.08 [[ 9.99877872e-01 5.29662529e-03 -1.47033261e-02 4.70581679e+00] [-5.26032026e-03 9.99983022e-01 2.50674871e-03 2.50784977e-01] [ 1.47163537e-02 -2.42909836e-03 9.99888758e-01 1.08244636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93255784400003 meters Centerline goodness [0,1] 0.2631957146590018 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:1.08 [[ 9.99902455e-01 -3.59455173e-03 -1.34966489e-02 4.68364837e+00] [ 3.64195724e-03 9.99987280e-01 3.48945708e-03 2.50462548e-01] [ 1.34839342e-02 -3.53827092e-03 9.99902827e-01 1.08091033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96255784400006 meters Centerline goodness [0,1] 0.25324183317818716 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:1.08 [[ 9.99904813e-01 -3.45038003e-03 -1.33588818e-02 4.68297831e+00] [ 3.50308561e-03 9.99986165e-01 3.92397122e-03 2.48239259e-01] [ 1.33451577e-02 -3.97039502e-03 9.99903067e-01 1.08150874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99255784400003 meters Centerline goodness [0,1] 0.26409768266264033 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:1.08 [[ 9.99905382e-01 -3.28512498e-03 -1.33579379e-02 4.68272223e+00] [ 3.34372440e-03 9.99984875e-01 4.36689680e-03 2.46164712e-01] [ 1.33433900e-02 -4.41114888e-03 9.99901243e-01 1.08199071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02255784400006 meters Centerline goodness [0,1] 0.2507272296321834 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:1.08 [[ 9.99896757e-01 4.76552690e-03 -1.35559724e-02 4.70304403e+00] [-4.72052584e-03 9.99983248e-01 3.34971119e-03 2.40598538e-01] [ 1.35717085e-02 -3.28537404e-03 9.99902503e-01 1.08357789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05255784400003 meters Centerline goodness [0,1] 0.2631259220689056 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:1.08 [[ 9.99880733e-01 2.79601871e-03 -1.51888901e-02 4.71000011e+00] [-2.76887369e-03 9.99994532e-01 1.80789816e-03 2.35472905e-01] [ 1.51938620e-02 -1.76562642e-03 9.99883008e-01 1.08006308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08255784400006 meters Centerline goodness [0,1] 0.25452928030549593 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99878369e-01 2.96327386e-03 -1.53122721e-02 4.71056987e+00] [-2.92916416e-03 9.99993180e-01 2.24955292e-03 2.33306075e-01] [ 1.53188337e-02 -2.20442715e-03 9.99880230e-01 1.07963302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11255784400004 meters Centerline goodness [0,1] 0.2635613335946517 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99879052e-01 3.14381681e-03 -1.52314420e-02 4.71046718e+00] [-3.10378980e-03 9.99991670e-01 2.65084671e-03 2.31561053e-01] [ 1.52396489e-02 -2.60325090e-03 9.99880481e-01 1.07945946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14255784400007 meters Centerline goodness [0,1] 0.2639825897714908 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99880752e-01 3.31306615e-03 -1.50832736e-02 4.71016455e+00] [-3.26809019e-03 9.99990143e-01 3.00551553e-03 2.30059289e-01] [ 1.50930824e-02 -2.95586363e-03 9.99881724e-01 1.07936878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17255784400004 meters Centerline goodness [0,1] 0.262074064409507 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99880986e-01 3.46697907e-03 -1.50331056e-02 4.70999072e+00] [-3.41756652e-03 9.99988678e-01 3.31136013e-03 2.28710533e-01] [ 1.50444158e-02 -3.25958939e-03 9.99881513e-01 1.07946335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20255784400007 meters Centerline goodness [0,1] 0.2611440183319642 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99876867e-01 3.70877042e-03 -1.52478051e-02 4.71068026e+00] [-3.65408448e-03 9.99986798e-01 3.61277630e-03 2.27294632e-01] [ 1.52610028e-02 -3.55661468e-03 9.99877219e-01 1.07918405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23255784400004 meters Centerline goodness [0,1] 0.2625729974723263 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99872420e-01 3.79972843e-03 -1.55146997e-02 4.71161080e+00] [-3.74372982e-03 9.99986379e-01 3.63683951e-03 2.27343538e-01] [ 1.55283074e-02 -3.57829267e-03 9.99873026e-01 1.07871448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26255784400007 meters Centerline goodness [0,1] 0.26218315082238997 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99869665e-01 3.86378595e-03 -1.56755691e-02 4.71221073e+00] [-3.80751119e-03 9.99986206e-01 3.61822374e-03 2.27600866e-01] [ 1.56893329e-02 -3.55806725e-03 9.99870584e-01 1.07832649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29255784400004 meters Centerline goodness [0,1] 0.25806382107689985 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99868551e-01 4.33401558e-03 -1.56235920e-02 4.71219128e+00] [-4.27419023e-03 9.99983414e-01 3.86052737e-03 2.27511458e-01] [ 1.56400645e-02 -3.79324170e-03 9.99870491e-01 1.07796376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3225578440001 meters Centerline goodness [0,1] 0.257856896848631 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99872857e-01 4.39853735e-03 -1.53272154e-02 4.71133206e+00] [-4.33964019e-03 9.99983080e-01 3.87379534e-03 2.27680007e-01] [ 1.53439951e-02 -3.80678821e-03 9.99875027e-01 1.07809088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35255784400005 meters Centerline goodness [0,1] 0.2604960390269173 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99878157e-01 4.45050361e-03 -1.49620621e-02 4.71022620e+00] [-4.39284789e-03 9.99982808e-01 3.88412004e-03 2.27873153e-01] [ 1.49790912e-02 -3.81792072e-03 9.99880518e-01 1.07836982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3825578440001 meters Centerline goodness [0,1] 0.25966469853036245 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99881127e-01 4.44965187e-03 -1.47625288e-02 4.70963746e+00] [-4.39393445e-03 9.99983109e-01 3.80453645e-03 2.28365907e-01] [ 1.47792083e-02 -3.73921861e-03 9.99883790e-01 1.07847349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41255784400005 meters Centerline goodness [0,1] 0.26432919512141906 Centerline is valid? [False, False] Translation: X:4.69, Y:0.23, Z:1.08 [[ 9.99871087e-01 -4.25154517e-03 -1.54833167e-02 4.68868481e+00] [ 4.32413141e-03 9.99979804e-01 4.65757195e-03 2.32165732e-01] [ 1.54632022e-02 -4.72392343e-03 9.99869278e-01 1.07784390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442557844 meters Centerline goodness [0,1] 0.26168305441601003 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99873334e-01 4.24337077e-03 -1.53397879e-02 4.70841230e+00] [-4.19403083e-03 9.99985933e-01 3.24720825e-03 2.29979788e-01] [ 1.53533512e-02 -3.18246140e-03 9.99877066e-01 1.07974367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47255784400005 meters Centerline goodness [0,1] 0.2644270674064043 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99874389e-01 4.22036347e-03 -1.52772781e-02 4.70819149e+00] [-4.17230109e-03 9.99986251e-01 3.17651123e-03 2.30362318e-01] [ 1.52904741e-02 -3.11237082e-03 9.99878250e-01 1.07985481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502557844 meters Centerline goodness [0,1] 0.2616316955558452 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99876089e-01 4.17153074e-03 -1.51791241e-02 4.70786983e+00] [-4.12582997e-03 9.99986865e-01 3.04083483e-03 2.31084733e-01] [ 1.51916097e-02 -2.97783155e-03 9.99880167e-01 1.07993533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53255784400005 meters Centerline goodness [0,1] 0.26072122651695095 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99877513e-01 4.12055486e-03 -1.50989867e-02 4.70755887e+00] [-4.07741289e-03 9.99987520e-01 2.88694656e-03 2.31939311e-01] [ 1.51106941e-02 -2.82502814e-03 9.99881836e-01 1.08008974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562557844 meters Centerline goodness [0,1] 0.2606186819384789 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99881909e-01 3.90936294e-03 -1.48621768e-02 4.70670803e+00] [-3.87558820e-03 9.99989843e-01 2.30065300e-03 2.34891273e-01] [ 1.48710199e-02 -2.24278164e-03 9.99886905e-01 1.08042115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59255784400005 meters Centerline goodness [0,1] 0.2596996245306633 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:1.08 [[ 9.99885789e-01 3.74704535e-03 -1.46413307e-02 4.70598174e+00] [-3.71987435e-03 9.99991309e-01 1.88256690e-03 2.36912280e-01] [ 1.46482575e-02 -1.82788798e-03 9.99891038e-01 1.08064340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622557844 meters Centerline goodness [0,1] 0.26250461926396107 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:1.08 [[ 9.99890057e-01 3.56924095e-03 -1.43921766e-02 4.70517903e+00] [-3.54959622e-03 9.99992734e-01 1.39027266e-03 2.39406932e-01] [ 1.43970343e-02 -1.33903339e-03 9.99895461e-01 1.08086641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65255784400006 meters Centerline goodness [0,1] 0.26024408683443134 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:1.08 [[ 9.99893662e-01 3.40717827e-03 -1.41794394e-02 4.70456366e+00] [-3.39513460e-03 9.99993855e-01 8.73360331e-04 2.42165695e-01] [ 1.41823280e-02 -8.25126354e-04 9.99899085e-01 1.08090192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68255784400003 meters Centerline goodness [0,1] 0.26099560824697665 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:1.08 [[ 9.99896351e-01 3.03976138e-03 -1.40728931e-02 4.70433369e+00] [-3.04308936e-03 9.99995347e-01 -2.15074043e-04 2.47678567e-01] [ 1.40721738e-02 2.57876822e-04 9.99900949e-01 1.08068398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71255784400006 meters Centerline goodness [0,1] 0.2574121089547743 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:1.08 [[ 9.99892544e-01 2.79283773e-03 -1.43910182e-02 4.70548955e+00] [-2.80465044e-03 9.99995746e-01 -8.00722231e-04 2.50264519e-01] [ 1.43887207e-02 8.40997964e-04 9.99896123e-01 1.08004528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74255784400003 meters Centerline goodness [0,1] 0.26158032215933824 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:1.08 [[ 9.99888438e-01 2.56979771e-03 -1.47141888e-02 4.70672102e+00] [-2.58933208e-03 9.99995791e-01 -1.30869020e-03 2.52492481e-01] [ 1.47107638e-02 1.34664412e-03 9.99890884e-01 1.07926518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77255784400006 meters Centerline goodness [0,1] 0.2625900861311302 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:1.08 [[ 9.99888810e-01 2.39841699e-03 -1.47178461e-02 4.70675640e+00] [-2.42468044e-03 9.99995500e-01 -1.76687848e-03 2.54807277e-01] [ 1.47135422e-02 1.80236810e-03 9.99890126e-01 1.07915445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80255784400003 meters Centerline goodness [0,1] 0.2614760002619344 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:1.08 [[ 9.99892406e-01 2.39135360e-03 -1.44726847e-02 4.70587793e+00] [-2.41711942e-03 9.99995525e-01 -1.76307662e-03 2.54874484e-01] [ 1.44684038e-02 1.79786913e-03 9.99893711e-01 1.07964735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83255784400006 meters Centerline goodness [0,1] 0.25748438509584326 Centerline is valid? [False, False] Translation: X:4.73, Y:0.26, Z:1.08 [[ 9.99901231e-01 -5.56801857e-03 -1.29044848e-02 4.72518554e+00] [ 5.55769386e-03 9.99984207e-01 -8.35810177e-04 2.59845043e-01] [ 1.29089348e-02 7.64008449e-04 9.99916384e-01 1.08076640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86255784400004 meters Centerline goodness [0,1] 0.2585604623080904 Centerline is valid? [False, False] Translation: X:4.72, Y:0.26, Z:1.08 [[ 9.99902779e-01 -5.53470805e-03 -1.27984467e-02 4.72458425e+00] [ 5.52611881e-03 9.99984481e-01 -7.06382993e-04 2.59140538e-01] [ 1.28021577e-02 6.35588581e-04 9.99917847e-01 1.08135028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89255784400007 meters Centerline goodness [0,1] 0.25995721046830766 Centerline is valid? [False, False] Translation: X:4.72, Y:0.26, Z:1.08 [[ 9.99902968e-01 -5.48778213e-03 -1.28038924e-02 4.72450174e+00] [ 5.48119111e-03 9.99984827e-01 -5.49802396e-04 2.58391946e-01] [ 1.28067153e-02 4.79568466e-04 9.99917876e-01 1.08154380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92255784400004 meters Centerline goodness [0,1] 0.2632611234766512 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:1.08 [[ 9.99848953e-01 -6.42774285e-03 -1.61478891e-02 4.68093522e+00] [ 6.42095616e-03 9.99979274e-01 -4.72094298e-04 2.53094681e-01] [ 1.61505889e-02 3.68338102e-04 9.99869503e-01 1.08176341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95255784400007 meters Centerline goodness [0,1] 0.2601740410425145 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:1.08 [[ 9.99828887e-01 -6.60124444e-04 -1.84867706e-02 4.70656414e+00] [ 6.07213799e-04 9.99995704e-01 -2.86754853e-03 2.47690912e-01] [ 1.84885841e-02 2.85583243e-03 9.99824993e-01 1.08136943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98255784400004 meters Centerline goodness [0,1] 0.2628172894029166 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:1.08 [[ 9.99819177e-01 -5.28505526e-04 -1.90087695e-02 4.70802971e+00] [ 4.84421069e-04 9.99997183e-01 -2.32369398e-03 2.44723644e-01] [ 1.90099441e-02 2.31406555e-03 9.99816617e-01 1.08113942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01255784400007 meters Centerline goodness [0,1] 0.26008025159960957 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:1.08 [[ 9.99813775e-01 -4.17621551e-04 -1.92935567e-02 4.70878413e+00] [ 3.83988417e-04 9.99998400e-01 -1.74690312e-03 2.41413266e-01] [ 1.92942554e-02 1.73916930e-03 9.99812336e-01 1.08113922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04255784400004 meters Centerline goodness [0,1] 0.26000477192373594 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99810121e-01 -3.78184001e-03 -1.91159288e-02 4.70749981e+00] [ 3.70399066e-03 9.99984709e-01 -4.10625251e-03 2.34390537e-01] [ 1.91311657e-02 4.03466760e-03 9.99808842e-01 1.08238918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0725578440001 meters Centerline goodness [0,1] 0.2615354450786458 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99808274e-01 -3.56735688e-03 -1.92532700e-02 4.70775466e+00] [ 3.50520473e-03 9.99988540e-01 -3.26091670e-03 2.30112908e-01] [ 1.92646822e-02 3.19280485e-03 9.99809321e-01 1.08265994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10255784400005 meters Centerline goodness [0,1] 0.26291233348594856 Centerline is valid? [False, False] Translation: X:4.71, Y:0.23, Z:1.08 [[ 9.99803789e-01 -3.32459924e-03 -1.95276797e-02 4.70851117e+00] [ 3.27756430e-03 9.99991652e-01 -2.44014041e-03 2.26052134e-01] [ 1.95356292e-02 2.37565840e-03 9.99806339e-01 1.08266035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1325578440001 meters Centerline goodness [0,1] 0.2589158345221113 Centerline is valid? [False, False] Translation: X:4.71, Y:0.22, Z:1.08 [[ 9.99800431e-01 -3.09178004e-03 -1.97367646e-02 4.70919246e+00] [ 3.05809766e-03 9.99993816e-01 -1.73653419e-03 2.22443014e-01] [ 1.97420115e-02 1.67583068e-03 9.99803703e-01 1.08247284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16255784400005 meters Centerline goodness [0,1] 0.2617994259447094 Centerline is valid? [False, False] Translation: X:4.71, Y:0.22, Z:1.08 [[ 9.99799166e-01 -2.78890581e-03 -1.98456455e-02 4.70942115e+00] [ 2.77333925e-03 9.99995825e-01 -8.11860599e-04 2.17240779e-01] [ 1.98478268e-02 7.56658842e-04 9.99802726e-01 1.08267654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.192557844 meters Centerline goodness [0,1] 0.2629146036892608 Centerline is valid? [False, False] Translation: X:4.69, Y:0.21, Z:1.08 [[ 9.99783469e-01 5.01735783e-03 -2.01950963e-02 4.68960300e+00] [-5.05181928e-03 9.99985869e-01 -1.65577194e-03 2.09392591e-01] [ 2.01865033e-02 1.75743539e-03 9.99794687e-01 1.08133289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22255784400005 meters Centerline goodness [0,1] 0.25870839799965506 Centerline is valid? [False, False] Translation: X:4.71, Y:0.21, Z:1.08 [[ 9.99801399e-01 -2.25949779e-03 -1.98004238e-02 4.70864992e+00] [ 2.25389760e-03 9.99997413e-01 -3.05143625e-04 2.13525330e-01] [ 1.98010621e-02 2.60454896e-04 9.99803906e-01 1.08298847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.252557844 meters Centerline goodness [0,1] 0.25870839799965506 Centerline is valid? [False, False] Translation: X:4.71, Y:0.21, Z:1.08 [[ 9.99801399e-01 -2.25949779e-03 -1.98004238e-02 4.70864992e+00] [ 2.25389760e-03 9.99997413e-01 -3.05143625e-04 2.13525330e-01] [ 1.98010621e-02 2.60454896e-04 9.99803906e-01 1.08298847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28255784400005 meters Centerline goodness [0,1] 0.2599960990832846 Centerline is valid? [False, False] Translation: X:4.71, Y:0.21, Z:1.08 [[ 9.99804722e-01 -2.15296273e-03 -1.96439032e-02 4.70820436e+00] [ 2.15022718e-03 9.99997675e-01 -1.60377394e-04 2.13039664e-01] [ 1.96442028e-02 1.18107222e-04 9.99807027e-01 1.08303010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.312557844 meters Centerline goodness [0,1] 0.2612316792067151 Centerline is valid? [False, False] Translation: X:4.71, Y:0.21, Z:1.08 [[ 9.99808791e-01 -2.07563336e-03 -1.94441267e-02 4.70751189e+00] [ 2.07528057e-03 9.99997846e-01 -3.83213666e-05 2.12530365e-01] [ 1.94441644e-02 -2.03797928e-06 9.99810944e-01 1.08334592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34255784400005 meters Centerline goodness [0,1] 0.2577109081139173 Centerline is valid? [False, False] Translation: X:4.73, Y:0.21, Z:1.08 [[ 9.99816123e-01 6.36096987e-03 -1.80902908e-02 4.72704255e+00] [-6.38860133e-03 9.99978512e-01 -1.47003907e-03 2.09087088e-01] [ 1.80805512e-02 1.58534042e-03 9.99835277e-01 1.08479335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.372557844 meters Centerline goodness [0,1] 0.2617181563578732 Centerline is valid? [False, False] Translation: X:4.73, Y:0.21, Z:1.09 [[ 9.99818712e-01 6.46015735e-03 -1.79111348e-02 4.72616328e+00] [-6.48184524e-03 9.99978328e-01 -1.15307139e-03 2.07184871e-01] [ 1.79032976e-02 1.26895956e-03 9.99838918e-01 1.08547933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40255784400006 meters Centerline goodness [0,1] 0.26051572190186056 Centerline is valid? [False, False] Translation: X:4.73, Y:0.21, Z:1.09 [[ 9.99819753e-01 6.55125457e-03 -1.78196986e-02 4.72580169e+00] [-6.56875438e-03 9.99977999e-01 -9.23694035e-04 2.06198843e-01] [ 1.78132551e-02 1.04058077e-03 9.99840790e-01 1.08567595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43255784400003 meters Centerline goodness [0,1] 0.2577082572355558 Centerline is valid? [False, False] Translation: X:4.75, Y:0.21, Z:1.09 [[ 9.99853852e-01 -1.15496317e-03 -1.70569906e-02 4.74562854e+00] [ 1.15923797e-03 9.99999299e-01 2.40733329e-04 2.10378313e-01] [ 1.70567006e-02 -2.60471257e-04 9.99854490e-01 1.08682332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46255784400006 meters Centerline goodness [0,1] 0.26096405441822057 Centerline is valid? [False, False] Translation: X:4.75, Y:0.21, Z:1.09 [[ 9.99854010e-01 -1.02888142e-03 -1.70557815e-02 4.74553022e+00] [ 1.03971954e-03 9.99999263e-01 6.26596492e-04 2.08492556e-01] [ 1.70551242e-02 -6.44238245e-04 9.99854343e-01 1.08702223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49255784400003 meters Centerline goodness [0,1] 0.25909130171892547 Centerline is valid? [False, False] Translation: X:4.75, Y:0.21, Z:1.09 [[ 9.99840123e-01 -4.89437512e-03 -1.71980857e-02 4.74608700e+00] [ 4.84723199e-03 9.99984383e-01 -2.78180171e-03 2.05498351e-01] [ 1.72114323e-02 2.69799385e-03 9.99848232e-01 1.08682198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52255784400006 meters Centerline goodness [0,1] 0.2517294140465056 Centerline is valid? [False, False] Translation: X:4.75, Y:0.20, Z:1.09 [[ 9.99836331e-01 -4.67887050e-03 -1.74762774e-02 4.74674069e+00] [ 4.64121900e-03 9.99986822e-01 -2.19437290e-03 2.02598552e-01] [ 1.74863143e-02 2.11290251e-03 9.99844870e-01 1.08694716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55255784400003 meters Centerline goodness [0,1] 0.25888467178469765 Centerline is valid? [False, False] Translation: X:4.75, Y:0.20, Z:1.09 [[ 9.99833846e-01 -4.47714559e-03 -1.76702082e-02 4.74719184e+00] [ 4.44775385e-03 9.99988660e-01 -1.70229920e-03 2.00296228e-01] [ 1.76776292e-02 1.62342362e-03 9.99842421e-01 1.08706216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58255784400006 meters Centerline goodness [0,1] 0.26021444939253746 Centerline is valid? [False, False] Translation: X:4.75, Y:0.20, Z:1.09 [[ 9.99833362e-01 -4.26661260e-03 -1.77495041e-02 4.74738671e+00] [ 4.24534225e-03 9.99990225e-01 -1.23586980e-03 1.98188323e-01] [ 1.77546036e-02 1.16031114e-03 9.99841701e-01 1.08711857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61255784400004 meters Centerline goodness [0,1] 0.2606353053187346 Centerline is valid? [False, False] Translation: X:4.75, Y:0.20, Z:1.09 [[ 9.99836695e-01 -4.09580085e-03 -1.76013705e-02 4.74706490e+00] [ 4.08051695e-03 9.99991266e-01 -9.04162026e-04 1.96728723e-01] [ 1.76049200e-02 8.32191681e-04 9.99844675e-01 1.08706370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64255784400007 meters Centerline goodness [0,1] 0.2626580205672365 Centerline is valid? [False, False] Translation: X:4.75, Y:0.19, Z:1.09 [[ 9.99851616e-01 -3.64105687e-03 -1.68371116e-02 4.74537570e+00] [ 3.63596765e-03 9.99993334e-01 -3.32864287e-04 1.94577663e-01] [ 1.68382114e-02 2.71595703e-04 9.99858190e-01 1.08680303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67255784400004 meters Centerline goodness [0,1] 0.26164362818266385 Centerline is valid? [False, False] Translation: X:4.77, Y:0.19, Z:1.09 [[ 9.99859184e-01 5.27546909e-03 -1.59304966e-02 4.76565431e+00] [-5.30025176e-03 9.99984808e-01 -1.51385474e-03 1.91898538e-01] [ 1.59222682e-02 1.59807721e-03 9.99871956e-01 1.08804575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70255784400007 meters Centerline goodness [0,1] 0.263330723729993 Centerline is valid? [False, False] Translation: X:4.77, Y:0.19, Z:1.09 [[ 9.99859789e-01 5.36626781e-03 -1.58621032e-02 4.76547678e+00] [-5.39020501e-03 9.99984397e-01 -1.46671363e-03 1.91890251e-01] [ 1.58539849e-02 1.55200797e-03 9.99873113e-01 1.08802407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73255784400004 meters Centerline goodness [0,1] 0.25821707259399385 Centerline is valid? [False, False] Translation: X:4.78, Y:0.20, Z:1.09 [[ 9.99867926e-01 -1.56944700e-03 -1.61761594e-02 4.78432627e+00] [ 1.56384940e-03 9.99998713e-01 -3.58684043e-04 1.97265122e-01] [ 1.61767016e-02 3.33339593e-04 9.99869093e-01 1.08969727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76255784400007 meters Centerline goodness [0,1] 0.2633523164537479 Centerline is valid? [False, False] Translation: X:4.74, Y:0.19, Z:1.09 [[ 9.99800394e-01 -2.84225101e-03 -1.97760757e-02 4.74198199e+00] [ 2.83993788e-03 9.99995957e-01 -1.45049447e-04 1.89944664e-01] [ 1.97764080e-02 8.88576678e-05 9.99804424e-01 1.08942520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79255784400004 meters Centerline goodness [0,1] 0.26103349824553757 Centerline is valid? [False, False] Translation: X:4.74, Y:0.19, Z:1.09 [[ 9.99789708e-01 -2.82422439e-03 -2.03116484e-02 4.74354970e+00] [ 2.83085601e-03 9.99995949e-01 2.97748381e-04 1.87115000e-01] [ 2.03107252e-02 -3.55185119e-04 9.99793653e-01 1.08904553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8225578440001 meters Centerline goodness [0,1] 0.25705173788437086 Centerline is valid? [False, False] Translation: X:4.77, Y:0.18, Z:1.09 [[ 9.99795383e-01 2.84882006e-03 -2.00269037e-02 4.76522303e+00] [-2.90427566e-03 9.99992027e-01 -2.74051612e-03 1.82676677e-01] [ 2.00189368e-02 2.79811901e-03 9.99795685e-01 1.08883082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85255784400005 meters Centerline goodness [0,1] 0.26005420054200545 Centerline is valid? [False, False] Translation: X:4.77, Y:0.18, Z:1.09 [[ 9.99793232e-01 2.74240794e-03 -2.01487667e-02 4.76546919e+00] [-2.78687666e-03 9.99993742e-01 -2.17927222e-03 1.79060477e-01] [ 2.01426642e-02 2.23497375e-03 9.99794618e-01 1.08905548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8825578440001 meters Centerline goodness [0,1] 0.26031973276067766 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:1.09 [[ 9.99797636e-01 -8.90759344e-04 -2.00970806e-02 4.76501870e+00] [ 7.96037355e-04 9.99988540e-01 -4.72072894e-03 1.72436751e-01] [ 2.01010554e-02 4.70377561e-03 9.99786888e-01 1.08961400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91255784400005 meters Centerline goodness [0,1] 0.26085262930101705 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:1.09 [[ 9.99793054e-01 -8.92040982e-04 -2.03236931e-02 4.76532211e+00] [ 8.07274062e-04 9.99990943e-01 -4.17866493e-03 1.69183510e-01] [ 2.03272366e-02 4.16139338e-03 9.99784720e-01 1.09011154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9425578440001 meters Centerline goodness [0,1] 0.2620890589667768 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:1.09 [[ 9.99792173e-01 -8.48401040e-04 -2.03688750e-02 4.76528336e+00] [ 7.72762239e-04 9.99992778e-01 -3.72103395e-03 1.66601485e-01] [ 2.03718849e-02 3.70452032e-03 9.99785608e-01 1.09043410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97255784400005 meters Centerline goodness [0,1] 0.2610234254575454 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:1.09 [[ 9.99788401e-01 -7.40632130e-04 -2.05573610e-02 4.76567628e+00] [ 6.72208948e-04 9.99994213e-01 -3.33511362e-03 1.64672833e-01] [ 2.05597121e-02 3.32058907e-03 9.99783112e-01 1.09056357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002557844 meters Centerline goodness [0,1] 0.2633754757425959 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:1.09 [[ 9.99788394e-01 -6.49778253e-04 -2.05607562e-02 4.76566503e+00] [ 5.87057532e-04 9.99995157e-01 -3.05639531e-03 1.63293372e-01] [ 2.05626426e-02 3.04367821e-03 9.99783934e-01 1.09058084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03255784400005 meters Centerline goodness [0,1] 0.26224921375122 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:1.09 [[ 9.99791453e-01 -5.95755807e-04 -2.04131108e-02 4.76517498e+00] [ 5.42081214e-04 9.99996382e-01 -2.63485008e-03 1.60846220e-01] [ 2.04146066e-02 2.62323503e-03 9.99788159e-01 1.09081458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062557844 meters Centerline goodness [0,1] 0.2616938110749185 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:1.09 [[ 9.99793994e-01 -5.37582138e-04 -2.02899175e-02 4.76466147e+00] [ 4.89237627e-04 9.99997030e-01 -2.38757501e-03 1.59465936e-01] [ 2.02911408e-02 2.37715656e-03 9.99791288e-01 1.09118031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09255784400005 meters Centerline goodness [0,1] 0.26172350791717414 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:1.09 [[ 9.99793972e-01 -4.81514442e-04 -2.02924209e-02 4.76450809e+00] [ 4.37677708e-04 9.99997561e-01 -2.16463748e-03 1.58203784e-01] [ 2.02934137e-02 2.15530996e-03 9.99791744e-01 1.09144541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122557844 meters Centerline goodness [0,1] 0.26057997967259905 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:1.09 [[ 9.99791655e-01 -4.42361711e-04 -2.04071070e-02 4.76479756e+00] [ 4.02326524e-04 9.99997987e-01 -1.96588959e-03 1.57095350e-01] [ 2.04079355e-02 1.95726969e-03 9.99789821e-01 1.09142051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15255784400006 meters Centerline goodness [0,1] 0.2632512703697214 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:1.09 [[ 9.99789409e-01 -3.99522935e-04 -2.05177375e-02 4.76516368e+00] [ 3.62760055e-04 9.99998322e-01 -1.79545158e-03 1.56187072e-01] [ 2.05184204e-02 1.78763046e-03 9.99787877e-01 1.09123719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18255784400003 meters Centerline goodness [0,1] 0.2629869417315922 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:1.09 [[ 9.99787840e-01 -3.98061332e-04 -2.05941126e-02 4.76550743e+00] [ 3.62945685e-04 9.99998474e-01 -1.70883997e-03 1.55671305e-01] [ 2.05947614e-02 1.70100288e-03 9.99786458e-01 1.09093607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21255784400006 meters Centerline goodness [0,1] 0.2510811278325549 Centerline is valid? [False, False] Translation: X:4.79, Y:0.16, Z:1.09 [[ 9.99739906e-01 -8.57644288e-03 -2.11320905e-02 4.78759640e+00] [ 8.54691644e-03 9.99962369e-01 -1.48715568e-03 1.59821276e-01] [ 2.11440498e-02 1.30615467e-03 9.99775586e-01 1.09151976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24255784400003 meters Centerline goodness [0,1] 0.24922199170124482 Centerline is valid? [False, False] Translation: X:4.79, Y:0.16, Z:1.09 [[ 9.99736292e-01 -8.57188528e-03 -2.13042022e-02 4.78810002e+00] [ 8.54275112e-03 9.99962447e-01 -1.45816538e-03 1.59692381e-01] [ 2.13159014e-02 1.27578435e-03 9.99771976e-01 1.09135568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27255784400006 meters Centerline goodness [0,1] 0.24996760678961694 Centerline is valid? [False, False] Translation: X:4.79, Y:0.16, Z:1.09 [[ 9.99734657e-01 -8.53804451e-03 -2.13943353e-02 4.78838964e+00] [ 8.51021254e-03 9.99962819e-01 -1.39161354e-03 1.59573592e-01] [ 2.14054215e-02 1.20917394e-03 9.99770146e-01 1.09123061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30255784400003 meters Centerline goodness [0,1] 0.26141512722202853 Centerline is valid? [False, False] Translation: X:4.77, Y:0.15, Z:1.09 [[ 9.99809065e-01 -1.59127748e-03 -1.94756373e-02 4.76990578e+00] [ 1.55264127e-03 9.99996797e-01 -1.99878311e-03 1.54485747e-01] [ 1.94787555e-02 1.96816280e-03 9.99808334e-01 1.08856662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33255784400006 meters Centerline goodness [0,1] 0.2633097929466296 Centerline is valid? [False, False] Translation: X:4.77, Y:0.15, Z:1.09 [[ 9.99811597e-01 -1.57028523e-03 -1.93469766e-02 4.76940614e+00] [ 1.53436660e-03 9.99997072e-01 -1.87125442e-03 1.53850352e-01] [ 1.93498583e-02 1.84121652e-03 9.99811079e-01 1.08884855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36255784400004 meters Centerline goodness [0,1] 0.263003950843647 Centerline is valid? [False, False] Translation: X:4.77, Y:0.15, Z:1.09 [[ 9.99815224e-01 -1.56650731e-03 -1.91589316e-02 4.76876987e+00] [ 1.53419135e-03 9.99997376e-01 -1.70131297e-03 1.52827069e-01] [ 1.91615465e-02 1.67160514e-03 9.99815003e-01 1.08912530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39255784400007 meters Centerline goodness [0,1] 0.2641852517197564 Centerline is valid? [False, False] Translation: X:4.77, Y:0.15, Z:1.09 [[ 9.99817933e-01 -1.79997026e-03 -1.89963387e-02 4.76826597e+00] [ 1.77103385e-03 9.99997246e-01 -1.53997549e-03 1.51122226e-01] [ 1.89990583e-02 1.50605195e-03 9.99818367e-01 1.08933502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42255784400004 meters Centerline goodness [0,1] 0.264939104529922 Centerline is valid? [False, False] Translation: X:4.77, Y:0.15, Z:1.09 [[ 9.99816217e-01 -1.76221358e-03 -1.90899544e-02 4.76858351e+00] [ 1.73731302e-03 9.99997618e-01 -1.32088570e-03 1.49951414e-01] [ 1.90922366e-02 1.28747772e-03 9.99816898e-01 1.08916543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45255784400007 meters Centerline goodness [0,1] 0.26339033198451034 Centerline is valid? [False, False] Translation: X:4.77, Y:0.15, Z:1.09 [[ 9.99813554e-01 -1.70411092e-03 -1.92341742e-02 4.76896927e+00] [ 1.68451080e-03 9.99998045e-01 -1.03518110e-03 1.48488008e-01] [ 1.92359007e-02 1.00258792e-03 9.99814470e-01 1.08906953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48255784400004 meters Centerline goodness [0,1] 0.26348611050542936 Centerline is valid? [False, False] Translation: X:4.77, Y:0.15, Z:1.09 [[ 9.99812778e-01 -1.68382795e-03 -1.92762722e-02 4.76892754e+00] [ 1.66917536e-03 9.99998306e-01 -7.76200346e-04 1.47035304e-01] [ 1.92775465e-02 7.43879546e-04 9.99813894e-01 1.08929497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51255784400007 meters Centerline goodness [0,1] 0.26416745040572165 Centerline is valid? [False, False] Translation: X:4.77, Y:0.15, Z:1.09 [[ 9.99824517e-01 -2.11610242e-03 -1.86133876e-02 4.76687536e+00] [ 2.10206596e-03 9.99997491e-01 -7.73638327e-04 1.45497021e-01] [ 1.86149780e-02 7.34375998e-04 9.99826457e-01 1.09012535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54255784400004 meters Centerline goodness [0,1] 0.2641909003580474 Centerline is valid? [False, False] Translation: X:4.77, Y:0.14, Z:1.09 [[ 9.99826756e-01 -2.11495778e-03 -1.84928189e-02 4.76627710e+00] [ 2.10391551e-03 9.99997597e-01 -6.16546713e-04 1.44588974e-01] [ 1.84940785e-02 5.77532572e-04 9.99828803e-01 1.09061389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5725578440001 meters Centerline goodness [0,1] 0.26067017111212065 Centerline is valid? [False, False] Translation: X:4.78, Y:0.14, Z:1.09 [[ 9.99837798e-01 5.99648572e-03 -1.69829127e-02 4.78452908e+00] [-6.03378927e-03 9.99979494e-01 -2.14614678e-03 1.40084128e-01] [ 1.69696951e-02 2.24826999e-03 9.99853477e-01 1.09185034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60255784400005 meters Centerline goodness [0,1] 0.24795793012780443 Centerline is valid? [False, False] Translation: X:4.78, Y:0.14, Z:1.09 [[ 9.99839739e-01 6.01967083e-03 -1.68600230e-02 4.78401458e+00] [-6.05432170e-03 9.99979663e-01 -2.00492168e-03 1.39374775e-01] [ 1.68476111e-02 2.10667637e-03 9.99855850e-01 1.09212888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6325578440001 meters Centerline goodness [0,1] 0.26225202934409864 Centerline is valid? [False, False] Translation: X:4.78, Y:0.14, Z:1.09 [[ 9.99841007e-01 6.02574044e-03 -1.67824782e-02 4.78362910e+00] [-6.05796755e-03 9.99979902e-01 -1.87010770e-03 1.38587233e-01] [ 1.67708721e-02 1.97147808e-03 9.99857415e-01 1.09241154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66255784400005 meters Centerline goodness [0,1] 0.26159735288392916 Centerline is valid? [False, False] Translation: X:4.78, Y:0.14, Z:1.09 [[ 9.99840022e-01 5.98049762e-03 -1.68571654e-02 4.78379415e+00] [-6.01090163e-03 9.99980397e-01 -1.75353529e-03 1.37725074e-01] [ 1.68463479e-02 1.85458152e-03 9.99856370e-01 1.09240960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6925578440001 meters Centerline goodness [0,1] 0.2640811951790363 Centerline is valid? [False, False] Translation: X:4.76, Y:0.14, Z:1.09 [[ 9.99836957e-01 -3.48350808e-03 -1.77179090e-02 4.76362124e+00] [ 3.47270763e-03 9.99993765e-01 -6.40308883e-04 1.38919260e-01] [ 1.77200291e-02 5.78675367e-04 9.99842820e-01 1.09125133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72255784400005 meters Centerline goodness [0,1] 0.26244696510520393 Centerline is valid? [False, False] Translation: X:4.78, Y:0.13, Z:1.09 [[ 9.99848368e-01 2.84260105e-03 -1.71802343e-02 4.78444672e+00] [-2.90452797e-03 9.99989371e-01 -3.58066758e-03 1.34586102e-01] [ 1.71698732e-02 3.63002511e-03 9.99845997e-01 1.09126290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.752557844 meters Centerline goodness [0,1] 0.26308317316092955 Centerline is valid? [False, False] Translation: X:4.78, Y:0.13, Z:1.09 [[ 9.99844037e-01 2.84304926e-03 -1.74303794e-02 4.78499999e+00] [-2.89950952e-03 9.99990629e-01 -3.21477123e-03 1.32182195e-01] [ 1.74210763e-02 3.26480940e-03 9.99842911e-01 1.09128657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78255784400005 meters Centerline goodness [0,1] 0.24975677253367345 Centerline is valid? [False, False] Translation: X:4.81, Y:0.13, Z:1.09 [[ 9.99833613e-01 -6.03732840e-03 -1.72132904e-02 4.80721735e+00] [ 5.99107771e-03 9.99978307e-01 -2.73722007e-03 1.29482323e-01] [ 1.72294425e-02 2.63363847e-03 9.99848094e-01 1.09176677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.812557844 meters Centerline goodness [0,1] 0.2641099226019654 Centerline is valid? [False, False] Translation: X:4.81, Y:0.13, Z:1.09 [[ 9.99833908e-01 -5.82700675e-03 -1.72685540e-02 4.80735266e+00] [ 5.78916567e-03 9.99980733e-01 -2.24050831e-03 1.27283252e-01] [ 1.72812767e-02 2.14016566e-03 9.99848377e-01 1.09171404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84255784400005 meters Centerline goodness [0,1] 0.24915759460860554 Centerline is valid? [False, False] Translation: X:4.81, Y:0.13, Z:1.09 [[ 9.99832446e-01 -5.68287411e-03 -1.74007325e-02 4.80774948e+00] [ 5.64995678e-03 9.99982156e-01 -1.94029762e-03 1.26050703e-01] [ 1.74114485e-02 1.84165913e-03 9.99846713e-01 1.09162112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.872557844 meters Centerline goodness [0,1] 0.2615568862275449 Centerline is valid? [False, False] Translation: X:4.81, Y:0.13, Z:1.09 [[ 9.99831627e-01 -5.58406513e-03 -1.74795885e-02 4.80803206e+00] [ 5.55354464e-03 9.99982969e-01 -1.79411846e-03 1.25498852e-01] [ 1.74893093e-02 1.69674270e-03 9.99845611e-01 1.09149039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90255784400006 meters Centerline goodness [0,1] 0.2621965979358757 Centerline is valid? [False, False] Translation: X:4.79, Y:0.12, Z:1.09 [[ 9.99811181e-01 2.94735790e-03 -1.92071611e-02 4.78833594e+00] [-2.99864121e-03 9.99992015e-01 -2.64175667e-03 1.22151921e-01] [ 1.91992215e-02 2.69885324e-03 9.99812035e-01 1.09006072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93255784400003 meters Centerline goodness [0,1] 0.26303182137834036 Centerline is valid? [False, False] Translation: X:4.79, Y:0.12, Z:1.09 [[ 9.99809880e-01 3.06846091e-03 -1.92558863e-02 4.78854935e+00] [-3.12306977e-03 9.99991185e-01 -2.80652639e-03 1.23406346e-01] [ 1.92471048e-02 2.86613029e-03 9.99810649e-01 1.08995184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96255784400006 meters Centerline goodness [0,1] 0.2625609196407107 Centerline is valid? [False, False] Translation: X:4.79, Y:0.12, Z:1.09 [[ 9.99813458e-01 3.22514941e-03 -1.90433332e-02 4.78809765e+00] [-3.28262740e-03 9.99990149e-01 -2.98778652e-03 1.24998914e-01] [ 1.90335095e-02 3.04974134e-03 9.99814195e-01 1.08987320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99255784400003 meters Centerline goodness [0,1] 0.26365340190907904 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99822765e-01 3.40846895e-03 -1.85154119e-02 4.78667710e+00] [-3.46623620e-03 9.99989222e-01 -3.08875904e-03 1.26235893e-01] [ 1.85046844e-02 3.15239039e-03 9.99823804e-01 1.09017697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02255784400006 meters Centerline goodness [0,1] 0.2620788406048641 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99828311e-01 3.40373079e-03 -1.82143708e-02 4.78582242e+00] [-3.46513301e-03 9.99988417e-01 -3.34058867e-03 1.27631181e-01] [ 1.82027893e-02 3.40313034e-03 9.99828524e-01 1.09042464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05255784400003 meters Centerline goodness [0,1] 0.2633242506811989 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99822122e-01 3.42008844e-03 -1.85479733e-02 4.78698898e+00] [-3.48694418e-03 9.99987536e-01 -3.57333436e-03 1.28709910e-01] [ 1.85355210e-02 3.63737449e-03 9.99821586e-01 1.08985039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08255784400006 meters Centerline goodness [0,1] 0.25996237756492035 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99815474e-01 3.40662365e-03 -1.89053578e-02 4.78841535e+00] [-3.47633731e-03 9.99987275e-01 -3.65587021e-03 1.29089642e-01] [ 1.88926631e-02 3.72091701e-03 9.99814594e-01 1.08892891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11255784400004 meters Centerline goodness [0,1] 0.2620432708020132 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99810662e-01 3.38762585e-03 -1.91615317e-02 4.78938922e+00] [-3.46009050e-03 9.99986983e-01 -3.74988894e-03 1.29596588e-01] [ 1.91485790e-02 3.81547957e-03 9.99809369e-01 1.08835628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14255784400007 meters Centerline goodness [0,1] 0.2620432708020132 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99810662e-01 3.38762585e-03 -1.91615317e-02 4.78938922e+00] [-3.46009050e-03 9.99986983e-01 -3.74988894e-03 1.29596588e-01] [ 1.91485790e-02 3.81547957e-03 9.99809369e-01 1.08835628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17255784400004 meters Centerline goodness [0,1] 0.2623089983022071 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99807387e-01 3.36006795e-03 -1.93364678e-02 4.79013764e+00] [-3.43583561e-03 9.99986545e-01 -3.88649486e-03 1.30348499e-01] [ 1.93231487e-02 3.95218320e-03 9.99805479e-01 1.08785613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20255784400007 meters Centerline goodness [0,1] 0.2601409790693652 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99801902e-01 3.28246831e-03 -1.96311656e-02 4.79118723e+00] [-3.36622509e-03 9.99985367e-01 -4.23499884e-03 1.32114862e-01] [ 1.96169770e-02 4.30024282e-03 9.99798321e-01 1.08735094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23255784400004 meters Centerline goodness [0,1] 0.2505678990978517 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99805089e-01 3.25405778e-03 -1.94729246e-02 4.79083706e+00] [-3.33976643e-03 9.99984872e-01 -4.37052586e-03 1.32842133e-01] [ 1.94584080e-02 4.43470901e-03 9.99800832e-01 1.08725692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26255784400007 meters Centerline goodness [0,1] 0.2614602125763471 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99808777e-01 3.27506793e-03 -1.92790827e-02 4.79021512e+00] [-3.36081074e-03 9.99984599e-01 -4.41673411e-03 1.33260789e-01] [ 1.92643207e-02 4.48068288e-03 9.99804386e-01 1.08749785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29255784400004 meters Centerline goodness [0,1] 0.25919336992601916 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99812073e-01 3.30147277e-03 -1.91028394e-02 4.78971080e+00] [-3.38768056e-03 9.99984217e-01 -4.48222747e-03 1.33926269e-01] [ 1.90877399e-02 4.54609945e-03 9.99807477e-01 1.08759999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3225578440001 meters Centerline goodness [0,1] 0.26256922100378666 Centerline is valid? [False, False] Translation: X:4.79, Y:0.13, Z:1.09 [[ 9.99811177e-01 3.29427075e-03 -1.91509233e-02 4.78996236e+00] [-3.38051877e-03 9.99984282e-01 -4.47296883e-03 1.33789750e-01] [ 1.91358871e-02 4.53686429e-03 9.99806599e-01 1.08735151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35255784400005 meters Centerline goodness [0,1] 0.26048867440546064 Centerline is valid? [False, False] Translation: X:4.81, Y:0.14, Z:1.09 [[ 9.99770763e-01 -3.34852591e-03 -2.11473150e-02 4.80836652e+00] [ 3.27265673e-03 9.99988088e-01 -3.62124014e-03 1.37927846e-01] [ 2.11591889e-02 3.55120211e-03 9.99769812e-01 1.08993046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3825578440001 meters Centerline goodness [0,1] 0.24784240959696213 Centerline is valid? [False, False] Translation: X:4.81, Y:0.14, Z:1.09 [[ 9.99766008e-01 -3.37115287e-03 -2.13673548e-02 4.80888556e+00] [ 3.29476040e-03 9.99988058e-01 -3.60939212e-03 1.37719224e-01] [ 2.13792674e-02 3.53814724e-03 9.99765177e-01 1.08997849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41255784400005 meters Centerline goodness [0,1] 0.25967521626954015 Centerline is valid? [False, False] Translation: X:4.81, Y:0.14, Z:1.09 [[ 9.99767801e-01 -3.36192598e-03 -2.12847550e-02 4.80838034e+00] [ 3.28511821e-03 9.99987970e-01 -3.64251890e-03 1.38239030e-01] [ 2.12967448e-02 3.57175018e-03 9.99766818e-01 1.09041004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4425578440001 meters Centerline goodness [0,1] 0.2595449536526868 Centerline is valid? [False, False] Translation: X:4.81, Y:0.14, Z:1.09 [[ 9.99771185e-01 -3.34052418e-03 -2.11286094e-02 4.80768018e+00] [ 3.26351734e-03 9.99987910e-01 -3.67810275e-03 1.38693792e-01] [ 2.11406407e-02 3.60830757e-03 9.99770000e-01 1.09090483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47255784400005 meters Centerline goodness [0,1] 0.2617791956941641 Centerline is valid? [False, False] Translation: X:4.81, Y:0.14, Z:1.09 [[ 9.99775385e-01 -3.38222908e-03 -2.09222317e-02 4.80691965e+00] [ 3.30332579e-03 9.99987306e-01 -3.80467679e-03 1.39313018e-01] [ 2.09348344e-02 3.73470925e-03 9.99773867e-01 1.09128810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502557844 meters Centerline goodness [0,1] 0.26261457878655614 Centerline is valid? [False, False] Translation: X:4.81, Y:0.14, Z:1.09 [[ 9.99779169e-01 -3.42840954e-03 -2.07330464e-02 4.80609451e+00] [ 3.34766200e-03 9.99986682e-01 -3.92808373e-03 1.39823180e-01] [ 2.07462373e-02 3.85780905e-03 9.99777331e-01 1.09189439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53255784400005 meters Centerline goodness [0,1] 0.26172079622839184 Centerline is valid? [False, False] Translation: X:4.80, Y:0.14, Z:1.09 [[ 9.99785759e-01 -3.42359701e-03 -2.04136212e-02 4.80496711e+00] [ 3.34172494e-03 9.99986242e-01 -4.04342295e-03 1.40581050e-01] [ 2.04271834e-02 3.97433997e-03 9.99783444e-01 1.09246344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562557844 meters Centerline goodness [0,1] 0.26141042867669373 Centerline is valid? [False, False] Translation: X:4.82, Y:0.14, Z:1.09 [[ 9.99823447e-01 6.12681563e-03 -1.77633494e-02 4.82321871e+00] [-6.21237427e-03 9.99969348e-01 -4.76540934e-03 1.39718225e-01] [ 1.77336082e-02 4.87492056e-03 9.99830863e-01 1.09345994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59255784400005 meters Centerline goodness [0,1] 0.26093266044315455 Centerline is valid? [False, False] Translation: X:4.82, Y:0.14, Z:1.09 [[ 0.99982595 0.00611084 -0.01762724 4.82287435] [-0.00619905 0.99996851 -0.00495443 0.14074032] [ 0.01759641 0.00506284 0.99983235 1.09350466] [ 0. 0. 0. 1. ]] SLAMing on 334.622557844 meters Centerline goodness [0,1] 0.264038361395591 Centerline is valid? [False, False] Translation: X:4.82, Y:0.14, Z:1.09 [[ 0.9998261 0.00607449 -0.01763145 4.82282025] [-0.00616532 0.99996798 -0.00510182 0.14132871] [ 0.01759989 0.00520964 0.99983154 1.0936031 ] [ 0. 0. 0. 1. ]] SLAMing on 334.65255784400006 meters Centerline goodness [0,1] 0.26438809741645974 Centerline is valid? [False, False] Translation: X:4.82, Y:0.14, Z:1.09 [[ 0.99982343 0.00607964 -0.01778073 4.82327473] [-0.00617166 0.99996782 -0.00512524 0.14131653] [ 0.017749 0.00523407 0.99982877 1.0934419 ] [ 0. 0. 0. 1. ]] SLAMing on 334.68255784400003 meters Centerline goodness [0,1] 0.2620409228293722 Centerline is valid? [False, False] Translation: X:4.82, Y:0.14, Z:1.09 [[ 0.99981851 0.00622286 -0.01800597 4.82411936] [-0.00631315 0.99996776 -0.00496153 0.14086871] [ 0.01797451 0.00507431 0.99982557 1.09291659] [ 0. 0. 0. 1. ]] SLAMing on 334.71255784400006 meters Centerline goodness [0,1] 0.26007444920573086 Centerline is valid? [False, False] Translation: X:4.82, Y:0.14, Z:1.09 [[ 9.99823048e-01 6.36135843e-03 -1.77032798e-02 4.82321739e+00] [-6.44591947e-03 9.99968068e-01 -4.72361908e-03 1.40021226e-01] [ 1.76726659e-02 4.83689715e-03 9.99832127e-01 1.09315941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74255784400003 meters Centerline goodness [0,1] 0.26423491426327506 Centerline is valid? [False, False] Translation: X:4.82, Y:0.14, Z:1.09 [[ 9.99828494e-01 6.48909161e-03 -1.73457058e-02 4.82201296e+00] [-6.56751570e-03 9.99968451e-01 -4.46810549e-03 1.38913788e-01] [ 1.73161647e-02 4.58125738e-03 9.99839568e-01 1.09370866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77255784400006 meters Centerline goodness [0,1] 0.26409766269875745 Centerline is valid? [False, False] Translation: X:4.82, Y:0.14, Z:1.09 [[ 9.99828663e-01 6.53878217e-03 -1.73173230e-02 4.82195653e+00] [-6.61463610e-03 9.99968763e-01 -4.32658390e-03 1.38064364e-01] [ 1.72884914e-02 4.44039039e-03 9.99840683e-01 1.09369951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80255784400003 meters Centerline goodness [0,1] 0.25980529712694544 Centerline is valid? [False, False] Translation: X:4.84, Y:0.14, Z:1.10 [[ 9.99817187e-01 -1.21095044e-04 -1.91200880e-02 4.84139887e+00] [ 5.23296993e-05 9.99993530e-01 -3.59695666e-03 1.42100174e-01] [ 1.91203998e-02 3.59529854e-03 9.99810724e-01 1.09522129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83255784400006 meters Centerline goodness [0,1] 0.2624396161427983 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99782211e-01 4.25366155e-04 -2.08650168e-02 4.84676898e+00] [-4.96275860e-04 9.99994119e-01 -3.39343718e-03 1.42671772e-01] [ 2.08634506e-02 3.40305294e-03 9.99776543e-01 1.09327518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86255784400004 meters Centerline goodness [0,1] 0.26244926460961027 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99778672e-01 4.80112150e-04 -2.10327594e-02 4.84732021e+00] [-5.52827199e-04 9.99993891e-01 -3.45155025e-03 1.43307876e-01] [ 2.10309738e-02 3.46241381e-03 9.99772829e-01 1.09301530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89255784400007 meters Centerline goodness [0,1] 0.2603782587949508 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99780789e-01 5.69482609e-04 -2.09296439e-02 4.84688238e+00] [-6.41235181e-04 9.99993940e-01 -3.42172362e-03 1.43467711e-01] [ 2.09275685e-02 3.43439437e-03 9.99775096e-01 1.09331233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92255784400004 meters Centerline goodness [0,1] 0.2565067756506776 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99784475e-01 6.29441149e-04 -2.07511001e-02 4.84607965e+00] [-6.98411699e-04 9.99994256e-01 -3.31662612e-03 1.42972069e-01] [ 2.07488933e-02 3.33040412e-03 9.99779172e-01 1.09389019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95255784400007 meters Centerline goodness [0,1] 0.260476972263026 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99787997e-01 7.18409710e-04 -2.05777623e-02 4.84536944e+00] [-7.81510663e-04 9.99995017e-01 -3.05858570e-03 1.41503545e-01] [ 2.05754625e-02 3.07401901e-03 9.99783577e-01 1.09429032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98255784400004 meters Centerline goodness [0,1] 0.2598219302416044 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99782916e-01 8.10044841e-04 -2.08198327e-02 4.84629570e+00] [-8.62071148e-04 9.99996528e-01 -2.49002855e-03 1.37941615e-01] [ 2.08177434e-02 2.50743618e-03 9.99780143e-01 1.09379204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01255784400007 meters Centerline goodness [0,1] 0.26366873670039515 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99779022e-01 8.85602196e-04 -2.10029427e-02 4.84695671e+00] [-9.33213318e-04 9.99997017e-01 -2.25718582e-03 1.36683308e-01] [ 2.10008811e-02 2.27628726e-03 9.99776866e-01 1.09347681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04255784400004 meters Centerline goodness [0,1] 0.26435246995994655 Centerline is valid? [False, False] Translation: X:4.85, Y:0.13, Z:1.09 [[ 9.99772957e-01 9.87403405e-04 -2.12851952e-02 4.84795546e+00] [-1.02843223e-03 9.99997634e-01 -1.91671544e-03 1.34852767e-01] [ 2.12832523e-02 1.93817064e-03 9.99771607e-01 1.09296951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0725578440001 meters Centerline goodness [0,1] 0.2628365068942876 Centerline is valid? [False, False] Translation: X:4.85, Y:0.13, Z:1.09 [[ 9.99771496e-01 1.03231194e-03 -2.13515825e-02 4.84818958e+00] [-1.07162172e-03 9.99997752e-01 -1.82971143e-03 1.34449758e-01] [ 2.13496457e-02 1.85217415e-03 9.99770355e-01 1.09285050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10255784400005 meters Centerline goodness [0,1] 0.26317512989564684 Centerline is valid? [False, False] Translation: X:4.85, Y:0.13, Z:1.09 [[ 9.99772354e-01 1.07072629e-03 -2.13094597e-02 4.84805219e+00] [-1.10928237e-03 9.99997769e-01 -1.79760291e-03 1.34431301e-01] [ 2.13074874e-02 1.82083190e-03 9.99771312e-01 1.09290674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1325578440001 meters Centerline goodness [0,1] 0.26267301132042675 Centerline is valid? [False, False] Translation: X:4.85, Y:0.13, Z:1.09 [[ 9.99775845e-01 1.08884053e-03 -2.11441457e-02 4.84766855e+00] [-1.12851191e-03 9.99997625e-01 -1.86439293e-03 1.34922893e-01] [ 2.11420655e-02 1.88783644e-03 9.99774699e-01 1.09281768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16255784400005 meters Centerline goodness [0,1] 0.25936424815528103 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99777817e-01 1.07035017e-03 -2.10516487e-02 4.84760243e+00] [-1.11253798e-03 9.99997396e-01 -1.99240489e-03 1.35722042e-01] [ 2.10494613e-02 2.01538297e-03 9.99776404e-01 1.09256308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1925578440001 meters Centerline goodness [0,1] 0.2613520380464288 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99777512e-01 1.02080626e-03 -2.10685611e-02 4.84783586e+00] [-1.06658194e-03 9.99997095e-01 -2.16157814e-03 1.36546979e-01] [ 2.10662934e-02 2.18356857e-03 9.99775696e-01 1.09220379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22255784400005 meters Centerline goodness [0,1] 0.2611621193375442 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99772601e-01 8.83343208e-04 -2.13064797e-02 4.84865677e+00] [-9.35651996e-04 9.99996573e-01 -2.44522090e-03 1.37594855e-01] [ 2.13042467e-02 2.46460031e-03 9.99770001e-01 1.09175719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.252557844 meters Centerline goodness [0,1] 0.2589465917229107 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99772458e-01 8.50054035e-04 -2.13145325e-02 4.84865488e+00] [-9.03392336e-04 9.99996485e-01 -2.49293437e-03 1.37792096e-01] [ 2.13123384e-02 2.51162251e-03 9.99769711e-01 1.09176649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28255784400005 meters Centerline goodness [0,1] 0.25906893037576706 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99774149e-01 8.53795269e-04 -2.12349284e-02 4.84838921e+00] [-9.06835533e-04 9.99996493e-01 -2.48828003e-03 1.37874783e-01] [ 2.12327295e-02 2.50697464e-03 9.99771417e-01 1.09186934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.312557844 meters Centerline goodness [0,1] 0.25988207032103083 Centerline is valid? [False, False] Translation: X:4.85, Y:0.14, Z:1.09 [[ 9.99777043e-01 8.78478208e-04 -2.10972315e-02 4.84800711e+00] [-9.29777275e-04 9.99996635e-01 -2.42186861e-03 1.37633184e-01] [ 2.10950329e-02 2.44094436e-03 9.99774495e-01 1.09192425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34255784400005 meters Centerline goodness [0,1] 0.2580006030064177 Centerline is valid? [False, False] Translation: X:4.87, Y:0.14, Z:1.09 [[ 9.99768799e-01 -6.56177419e-03 -2.04765946e-02 4.86752627e+00] [ 6.53445069e-03 9.99977669e-01 -1.40100169e-03 1.42442145e-01] [ 2.04853304e-02 1.26687448e-03 9.99789351e-01 1.09330405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.372557844 meters Centerline goodness [0,1] 0.26101120667187905 Centerline is valid? [False, False] Translation: X:4.87, Y:0.14, Z:1.09 [[ 9.99766777e-01 -6.49507733e-03 -2.05962707e-02 4.86773294e+00] [ 6.47123855e-03 9.99978312e-01 -1.22387012e-03 1.41679460e-01] [ 2.06037731e-02 1.09030131e-03 9.99787125e-01 1.09347263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40255784400006 meters Centerline goodness [0,1] 0.2632417102966841 Centerline is valid? [False, False] Translation: X:4.87, Y:0.14, Z:1.09 [[ 9.99763790e-01 -6.50825440e-03 -2.07366130e-02 4.86821651e+00] [ 6.48331727e-03 9.99978177e-01 -1.26956761e-03 1.41890217e-01] [ 2.07444231e-02 1.13482569e-03 9.99784167e-01 1.09325936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43255784400003 meters Centerline goodness [0,1] 0.25977016488171534 Centerline is valid? [False, False] Translation: X:4.87, Y:0.14, Z:1.09 [[ 9.99761519e-01 -6.56103937e-03 -2.08292524e-02 4.86853454e+00] [ 6.53221340e-03 9.99977611e-01 -1.45165493e-03 1.42718825e-01] [ 2.08383104e-02 1.31524761e-03 9.99781994e-01 1.09308986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46255784400006 meters Centerline goodness [0,1] 0.2643839215342849 Centerline is valid? [False, False] Translation: X:4.87, Y:0.15, Z:1.09 [[ 9.99772347e-01 -6.44042562e-03 -2.03414772e-02 4.86731804e+00] [ 6.40590365e-03 9.99977930e-01 -1.76182685e-03 1.45050408e-01] [ 2.03523752e-02 1.63112023e-03 9.99791538e-01 1.09303323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49255784400003 meters Centerline goodness [0,1] 0.26030218291387575 Centerline is valid? [False, False] Translation: X:4.89, Y:0.14, Z:1.09 [[ 9.99818287e-01 2.84892526e-03 -1.88487745e-02 4.88739198e+00] [-2.90040123e-03 9.99992137e-01 -2.70422549e-03 1.44422255e-01] [ 1.88409221e-02 2.75840311e-03 9.99818689e-01 1.09351870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52255784400006 meters Centerline goodness [0,1] 0.2594991739848709 Centerline is valid? [False, False] Translation: X:4.89, Y:0.15, Z:1.09 [[ 9.99823952e-01 2.84742493e-03 -1.85461061e-02 4.88658407e+00] [-2.90177496e-03 9.99991572e-01 -2.90428455e-03 1.45824429e-01] [ 1.85376800e-02 2.95758988e-03 9.99823788e-01 1.09357695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55255784400003 meters Centerline goodness [0,1] 0.2592110684622557 Centerline is valid? [False, False] Translation: X:4.89, Y:0.15, Z:1.09 [[ 9.99829904e-01 2.82896026e-03 -1.82252363e-02 4.88568877e+00] [-2.88586431e-03 9.99991041e-01 -3.09672386e-03 1.46945773e-01] [ 1.82163125e-02 3.14879268e-03 9.99829111e-01 1.09374630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58255784400006 meters Centerline goodness [0,1] 0.2641056422569028 Centerline is valid? [False, False] Translation: X:4.89, Y:0.15, Z:1.09 [[ 9.99832769e-01 2.75131295e-03 -1.80793689e-02 4.88519718e+00] [-2.81202482e-03 9.99990490e-01 -3.33351071e-03 1.47973957e-01] [ 1.80700254e-02 3.38379288e-03 9.99830998e-01 1.09393028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61255784400004 meters Centerline goodness [0,1] 0.25850870355936606 Centerline is valid? [False, False] Translation: X:4.89, Y:0.15, Z:1.09 [[ 9.99828451e-01 2.57597135e-03 -1.83421320e-02 4.88590365e+00] [-2.64801514e-03 9.99988871e-01 -3.90457289e-03 1.50512725e-01] [ 1.83318698e-02 3.95247331e-03 9.99824145e-01 1.09375364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64255784400007 meters Centerline goodness [0,1] 0.25954795145146237 Centerline is valid? [False, False] Translation: X:4.89, Y:0.15, Z:1.09 [[ 9.99828458e-01 2.50884096e-03 -1.83510281e-02 4.88609274e+00] [-2.58626894e-03 9.99987849e-01 -4.19675736e-03 1.52137939e-01] [ 1.83402761e-02 4.24349813e-03 9.99822798e-01 1.09345719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67255784400004 meters Centerline goodness [0,1] 0.26040717107262235 Centerline is valid? [False, False] Translation: X:4.89, Y:0.15, Z:1.09 [[ 9.99830411e-01 2.40996144e-03 -1.82576585e-02 4.88600799e+00] [-2.49407493e-03 9.99986376e-01 -4.58565677e-03 1.54257892e-01] [ 1.82463585e-02 4.63041506e-03 9.99822799e-01 1.09316430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70255784400007 meters Centerline goodness [0,1] 0.26324395029431 Centerline is valid? [False, False] Translation: X:4.89, Y:0.16, Z:1.09 [[ 9.99836942e-01 2.35084627e-03 -1.79042601e-02 4.88507178e+00] [-2.43908789e-03 9.99984980e-01 -4.90828578e-03 1.56166939e-01] [ 1.78924526e-02 4.95115551e-03 9.99827658e-01 1.09322441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73255784400004 meters Centerline goodness [0,1] 0.25929127052722556 Centerline is valid? [False, False] Translation: X:4.91, Y:0.16, Z:1.09 [[ 9.99879476e-01 -2.45397846e-03 -1.53300700e-02 4.90584477e+00] [ 2.42578249e-03 9.99995332e-01 -1.85758338e-03 1.62403379e-01] [ 1.53345570e-02 1.82017208e-03 9.99880762e-01 1.09323930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76255784400007 meters Centerline goodness [0,1] 0.2598484848484849 Centerline is valid? [False, False] Translation: X:4.91, Y:0.16, Z:1.09 [[ 9.99879662e-01 -2.57019587e-03 -1.52988600e-02 4.90581154e+00] [ 2.53699677e-03 9.99994386e-01 -2.18905030e-03 1.64108786e-01] [ 1.53044004e-02 2.14997371e-03 9.99880569e-01 1.09311936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79255784400004 meters Centerline goodness [0,1] 0.2628860314320255 Centerline is valid? [False, False] Translation: X:4.86, Y:0.16, Z:1.09 [[ 9.99820680e-01 -3.56370293e-03 -1.85985831e-02 4.86193487e+00] [ 3.53070784e-03 9.99992135e-01 -1.80659902e-03 1.61534700e-01] [ 1.86048750e-02 1.74060890e-03 9.99825399e-01 1.09332249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8225578440001 meters Centerline goodness [0,1] 0.26247976549853436 Centerline is valid? [False, False] Translation: X:4.86, Y:0.16, Z:1.09 [[ 9.99813422e-01 -3.66544245e-03 -1.89653758e-02 4.86316385e+00] [ 3.62709546e-03 9.99991309e-01 -2.05595019e-03 1.62597161e-01] [ 1.89727469e-02 1.98677737e-03 9.99818027e-01 1.09276023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85255784400005 meters Centerline goodness [0,1] 0.2623276313492756 Centerline is valid? [False, False] Translation: X:4.86, Y:0.16, Z:1.09 [[ 9.99807728e-01 -3.75253749e-03 -1.92464560e-02 4.86427147e+00] [ 3.71020439e-03 9.99990620e-01 -2.23476295e-03 1.63242100e-01] [ 1.92546615e-02 2.16292498e-03 9.99812272e-01 1.09202622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8825578440001 meters Centerline goodness [0,1] 0.2624699453551913 Centerline is valid? [False, False] Translation: X:4.86, Y:0.16, Z:1.09 [[ 9.99807793e-01 -3.80201883e-03 -1.92333328e-02 4.86442984e+00] [ 3.75650212e-03 9.99990059e-01 -2.40212862e-03 1.64251882e-01] [ 1.92422745e-02 2.32941686e-03 9.99812137e-01 1.09164352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91255784400005 meters Centerline goodness [0,1] 0.25742424895478644 Centerline is valid? [False, False] Translation: X:4.88, Y:0.16, Z:1.09 [[ 9.99843005e-01 4.58731312e-03 -1.71149590e-02 4.88306266e+00] [-4.65119854e-03 9.99982357e-01 -3.69478767e-03 1.61385721e-01] [ 1.70977079e-02 3.77381268e-03 9.99846702e-01 1.09267858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9425578440001 meters Centerline goodness [0,1] 0.2616064047339338 Centerline is valid? [False, False] Translation: X:4.88, Y:0.16, Z:1.09 [[ 9.99863740e-01 6.53032305e-04 -1.64946956e-02 4.88111868e+00] [-7.75049931e-04 9.99972378e-01 -7.39207675e-03 1.60559476e-01] [ 1.64894128e-02 7.40385372e-03 9.99836628e-01 1.09323015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97255784400005 meters Centerline goodness [0,1] 0.26085257008838414 Centerline is valid? [False, False] Translation: X:4.88, Y:0.16, Z:1.09 [[ 9.99858110e-01 6.65017755e-04 -1.68320554e-02 4.88209121e+00] [-7.84202519e-04 9.99974663e-01 -7.07521096e-03 1.58637263e-01] [ 1.68269238e-02 7.08740679e-03 9.99833298e-01 1.09302327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002557844 meters Centerline goodness [0,1] 0.2580241587575496 Centerline is valid? [False, False] Translation: X:4.88, Y:0.16, Z:1.09 [[ 9.99848592e-01 6.96758272e-04 -1.73870132e-02 4.88369357e+00] [-8.13541838e-04 9.99977153e-01 -6.71054347e-03 1.56508692e-01] [ 1.73819403e-02 6.72367250e-03 9.99826315e-01 1.09266764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03255784400005 meters Centerline goodness [0,1] 0.2626394985695254 Centerline is valid? [False, False] Translation: X:4.88, Y:0.15, Z:1.09 [[ 9.99841936e-01 8.13475705e-04 -1.77606437e-02 4.88478856e+00] [-9.25858933e-04 9.99979598e-01 -6.32034976e-03 1.54563328e-01] [ 1.77551399e-02 6.33579459e-03 9.99822291e-01 1.09241022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.062557844 meters Centerline goodness [0,1] 0.2626394985695254 Centerline is valid? [False, False] Translation: X:4.88, Y:0.15, Z:1.09 [[ 9.99841936e-01 8.13475705e-04 -1.77606437e-02 4.88478856e+00] [-9.25858933e-04 9.99979598e-01 -6.32034976e-03 1.54563328e-01] [ 1.77551399e-02 6.33579459e-03 9.99822291e-01 1.09241022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09255784400005 meters Centerline goodness [0,1] 0.2567371901540856 Centerline is valid? [False, False] Translation: X:4.90, Y:0.16, Z:1.09 [[ 0.999812 -0.00604701 -0.01842299 4.90449515] [ 0.00595488 0.99996951 -0.00505166 0.15935799] [ 0.01845297 0.004941 0.99981752 1.09398909] [ 0. 0. 0. 1. ]] SLAMing on 336.122557844 meters Centerline goodness [0,1] 0.26098399164781627 Centerline is valid? [False, False] Translation: X:4.90, Y:0.16, Z:1.09 [[ 0.99981253 -0.00606021 -0.01838982 4.90457808] [ 0.00596409 0.99996829 -0.00527731 0.16070833] [ 0.01842122 0.00516664 0.99981697 1.09368592] [ 0. 0. 0. 1. ]] SLAMing on 336.15255784400006 meters Centerline goodness [0,1] 0.25801783901691033 Centerline is valid? [False, False] Translation: X:4.90, Y:0.16, Z:1.09 [[ 0.99981077 -0.00604832 -0.01848917 4.90496316] [ 0.00594508 0.99996646 -0.00563346 0.16279932] [ 0.01852262 0.00552248 0.99981319 1.09338814] [ 0. 0. 0. 1. ]] SLAMing on 336.18255784400003 meters Centerline goodness [0,1] 0.2600004350379571 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 0.99981762 -0.00598397 -0.01813602 4.90408443] [ 0.00587617 0.99996479 -0.00599126 0.16505366] [ 0.01817123 0.0058836 0.99981758 1.09329872] [ 0. 0. 0. 1. ]] SLAMing on 336.21255784400006 meters Centerline goodness [0,1] 0.2583218052913713 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 9.99828175e-01 -2.19579503e-03 -1.84065140e-02 4.90400386e+00] [ 2.14385748e-03 9.99993666e-01 -2.84095171e-03 1.68551970e-01] [ 1.84126355e-02 2.80100262e-03 9.99826550e-01 1.09406908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24255784400003 meters Centerline goodness [0,1] 0.2610176847130302 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 9.99831228e-01 -2.28941272e-03 -1.82283904e-02 4.90360356e+00] [ 2.23043968e-03 9.99992215e-01 -3.25490370e-03 1.70801980e-01] [ 1.82357003e-02 3.21369704e-03 9.99828551e-01 1.09390616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27255784400006 meters Centerline goodness [0,1] 0.25613642235810874 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 9.99834544e-01 -2.40437451e-03 -1.80306078e-02 4.90312897e+00] [ 2.33970605e-03 9.99990758e-01 -3.60683115e-03 1.72559692e-01] [ 1.80391134e-02 3.56404806e-03 9.99830930e-01 1.09378495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30255784400003 meters Centerline goodness [0,1] 0.26168976696620905 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 9.99835646e-01 -2.51284651e-03 -1.79545698e-02 4.90285562e+00] [ 2.44418450e-03 9.99989620e-01 -3.84512919e-03 1.73580595e-01] [ 1.79640456e-02 3.80061294e-03 9.99831410e-01 1.09386748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33255784400006 meters Centerline goodness [0,1] 0.2588153702780607 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 9.99835681e-01 -2.56163600e-03 -1.79457037e-02 4.90274580e+00] [ 2.49165429e-03 9.99989209e-01 -3.92090983e-03 1.73860849e-01] [ 1.79555539e-02 3.87555106e-03 9.99831275e-01 1.09400207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36255784400004 meters Centerline goodness [0,1] 0.25966742745353766 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 9.99836580e-01 -2.57753588e-03 -1.78932686e-02 4.90238640e+00] [ 2.50808481e-03 9.99989239e-01 -3.90276359e-03 1.73704052e-01] [ 1.79031356e-02 3.85724797e-03 9.99832286e-01 1.09433410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39255784400007 meters Centerline goodness [0,1] 0.2587536451020629 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.10 [[ 9.99837208e-01 -2.61667023e-03 -1.78524466e-02 4.90176168e+00] [ 2.54904052e-03 9.99989493e-01 -3.80996411e-03 1.73338814e-01] [ 1.78622285e-02 3.76383727e-03 9.99833373e-01 1.09519445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42255784400004 meters Centerline goodness [0,1] 0.2578536290670579 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.10 [[ 9.99836700e-01 -2.61548102e-03 -1.78810748e-02 4.90184172e+00] [ 2.54821247e-03 9.99989595e-01 -3.78374666e-03 1.73346496e-01] [ 1.78907851e-02 3.73756400e-03 9.99832961e-01 1.09517494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45255784400007 meters Centerline goodness [0,1] 0.2582801449025358 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.10 [[ 9.99835408e-01 -2.63480662e-03 -1.79503318e-02 4.90210262e+00] [ 2.56695228e-03 9.99989477e-01 -3.80210886e-03 1.73453849e-01] [ 1.79601608e-02 3.75540542e-03 9.99831651e-01 1.09504853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48255784400004 meters Centerline goodness [0,1] 0.2612985773768216 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 9.99833989e-01 -2.73127833e-03 -1.80148238e-02 4.90234169e+00] [ 2.66069907e-03 9.99988696e-01 -3.94064825e-03 1.73867739e-01] [ 1.80253832e-02 3.89206204e-03 9.99829954e-01 1.09491674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51255784400007 meters Centerline goodness [0,1] 0.26083937329108975 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 9.99834436e-01 -2.75427776e-03 -1.79865272e-02 4.90227637e+00] [ 2.68287833e-03 9.99988431e-01 -3.99253057e-03 1.74135557e-01] [ 1.79973156e-02 3.94361389e-03 9.99830258e-01 1.09489325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54255784400004 meters Centerline goodness [0,1] 0.2606532084573763 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:1.09 [[ 9.99834480e-01 -2.77049873e-03 -1.79815540e-02 4.90217913e+00] [ 2.69776889e-03 9.99988088e-01 -4.06768902e-03 1.74655041e-01] [ 1.79926094e-02 4.01850566e-03 9.99830044e-01 1.09499723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5725578440001 meters Centerline goodness [0,1] 0.2598972892153676 Centerline is valid? [False, False] Translation: X:4.90, Y:0.18, Z:1.10 [[ 9.99830972e-01 -2.84653055e-03 -1.81638301e-02 4.90259933e+00] [ 2.76984034e-03 9.99987150e-01 -4.24590037e-03 1.75753541e-01] [ 1.81756828e-02 4.19487178e-03 9.99826009e-01 1.09501007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60255784400005 meters Centerline goodness [0,1] 0.264957452890345 Centerline is valid? [False, False] Translation: X:4.86, Y:0.17, Z:1.10 [[ 9.99769114e-01 -4.15031130e-03 -2.10830288e-02 4.85773879e+00] [ 4.06661835e-03 9.99983687e-01 -4.01100670e-03 1.72780661e-01] [ 2.10993318e-02 3.92434398e-03 9.99769682e-01 1.09548700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6325578440001 meters Centerline goodness [0,1] 0.25914653888493167 Centerline is valid? [False, False] Translation: X:4.90, Y:0.18, Z:1.10 [[ 9.99809299e-01 -3.30069816e-03 -1.92476387e-02 4.90234433e+00] [ 3.20980079e-03 9.99983560e-01 -4.75150320e-03 1.77066948e-01] [ 1.92630055e-02 4.68881600e-03 9.99803456e-01 1.09530454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66255784400005 meters Centerline goodness [0,1] 0.2582737223131949 Centerline is valid? [False, False] Translation: X:4.90, Y:0.18, Z:1.10 [[ 9.99808641e-01 -3.37294761e-03 -1.92692557e-02 4.90249104e+00] [ 3.27944777e-03 9.99982706e-01 -4.88182146e-03 1.77609347e-01] [ 1.92853886e-02 4.81769477e-03 9.99802412e-01 1.09514614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6925578440001 meters Centerline goodness [0,1] 0.2638940571303491 Centerline is valid? [False, False] Translation: X:4.85, Y:0.18, Z:1.10 [[ 0.99976046 -0.00509979 -0.02128426 4.85457631] [ 0.0049914 0.99997432 -0.00514256 0.17625451] [ 0.02130994 0.00503509 0.99976024 1.09681178] [ 0. 0. 0. 1. ]] SLAMing on 336.72255784400005 meters Centerline goodness [0,1] 0.2620182929472452 Centerline is valid? [False, False] Translation: X:4.87, Y:0.17, Z:1.10 [[ 9.99823430e-01 3.15320948e-03 -1.85247519e-02 4.87281252e+00] [-3.27440342e-03 9.99973412e-01 -6.51558615e-03 1.74612573e-01] [ 1.85037143e-02 6.57509320e-03 9.99807172e-01 1.09776181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.752557844 meters Centerline goodness [0,1] 0.26684329224234193 Centerline is valid? [False, False] Translation: X:4.87, Y:0.17, Z:1.10 [[ 9.99825995e-01 3.13445579e-03 -1.83889990e-02 4.87215421e+00] [-3.25545474e-03 9.99973225e-01 -6.55372331e-03 1.74862418e-01] [ 1.83679643e-02 6.61244749e-03 9.99809429e-01 1.09831127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78255784400005 meters Centerline goodness [0,1] 0.2655926402302108 Centerline is valid? [False, False] Translation: X:4.87, Y:0.18, Z:1.10 [[ 9.99824683e-01 3.10279863e-03 -1.84655410e-02 4.87248554e+00] [-3.22512926e-03 9.99973027e-01 -6.59871796e-03 1.75100984e-01] [ 1.84445684e-02 6.65711484e-03 9.99807722e-01 1.09808209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.812557844 meters Centerline goodness [0,1] 0.2658949399280891 Centerline is valid? [False, False] Translation: X:4.87, Y:0.18, Z:1.10 [[ 9.99820461e-01 3.02186073e-03 -1.87059970e-02 4.87334889e+00] [-3.14776947e-03 9.99972566e-01 -6.70514896e-03 1.75370462e-01] [ 1.86852218e-02 6.76282729e-03 9.99802544e-01 1.09763493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84255784400005 meters Centerline goodness [0,1] 0.2624433407794574 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99776462e-01 -4.22166305e-03 -2.07172230e-02 4.89410484e+00] [ 4.08914548e-03 9.99970936e-01 -6.43469246e-03 1.81695342e-01] [ 2.07437860e-02 6.34853833e-03 9.99764668e-01 1.09900270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.872557844 meters Centerline goodness [0,1] 0.2623630248453944 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99777399e-01 -4.21346057e-03 -2.06736575e-02 4.89378999e+00] [ 4.08077663e-03 9.99970833e-01 -6.45601477e-03 1.81975837e-01] [ 2.07002567e-02 6.37021307e-03 9.99765432e-01 1.09932438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90255784400006 meters Centerline goodness [0,1] 0.26410908853656945 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99780709e-01 -4.17444676e-03 -2.05208918e-02 4.89309756e+00] [ 4.04383464e-03 9.99971329e-01 -6.40221708e-03 1.81954620e-01] [ 2.05470292e-02 6.31783004e-03 9.99768926e-01 1.09980982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93255784400003 meters Centerline goodness [0,1] 0.26607189713985835 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99783194e-01 -4.10296988e-03 -2.04139958e-02 4.89256763e+00] [ 3.97566793e-03 9.99972423e-01 -6.27269438e-03 1.81579089e-01] [ 2.04391695e-02 6.19017515e-03 9.99771935e-01 1.10024584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96255784400006 meters Centerline goodness [0,1] 0.26555618540967163 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99781771e-01 -4.14557812e-03 -2.04749497e-02 4.89277759e+00] [ 4.01628577e-03 9.99971762e-01 -6.35174960e-03 1.81864341e-01] [ 2.05007032e-02 6.26813022e-03 9.99770189e-01 1.10013492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99255784400003 meters Centerline goodness [0,1] 0.26431555130101814 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99779548e-01 -4.22626114e-03 -2.05668202e-02 4.89298661e+00] [ 4.09243910e-03 9.99970211e-01 -6.54444021e-03 1.82664008e-01] [ 2.05938661e-02 6.45882902e-03 9.99767061e-01 1.10017908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02255784400006 meters Centerline goodness [0,1] 0.26550560574725157 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99782103e-01 -4.30739339e-03 -2.04252974e-02 4.89246494e+00] [ 4.16881246e-03 9.99968037e-01 -6.82250181e-03 1.84096719e-01] [ 2.04540318e-02 6.73586597e-03 9.99768103e-01 1.10043421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05255784400003 meters Centerline goodness [0,1] 0.2656300755787513 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99794541e-01 -2.89996940e-04 -2.02679893e-02 4.89148538e+00] [ 2.29472335e-04 9.99995508e-01 -2.98847848e-03 1.84870501e-01] [ 2.02687649e-02 2.98321352e-03 9.99790117e-01 1.10128751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08255784400006 meters Centerline goodness [0,1] 0.26410717769732706 Centerline is valid? [False, False] Translation: X:4.89, Y:0.19, Z:1.10 [[ 9.99793807e-01 -3.36848873e-04 -2.03034411e-02 4.89173664e+00] [ 2.71930800e-04 9.99994843e-01 -3.20006872e-03 1.86090854e-01] [ 2.03044143e-02 3.19388776e-03 9.99788743e-01 1.10099681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11255784400004 meters Centerline goodness [0,1] 0.26324327831974215 Centerline is valid? [False, False] Translation: X:4.89, Y:0.19, Z:1.10 [[ 9.99788985e-01 -3.73372508e-04 -2.05388814e-02 4.89265972e+00] [ 3.05809958e-04 9.99994533e-01 -3.29253759e-03 1.86422921e-01] [ 2.05399984e-02 3.28556183e-03 9.99783633e-01 1.10042706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14255784400007 meters Centerline goodness [0,1] 0.26338116572516934 Centerline is valid? [False, False] Translation: X:4.89, Y:0.19, Z:1.10 [[ 9.99784383e-01 -4.03214625e-04 -2.07611398e-02 4.89342916e+00] [ 3.33979767e-04 9.99994372e-01 -3.33818865e-03 1.86419768e-01] [ 2.07623689e-02 3.33053508e-03 9.99778891e-01 1.10004636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17255784400004 meters Centerline goodness [0,1] 0.26654838568362027 Centerline is valid? [False, False] Translation: X:4.89, Y:0.19, Z:1.10 [[ 9.99782543e-01 -3.72104831e-04 -2.08501386e-02 4.89363907e+00] [ 3.05044100e-04 9.99994771e-01 -3.21940877e-03 1.85697101e-01] [ 2.08512276e-02 3.21234848e-03 9.99777429e-01 1.10006285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20255784400007 meters Centerline goodness [0,1] 0.26656192720607486 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99782285e-01 -3.08179758e-04 -2.08635539e-02 4.89334231e+00] [ 2.46240549e-04 9.99995555e-01 -2.97127947e-03 1.84570231e-01] [ 2.08643768e-02 2.96549512e-03 9.99777917e-01 1.10063196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23255784400004 meters Centerline goodness [0,1] 0.266429568860185 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99783557e-01 -2.96999370e-04 -2.08026503e-02 4.89319193e+00] [ 2.35878378e-04 9.99995649e-01 -2.94052697e-03 1.84439800e-01] [ 2.08034331e-02 2.93498362e-03 9.99779277e-01 1.10063650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26255784400007 meters Centerline goodness [0,1] 0.2667104542966612 Centerline is valid? [False, False] Translation: X:4.89, Y:0.18, Z:1.10 [[ 9.99784707e-01 -3.07912113e-04 -2.07471784e-02 4.89307006e+00] [ 2.46720772e-04 9.99995613e-01 -2.95187645e-03 1.84428777e-01] [ 2.07479963e-02 2.94612217e-03 9.99780396e-01 1.10062104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29255784400004 meters Centerline goodness [0,1] 0.2659810885005882 Centerline is valid? [False, False] Translation: X:4.89, Y:0.19, Z:1.10 [[ 9.99782850e-01 -3.84701217e-04 -2.08351985e-02 4.89341254e+00] [ 3.19535269e-04 9.99995048e-01 -3.13092435e-03 1.85212769e-01] [ 2.08362998e-02 3.12358689e-03 9.99778021e-01 1.10042803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3225578440001 meters Centerline goodness [0,1] 0.2664622796452425 Centerline is valid? [False, False] Translation: X:4.89, Y:0.19, Z:1.10 [[ 9.99782097e-01 -4.20843435e-04 -2.08706008e-02 4.89357529e+00] [ 3.52770025e-04 9.99994607e-01 -3.26526346e-03 1.85992360e-01] [ 2.08718624e-02 3.25718943e-03 9.99776853e-01 1.10026600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35255784400005 meters Centerline goodness [0,1] 0.26455003568570623 Centerline is valid? [False, False] Translation: X:4.92, Y:0.19, Z:1.10 [[ 9.99778103e-01 -5.67297732e-03 -2.02870163e-02 4.91604287e+00] [ 5.66979175e-03 9.99983904e-01 -2.14539275e-04 1.89466243e-01] [ 2.02879068e-02 9.94685118e-05 9.99794174e-01 1.10016306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3825578440001 meters Centerline goodness [0,1] 0.2651104536915071 Centerline is valid? [False, False] Translation: X:4.92, Y:0.19, Z:1.10 [[ 9.99779232e-01 -5.70431126e-03 -2.02224889e-02 4.91576595e+00] [ 5.69789145e-03 9.99983697e-01 -3.75064129e-04 1.90441052e-01] [ 2.02242987e-02 2.59755780e-04 9.99795434e-01 1.10032951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41255784400005 meters Centerline goodness [0,1] 0.2641517587071126 Centerline is valid? [False, False] Translation: X:4.92, Y:0.19, Z:1.10 [[ 9.99779812e-01 -5.88388180e-03 -2.01421624e-02 4.91549461e+00] [ 5.86702858e-03 9.99982388e-01 -8.95705060e-04 1.92730378e-01] [ 2.01470778e-02 7.77333195e-04 9.99796725e-01 1.10035448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4425578440001 meters Centerline goodness [0,1] 0.2629302888773568 Centerline is valid? [False, False] Translation: X:4.92, Y:0.19, Z:1.10 [[ 9.99779924e-01 -5.94061673e-03 -2.01199344e-02 4.91547372e+00] [ 5.91971156e-03 9.99981875e-01 -1.09842704e-03 1.93835595e-01] [ 2.01260951e-02 9.79081092e-04 9.99796970e-01 1.10024730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47255784400005 meters Centerline goodness [0,1] 0.2660568399096124 Centerline is valid? [False, False] Translation: X:4.92, Y:0.19, Z:1.10 [[ 9.99780732e-01 -5.93462638e-03 -2.00815551e-02 4.91552826e+00] [ 5.91161202e-03 9.99981800e-01 -1.20521457e-03 1.94709118e-01] [ 2.00883421e-02 1.08623594e-03 9.99797619e-01 1.09994849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502557844 meters Centerline goodness [0,1] 0.26294734565899014 Centerline is valid? [False, False] Translation: X:4.92, Y:0.20, Z:1.10 [[ 9.99781120e-01 -5.93047163e-03 -2.00634155e-02 4.91559525e+00] [ 5.90635410e-03 9.99981762e-01 -1.26110890e-03 1.95253705e-01] [ 2.00705286e-02 1.14233123e-03 9.99797914e-01 1.09973662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53255784400005 meters Centerline goodness [0,1] 0.26401798452293457 Centerline is valid? [False, False] Translation: X:4.91, Y:0.19, Z:1.10 [[ 9.99786162e-01 -5.86230077e-03 -1.98308809e-02 4.91464885e+00] [ 5.84103248e-03 9.99982302e-01 -1.13023634e-03 1.94738015e-01] [ 1.98371557e-02 1.01416183e-03 9.99802710e-01 1.10032432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562557844 meters Centerline goodness [0,1] 0.26773265946322755 Centerline is valid? [False, False] Translation: X:4.91, Y:0.19, Z:1.10 [[ 9.99788705e-01 -5.83527389e-03 -1.97102693e-02 4.91412019e+00] [ 5.81428868e-03 9.99982468e-01 -1.12182300e-03 1.94845275e-01] [ 1.97164698e-02 1.00698477e-03 9.99805104e-01 1.10071188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59255784400005 meters Centerline goodness [0,1] 0.24968837309262837 Centerline is valid? [False, False] Translation: X:4.93, Y:0.19, Z:1.10 [[ 9.99829719e-01 3.17571782e-03 -1.81782047e-02 4.93434742e+00] [-3.21108551e-03 9.99993007e-01 -1.91675222e-03 1.93629334e-01] [ 1.81719906e-02 1.97479761e-03 9.99832926e-01 1.10141413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622557844 meters Centerline goodness [0,1] 0.26794509752413476 Centerline is valid? [False, False] Translation: X:4.89, Y:0.19, Z:1.10 [[ 9.99781723e-01 2.06382618e-03 -2.07905346e-02 4.88880404e+00] [-2.10015499e-03 9.99996306e-01 -1.72569015e-03 1.90078604e-01] [ 2.07868963e-02 1.76897681e-03 9.99782364e-01 1.10193904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65255784400006 meters Centerline goodness [0,1] 0.26360382890651946 Centerline is valid? [False, False] Translation: X:4.91, Y:0.19, Z:1.10 [[ 9.99771852e-01 -5.66384675e-03 -2.05952680e-02 4.90888673e+00] [ 5.64020436e-03 9.99983367e-01 -1.20585914e-03 1.94551009e-01] [ 2.06017552e-02 1.08942250e-03 9.99787168e-01 1.10281781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68255784400003 meters Centerline goodness [0,1] 0.264118233433017 Centerline is valid? [False, False] Translation: X:4.91, Y:0.19, Z:1.10 [[ 9.99769152e-01 -5.67276782e-03 -2.07234715e-02 4.90932999e+00] [ 5.64947484e-03 9.99983343e-01 -1.18236273e-03 1.94087818e-01] [ 2.07298336e-02 1.06501305e-03 9.99784547e-01 1.10261024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71255784400006 meters Centerline goodness [0,1] 0.26705078679150573 Centerline is valid? [False, False] Translation: X:4.91, Y:0.19, Z:1.10 [[ 9.99766098e-01 -5.65250212e-03 -2.08757871e-02 4.90984079e+00] [ 5.62938675e-03 9.99983475e-01 -1.16588118e-03 1.94016531e-01] [ 2.08820322e-02 1.04809060e-03 9.99781397e-01 1.10238984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74255784400003 meters Centerline goodness [0,1] 0.2657202140439009 Centerline is valid? [False, False] Translation: X:4.91, Y:0.20, Z:1.10 [[ 9.99759220e-01 -5.47216173e-03 -2.12498615e-02 4.91119137e+00] [ 5.44796963e-03 9.99984444e-01 -1.19618381e-03 1.95236090e-01] [ 2.12560766e-02 1.08012719e-03 9.99773481e-01 1.10158979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77255784400006 meters Centerline goodness [0,1] 0.26063910017453507 Centerline is valid? [False, False] Translation: X:4.93, Y:0.19, Z:1.10 [[ 9.99790740e-01 3.16108834e-03 -2.02110001e-02 4.93147807e+00] [-3.21147928e-03 9.99991814e-01 -2.46127256e-03 1.93158942e-01] [ 2.02030543e-02 2.52566472e-03 9.99792707e-01 1.10235692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80255784400003 meters Centerline goodness [0,1] 0.2659332984110354 Centerline is valid? [False, False] Translation: X:4.93, Y:0.19, Z:1.10 [[ 9.99795058e-01 3.10263861e-03 -2.00053872e-02 4.93086461e+00] [-3.15448481e-03 9.99991746e-01 -2.56057609e-03 1.93378349e-01] [ 1.99972776e-02 2.62315801e-03 9.99796593e-01 1.10250181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83255784400006 meters Centerline goodness [0,1] 0.2657426086202035 Centerline is valid? [False, False] Translation: X:4.93, Y:0.19, Z:1.10 [[ 9.99799261e-01 3.07564700e-03 -1.97984297e-02 4.93004522e+00] [-3.12737697e-03 9.99991775e-01 -2.58240090e-03 1.93208216e-01] [ 1.97903243e-02 2.64379966e-03 9.99800657e-01 1.10298593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86255784400004 meters Centerline goodness [0,1] 0.2669569951007077 Centerline is valid? [False, False] Translation: X:4.93, Y:0.19, Z:1.10 [[ 9.99800031e-01 3.04852891e-03 -1.97637206e-02 4.92984710e+00] [-3.10102063e-03 9.99991744e-01 -2.62586049e-03 1.93341155e-01] [ 1.97555524e-02 2.68662311e-03 9.99801230e-01 1.10314609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89255784400007 meters Centerline goodness [0,1] 0.2599302085128382 Centerline is valid? [False, False] Translation: X:4.95, Y:0.20, Z:1.10 [[ 9.99767300e-01 -1.68672951e-03 -2.15058240e-02 4.95431129e+00] [ 1.70074997e-03 9.99998353e-01 6.33663984e-04 1.97956141e-01] [ 2.15047197e-02 -6.70092560e-04 9.99768522e-01 1.10298910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92255784400004 meters Centerline goodness [0,1] 0.26502341311134237 Centerline is valid? [False, False] Translation: X:4.96, Y:0.20, Z:1.10 [[ 9.99761799e-01 -1.73460479e-03 -2.17563015e-02 4.95522770e+00] [ 1.74575288e-03 9.99998354e-01 4.93425065e-04 1.98768314e-01] [ 2.17554098e-02 -5.31288656e-04 9.99763182e-01 1.10250875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95255784400007 meters Centerline goodness [0,1] 0.26502341311134237 Centerline is valid? [False, False] Translation: X:4.96, Y:0.20, Z:1.10 [[ 9.99761799e-01 -1.73460479e-03 -2.17563015e-02 4.95522770e+00] [ 1.74575288e-03 9.99998354e-01 4.93425065e-04 1.98768314e-01] [ 2.17554098e-02 -5.31288656e-04 9.99763182e-01 1.10250875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98255784400004 meters Centerline goodness [0,1] 0.2622713315746227 Centerline is valid? [False, False] Translation: X:4.96, Y:0.20, Z:1.10 [[ 9.99759010e-01 -1.81848432e-03 -2.18772837e-02 4.95560241e+00] [ 1.82505875e-03 9.99998295e-01 2.80551862e-04 1.99813034e-01] [ 2.18767362e-02 -3.20411579e-04 9.99760624e-01 1.10235269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01255784400007 meters Centerline goodness [0,1] 0.26523898740795604 Centerline is valid? [False, False] Translation: X:4.96, Y:0.20, Z:1.10 [[ 9.99759581e-01 -1.92699460e-03 -2.18418416e-02 4.95551455e+00] [ 1.92717359e-03 9.99998143e-01 -1.28540398e-05 2.01282623e-01] [ 2.18418258e-02 -2.92420708e-05 9.99761438e-01 1.10231908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04255784400004 meters Centerline goodness [0,1] 0.26386266467000885 Centerline is valid? [False, False] Translation: X:4.95, Y:0.20, Z:1.10 [[ 9.99771151e-01 -2.04418194e-03 -2.12947569e-02 4.95378705e+00] [ 2.03313404e-03 9.99997787e-01 -5.40445508e-04 2.04378977e-01] [ 2.12958146e-02 4.97026732e-04 9.99773095e-01 1.10284492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0725578440001 meters Centerline goodness [0,1] 0.2623341198882948 Centerline is valid? [False, False] Translation: X:4.95, Y:0.21, Z:1.10 [[ 9.99773560e-01 -2.17140859e-03 -2.11687083e-02 4.95327511e+00] [ 2.15273112e-03 9.99997273e-01 -9.05062871e-04 2.06262860e-01] [ 2.11706158e-02 8.59287391e-04 9.99775508e-01 1.10311128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10255784400005 meters Centerline goodness [0,1] 0.26423685242473094 Centerline is valid? [False, False] Translation: X:4.95, Y:0.21, Z:1.10 [[ 9.99774892e-01 -2.31525262e-03 -2.10903910e-02 4.95301441e+00] [ 2.28817551e-03 9.99996527e-01 -1.30790183e-03 2.08267738e-01] [ 2.10933459e-02 1.25934889e-03 9.99776717e-01 1.10320592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1325578440001 meters Centerline goodness [0,1] 0.2637050219193542 Centerline is valid? [False, False] Translation: X:4.95, Y:0.21, Z:1.10 [[ 9.99775111e-01 -2.48810932e-03 -2.10603302e-02 4.95292560e+00] [ 2.45106495e-03 9.99995404e-01 -1.78459462e-03 2.10645243e-01] [ 2.10646736e-02 1.73257304e-03 9.99776614e-01 1.10315007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16255784400005 meters Centerline goodness [0,1] 0.26569256978115585 Centerline is valid? [False, False] Translation: X:4.95, Y:0.22, Z:1.10 [[ 9.99785936e-01 -2.72046119e-03 -2.05105116e-02 4.95141114e+00] [ 2.66559374e-03 9.99992797e-01 -2.70195430e-03 2.16025825e-01] [ 2.05177145e-02 2.64670322e-03 9.99785986e-01 1.10326757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1925578440001 meters Centerline goodness [0,1] 0.26330932139225993 Centerline is valid? [False, False] Translation: X:4.97, Y:0.22, Z:1.10 [[ 9.99810829e-01 5.93849886e-03 -1.85213271e-02 4.97120614e+00] [-6.01410695e-03 9.99973798e-01 -4.02919295e-03 2.17332058e-01] [ 1.84969144e-02 4.13981999e-03 9.99820347e-01 1.10362843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22255784400005 meters Centerline goodness [0,1] 0.26250323359489525 Centerline is valid? [False, False] Translation: X:4.97, Y:0.22, Z:1.10 [[ 9.99816386e-01 5.72713115e-03 -1.82864309e-02 4.97060765e+00] [-5.81246859e-03 9.99972449e-01 -4.61697454e-03 2.20405043e-01] [ 1.82594851e-02 4.72241610e-03 9.99822129e-01 1.10360038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.252557844 meters Centerline goodness [0,1] 0.2632388628878488 Centerline is valid? [False, False] Translation: X:4.97, Y:0.23, Z:1.10 [[ 0.99981845 0.00536485 -0.01828351 4.97063465] [-0.00546779 0.99996946 -0.00558486 0.22525914] [ 0.01825299 0.00568382 0.99981724 1.1035057 ] [ 0. 0. 0. 1. ]] SLAMing on 338.28255784400005 meters Centerline goodness [0,1] 0.25402012210852176 Centerline is valid? [False, False] Translation: X:4.99, Y:0.23, Z:1.11 [[ 9.99807630e-01 -1.63212965e-03 -1.95458088e-02 4.98936934e+00] [ 1.53638691e-03 9.99986754e-01 -4.91239208e-03 2.32870914e-01] [ 1.95535676e-02 4.88141716e-03 9.99796894e-01 1.10574310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.312557844 meters Centerline goodness [0,1] 0.2635786912314243 Centerline is valid? [False, False] Translation: X:4.99, Y:0.23, Z:1.11 [[ 9.99804087e-01 -1.78425530e-03 -1.97130515e-02 4.98975512e+00] [ 1.68101085e-03 9.99984792e-01 -5.25269500e-03 2.34379436e-01] [ 1.97221238e-02 5.21852807e-03 9.99791881e-01 1.10578739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34255784400005 meters Centerline goodness [0,1] 0.2602064960206496 Centerline is valid? [False, False] Translation: X:4.99, Y:0.24, Z:1.11 [[ 9.99802129e-01 -1.88004219e-03 -1.98032434e-02 4.98977546e+00] [ 1.77081034e-03 9.99983131e-01 -5.53194846e-03 2.35817574e-01] [ 1.98133097e-02 5.49578606e-03 9.99788592e-01 1.10609710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.372557844 meters Centerline goodness [0,1] 0.25928156592815654 Centerline is valid? [False, False] Translation: X:4.99, Y:0.24, Z:1.11 [[ 9.99805230e-01 -1.96087751e-03 -1.96381630e-02 4.98919932e+00] [ 1.84636313e-03 9.99981198e-01 -5.84765121e-03 2.37649723e-01] [ 1.96492603e-02 5.81025308e-03 9.99790052e-01 1.10630366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40255784400006 meters Centerline goodness [0,1] 0.2635177532076941 Centerline is valid? [False, False] Translation: X:4.99, Y:0.24, Z:1.11 [[ 9.99825802e-01 -1.70803873e-03 -1.85862619e-02 4.98632040e+00] [ 1.59242728e-03 9.99979305e-01 -6.23328669e-03 2.41359137e-01] [ 1.85965239e-02 6.20260359e-03 9.99807830e-01 1.10663792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43255784400003 meters Centerline goodness [0,1] 0.2646237122402654 Centerline is valid? [False, False] Translation: X:4.99, Y:0.24, Z:1.11 [[ 9.99829586e-01 -1.84569029e-03 -1.83682437e-02 4.98578038e+00] [ 1.72300198e-03 9.99976118e-01 -6.69295637e-03 2.43620750e-01] [ 1.83801582e-02 6.66016727e-03 9.99808888e-01 1.10657361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46255784400006 meters Centerline goodness [0,1] 0.2635033029661932 Centerline is valid? [False, False] Translation: X:4.99, Y:0.25, Z:1.11 [[ 9.99828904e-01 -1.94343254e-03 -1.83952908e-02 4.98589466e+00] [ 1.81222120e-03 9.99972819e-01 -7.14686076e-03 2.45972676e-01] [ 1.84086802e-02 7.11230163e-03 9.99805249e-01 1.10640221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49255784400003 meters Centerline goodness [0,1] 0.2635154198407015 Centerline is valid? [False, False] Translation: X:4.99, Y:0.25, Z:1.11 [[ 9.99826877e-01 -2.06224195e-03 -1.84922705e-02 4.98623563e+00] [ 1.92116785e-03 9.99968944e-01 -7.64333720e-03 2.48609471e-01] [ 1.85074586e-02 7.60648721e-03 9.99799788e-01 1.10614448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52255784400006 meters Centerline goodness [0,1] 0.2644723892837616 Centerline is valid? [False, False] Translation: X:4.99, Y:0.25, Z:1.10 [[ 9.99806150e-01 3.18667004e-04 -1.96865803e-02 4.99115046e+00] [-4.35262590e-04 9.99982390e-01 -5.91859127e-03 2.53998710e-01] [ 1.96843476e-02 5.92601279e-03 9.99788682e-01 1.10378698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55255784400003 meters Centerline goodness [0,1] 0.2623345628118898 Centerline is valid? [False, False] Translation: X:4.99, Y:0.26, Z:1.10 [[ 9.99804283e-01 1.14544945e-04 -1.97834142e-02 4.99165821e+00] [-2.41342827e-04 9.99979446e-01 -6.40703367e-03 2.56217391e-01] [ 1.97822737e-02 6.41055429e-03 9.99783760e-01 1.10328512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58255784400006 meters Centerline goodness [0,1] 0.26328518203804174 Centerline is valid? [False, False] Translation: X:4.99, Y:0.26, Z:1.10 [[ 9.99801349e-01 -6.40802549e-05 -1.99313302e-02 4.99218198e+00] [-7.20447624e-05 9.99976680e-01 -6.82890756e-03 2.58140334e-01] [ 1.99313030e-02 6.82898694e-03 9.99778029e-01 1.10297615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61255784400004 meters Centerline goodness [0,1] 0.2638486524449126 Centerline is valid? [False, False] Translation: X:4.99, Y:0.26, Z:1.10 [[ 9.99798817e-01 -2.46964328e-04 -2.00565519e-02 4.99271561e+00] [ 1.00368747e-04 9.99973278e-01 -7.30978959e-03 2.60519210e-01] [ 2.00578212e-02 7.30630593e-03 9.99772125e-01 1.10251279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64255784400007 meters Centerline goodness [0,1] 0.2628865979381443 Centerline is valid? [False, False] Translation: X:5.02, Y:0.27, Z:1.10 [[ 9.99761741e-01 -5.63778387e-03 -2.10873456e-02 5.01567298e+00] [ 5.54249938e-03 9.99974178e-01 -4.57428182e-03 2.68252254e-01] [ 2.11125899e-02 4.45631536e-03 9.99767173e-01 1.10275343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67255784400004 meters Centerline goodness [0,1] 0.2604366887674665 Centerline is valid? [False, False] Translation: X:5.03, Y:0.27, Z:1.10 [[ 9.99785454e-01 2.40110556e-03 -2.05737789e-02 5.03451354e+00] [-2.53190802e-03 9.99976734e-01 -6.33403889e-03 2.67232619e-01] [ 2.05580916e-02 6.38477086e-03 9.99768273e-01 1.10484549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70255784400007 meters Centerline goodness [0,1] 0.2620053284813828 Centerline is valid? [False, False] Translation: X:5.03, Y:0.27, Z:1.11 [[ 9.99788871e-01 2.27367213e-03 -2.04216550e-02 5.03386475e+00] [-2.40877671e-03 9.99975361e-01 -6.59359090e-03 2.68349317e-01] [ 2.04061602e-02 6.64139001e-03 9.99769714e-01 1.10527014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73255784400004 meters Centerline goodness [0,1] 0.2609530383760813 Centerline is valid? [False, False] Translation: X:5.03, Y:0.27, Z:1.11 [[ 9.99794392e-01 2.13380856e-03 -2.01648509e-02 5.03267258e+00] [-2.27666052e-03 9.99972459e-01 -7.06390668e-03 2.71438058e-01] [ 2.01492225e-02 7.10836280e-03 9.99771714e-01 1.10606997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76255784400007 meters Centerline goodness [0,1] 0.25978962828570806 Centerline is valid? [False, False] Translation: X:5.03, Y:0.27, Z:1.11 [[ 9.99794521e-01 2.01261459e-03 -2.01708772e-02 5.03279960e+00] [-2.16274795e-03 9.99970103e-01 -7.42402724e-03 2.73513339e-01] [ 2.01553324e-02 7.46612628e-03 9.99768983e-01 1.10584959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79255784400004 meters Centerline goodness [0,1] 0.25999525319869676 Centerline is valid? [False, False] Translation: X:5.03, Y:0.28, Z:1.11 [[ 9.99793688e-01 1.86674127e-03 -2.02261528e-02 5.03320250e+00] [-2.02554502e-03 9.99967264e-01 -7.83376721e-03 2.75644222e-01] [ 2.02108671e-02 7.87311999e-03 9.99764740e-01 1.10538625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8225578440001 meters Centerline goodness [0,1] 0.25970716537813676 Centerline is valid? [False, False] Translation: X:5.03, Y:0.28, Z:1.10 [[ 9.99790313e-01 1.67018432e-03 -2.04093125e-02 5.03395148e+00] [-1.83974030e-03 9.99963930e-01 -8.29182535e-03 2.77736965e-01] [ 2.03947275e-02 8.32763449e-03 9.99757323e-01 1.10490549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85255784400005 meters Centerline goodness [0,1] 0.2600923967013514 Centerline is valid? [False, False] Translation: X:5.03, Y:0.28, Z:1.10 [[ 9.99785248e-01 1.30582330e-03 -2.06821665e-02 5.03479296e+00] [-1.49619242e-03 9.99956636e-01 -9.19170800e-03 2.82029145e-01] [ 2.06692669e-02 9.22067857e-03 9.99743847e-01 1.10456631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8825578440001 meters Centerline goodness [0,1] 0.26299941085338974 Centerline is valid? [False, False] Translation: X:5.03, Y:0.28, Z:1.10 [[ 9.99785734e-01 1.21208087e-03 -2.06643706e-02 5.03460903e+00] [-1.40807118e-03 9.99954143e-01 -9.47254540e-03 2.83673228e-01] [ 2.06519415e-02 9.49961266e-03 9.99741594e-01 1.10476141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91255784400005 meters Centerline goodness [0,1] 0.26163824894789367 Centerline is valid? [False, False] Translation: X:5.05, Y:0.29, Z:1.11 [[ 0.99977398 -0.00636409 -0.02028497 5.05273339] [ 0.00620002 0.99994764 -0.00814122 0.29056863] [ 0.02033572 0.00801361 0.99976109 1.10741177] [ 0. 0. 0. 1. ]] SLAMing on 338.9425578440001 meters Centerline goodness [0,1] 0.25382097253235636 Centerline is valid? [False, False] Translation: X:5.05, Y:0.29, Z:1.11 [[ 0.9997783 -0.00640132 -0.02005939 5.05170357] [ 0.00623893 0.99994734 -0.00814759 0.29062131] [ 0.02011049 0.00802064 0.99976559 1.10820265] [ 0. 0. 0. 1. ]] SLAMing on 338.97255784400005 meters Centerline goodness [0,1] 0.263840017484428 Centerline is valid? [False, False] Translation: X:5.05, Y:0.29, Z:1.11 [[ 0.99979306 -0.00702718 -0.01909083 5.04867589] [ 0.00686615 0.99994041 -0.00848736 0.29051408] [ 0.01914934 0.00835453 0.99978173 1.10943931] [ 0. 0. 0. 1. ]] SLAMing on 339.002557844 meters Centerline goodness [0,1] 0.26131544785807015 Centerline is valid? [False, False] Translation: X:5.05, Y:0.29, Z:1.11 [[ 0.99979131 -0.00703395 -0.01917955 5.04877312] [ 0.00687377 0.99994105 -0.0084051 0.29020777] [ 0.01923755 0.00827151 0.99978073 1.10965212] [ 0. 0. 0. 1. ]] SLAMing on 339.03255784400005 meters Centerline goodness [0,1] 0.26144241119483314 Centerline is valid? [False, False] Translation: X:5.05, Y:0.29, Z:1.11 [[ 0.99979199 -0.00702104 -0.01914894 5.0487992 ] [ 0.00686237 0.99994168 -0.00833939 0.29010812] [ 0.01920637 0.00820624 0.99978186 1.10953847] [ 0. 0. 0. 1. ]] SLAMing on 339.062557844 meters Centerline goodness [0,1] 0.2582667327287219 Centerline is valid? [False, False] Translation: X:5.05, Y:0.29, Z:1.11 [[ 0.99979427 -0.00700499 -0.01903539 5.04843557] [ 0.00684956 0.99994277 -0.00821842 0.28953463] [ 0.01909187 0.00808634 0.99978503 1.10969066] [ 0. 0. 0. 1. ]] SLAMing on 339.09255784400005 meters Centerline goodness [0,1] 0.2520533218662653 Centerline is valid? [False, False] Translation: X:5.05, Y:0.29, Z:1.11 [[ 0.99979985 -0.00707128 -0.01871533 5.04733855] [ 0.00692112 0.99994344 -0.00807598 0.28841078] [ 0.01877138 0.00794484 0.99979224 1.11021576] [ 0. 0. 0. 1. ]] SLAMing on 339.122557844 meters Centerline goodness [0,1] 0.2616600449127656 Centerline is valid? [False, False] Translation: X:5.04, Y:0.29, Z:1.11 [[ 0.99978476 -0.01019755 -0.01806752 5.04312786] [ 0.01000585 0.99989302 -0.01066943 0.2852679 ] [ 0.01817439 0.01048635 0.99977984 1.11348981] [ 0. 0. 0. 1. ]] SLAMing on 339.15255784400006 meters Centerline goodness [0,1] 0.2637010058966355 Centerline is valid? [False, False] Translation: X:5.04, Y:0.28, Z:1.11 [[ 0.99978594 -0.01017167 -0.01801704 5.0426274 ] [ 0.0099885 0.99989781 -0.01022763 0.28291305] [ 0.01811923 0.01004548 0.99978537 1.11417871] [ 0. 0. 0. 1. ]] SLAMing on 339.18255784400003 meters Centerline goodness [0,1] 0.253147723129062 Centerline is valid? [False, False] Translation: X:5.04, Y:0.28, Z:1.11 [[ 0.99978375 -0.01015041 -0.01814989 5.04295455] [ 0.00997602 0.99990345 -0.00967286 0.27991619] [ 0.01824632 0.00948971 0.99978849 1.11426566] [ 0. 0. 0. 1. ]] SLAMing on 339.21255784400006 meters Centerline goodness [0,1] 0.26354706507361714 Centerline is valid? [False, False] Translation: X:5.04, Y:0.28, Z:1.11 [[ 0.99978287 -0.01021387 -0.01816282 5.04312272] [ 0.01004816 0.99990727 -0.00919181 0.27684158] [ 0.01825502 0.00900731 0.99979279 1.11413323] [ 0. 0. 0. 1. ]] SLAMing on 339.24255784400003 meters Centerline goodness [0,1] 0.2546407088804088 Centerline is valid? [False, False] Translation: X:5.04, Y:0.27, Z:1.11 [[ 0.99974245 -0.01402478 -0.017842 5.04258326] [ 0.01380756 0.99982975 -0.01224009 0.27199274] [ 0.01801062 0.01199058 0.99976589 1.11406619] [ 0. 0. 0. 1. ]] SLAMing on 339.27255784400006 meters Centerline goodness [0,1] 0.26578551331544853 Centerline is valid? [False, False] Translation: X:5.02, Y:0.26, Z:1.11 [[ 0.99982974 -0.00607602 -0.01742318 5.02282466] [ 0.00585519 0.99990224 -0.01269777 0.26347239] [ 0.01749863 0.01259359 0.99976757 1.11234967] [ 0. 0. 0. 1. ]] SLAMing on 339.30255784400003 meters Centerline goodness [0,1] 0.2652406648895824 Centerline is valid? [False, False] Translation: X:5.02, Y:0.26, Z:1.11 [[ 0.99982743 -0.00593022 -0.01760509 5.02322923] [ 0.00571445 0.99990826 -0.01228087 0.2613913 ] [ 0.0176763 0.01217815 0.99976959 1.1124129 ] [ 0. 0. 0. 1. ]] SLAMing on 339.33255784400006 meters Centerline goodness [0,1] 0.26887478513817265 Centerline is valid? [False, False] Translation: X:4.98, Y:0.26, Z:1.11 [[ 0.99974434 -0.00727263 -0.02140964 4.9822766 ] [ 0.00699748 0.99989232 -0.01289887 0.25536576] [ 0.02150114 0.01274576 0.99968757 1.11118866] [ 0. 0. 0. 1. ]] SLAMing on 339.36255784400004 meters Centerline goodness [0,1] 0.26385269731883276 Centerline is valid? [False, False] Translation: X:5.03, Y:0.26, Z:1.11 [[ 0.99978074 -0.00655546 -0.01988731 5.0287339 ] [ 0.00630464 0.99990013 -0.01264873 0.25503346] [ 0.01996824 0.01252058 0.99972221 1.11057103] [ 0. 0. 0. 1. ]] SLAMing on 339.39255784400007 meters Centerline goodness [0,1] 0.25420099915655614 Centerline is valid? [False, False] Translation: X:5.03, Y:0.25, Z:1.11 [[ 0.99977864 -0.00643326 -0.02003195 5.02935476] [ 0.00618567 0.99990402 -0.01239736 0.25402325] [ 0.02010978 0.0122707 0.99972247 1.11012768] [ 0. 0. 0. 1. ]] SLAMing on 339.42255784400004 meters Centerline goodness [0,1] 0.26458306146417854 Centerline is valid? [False, False] Translation: X:5.03, Y:0.25, Z:1.11 [[ 0.99977094 -0.00626174 -0.02046593 5.03110626] [ 0.00601714 0.99990999 -0.01199165 0.25227821] [ 0.02053918 0.01186576 0.99971863 1.10899289] [ 0. 0. 0. 1. ]] SLAMing on 339.45255784400007 meters Centerline goodness [0,1] 0.2654282319904957 Centerline is valid? [False, False] Translation: X:5.03, Y:0.25, Z:1.11 [[ 0.99976655 -0.0062472 -0.02068363 5.03189291] [ 0.00600473 0.99991277 -0.01176431 0.25074205] [ 0.02075532 0.01163736 0.99971685 1.10854065] [ 0. 0. 0. 1. ]] SLAMing on 339.48255784400004 meters Centerline goodness [0,1] 0.2532984383786824 Centerline is valid? [False, False] Translation: X:5.03, Y:0.25, Z:1.11 [[ 0.99976221 -0.00619204 -0.02090908 5.03238417] [ 0.00595428 0.99991713 -0.01141443 0.24862003] [ 0.02097802 0.01128722 0.99971622 1.10860874] [ 0. 0. 0. 1. ]] SLAMing on 339.51255784400007 meters Centerline goodness [0,1] 0.2507519766242695 Centerline is valid? [False, False] Translation: X:5.03, Y:0.25, Z:1.11 [[ 0.99976233 -0.00613085 -0.020921 5.0322291 ] [ 0.00590151 0.99992201 -0.01100634 0.24641265] [ 0.02098685 0.01088026 0.99972055 1.10887043] [ 0. 0. 0. 1. ]] SLAMing on 339.54255784400004 meters Centerline goodness [0,1] 0.25586409670042465 Centerline is valid? [False, False] Translation: X:5.01, Y:0.24, Z:1.11 [[ 9.99804819e-01 1.21783720e-03 -1.97190366e-02 5.01156960e+00] [-1.44914549e-03 9.99930266e-01 -1.17201654e-02 2.39322706e-01] [ 1.97033883e-02 1.17464536e-02 9.99736864e-01 1.10728119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5725578440001 meters Centerline goodness [0,1] 0.26447842898727025 Centerline is valid? [False, False] Translation: X:5.01, Y:0.24, Z:1.11 [[ 9.99799709e-01 6.04740918e-04 -2.00043929e-02 5.01235889e+00] [-8.38073872e-04 9.99931695e-01 -1.16577596e-02 2.36868114e-01] [ 1.99959766e-02 1.16721898e-02 9.99731925e-01 1.10716825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60255784400005 meters Centerline goodness [0,1] 0.2561092477240058 Centerline is valid? [False, False] Translation: X:5.01, Y:0.24, Z:1.11 [[ 9.99787125e-01 4.69189386e-04 -2.06272617e-02 5.01422422e+00] [-7.06689497e-04 9.99933530e-01 -1.15081132e-02 2.35404557e-01] [ 2.06204911e-02 1.15202405e-02 9.99721001e-01 1.10655703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6325578440001 meters Centerline goodness [0,1] 0.2533252062607484 Centerline is valid? [False, False] Translation: X:5.02, Y:0.23, Z:1.11 [[ 9.99778696e-01 4.71024981e-04 -2.10318297e-02 5.01546422e+00] [-7.07791091e-04 9.99936449e-01 -1.12514893e-02 2.33871002e-01] [ 2.10251934e-02 1.12638854e-02 9.99715493e-01 1.10607923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66255784400005 meters Centerline goodness [0,1] 0.24798982517407142 Centerline is valid? [False, False] Translation: X:5.04, Y:0.24, Z:1.11 [[ 0.99975651 -0.00754711 -0.02073575 5.03605871] [ 0.00734086 0.999923 -0.01000488 0.23628833] [ 0.02080966 0.00985023 0.99973493 1.10762097] [ 0. 0. 0. 1. ]] SLAMing on 339.6925578440001 meters Centerline goodness [0,1] 0.25554197940303713 Centerline is valid? [False, False] Translation: X:5.03, Y:0.23, Z:1.11 [[ 0.99977385 -0.00770199 -0.0198222 5.03355983] [ 0.00751564 0.99992702 -0.00945865 0.23250028] [ 0.0198936 0.00930754 0.99975878 1.10815053] [ 0. 0. 0. 1. ]] SLAMing on 339.72255784400005 meters Centerline goodness [0,1] 0.2521514073115496 Centerline is valid? [False, False] Translation: X:5.03, Y:0.23, Z:1.11 [[ 0.9997729 -0.00768397 -0.01987733 5.03355487] [ 0.00750648 0.99993143 -0.00898858 0.22948521] [ 0.01994503 0.00883733 0.99976202 1.10831121] [ 0. 0. 0. 1. ]] SLAMing on 339.752557844 meters Centerline goodness [0,1] 0.2565816874547886 Centerline is valid? [False, False] Translation: X:5.01, Y:0.22, Z:1.11 [[ 9.99800138e-01 -4.87662212e-04 -1.99861322e-02 5.01399907e+00] [ 2.83081049e-04 9.99947553e-01 -1.02377069e-02 2.21232175e-01] [ 1.99900765e-02 1.02300031e-02 9.99747840e-01 1.10614127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78255784400005 meters Centerline goodness [0,1] 0.2539397653650849 Centerline is valid? [False, False] Translation: X:5.01, Y:0.22, Z:1.11 [[ 9.99797122e-01 -3.30145556e-04 -2.01396466e-02 5.01440788e+00] [ 1.35889989e-04 9.99953467e-01 -9.64603689e-03 2.18219601e-01] [ 2.01418940e-02 9.64134315e-03 9.99750643e-01 1.10597492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.812557844 meters Centerline goodness [0,1] 0.2510287174600424 Centerline is valid? [False, False] Translation: X:5.04, Y:0.22, Z:1.11 [[ 0.99978204 -0.00856886 -0.01903793 5.0358423 ] [ 0.00841083 0.99992964 -0.00836518 0.21622935] [ 0.01910827 0.00820324 0.99978377 1.10663531] [ 0. 0. 0. 1. ]] SLAMing on 339.84255784400005 meters Centerline goodness [0,1] 0.2562775667059697 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:1.10 [[ 9.99855956e-01 -1.10608729e-03 -1.69364689e-02 5.01528016e+00] [ 9.56936606e-04 9.99960715e-01 -8.81205362e-03 2.09238450e-01] [ 1.69455505e-02 8.79457717e-03 9.99817735e-01 1.10472038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.872557844 meters Centerline goodness [0,1] 0.2562775667059697 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:1.10 [[ 9.99855956e-01 -1.10608729e-03 -1.69364689e-02 5.01528016e+00] [ 9.56936606e-04 9.99960715e-01 -8.81205362e-03 2.09238450e-01] [ 1.69455505e-02 8.79457717e-03 9.99817735e-01 1.10472038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90255784400006 meters Centerline goodness [0,1] 0.2558603924292412 Centerline is valid? [False, False] Translation: X:5.01, Y:0.21, Z:1.11 [[ 9.99860104e-01 -9.95855097e-04 -1.66967451e-02 5.01425319e+00] [ 8.52816094e-04 9.99962898e-01 -8.57181200e-03 2.08009194e-01] [ 1.67046619e-02 8.55637358e-03 9.99823856e-01 1.10545448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93255784400003 meters Centerline goodness [0,1] 0.26470203012442695 Centerline is valid? [False, False] Translation: X:5.01, Y:0.21, Z:1.11 [[ 9.99862783e-01 -8.93306703e-04 -1.65413739e-02 5.01369662e+00] [ 7.54062828e-04 9.99964248e-01 -8.42223920e-03 2.07451795e-01] [ 1.65483061e-02 8.40861029e-03 9.99827710e-01 1.10574484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96255784400006 meters Centerline goodness [0,1] 0.26620506455897397 Centerline is valid? [False, False] Translation: X:5.01, Y:0.21, Z:1.11 [[ 9.99862446e-01 -7.84345943e-04 -1.65672577e-02 5.01395354e+00] [ 6.46138674e-04 9.99964964e-01 -8.34589948e-03 2.07475138e-01] [ 1.65732233e-02 8.33404672e-03 9.99827921e-01 1.10542779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99255784400003 meters Centerline goodness [0,1] 0.25593139175482127 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:1.10 [[ 9.99851348e-01 -3.99101469e-04 -1.72372740e-02 5.01588033e+00] [ 2.58405056e-04 9.99966642e-01 -8.16379160e-03 2.07670439e-01] [ 1.72399572e-02 8.15812384e-03 9.99818098e-01 1.10490871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02255784400006 meters Centerline goodness [0,1] 0.26592597462362766 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:1.10 [[ 9.99850170e-01 -4.12060909e-04 -1.73051413e-02 5.01601400e+00] [ 2.69619750e-04 9.99966075e-01 -8.23267341e-03 2.07916159e-01] [ 1.73079466e-02 8.22677410e-03 9.99816361e-01 1.10495246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05255784400003 meters Centerline goodness [0,1] 0.26514459665144596 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:1.11 [[ 9.99853951e-01 -4.24447425e-04 -1.70849557e-02 5.01504953e+00] [ 2.81791837e-04 9.99965087e-01 -8.35131956e-03 2.08399528e-01] [ 1.70879039e-02 8.34528546e-03 9.99819164e-01 1.10563774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08255784400006 meters Centerline goodness [0,1] 0.25268003803924954 Centerline is valid? [False, False] Translation: X:5.01, Y:0.21, Z:1.11 [[ 9.99855398e-01 -4.31525460e-04 -1.69999018e-02 5.01467407e+00] [ 2.89093468e-04 9.99964846e-01 -8.37996755e-03 2.08614719e-01] [ 1.70029203e-02 8.37384123e-03 9.99820374e-01 1.10589995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11255784400004 meters Centerline goodness [0,1] 0.25306193232316665 Centerline is valid? [False, False] Translation: X:5.01, Y:0.21, Z:1.11 [[ 9.99856863e-01 -4.35165739e-04 -1.69134366e-02 5.01449465e+00] [ 2.93008634e-04 9.99964621e-01 -8.40654999e-03 2.08839311e-01] [ 1.69164965e-02 8.40039092e-03 9.99821617e-01 1.10582462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14255784400007 meters Centerline goodness [0,1] 0.2653101239624409 Centerline is valid? [False, False] Translation: X:5.01, Y:0.21, Z:1.11 [[ 9.99857217e-01 -4.34412666e-04 -1.68925108e-02 5.01449173e+00] [ 2.92746765e-04 9.99964778e-01 -8.38788272e-03 2.08759484e-01] [ 1.68955596e-02 8.38173984e-03 9.99822127e-01 1.10573605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17255784400004 meters Centerline goodness [0,1] 0.25545171339563866 Centerline is valid? [False, False] Translation: X:5.01, Y:0.21, Z:1.11 [[ 9.99859353e-01 -4.77686451e-04 -1.67644405e-02 5.01394120e+00] [ 3.37307640e-04 9.99964869e-01 -8.37543438e-03 2.08602544e-01] [ 1.67678523e-02 8.36860163e-03 9.99824387e-01 1.10604174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20255784400007 meters Centerline goodness [0,1] 0.25074395135205074 Centerline is valid? [False, False] Translation: X:5.03, Y:0.21, Z:1.11 [[ 0.99982961 -0.00825992 -0.01650854 5.03377726] [ 0.00814168 0.99994081 -0.00721667 0.21310588] [ 0.01656717 0.00708103 0.99983768 1.10793318] [ 0. 0. 0. 1. ]] SLAMing on 340.23255784400004 meters Centerline goodness [0,1] 0.2535470994055625 Centerline is valid? [False, False] Translation: X:5.03, Y:0.21, Z:1.11 [[ 0.99982975 -0.00824289 -0.01650862 5.03372043] [ 0.00812537 0.99994126 -0.00717287 0.21301245] [ 0.01656677 0.00703751 0.99983799 1.1079837 ] [ 0. 0. 0. 1. ]] SLAMing on 340.26255784400007 meters Centerline goodness [0,1] 0.25405417155775833 Centerline is valid? [False, False] Translation: X:5.03, Y:0.21, Z:1.11 [[ 0.99982832 -0.00823296 -0.01659951 5.03385153] [ 0.0081164 0.99994202 -0.00707679 0.21253586] [ 0.01665681 0.00694084 0.99983717 1.10810229] [ 0. 0. 0. 1. ]] SLAMing on 340.29255784400004 meters Centerline goodness [0,1] 0.2559909291118816 Centerline is valid? [False, False] Translation: X:5.03, Y:0.21, Z:1.11 [[ 0.99982307 -0.00838264 -0.01683942 5.03421788] [ 0.0082662 0.99994152 -0.006973 0.21141022] [ 0.01689689 0.00683257 0.99983389 1.10841128] [ 0. 0. 0. 1. ]] SLAMing on 340.3225578440001 meters Centerline goodness [0,1] 0.2532733135672084 Centerline is valid? [False, False] Translation: X:5.03, Y:0.21, Z:1.11 [[ 0.99981919 -0.00836371 -0.0170771 5.03483472] [ 0.00824747 0.99994242 -0.0068661 0.21086873] [ 0.01713355 0.00672402 0.9998306 1.10832808] [ 0. 0. 0. 1. ]] SLAMing on 340.35255784400005 meters Centerline goodness [0,1] 0.255764192139738 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:1.11 [[ 0.99981692 -0.00833983 -0.01722152 5.03527872] [ 0.00822392 0.99994313 -0.00679044 0.21057076] [ 0.01727717 0.00664757 0.99982864 1.10814533] [ 0. 0. 0. 1. ]] SLAMing on 340.3825578440001 meters Centerline goodness [0,1] 0.2645499195896901 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:1.11 [[ 0.99981539 -0.00834562 -0.01730691 5.03551304] [ 0.00822877 0.99994294 -0.00681168 0.21077068] [ 0.01736277 0.00666801 0.99982702 1.10809698] [ 0. 0. 0. 1. ]] SLAMing on 340.41255784400005 meters Centerline goodness [0,1] 0.24962263337214818 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:1.11 [[ 0.99981565 -0.0083687 -0.01728108 5.03539788] [ 0.00825061 0.9999422 -0.00689331 0.21124783] [ 0.01733777 0.00674946 0.99982691 1.10818481] [ 0. 0. 0. 1. ]] SLAMing on 340.4425578440001 meters Centerline goodness [0,1] 0.25448044208473286 Centerline is valid? [False, False] Translation: X:5.03, Y:0.21, Z:1.11 [[ 0.99981725 -0.00852852 -0.01710962 5.0347679 ] [ 0.00840216 0.999937 -0.00744355 0.21400407] [ 0.01717203 0.00729844 0.99982591 1.10852918] [ 0. 0. 0. 1. ]] SLAMing on 340.47255784400005 meters Centerline goodness [0,1] 0.2542000348189415 Centerline is valid? [False, False] Translation: X:5.03, Y:0.21, Z:1.11 [[ 9.99840067e-01 -4.98968977e-03 -1.71739276e-02 5.03481543e+00] [ 4.92237884e-03 9.99980046e-01 -3.95941003e-03 2.14286150e-01] [ 1.71933411e-02 3.87424021e-03 9.99844678e-01 1.10854411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502557844 meters Centerline goodness [0,1] 0.26542857142857146 Centerline is valid? [False, False] Translation: X:5.03, Y:0.22, Z:1.11 [[ 9.99841964e-01 -5.08891964e-03 -1.70337987e-02 5.03453362e+00] [ 5.01424520e-03 9.99977644e-01 -4.42374000e-03 2.16984777e-01] [ 1.70559299e-02 4.33762925e-03 9.99845128e-01 1.10844657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53255784400005 meters Centerline goodness [0,1] 0.25378910726254567 Centerline is valid? [False, False] Translation: X:5.08, Y:0.22, Z:1.11 [[ 9.99887584e-01 -3.55610109e-03 -1.45661833e-02 5.07696406e+00] [ 3.49989148e-03 9.99986338e-01 -3.88258711e-03 2.20089332e-01] [ 1.45797911e-02 3.83117059e-03 9.99886369e-01 1.10911148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562557844 meters Centerline goodness [0,1] 0.2622158348575908 Centerline is valid? [False, False] Translation: X:5.08, Y:0.22, Z:1.11 [[ 9.99890058e-01 -3.96015637e-03 -1.42894467e-02 5.07637475e+00] [ 3.89050385e-03 9.99980432e-01 -4.89891269e-03 2.24926150e-01] [ 1.43085676e-02 4.84278095e-03 9.99885900e-01 1.10896639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59255784400005 meters Centerline goodness [0,1] 0.26545343190865744 Centerline is valid? [False, False] Translation: X:5.08, Y:0.23, Z:1.11 [[ 9.99885646e-01 -4.14441135e-03 -1.45437130e-02 5.07736163e+00] [ 4.06803950e-03 9.99977803e-01 -5.27685436e-03 2.26475556e-01] [ 1.45652596e-02 5.21708653e-03 9.99880310e-01 1.10833020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622557844 meters Centerline goodness [0,1] 0.2544768469038323 Centerline is valid? [False, False] Translation: X:5.08, Y:0.23, Z:1.11 [[ 9.99879830e-01 -4.32053488e-03 -1.48882134e-02 5.07869020e+00] [ 4.23723370e-03 9.99975219e-01 -5.62211833e-03 2.27993706e-01] [ 1.49121350e-02 5.55835788e-03 9.99873358e-01 1.10744034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65255784400006 meters Centerline goodness [0,1] 0.251442721791559 Centerline is valid? [False, False] Translation: X:5.10, Y:0.24, Z:1.11 [[ 9.99809003e-01 -1.23777653e-02 -1.51244614e-02 5.09926186e+00] [ 1.23055494e-02 9.99912480e-01 -4.85855022e-03 2.35705260e-01] [ 1.51832757e-02 4.67150744e-03 9.99873815e-01 1.10904427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68255784400003 meters Centerline goodness [0,1] 0.26342666724369235 Centerline is valid? [False, False] Translation: X:5.10, Y:0.24, Z:1.11 [[ 9.99811988e-01 -1.24722130e-02 -1.48469467e-02 5.09822643e+00] [ 1.23997977e-02 9.99910820e-01 -4.95955815e-03 2.36203164e-01] [ 1.49074794e-02 4.77452656e-03 9.99877478e-01 1.10957325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71255784400006 meters Centerline goodness [0,1] 0.26484168865435354 Centerline is valid? [False, False] Translation: X:5.08, Y:0.23, Z:1.11 [[ 9.99881617e-01 -4.38640945e-03 -1.47482830e-02 5.07710729e+00] [ 4.30286523e-03 9.99974545e-01 -5.69164200e-03 2.32370717e-01] [ 1.47728735e-02 5.62750833e-03 9.99875039e-01 1.10885218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74255784400003 meters Centerline goodness [0,1] 0.2543766174455777 Centerline is valid? [False, False] Translation: X:5.08, Y:0.23, Z:1.11 [[ 9.99877873e-01 -4.54187245e-03 -1.49536166e-02 5.07767051e+00] [ 4.45694261e-03 9.99973777e-01 -5.70798776e-03 2.32011787e-01] [ 1.49791495e-02 5.64064324e-03 9.99871896e-01 1.10871323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77255784400006 meters Centerline goodness [0,1] 0.2635540191659739 Centerline is valid? [False, False] Translation: X:5.08, Y:0.23, Z:1.11 [[ 9.99858285e-01 -5.02578239e-03 -1.60671223e-02 5.08117611e+00] [ 4.93089229e-03 9.99970201e-01 -5.94002574e-03 2.31803941e-01] [ 1.60964968e-02 5.85995870e-03 9.99853271e-01 1.10725563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80255784400003 meters Centerline goodness [0,1] 0.26362481380881453 Centerline is valid? [False, False] Translation: X:5.08, Y:0.23, Z:1.11 [[ 9.99855328e-01 -5.05726003e-03 -1.62403104e-02 5.08195007e+00] [ 4.96186601e-03 9.99970232e-01 -5.90883539e-03 2.31564599e-01] [ 1.62697095e-02 5.82739830e-03 9.99850658e-01 1.10660905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83255784400006 meters Centerline goodness [0,1] 0.2517301976438938 Centerline is valid? [False, False] Translation: X:5.08, Y:0.23, Z:1.11 [[ 9.99855664e-01 -5.09238576e-03 -1.62086149e-02 5.08186425e+00] [ 4.99641416e-03 9.99969780e-01 -5.95602215e-03 2.31754852e-01] [ 1.62384555e-02 5.87417753e-03 9.99850892e-01 1.10658652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86255784400004 meters Centerline goodness [0,1] 0.25511921152123085 Centerline is valid? [False, False] Translation: X:5.08, Y:0.23, Z:1.11 [[ 9.99857123e-01 -5.15122247e-03 -1.60996191e-02 5.08126579e+00] [ 5.05362223e-03 9.99968643e-01 -6.09708539e-03 2.32408757e-01] [ 1.61305217e-02 6.01485287e-03 9.99851803e-01 1.10714373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89255784400007 meters Centerline goodness [0,1] 0.25345461667355773 Centerline is valid? [False, False] Translation: X:5.08, Y:0.23, Z:1.11 [[ 0.99985714 -0.00525915 -0.01606395 5.08101462] [ 0.00515729 0.99996637 -0.00637618 0.23372821] [ 0.01609695 0.00629242 0.99985064 1.10744995] [ 0. 0. 0. 1. ]] SLAMing on 340.92255784400004 meters Centerline goodness [0,1] 0.2525919968700415 Centerline is valid? [False, False] Translation: X:5.09, Y:0.24, Z:1.10 [[ 9.99842468e-01 -3.42314752e-03 -1.74161381e-02 5.08684451e+00] [ 3.33994546e-03 9.99982882e-01 -4.80414315e-03 2.36376147e-01] [ 1.74322853e-02 4.74521739e-03 9.99836786e-01 1.10456867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95255784400007 meters Centerline goodness [0,1] 0.26294304839240645 Centerline is valid? [False, False] Translation: X:5.09, Y:0.24, Z:1.10 [[ 9.99838692e-01 -3.53750822e-03 -1.76089780e-02 5.08760520e+00] [ 3.44610486e-03 9.99980446e-01 -5.21836490e-03 2.38531216e-01] [ 1.76270937e-02 5.15684075e-03 9.99831332e-01 1.10411871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98255784400004 meters Centerline goodness [0,1] 0.24910541064884673 Centerline is valid? [False, False] Translation: X:5.13, Y:0.24, Z:1.10 [[ 9.99874232e-01 -2.39940340e-03 -1.56768412e-02 5.13153058e+00] [ 2.32374689e-03 9.99985575e-01 -4.84243931e-03 2.40030443e-01] [ 1.56882341e-02 4.80540127e-03 9.99865385e-01 1.10453394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01255784400007 meters Centerline goodness [0,1] 0.263772520078142 Centerline is valid? [False, False] Translation: X:5.13, Y:0.24, Z:1.11 [[ 9.99876030e-01 -2.52511621e-03 -1.55418346e-02 5.13084215e+00] [ 2.44272509e-03 9.99982876e-01 -5.31795080e-03 2.42517924e-01] [ 1.55549969e-02 5.27932711e-03 9.99865076e-01 1.10517605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04255784400004 meters Centerline goodness [0,1] 0.2533588001649556 Centerline is valid? [False, False] Translation: X:5.13, Y:0.25, Z:1.11 [[ 9.99877008e-01 -2.69582685e-03 -1.54499691e-02 5.13040862e+00] [ 2.60558855e-03 9.99979448e-01 -5.85783450e-03 2.45203203e-01] [ 1.54654433e-02 5.81685777e-03 9.99863483e-01 1.10554500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0725578440001 meters Centerline goodness [0,1] 0.2627000695894224 Centerline is valid? [False, False] Translation: X:5.13, Y:0.25, Z:1.11 [[ 9.99876442e-01 7.65495580e-04 -1.57007931e-02 5.13129219e+00] [-8.08473491e-04 9.99995944e-01 -2.73114374e-03 2.47784168e-01] [ 1.56986387e-02 2.74349996e-03 9.99873005e-01 1.10504070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10255784400005 meters Centerline goodness [0,1] 0.25182000820893913 Centerline is valid? [False, False] Translation: X:5.13, Y:0.25, Z:1.10 [[ 9.99876148e-01 6.12068775e-04 -1.57262173e-02 5.13151160e+00] [-6.61431386e-04 9.99994871e-01 -3.13386429e-03 2.49843055e-01] [ 1.57242185e-02 3.14387797e-03 9.99871424e-01 1.10481577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1325578440001 meters Centerline goodness [0,1] 0.25101249461439035 Centerline is valid? [False, False] Translation: X:5.13, Y:0.25, Z:1.10 [[ 9.99876523e-01 2.96131032e-04 -1.57114715e-02 5.13151260e+00] [-3.57801121e-04 9.99992243e-01 -3.92249742e-03 2.54130888e-01] [ 1.57101880e-02 3.92763467e-03 9.99868873e-01 1.10474873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16255784400005 meters Centerline goodness [0,1] 0.25198847012418457 Centerline is valid? [False, False] Translation: X:5.13, Y:0.26, Z:1.10 [[ 9.99875779e-01 1.46005818e-04 -1.57608541e-02 5.13177713e+00] [-2.13472275e-04 9.99990822e-01 -4.27903711e-03 2.55948805e-01] [ 1.57600846e-02 4.28187007e-03 9.99866634e-01 1.10455721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1925578440001 meters Centerline goodness [0,1] 0.25263958288072996 Centerline is valid? [False, False] Translation: X:5.13, Y:0.26, Z:1.10 [[ 9.99875443e-01 5.56056401e-06 -1.57828446e-02 5.13199629e+00] [-7.75673208e-05 9.99989592e-01 -4.56173491e-03 2.57250733e-01] [ 1.57826550e-02 4.56239094e-03 9.99865037e-01 1.10429178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22255784400005 meters Centerline goodness [0,1] 0.25172540620064476 Centerline is valid? [False, False] Translation: X:5.13, Y:0.26, Z:1.10 [[ 9.99874503e-01 -1.07271383e-04 -1.58419585e-02 5.13225751e+00] [ 3.16564743e-05 9.99988607e-01 -4.77325196e-03 2.58195435e-01] [ 1.58422901e-02 4.77215143e-03 9.99863115e-01 1.10408969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.252557844 meters Centerline goodness [0,1] 0.25359528316254376 Centerline is valid? [False, False] Translation: X:5.13, Y:0.26, Z:1.10 [[ 9.99873374e-01 -2.23148801e-04 -1.59118226e-02 5.13260299e+00] [ 1.43636351e-04 9.99987499e-01 -4.99803515e-03 2.59100301e-01] [ 1.59127390e-02 4.99511675e-03 9.99860907e-01 1.10380933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28255784400005 meters Centerline goodness [0,1] 0.2636684110266909 Centerline is valid? [False, False] Translation: X:5.13, Y:0.26, Z:1.10 [[ 9.99872257e-01 -5.19681005e-04 -1.59749784e-02 5.13290427e+00] [ 4.28634731e-04 9.99983650e-01 -5.70220065e-03 2.62480857e-01] [ 1.59776806e-02 5.69462480e-03 9.99856132e-01 1.10358946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.312557844 meters Centerline goodness [0,1] 0.26159481912736315 Centerline is valid? [False, False] Translation: X:5.13, Y:0.26, Z:1.10 [[ 9.99874116e-01 -6.59757572e-04 -1.58529809e-02 5.13253932e+00] [ 5.62753277e-04 9.99981098e-01 -6.12267599e-03 2.64717245e-01] [ 1.58567207e-02 6.11298392e-03 9.99855587e-01 1.10374723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34255784400005 meters Centerline goodness [0,1] 0.2632794960657381 Centerline is valid? [False, False] Translation: X:5.13, Y:0.27, Z:1.10 [[ 9.99877045e-01 -8.31228384e-04 -1.56590040e-02 5.13172392e+00] [ 7.27438425e-04 9.99977739e-01 -6.63266300e-03 2.67270135e-01] [ 1.56641687e-02 6.62045652e-03 9.99855391e-01 1.10437396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.372557844 meters Centerline goodness [0,1] 0.2629356553700746 Centerline is valid? [False, False] Translation: X:5.13, Y:0.27, Z:1.11 [[ 9.99897205e-01 8.07665374e-04 -1.43152810e-02 5.12619886e+00] [-8.89277779e-04 9.99983384e-01 -5.69562077e-03 2.73331735e-01] [ 1.43104430e-02 5.70776555e-03 9.99881309e-01 1.10711038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40255784400006 meters Centerline goodness [0,1] 0.25398788983657794 Centerline is valid? [False, False] Translation: X:5.15, Y:0.28, Z:1.11 [[ 9.99876598e-01 -5.22700205e-03 -1.48144450e-02 5.14818539e+00] [ 5.17967256e-03 9.99981364e-01 -3.23139068e-03 2.79014461e-01] [ 1.48310595e-02 3.15425794e-03 9.99885039e-01 1.10790510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43255784400003 meters Centerline goodness [0,1] 0.25487649156796266 Centerline is valid? [False, False] Translation: X:5.13, Y:0.28, Z:1.11 [[ 9.99863421e-01 3.77725150e-03 -1.60894842e-02 5.12607829e+00] [-3.84317051e-03 9.99984340e-01 -4.06807687e-03 2.80588549e-01] [ 1.60738661e-02 4.12935589e-03 9.99862280e-01 1.10748832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46255784400006 meters Centerline goodness [0,1] 0.2528248587570622 Centerline is valid? [False, False] Translation: X:5.15, Y:0.29, Z:1.11 [[ 9.99871344e-01 -1.60488221e-03 -1.59599583e-02 5.14832861e+00] [ 1.58120012e-03 9.99997630e-01 -1.49635188e-03 2.90727796e-01] [ 1.59623219e-02 1.47092348e-03 9.99871512e-01 1.10772055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49255784400003 meters Centerline goodness [0,1] 0.24979931876857653 Centerline is valid? [False, False] Translation: X:5.15, Y:0.29, Z:1.11 [[ 9.99872787e-01 -1.91220953e-03 -1.58352163e-02 5.14788393e+00] [ 1.87625459e-03 9.99995629e-01 -2.28511323e-03 2.94527418e-01] [ 1.58395167e-02 2.25511164e-03 9.99872004e-01 1.10798476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52255784400006 meters Centerline goodness [0,1] 0.26283245992939686 Centerline is valid? [False, False] Translation: X:5.15, Y:0.30, Z:1.11 [[ 9.99874028e-01 -2.20524711e-03 -1.57183148e-02 5.14761517e+00] [ 2.15802842e-03 9.99993110e-01 -3.02038451e-03 2.98060269e-01] [ 1.57248672e-02 2.98608346e-03 9.99871898e-01 1.10799429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55255784400003 meters Centerline goodness [0,1] 0.2504214029476596 Centerline is valid? [False, False] Translation: X:5.17, Y:0.30, Z:1.11 [[ 9.99851129e-01 -8.69909374e-03 -1.49011901e-02 5.17001941e+00] [ 8.69177919e-03 9.99962071e-01 -5.55564077e-04 3.02598756e-01] [ 1.49054578e-02 4.25963515e-04 9.99888817e-01 1.10767652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58255784400006 meters Centerline goodness [0,1] 0.25159118062343866 Centerline is valid? [False, False] Translation: X:5.17, Y:0.31, Z:1.11 [[ 9.99847160e-01 -8.93897321e-03 -1.50250092e-02 5.17051643e+00] [ 8.92291569e-03 9.99959545e-01 -1.13541822e-03 3.05479172e-01] [ 1.50345508e-02 1.00117779e-03 9.99886474e-01 1.10736035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61255784400004 meters Centerline goodness [0,1] 0.250517375183237 Centerline is valid? [False, False] Translation: X:5.19, Y:0.31, Z:1.11 [[ 9.99869907e-01 -1.59656485e-03 -1.60505162e-02 5.19135813e+00] [ 1.56076183e-03 9.99996267e-01 -2.24292475e-03 3.05847152e-01] [ 1.60540373e-02 2.21758193e-03 9.99868666e-01 1.10713657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64255784400007 meters Centerline goodness [0,1] 0.2494090603517446 Centerline is valid? [False, False] Translation: X:5.19, Y:0.31, Z:1.11 [[ 9.99865974e-01 -1.75964462e-03 -1.62769153e-02 5.19210777e+00] [ 1.71858228e-03 9.99995307e-01 -2.53637834e-03 3.07157471e-01] [ 1.62813021e-02 2.50806518e-03 9.99864305e-01 1.10683136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67255784400004 meters Centerline goodness [0,1] 0.2515332105320186 Centerline is valid? [False, False] Translation: X:5.19, Y:0.31, Z:1.11 [[ 9.99864881e-01 -1.88198766e-03 -1.63302960e-02 5.19224928e+00] [ 1.83768405e-03 9.99994592e-01 -2.72755245e-03 3.07969117e-01] [ 1.63353409e-02 2.69717398e-03 9.99862932e-01 1.10679107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70255784400007 meters Centerline goodness [0,1] 0.2487793285226635 Centerline is valid? [False, False] Translation: X:5.19, Y:0.31, Z:1.11 [[ 9.99865136e-01 -1.98290649e-03 -1.63026831e-02 5.19201661e+00] [ 1.93607747e-03 9.99993956e-01 -2.88775405e-03 3.08750519e-01] [ 1.63083107e-02 2.85580133e-03 9.99862932e-01 1.10704775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73255784400004 meters Centerline goodness [0,1] 0.25397242284963883 Centerline is valid? [False, False] Translation: X:5.17, Y:0.32, Z:1.11 [[ 9.99808134e-01 -1.06134980e-02 -1.64635737e-02 5.17051965e+00] [ 1.05761785e-02 9.99941304e-01 -2.35221014e-03 3.16666515e-01] [ 1.64875725e-02 2.17763714e-03 9.99861699e-01 1.10620098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76255784400007 meters Centerline goodness [0,1] 0.25397242284963883 Centerline is valid? [False, False] Translation: X:5.17, Y:0.32, Z:1.11 [[ 9.99808134e-01 -1.06134980e-02 -1.64635737e-02 5.17051965e+00] [ 1.05761785e-02 9.99941304e-01 -2.35221014e-03 3.16666515e-01] [ 1.64875725e-02 2.17763714e-03 9.99861699e-01 1.10620098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79255784400004 meters Centerline goodness [0,1] 0.24890187168668176 Centerline is valid? [False, False] Translation: X:5.19, Y:0.31, Z:1.11 [[ 9.99870197e-01 -2.79468579e-03 -1.58675298e-02 5.19013506e+00] [ 2.74256189e-03 9.99990775e-01 -3.30575135e-03 3.12926896e-01] [ 1.58766220e-02 3.26180457e-03 9.99868638e-01 1.10684288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8225578440001 meters Centerline goodness [0,1] 0.24864547294209804 Centerline is valid? [False, False] Translation: X:5.19, Y:0.31, Z:1.11 [[ 9.99869246e-01 -2.87141459e-03 -1.59136781e-02 5.19047022e+00] [ 2.81615533e-03 9.99989931e-01 -3.49375984e-03 3.13912223e-01] [ 1.59235500e-02 3.44848763e-03 9.99867265e-01 1.10650542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85255784400005 meters Centerline goodness [0,1] 0.24705552439708356 Centerline is valid? [False, False] Translation: X:5.19, Y:0.32, Z:1.11 [[ 9.99869727e-01 -2.97276641e-03 -1.58647625e-02 5.19046455e+00] [ 2.91372364e-03 9.99988748e-01 -3.74344692e-03 3.15176761e-01] [ 1.58757124e-02 3.69673372e-03 9.99867139e-01 1.10632652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8825578440001 meters Centerline goodness [0,1] 0.2523264915637502 Centerline is valid? [False, False] Translation: X:5.19, Y:0.32, Z:1.11 [[ 9.99873536e-01 -3.18104771e-03 -1.55818336e-02 5.18945690e+00] [ 3.11535157e-03 9.99986164e-01 -4.23866125e-03 3.17606487e-01] [ 1.55951014e-02 4.18958232e-03 9.99869612e-01 1.10687671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91255784400005 meters Centerline goodness [0,1] 0.2488877370307978 Centerline is valid? [False, False] Translation: X:5.19, Y:0.32, Z:1.11 [[ 9.99875897e-01 -3.28608723e-03 -1.54075627e-02 5.18868349e+00] [ 3.21696438e-03 9.99984660e-01 -4.50893348e-03 3.18957237e-01] [ 1.54221431e-02 4.45880832e-03 9.99871130e-01 1.10747235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9425578440001 meters Centerline goodness [0,1] 0.25122470947474795 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.11 [[ 9.99845566e-01 -2.65591608e-03 -1.73721145e-02 5.14087362e+00] [ 2.57502580e-03 9.99985747e-01 -4.67704098e-03 3.23297986e-01] [ 1.73842888e-02 4.63158504e-03 9.99838154e-01 1.10917371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97255784400005 meters Centerline goodness [0,1] 0.2507318565124307 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.11 [[ 9.99846701e-01 -2.76434204e-03 -1.72896779e-02 5.14053138e+00] [ 2.67904303e-03 9.99984137e-01 -4.95473999e-03 3.24552626e-01] [ 1.73031003e-02 4.90766064e-03 9.99838246e-01 1.10946048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.002557844 meters Centerline goodness [0,1] 0.2479101414839615 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.11 [[ 9.99846671e-01 -2.87695150e-03 -1.72730296e-02 5.14059321e+00] [ 2.78724757e-03 9.99982517e-01 -5.21512449e-03 3.25731098e-01] [ 1.72877313e-02 5.16618065e-03 9.99837209e-01 1.10931641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03255784400005 meters Centerline goodness [0,1] 0.24855754631035532 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.11 [[ 9.99845134e-01 -3.04679560e-03 -1.73327927e-02 5.14110069e+00] [ 2.94896003e-03 9.99979592e-01 -5.66729718e-03 3.27953622e-01] [ 1.73497060e-02 5.61530580e-03 9.99833714e-01 1.10875941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062557844 meters Centerline goodness [0,1] 0.25478638636016326 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.11 [[ 9.99846063e-01 -3.11141985e-03 -1.72676076e-02 5.14085187e+00] [ 3.01077465e-03 9.99978347e-01 -5.85149405e-03 3.28912321e-01] [ 1.72854402e-02 5.79860441e-03 9.99833781e-01 1.10891230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09255784400005 meters Centerline goodness [0,1] 0.2481367063449199 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.11 [[ 9.99849185e-01 -3.17400813e-03 -1.70743219e-02 5.14018954e+00] [ 3.07127204e-03 9.99977043e-01 -6.03985428e-03 3.29951564e-01] [ 1.70931005e-02 5.98650349e-03 9.99835980e-01 1.10924445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122557844 meters Centerline goodness [0,1] 0.25108442138762344 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.11 [[ 9.99851511e-01 -3.24379712e-03 -1.69243371e-02 5.13969422e+00] [ 3.13892539e-03 9.99975733e-01 -6.21939334e-03 3.30825364e-01] [ 1.69441009e-02 6.16534560e-03 9.99837430e-01 1.10947440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15255784400006 meters Centerline goodness [0,1] 0.2515552440199772 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.11 [[ 9.99851219e-01 -3.32296278e-03 -1.69262603e-02 5.13964675e+00] [ 3.21461949e-03 9.99974198e-01 -6.42409058e-03 3.31726318e-01] [ 1.69471706e-02 6.36872331e-03 9.99836103e-01 1.10957903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18255784400003 meters Centerline goodness [0,1] 0.24922429318462902 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.11 [[ 9.99845974e-01 -3.49960232e-03 -1.71983082e-02 5.14069303e+00] [ 3.37940076e-03 9.99969697e-01 -7.01324941e-03 3.34836201e-01] [ 1.72223306e-02 6.95404921e-03 9.99827501e-01 1.10904342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21255784400006 meters Centerline goodness [0,1] 0.25261388688800124 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.11 [[ 9.99844796e-01 -3.62095224e-03 -1.72415822e-02 5.14092054e+00] [ 3.49357491e-03 9.99966427e-01 -7.41219524e-03 3.36927351e-01] [ 1.72678425e-02 7.35081008e-03 9.99823878e-01 1.10891117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24255784400003 meters Centerline goodness [0,1] 0.2528394846417126 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.11 [[ 9.99844064e-01 -3.81275159e-03 -1.72426719e-02 5.14088157e+00] [ 3.67571941e-03 9.99961467e-01 -7.97199186e-03 3.39596596e-01] [ 1.72724027e-02 7.90736952e-03 9.99819553e-01 1.10903521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27255784400006 meters Centerline goodness [0,1] 0.2518901017495697 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.11 [[ 9.99843065e-01 -4.00712459e-03 -1.72565412e-02 5.14090299e+00] [ 3.86063458e-03 9.99956303e-01 -8.51391807e-03 3.42090514e-01] [ 1.72899035e-02 8.44596074e-03 9.99814845e-01 1.10912117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30255784400003 meters Centerline goodness [0,1] 0.25154230157173063 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.11 [[ 9.99851178e-01 -1.08497720e-03 -1.72175793e-02 5.14071169e+00] [ 9.87476006e-04 9.99983436e-01 -5.67037792e-03 3.43273589e-01] [ 1.72234463e-02 5.65253209e-03 9.99835687e-01 1.10909902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33255784400006 meters Centerline goodness [0,1] 0.24972862663366768 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.11 [[ 9.99840398e-01 2.53089007e-03 -1.76853797e-02 5.14215702e+00] [-2.57089584e-03 9.99994187e-01 -2.23971222e-03 3.45672953e-01] [ 1.76796084e-02 2.28482203e-03 9.99841093e-01 1.10850805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36255784400004 meters Centerline goodness [0,1] 0.2470435628580694 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.11 [[ 9.99840796e-01 2.42127115e-03 -1.76782154e-02 5.14226611e+00] [-2.46599098e-03 9.99993814e-01 -2.50829652e-03 3.47158910e-01] [ 1.76720328e-02 2.55149151e-03 9.99840582e-01 1.10833892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39255784400007 meters Centerline goodness [0,1] 0.2478309087350773 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.11 [[ 9.99843022e-01 2.26773099e-03 -1.75723601e-02 5.14197872e+00] [-2.31690051e-03 9.99993457e-01 -2.77826418e-03 3.48213585e-01] [ 1.75659447e-02 2.81854146e-03 9.99841734e-01 1.10838414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42255784400004 meters Centerline goodness [0,1] 0.250374227139603 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.11 [[ 9.99844616e-01 2.09871338e-03 -1.75025352e-02 5.14170652e+00] [-2.15213918e-03 9.99993081e-01 -3.03418378e-03 3.49147414e-01] [ 1.74960462e-02 3.07138021e-03 9.99842215e-01 1.10851099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45255784400007 meters Centerline goodness [0,1] 0.2515036369558137 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.11 [[ 9.99843168e-01 2.01449707e-03 -1.75949130e-02 5.14188148e+00] [-2.07147224e-03 9.99992669e-01 -3.22053690e-03 3.50230463e-01] [ 1.75882963e-02 3.25647919e-03 9.99840011e-01 1.10860475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48255784400004 meters Centerline goodness [0,1] 0.253960602142998 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.11 [[ 9.99833791e-01 1.92746175e-03 -1.81293933e-02 5.14356592e+00] [-1.99202714e-03 9.99991736e-01 -3.54398074e-03 3.52942463e-01] [ 1.81224126e-02 3.57950594e-03 9.99829368e-01 1.10810315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51255784400007 meters Centerline goodness [0,1] 0.2440885315350365 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:1.11 [[ 9.99797622e-01 -6.86033332e-03 -1.89116795e-02 5.16545532e+00] [ 6.80658725e-03 9.99972616e-01 -2.90485632e-03 3.56799910e-01] [ 1.89310899e-02 2.77554445e-03 9.99816938e-01 1.10919646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54255784400004 meters Centerline goodness [0,1] 0.24651424612453454 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:1.11 [[ 9.99794177e-01 -6.94525504e-03 -1.90621985e-02 5.16618087e+00] [ 6.88880952e-03 9.99971696e-01 -3.02519260e-03 3.57258748e-01] [ 1.90826697e-02 2.89325409e-03 9.99813723e-01 1.10861383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5725578440001 meters Centerline goodness [0,1] 0.25210545990280797 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.11 [[ 9.99806900e-01 2.25653654e-03 -1.95210336e-02 5.14434578e+00] [-2.32975085e-03 9.99990335e-01 -3.72860604e-03 3.56779232e-01] [ 1.95124312e-02 3.77336519e-03 9.99802494e-01 1.10782543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60255784400005 meters Centerline goodness [0,1] 0.24857594594009225 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:1.11 [[ 9.99836648e-01 -4.07131091e-03 -1.76096955e-02 5.16689015e+00] [ 4.05767169e-03 9.99991439e-01 -8.10189820e-04 3.57409246e-01] [ 1.76128433e-02 7.38603111e-04 9.99844609e-01 1.10722137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6325578440001 meters Centerline goodness [0,1] 0.2523211359912616 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:1.11 [[ 9.99836801e-01 -4.18363290e-03 -1.75746625e-02 5.16669441e+00] [ 4.16390407e-03 9.99990659e-01 -1.15901504e-03 3.59082392e-01] [ 1.75793473e-02 1.08564668e-03 9.99844882e-01 1.10747896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66255784400005 meters Centerline goodness [0,1] 0.2464042718112135 Centerline is valid? [False, False] Translation: X:5.19, Y:0.36, Z:1.11 [[ 9.99857897e-01 3.68869268e-03 -1.64492898e-02 5.18663031e+00] [-3.72906464e-03 9.99990108e-01 -2.42433171e-03 3.56217602e-01] [ 1.64401845e-02 2.48532767e-03 9.99861762e-01 1.10876111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6925578440001 meters Centerline goodness [0,1] 0.24638118865278824 Centerline is valid? [False, False] Translation: X:5.19, Y:0.36, Z:1.11 [[ 9.99860551e-01 3.56914819e-03 -1.63137780e-02 5.18597630e+00] [-3.61817451e-03 9.99989024e-01 -2.97668315e-03 3.59077105e-01] [ 1.63029747e-02 3.03529415e-03 9.99862491e-01 1.10938570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72255784400005 meters Centerline goodness [0,1] 0.25023840485478976 Centerline is valid? [False, False] Translation: X:5.19, Y:0.36, Z:1.11 [[ 9.99860553e-01 3.51122435e-03 -1.63262095e-02 5.18587026e+00] [-3.56884222e-03 9.99987502e-01 -3.50136960e-03 3.62204056e-01] [ 1.63137114e-02 3.55914701e-03 9.99860588e-01 1.10974937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.752557844 meters Centerline goodness [0,1] 0.248032352045919 Centerline is valid? [False, False] Translation: X:5.19, Y:0.37, Z:1.11 [[ 9.99854072e-01 3.82368216e-03 -1.66497434e-02 5.18730235e+00] [-3.89047755e-03 9.99984507e-01 -3.98125697e-03 3.68085141e-01] [ 1.66342624e-02 4.04545144e-03 9.99853457e-01 1.10912793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78255784400005 meters Centerline goodness [0,1] 0.24975520595339118 Centerline is valid? [False, False] Translation: X:5.19, Y:0.37, Z:1.11 [[ 9.99855226e-01 3.65835066e-03 -1.66175906e-02 5.18722193e+00] [-3.73211886e-03 9.99983310e-01 -4.41032308e-03 3.70082855e-01] [ 1.66011787e-02 4.47170340e-03 9.99852191e-01 1.10915866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.812557844 meters Centerline goodness [0,1] 0.24799741602067182 Centerline is valid? [False, False] Translation: X:5.21, Y:0.37, Z:1.11 [[ 9.99859550e-01 -4.90163950e-03 -1.60266683e-02 5.20692092e+00] [ 4.84572896e-03 9.99982044e-01 -3.52556795e-03 3.74952049e-01] [ 1.60436616e-02 3.44741189e-03 9.99865349e-01 1.11085506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84255784400005 meters Centerline goodness [0,1] 0.26314521076154584 Centerline is valid? [False, False] Translation: X:5.16, Y:0.38, Z:1.11 [[ 9.99816188e-01 -3.97680154e-03 -1.87556641e-02 5.16111122e+00] [ 3.90416078e-03 9.99984742e-01 -3.90803080e-03 3.81460364e-01] [ 1.87709194e-02 3.83408733e-03 9.99816459e-01 1.11212283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.872557844 meters Centerline goodness [0,1] 0.24693175176951887 Centerline is valid? [False, False] Translation: X:5.18, Y:0.38, Z:1.11 [[ 9.99817951e-01 3.44677993e-03 -1.87665853e-02 5.18069003e+00] [-3.53818318e-03 9.99982030e-01 -4.83950902e-03 3.77258213e-01] [ 1.87495673e-02 4.90502760e-03 9.99812180e-01 1.11327364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90255784400006 meters Centerline goodness [0,1] 0.2621679734161545 Centerline is valid? [False, False] Translation: X:5.18, Y:0.38, Z:1.11 [[ 9.99819297e-01 3.42344286e-03 -1.86990218e-02 5.18061008e+00] [-3.51413315e-03 9.99982212e-01 -4.81929833e-03 3.77092203e-01] [ 1.86821906e-02 4.88413832e-03 9.99813543e-01 1.11308915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93255784400003 meters Centerline goodness [0,1] 0.26276844939687827 Centerline is valid? [False, False] Translation: X:5.18, Y:0.38, Z:1.11 [[ 9.99824340e-01 3.39011887e-03 -1.84335449e-02 5.18001693e+00] [-3.47776323e-03 9.99982791e-01 -4.72463652e-03 3.76231829e-01] [ 1.84172106e-02 4.78791409e-03 9.99818925e-01 1.11295123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96255784400006 meters Centerline goodness [0,1] 0.2573216359179461 Centerline is valid? [False, False] Translation: X:5.20, Y:0.38, Z:1.11 [[ 9.99836024e-01 -5.66143778e-03 -1.72009535e-02 5.20090539e+00] [ 5.59428890e-03 9.99976553e-01 -3.94940111e-03 3.77019738e-01] [ 1.72229095e-02 3.85252640e-03 9.99844253e-01 1.11367247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99255784400003 meters Centerline goodness [0,1] 0.2591073009566175 Centerline is valid? [False, False] Translation: X:5.20, Y:0.38, Z:1.11 [[ 9.99842671e-01 -5.64691558e-03 -1.68150138e-02 5.19950994e+00] [ 5.58473192e-03 9.99977401e-01 -3.74276724e-03 3.75712699e-01] [ 1.68357689e-02 3.64827105e-03 9.99851612e-01 1.11433570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02255784400006 meters Centerline goodness [0,1] 0.25958357657131736 Centerline is valid? [False, False] Translation: X:5.20, Y:0.38, Z:1.11 [[ 9.99844120e-01 -5.62196535e-03 -1.67370851e-02 5.19903485e+00] [ 5.56008124e-03 9.99977542e-01 -3.74166472e-03 3.75856099e-01] [ 1.67577447e-02 3.64802192e-03 9.99852924e-01 1.11481745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05255784400003 meters Centerline goodness [0,1] 0.25999568686650854 Centerline is valid? [False, False] Translation: X:5.20, Y:0.38, Z:1.12 [[ 9.99846072e-01 -5.65407080e-03 -1.66091372e-02 5.19856671e+00] [ 5.59009907e-03 9.99976788e-01 -3.89550406e-03 3.76672813e-01] [ 1.66307771e-02 3.80205771e-03 9.99854470e-01 1.11510393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08255784400006 meters Centerline goodness [0,1] 0.2641702609680652 Centerline is valid? [False, False] Translation: X:5.18, Y:0.37, Z:1.11 [[ 9.99856973e-01 3.34844030e-03 -1.65777261e-02 5.17761473e+00] [-3.43283259e-03 9.99981281e-01 -5.06486734e-03 3.74969960e-01] [ 1.65604563e-02 5.12105149e-03 9.99849752e-01 1.11356951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11255784400004 meters Centerline goodness [0,1] 0.261986375667115 Centerline is valid? [False, False] Translation: X:5.18, Y:0.38, Z:1.11 [[ 9.99854726e-01 3.27054972e-03 -1.67281084e-02 5.17801981e+00] [-3.36152413e-03 9.99979699e-01 -5.41319217e-03 3.76804612e-01] [ 1.67100647e-02 5.46863772e-03 9.99845422e-01 1.11357463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14255784400007 meters Centerline goodness [0,1] 0.2604680335669175 Centerline is valid? [False, False] Translation: X:5.18, Y:0.38, Z:1.11 [[ 9.99838256e-01 3.53271775e-03 -1.76346550e-02 5.18084731e+00] [-3.63514536e-03 9.99976690e-01 -5.77964243e-03 3.80492814e-01] [ 1.76138261e-02 5.84281215e-03 9.99827793e-01 1.11278810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17255784400004 meters Centerline goodness [0,1] 0.2628073993471164 Centerline is valid? [False, False] Translation: X:5.18, Y:0.38, Z:1.11 [[ 9.99834540e-01 3.42839104e-03 -1.78644374e-02 5.18161737e+00] [-3.53913191e-03 9.99974696e-01 -6.17103316e-03 3.82611823e-01] [ 1.78428287e-02 6.23323670e-03 9.99821374e-01 1.11251532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20255784400007 meters Centerline goodness [0,1] 0.263856787754568 Centerline is valid? [False, False] Translation: X:5.18, Y:0.38, Z:1.11 [[ 9.99830957e-01 3.28774713e-03 -1.80899911e-02 5.18222805e+00] [-3.40752253e-03 9.99972452e-01 -6.59425171e-03 3.84750432e-01] [ 1.80678125e-02 6.65477905e-03 9.99814617e-01 1.11244860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23255784400004 meters Centerline goodness [0,1] 0.26351957630271594 Centerline is valid? [False, False] Translation: X:5.18, Y:0.39, Z:1.11 [[ 9.99830235e-01 3.14420681e-03 -1.81553235e-02 5.18235662e+00] [-3.27143186e-03 9.99970273e-01 -6.98214729e-03 3.86622564e-01] [ 1.81328305e-02 7.04035587e-03 9.99810799e-01 1.11253523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26255784400007 meters Centerline goodness [0,1] 0.2602414321808798 Centerline is valid? [False, False] Translation: X:5.20, Y:0.39, Z:1.11 [[ 0.99982927 -0.00542621 -0.01766318 5.2023108 ] [ 0.00532132 0.99996796 -0.00598003 0.39153249] [ 0.01769506 0.00588502 0.99982611 1.11430847] [ 0. 0. 0. 1. ]] SLAMing on 343.29255784400004 meters Centerline goodness [0,1] 0.26028371852362886 Centerline is valid? [False, False] Translation: X:5.20, Y:0.39, Z:1.11 [[ 9.99857684e-01 -2.53337630e-03 -1.66791243e-02 5.19942410e+00] [ 2.48001778e-03 9.99991744e-01 -3.21902665e-03 3.94306480e-01] [ 1.66871416e-02 3.17720401e-03 9.99855712e-01 1.11483939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3225578440001 meters Centerline goodness [0,1] 0.2598762904372939 Centerline is valid? [False, False] Translation: X:5.20, Y:0.40, Z:1.11 [[ 9.99860276e-01 -2.64838246e-03 -1.65049865e-02 5.19896562e+00] [ 2.59146351e-03 9.99990625e-01 -3.46902491e-03 3.95545130e-01] [ 1.65140190e-02 3.42576814e-03 9.99857766e-01 1.11488867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35255784400005 meters Centerline goodness [0,1] 0.2606299042389918 Centerline is valid? [False, False] Translation: X:5.20, Y:0.40, Z:1.11 [[ 9.99862094e-01 -2.75595447e-03 -1.63767497e-02 5.19873713e+00] [ 2.69622043e-03 9.99989636e-01 -3.66845106e-03 3.96447993e-01] [ 1.63866901e-02 3.62378983e-03 9.99859162e-01 1.11472777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3825578440001 meters Centerline goodness [0,1] 0.2613594584657972 Centerline is valid? [False, False] Translation: X:5.20, Y:0.40, Z:1.11 [[ 9.99860375e-01 -2.85737082e-03 -1.64640541e-02 5.19915880e+00] [ 2.79477745e-03 9.99988785e-01 -3.82357533e-03 3.97089237e-01] [ 1.64747948e-02 3.77702810e-03 9.99857147e-01 1.11437902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41255784400005 meters Centerline goodness [0,1] 0.2629495933544992 Centerline is valid? [False, False] Translation: X:5.20, Y:0.40, Z:1.11 [[ 9.99849142e-01 -3.12037996e-03 -1.70867509e-02 5.20109009e+00] [ 3.05147301e-03 9.99987113e-01 -4.05735910e-03 3.97996872e-01] [ 1.70991912e-02 4.00460726e-03 9.99845778e-01 1.11365497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4425578440001 meters Centerline goodness [0,1] 0.26247108628289617 Centerline is valid? [False, False] Translation: X:5.20, Y:0.40, Z:1.11 [[ 9.99847672e-01 -3.16574529e-03 -1.71642258e-02 5.20142710e+00] [ 3.09553820e-03 9.99986741e-01 -4.11534159e-03 3.98247473e-01] [ 1.71770263e-02 4.06158219e-03 9.99844215e-01 1.11339527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47255784400005 meters Centerline goodness [0,1] 0.26158760511962453 Centerline is valid? [False, False] Translation: X:5.20, Y:0.40, Z:1.11 [[ 9.99845833e-01 -3.25988253e-03 -1.72535155e-02 5.20184014e+00] [ 3.18732551e-03 9.99985969e-01 -4.23117614e-03 3.98739602e-01] [ 1.72670666e-02 4.17553126e-03 9.99842194e-01 1.11306891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502557844 meters Centerline goodness [0,1] 0.26327587707843647 Centerline is valid? [False, False] Translation: X:5.20, Y:0.40, Z:1.11 [[ 9.99844746e-01 -3.33161396e-03 -1.73027016e-02 5.20201955e+00] [ 3.25541647e-03 9.99984888e-01 -4.43009231e-03 3.99846170e-01] [ 1.73171995e-02 4.37307702e-03 9.99840483e-01 1.11300451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53255784400005 meters Centerline goodness [0,1] 0.260499297525127 Centerline is valid? [False, False] Translation: X:5.20, Y:0.40, Z:1.11 [[ 9.99842620e-01 -3.46613437e-03 -1.73989073e-02 5.20219325e+00] [ 3.38248466e-03 9.99982591e-01 -4.83488430e-03 4.02003122e-01] [ 1.74153628e-02 4.77527185e-03 9.99836938e-01 1.11320128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562557844 meters Centerline goodness [0,1] 0.25315659304898686 Centerline is valid? [False, False] Translation: X:5.20, Y:0.41, Z:1.11 [[ 9.99853393e-01 2.12270426e-04 -1.71215479e-02 5.20142715e+00] [-2.41718820e-04 9.99998495e-01 -1.71790983e-03 4.05606011e-01] [ 1.71211575e-02 1.72179658e-03 9.99851940e-01 1.11343873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59255784400005 meters Centerline goodness [0,1] 0.26220610902459673 Centerline is valid? [False, False] Translation: X:5.20, Y:0.41, Z:1.11 [[ 9.99852013e-01 2.79527056e-05 -1.72032102e-02 5.20151778e+00] [-6.93180531e-05 9.99997108e-01 -2.40392170e-03 4.09258466e-01] [ 1.72030932e-02 2.40475844e-03 9.99849124e-01 1.11374560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622557844 meters Centerline goodness [0,1] 0.26004150633403955 Centerline is valid? [False, False] Translation: X:5.20, Y:0.41, Z:1.11 [[ 9.99854642e-01 -1.36189387e-04 -1.70492292e-02 5.20098057e+00] [ 8.37692476e-05 9.99995268e-01 -3.07531039e-03 4.12820282e-01] [ 1.70495674e-02 3.07343517e-03 9.99849922e-01 1.11410842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65255784400006 meters Centerline goodness [0,1] 0.262982122978194 Centerline is valid? [False, False] Translation: X:5.20, Y:0.42, Z:1.11 [[ 9.99857748e-01 -3.83999898e-04 -1.68622626e-02 5.20034148e+00] [ 3.20364101e-04 9.99992818e-01 -3.77639782e-03 4.16331372e-01] [ 1.68635916e-02 3.77045856e-03 9.99850690e-01 1.11447407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68255784400003 meters Centerline goodness [0,1] 0.262982122978194 Centerline is valid? [False, False] Translation: X:5.20, Y:0.42, Z:1.11 [[ 9.99857748e-01 -3.83999898e-04 -1.68622626e-02 5.20034148e+00] [ 3.20364101e-04 9.99992818e-01 -3.77639782e-03 4.16331372e-01] [ 1.68635916e-02 3.77045856e-03 9.99850690e-01 1.11447407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71255784400006 meters Centerline goodness [0,1] 0.26460735262127477 Centerline is valid? [False, False] Translation: X:5.20, Y:0.42, Z:1.11 [[ 9.99858011e-01 -5.96908829e-04 -1.68404649e-02 5.20030175e+00] [ 5.23011442e-04 9.99990218e-01 -4.39214768e-03 4.19431669e-01] [ 1.68429219e-02 4.38271629e-03 9.99848542e-01 1.11450504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74255784400003 meters Centerline goodness [0,1] 0.2625124582918057 Centerline is valid? [False, False] Translation: X:5.20, Y:0.42, Z:1.11 [[ 9.99852534e-01 -9.43671134e-04 -1.71470121e-02 5.20128819e+00] [ 8.52721117e-04 9.99985535e-01 -5.31066950e-03 4.23970790e-01] [ 1.71517756e-02 5.29526474e-03 9.99838875e-01 1.11423584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77255784400006 meters Centerline goodness [0,1] 0.2557384196185286 Centerline is valid? [False, False] Translation: X:5.20, Y:0.43, Z:1.11 [[ 9.99848339e-01 -1.07723365e-03 -1.73821408e-02 5.20189690e+00] [ 9.79290996e-04 9.99983603e-01 -5.64219961e-03 4.25600783e-01] [ 1.73879338e-02 5.62432173e-03 9.99832999e-01 1.11422441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80255784400003 meters Centerline goodness [0,1] 0.2524177532164753 Centerline is valid? [False, False] Translation: X:5.22, Y:0.43, Z:1.12 [[ 9.99805270e-01 -9.81834627e-03 -1.71179078e-02 5.22197877e+00] [ 9.74180662e-03 9.99942200e-01 -4.54898969e-03 4.30979251e-01] [ 1.71615819e-02 4.38134452e-03 9.99843130e-01 1.11592963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83255784400006 meters Centerline goodness [0,1] 0.2529316137422781 Centerline is valid? [False, False] Translation: X:5.22, Y:0.43, Z:1.12 [[ 9.99842820e-01 -6.48888592e-03 -1.64993893e-02 5.22044999e+00] [ 6.46346144e-03 9.99977841e-01 -1.59379381e-03 4.34330812e-01] [ 1.65093657e-02 1.48690013e-03 9.99862606e-01 1.11586953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86255784400004 meters Centerline goodness [0,1] 0.2544077856332373 Centerline is valid? [False, False] Translation: X:5.22, Y:0.44, Z:1.12 [[ 9.99840738e-01 -6.69560013e-03 -1.65429000e-02 5.22056491e+00] [ 6.66010786e-03 9.99975402e-01 -2.19963098e-03 4.37424204e-01] [ 1.65572209e-02 2.08910317e-03 9.99860737e-01 1.11592979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89255784400007 meters Centerline goodness [0,1] 0.2563811436930937 Centerline is valid? [False, False] Translation: X:5.22, Y:0.44, Z:1.12 [[ 9.99837988e-01 -6.86752373e-03 -1.66383473e-02 5.22077187e+00] [ 6.82168442e-03 9.99972783e-01 -2.81023020e-03 4.40651164e-01] [ 1.66571938e-02 2.69627336e-03 9.99857624e-01 1.11600658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92255784400004 meters Centerline goodness [0,1] 0.2504694278376104 Centerline is valid? [False, False] Translation: X:5.24, Y:0.44, Z:1.12 [[ 9.99876596e-01 1.26944006e-03 -1.56582449e-02 5.24235159e+00] [-1.32329387e-03 9.99993244e-01 -3.42944499e-03 4.39513785e-01] [ 1.56537857e-02 3.44974224e-03 9.99871521e-01 1.11617040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95255784400007 meters Centerline goodness [0,1] 0.2518340583003311 Centerline is valid? [False, False] Translation: X:5.24, Y:0.44, Z:1.12 [[ 9.99876249e-01 1.09770785e-03 -1.56933358e-02 5.24222666e+00] [-1.16187045e-03 9.99991002e-01 -4.07999236e-03 4.42934443e-01] [ 1.56887160e-02 4.09772108e-03 9.99868528e-01 1.11665487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98255784400004 meters Centerline goodness [0,1] 0.2523443239272287 Centerline is valid? [False, False] Translation: X:5.24, Y:0.45, Z:1.12 [[ 9.99875328e-01 9.11718741e-04 -1.57638188e-02 5.24222626e+00] [-9.86855778e-04 9.99988188e-01 -4.75930191e-03 4.46397301e-01] [ 1.57592935e-02 4.77426517e-03 9.99864416e-01 1.11702693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01255784400007 meters Centerline goodness [0,1] 0.25579410412973536 Centerline is valid? [False, False] Translation: X:5.24, Y:0.45, Z:1.12 [[ 9.99875353e-01 1.89535796e-03 -1.56743761e-02 5.24193003e+00] [-1.96972644e-03 9.99986871e-01 -4.73051295e-03 4.54399211e-01] [ 1.56652043e-02 4.76079754e-03 9.99865959e-01 1.11737779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04255784400004 meters Centerline goodness [0,1] 0.2550157013258897 Centerline is valid? [False, False] Translation: X:5.24, Y:0.46, Z:1.12 [[ 9.99869087e-01 1.89855424e-03 -1.60687383e-02 5.24294046e+00] [-1.98180910e-03 9.99984688e-01 -5.16683310e-03 4.57341509e-01] [ 1.60586827e-02 5.19800187e-03 9.99857540e-01 1.11737004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0725578440001 meters Centerline goodness [0,1] 0.2541530042778658 Centerline is valid? [False, False] Translation: X:5.24, Y:0.46, Z:1.12 [[ 9.99863780e-01 1.94257704e-03 -1.63904585e-02 5.24368330e+00] [-2.03391923e-03 9.99982485e-01 -5.55806039e-03 4.60234644e-01] [ 1.63793744e-02 5.59064014e-03 9.99850219e-01 1.11755510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10255784400005 meters Centerline goodness [0,1] 0.25363422701949856 Centerline is valid? [False, False] Translation: X:5.24, Y:0.46, Z:1.12 [[ 9.99853655e-01 5.68501672e-03 -1.61353325e-02 5.24284995e+00] [-5.72608139e-03 9.99980481e-01 -2.49995815e-03 4.64472741e-01] [ 1.61208053e-02 2.59198452e-03 9.99866692e-01 1.11807566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1325578440001 meters Centerline goodness [0,1] 0.2539378644156296 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:1.12 [[ 9.99856320e-01 5.56843686e-03 -1.60103389e-02 5.24224221e+00] [-5.61935018e-03 9.99979291e-01 -3.13680132e-03 4.67742151e-01] [ 1.59925403e-02 3.22631833e-03 9.99866906e-01 1.11862217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16255784400005 meters Centerline goodness [0,1] 0.2529984845204589 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:1.12 [[ 9.99856962e-01 5.47091729e-03 -1.60038774e-02 5.24193594e+00] [-5.53176426e-03 9.99977630e-01 -3.76022022e-03 4.71102800e-01] [ 1.59829475e-02 3.84821204e-03 9.99864859e-01 1.11914010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1925578440001 meters Centerline goodness [0,1] 0.2520633407707471 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:1.12 [[ 9.99856685e-01 5.44106340e-03 -1.60313384e-02 5.24180018e+00] [-5.50994919e-03 9.99975764e-01 -4.25591473e-03 4.74087111e-01] [ 1.60077932e-02 4.34363665e-03 9.99862432e-01 1.11950454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22255784400005 meters Centerline goodness [0,1] 0.25406840135758424 Centerline is valid? [False, False] Translation: X:5.24, Y:0.48, Z:1.12 [[ 9.99853148e-01 5.80371692e-03 -1.61245083e-02 5.24216327e+00] [-5.87971473e-03 9.99971811e-01 -4.66978310e-03 4.78473022e-01] [ 1.60969517e-02 4.76390484e-03 9.99859087e-01 1.11950918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.252557844 meters Centerline goodness [0,1] 0.2540583887817248 Centerline is valid? [False, False] Translation: X:5.24, Y:0.48, Z:1.12 [[ 9.99852690e-01 5.66922569e-03 -1.62005353e-02 5.24245593e+00] [-5.75316387e-03 9.99970244e-01 -5.13929797e-03 4.80799557e-01] [ 1.61709174e-02 5.23174524e-03 9.99855555e-01 1.11932154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28255784400005 meters Centerline goodness [0,1] 0.2543733368232779 Centerline is valid? [False, False] Translation: X:5.24, Y:0.48, Z:1.12 [[ 0.99985117 0.00552334 -0.01634443 5.24292469] [-0.00561525 0.99996865 -0.0055827 0.48285377] [ 0.01631308 0.00567365 0.99985084 1.11909146] [ 0. 0. 0. 1. ]] SLAMing on 344.312557844 meters Centerline goodness [0,1] 0.2491251566077678 Centerline is valid? [False, False] Translation: X:5.26, Y:0.49, Z:1.12 [[ 9.99867903e-01 -9.97020918e-04 -1.62228946e-02 5.26465002e+00] [ 9.55834181e-04 9.99996301e-01 -2.54635893e-03 4.86336835e-01] [ 1.62253733e-02 2.53051617e-03 9.99865158e-01 1.11907142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34255784400005 meters Centerline goodness [0,1] 0.2512625717615574 Centerline is valid? [False, False] Translation: X:5.27, Y:0.49, Z:1.12 [[ 9.99864699e-01 -1.02204435e-03 -1.64176171e-02 5.26508170e+00] [ 9.74183089e-04 9.99995254e-01 -2.92297090e-03 4.88559529e-01] [ 1.64205266e-02 2.90658166e-03 9.99860949e-01 1.11916732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.372557844 meters Centerline goodness [0,1] 0.24730304723428032 Centerline is valid? [False, False] Translation: X:5.27, Y:0.49, Z:1.12 [[ 9.99859946e-01 -6.05406227e-04 -1.67248725e-02 5.26576891e+00] [ 5.52280810e-04 9.99994789e-01 -3.18086799e-03 4.91851638e-01] [ 1.67267110e-02 3.17118567e-03 9.99855070e-01 1.11934222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40255784400006 meters Centerline goodness [0,1] 0.251981017067224 Centerline is valid? [False, False] Translation: X:5.22, Y:0.49, Z:1.12 [[ 9.99816244e-01 1.19587344e-03 -1.91324077e-02 5.21987801e+00] [-1.26655432e-03 9.99992417e-01 -3.68261064e-03 4.94812125e-01] [ 1.91278587e-02 3.70616617e-03 9.99810177e-01 1.12032822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43255784400003 meters Centerline goodness [0,1] 0.252678842566483 Centerline is valid? [False, False] Translation: X:5.22, Y:0.50, Z:1.12 [[ 9.99815870e-01 1.13276902e-03 -1.91557415e-02 5.22001048e+00] [-1.20819097e-03 9.99991563e-01 -3.92618776e-03 4.96018805e-01] [ 1.91511324e-02 3.94860863e-03 9.99808803e-01 1.12015312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46255784400006 meters Centerline goodness [0,1] 0.24863216625938023 Centerline is valid? [False, False] Translation: X:5.22, Y:0.50, Z:1.12 [[ 9.99813136e-01 1.11567381e-03 -1.92989073e-02 5.22061417e+00] [-1.19479590e-03 9.99990927e-01 -4.08877800e-03 4.96984874e-01] [ 1.92941705e-02 4.11107221e-03 9.99805398e-01 1.11969405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49255784400003 meters Centerline goodness [0,1] 0.24915059836828324 Centerline is valid? [False, False] Translation: X:5.22, Y:0.50, Z:1.12 [[ 9.99796619e-01 1.30451989e-03 -2.01250870e-02 5.22338098e+00] [-1.38893410e-03 9.99990295e-01 -4.18106931e-03 4.98196686e-01] [ 2.01194374e-02 4.20817138e-03 9.99788727e-01 1.11843680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52255784400006 meters Centerline goodness [0,1] 0.25433703719970135 Centerline is valid? [False, False] Translation: X:5.20, Y:0.50, Z:1.12 [[ 9.99747379e-01 -6.25377759e-03 -2.15886353e-02 5.20363488e+00] [ 6.18472413e-03 9.99975548e-01 -3.26389006e-03 5.02502016e-01] [ 2.16085191e-02 3.12954577e-03 9.99761611e-01 1.11727881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55255784400003 meters Centerline goodness [0,1] 0.24701109240795893 Centerline is valid? [False, False] Translation: X:5.25, Y:0.50, Z:1.12 [[ 9.99780161e-01 -6.86568496e-03 -1.98114251e-02 5.24648133e+00] [ 6.82739276e-03 9.99974693e-01 -1.99982487e-03 5.01323479e-01] [ 1.98246539e-02 1.86412485e-03 9.99801734e-01 1.11799003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58255784400006 meters Centerline goodness [0,1] 0.24805682701442267 Centerline is valid? [False, False] Translation: X:5.25, Y:0.50, Z:1.12 [[ 9.99780749e-01 -6.74218742e-03 -1.98241667e-02 5.24637433e+00] [ 6.70800794e-03 9.99975899e-01 -1.79012469e-03 5.00616092e-01] [ 1.98357583e-02 1.65675154e-03 9.99801879e-01 1.11822268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61255784400004 meters Centerline goodness [0,1] 0.249875268444001 Centerline is valid? [False, False] Translation: X:5.25, Y:0.50, Z:1.12 [[ 9.99783887e-01 -6.63440303e-03 -1.97019028e-02 5.24598636e+00] [ 6.60483792e-03 9.99976963e-01 -1.56531391e-03 4.99646122e-01] [ 1.97118339e-02 1.43484775e-03 9.99804673e-01 1.11834616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64255784400007 meters Centerline goodness [0,1] 0.2495729452721258 Centerline is valid? [False, False] Translation: X:5.25, Y:0.50, Z:1.12 [[ 9.99785810e-01 -6.52617417e-03 -1.96403337e-02 5.24597325e+00] [ 6.50262919e-03 9.99978061e-01 -1.26243233e-03 4.98034116e-01] [ 1.96481417e-02 1.13444813e-03 9.99806313e-01 1.11809090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67255784400004 meters Centerline goodness [0,1] 0.254305977710233 Centerline is valid? [False, False] Translation: X:5.20, Y:0.49, Z:1.12 [[ 9.99723867e-01 -6.05763619e-03 -2.27045172e-02 5.20312157e+00] [ 6.00600776e-03 9.99979223e-01 -2.34142940e-03 4.93356111e-01] [ 2.27182290e-02 2.20441935e-03 9.99739477e-01 1.11745095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70255784400007 meters Centerline goodness [0,1] 0.24894021974219227 Centerline is valid? [False, False] Translation: X:5.25, Y:0.49, Z:1.12 [[ 9.99758126e-01 -6.35813893e-03 -2.10538291e-02 5.24680697e+00] [ 6.34715690e-03 9.99979683e-01 -5.88399525e-04 4.90052171e-01] [ 2.10571425e-02 4.54625250e-04 9.99778170e-01 1.11744721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73255784400004 meters Centerline goodness [0,1] 0.24476067270375157 Centerline is valid? [False, False] Translation: X:5.25, Y:0.49, Z:1.12 [[ 9.99758939e-01 -6.16488393e-03 -2.10726896e-02 5.24701846e+00] [ 6.16145643e-03 9.99980992e-01 -2.27574673e-04 4.88694836e-01] [ 2.10736920e-02 9.76813552e-05 9.99777920e-01 1.11717051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76255784400007 meters Centerline goodness [0,1] 0.24629794245820957 Centerline is valid? [False, False] Translation: X:5.25, Y:0.49, Z:1.12 [[ 9.99758283e-01 -5.99897602e-03 -2.11515270e-02 5.24723334e+00] [ 6.00246737e-03 9.99981980e-01 1.01579616e-04 4.87250258e-01] [ 2.11505365e-02 -2.28516413e-04 9.99776276e-01 1.11714453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79255784400004 meters Centerline goodness [0,1] 0.24894286024070256 Centerline is valid? [False, False] Translation: X:5.25, Y:0.48, Z:1.12 [[ 9.99761182e-01 -5.70425589e-03 -2.10959941e-02 5.24717392e+00] [ 5.72410136e-03 9.99983230e-01 8.80457020e-04 4.82732456e-01] [ 2.10906179e-02 -1.00100236e-03 9.99777067e-01 1.11694398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8225578440001 meters Centerline goodness [0,1] 0.2497770818381505 Centerline is valid? [False, False] Translation: X:5.25, Y:0.48, Z:1.12 [[ 9.99762959e-01 -5.52121383e-03 -2.10604169e-02 5.24718489e+00] [ 5.55029314e-03 9.99983722e-01 1.32255395e-03 4.80507692e-01] [ 2.10527720e-02 -1.43913194e-03 9.99777330e-01 1.11675226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85255784400005 meters Centerline goodness [0,1] 0.24895053447007398 Centerline is valid? [False, False] Translation: X:5.25, Y:0.48, Z:1.12 [[ 9.99764615e-01 -5.31546042e-03 -2.10347570e-02 5.24715974e+00] [ 5.35288080e-03 9.99984189e-01 1.72307344e-03 4.78771408e-01] [ 2.10252654e-02 -1.83526440e-03 9.99777260e-01 1.11664277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8825578440001 meters Centerline goodness [0,1] 0.2513450521684202 Centerline is valid? [False, False] Translation: X:5.25, Y:0.48, Z:1.12 [[ 9.99769574e-01 -5.11743442e-03 -2.08473437e-02 5.24674110e+00] [ 5.16346359e-03 9.99984348e-01 2.15468559e-03 4.76875122e-01] [ 2.08359909e-02 -2.26183359e-03 9.99780349e-01 1.11652878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91255784400005 meters Centerline goodness [0,1] 0.24995107951209972 Centerline is valid? [False, False] Translation: X:5.25, Y:0.47, Z:1.12 [[ 9.99777769e-01 -4.93046838e-03 -2.04964384e-02 5.24570388e+00] [ 4.98444647e-03 9.99984241e-01 2.58328241e-03 4.74837248e-01] [ 2.04833786e-02 -2.68487172e-03 9.99786589e-01 1.11680696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9425578440001 meters Centerline goodness [0,1] 0.25076086956521737 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:1.12 [[ 9.99787191e-01 -4.78242720e-03 -2.00674041e-02 5.24434803e+00] [ 4.84382475e-03 9.99983732e-01 3.01207619e-03 4.72576812e-01] [ 2.00526726e-02 -3.10863819e-03 9.99794092e-01 1.11729009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97255784400005 meters Centerline goodness [0,1] 0.25160127667889787 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:1.12 [[ 9.99796304e-01 -4.48416729e-03 -1.96784817e-02 5.24293743e+00] [ 4.55991829e-03 9.99982360e-01 3.80625208e-03 4.68414652e-01] [ 1.96610667e-02 -3.89520903e-03 9.99799115e-01 1.11795109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002557844 meters Centerline goodness [0,1] 0.2518610421836228 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:1.12 [[ 9.99795009e-01 -4.32285029e-03 -1.97800965e-02 5.24330458e+00] [ 4.40529869e-03 9.99981782e-01 4.12657783e-03 4.67095217e-01] [ 1.97618975e-02 -4.21286915e-03 9.99795839e-01 1.11774490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03255784400005 meters Centerline goodness [0,1] 0.2503896778662972 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:1.12 [[ 9.99794252e-01 -4.18430775e-03 -1.98480429e-02 5.24362693e+00] [ 4.27153092e-03 9.99981397e-01 4.35419010e-03 4.66207157e-01] [ 1.98294544e-02 -4.43807577e-03 9.99793527e-01 1.11746326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.062557844 meters Centerline goodness [0,1] 0.2473633336913328 Centerline is valid? [False, False] Translation: X:5.26, Y:0.46, Z:1.12 [[ 9.99813132e-01 3.79740012e-03 -1.89547199e-02 5.26347710e+00] [-3.73446553e-03 9.99987400e-01 3.35455194e-03 4.61920453e-01] [ 1.89672196e-02 -3.28313933e-03 9.99814716e-01 1.11890865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09255784400005 meters Centerline goodness [0,1] 0.2536417793625255 Centerline is valid? [False, False] Translation: X:5.26, Y:0.46, Z:1.12 [[ 9.99817288e-01 3.78887904e-03 -1.87359069e-02 5.26290733e+00] [-3.72863615e-03 9.99987770e-01 3.24925876e-03 4.62509364e-01] [ 1.87479888e-02 -3.17880570e-03 9.99819188e-01 1.11885210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.122557844 meters Centerline goodness [0,1] 0.25112370529607186 Centerline is valid? [False, False] Translation: X:5.26, Y:0.46, Z:1.12 [[ 9.99815504e-01 3.84379273e-03 -1.88197712e-02 5.26320224e+00] [-3.78542123e-03 9.99987917e-01 3.13624674e-03 4.63428448e-01] [ 1.88315989e-02 -3.06442735e-03 9.99817974e-01 1.11860520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15255784400006 meters Centerline goodness [0,1] 0.2500972300246316 Centerline is valid? [False, False] Translation: X:5.26, Y:0.46, Z:1.12 [[ 9.99807628e-01 3.90790877e-03 -1.92206914e-02 5.26443993e+00] [-3.85132268e-03 9.99988143e-01 2.98015474e-03 4.64654754e-01] [ 1.92321097e-02 -2.90555636e-03 9.99810824e-01 1.11809518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18255784400003 meters Centerline goodness [0,1] 0.24814846896790677 Centerline is valid? [False, False] Translation: X:5.27, Y:0.47, Z:1.12 [[ 9.99800092e-01 3.89946107e-03 -1.96104876e-02 5.26580838e+00] [-3.84592556e-03 9.99988776e-01 2.76691629e-03 4.65922554e-01] [ 1.96210570e-02 -2.69094269e-03 9.99803867e-01 1.11733895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21255784400006 meters Centerline goodness [0,1] 0.2422798240317433 Centerline is valid? [False, False] Translation: X:5.27, Y:0.47, Z:1.12 [[ 9.99791933e-01 3.87027604e-03 -2.00277953e-02 5.26720301e+00] [-3.81900094e-03 9.99989333e-01 2.59781108e-03 4.66592288e-01] [ 2.00376359e-02 -2.52078439e-03 9.99796049e-01 1.11663856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24255784400003 meters Centerline goodness [0,1] 0.25455022751137557 Centerline is valid? [False, False] Translation: X:5.25, Y:0.47, Z:1.12 [[ 9.99777069e-01 -4.44670020e-03 -2.06407264e-02 5.24510636e+00] [ 4.51069334e-03 9.99985161e-01 3.05481294e-03 4.69740450e-01] [ 2.06268363e-02 -3.14723592e-03 9.99782291e-01 1.11618939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27255784400006 meters Centerline goodness [0,1] 0.25227327242198916 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:1.12 [[ 9.99780120e-01 -4.35709830e-03 -2.05116582e-02 5.24464771e+00] [ 4.42611634e-03 9.99984691e-01 3.32062499e-03 4.68473991e-01] [ 2.04968759e-02 -3.41068184e-03 9.99784099e-01 1.11644961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30255784400003 meters Centerline goodness [0,1] 0.25094966246282746 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:1.12 [[ 9.99784266e-01 -4.26296610e-03 -2.03284998e-02 5.24415730e+00] [ 4.33912084e-03 9.99983728e-01 3.70356973e-03 4.66460548e-01] [ 2.03123808e-02 -3.79097856e-03 9.99786495e-01 1.11662670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33255784400006 meters Centerline goodness [0,1] 0.24881950882942716 Centerline is valid? [False, False] Translation: X:5.24, Y:0.46, Z:1.12 [[ 9.99785042e-01 -4.27655127e-03 -2.02874770e-02 5.24432808e+00] [ 4.36853172e-03 9.99980370e-01 4.49170406e-03 4.61357143e-01] [ 2.02678698e-02 -4.57936502e-03 9.99784098e-01 1.11629834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36255784400004 meters Centerline goodness [0,1] 0.25210558305114183 Centerline is valid? [False, False] Translation: X:5.24, Y:0.46, Z:1.12 [[ 9.99784163e-01 -4.01826584e-03 -2.03833396e-02 5.24488499e+00] [ 4.12398376e-03 9.99978250e-01 5.14710627e-03 4.58262386e-01] [ 2.03622138e-02 -5.23005589e-03 9.99778989e-01 1.11582767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39255784400007 meters Centerline goodness [0,1] 0.25229427792915526 Centerline is valid? [False, False] Translation: X:5.25, Y:0.46, Z:1.12 [[ 9.99782600e-01 -3.78836209e-03 -2.05036799e-02 5.24540288e+00] [ 3.90588322e-03 9.99976157e-01 5.69470051e-03 4.55735671e-01] [ 2.04816175e-02 -5.77354747e-03 9.99773559e-01 1.11550927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42255784400004 meters Centerline goodness [0,1] 0.25364621881666594 Centerline is valid? [False, False] Translation: X:5.25, Y:0.45, Z:1.12 [[ 9.99781948e-01 -3.60072568e-03 -2.05692024e-02 5.24577353e+00] [ 3.72789579e-03 9.99974155e-01 6.14755450e-03 4.53525517e-01] [ 2.05465351e-02 -6.22289386e-03 9.99769531e-01 1.11519377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45255784400007 meters Centerline goodness [0,1] 0.24981076580375872 Centerline is valid? [False, False] Translation: X:5.27, Y:0.45, Z:1.12 [[ 9.99738115e-01 3.59136675e-03 -2.26009502e-02 5.26712371e+00] [-3.46773619e-03 9.99978824e-01 5.50696582e-03 4.45047980e-01] [ 2.26202492e-02 -5.42714950e-03 9.99729399e-01 1.11692375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48255784400004 meters Centerline goodness [0,1] 0.2500755450032377 Centerline is valid? [False, False] Translation: X:5.27, Y:0.44, Z:1.12 [[ 9.99732767e-01 3.73406827e-03 -2.28134214e-02 5.26799102e+00] [-3.60624072e-03 9.99977583e-01 5.64174665e-03 4.44529154e-01] [ 2.28339766e-02 -5.55796830e-03 9.99723821e-01 1.11629894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51255784400007 meters Centerline goodness [0,1] 0.2530173072306249 Centerline is valid? [False, False] Translation: X:5.27, Y:0.44, Z:1.12 [[ 9.99729915e-01 3.89043869e-03 -2.29120298e-02 5.26829779e+00] [-3.76024428e-03 9.99976555e-01 5.72270471e-03 4.44530262e-01] [ 2.29337564e-02 -5.63500426e-03 9.99721106e-01 1.11609974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54255784400004 meters Centerline goodness [0,1] 0.24834874504623516 Centerline is valid? [False, False] Translation: X:5.27, Y:0.44, Z:1.12 [[ 9.99728407e-01 4.01399309e-03 -2.29564830e-02 5.26839343e+00] [-3.88330299e-03 9.99976016e-01 5.73469822e-03 4.44877903e-01] [ 2.29789515e-02 -5.64399374e-03 9.99720017e-01 1.11602483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5725578440001 meters Centerline goodness [0,1] 0.24834874504623516 Centerline is valid? [False, False] Translation: X:5.27, Y:0.44, Z:1.12 [[ 9.99728407e-01 4.01399309e-03 -2.29564830e-02 5.26839343e+00] [-3.88330299e-03 9.99976016e-01 5.73469822e-03 4.44877903e-01] [ 2.29789515e-02 -5.64399374e-03 9.99720017e-01 1.11602483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60255784400005 meters Centerline goodness [0,1] 0.2434857450242066 Centerline is valid? [False, False] Translation: X:5.27, Y:0.44, Z:1.12 [[ 9.99728118e-01 4.12586445e-03 -2.29492450e-02 5.26840681e+00] [-3.99376899e-03 9.99975211e-01 5.79884090e-03 4.44914130e-01] [ 2.29726014e-02 -5.70561031e-03 9.99719814e-01 1.11588692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6325578440001 meters Centerline goodness [0,1] 0.24856129116005365 Centerline is valid? [False, False] Translation: X:5.27, Y:0.44, Z:1.12 [[ 9.99727759e-01 4.27781390e-03 -2.29370397e-02 5.26838660e+00] [-4.14242279e-03 9.99973736e-01 5.94699675e-03 4.44373445e-01] [ 2.29618775e-02 -5.85036281e-03 9.99719223e-01 1.11574067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66255784400005 meters Centerline goodness [0,1] 0.2513357321993239 Centerline is valid? [False, False] Translation: X:5.27, Y:0.44, Z:1.12 [[ 9.99726359e-01 4.30580547e-03 -2.29927454e-02 5.26851855e+00] [-4.16855723e-03 9.99973228e-01 6.01379481e-03 4.43993496e-01] [ 2.30180240e-02 -5.91630262e-03 9.99717544e-01 1.11571862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6925578440001 meters Centerline goodness [0,1] 0.24676139189861368 Centerline is valid? [False, False] Translation: X:5.27, Y:0.44, Z:1.12 [[ 9.99727604e-01 4.37894049e-03 -2.29247168e-02 5.26828573e+00] [-4.23810847e-03 9.99971872e-01 6.18822450e-03 4.43204567e-01] [ 2.29511698e-02 -6.08938141e-03 9.99718042e-01 1.11581123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72255784400005 meters Centerline goodness [0,1] 0.25273212100017484 Centerline is valid? [False, False] Translation: X:5.27, Y:0.44, Z:1.12 [[ 9.99729195e-01 4.43365514e-03 -2.28446611e-02 5.26781082e+00] [-4.28968796e-03 9.99970656e-01 6.34716095e-03 4.42464997e-01] [ 2.28721318e-02 -6.24744564e-03 9.99718878e-01 1.11629677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.752557844 meters Centerline goodness [0,1] 0.250606848721283 Centerline is valid? [False, False] Translation: X:5.29, Y:0.44, Z:1.12 [[ 9.99779400e-01 -4.02787765e-03 -2.06137713e-02 5.28690622e+00] [ 4.19153859e-03 9.99959991e-01 7.90235956e-03 4.43333160e-01] [ 2.05811168e-02 -7.98701971e-03 9.99756283e-01 1.11760693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78255784400005 meters Centerline goodness [0,1] 0.25409479003310687 Centerline is valid? [False, False] Translation: X:5.29, Y:0.44, Z:1.12 [[ 9.99782867e-01 -3.93787274e-03 -2.04624304e-02 5.28632627e+00] [ 4.10651884e-03 9.99957896e-01 8.20627079e-03 4.41829504e-01] [ 2.04292536e-02 -8.28851830e-03 9.99756943e-01 1.11803176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.812557844 meters Centerline goodness [0,1] 0.2542694083819813 Centerline is valid? [False, False] Translation: X:5.29, Y:0.44, Z:1.12 [[ 9.99786140e-01 -3.84395858e-03 -2.03198825e-02 5.28585350e+00] [ 4.01693855e-03 9.99955985e-01 8.47889249e-03 4.40510601e-01] [ 2.02863957e-02 -8.55870292e-03 9.99757576e-01 1.11827909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84255784400005 meters Centerline goodness [0,1] 0.2503883662725468 Centerline is valid? [False, False] Translation: X:5.31, Y:0.44, Z:1.12 [[ 9.99803095e-01 3.70758914e-03 -1.94942370e-02 5.30518164e+00] [-3.56615519e-03 9.99967106e-01 7.28493197e-03 4.36063627e-01] [ 1.95206053e-02 -7.21397805e-03 9.99783429e-01 1.12007422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.872557844 meters Centerline goodness [0,1] 0.25098455013632237 Centerline is valid? [False, False] Translation: X:5.30, Y:0.43, Z:1.12 [[ 9.99810175e-01 3.80048028e-03 -1.91094545e-02 5.30415791e+00] [-3.65808584e-03 9.99965326e-01 7.48095956e-03 4.34909634e-01] [ 1.91372232e-02 -7.40963545e-03 9.99789410e-01 1.12011901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90255784400006 meters Centerline goodness [0,1] 0.25219896875947834 Centerline is valid? [False, False] Translation: X:5.30, Y:0.43, Z:1.12 [[ 9.99812926e-01 3.83559159e-03 -1.89578567e-02 5.30382834e+00] [-3.69360890e-03 9.99964912e-01 7.51873425e-03 4.34780079e-01] [ 1.89860303e-02 -7.44730479e-03 9.99792013e-01 1.11997800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93255784400003 meters Centerline goodness [0,1] 0.25429149533320283 Centerline is valid? [False, False] Translation: X:5.30, Y:0.43, Z:1.12 [[ 9.99811624e-01 3.90812060e-03 -1.90116748e-02 5.30415208e+00] [-3.76348164e-03 9.99963750e-01 7.63774046e-03 4.34348632e-01] [ 1.90408348e-02 -7.56475160e-03 9.99790089e-01 1.11960650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96255784400006 meters Centerline goodness [0,1] 0.2529395144639326 Centerline is valid? [False, False] Translation: X:5.30, Y:0.43, Z:1.12 [[ 9.99807943e-01 4.02068641e-03 -1.91809967e-02 5.30483033e+00] [-3.87016596e-03 9.99961478e-01 7.87805031e-03 4.33222103e-01] [ 1.92119330e-02 -7.80230364e-03 9.99784990e-01 1.11916809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99255784400003 meters Centerline goodness [0,1] 0.2468835969738652 Centerline is valid? [False, False] Translation: X:5.31, Y:0.43, Z:1.12 [[ 9.99802674e-01 4.16553670e-03 -1.94232376e-02 5.30570977e+00] [-4.00617259e-03 9.99958054e-01 8.23652127e-03 4.31370984e-01] [ 1.94567324e-02 -8.15708315e-03 9.99777424e-01 1.11874474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02255784400006 meters Centerline goodness [0,1] 0.24797942689199115 Centerline is valid? [False, False] Translation: X:5.30, Y:0.43, Z:1.12 [[ 9.99816135e-01 4.46172350e-04 -1.91701968e-02 5.30469569e+00] [-3.53084048e-04 9.99988133e-01 4.85899689e-03 4.28679656e-01] [ 1.91721372e-02 -4.85133480e-03 9.99804428e-01 1.11924486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05255784400003 meters Centerline goodness [0,1] 0.2441506031855064 Centerline is valid? [False, False] Translation: X:5.30, Y:0.43, Z:1.12 [[ 9.99818419e-01 6.86913003e-04 -1.90435375e-02 5.30425600e+00] [-5.82823456e-04 9.99984865e-01 5.47088378e-03 4.25669654e-01] [ 1.90470073e-02 -5.45879135e-03 9.99803687e-01 1.11947239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08255784400006 meters Centerline goodness [0,1] 0.24863340937459644 Centerline is valid? [False, False] Translation: X:5.30, Y:0.42, Z:1.12 [[ 9.99818692e-01 9.32976643e-04 -1.90187251e-02 5.30435884e+00] [-8.18383247e-04 9.99981471e-01 6.03218603e-03 4.23129842e-01] [ 1.90240006e-02 -6.01552774e-03 9.99800931e-01 1.11926401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11255784400004 meters Centerline goodness [0,1] 0.2513272802132316 Centerline is valid? [False, False] Translation: X:5.30, Y:0.42, Z:1.12 [[ 9.99817684e-01 1.17520329e-03 -1.90582630e-02 5.30478292e+00] [-1.05008411e-03 9.99977841e-01 6.57376712e-03 4.20688887e-01] [ 1.90655662e-02 -6.55255584e-03 9.99796763e-01 1.11875979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14255784400007 meters Centerline goodness [0,1] 0.2496002765654034 Centerline is valid? [False, False] Translation: X:5.31, Y:0.42, Z:1.12 [[ 9.99815293e-01 1.35217855e-03 -1.91716296e-02 5.30548516e+00] [-1.21837331e-03 9.99974832e-01 6.98929913e-03 4.18619686e-01] [ 1.91805979e-02 -6.96464996e-03 9.99791777e-01 1.11811540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17255784400004 meters Centerline goodness [0,1] 0.24912235359996548 Centerline is valid? [False, False] Translation: X:5.31, Y:0.42, Z:1.12 [[ 9.99804071e-01 1.70944960e-03 -1.97204605e-02 5.30744472e+00] [-1.55946324e-03 9.99969763e-01 7.61849435e-03 4.15159891e-01] [ 1.97328877e-02 -7.58624834e-03 9.99776506e-01 1.11719429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20255784400007 meters Centerline goodness [0,1] 0.2513763464258514 Centerline is valid? [False, False] Translation: X:5.31, Y:0.41, Z:1.12 [[ 9.99803163e-01 1.86234787e-03 -1.97526563e-02 5.30757087e+00] [-1.70715888e-03 9.99967569e-01 7.87056814e-03 4.13994765e-01] [ 1.97666735e-02 -7.83529799e-03 9.99773918e-01 1.11705037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23255784400004 meters Centerline goodness [0,1] 0.24454101729748245 Centerline is valid? [False, False] Translation: X:5.33, Y:0.41, Z:1.12 [[ 0.99976001 0.01012291 -0.01942782 5.328589 ] [-0.00998423 0.99992408 0.00722204 0.40959021] [ 0.01949946 -0.00702634 0.99978518 1.11837336] [ 0. 0. 0. 1. ]] SLAMing on 346.26255784400007 meters Centerline goodness [0,1] 0.24517639981092343 Centerline is valid? [False, False] Translation: X:5.33, Y:0.41, Z:1.12 [[ 0.99975938 0.01027372 -0.01938126 5.32862389] [-0.01013014 0.99992062 0.00749189 0.40834153] [ 0.01945669 -0.00729375 0.9997841 1.11807772] [ 0. 0. 0. 1. ]] SLAMing on 346.29255784400004 meters Centerline goodness [0,1] 0.25303987796905647 Centerline is valid? [False, False] Translation: X:5.31, Y:0.41, Z:1.12 [[ 9.99795876e-01 1.79195780e-03 -2.01244968e-02 5.30700998e+00] [-1.62768535e-03 9.99965249e-01 8.17622546e-03 4.09180038e-01] [ 2.01384489e-02 -8.14180015e-03 9.99764049e-01 1.11707978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3225578440001 meters Centerline goodness [0,1] 0.24922530175309332 Centerline is valid? [False, False] Translation: X:5.31, Y:0.41, Z:1.12 [[ 9.99791546e-01 2.17629446e-03 -2.03009668e-02 5.30788888e+00] [-1.99338406e-03 9.99957280e-01 9.02582441e-03 4.05259856e-01] [ 2.03197424e-02 -8.98347531e-03 9.99753172e-01 1.11644216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35255784400005 meters Centerline goodness [0,1] 0.2516079799411316 Centerline is valid? [False, False] Translation: X:5.31, Y:0.40, Z:1.12 [[ 9.99787256e-01 2.33652001e-03 -2.04934965e-02 5.30860664e+00] [-2.14455655e-03 9.99953669e-01 9.38402369e-03 4.03646893e-01] [ 2.05144730e-02 -9.33807783e-03 9.99745946e-01 1.11607000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3825578440001 meters Centerline goodness [0,1] 0.2487759232259047 Centerline is valid? [False, False] Translation: X:5.31, Y:0.40, Z:1.12 [[ 9.99785492e-01 2.45896857e-03 -2.05650788e-02 5.30903110e+00] [-2.25980256e-03 9.99950378e-01 9.70230869e-03 4.02023960e-01] [ 2.05879160e-02 -9.65375445e-03 9.99741438e-01 1.11568798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41255784400005 meters Centerline goodness [0,1] 0.25460684571756453 Centerline is valid? [False, False] Translation: X:5.29, Y:0.39, Z:1.12 [[ 0.99977957 0.00812254 -0.01936068 5.2862233 ] [-0.0079991 0.99994724 0.00644461 0.39443633] [ 0.019412 -0.00628832 0.99979179 1.11540223] [ 0. 0. 0. 1. ]] SLAMing on 346.4425578440001 meters Centerline goodness [0,1] 0.2499675254384066 Centerline is valid? [False, False] Translation: X:5.33, Y:0.40, Z:1.12 [[ 0.99982932 0.00766058 -0.01681202 5.32737389] [-0.00755097 0.99994989 0.00657329 0.39525085] [ 0.01686154 -0.00644522 0.99983706 1.11701881] [ 0. 0. 0. 1. ]] SLAMing on 346.47255784400005 meters Centerline goodness [0,1] 0.24912477849332237 Centerline is valid? [False, False] Translation: X:5.33, Y:0.39, Z:1.12 [[ 0.99983194 0.00783758 -0.01657306 5.32650772] [-0.00772208 0.99994553 0.00702147 0.39332934] [ 0.01662718 -0.00689231 0.999838 1.11750583] [ 0. 0. 0. 1. ]] SLAMing on 346.502557844 meters Centerline goodness [0,1] 0.24711371014555072 Centerline is valid? [False, False] Translation: X:5.33, Y:0.39, Z:1.12 [[ 0.99983464 0.00797043 -0.01634526 5.32572624] [-0.00784876 0.99994111 0.00749438 0.39107941] [ 0.01640403 -0.00736485 0.99983832 1.11794497] [ 0. 0. 0. 1. ]] SLAMing on 346.53255784400005 meters Centerline goodness [0,1] 0.24908630868709591 Centerline is valid? [False, False] Translation: X:5.33, Y:0.39, Z:1.12 [[ 9.99859479e-01 4.08417470e-03 -1.62586062e-02 5.32538654e+00] [-4.01725525e-03 9.99983334e-01 4.14647430e-03 3.87952689e-01] [ 1.62752702e-02 -4.08057666e-03 9.99859222e-01 1.11818857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562557844 meters Centerline goodness [0,1] 0.24623653611426366 Centerline is valid? [False, False] Translation: X:5.35, Y:0.39, Z:1.12 [[ 9.99866411e-01 -4.74297284e-03 -1.56417228e-02 5.34612267e+00] [ 4.82384051e-03 9.99975174e-01 5.13632728e-03 3.89456682e-01] [ 1.56169730e-02 -5.21109430e-03 9.99864468e-01 1.11888435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59255784400005 meters Centerline goodness [0,1] 0.25270648471568347 Centerline is valid? [False, False] Translation: X:5.32, Y:0.38, Z:1.12 [[ 9.99888053e-01 1.32499137e-03 -1.49038717e-02 5.32349303e+00] [-1.28769339e-03 9.99996016e-01 2.51188838e-03 3.82330035e-01] [ 1.49071406e-02 -2.49241557e-03 9.99885776e-01 1.11851612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622557844 meters Centerline goodness [0,1] 0.2502584201912309 Centerline is valid? [False, False] Translation: X:5.32, Y:0.38, Z:1.12 [[ 9.99888022e-01 1.49232458e-03 -1.48901245e-02 5.32339753e+00] [-1.44692347e-03 9.99994273e-01 3.05938261e-03 3.79686570e-01] [ 1.48946048e-02 -3.03749516e-03 9.99884456e-01 1.11873377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65255784400006 meters Centerline goodness [0,1] 0.25271892196368995 Centerline is valid? [False, False] Translation: X:5.32, Y:0.38, Z:1.12 [[ 9.99888580e-01 1.66370380e-03 -1.48344190e-02 5.32328892e+00] [-1.61185153e-03 9.99992553e-01 3.50667411e-03 3.77596672e-01] [ 1.48401426e-02 -3.48237252e-03 9.99883815e-01 1.11876511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68255784400003 meters Centerline goodness [0,1] 0.25110626632417377 Centerline is valid? [False, False] Translation: X:5.32, Y:0.38, Z:1.12 [[ 9.99888470e-01 1.78365930e-03 -1.48278710e-02 5.32336686e+00] [-1.72687332e-03 9.99991130e-01 3.84160054e-03 3.75918839e-01] [ 1.48345916e-02 -3.81556623e-03 9.99882681e-01 1.11865599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71255784400006 meters Centerline goodness [0,1] 0.25130188638475337 Centerline is valid? [False, False] Translation: X:5.32, Y:0.37, Z:1.12 [[ 9.99883566e-01 2.01860813e-03 -1.51254456e-02 5.32477440e+00] [-1.95167514e-03 9.99988245e-01 4.43864641e-03 3.72799597e-01] [ 1.51342277e-02 -4.40860965e-03 9.99875752e-01 1.11761776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74255784400003 meters Centerline goodness [0,1] 0.2536084725406704 Centerline is valid? [False, False] Translation: X:5.33, Y:0.37, Z:1.12 [[ 9.99881245e-01 2.11524160e-03 -1.52650783e-02 5.32539651e+00] [-2.04454664e-03 9.99987121e-01 4.64527727e-03 3.71876664e-01] [ 1.52747076e-02 -4.61351546e-03 9.99872691e-01 1.11712347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77255784400006 meters Centerline goodness [0,1] 0.25057839088412726 Centerline is valid? [False, False] Translation: X:5.33, Y:0.37, Z:1.12 [[ 9.99879290e-01 2.22497475e-03 -1.53770655e-02 5.32587908e+00] [-2.15110054e-03 9.99986075e-01 4.81905273e-03 3.71156570e-01] [ 1.53875736e-02 -4.78539341e-03 9.99870153e-01 1.11675014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80255784400003 meters Centerline goodness [0,1] 0.2519770339074856 Centerline is valid? [False, False] Translation: X:5.33, Y:0.37, Z:1.12 [[ 9.99879149e-01 2.26085026e-03 -1.53810454e-02 5.32596591e+00] [-2.18563876e-03 9.99985582e-01 4.90493575e-03 3.70595458e-01] [ 1.53919129e-02 -4.87072558e-03 9.99869674e-01 1.11660204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83255784400006 meters Centerline goodness [0,1] 0.2514431496335373 Centerline is valid? [False, False] Translation: X:5.33, Y:0.37, Z:1.12 [[ 9.99880253e-01 2.37542944e-03 -1.52917532e-02 5.32604764e+00] [-2.29665464e-03 9.99984014e-01 5.16695795e-03 3.68984290e-01] [ 1.53037825e-02 -5.13121935e-03 9.99869724e-01 1.11603349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86255784400004 meters Centerline goodness [0,1] 0.2515902894975983 Centerline is valid? [False, False] Translation: X:5.33, Y:0.37, Z:1.12 [[ 9.99880141e-01 2.44893573e-03 -1.52874639e-02 5.32624529e+00] [-2.36783481e-03 9.99983041e-01 5.32090839e-03 3.68228405e-01] [ 1.53002352e-02 -5.28407244e-03 9.99868982e-01 1.11567426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89255784400007 meters Centerline goodness [0,1] 0.25448990725586473 Centerline is valid? [False, False] Translation: X:5.33, Y:0.37, Z:1.12 [[ 9.99879522e-01 2.51595485e-03 -1.53169998e-02 5.32647462e+00] [-2.43242967e-03 9.99982085e-01 5.46929319e-03 3.67493864e-01] [ 1.53304859e-02 -5.43137673e-03 9.99867729e-01 1.11539445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92255784400004 meters Centerline goodness [0,1] 0.25120877223277505 Centerline is valid? [False, False] Translation: X:5.35, Y:0.36, Z:1.12 [[ 9.99829821e-01 1.04458390e-02 -1.52056969e-02 5.34679825e+00] [-1.03789151e-02 9.99936131e-01 4.47352342e-03 3.63126844e-01] [ 1.52514554e-02 -4.31494349e-03 9.99874379e-01 1.11682361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95255784400007 meters Centerline goodness [0,1] 0.2529232111692845 Centerline is valid? [False, False] Translation: X:5.33, Y:0.36, Z:1.12 [[ 9.99856889e-01 1.77938693e-03 -1.68236339e-02 5.32601442e+00] [-1.69025374e-03 9.99984469e-01 5.31082907e-03 3.62790068e-01] [ 1.68328226e-02 -5.28163283e-03 9.99844368e-01 1.11602812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98255784400004 meters Centerline goodness [0,1] 0.2490784055877724 Centerline is valid? [False, False] Translation: X:5.35, Y:0.36, Z:1.12 [[ 9.99818072e-01 9.65594169e-03 -1.64494707e-02 5.34593112e+00] [-9.58639113e-03 9.99944796e-01 4.30175222e-03 3.57815447e-01] [ 1.64901001e-02 -4.14327855e-03 9.99855444e-01 1.11760581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01255784400007 meters Centerline goodness [0,1] 0.2514884185824171 Centerline is valid? [False, False] Translation: X:5.35, Y:0.36, Z:1.12 [[ 9.99817122e-01 9.79080738e-03 -1.64274976e-02 5.34584509e+00] [-9.71584687e-03 9.99942050e-01 4.63673489e-03 3.56132663e-01] [ 1.64719430e-02 -4.47627988e-03 9.99854308e-01 1.11765730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04255784400004 meters Centerline goodness [0,1] 0.25176674615217864 Centerline is valid? [False, False] Translation: X:5.35, Y:0.35, Z:1.12 [[ 9.99814541e-01 9.90857076e-03 -1.65137178e-02 5.34610044e+00] [-9.82815130e-03 9.99939481e-01 4.94392073e-03 3.54537331e-01] [ 1.65617055e-02 -4.78070452e-03 9.99851416e-01 1.11759956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0725578440001 meters Centerline goodness [0,1] 0.25175524399521787 Centerline is valid? [False, False] Translation: X:5.35, Y:0.35, Z:1.12 [[ 9.99813157e-01 1.00136691e-02 -1.65341424e-02 5.34624266e+00] [-9.92845952e-03 9.99937047e-01 5.22762353e-03 3.53096447e-01] [ 1.65854492e-02 -5.06248822e-03 9.99849636e-01 1.11747362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10255784400005 meters Centerline goodness [0,1] 0.2508732724393049 Centerline is valid? [False, False] Translation: X:5.35, Y:0.35, Z:1.12 [[ 0.99981347 0.01027483 -0.01635397 5.34572384] [-0.01017973 0.99993085 0.00588777 0.34997761] [ 0.01641334 -0.0057202 0.99984893 1.11762686] [ 0. 0. 0. 1. ]] SLAMing on 347.1325578440001 meters Centerline goodness [0,1] 0.2529733976387404 Centerline is valid? [False, False] Translation: X:5.35, Y:0.35, Z:1.12 [[ 0.99981327 0.01038534 -0.0162965 5.34546049] [-0.01028554 0.99992791 0.00619555 0.34847013] [ 0.01635967 -0.00602677 0.99984801 1.11785914] [ 0. 0. 0. 1. ]] SLAMing on 347.16255784400005 meters Centerline goodness [0,1] 0.2488998187936836 Centerline is valid? [False, False] Translation: X:5.37, Y:0.35, Z:1.12 [[ 9.99879595e-01 1.98539675e-03 -1.53900821e-02 5.36507543e+00] [-1.87573185e-03 9.99972773e-01 7.13684897e-03 3.51547555e-01] [ 1.54038325e-02 -7.10712199e-03 9.99856095e-01 1.11890051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1925578440001 meters Centerline goodness [0,1] 0.25167405861379255 Centerline is valid? [False, False] Translation: X:5.36, Y:0.35, Z:1.12 [[ 9.99879366e-01 2.20484719e-03 -1.53750241e-02 5.36484656e+00] [-2.08609895e-03 9.99967907e-01 7.73521570e-03 3.48625350e-01] [ 1.53915856e-02 -7.70220875e-03 9.99851877e-01 1.11930890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22255784400005 meters Centerline goodness [0,1] 0.25125366330185606 Centerline is valid? [False, False] Translation: X:5.37, Y:0.35, Z:1.12 [[ 9.99877965e-01 2.33217512e-03 -1.54471884e-02 5.36502796e+00] [-2.20776900e-03 9.99965034e-01 8.06580422e-03 3.47076322e-01] [ 1.54654592e-02 -8.03071609e-03 9.99848152e-01 1.11934483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.252557844 meters Centerline goodness [0,1] 0.24995160145410744 Centerline is valid? [False, False] Translation: X:5.37, Y:0.35, Z:1.12 [[ 9.99875874e-01 2.47433675e-03 -1.55600074e-02 5.36535753e+00] [-2.34316075e-03 9.99961613e-01 8.44291835e-03 3.45283659e-01] [ 1.55803007e-02 -8.40541077e-03 9.99843289e-01 1.11933904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28255784400005 meters Centerline goodness [0,1] 0.25134759172317855 Centerline is valid? [False, False] Translation: X:5.37, Y:0.34, Z:1.12 [[ 9.99875351e-01 2.64437077e-03 -1.55656554e-02 5.36541160e+00] [-2.50656559e-03 9.99957555e-01 8.86601741e-03 3.43280620e-01] [ 1.55884398e-02 -8.82589593e-03 9.99839539e-01 1.11932268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.312557844 meters Centerline goodness [0,1] 0.24874636823415475 Centerline is valid? [False, False] Translation: X:5.39, Y:0.34, Z:1.12 [[ 0.99983316 0.01072345 -0.01478737 5.38507296] [-0.01060712 0.99991235 0.00792288 0.33818643] [ 0.01487103 -0.00776471 0.99985927 1.12092651] [ 0. 0. 0. 1. ]] SLAMing on 347.34255784400005 meters Centerline goodness [0,1] 0.2521316526002907 Centerline is valid? [False, False] Translation: X:5.36, Y:0.34, Z:1.12 [[ 9.99909863e-01 2.80682262e-03 -1.31296524e-02 5.36367178e+00] [-2.68909591e-03 9.99956103e-01 8.97555309e-03 3.38116818e-01] [ 1.31542689e-02 -8.93943717e-03 9.99873518e-01 1.11980104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.372557844 meters Centerline goodness [0,1] 0.2515738288542526 Centerline is valid? [False, False] Translation: X:5.36, Y:0.34, Z:1.12 [[ 9.99910876e-01 2.93328637e-03 -1.30244070e-02 5.36332232e+00] [-2.81270536e-03 9.99953107e-01 9.26676590e-03 3.36700717e-01] [ 1.30509783e-02 -9.22930620e-03 9.99872238e-01 1.11996342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40255784400006 meters Centerline goodness [0,1] 0.2512708473036406 Centerline is valid? [False, False] Translation: X:5.36, Y:0.34, Z:1.12 [[ 9.99909657e-01 3.04585029e-03 -1.30920431e-02 5.36365785e+00] [-2.92138704e-03 9.99950460e-01 9.51541950e-03 3.35570600e-01] [ 1.31203771e-02 -9.47631292e-03 9.99869019e-01 1.11970509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43255784400003 meters Centerline goodness [0,1] 0.2483709327082303 Centerline is valid? [False, False] Translation: X:5.36, Y:0.33, Z:1.12 [[ 9.99908520e-01 3.14785772e-03 -1.31545288e-02 5.36411309e+00] [-3.01979755e-03 9.99947970e-01 9.74361317e-03 3.34502582e-01] [ 1.31845159e-02 -9.70299781e-03 9.99866001e-01 1.11919462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46255784400006 meters Centerline goodness [0,1] 0.2503838584805692 Centerline is valid? [False, False] Translation: X:5.36, Y:0.33, Z:1.12 [[ 9.99906735e-01 3.27044132e-03 -1.32598993e-02 5.36456243e+00] [-3.13763113e-03 9.99944832e-01 1.00243897e-02 3.33140979e-01] [ 1.32919520e-02 -9.98185015e-03 9.99861834e-01 1.11892315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49255784400003 meters Centerline goodness [0,1] 0.2503838584805692 Centerline is valid? [False, False] Translation: X:5.36, Y:0.33, Z:1.12 [[ 9.99906735e-01 3.27044132e-03 -1.32598993e-02 5.36456243e+00] [-3.13763113e-03 9.99944832e-01 1.00243897e-02 3.33140979e-01] [ 1.32919520e-02 -9.98185015e-03 9.99861834e-01 1.11892315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52255784400006 meters Centerline goodness [0,1] 0.25040958868672936 Centerline is valid? [False, False] Translation: X:5.36, Y:0.33, Z:1.12 [[ 9.99912658e-01 -1.13001184e-04 -1.32160567e-02 5.36447025e+00] [ 2.02845676e-04 9.99976880e-01 6.79698862e-03 3.31209238e-01] [ 1.32149831e-02 -6.79907578e-03 9.99889562e-01 1.11882191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55255784400003 meters Centerline goodness [0,1] 0.2502438072947143 Centerline is valid? [False, False] Translation: X:5.36, Y:0.33, Z:1.12 [[ 9.99912274e-01 6.15336617e-05 -1.32454319e-02 5.36440242e+00] [ 3.45069056e-05 9.99973714e-01 7.25049385e-03 3.28882942e-01] [ 1.32455299e-02 -7.25031485e-03 9.99885988e-01 1.11913529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58255784400006 meters Centerline goodness [0,1] 0.24845254470426414 Centerline is valid? [False, False] Translation: X:5.38, Y:0.32, Z:1.12 [[ 0.99988645 0.00798158 -0.01278184 5.38381833] [-0.0079038 0.99995001 0.00612382 0.32326432] [ 0.01283008 -0.0060221 0.99989956 1.12119178] [ 0. 0. 0. 1. ]] SLAMing on 347.61255784400004 meters Centerline goodness [0,1] 0.24814392390626006 Centerline is valid? [False, False] Translation: X:5.38, Y:0.32, Z:1.12 [[ 9.99908791e-01 5.31328703e-03 -1.24168818e-02 5.38283906e+00] [-5.26826096e-03 9.99979439e-01 3.65609783e-03 3.20128714e-01] [ 1.24360524e-02 -3.59034899e-03 9.99916223e-01 1.12116463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64255784400007 meters Centerline goodness [0,1] 0.24803649430852326 Centerline is valid? [False, False] Translation: X:5.38, Y:0.32, Z:1.12 [[ 9.99908351e-01 5.42046509e-03 -1.24060052e-02 5.38315881e+00] [-5.37222293e-03 9.99977891e-01 3.91864112e-03 3.18715480e-01] [ 1.24269718e-02 -3.85163415e-03 9.99915364e-01 1.12063448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67255784400004 meters Centerline goodness [0,1] 0.2495742708715053 Centerline is valid? [False, False] Translation: X:5.38, Y:0.32, Z:1.12 [[ 9.99907221e-01 5.49746975e-03 -1.24630270e-02 5.38361688e+00] [-5.44708241e-03 9.99976869e-01 4.07329163e-03 3.17851993e-01] [ 1.24851315e-02 -4.00502657e-03 9.99914037e-01 1.12009432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70255784400007 meters Centerline goodness [0,1] 0.25016288059766323 Centerline is valid? [False, False] Translation: X:5.38, Y:0.32, Z:1.12 [[ 9.99906201e-01 5.55034719e-03 -1.25213250e-02 5.38397080e+00] [-5.49843252e-03 9.99976161e-01 4.17672273e-03 3.17290504e-01] [ 1.25442088e-02 -4.10748330e-03 9.99912882e-01 1.11970450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73255784400004 meters Centerline goodness [0,1] 0.24653537563822026 Centerline is valid? [False, False] Translation: X:5.40, Y:0.32, Z:1.12 [[ 9.99920701e-01 -2.06821937e-03 -1.24223114e-02 5.40290144e+00] [ 2.13455912e-03 9.99983520e-01 5.32948850e-03 3.22517033e-01] [ 1.24110841e-02 -5.35558204e-03 9.99908637e-01 1.12100465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76255784400007 meters Centerline goodness [0,1] 0.24745988443279698 Centerline is valid? [False, False] Translation: X:5.40, Y:0.32, Z:1.12 [[ 9.99923336e-01 -1.93626555e-03 -1.22299870e-02 5.40225789e+00] [ 2.00478159e-03 9.99982352e-01 5.59252569e-03 3.21233829e-01] [ 1.22189426e-02 -5.61661539e-03 9.99909571e-01 1.12121379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79255784400004 meters Centerline goodness [0,1] 0.2493536711478801 Centerline is valid? [False, False] Translation: X:5.40, Y:0.32, Z:1.12 [[ 9.99922965e-01 -1.88642734e-03 -1.22680877e-02 5.40234867e+00] [ 1.95705748e-03 9.99981566e-01 5.74776987e-03 3.20324882e-01] [ 1.22570188e-02 -5.77133645e-03 9.99908224e-01 1.12124587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8225578440001 meters Centerline goodness [0,1] 0.24942821386958958 Centerline is valid? [False, False] Translation: X:5.40, Y:0.32, Z:1.12 [[ 9.99921669e-01 -1.85959896e-03 -1.23772880e-02 5.40280610e+00] [ 1.93234439e-03 9.99980916e-01 5.86797016e-03 3.19523237e-01] [ 1.23661397e-02 -5.89142770e-03 9.99906180e-01 1.12094585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85255784400005 meters Centerline goodness [0,1] 0.2488671183807345 Centerline is valid? [False, False] Translation: X:5.40, Y:0.32, Z:1.12 [[ 9.99919435e-01 -1.82272117e-03 -1.25618604e-02 5.40340964e+00] [ 1.89813846e-03 9.99980232e-01 5.99436688e-03 3.18743711e-01] [ 1.25506860e-02 -6.01772810e-03 9.99903129e-01 1.12073169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8825578440001 meters Centerline goodness [0,1] 0.24856625415031697 Centerline is valid? [False, False] Translation: X:5.40, Y:0.32, Z:1.12 [[ 9.99917260e-01 -1.78192428e-03 -1.27396576e-02 5.40406621e+00] [ 1.85985055e-03 9.99979619e-01 6.10759785e-03 3.18230815e-01] [ 1.27285147e-02 -6.13078636e-03 9.99900194e-01 1.12040470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91255784400005 meters Centerline goodness [0,1] 0.2472443322763649 Centerline is valid? [False, False] Translation: X:5.40, Y:0.32, Z:1.12 [[ 9.99913352e-01 -1.70154560e-03 -1.30534587e-02 5.40490121e+00] [ 1.78474866e-03 9.99978150e-01 6.36502527e-03 3.17069567e-01] [ 1.30423431e-02 -6.38777090e-03 9.99894541e-01 1.12035136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9425578440001 meters Centerline goodness [0,1] 0.24802442139903436 Centerline is valid? [False, False] Translation: X:5.41, Y:0.32, Z:1.12 [[ 9.99912051e-01 -1.65440317e-03 -1.31587452e-02 5.40510915e+00] [ 1.74132517e-03 9.99976724e-01 6.59693316e-03 3.15733798e-01] [ 1.31475249e-02 -6.61926662e-03 9.99891658e-01 1.12051348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97255784400005 meters Centerline goodness [0,1] 0.24951828357401118 Centerline is valid? [False, False] Translation: X:5.41, Y:0.31, Z:1.12 [[ 9.99909851e-01 -1.59021448e-03 -1.33327146e-02 5.40563573e+00] [ 1.68265415e-03 9.99974607e-01 6.92494876e-03 3.13884075e-01] [ 1.33213639e-02 -6.94675883e-03 9.99887136e-01 1.12044201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002557844 meters Centerline goodness [0,1] 0.24803533155809576 Centerline is valid? [False, False] Translation: X:5.41, Y:0.31, Z:1.12 [[ 9.99907765e-01 -1.50419997e-03 -1.34980869e-02 5.40616301e+00] [ 1.60258990e-03 9.99972207e-01 7.28132248e-03 3.11999753e-01] [ 1.34867592e-02 -7.30228278e-03 9.99882385e-01 1.12033507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03255784400005 meters Centerline goodness [0,1] 0.2498912854409463 Centerline is valid? [False, False] Translation: X:5.41, Y:0.31, Z:1.12 [[ 9.99908171e-01 -1.37792915e-03 -1.34814827e-02 5.40613917e+00] [ 1.48415605e-03 9.99967909e-01 7.87263800e-03 3.09050209e-01] [ 1.34702021e-02 -7.89192369e-03 9.99878128e-01 1.12043183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062557844 meters Centerline goodness [0,1] 0.24772049608919233 Centerline is valid? [False, False] Translation: X:5.41, Y:0.31, Z:1.12 [[ 9.99908534e-01 -1.28446553e-03 -1.34637711e-02 5.40593111e+00] [ 1.39498374e-03 9.99965387e-01 8.20238861e-03 3.07334618e-01] [ 1.34527694e-02 -8.22042011e-03 9.99875716e-01 1.12078755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09255784400005 meters Centerline goodness [0,1] 0.24954565123323236 Centerline is valid? [False, False] Translation: X:5.41, Y:0.31, Z:1.12 [[ 9.99909085e-01 -1.22178470e-03 -1.34286978e-02 5.40579169e+00] [ 1.33549021e-03 9.99963308e-01 8.46164818e-03 3.05922950e-01] [ 1.34178668e-02 -8.47881278e-03 9.99874027e-01 1.12093228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122557844 meters Centerline goodness [0,1] 0.24826046430971327 Centerline is valid? [False, False] Translation: X:5.41, Y:0.30, Z:1.12 [[ 9.99905528e-01 -1.13593518e-03 -1.36983243e-02 5.40678520e+00] [ 1.25526645e-03 9.99961315e-01 8.70592816e-03 3.04675608e-01] [ 1.36879050e-02 -8.72230074e-03 9.99868273e-01 1.12040675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15255784400006 meters Centerline goodness [0,1] 0.2500490976934995 Centerline is valid? [False, False] Translation: X:5.41, Y:0.31, Z:1.12 [[ 9.99905039e-01 -1.12854025e-03 -1.37346033e-02 5.40702752e+00] [ 1.24756208e-03 9.99961720e-01 8.66035659e-03 3.05086429e-01] [ 1.37243040e-02 -8.67666896e-03 9.99868171e-01 1.12010716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18255784400003 meters Centerline goodness [0,1] 0.24632970250139918 Centerline is valid? [False, False] Translation: X:5.43, Y:0.30, Z:1.12 [[ 0.99988811 0.00742886 -0.01298409 5.42818373] [-0.00732848 0.99994303 0.00776144 0.30337577] [ 0.01304101 -0.00766542 0.99988558 1.12059576] [ 0. 0. 0. 1. ]] SLAMing on 348.21255784400006 meters Centerline goodness [0,1] 0.24300890653503593 Centerline is valid? [False, False] Translation: X:5.43, Y:0.30, Z:1.12 [[ 0.99989038 0.00732621 -0.01286688 5.42795931] [-0.0072303 0.99994585 0.00748471 0.30465003] [ 0.01292102 -0.00739086 0.99988921 1.12040962] [ 0. 0. 0. 1. ]] SLAMing on 348.24255784400003 meters Centerline goodness [0,1] 0.24840571564452318 Centerline is valid? [False, False] Translation: X:5.43, Y:0.31, Z:1.12 [[ 0.999894 0.00724367 -0.01262983 5.42729149] [-0.00715234 0.99994806 0.00726129 0.30567203] [ 0.01268178 -0.00717019 0.99989387 1.12045617] [ 0. 0. 0. 1. ]] SLAMing on 348.27255784400006 meters Centerline goodness [0,1] 0.2502987766454444 Centerline is valid? [False, False] Translation: X:5.43, Y:0.31, Z:1.12 [[ 0.99990074 0.00716049 -0.01213403 5.42544585] [-0.00707514 0.99995003 0.00706278 0.306654 ] [ 0.012184 -0.00697623 0.99990144 1.12140548] [ 0. 0. 0. 1. ]] SLAMing on 348.30255784400003 meters Centerline goodness [0,1] 0.24846473744316833 Centerline is valid? [False, False] Translation: X:5.43, Y:0.31, Z:1.12 [[ 0.9999015 0.00715138 -0.01207654 5.42504998] [-0.00706618 0.99994995 0.00708264 0.30666108] [ 0.01212659 -0.00699661 0.99990199 1.12181765] [ 0. 0. 0. 1. ]] SLAMing on 348.33255784400006 meters Centerline goodness [0,1] 0.2504399209228564 Centerline is valid? [False, False] Translation: X:5.43, Y:0.31, Z:1.12 [[ 0.99990113 0.00716776 -0.01209792 5.42511222] [-0.00708111 0.99994908 0.00719003 0.30612226] [ 0.01214884 -0.00710365 0.99990097 1.12184447] [ 0. 0. 0. 1. ]] SLAMing on 348.36255784400004 meters Centerline goodness [0,1] 0.2511300417246175 Centerline is valid? [False, False] Translation: X:5.43, Y:0.31, Z:1.12 [[ 0.99989811 0.00710478 -0.01238118 5.4260367 ] [-0.00701606 0.99994951 0.00719451 0.30580934] [ 0.01243167 -0.00710691 0.99989747 1.12146971] [ 0. 0. 0. 1. ]] SLAMing on 348.39255784400007 meters Centerline goodness [0,1] 0.24621293395700128 Centerline is valid? [False, False] Translation: X:5.45, Y:0.31, Z:1.12 [[ 9.99909263e-01 -1.82090097e-03 -1.33473176e-02 5.44874674e+00] [ 1.91425085e-03 9.99973776e-01 6.98446987e-03 3.11094500e-01] [ 1.33342495e-02 -7.00938623e-03 9.99886527e-01 1.12150158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42255784400004 meters Centerline goodness [0,1] 0.24935036812472933 Centerline is valid? [False, False] Translation: X:5.45, Y:0.31, Z:1.12 [[ 9.99908946e-01 -1.86234249e-03 -1.33652941e-02 5.44865018e+00] [ 1.95539216e-03 9.99973920e-01 6.95234950e-03 3.11085710e-01] [ 1.33519979e-02 -6.97785085e-03 9.99886510e-01 1.12172362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45255784400007 meters Centerline goodness [0,1] 0.25131083697756895 Centerline is valid? [False, False] Translation: X:5.45, Y:0.31, Z:1.12 [[ 9.99910318e-01 -1.84368166e-03 -1.32648665e-02 5.44817697e+00] [ 1.93729993e-03 9.99973284e-01 7.04822632e-03 3.10523019e-01] [ 1.32515174e-02 -7.07329225e-03 9.99887177e-01 1.12213836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48255784400004 meters Centerline goodness [0,1] 0.25048057193459905 Centerline is valid? [False, False] Translation: X:5.47, Y:0.31, Z:1.12 [[ 0.9999059 0.0060034 -0.01233486 5.46683558] [-0.0059351 0.9999669 0.00556626 0.30684961] [ 0.01236787 -0.00549253 0.99990843 1.12420869] [ 0. 0. 0. 1. ]] SLAMing on 348.51255784400007 meters Centerline goodness [0,1] 0.2507836990595611 Centerline is valid? [False, False] Translation: X:5.47, Y:0.30, Z:1.12 [[ 0.99990825 0.00611049 -0.01208924 5.46604302] [-0.00603833 0.99996379 0.00599661 0.30469735] [ 0.01212545 -0.00592306 0.99990894 1.12460561] [ 0. 0. 0. 1. ]] SLAMing on 348.54255784400004 meters Centerline goodness [0,1] 0.250291715285881 Centerline is valid? [False, False] Translation: X:5.47, Y:0.30, Z:1.12 [[ 0.999908 0.0061684 -0.01208075 5.46608331] [-0.00609374 0.99996217 0.0062073 0.30350765] [ 0.01211858 -0.00613311 0.99990776 1.12456735] [ 0. 0. 0. 1. ]] SLAMing on 348.5725578440001 meters Centerline goodness [0,1] 0.25132395218641246 Centerline is valid? [False, False] Translation: X:5.47, Y:0.30, Z:1.12 [[ 9.99922883e-01 3.10967228e-03 -1.20232632e-02 5.46585712e+00] [-3.07435177e-03 9.99990908e-01 2.95504832e-03 3.04241117e-01] [ 1.20323432e-02 -2.91785670e-03 9.99923351e-01 1.12449884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60255784400005 meters Centerline goodness [0,1] 0.24794046159471728 Centerline is valid? [False, False] Translation: X:5.47, Y:0.30, Z:1.12 [[ 9.99920515e-01 3.12420695e-03 -1.22148721e-02 5.46657702e+00] [-3.08795733e-03 9.99990776e-01 2.98539784e-03 3.04055067e-01] [ 1.22240864e-02 -2.94744154e-03 9.99920939e-01 1.12407470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6325578440001 meters Centerline goodness [0,1] 0.2522076619497198 Centerline is valid? [False, False] Translation: X:5.44, Y:0.30, Z:1.12 [[ 9.99906858e-01 -2.67112009e-03 -1.33843580e-02 5.44333031e+00] [ 2.76010962e-03 9.99974181e-01 6.63471579e-03 3.04442403e-01] [ 1.33662903e-02 -6.67104011e-03 9.99888414e-01 1.12439706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66255784400005 meters Centerline goodness [0,1] 0.2506731520889429 Centerline is valid? [False, False] Translation: X:5.44, Y:0.30, Z:1.12 [[ 9.99910732e-01 -2.63018057e-03 -1.31000050e-02 5.44246218e+00] [ 2.71693905e-03 9.99974467e-01 6.60939520e-03 3.04752812e-01] [ 1.30822866e-02 -6.64439711e-03 9.99892347e-01 1.12463657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6925578440001 meters Centerline goodness [0,1] 0.25296191665024204 Centerline is valid? [False, False] Translation: X:5.44, Y:0.30, Z:1.12 [[ 9.99914740e-01 -2.59004853e-03 -1.27985796e-02 5.44151015e+00] [ 2.67514516e-03 9.99974401e-01 6.63627177e-03 3.04629107e-01] [ 1.27810637e-02 -6.66994403e-03 9.99896073e-01 1.12496890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72255784400005 meters Centerline goodness [0,1] 0.24955356182361932 Centerline is valid? [False, False] Translation: X:5.46, Y:0.30, Z:1.13 [[ 9.99917186e-01 5.64233052e-03 -1.15665645e-02 5.46139735e+00] [-5.58067851e-03 9.99970087e-01 5.35555654e-03 3.01611309e-01] [ 1.15964364e-02 -5.29056375e-03 9.99918763e-01 1.12631295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.752557844 meters Centerline goodness [0,1] 0.2483703576636075 Centerline is valid? [False, False] Translation: X:5.46, Y:0.30, Z:1.13 [[ 9.99916145e-01 5.71640744e-03 -1.16200234e-02 5.46162416e+00] [-5.65278403e-03 9.99968893e-01 5.50081562e-03 3.00979533e-01] [ 1.16511069e-02 -5.43466887e-03 9.99917355e-01 1.12611260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78255784400005 meters Centerline goodness [0,1] 0.24975658307549176 Centerline is valid? [False, False] Translation: X:5.46, Y:0.30, Z:1.13 [[ 0.99991382 0.00580061 -0.01177751 5.46223251] [-0.00573399 0.99996742 0.00568216 0.30023431] [ 0.01181009 -0.00561414 0.9999145 1.12573096] [ 0. 0. 0. 1. ]] SLAMing on 348.812557844 meters Centerline goodness [0,1] 0.2512062595088025 Centerline is valid? [False, False] Translation: X:5.46, Y:0.30, Z:1.13 [[ 0.99991133 0.00597783 -0.01189961 5.4628485 ] [-0.00590564 0.999964 0.00609293 0.29821752] [ 0.0119356 -0.00602212 0.99991063 1.12524971] [ 0. 0. 0. 1. ]] SLAMing on 348.84255784400005 meters Centerline goodness [0,1] 0.2507745975342881 Centerline is valid? [False, False] Translation: X:5.46, Y:0.30, Z:1.13 [[ 0.99991198 0.00604069 -0.01181309 5.46253307] [-0.0059668 0.99996248 0.00628002 0.29718313] [ 0.01185058 -0.00620898 0.9999105 1.12540397] [ 0. 0. 0. 1. ]] SLAMing on 348.872557844 meters Centerline goodness [0,1] 0.2507858056404587 Centerline is valid? [False, False] Translation: X:5.46, Y:0.29, Z:1.13 [[ 0.99991402 0.00625688 -0.01152435 5.46159874] [-0.0061777 0.99995716 0.00689305 0.29419692] [ 0.01156698 -0.00682127 0.99990983 1.12577916] [ 0. 0. 0. 1. ]] SLAMing on 348.90255784400006 meters Centerline goodness [0,1] 0.24613932738503774 Centerline is valid? [False, False] Translation: X:5.46, Y:0.29, Z:1.13 [[ 0.99991099 0.00636355 -0.01172669 5.46220214] [-0.00627874 0.99995397 0.00725444 0.29237664] [ 0.01177231 -0.00718016 0.99990492 1.12568054] [ 0. 0. 0. 1. ]] SLAMing on 348.93255784400003 meters Centerline goodness [0,1] 0.24626961667095448 Centerline is valid? [False, False] Translation: X:5.46, Y:0.29, Z:1.12 [[ 9.99919542e-01 3.23312212e-03 -1.22660867e-02 5.46405406e+00] [-3.18286724e-03 9.99986471e-01 4.11437037e-03 2.91947710e-01] [ 1.22792230e-02 -4.07499801e-03 9.99916304e-01 1.12489500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96255784400006 meters Centerline goodness [0,1] 0.2511699788859624 Centerline is valid? [False, False] Translation: X:5.42, Y:0.29, Z:1.12 [[ 9.99872942e-01 2.25407768e-03 -1.57803402e-02 5.42083268e+00] [-2.19222244e-03 9.99989851e-01 3.93596765e-03 2.86500338e-01] [ 1.57890520e-02 -3.90087354e-03 9.99867736e-01 1.12487466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99255784400003 meters Centerline goodness [0,1] 0.24337830012653616 Centerline is valid? [False, False] Translation: X:5.44, Y:0.28, Z:1.12 [[ 9.99843013e-01 8.52647356e-03 -1.55321953e-02 5.44398979e+00] [-8.50727852e-03 9.99962965e-01 1.30147709e-03 2.83962484e-01] [ 1.55427170e-02 -1.16913606e-03 9.99878521e-01 1.12479566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02255784400006 meters Centerline goodness [0,1] 0.25024918743228597 Centerline is valid? [False, False] Translation: X:5.42, Y:0.28, Z:1.12 [[ 9.99870777e-01 -2.13430498e-04 -1.60743349e-02 5.42290208e+00] [ 2.55710046e-04 9.99996513e-01 2.62824239e-03 2.84415064e-01] [ 1.60737179e-02 -2.63201313e-03 9.99867345e-01 1.12379662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05255784400003 meters Centerline goodness [0,1] 0.2484541635247226 Centerline is valid? [False, False] Translation: X:5.42, Y:0.28, Z:1.12 [[ 9.99872584e-01 -6.53010736e-05 -1.59628405e-02 5.42258003e+00] [ 1.20619711e-04 9.99993991e-01 3.46452503e-03 2.79782792e-01] [ 1.59625184e-02 -3.46600903e-03 9.99866583e-01 1.12403549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08255784400006 meters Centerline goodness [0,1] 0.2530337275899146 Centerline is valid? [False, False] Translation: X:5.38, Y:0.27, Z:1.12 [[ 9.99822082e-01 -1.40948653e-03 -1.88100638e-02 5.37803300e+00] [ 1.46714955e-03 9.99994266e-01 3.05209332e-03 2.73979683e-01] [ 1.88056540e-02 -3.07914747e-03 9.99818417e-01 1.12422713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11255784400004 meters Centerline goodness [0,1] 0.2511450548968903 Centerline is valid? [False, False] Translation: X:5.38, Y:0.27, Z:1.12 [[ 9.99817425e-01 -1.29267360e-03 -1.90642252e-02 5.37887077e+00] [ 1.36111270e-03 9.99992675e-01 3.57738470e-03 2.71126589e-01] [ 1.90594612e-02 -3.60268012e-03 9.99811861e-01 1.12394408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14255784400007 meters Centerline goodness [0,1] 0.24882100982131272 Centerline is valid? [False, False] Translation: X:5.40, Y:0.27, Z:1.12 [[ 9.99814844e-01 4.73014266e-03 -1.86521584e-02 5.40244367e+00] [-4.71480737e-03 9.99988510e-01 8.66061720e-04 2.67873093e-01] [ 1.86560407e-02 -7.77960030e-04 9.99825658e-01 1.12335329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17255784400004 meters Centerline goodness [0,1] 0.24703749271514597 Centerline is valid? [False, False] Translation: X:5.40, Y:0.26, Z:1.12 [[ 9.99819278e-01 5.07125954e-03 -1.83219339e-02 5.40142733e+00] [-5.03756773e-03 9.99985536e-01 1.88456416e-03 2.62917890e-01] [ 1.83312259e-02 -1.79192560e-03 9.99830363e-01 1.12380119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20255784400007 meters Centerline goodness [0,1] 0.2496974150600847 Centerline is valid? [False, False] Translation: X:5.40, Y:0.26, Z:1.12 [[ 9.99821933e-01 5.23866202e-03 -1.81289437e-02 5.40067436e+00] [-5.19728726e-03 9.99983783e-01 2.32861148e-03 2.60676445e-01] [ 1.81408485e-02 -2.23397551e-03 9.99832946e-01 1.12427518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23255784400004 meters Centerline goodness [0,1] 0.24460431654676262 Centerline is valid? [False, False] Translation: X:5.40, Y:0.26, Z:1.12 [[ 9.99822567e-01 5.35116947e-03 -1.80610088e-02 5.40034142e+00] [-5.30475323e-03 9.99982506e-01 2.61690039e-03 2.59166408e-01] [ 1.80746963e-02 -2.52062687e-03 9.99833462e-01 1.12457676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26255784400007 meters Centerline goodness [0,1] 0.2457015130674003 Centerline is valid? [False, False] Translation: X:5.40, Y:0.26, Z:1.12 [[ 9.99821920e-01 5.46880970e-03 -1.80615465e-02 5.40030327e+00] [-5.41757881e-03 9.99981166e-01 2.88417442e-03 2.57899414e-01] [ 1.80769793e-02 -2.78581096e-03 9.99832717e-01 1.12464529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29255784400004 meters Centerline goodness [0,1] 0.25174021468068963 Centerline is valid? [False, False] Translation: X:5.40, Y:0.26, Z:1.12 [[ 9.99823507e-01 5.69605133e-03 -1.79027762e-02 5.39994769e+00] [-5.63702380e-03 9.99978514e-01 3.34585239e-03 2.55766628e-01] [ 1.79214497e-02 -3.24434349e-03 9.99834134e-01 1.12456554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3225578440001 meters Centerline goodness [0,1] 0.2475275318505722 Centerline is valid? [False, False] Translation: X:5.40, Y:0.25, Z:1.12 [[ 9.99826299e-01 5.78765080e-03 -1.77165250e-02 5.39950052e+00] [-5.72386709e-03 9.99976961e-01 3.64883135e-03 2.53932291e-01] [ 1.77372350e-02 -3.54679051e-03 9.99836392e-01 1.12455407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35255784400005 meters Centerline goodness [0,1] 0.24852773043984733 Centerline is valid? [False, False] Translation: X:5.40, Y:0.25, Z:1.13 [[ 9.99846574e-01 3.78679199e-03 -1.71022808e-02 5.39622232e+00] [-3.75633919e-03 9.99991303e-01 1.81240070e-03 2.51186831e-01] [ 1.71089952e-02 -1.74788067e-03 9.99852103e-01 1.12625081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3825578440001 meters Centerline goodness [0,1] 0.24852773043984733 Centerline is valid? [False, False] Translation: X:5.40, Y:0.25, Z:1.13 [[ 9.99846574e-01 3.78679199e-03 -1.71022808e-02 5.39622232e+00] [-3.75633919e-03 9.99991303e-01 1.81240070e-03 2.51186831e-01] [ 1.71089952e-02 -1.74788067e-03 9.99852103e-01 1.12625081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41255784400005 meters Centerline goodness [0,1] 0.2505694760820045 Centerline is valid? [False, False] Translation: X:5.40, Y:0.25, Z:1.13 [[ 9.99846931e-01 3.92551786e-03 -1.70500468e-02 5.39611654e+00] [-3.88868345e-03 9.99990034e-01 2.19298671e-03 2.49305738e-01] [ 1.70584855e-02 -2.12634880e-03 9.99852232e-01 1.12621093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4425578440001 meters Centerline goodness [0,1] 0.2525676325335431 Centerline is valid? [False, False] Translation: X:5.40, Y:0.25, Z:1.13 [[ 9.99845078e-01 4.07167267e-03 -1.71243090e-02 5.39630340e+00] [-4.02796429e-03 9.99988544e-01 2.58613390e-03 2.47506974e-01] [ 1.71346427e-02 -2.51675715e-03 9.99850024e-01 1.12619991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47255784400005 meters Centerline goodness [0,1] 0.250135015445767 Centerline is valid? [False, False] Translation: X:5.42, Y:0.25, Z:1.13 [[ 9.99848631e-01 -4.02357967e-03 -1.69270958e-02 5.41766692e+00] [ 4.08926869e-03 9.99984236e-01 3.84788123e-03 2.49047781e-01] [ 1.69113467e-02 -3.91651823e-03 9.99849322e-01 1.12670959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502557844 meters Centerline goodness [0,1] 0.24747529122973233 Centerline is valid? [False, False] Translation: X:5.42, Y:0.25, Z:1.13 [[ 9.99846888e-01 -3.90430700e-03 -1.70574584e-02 5.41795473e+00] [ 3.97822187e-03 9.99982835e-01 4.30150628e-03 2.46630082e-01] [ 1.70403712e-02 -4.36870603e-03 9.99845258e-01 1.12681614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53255784400005 meters Centerline goodness [0,1] 0.2494378135270714 Centerline is valid? [False, False] Translation: X:5.42, Y:0.24, Z:1.13 [[ 9.99845070e-01 -3.74438863e-03 -1.71992870e-02 5.41831812e+00] [ 3.82780496e-03 9.99981059e-01 4.81963018e-03 2.44012944e-01] [ 1.71809147e-02 -4.88471899e-03 9.99840465e-01 1.12686440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562557844 meters Centerline goodness [0,1] 0.2460609187248769 Centerline is valid? [False, False] Translation: X:5.42, Y:0.24, Z:1.13 [[ 9.99842992e-01 -3.55039171e-03 -1.73604490e-02 5.41865166e+00] [ 3.64485372e-03 9.99978709e-01 5.41260926e-03 2.41166619e-01] [ 1.73408625e-02 -5.47503573e-03 9.99834646e-01 1.12702476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59255784400005 meters Centerline goodness [0,1] 0.25003790093777745 Centerline is valid? [False, False] Translation: X:5.42, Y:0.24, Z:1.13 [[ 9.99837899e-01 -3.45090300e-03 -1.76710766e-02 5.41949127e+00] [ 3.56476897e-03 9.99973062e-01 6.41619547e-03 2.35320048e-01] [ 1.76484589e-02 -6.47814871e-03 9.99823267e-01 1.12715562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622557844 meters Centerline goodness [0,1] 0.24772124894951197 Centerline is valid? [False, False] Translation: X:5.42, Y:0.23, Z:1.13 [[ 9.99835073e-01 -3.30597764e-03 -1.78576721e-02 5.41988444e+00] [ 3.43209383e-03 9.99969355e-01 7.03627299e-03 2.31789998e-01] [ 1.78338631e-02 -7.09640173e-03 9.99815780e-01 1.12736335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65255784400006 meters Centerline goodness [0,1] 0.2516287352328006 Centerline is valid? [False, False] Translation: X:5.42, Y:0.23, Z:1.13 [[ 9.99836342e-01 -3.12420394e-03 -1.78193143e-02 5.41961083e+00] [ 3.26137234e-03 9.99965237e-01 7.67387897e-03 2.28391670e-01] [ 1.77947201e-02 -7.73073850e-03 9.99811774e-01 1.12773916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68255784400003 meters Centerline goodness [0,1] 0.25259568515158803 Centerline is valid? [False, False] Translation: X:5.42, Y:0.23, Z:1.13 [[ 9.99838314e-01 -2.94339134e-03 -1.77392682e-02 5.41922335e+00] [ 3.08959738e-03 9.99961441e-01 8.22018084e-03 2.25668153e-01] [ 1.77143889e-02 -8.27365895e-03 9.99808855e-01 1.12811415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71255784400006 meters Centerline goodness [0,1] 0.25306069004648324 Centerline is valid? [False, False] Translation: X:5.42, Y:0.22, Z:1.13 [[ 9.99839138e-01 -2.75932579e-03 -1.77223985e-02 5.41912929e+00] [ 2.91443722e-03 9.99957624e-01 8.73242591e-03 2.23301716e-01] [ 1.76975519e-02 -8.78267201e-03 9.99804812e-01 1.12822640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74255784400003 meters Centerline goodness [0,1] 0.25270267306975414 Centerline is valid? [False, False] Translation: X:5.42, Y:0.22, Z:1.13 [[ 9.99832221e-01 -2.56193754e-03 -1.81374232e-02 5.42044489e+00] [ 2.73570000e-03 9.99950541e-01 9.56200713e-03 2.18768256e-01] [ 1.81120288e-02 -9.61002138e-03 9.99789779e-01 1.12784715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77255784400006 meters Centerline goodness [0,1] 0.2520544371494413 Centerline is valid? [False, False] Translation: X:5.44, Y:0.22, Z:1.13 [[ 9.99826920e-01 3.55422759e-03 -1.82619094e-02 5.44308198e+00] [-3.44015817e-03 9.99974401e-01 6.27392556e-03 2.15425951e-01] [ 1.82837408e-02 -6.21001581e-03 9.99813553e-01 1.12782112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80255784400003 meters Centerline goodness [0,1] 0.2519458434168357 Centerline is valid? [False, False] Translation: X:5.44, Y:0.21, Z:1.13 [[ 9.99821413e-01 3.65031220e-03 -1.85422950e-02 5.44410904e+00] [-3.52838272e-03 9.99971967e-01 6.60421350e-03 2.13596268e-01] [ 1.85658827e-02 -6.53760976e-03 9.99806265e-01 1.12727867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83255784400006 meters Centerline goodness [0,1] 0.2533593031907909 Centerline is valid? [False, False] Translation: X:5.45, Y:0.21, Z:1.13 [[ 9.99815861e-01 3.73727804e-03 -1.88222227e-02 5.44508717e+00] [-3.60787544e-03 9.99969657e-01 6.90426125e-03 2.12002909e-01] [ 1.88474547e-02 -6.83508168e-03 9.99799007e-01 1.12679243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86255784400004 meters Centerline goodness [0,1] 0.2496600429881125 Centerline is valid? [False, False] Translation: X:5.45, Y:0.21, Z:1.13 [[ 9.99805668e-01 3.77342316e-03 -1.93490982e-02 5.44673419e+00] [-3.63191766e-03 9.99966443e-01 7.34321924e-03 2.09498768e-01] [ 1.93761580e-02 -7.27151788e-03 9.99785822e-01 1.12616943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89255784400007 meters Centerline goodness [0,1] 0.2508858809287994 Centerline is valid? [False, False] Translation: X:5.45, Y:0.21, Z:1.13 [[ 9.99804959e-01 3.81476938e-03 -1.93775920e-02 5.44668045e+00] [-3.66863169e-03 9.99964606e-01 7.57153976e-03 2.08256398e-01] [ 1.94057898e-02 -7.49897375e-03 9.99783567e-01 1.12638366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92255784400004 meters Centerline goodness [0,1] 0.24819146632012135 Centerline is valid? [False, False] Translation: X:5.49, Y:0.21, Z:1.13 [[ 9.99849094e-01 3.41302278e-03 -1.70335170e-02 5.49042105e+00] [-3.29928207e-03 9.99972105e-01 6.70110466e-03 2.08235021e-01] [ 1.70559128e-02 -6.64389505e-03 9.99832463e-01 1.12650757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95255784400007 meters Centerline goodness [0,1] 0.2493327499453074 Centerline is valid? [False, False] Translation: X:5.49, Y:0.21, Z:1.13 [[ 9.99861530e-01 -1.64399485e-04 -1.66401401e-02 5.48904892e+00] [ 2.25237297e-04 9.99993298e-01 3.65427965e-03 2.05446135e-01] [ 1.66394278e-02 -3.65752162e-03 9.99854865e-01 1.12702404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98255784400004 meters Centerline goodness [0,1] 0.25005480292866855 Centerline is valid? [False, False] Translation: X:5.49, Y:0.20, Z:1.13 [[ 9.99866909e-01 -2.59565276e-04 -1.63125040e-02 5.48811620e+00] [ 3.25637186e-04 9.99991754e-01 4.04785867e-03 2.02920389e-01] [ 1.63113188e-02 -4.05263190e-03 9.99858749e-01 1.12732957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01255784400007 meters Centerline goodness [0,1] 0.24754322407098073 Centerline is valid? [False, False] Translation: X:5.51, Y:0.20, Z:1.13 [[ 9.99889259e-01 4.90472051e-03 -1.40504074e-02 5.50943003e+00] [-4.89902105e-03 9.99987903e-01 4.40033177e-04 1.99676950e-01] [ 1.40523957e-02 -3.71151206e-04 9.99901191e-01 1.12666461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04255784400004 meters Centerline goodness [0,1] 0.2464041244259596 Centerline is valid? [False, False] Translation: X:5.51, Y:0.20, Z:1.13 [[ 9.99891752e-01 4.75991046e-03 -1.39221746e-02 5.50884341e+00] [-4.74939337e-03 9.99988411e-01 7.88384971e-04 1.97112236e-01] [ 1.39257659e-02 -7.22177746e-04 9.99902771e-01 1.12711548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0725578440001 meters Centerline goodness [0,1] 0.2465890327626662 Centerline is valid? [False, False] Translation: X:5.51, Y:0.19, Z:1.13 [[ 9.99890565e-01 4.75450651e-03 -1.40090302e-02 5.50902979e+00] [-4.73729857e-03 9.99987984e-01 1.26127456e-03 1.94410348e-01] [ 1.40148586e-02 -1.19477158e-03 9.99901073e-01 1.12712725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10255784400005 meters Centerline goodness [0,1] 0.2499022886177097 Centerline is valid? [False, False] Translation: X:5.51, Y:0.19, Z:1.13 [[ 9.99892161e-01 4.52690746e-03 -1.39704382e-02 5.50904895e+00] [-4.50126363e-03 9.99988127e-01 1.86647619e-03 1.90167850e-01] [ 1.39787217e-02 -1.80339028e-03 9.99900667e-01 1.12699196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1325578440001 meters Centerline goodness [0,1] 0.24780562547882234 Centerline is valid? [False, False] Translation: X:5.51, Y:0.19, Z:1.13 [[ 9.99892159e-01 4.64918496e-03 -1.39304109e-02 5.50887162e+00] [-4.61735697e-03 9.99986658e-01 2.31607725e-03 1.87748405e-01] [ 1.39409929e-02 -2.25150580e-03 9.99900285e-01 1.12711237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16255784400005 meters Centerline goodness [0,1] 0.2478561428071404 Centerline is valid? [False, False] Translation: X:5.51, Y:0.19, Z:1.13 [[ 9.99891996e-01 4.74372397e-03 -1.39101918e-02 5.50864189e+00] [-4.70727984e-03 9.99985405e-01 2.65153104e-03 1.85831859e-01] [ 1.39225670e-02 -2.58576550e-03 9.99899733e-01 1.12740093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1925578440001 meters Centerline goodness [0,1] 0.24958406304728542 Centerline is valid? [False, False] Translation: X:5.51, Y:0.18, Z:1.13 [[ 9.99891591e-01 4.83183857e-03 -1.39089866e-02 5.50837863e+00] [-4.79228556e-03 9.99984382e-01 2.87562822e-03 1.84713725e-01] [ 1.39226640e-02 -2.80866064e-03 9.99899130e-01 1.12782931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22255784400005 meters Centerline goodness [0,1] 0.24937835361863625 Centerline is valid? [False, False] Translation: X:5.51, Y:0.18, Z:1.13 [[ 9.99890703e-01 4.88175974e-03 -1.39552799e-02 5.50848702e+00] [-4.84121847e-03 9.99983967e-01 2.93739230e-03 1.84601058e-01] [ 1.39693958e-02 -2.86951069e-03 9.99898306e-01 1.12783937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.252557844 meters Centerline goodness [0,1] 0.24812244093626157 Centerline is valid? [False, False] Translation: X:5.51, Y:0.18, Z:1.13 [[ 9.99890654e-01 4.96227619e-03 -1.39303809e-02 5.50847207e+00] [-4.92014721e-03 9.99983224e-01 3.05689562e-03 1.84204868e-01] [ 1.39453164e-02 -2.98802183e-03 9.99898295e-01 1.12777676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28255784400005 meters Centerline goodness [0,1] 0.24719076607536383 Centerline is valid? [False, False] Translation: X:5.51, Y:0.18, Z:1.13 [[ 9.99891929e-01 4.96964055e-03 -1.38359635e-02 5.50811870e+00] [-4.92650459e-03 9.99982903e-01 3.15000854e-03 1.83453564e-01] [ 1.38513814e-02 -3.08150517e-03 9.99899317e-01 1.12798810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.312557844 meters Centerline goodness [0,1] 0.2476634491211942 Centerline is valid? [False, False] Translation: X:5.51, Y:0.18, Z:1.13 [[ 9.99892491e-01 4.98009762e-03 -1.37914512e-02 5.50791390e+00] [-4.93543422e-03 9.99982472e-01 3.27062867e-03 1.82543711e-01] [ 1.38074975e-02 -3.20221025e-03 9.99899544e-01 1.12811589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34255784400005 meters Centerline goodness [0,1] 0.24214338060956153 Centerline is valid? [False, False] Translation: X:5.53, Y:0.19, Z:1.13 [[ 9.99897880e-01 -2.84324216e-03 -1.40051743e-02 5.52867778e+00] [ 2.90018892e-03 9.99987603e-01 4.04749250e-03 1.85917544e-01] [ 1.39934926e-02 -4.08769682e-03 9.99893731e-01 1.12914580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.372557844 meters Centerline goodness [0,1] 0.24261097057360925 Centerline is valid? [False, False] Translation: X:5.53, Y:0.18, Z:1.13 [[ 9.99894468e-01 -2.69690538e-03 -1.42751547e-02 5.52975606e+00] [ 2.75963210e-03 9.99986616e-01 4.37624599e-03 1.84715128e-01] [ 1.42631613e-02 -4.41517833e-03 9.99888528e-01 1.12844031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40255784400006 meters Centerline goodness [0,1] 0.245578246055687 Centerline is valid? [False, False] Translation: X:5.53, Y:0.18, Z:1.13 [[ 9.99892784e-01 -2.65001781e-03 -1.44013123e-02 5.53004448e+00] [ 2.71579755e-03 9.99985961e-01 4.54998637e-03 1.83757467e-01] [ 1.43890526e-02 -4.58860958e-03 9.99885943e-01 1.12851603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43255784400003 meters Centerline goodness [0,1] 0.24642966327466476 Centerline is valid? [False, False] Translation: X:5.53, Y:0.18, Z:1.13 [[ 9.99892064e-01 -2.64140625e-03 -1.44527741e-02 5.52993709e+00] [ 2.70920117e-03 9.99985411e-01 4.67322282e-03 1.82795018e-01] [ 1.44402194e-02 -4.71187389e-03 9.99884632e-01 1.12893193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46255784400006 meters Centerline goodness [0,1] 0.24497416525552518 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99892360e-01 5.35964847e-03 -1.36580383e-02 5.54794896e+00] [-5.32129014e-03 9.99981800e-01 2.84327580e-03 1.77806592e-01] [ 1.36730287e-02 -2.77029136e-03 9.99902682e-01 1.13107197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49255784400003 meters Centerline goodness [0,1] 0.2477654240244168 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99895346e-01 5.42741159e-03 -1.34104171e-02 5.54735321e+00] [-5.39029536e-03 9.99981546e-01 2.80231281e-03 1.78745135e-01] [ 1.34253789e-02 -2.72973343e-03 9.99906149e-01 1.13103107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52255784400006 meters Centerline goodness [0,1] 0.24582915886222068 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99895273e-01 5.37134729e-03 -1.34384193e-02 5.54772882e+00] [-5.33695994e-03 9.99982395e-01 2.59343806e-03 1.79952093e-01] [ 1.34521130e-02 -2.52144615e-03 9.99906337e-01 1.13052676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55255784400003 meters Centerline goodness [0,1] 0.2502512343251627 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99892869e-01 5.29233639e-03 -1.36470084e-02 5.54854406e+00] [-5.25983637e-03 9.99983248e-01 2.41626953e-03 1.80604237e-01] [ 1.36595675e-02 -2.34422964e-03 9.99903956e-01 1.13002111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58255784400006 meters Centerline goodness [0,1] 0.24420069504778452 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99888743e-01 5.17308850e-03 -1.39907228e-02 5.54968197e+00] [-5.14246993e-03 9.99984305e-01 2.22358138e-03 1.81098956e-01] [ 1.40020060e-02 -2.15138712e-03 9.99899653e-01 1.12954462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61255784400004 meters Centerline goodness [0,1] 0.23978378378378373 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99885526e-01 5.09903719e-03 -1.42455233e-02 5.55045802e+00] [-5.06972430e-03 9.99984958e-01 2.09304640e-03 1.81434117e-01] [ 1.42559816e-02 -2.02058592e-03 9.99896337e-01 1.12927698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64255784400007 meters Centerline goodness [0,1] 0.24723651088978882 Centerline is valid? [False, False] Translation: X:5.53, Y:0.19, Z:1.13 [[ 9.99868876e-01 -3.65595891e-03 -1.57754415e-02 5.53056163e+00] [ 3.70698270e-03 9.99987989e-01 3.20635267e-03 1.85871771e-01] [ 1.57635298e-02 -3.26441153e-03 9.99870419e-01 1.12851729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67255784400004 meters Centerline goodness [0,1] 0.24272899063837183 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99864382e-01 4.78054177e-03 -1.57595796e-02 5.54967779e+00] [-4.74482597e-03 9.99986092e-01 2.30290414e-03 1.80034026e-01] [ 1.57703695e-02 -2.22781537e-03 9.99873158e-01 1.12998329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70255784400007 meters Centerline goodness [0,1] 0.24538391025361217 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99864961e-01 4.85768609e-03 -1.56991151e-02 5.54940081e+00] [-4.81806665e-03 9.99985115e-01 2.56051115e-03 1.78636320e-01] [ 1.57113196e-02 -2.48452600e-03 9.99873483e-01 1.13020861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73255784400004 meters Centerline goodness [0,1] 0.24307263664265033 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99876770e-01 1.25343250e-03 -1.56484726e-02 5.54917009e+00] [-1.26928309e-03 9.99998691e-01 -1.00302488e-03 1.77863234e-01] [ 1.56471949e-02 1.02276362e-03 9.99877052e-01 1.13026671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76255784400007 meters Centerline goodness [0,1] 0.24057649667405767 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99874029e-01 1.32598320e-03 -1.58166737e-02 5.54957485e+00] [-1.33915332e-03 9.99998765e-01 -8.22110937e-04 1.77006579e-01] [ 1.58155641e-02 8.43188326e-04 9.99874571e-01 1.13028568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79255784400004 meters Centerline goodness [0,1] 0.2410625081447374 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99873765e-01 1.39042152e-03 -1.58278174e-02 5.54968521e+00] [-1.40258911e-03 9.99998729e-01 -7.57672412e-04 1.76875087e-01] [ 1.58267438e-02 7.79776692e-04 9.99874445e-01 1.13015373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8225578440001 meters Centerline goodness [0,1] 0.24134503176729916 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99875915e-01 1.46824229e-03 -1.56843815e-02 5.54923615e+00] [-1.48069632e-03 9.99998598e-01 -7.82457284e-04 1.77376688e-01] [ 1.56832107e-02 8.05583998e-04 9.99876686e-01 1.13035726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85255784400005 meters Centerline goodness [0,1] 0.24450417376862899 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99892071e-01 2.07493092e-03 -1.45444153e-02 5.54597273e+00] [-2.08182481e-03 9.99997728e-01 -4.58864763e-04 1.77395549e-01] [ 1.45434301e-02 4.89094163e-04 9.99894119e-01 1.13120411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8825578440001 meters Centerline goodness [0,1] 0.2410529492928596 Centerline is valid? [False, False] Translation: X:5.57, Y:0.18, Z:1.13 [[ 9.99905074e-01 -3.08353789e-03 -1.34288832e-02 5.56871771e+00] [ 3.11693340e-03 9.99992100e-01 2.46662313e-03 1.78644608e-01] [ 1.34211712e-02 -2.50824591e-03 9.99906786e-01 1.13095798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91255784400005 meters Centerline goodness [0,1] 0.25031693989071035 Centerline is valid? [False, False] Translation: X:5.55, Y:0.17, Z:1.13 [[ 9.99895460e-01 5.09036093e-03 -1.35335485e-02 5.54723566e+00] [-5.06896465e-03 9.99985849e-01 1.61481390e-03 1.74623671e-01] [ 1.35415770e-02 -1.54604401e-03 9.99907113e-01 1.12991048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9425578440001 meters Centerline goodness [0,1] 0.2464290365996613 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99894407e-01 5.09089034e-03 -1.36109174e-02 5.54746873e+00] [-5.07166576e-03 9.99986093e-01 1.44658199e-03 1.75640558e-01] [ 1.36180925e-02 -1.37739922e-03 9.99906321e-01 1.12980019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97255784400005 meters Centerline goodness [0,1] 0.24275948329775077 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99892943e-01 5.05330001e-03 -1.37319401e-02 5.54797148e+00] [-5.03648087e-03 9.99986524e-01 1.25912520e-03 1.76661209e-01] [ 1.37381178e-02 -1.18982975e-03 9.99904920e-01 1.12944079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002557844 meters Centerline goodness [0,1] 0.24819728558046317 Centerline is valid? [False, False] Translation: X:5.53, Y:0.18, Z:1.13 [[ 9.99883107e-01 -3.52098226e-03 -1.48787017e-02 5.52958231e+00] [ 3.56145199e-03 9.99990028e-01 2.69435684e-03 1.81203267e-01] [ 1.48690666e-02 -2.74703167e-03 9.99885676e-01 1.12741510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03255784400005 meters Centerline goodness [0,1] 0.24374647765205704 Centerline is valid? [False, False] Translation: X:5.53, Y:0.18, Z:1.13 [[ 9.99879614e-01 -3.49579984e-03 -1.51174567e-02 5.53035180e+00] [ 3.53969200e-03 9.99989595e-01 2.87762700e-03 1.80222490e-01] [ 1.51072398e-02 -2.93079171e-03 9.99881584e-01 1.12706659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062557844 meters Centerline goodness [0,1] 0.2475275687029581 Centerline is valid? [False, False] Translation: X:5.53, Y:0.18, Z:1.13 [[ 9.99880644e-01 -3.43039128e-03 -1.50641870e-02 5.53015996e+00] [ 3.47651994e-03 9.99989345e-01 3.03702171e-03 1.79607637e-01] [ 1.50536083e-02 -3.08903017e-03 9.99881916e-01 1.12712744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09255784400005 meters Centerline goodness [0,1] 0.2455411255411255 Centerline is valid? [False, False] Translation: X:5.55, Y:0.18, Z:1.13 [[ 9.99898605e-01 5.07952498e-03 -1.33033173e-02 5.54936918e+00] [-5.05364721e-03 9.99985274e-01 1.97810650e-03 1.75115984e-01] [ 1.33131693e-02 -1.91067565e-03 9.99909550e-01 1.12789611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122557844 meters Centerline goodness [0,1] 0.2597673660180454 Centerline is valid? [False, False] Translation: X:5.55, Y:0.17, Z:1.13 [[ 9.99901212e-01 5.11311664e-03 -1.30928653e-02 5.54858003e+00] [-5.08545936e-03 9.99984769e-01 2.14481619e-03 1.74093132e-01] [ 1.31036326e-02 -2.07802107e-03 9.99911984e-01 1.12837129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15255784400006 meters Centerline goodness [0,1] 0.24539252842447212 Centerline is valid? [False, False] Translation: X:5.55, Y:0.17, Z:1.13 [[ 9.99901059e-01 5.09767988e-03 -1.31105329e-02 5.54835292e+00] [-5.06763469e-03 9.99984459e-01 2.32388492e-03 1.72554186e-01] [ 1.31221756e-02 -2.25721560e-03 9.99911353e-01 1.12878069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18255784400003 meters Centerline goodness [0,1] 0.24264721748699913 Centerline is valid? [False, False] Translation: X:5.55, Y:0.17, Z:1.13 [[ 9.99897678e-01 5.10880942e-03 -1.33616289e-02 5.54916730e+00] [-5.07782756e-03 9.99984343e-01 2.35161779e-03 1.72365010e-01] [ 1.33734337e-02 -2.28352912e-03 9.99907964e-01 1.12847985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21255784400006 meters Centerline goodness [0,1] 0.2500714615536841 Centerline is valid? [False, False] Translation: X:5.50, Y:0.17, Z:1.13 [[ 9.99856376e-01 4.33377856e-03 -1.63843059e-02 5.50495711e+00] [-4.29099281e-03 9.99987294e-01 2.64564019e-03 1.71230750e-01] [ 1.63955633e-02 -2.57495527e-03 9.99862268e-01 1.12888785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24255784400003 meters Centerline goodness [0,1] 0.2496616754703802 Centerline is valid? [False, False] Translation: X:5.50, Y:0.17, Z:1.13 [[ 9.99857469e-01 4.49742907e-03 -1.62731236e-02 5.50469800e+00] [-4.45096561e-03 9.99985917e-01 2.89031941e-03 1.70214263e-01] [ 1.62858935e-02 -2.81747634e-03 9.99863406e-01 1.12885339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27255784400006 meters Centerline goodness [0,1] 0.2464306542540553 Centerline is valid? [False, False] Translation: X:5.52, Y:0.17, Z:1.13 [[ 9.99874648e-01 -3.12986101e-03 -1.55206939e-02 5.52422887e+00] [ 3.19010776e-03 9.99987468e-01 3.85846711e-03 1.73269667e-01] [ 1.55084230e-02 -3.90749613e-03 9.99872102e-01 1.12981331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30255784400003 meters Centerline goodness [0,1] 0.2464306542540553 Centerline is valid? [False, False] Translation: X:5.52, Y:0.17, Z:1.13 [[ 9.99874648e-01 -3.12986101e-03 -1.55206939e-02 5.52422887e+00] [ 3.19010776e-03 9.99987468e-01 3.85846711e-03 1.73269667e-01] [ 1.55084230e-02 -3.90749613e-03 9.99872102e-01 1.12981331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33255784400006 meters Centerline goodness [0,1] 0.24830473366330152 Centerline is valid? [False, False] Translation: X:5.52, Y:0.17, Z:1.13 [[ 9.99873995e-01 -3.06392044e-03 -1.55758553e-02 5.52440610e+00] [ 3.12692061e-03 9.99987023e-01 4.02198908e-03 1.72396807e-01] [ 1.55633301e-02 -4.07018675e-03 9.99870600e-01 1.12976293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36255784400004 meters Centerline goodness [0,1] 0.24345272794006523 Centerline is valid? [False, False] Translation: X:5.55, Y:0.17, Z:1.13 [[ 9.99867928e-01 4.27047836e-03 -1.56808601e-02 5.54711593e+00] [-4.24830844e-03 9.99989929e-01 1.44685926e-03 1.68145419e-01] [ 1.56868810e-02 -1.38005104e-03 9.99876001e-01 1.12953265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39255784400007 meters Centerline goodness [0,1] 0.24399332712264665 Centerline is valid? [False, False] Translation: X:5.55, Y:0.17, Z:1.13 [[ 9.99865099e-01 4.33796080e-03 -1.58418944e-02 5.54759706e+00] [-4.31330644e-03 9.99989433e-01 1.59011240e-03 1.67344177e-01] [ 1.58486249e-02 -1.52156694e-03 9.99873245e-01 1.12941683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42255784400004 meters Centerline goodness [0,1] 0.24215671497168445 Centerline is valid? [False, False] Translation: X:5.55, Y:0.17, Z:1.13 [[ 9.99864805e-01 4.41320544e-03 -1.58397065e-02 5.54750223e+00] [-4.38653316e-03 9.99988903e-01 1.71823555e-03 1.66799523e-01] [ 1.58471137e-02 -1.64852186e-03 9.99873068e-01 1.12954656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45255784400007 meters Centerline goodness [0,1] 0.24798426745329405 Centerline is valid? [False, False] Translation: X:5.52, Y:0.17, Z:1.13 [[ 9.99861193e-01 -3.10332028e-03 -1.63696281e-02 5.52397152e+00] [ 3.17131810e-03 9.99986445e-01 4.12958020e-03 1.68050109e-01] [ 1.63565908e-02 -4.18092029e-03 9.99857481e-01 1.13027002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48255784400004 meters Centerline goodness [0,1] 0.2487759232259047 Centerline is valid? [False, False] Translation: X:5.52, Y:0.17, Z:1.13 [[ 9.99864552e-01 -2.99245458e-03 -1.61840224e-02 5.52339305e+00] [ 3.06151315e-03 9.99986308e-01 4.24399248e-03 1.67834097e-01] [ 1.61711008e-02 -4.29296524e-03 9.99860023e-01 1.13048529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51255784400007 meters Centerline goodness [0,1] 0.24143338990697572 Centerline is valid? [False, False] Translation: X:5.54, Y:0.16, Z:1.13 [[ 9.99861987e-01 6.23782016e-03 -1.53979255e-02 5.54440527e+00] [-6.18433979e-03 9.99974687e-01 3.51839556e-03 1.63708684e-01] [ 1.54194829e-02 -3.42268398e-03 9.99875255e-01 1.13113481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54255784400004 meters Centerline goodness [0,1] 0.24352890422778262 Centerline is valid? [False, False] Translation: X:5.55, Y:0.16, Z:1.13 [[ 9.99859306e-01 6.28521516e-03 -1.55520101e-02 5.54504511e+00] [-6.22939787e-03 9.99973991e-01 3.63491686e-03 1.63101371e-01] [ 1.55744519e-02 -3.53752579e-03 9.99872453e-01 1.13070718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5725578440001 meters Centerline goodness [0,1] 0.2414171399070728 Centerline is valid? [False, False] Translation: X:5.55, Y:0.16, Z:1.13 [[ 9.99855775e-01 6.37365847e-03 -1.57418501e-02 5.54582932e+00] [-6.31369245e-03 9.99972634e-01 3.85610233e-03 1.62017479e-01] [ 1.57659968e-02 -3.75615699e-03 9.99868654e-01 1.13021228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60255784400005 meters Centerline goodness [0,1] 0.2480828472176706 Centerline is valid? [False, False] Translation: X:5.53, Y:0.16, Z:1.13 [[ 9.99841664e-01 -2.55652322e-03 -1.76099838e-02 5.52526149e+00] [ 2.64782176e-03 9.99983166e-01 5.16311311e-03 1.62968883e-01] [ 1.75964877e-02 -5.20892370e-03 9.99831601e-01 1.12994786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6325578440001 meters Centerline goodness [0,1] 0.24624670429041462 Centerline is valid? [False, False] Translation: X:5.53, Y:0.16, Z:1.13 [[ 9.99840192e-01 -2.14352231e-03 -1.77481367e-02 5.52509510e+00] [ 2.25465484e-03 9.99977964e-01 6.24400487e-03 1.57814073e-01] [ 1.77343614e-02 -6.28302295e-03 9.99822992e-01 1.13085581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66255784400005 meters Centerline goodness [0,1] 0.24613722312263642 Centerline is valid? [False, False] Translation: X:5.54, Y:0.15, Z:1.13 [[ 9.99836726e-01 6.41877969e-03 -1.68914369e-02 5.54444256e+00] [-6.33425848e-03 9.99967174e-01 5.05254402e-03 1.51305850e-01] [ 1.69233136e-02 -4.94472435e-03 9.99844563e-01 1.13248501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6925578440001 meters Centerline goodness [0,1] 0.24751421996439582 Centerline is valid? [False, False] Translation: X:5.54, Y:0.15, Z:1.13 [[ 9.99862919e-01 3.69262369e-03 -1.61402631e-02 5.54188465e+00] [-3.65477129e-03 9.99990503e-01 2.37408302e-03 1.49104463e-01] [ 1.61488764e-02 -2.31476860e-03 9.99866919e-01 1.13319768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72255784400005 meters Centerline goodness [0,1] 0.2477290423046976 Centerline is valid? [False, False] Translation: X:5.54, Y:0.15, Z:1.13 [[ 9.99861645e-01 3.83020379e-03 -1.61870149e-02 5.54193016e+00] [-3.78617052e-03 9.99989051e-01 2.75005394e-03 1.46986835e-01] [ 1.61973709e-02 -2.68838666e-03 9.99865200e-01 1.13334055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.752557844 meters Centerline goodness [0,1] 0.2497059464169027 Centerline is valid? [False, False] Translation: X:5.54, Y:0.15, Z:1.13 [[ 9.99861348e-01 3.95075373e-03 -1.61763821e-02 5.54200311e+00] [-3.90242287e-03 9.99987831e-01 3.01821871e-03 1.45632891e-01] [ 1.61881095e-02 -2.95467314e-03 9.99864598e-01 1.13320847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78255784400005 meters Centerline goodness [0,1] 0.25092436607084256 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99860716e-01 4.36772846e-03 -1.61081322e-02 5.54220962e+00] [-4.31287792e-03 9.99984788e-01 3.43831373e-03 1.44301559e-01] [ 1.61229048e-02 -3.36836242e-03 9.99864344e-01 1.13254628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.812557844 meters Centerline goodness [0,1] 0.24743069349684776 Centerline is valid? [False, False] Translation: X:5.56, Y:0.15, Z:1.13 [[ 9.99865446e-01 -5.22131773e-04 -1.63956522e-02 5.56463200e+00] [ 6.28632739e-04 9.99978734e-01 6.49120161e-03 1.46743402e-01] [ 1.63919143e-02 -6.50063504e-03 9.99844511e-01 1.13247770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84255784400005 meters Centerline goodness [0,1] 0.25151055742315387 Centerline is valid? [False, False] Translation: X:5.52, Y:0.14, Z:1.13 [[ 9.99797949e-01 7.90710219e-04 -2.00856941e-02 5.52278781e+00] [-6.14902902e-04 9.99961463e-01 8.75753088e-03 1.42124130e-01] [ 2.00918447e-02 -8.74341066e-03 9.99759906e-01 1.13234164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.872557844 meters Centerline goodness [0,1] 0.24958547866305958 Centerline is valid? [False, False] Translation: X:5.52, Y:0.14, Z:1.13 [[ 9.99795509e-01 8.75707696e-04 -2.02032993e-02 5.52326722e+00] [-6.96876959e-04 9.99960534e-01 8.85690395e-03 1.41704199e-01] [ 2.02102581e-02 -8.84101357e-03 9.99756661e-01 1.13199885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90255784400006 meters Centerline goodness [0,1] 0.2494996519317786 Centerline is valid? [False, False] Translation: X:5.52, Y:0.14, Z:1.13 [[ 9.99794212e-01 9.64669770e-04 -2.02633183e-02 5.52336420e+00] [-7.80344759e-04 9.99958268e-01 9.10242514e-03 1.40369671e-01] [ 2.02712535e-02 -9.08473961e-03 9.99753241e-01 1.13212631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93255784400003 meters Centerline goodness [0,1] 0.24603516635062916 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 0.99979519 0.00764998 -0.01873629 5.54479108] [-0.00753924 0.99995373 0.00597412 0.13786489] [ 0.01878113 -0.00583164 0.99980661 1.1320674 ] [ 0. 0. 0. 1. ]] SLAMing on 351.96255784400006 meters Centerline goodness [0,1] 0.2459285498293663 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99834558e-01 4.42244511e-03 -1.76436812e-02 5.54131240e+00] [-4.37182794e-03 9.99986220e-01 2.90639581e-03 1.36315411e-01] [ 1.76562915e-02 -2.82877983e-03 9.99840114e-01 1.13288210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99255784400003 meters Centerline goodness [0,1] 0.24738973404837472 Centerline is valid? [False, False] Translation: X:5.52, Y:0.13, Z:1.13 [[ 9.99827191e-01 -5.62161529e-03 -1.77196494e-02 5.51741856e+00] [ 5.68845492e-03 9.99976887e-01 3.72391935e-03 1.33199995e-01] [ 1.76983054e-02 -3.82407325e-03 9.99836060e-01 1.13335446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02255784400006 meters Centerline goodness [0,1] 0.2507293072669482 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99861942e-01 2.98941276e-03 -1.63450313e-02 5.53574555e+00] [-2.94917863e-03 9.99992563e-01 2.48510065e-03 1.28243603e-01] [ 1.63523387e-02 -2.43655315e-03 9.99863323e-01 1.13482967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05255784400003 meters Centerline goodness [0,1] 0.24434943279477483 Centerline is valid? [False, False] Translation: X:5.55, Y:0.13, Z:1.14 [[ 9.99872360e-01 -4.35919560e-03 -1.53707804e-02 5.55483279e+00] [ 4.41704261e-03 9.99983283e-01 3.73150204e-03 1.32109249e-01] [ 1.53542571e-02 -3.79891914e-03 9.99874900e-01 1.13650611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08255784400006 meters Centerline goodness [0,1] 0.24853706462827407 Centerline is valid? [False, False] Translation: X:5.55, Y:0.13, Z:1.14 [[ 9.99873020e-01 -4.34173562e-03 -1.53327325e-02 5.55473361e+00] [ 4.39946110e-03 9.99983354e-01 3.73313156e-03 1.32198092e-01] [ 1.53162690e-02 -3.80011328e-03 9.99875478e-01 1.13653101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11255784400004 meters Centerline goodness [0,1] 0.25119216113228093 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99831023e-01 3.58274391e-03 -1.80302093e-02 5.53655766e+00] [-3.53698211e-03 9.99990444e-01 2.56931185e-03 1.29427046e-01] [ 1.80392422e-02 -2.50510517e-03 9.99834141e-01 1.13434436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14255784400007 meters Centerline goodness [0,1] 0.25032739654269254 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99827911e-01 3.49799837e-03 -1.82184566e-02 5.53745522e+00] [-3.45740589e-03 9.99991471e-01 2.25911731e-03 1.30855979e-01] [ 1.82262036e-02 -2.19573994e-03 9.99831478e-01 1.13357128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17255784400004 meters Centerline goodness [0,1] 0.24939209726443767 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99828600e-01 3.43455498e-03 -1.81926925e-02 5.53748336e+00] [-3.39902664e-03 9.99992256e-01 1.98345232e-03 1.32294232e-01] [ 1.81993639e-02 -1.92127491e-03 9.99832532e-01 1.13337512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20255784400007 meters Centerline goodness [0,1] 0.24642549526270452 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99832015e-01 3.41443822e-03 -1.80078729e-02 5.53681392e+00] [-3.38362394e-03 9.99992759e-01 1.74134704e-03 1.33876341e-01] [ 1.80136882e-02 -1.68012265e-03 9.99836329e-01 1.13362735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23255784400004 meters Centerline goodness [0,1] 0.24873996841809254 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99836710e-01 3.39039677e-03 -1.77498863e-02 5.53594190e+00] [-3.36350612e-03 9.99993150e-01 1.54460991e-03 1.35218149e-01] [ 1.77550016e-02 -1.48465584e-03 9.99841265e-01 1.13391843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26255784400007 meters Centerline goodness [0,1] 0.24748651564185542 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99840957e-01 3.34063724e-03 -1.75185883e-02 5.53504456e+00] [-3.31629678e-03 9.99993495e-01 1.41827459e-03 1.35989262e-01] [ 1.75232123e-02 -1.35995218e-03 9.99845532e-01 1.13442635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29255784400004 meters Centerline goodness [0,1] 0.248627774282429 Centerline is valid? [False, False] Translation: X:5.53, Y:0.14, Z:1.13 [[ 9.99841134e-01 3.32279379e-03 -1.75118572e-02 5.53485584e+00] [-3.29780251e-03 9.99993503e-01 1.45579078e-03 1.35591877e-01] [ 1.75165807e-02 -1.39780885e-03 9.99845596e-01 1.13471902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3225578440001 meters Centerline goodness [0,1] 0.24732847734112617 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99840144e-01 3.28035044e-03 -1.75762827e-02 5.53501908e+00] [-3.25534005e-03 9.99993648e-01 1.45138428e-03 1.35421753e-01] [ 1.75809321e-02 -1.39393549e-03 9.99844472e-01 1.13473246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35255784400005 meters Centerline goodness [0,1] 0.25026005547850205 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99838145e-01 3.24004777e-03 -1.76970495e-02 5.53540589e+00] [-3.21469408e-03 9.99993766e-01 1.46091058e-03 1.35394377e-01] [ 1.77016725e-02 -1.40378353e-03 9.99842328e-01 1.13455372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3825578440001 meters Centerline goodness [0,1] 0.24801882921983975 Centerline is valid? [False, False] Translation: X:5.53, Y:0.14, Z:1.13 [[ 9.99841332e-01 3.22913596e-03 -1.75180945e-02 5.53475207e+00] [-3.20373821e-03 9.99993776e-01 1.47767144e-03 1.35327482e-01] [ 1.75227571e-02 -1.42131359e-03 9.99845454e-01 1.13488255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41255784400005 meters Centerline goodness [0,1] 0.2524919842083452 Centerline is valid? [False, False] Translation: X:5.53, Y:0.13, Z:1.14 [[ 9.99844820e-01 3.23866970e-03 -1.73161058e-02 5.53402787e+00] [-3.21240303e-03 9.99993647e-01 1.54449279e-03 1.34920610e-01] [ 1.73209979e-02 -1.48862680e-03 9.99848872e-01 1.13526256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4425578440001 meters Centerline goodness [0,1] 0.2501251932330336 Centerline is valid? [False, False] Translation: X:5.53, Y:0.13, Z:1.14 [[ 9.99843083e-01 3.20082052e-03 -1.74231116e-02 5.53410224e+00] [-3.17416571e-03 9.99993750e-01 1.55729316e-03 1.34636405e-01] [ 1.74279873e-02 -1.50174495e-03 9.99846993e-01 1.13561671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47255784400005 meters Centerline goodness [0,1] 0.2516432953549518 Centerline is valid? [False, False] Translation: X:5.53, Y:0.13, Z:1.14 [[ 9.99839718e-01 3.16543018e-03 -1.76215181e-02 5.53473224e+00] [-3.13844488e-03 9.99993860e-01 1.55882684e-03 1.34426011e-01] [ 1.76263443e-02 -1.50327283e-03 9.99843514e-01 1.13536892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502557844 meters Centerline goodness [0,1] 0.25137185457248423 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99827931e-01 3.07447430e-03 -1.82936188e-02 5.53710173e+00] [-3.04738397e-03 9.99994219e-01 1.50855475e-03 1.34402237e-01] [ 1.82981510e-02 -1.45254750e-03 9.99831520e-01 1.13410539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53255784400005 meters Centerline goodness [0,1] 0.25188556852914656 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99826065e-01 3.08400111e-03 -1.83937165e-02 5.53752125e+00] [-3.05558850e-03 9.99994095e-01 1.57259536e-03 1.34020738e-01] [ 1.83984578e-02 -1.51611820e-03 9.99829585e-01 1.13381395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562557844 meters Centerline goodness [0,1] 0.24945860220934046 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99827082e-01 3.10395535e-03 -1.83349949e-02 5.53724841e+00] [-3.07390359e-03 9.99993886e-01 1.66699324e-03 1.33427187e-01] [ 1.83400570e-02 -1.61034498e-03 9.99830510e-01 1.13405622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59255784400005 meters Centerline goodness [0,1] 0.25233193600070236 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.14 [[ 9.99831794e-01 3.21515543e-03 -1.80567316e-02 5.53583269e+00] [-3.18081854e-03 9.99993079e-01 1.93001012e-03 1.32240634e-01] [ 1.80628119e-02 -1.87225030e-03 9.99835101e-01 1.13531871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622557844 meters Centerline goodness [0,1] 0.2518094155205213 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.14 [[ 9.99831259e-01 3.24214404e-03 -1.80815544e-02 5.53608084e+00] [-3.20732201e-03 9.99992946e-01 1.95449842e-03 1.32224742e-01] [ 1.80877636e-02 -1.89617524e-03 9.99834605e-01 1.13501381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65255784400006 meters Centerline goodness [0,1] 0.24841414668057005 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99827404e-01 3.20466609e-03 -1.83000781e-02 5.53708117e+00] [-3.17125188e-03 9.99993252e-01 1.85463344e-03 1.32573432e-01] [ 1.83058981e-02 -1.79627918e-03 9.99830819e-01 1.13425254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68255784400003 meters Centerline goodness [0,1] 0.24906789213561087 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99821936e-01 3.14462079e-03 -1.86066506e-02 5.53837672e+00] [-3.11338106e-03 9.99993695e-01 1.70768395e-03 1.33000676e-01] [ 1.86119033e-02 -1.64945028e-03 9.99825423e-01 1.13339997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71255784400006 meters Centerline goodness [0,1] 0.2474604966139955 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99819443e-01 3.08014695e-03 -1.87508469e-02 5.53911637e+00] [-3.05166148e-03 9.99994146e-01 1.54758027e-03 1.33548226e-01] [ 1.87555039e-02 -1.49007961e-03 9.99822990e-01 1.13274430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74255784400003 meters Centerline goodness [0,1] 0.2514996182789835 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99823891e-01 3.22860954e-03 -1.84868085e-02 5.53837879e+00] [-3.20138326e-03 9.99993747e-01 1.50214592e-03 1.34524341e-01] [ 1.84915428e-02 -1.44269802e-03 9.99827976e-01 1.13277449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77255784400006 meters Centerline goodness [0,1] 0.25079716275135033 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99826366e-01 3.20095164e-03 -1.83573262e-02 5.53800164e+00] [-3.17610853e-03 9.99994001e-01 1.38230271e-03 1.35198080e-01] [ 1.83616408e-02 -1.32375784e-03 9.99830535e-01 1.13285979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80255784400003 meters Centerline goodness [0,1] 0.24958756620647737 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99827566e-01 3.17244434e-03 -1.82968525e-02 5.53784174e+00] [-3.14865091e-03 9.99994160e-01 1.32907193e-03 1.35335634e-01] [ 1.83009620e-02 -1.27123236e-03 9.99831715e-01 1.13288286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83255784400006 meters Centerline goodness [0,1] 0.2500272741157732 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99827188e-01 3.15346383e-03 -1.83207659e-02 5.53783651e+00] [-3.13002852e-03 9.99994246e-01 1.30770077e-03 1.35203780e-01] [ 1.83247843e-02 -1.25013026e-03 9.99831305e-01 1.13298184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86255784400004 meters Centerline goodness [0,1] 0.2509482495531238 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99830172e-01 3.23271758e-03 -1.81432509e-02 5.53716770e+00] [-3.20676427e-03 9.99993793e-01 1.45937666e-03 1.34656606e-01] [ 1.81478561e-02 -1.40094769e-03 9.99834333e-01 1.13336187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89255784400007 meters Centerline goodness [0,1] 0.24883725961018455 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99830729e-01 3.25275801e-03 -1.81089194e-02 5.53693225e+00] [-3.22589487e-03 9.99993653e-01 1.51243368e-03 1.34484146e-01] [ 1.81137241e-02 -1.45376020e-03 9.99834876e-01 1.13360823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92255784400004 meters Centerline goodness [0,1] 0.24831099311446392 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99829283e-01 3.25867381e-03 -1.81875024e-02 5.53697615e+00] [-3.23096955e-03 9.99993575e-01 1.55243417e-03 1.34218895e-01] [ 1.81924444e-02 -1.49340587e-03 9.99833388e-01 1.13388101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95255784400007 meters Centerline goodness [0,1] 0.250833874810483 Centerline is valid? [False, False] Translation: X:5.54, Y:0.13, Z:1.13 [[ 9.99828684e-01 3.25858630e-03 -1.82204161e-02 5.53701553e+00] [-3.23036498e-03 9.99993537e-01 1.57810192e-03 1.33987728e-01] [ 1.82254408e-02 -1.51897298e-03 9.99832749e-01 1.13397283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98255784400004 meters Centerline goodness [0,1] 0.25022318026433255 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99830809e-01 3.22663976e-03 -1.81091738e-02 5.53677752e+00] [-3.20153416e-03 9.99993874e-01 1.41516711e-03 1.35089676e-01] [ 1.81136291e-02 -1.35695054e-03 9.99835014e-01 1.13380619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01255784400007 meters Centerline goodness [0,1] 0.251396038740075 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99834698e-01 3.23525333e-03 -1.78915858e-02 5.53621119e+00] [-3.21200667e-03 9.99993960e-01 1.32789072e-03 1.35904498e-01] [ 1.78957738e-02 -1.27020333e-03 9.99839051e-01 1.13380750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04255784400004 meters Centerline goodness [0,1] 0.24901297236322617 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99835850e-01 3.16091446e-03 -1.78404750e-02 5.53602965e+00] [-3.14133051e-03 9.99994432e-01 1.12564313e-03 1.36967761e-01] [ 1.78439337e-02 -1.06941553e-03 9.99840212e-01 1.13391602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0725578440001 meters Centerline goodness [0,1] 0.25167222258535416 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99834234e-01 2.94367217e-03 -1.79677196e-02 5.53626551e+00] [-2.93273010e-03 9.99995498e-01 6.35303721e-04 1.39002322e-01] [ 1.79695088e-02 -5.82503937e-04 9.99838366e-01 1.13401092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10255784400005 meters Centerline goodness [0,1] 0.2517913753419898 Centerline is valid? [False, False] Translation: X:5.54, Y:0.14, Z:1.13 [[ 9.99836876e-01 2.87779582e-03 -1.78308434e-02 5.53581524e+00] [-2.87019649e-03 9.99995779e-01 4.51766712e-04 1.39950338e-01] [ 1.78320682e-02 -4.00514994e-04 9.99840916e-01 1.13415840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1325578440001 meters Centerline goodness [0,1] 0.24913068832206653 Centerline is valid? [False, False] Translation: X:5.53, Y:0.14, Z:1.13 [[ 9.99841890e-01 2.82469003e-03 -1.75560769e-02 5.53485634e+00] [-2.82045292e-03 9.99995987e-01 2.66102376e-04 1.41061606e-01] [ 1.75567582e-02 -2.16544214e-04 9.99845845e-01 1.13456004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16255784400005 meters Centerline goodness [0,1] 0.25324533890921763 Centerline is valid? [False, False] Translation: X:5.53, Y:0.14, Z:1.13 [[ 9.99845375e-01 2.62412082e-03 -1.73879201e-02 5.53451099e+00] [-2.62962223e-03 9.99996499e-01 -2.93536472e-04 1.43877067e-01] [ 1.73870890e-02 3.39214745e-04 9.99848776e-01 1.13437039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1925578440001 meters Centerline goodness [0,1] 0.25324533890921763 Centerline is valid? [False, False] Translation: X:5.53, Y:0.14, Z:1.13 [[ 9.99845375e-01 2.62412082e-03 -1.73879201e-02 5.53451099e+00] [-2.62962223e-03 9.99996499e-01 -2.93536472e-04 1.43877067e-01] [ 1.73870890e-02 3.39214745e-04 9.99848776e-01 1.13437039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22255784400005 meters Centerline goodness [0,1] 0.25338999759030867 Centerline is valid? [False, False] Translation: X:5.54, Y:0.15, Z:1.13 [[ 9.99843570e-01 2.45912364e-03 -1.75153482e-02 5.53518611e+00] [-2.47139125e-03 9.99996716e-01 -6.78781461e-04 1.45545309e-01] [ 1.75136215e-02 7.21962558e-04 9.99846364e-01 1.13374150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.252557844 meters Centerline goodness [0,1] 0.2503301794877346 Centerline is valid? [False, False] Translation: X:5.55, Y:0.15, Z:1.14 [[ 9.99810504e-01 -4.32633483e-03 -1.89799518e-02 5.55424658e+00] [ 4.32187649e-03 9.99990623e-01 -2.75909515e-04 1.52960586e-01] [ 1.89809675e-02 1.93828224e-04 9.99819826e-01 1.13528892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28255784400005 meters Centerline goodness [0,1] 0.25295709484527085 Centerline is valid? [False, False] Translation: X:5.55, Y:0.15, Z:1.13 [[ 9.99809160e-01 -4.46924375e-03 -1.90176000e-02 5.55465487e+00] [ 4.45830454e-03 9.99989871e-01 -6.17573295e-04 1.54550468e-01] [ 1.90201675e-02 5.32669185e-04 9.99818958e-01 1.13469042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.312557844 meters Centerline goodness [0,1] 0.2531584699453552 Centerline is valid? [False, False] Translation: X:5.55, Y:0.16, Z:1.13 [[ 9.99809309e-01 -4.55806595e-03 -1.89886541e-02 5.55471075e+00] [ 4.54165331e-03 9.99989275e-01 -9.07373584e-04 1.56115375e-01] [ 1.89925863e-02 8.20960673e-04 9.99819288e-01 1.13438839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34255784400005 meters Centerline goodness [0,1] 0.25129375951293764 Centerline is valid? [False, False] Translation: X:5.55, Y:0.16, Z:1.13 [[ 9.99814890e-01 -4.66430974e-03 -1.86662518e-02 5.55352880e+00] [ 4.64195827e-03 9.99988457e-01 -1.24057570e-03 1.57979061e-01] [ 1.86718228e-02 1.15369810e-03 9.99825001e-01 1.13497499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.372557844 meters Centerline goodness [0,1] 0.25138937130948247 Centerline is valid? [False, False] Translation: X:5.55, Y:0.16, Z:1.14 [[ 9.99815167e-01 -4.76335450e-03 -1.86263834e-02 5.55324295e+00] [ 4.73782140e-03 9.99987776e-01 -1.41469121e-03 1.58566041e-01] [ 1.86328944e-02 1.32618125e-03 9.99825513e-01 1.13526196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40255784400006 meters Centerline goodness [0,1] 0.2531408131216193 Centerline is valid? [False, False] Translation: X:5.55, Y:0.16, Z:1.14 [[ 9.99811103e-01 -4.87857494e-03 -1.88137562e-02 5.55373790e+00] [ 4.84883327e-03 9.99986922e-01 -1.62613977e-03 1.59338222e-01] [ 1.88214434e-02 1.53460783e-03 9.99821683e-01 1.13520704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43255784400003 meters Centerline goodness [0,1] 0.24813537400301788 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:1.14 [[ 9.99823003e-01 3.60112645e-03 -1.84660354e-02 5.57447773e+00] [-3.65756657e-03 9.99988740e-01 -3.02356650e-03 1.58075748e-01] [ 1.84549392e-02 3.09057209e-03 9.99824916e-01 1.13559807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46255784400006 meters Centerline goodness [0,1] 0.25314018118954873 Centerline is valid? [False, False] Translation: X:5.55, Y:0.16, Z:1.13 [[ 9.99786852e-01 -5.21849151e-03 -1.99754477e-02 5.55485694e+00] [ 5.18328412e-03 9.99984922e-01 -1.81390222e-03 1.63734368e-01] [ 1.99846124e-02 1.70997717e-03 9.99798825e-01 1.13411387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49255784400003 meters Centerline goodness [0,1] 0.250379988708907 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:1.13 [[ 9.99826270e-01 3.26441578e-03 -1.83513680e-02 5.57389702e+00] [-3.32675229e-03 9.99988797e-01 -3.36733083e-03 1.62008084e-01] [ 1.83401701e-02 3.42779628e-03 9.99825929e-01 1.13497024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52255784400006 meters Centerline goodness [0,1] 0.2531205596240026 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:1.14 [[ 9.99827679e-01 3.19732783e-03 -1.82863422e-02 5.57363965e+00] [-3.26189315e-03 9.99988548e-01 -3.50205903e-03 1.62565170e-01] [ 1.82749355e-02 3.56110364e-03 9.99826658e-01 1.13513705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55255784400003 meters Centerline goodness [0,1] 0.24622317596566523 Centerline is valid? [False, False] Translation: X:5.62, Y:0.17, Z:1.13 [[ 9.99862319e-01 4.13426002e-03 -1.60701760e-02 5.61774120e+00] [-4.20332095e-03 9.99982066e-01 -4.26606112e-03 1.67025113e-01] [ 1.60522508e-02 4.33302187e-03 9.99861766e-01 1.13493939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58255784400006 meters Centerline goodness [0,1] 0.2563853077110192 Centerline is valid? [False, False] Translation: X:5.57, Y:0.17, Z:1.14 [[ 9.99808602e-01 3.13445228e-03 -1.93115085e-02 5.57150977e+00] [-3.20741380e-03 9.99987831e-01 -3.74832266e-03 1.65298335e-01] [ 1.92995246e-02 3.80954523e-03 9.99806489e-01 1.13638944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61255784400004 meters Centerline goodness [0,1] 0.2529191451861643 Centerline is valid? [False, False] Translation: X:5.57, Y:0.17, Z:1.14 [[ 9.99806001e-01 2.90628656e-03 -1.94811139e-02 5.57199590e+00] [-2.99342674e-03 9.99985639e-01 -4.44539234e-03 1.68943292e-01] [ 1.94679146e-02 4.50284522e-03 9.99800342e-01 1.13617940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64255784400007 meters Centerline goodness [0,1] 0.2512762827723458 Centerline is valid? [False, False] Translation: X:5.62, Y:0.17, Z:1.14 [[ 9.99835318e-01 4.02285779e-03 -1.76961703e-02 5.61580724e+00] [-4.11646946e-03 9.99977711e-01 -5.25669797e-03 1.74347615e-01] [ 1.76746289e-02 5.32867803e-03 9.99829592e-01 1.13637668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67255784400004 meters Centerline goodness [0,1] 0.25187912921044076 Centerline is valid? [False, False] Translation: X:5.61, Y:0.18, Z:1.14 [[ 9.99844411e-01 3.90742572e-03 -1.72013577e-02 5.61423002e+00] [-4.00702381e-03 9.99975386e-01 -5.75947634e-03 1.77405991e-01] [ 1.71784296e-02 5.82750647e-03 9.99835457e-01 1.13685353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70255784400007 meters Centerline goodness [0,1] 0.25414933216553537 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.14 [[ 9.99844544e-01 -4.69887680e-03 -1.69943751e-02 5.59427296e+00] [ 4.62478348e-03 9.99979641e-01 -4.39654908e-03 1.82361202e-01] [ 1.70146879e-02 4.31727031e-03 9.99845919e-01 1.13503402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73255784400004 meters Centerline goodness [0,1] 0.2516379572178592 Centerline is valid? [False, False] Translation: X:5.61, Y:0.18, Z:1.14 [[ 9.99869087e-01 3.84091321e-03 -1.57180502e-02 5.61367904e+00] [-3.93427002e-03 9.99974779e-01 -5.91285997e-03 1.81041392e-01] [ 1.56949430e-02 5.97392495e-03 9.99858981e-01 1.13581046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76255784400007 meters Centerline goodness [0,1] 0.2519920967496797 Centerline is valid? [False, False] Translation: X:5.61, Y:0.18, Z:1.14 [[ 9.99867552e-01 3.71382808e-03 -1.58457017e-02 5.61409682e+00] [-3.81166614e-03 9.99973832e-01 -6.14869560e-03 1.81893857e-01] [ 1.58224519e-02 6.20827974e-03 9.99855543e-01 1.13564313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79255784400004 meters Centerline goodness [0,1] 0.2536615357589864 Centerline is valid? [False, False] Translation: X:5.59, Y:0.19, Z:1.13 [[ 9.99837827e-01 -5.41476314e-03 -1.71755744e-02 5.59426295e+00] [ 5.32744290e-03 9.99972673e-01 -5.12566511e-03 1.85388052e-01] [ 1.72028593e-02 5.03333197e-03 9.99839351e-01 1.13434717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8225578440001 meters Centerline goodness [0,1] 0.24881137621023508 Centerline is valid? [False, False] Translation: X:5.64, Y:0.19, Z:1.13 [[ 9.99867990e-01 -4.68584506e-03 -1.55578314e-02 5.63991349e+00] [ 4.60778658e-03 9.99976636e-01 -5.04937169e-03 1.88503907e-01] [ 1.55811285e-02 4.97701795e-03 9.99866220e-01 1.13352656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85255784400005 meters Centerline goodness [0,1] 0.26371424167015345 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.13 [[ 9.99820619e-01 -5.82668523e-03 -1.80216209e-02 5.59421146e+00] [ 5.74743414e-03 9.99973599e-01 -4.44622775e-03 1.84050563e-01] [ 1.80470518e-02 4.34185211e-03 9.99827711e-01 1.13448024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8825578440001 meters Centerline goodness [0,1] 0.24807153630683043 Centerline is valid? [False, False] Translation: X:5.64, Y:0.19, Z:1.13 [[ 9.99864302e-01 -5.30190618e-03 -1.55970520e-02 5.63861840e+00] [ 5.22205456e-03 9.99973073e-01 -5.15594082e-03 1.85824359e-01] [ 1.56239684e-02 5.07379251e-03 9.99865065e-01 1.13447710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91255784400005 meters Centerline goodness [0,1] 0.25312431961680815 Centerline is valid? [False, False] Translation: X:5.62, Y:0.18, Z:1.13 [[ 9.99908061e-01 4.91003712e-04 -1.35509890e-02 5.62034298e+00] [-5.79574392e-04 9.99978492e-01 -6.53295158e-03 1.77596165e-01] [ 1.35474898e-02 6.54020475e-03 9.99886839e-01 1.13206089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9425578440001 meters Centerline goodness [0,1] 0.2507236984229855 Centerline is valid? [False, False] Translation: X:5.62, Y:0.18, Z:1.13 [[ 9.99909218e-01 6.07913675e-04 -1.34605462e-02 5.62005008e+00] [-6.93021331e-04 9.99979795e-01 -6.31898760e-03 1.76808492e-01] [ 1.34564328e-02 6.32774239e-03 9.99889436e-01 1.13212208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97255784400005 meters Centerline goodness [0,1] 0.25352541120743977 Centerline is valid? [False, False] Translation: X:5.62, Y:0.18, Z:1.13 [[ 9.99910237e-01 7.24399814e-04 -1.33788431e-02 5.61997306e+00] [-8.06521379e-04 9.99980863e-01 -6.13379132e-03 1.76264182e-01] [ 1.33741438e-02 6.14403105e-03 9.99891686e-01 1.13192121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002557844 meters Centerline goodness [0,1] 0.25420670463933215 Centerline is valid? [False, False] Translation: X:5.62, Y:0.18, Z:1.13 [[ 9.99911117e-01 8.12121961e-04 -1.33078216e-02 5.61986846e+00] [-8.92087821e-04 9.99981577e-01 -6.00410290e-03 1.75779594e-01] [ 1.33027004e-02 6.01544098e-03 9.99893421e-01 1.13176774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03255784400005 meters Centerline goodness [0,1] 0.25667805219828344 Centerline is valid? [False, False] Translation: X:5.62, Y:0.17, Z:1.13 [[ 9.99910925e-01 9.04356750e-04 -1.33163482e-02 5.62003526e+00] [-9.81599243e-04 9.99982726e-01 -5.79518326e-03 1.74266717e-01] [ 1.33108772e-02 5.80773837e-03 9.99894540e-01 1.13157335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062557844 meters Centerline goodness [0,1] 0.25370011116681557 Centerline is valid? [False, False] Translation: X:5.62, Y:0.17, Z:1.13 [[ 9.99909507e-01 1.00154863e-03 -1.34154407e-02 5.62025865e+00] [-1.07708702e-03 9.99983601e-01 -5.62466393e-03 1.73463037e-01] [ 1.34095873e-02 5.63860453e-03 9.99894189e-01 1.13159226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09255784400005 meters Centerline goodness [0,1] 0.2503134050922924 Centerline is valid? [False, False] Translation: X:5.64, Y:0.18, Z:1.13 [[ 9.99877563e-01 -4.72817929e-03 -1.49165515e-02 5.63722278e+00] [ 4.67150816e-03 9.99981747e-01 -3.83176980e-03 1.77557534e-01] [ 1.49343965e-02 3.76161785e-03 9.99881400e-01 1.13438778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122557844 meters Centerline goodness [0,1] 0.25362476596856354 Centerline is valid? [False, False] Translation: X:5.64, Y:0.18, Z:1.13 [[ 9.99877154e-01 -4.60203468e-03 -1.49832706e-02 5.63764092e+00] [ 4.54784767e-03 9.99983002e-01 -3.64856752e-03 1.76974205e-01] [ 1.49998068e-02 3.57997767e-03 9.99881088e-01 1.13391707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15255784400006 meters Centerline goodness [0,1] 0.24910081626499536 Centerline is valid? [False, False] Translation: X:5.66, Y:0.17, Z:1.14 [[ 9.99896438e-01 4.29426210e-03 -1.37358198e-02 5.65742816e+00] [-4.36217473e-03 9.99978392e-01 -4.91806530e-03 1.73041288e-01] [ 1.37144035e-02 4.97747402e-03 9.99893564e-01 1.13530643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18255784400003 meters Centerline goodness [0,1] 0.25645178942760205 Centerline is valid? [False, False] Translation: X:5.61, Y:0.17, Z:1.14 [[ 9.99867637e-01 3.08371096e-03 -1.59749510e-02 5.60988030e+00] [-3.15872215e-03 9.99984095e-01 -4.67244835e-03 1.68599485e-01] [ 1.59602884e-02 4.72229033e-03 9.99861475e-01 1.13729644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21255784400006 meters Centerline goodness [0,1] 0.25348973099313954 Centerline is valid? [False, False] Translation: X:5.63, Y:0.17, Z:1.14 [[ 9.99873223e-01 -4.33306568e-03 -1.53219765e-02 5.62862396e+00] [ 4.27658120e-03 9.99983946e-01 -3.71734618e-03 1.73497668e-01] [ 1.53378380e-02 3.65134923e-03 9.99875701e-01 1.13879350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24255784400003 meters Centerline goodness [0,1] 0.252078519446304 Centerline is valid? [False, False] Translation: X:5.63, Y:0.17, Z:1.14 [[ 9.99873791e-01 -4.30256952e-03 -1.52934485e-02 5.62854059e+00] [ 4.24710882e-03 9.99984294e-01 -3.65706611e-03 1.73253211e-01] [ 1.53089430e-02 3.59165162e-03 9.99876361e-01 1.13877549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27255784400006 meters Centerline goodness [0,1] 0.25044684195792144 Centerline is valid? [False, False] Translation: X:5.63, Y:0.17, Z:1.14 [[ 9.99873731e-01 -4.16315781e-03 -1.53358801e-02 5.62841267e+00] [ 4.11395124e-03 9.99986293e-01 -3.23874261e-03 1.71491141e-01] [ 1.53491533e-02 3.17524260e-03 9.99877153e-01 1.13914064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30255784400003 meters Centerline goodness [0,1] 0.25408608452171644 Centerline is valid? [False, False] Translation: X:5.63, Y:0.17, Z:1.14 [[ 9.99872993e-01 -4.07256445e-03 -1.54082016e-02 5.62832456e+00] [ 4.02774113e-03 9.99987570e-01 -2.93897035e-03 1.70062216e-01] [ 1.54199792e-02 2.87653684e-03 9.99876967e-01 1.13961313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33255784400006 meters Centerline goodness [0,1] 0.24886984974383264 Centerline is valid? [False, False] Translation: X:5.63, Y:0.17, Z:1.14 [[ 9.99870474e-01 -4.07010090e-03 -1.55714462e-02 5.62853048e+00] [ 4.02901677e-03 9.99988322e-01 -2.66888906e-03 1.68268116e-01] [ 1.55821270e-02 2.60580575e-03 9.99875196e-01 1.14001840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36255784400004 meters Centerline goodness [0,1] 0.25436800139427473 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:1.14 [[ 9.99884376e-01 2.55462713e-03 -1.49903095e-02 5.61048567e+00] [-2.61414224e-03 9.99988774e-01 -3.95198837e-03 1.60853623e-01] [ 1.49800453e-02 3.99071823e-03 9.99879829e-01 1.13774330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39255784400007 meters Centerline goodness [0,1] 0.2544067981261575 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:1.14 [[ 9.99881566e-01 2.62820478e-03 -1.51639739e-02 5.61114360e+00] [-2.68512525e-03 9.99989422e-01 -3.73452689e-03 1.59840361e-01] [ 1.51539984e-02 3.77480176e-03 9.99878046e-01 1.13736606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42255784400004 meters Centerline goodness [0,1] 0.2551211645746164 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:1.14 [[ 9.99879218e-01 2.59250349e-03 -1.53241311e-02 5.61175383e+00] [-2.65225092e-03 9.99988956e-01 -3.87987489e-03 1.60602433e-01] [ 1.53139032e-02 3.92004971e-03 9.99875051e-01 1.13701257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45255784400007 meters Centerline goodness [0,1] 0.2511430296756384 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:1.14 [[ 9.99874632e-01 2.48625323e-03 -1.56377529e-02 5.61286255e+00] [-2.55307339e-03 9.99987690e-01 -4.25449161e-03 1.62412418e-01] [ 1.56269827e-02 4.29388257e-03 9.99868671e-01 1.13645354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48255784400004 meters Centerline goodness [0,1] 0.25333069515895 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:1.14 [[ 9.99825367e-01 1.98420110e-03 -1.85822175e-02 5.56770036e+00] [-2.05220911e-03 9.99991264e-01 -3.64149019e-03 1.61283724e-01] [ 1.85748297e-02 3.67898887e-03 9.99820704e-01 1.13717460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51255784400007 meters Centerline goodness [0,1] 0.2555359975661169 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.14 [[ 9.99847378e-01 -2.27621404e-03 -1.73216273e-02 5.58905502e+00] [ 2.27190837e-03 9.99997383e-01 -2.68245436e-04 1.67529893e-01] [ 1.73221925e-02 2.28851346e-04 9.99849933e-01 1.13781228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54255784400004 meters Centerline goodness [0,1] 0.25406203840472674 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.14 [[ 9.99851528e-01 -2.31168786e-03 -1.70756726e-02 5.58816692e+00] [ 2.30397130e-03 9.99997235e-01 -4.71562284e-04 1.68728775e-01] [ 1.70767154e-02 4.32150411e-04 9.99854089e-01 1.13819923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5725578440001 meters Centerline goodness [0,1] 0.2537007565022128 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.14 [[ 9.99854382e-01 -2.35352932e-03 -1.69019166e-02 5.58774990e+00] [ 2.34327096e-03 9.99997058e-01 -6.26713748e-04 1.69572985e-01] [ 1.69033419e-02 5.87016717e-04 9.99856956e-01 1.13814088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60255784400005 meters Centerline goodness [0,1] 0.25303577999523796 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.14 [[ 9.99854705e-01 -2.37784363e-03 -1.68794117e-02 5.58789468e+00] [ 2.36537307e-03 9.99996915e-01 -7.58729020e-04 1.70355465e-01] [ 1.68811638e-02 7.18692675e-04 9.99857245e-01 1.13774572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6325578440001 meters Centerline goodness [0,1] 0.2546550191836646 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.14 [[ 9.99853736e-01 -2.43501088e-03 -1.69286201e-02 5.58856531e+00] [ 2.41876346e-03 9.99996594e-01 -9.80168753e-04 1.71599799e-01] [ 1.69309492e-02 9.39079062e-04 9.99856220e-01 1.13678818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66255784400005 meters Centerline goodness [0,1] 0.2551234433034739 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.14 [[ 9.99850460e-01 -2.52018271e-03 -1.71086590e-02 5.58930298e+00] [ 2.49999184e-03 9.99996153e-01 -1.20143952e-03 1.72525677e-01] [ 1.71116211e-02 1.15848835e-03 9.99852914e-01 1.13627202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6925578440001 meters Centerline goodness [0,1] 0.24955333118071255 Centerline is valid? [False, False] Translation: X:5.61, Y:0.17, Z:1.14 [[ 9.99846906e-01 6.16231217e-03 -1.63765002e-02 5.61009308e+00] [-6.20775528e-03 9.99977017e-01 -2.72551304e-03 1.71761991e-01] [ 1.63593284e-02 2.82675709e-03 9.99862181e-01 1.13689489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72255784400005 meters Centerline goodness [0,1] 0.25253332757167857 Centerline is valid? [False, False] Translation: X:5.61, Y:0.18, Z:1.14 [[ 9.99851556e-01 6.24346380e-03 -1.60587973e-02 5.60926932e+00] [-6.29643735e-03 9.99974895e-01 -3.25028205e-03 1.75288146e-01] [ 1.60381012e-02 3.35091277e-03 9.99865766e-01 1.13676970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.752557844 meters Centerline goodness [0,1] 0.26156441253433105 Centerline is valid? [False, False] Translation: X:5.61, Y:0.18, Z:1.14 [[ 9.99856403e-01 6.14839573e-03 -1.57914437e-02 5.60857479e+00] [-6.20769409e-03 9.99973854e-01 -3.70882551e-03 1.77894245e-01] [ 1.57682275e-02 3.80632138e-03 9.99868429e-01 1.13674300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78255784400005 meters Centerline goodness [0,1] 0.25453750273343534 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.14 [[ 9.99881465e-01 -1.90686079e-03 -1.52781025e-02 5.58793015e+00] [ 1.87359881e-03 9.99995844e-01 -2.19111898e-03 1.84265301e-01] [ 1.52822172e-02 2.16223422e-03 9.99880882e-01 1.13503558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.812557844 meters Centerline goodness [0,1] 0.25572759451888205 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:1.14 [[ 9.99896052e-01 -1.08018442e-04 -1.44178121e-02 5.58407703e+00] [ 9.42784824e-05 9.99999541e-01 -9.53661373e-04 1.90106287e-01] [ 1.44179085e-02 9.52202953e-04 9.99895603e-01 1.13676826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84255784400005 meters Centerline goodness [0,1] 0.25250242169841786 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:1.14 [[ 9.99897586e-01 -2.81487248e-04 -1.43086571e-02 5.58373722e+00] [ 2.61485969e-04 9.99998986e-01 -1.39969622e-03 1.92325932e-01] [ 1.43090366e-02 1.39581136e-03 9.99896646e-01 1.13680192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.872557844 meters Centerline goodness [0,1] 0.25514332071389945 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:1.14 [[ 9.99897185e-01 -4.15475377e-04 -1.43334504e-02 5.58371616e+00] [ 3.91309065e-04 9.99998497e-01 -1.68877135e-03 1.93670144e-01] [ 1.43341305e-02 1.68298891e-03 9.99895845e-01 1.13690631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90255784400006 meters Centerline goodness [0,1] 0.25520833333333337 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:1.14 [[ 9.99895557e-01 -5.08434173e-04 -1.44435671e-02 5.58393517e+00] [ 4.82052260e-04 9.99998209e-01 -1.82997382e-03 1.94175956e-01] [ 1.44444716e-02 1.82282013e-03 9.99894012e-01 1.13698184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93255784400003 meters Centerline goodness [0,1] 0.2650239860444832 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:1.14 [[ 9.99896008e-01 -9.54919373e-04 -1.43896451e-02 5.58361357e+00] [ 9.26006907e-04 9.99997540e-01 -2.01578381e-03 1.93938175e-01] [ 1.43915346e-02 2.00224927e-03 9.99894432e-01 1.13743293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96255784400006 meters Centerline goodness [0,1] 0.25469941094941095 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:1.14 [[ 9.99896963e-01 -1.02360135e-03 -1.43183474e-02 5.58324021e+00] [ 9.98111339e-04 9.99997905e-01 -1.78726688e-03 1.92417830e-01] [ 1.43201469e-02 1.77279142e-03 9.99895890e-01 1.13786065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99255784400003 meters Centerline goodness [0,1] 0.25435879664724614 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:1.14 [[ 9.99900442e-01 -1.05977003e-03 -1.40706310e-02 5.58230440e+00] [ 1.03921383e-03 9.99998382e-01 -1.46816116e-03 1.90501542e-01] [ 1.40721641e-02 1.45339260e-03 9.99899926e-01 1.13847959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02255784400006 meters Centerline goodness [0,1] 0.2538386783284743 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:1.14 [[ 9.99902626e-01 -1.07802081e-03 -1.39131983e-02 5.58177616e+00] [ 1.06219828e-03 9.99998781e-01 -1.14457124e-03 1.88636872e-01] [ 1.39144153e-02 1.12968121e-03 9.99902552e-01 1.13882820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05255784400003 meters Centerline goodness [0,1] 0.25343984840981026 Centerline is valid? [False, False] Translation: X:5.59, Y:0.19, Z:1.14 [[ 9.99882710e-01 -1.46852816e-03 -1.52449663e-02 5.58548139e+00] [ 1.45180629e-03 9.99998332e-01 -1.10788711e-03 1.86480805e-01] [ 1.52465679e-02 1.08562443e-03 9.99883175e-01 1.13833181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08255784400006 meters Centerline goodness [0,1] 0.25439359665912653 Centerline is valid? [False, False] Translation: X:5.59, Y:0.19, Z:1.14 [[ 9.99877481e-01 -1.40268202e-03 -1.55902579e-02 5.58642554e+00] [ 1.38887000e-03 9.99998633e-01 -8.96731210e-04 1.85311089e-01] [ 1.55914945e-02 8.74968502e-04 9.99878062e-01 1.13820330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11255784400004 meters Centerline goodness [0,1] 0.25439359665912653 Centerline is valid? [False, False] Translation: X:5.59, Y:0.19, Z:1.14 [[ 9.99877481e-01 -1.40268202e-03 -1.55902579e-02 5.58642554e+00] [ 1.38887000e-03 9.99998633e-01 -8.96731210e-04 1.85311089e-01] [ 1.55914945e-02 8.74968502e-04 9.99878062e-01 1.13820330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14255784400007 meters Centerline goodness [0,1] 0.2557575492723856 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.14 [[ 9.99877107e-01 -1.32230656e-03 -1.56212437e-02 5.58633162e+00] [ 1.31109708e-03 9.99998876e-01 -7.27798843e-04 1.84579771e-01] [ 1.56221885e-02 7.07228434e-04 9.99877716e-01 1.13849969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17255784400004 meters Centerline goodness [0,1] 0.2573812019566737 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.14 [[ 9.99881236e-01 -1.18193939e-03 -1.53660886e-02 5.58542602e+00] [ 1.17492603e-03 9.99999201e-01 -4.65437506e-04 1.83618675e-01] [ 1.53666264e-02 4.47328211e-04 9.99881826e-01 1.13896862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20255784400007 meters Centerline goodness [0,1] 0.26716120702860013 Centerline is valid? [False, False] Translation: X:5.58, Y:0.18, Z:1.14 [[ 9.99885546e-01 -1.00579647e-03 -1.50958274e-02 5.58451354e+00] [ 1.00621479e-03 9.99999494e-01 2.01159132e-05 1.81025148e-01] [ 1.50957995e-02 -3.53032557e-05 9.99886051e-01 1.13940849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23255784400004 meters Centerline goodness [0,1] 0.25634606174075847 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.14 [[ 9.99882716e-01 -9.63490877e-04 -1.52848553e-02 5.58536301e+00] [ 9.66316327e-04 9.99999517e-01 1.77468590e-04 1.80031597e-01] [ 1.52846769e-02 -1.92217781e-04 9.99883164e-01 1.13879101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26255784400007 meters Centerline goodness [0,1] 0.25764554364672243 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.14 [[ 9.99878193e-01 -9.56990080e-04 -1.55782727e-02 5.58671451e+00] [ 9.61075252e-04 9.99999506e-01 2.54750921e-04 1.79356584e-01] [ 1.55780212e-02 -2.69691783e-04 9.99878619e-01 1.13774251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29255784400004 meters Centerline goodness [0,1] 0.25758271556342804 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.14 [[ 9.99873279e-01 -9.40551444e-04 -1.58915557e-02 5.58785353e+00] [ 9.46680063e-04 9.99999480e-01 3.78134345e-04 1.78520096e-01] [ 1.58911918e-02 -3.93130646e-04 9.99873650e-01 1.13715682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3225578440001 meters Centerline goodness [0,1] 0.2574486170746061 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.14 [[ 9.99872120e-01 -8.51764791e-04 -1.59693140e-02 5.58768454e+00] [ 8.63989821e-04 9.99999339e-01 7.58649130e-04 1.76372787e-01] [ 1.59686573e-02 -7.72349438e-04 9.99872195e-01 1.13777019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35255784400005 meters Centerline goodness [0,1] 0.2572985512321092 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:1.14 [[ 9.99875971e-01 -7.56895317e-04 -1.57311807e-02 5.58669580e+00] [ 7.73196624e-04 9.99999170e-01 1.03018558e-03 1.75132828e-01] [ 1.57303879e-02 -1.04222111e-03 9.99875727e-01 1.13844755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3825578440001 meters Centerline goodness [0,1] 0.25592915698566476 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.14 [[ 9.99876252e-01 -6.76070353e-04 -1.57169974e-02 5.58651433e+00] [ 6.95963796e-04 9.99998964e-01 1.26029286e-03 1.74055970e-01] [ 1.57161290e-02 -1.27107536e-03 9.99875686e-01 1.13871016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41255784400005 meters Centerline goodness [0,1] 0.2539589442815249 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.14 [[ 9.99871515e-01 -6.81349540e-04 -1.60152774e-02 5.58757971e+00] [ 7.02846328e-04 9.99998860e-01 1.33667742e-03 1.73481353e-01] [ 1.60143484e-02 -1.34776195e-03 9.99870854e-01 1.13820263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4425578440001 meters Centerline goodness [0,1] 0.2528240872244193 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.14 [[ 9.99859369e-01 -8.49438991e-04 -1.67487664e-02 5.59044587e+00] [ 8.69066831e-04 9.99998944e-01 1.16465408e-03 1.73587106e-01] [ 1.67477594e-02 -1.17904609e-03 9.99859051e-01 1.13640176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47255784400005 meters Centerline goodness [0,1] 0.24966148687858658 Centerline is valid? [False, False] Translation: X:5.64, Y:0.18, Z:1.14 [[ 9.99891555e-01 1.56753584e-04 -1.47259356e-02 5.63531913e+00] [-1.47070297e-04 9.99999772e-01 6.58647502e-04 1.76676179e-01] [ 1.47260355e-02 -6.56410328e-04 9.99891351e-01 1.13588681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502557844 meters Centerline goodness [0,1] 0.25263135003479475 Centerline is valid? [False, False] Translation: X:5.62, Y:0.17, Z:1.13 [[ 9.99892035e-01 6.76710857e-03 -1.30432173e-02 5.61646726e+00] [-6.77370565e-03 9.99976952e-01 -4.61674349e-04 1.70658608e-01] [ 1.30397925e-02 5.49975419e-04 9.99914827e-01 1.13362738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53255784400005 meters Centerline goodness [0,1] 0.2521795705920624 Centerline is valid? [False, False] Translation: X:5.62, Y:0.17, Z:1.13 [[ 9.99892783e-01 6.81395667e-03 -1.29611546e-02 5.61585804e+00] [-6.81812966e-03 9.99976718e-01 -2.77800679e-04 1.69717997e-01] [ 1.29589599e-02 3.66141727e-04 9.99915962e-01 1.13430104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562557844 meters Centerline goodness [0,1] 0.2588433956885019 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:1.13 [[ 9.99907107e-01 -2.91731473e-03 -1.33141220e-02 5.59374651e+00] [ 2.92590559e-03 9.99995524e-01 6.25810670e-04 1.69444828e-01] [ 1.33122367e-02 -6.64708401e-04 9.99911167e-01 1.13397843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59255784400005 meters Centerline goodness [0,1] 0.2535776727319822 Centerline is valid? [False, False] Translation: X:5.62, Y:0.17, Z:1.13 [[ 9.99917575e-01 3.65387572e-03 -1.23082295e-02 5.61658541e+00] [-3.68056363e-03 9.99990923e-01 -2.14634475e-03 1.66776327e-01] [ 1.23002753e-02 2.19146906e-03 9.99921947e-01 1.13303185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622557844 meters Centerline goodness [0,1] 0.2575969263010828 Centerline is valid? [False, False] Translation: X:5.60, Y:0.17, Z:1.13 [[ 9.99892960e-01 -5.47938735e-03 -1.35663431e-02 5.59669103e+00] [ 5.47008512e-03 9.99984778e-01 -7.22695895e-04 1.66815699e-01] [ 1.35700965e-02 6.48409486e-04 9.99907712e-01 1.13211039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65255784400006 meters Centerline goodness [0,1] 0.2544770929322785 Centerline is valid? [False, False] Translation: X:5.60, Y:0.16, Z:1.13 [[ 9.99888075e-01 -5.29079170e-03 -1.39944462e-02 5.59767474e+00] [ 5.29383397e-03 9.99985971e-01 1.80355940e-04 1.61603123e-01] [ 1.39932957e-02 -2.54420028e-04 9.99902057e-01 1.13239090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68255784400003 meters Centerline goodness [0,1] 0.258297416150699 Centerline is valid? [False, False] Translation: X:5.60, Y:0.16, Z:1.13 [[ 9.99888118e-01 -5.13003360e-03 -1.40511325e-02 5.59761602e+00] [ 5.13911602e-03 9.99986608e-01 6.10353260e-04 1.59520972e-01] [ 1.40478132e-02 -6.82495373e-04 9.99901092e-01 1.13276311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71255784400006 meters Centerline goodness [0,1] 0.2569224081721365 Centerline is valid? [False, False] Translation: X:5.60, Y:0.16, Z:1.13 [[ 9.99889367e-01 -4.96442822e-03 -1.40217161e-02 5.59728240e+00] [ 4.97898378e-03 9.99987101e-01 1.00335501e-03 1.57617028e-01] [ 1.40165542e-02 -1.07305790e-03 9.99901187e-01 1.13322983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74255784400003 meters Centerline goodness [0,1] 0.25889462696406984 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:1.13 [[ 9.99924443e-01 1.84074184e-03 -1.21540196e-02 5.57836594e+00] [-1.83790793e-03 9.99998281e-01 2.44331832e-04 1.50731587e-01] [ 1.21544484e-02 -2.21975402e-04 9.99926107e-01 1.13093013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77255784400006 meters Centerline goodness [0,1] 0.2576950764599376 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:1.13 [[ 9.99925567e-01 2.10312456e-03 -1.20182151e-02 5.57789198e+00] [-2.09600863e-03 9.99997621e-01 6.04659747e-04 1.49370257e-01] [ 1.20194582e-02 -5.79424458e-04 9.99927596e-01 1.13119183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80255784400003 meters Centerline goodness [0,1] 0.25761113899740296 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:1.13 [[ 9.99927677e-01 2.18175686e-03 -1.18271303e-02 5.57740997e+00] [-2.17391233e-03 9.99997409e-01 6.76081424e-04 1.49167065e-01] [ 1.18285747e-02 -6.50321383e-04 9.99929828e-01 1.13123365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83255784400006 meters Centerline goodness [0,1] 0.25566893424036286 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:1.13 [[ 9.99928670e-01 2.23549710e-03 -1.17327906e-02 5.57707602e+00] [-2.22693275e-03 9.99997244e-01 7.42963876e-04 1.48804155e-01] [ 1.17344191e-02 -7.16782745e-04 9.99930892e-01 1.13140771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86255784400004 meters Centerline goodness [0,1] 0.26875819851333627 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:1.13 [[ 9.99928225e-01 2.29824725e-03 -1.17585015e-02 5.57705953e+00] [-2.28816087e-03 9.99997003e-01 8.71175645e-04 1.48146417e-01] [ 1.17604684e-02 -8.44207774e-04 9.99930487e-01 1.13157230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89255784400007 meters Centerline goodness [0,1] 0.24933949092471275 Centerline is valid? [False, False] Translation: X:5.62, Y:0.15, Z:1.13 [[ 9.99952635e-01 3.34191012e-03 -9.14110600e-03 5.62007496e+00] [-3.33505792e-03 9.99994146e-01 7.64744291e-04 1.46609573e-01] [ 9.14360819e-03 -7.34221951e-04 9.99957927e-01 1.13180724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92255784400004 meters Centerline goodness [0,1] 0.2594849616669943 Centerline is valid? [False, False] Translation: X:5.57, Y:0.14, Z:1.13 [[ 9.99933447e-01 1.63186850e-03 -1.14209273e-02 5.57343176e+00] [-1.61678498e-03 9.99997809e-01 1.32979971e-03 1.40160627e-01] [ 1.14230724e-02 -1.31124603e-03 9.99933895e-01 1.13356105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95255784400007 meters Centerline goodness [0,1] 0.25560897435897434 Centerline is valid? [False, False] Translation: X:5.57, Y:0.14, Z:1.13 [[ 9.99930041e-01 1.72382448e-03 -1.17022440e-02 5.57405607e+00] [-1.70108154e-03 9.99996646e-01 1.95314397e-03 1.36515080e-01] [ 1.17055717e-02 -1.93310086e-03 9.99929619e-01 1.13371830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98255784400004 meters Centerline goodness [0,1] 0.2582781456953642 Centerline is valid? [False, False] Translation: X:5.58, Y:0.13, Z:1.13 [[ 9.99923396e-01 1.76363654e-03 -1.22511700e-02 5.57549783e+00] [-1.73222312e-03 9.99995186e-01 2.57425465e-03 1.32627776e-01] [ 1.22556511e-02 -2.55283570e-03 9.99921638e-01 1.13364206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01255784400007 meters Centerline goodness [0,1] 0.2577098243331165 Centerline is valid? [False, False] Translation: X:5.58, Y:0.13, Z:1.13 [[ 9.99917341e-01 -4.53188830e-04 -1.28493856e-02 5.57875499e+00] [ 4.69601079e-04 9.99999078e-01 1.27429046e-03 1.25018110e-01] [ 1.28487963e-02 -1.28021921e-03 9.99916631e-01 1.13183231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04255784400004 meters Centerline goodness [0,1] 0.2568208520081807 Centerline is valid? [False, False] Translation: X:5.58, Y:0.12, Z:1.13 [[ 9.99916005e-01 -2.12999425e-04 -1.29590441e-02 5.57890824e+00] [ 2.37433164e-04 9.99998197e-01 1.88394913e-03 1.22145757e-01] [ 1.29586194e-02 -1.88686780e-03 9.99914253e-01 1.13206643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0725578440001 meters Centerline goodness [0,1] 0.2702810092492439 Centerline is valid? [False, False] Translation: X:5.56, Y:0.11, Z:1.13 [[ 9.99889123e-01 7.16566181e-03 -1.30535388e-02 5.55952985e+00] [-7.15080933e-03 9.99973732e-01 1.18413220e-03 1.13800967e-01] [ 1.30616810e-02 -1.09065755e-03 9.99914098e-01 1.13054828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10255784400005 meters Centerline goodness [0,1] 0.2603515239286419 Centerline is valid? [False, False] Translation: X:5.56, Y:0.11, Z:1.13 [[ 9.99882167e-01 7.30073794e-03 -1.35037413e-02 5.56118076e+00] [-7.27974710e-03 9.99972218e-01 1.60294803e-03 1.11094255e-01] [ 1.35150688e-02 -1.50445533e-03 9.99907535e-01 1.12978534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1325578440001 meters Centerline goodness [0,1] 0.2593109463584823 Centerline is valid? [False, False] Translation: X:5.56, Y:0.11, Z:1.13 [[ 9.99877926e-01 7.36850965e-03 -1.37781588e-02 5.56221637e+00] [-7.34549970e-03 9.99971542e-01 1.71989225e-03 1.10455895e-01] [ 1.37904398e-02 -1.61847483e-03 9.99903598e-01 1.12918372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16255784400005 meters Centerline goodness [0,1] 0.25841936399153154 Centerline is valid? [False, False] Translation: X:5.56, Y:0.11, Z:1.13 [[ 9.99875777e-01 7.47000209e-03 -1.38791062e-02 5.56271657e+00] [-7.44364260e-03 9.99970395e-01 1.94990999e-03 1.09308729e-01] [ 1.38932611e-02 -1.84635666e-03 9.99901779e-01 1.12878296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1925578440001 meters Centerline goodness [0,1] 0.2570048729550992 Centerline is valid? [False, False] Translation: X:5.56, Y:0.11, Z:1.13 [[ 9.99874432e-01 7.63099135e-03 -1.38884279e-02 5.56276458e+00] [-7.59880505e-03 9.99968323e-01 2.36878798e-03 1.07249570e-01] [ 1.39060642e-02 -2.26295508e-03 9.99900745e-01 1.12873221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22255784400005 meters Centerline goodness [0,1] 0.25597992143168924 Centerline is valid? [False, False] Translation: X:5.56, Y:0.10, Z:1.13 [[ 9.99904938e-01 4.25425036e-03 -1.31154832e-02 5.55967636e+00] [-4.25820295e-03 9.99990896e-01 -2.73457194e-04 1.01877078e-01] [ 1.31142005e-02 3.29279588e-04 9.99913951e-01 1.13035353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.252557844 meters Centerline goodness [0,1] 0.25136918366466854 Centerline is valid? [False, False] Translation: X:5.58, Y:0.10, Z:1.13 [[ 9.99925954e-01 -4.06101063e-03 -1.14715087e-02 5.58072659e+00] [ 4.06478607e-03 9.99991692e-01 3.05818086e-04 1.01104383e-01] [ 1.14701714e-02 -3.52424670e-04 9.99934153e-01 1.13094986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28255784400005 meters Centerline goodness [0,1] 0.25749983731372417 Centerline is valid? [False, False] Translation: X:5.58, Y:0.10, Z:1.13 [[ 9.99924192e-01 -3.96240826e-03 -1.16580308e-02 5.58093844e+00] [ 3.97406614e-03 9.99991626e-01 9.76991209e-04 9.71663975e-02] [ 1.16540619e-02 -1.02324693e-03 9.99931566e-01 1.13144817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.312557844 meters Centerline goodness [0,1] 0.2545340295984919 Centerline is valid? [False, False] Translation: X:5.58, Y:0.09, Z:1.13 [[ 9.99920322e-01 -3.83243968e-03 -1.20275903e-02 5.58188827e+00] [ 3.85102578e-03 9.99991426e-01 1.52250957e-03 9.41585545e-02] [ 1.20216522e-02 -1.56870682e-03 9.99926507e-01 1.13145035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34255784400005 meters Centerline goodness [0,1] 0.25818094844643513 Centerline is valid? [False, False] Translation: X:5.58, Y:0.09, Z:1.13 [[ 9.99916988e-01 -3.69069348e-03 -1.23448586e-02 5.58294723e+00] [ 3.71478404e-03 9.99991239e-01 1.92910448e-03 9.21047536e-02] [ 1.23376308e-02 -1.97480283e-03 9.99921938e-01 1.13100255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.372557844 meters Centerline goodness [0,1] 0.25998254418503164 Centerline is valid? [False, False] Translation: X:5.58, Y:0.09, Z:1.13 [[ 9.99914675e-01 -3.40721238e-03 -1.26108785e-02 5.58384495e+00] [ 3.43936742e-03 9.99990887e-01 2.52897703e-03 8.94409958e-02] [ 1.26021468e-02 -2.57213469e-03 9.99917282e-01 1.13069370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40255784400006 meters Centerline goodness [0,1] 0.25674914416951944 Centerline is valid? [False, False] Translation: X:5.60, Y:0.09, Z:1.13 [[ 9.99918197e-01 5.42136815e-03 -1.15848517e-02 5.60291112e+00] [-5.41097013e-03 9.99984929e-01 9.28708719e-04 8.52305903e-02] [ 1.15897120e-02 -8.65947461e-04 9.99932462e-01 1.13226593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43255784400003 meters Centerline goodness [0,1] 0.25733169920336163 Centerline is valid? [False, False] Translation: X:5.60, Y:0.08, Z:1.13 [[ 9.99917368e-01 5.51360750e-03 -1.16128314e-02 5.60271653e+00] [-5.50126398e-03 9.99984269e-01 1.09459637e-03 8.44114793e-02] [ 1.16186839e-02 -1.03062067e-03 9.99931970e-01 1.13274524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46255784400006 meters Centerline goodness [0,1] 0.2535442600276625 Centerline is valid? [False, False] Translation: X:5.62, Y:0.09, Z:1.14 [[ 9.99924857e-01 -9.74254143e-04 -1.22201015e-02 5.62079131e+00] [ 1.00202927e-03 9.99996928e-01 2.26698802e-03 8.90184752e-02] [ 1.22178553e-02 -2.27906257e-03 9.99922762e-01 1.13523148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49255784400003 meters Centerline goodness [0,1] 0.26820232309804515 Centerline is valid? [False, False] Translation: X:5.62, Y:0.09, Z:1.14 [[ 9.99926859e-01 -7.03128589e-04 -1.20740413e-02 5.62028311e+00] [ 7.32915867e-04 9.99996699e-01 2.46280365e-03 8.87259175e-02] [ 1.20722697e-02 -2.47147277e-03 9.99924073e-01 1.13551531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52255784400006 meters Centerline goodness [0,1] 0.2693456302151954 Centerline is valid? [False, False] Translation: X:5.62, Y:0.09, Z:1.14 [[ 9.99928947e-01 -6.38407090e-04 -1.19034656e-02 5.61976086e+00] [ 6.68732633e-04 9.99996541e-01 2.54381683e-03 8.84201309e-02] [ 1.19018004e-02 -2.55159632e-03 9.99925916e-01 1.13572773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55255784400003 meters Centerline goodness [0,1] 0.25645543735996 Centerline is valid? [False, False] Translation: X:5.64, Y:0.09, Z:1.14 [[ 9.99923657e-01 7.74602067e-03 -9.62701550e-03 5.63959111e+00] [-7.73978741e-03 9.99969813e-01 6.84563744e-04 8.62479613e-02] [ 9.63202754e-03 -6.10000428e-04 9.99953425e-01 1.13562757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58255784400006 meters Centerline goodness [0,1] 0.2704298019325784 Centerline is valid? [False, False] Translation: X:5.64, Y:0.08, Z:1.14 [[ 9.99925796e-01 7.91578787e-03 -9.25978641e-03 5.63836179e+00] [-7.90676788e-03 9.99968231e-01 1.01030722e-03 8.48496765e-02] [ 9.26748961e-03 -9.37017272e-04 9.99956617e-01 1.13623353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61255784400004 meters Centerline goodness [0,1] 0.2675831063848182 Centerline is valid? [False, False] Translation: X:5.66, Y:0.09, Z:1.14 [[ 9.99955497e-01 9.40109740e-04 -9.38725779e-03 5.65765057e+00] [-9.21027344e-04 9.99997501e-01 2.03691396e-03 8.92740115e-02] [ 9.38914925e-03 -2.02817739e-03 9.99953864e-01 1.13764112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64255784400007 meters Centerline goodness [0,1] 0.2696334506349588 Centerline is valid? [False, False] Translation: X:5.66, Y:0.09, Z:1.14 [[ 9.99954080e-01 1.01702443e-03 -9.52904525e-03 5.65812386e+00] [-9.96199025e-04 9.99997106e-01 2.18995800e-03 8.86090879e-02] [ 9.53124491e-03 -2.18036461e-03 9.99952200e-01 1.13745085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67255784400004 meters Centerline goodness [0,1] 0.25512449833858375 Centerline is valid? [False, False] Translation: X:5.66, Y:0.09, Z:1.14 [[ 9.99951218e-01 1.05807604e-03 -9.82048051e-03 5.65902920e+00] [-1.03557953e-03 9.99996829e-01 2.29557708e-03 8.79831060e-02] [ 9.82287826e-03 -2.28529520e-03 9.99949143e-01 1.13716445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70255784400007 meters Centerline goodness [0,1] 0.2706905640484977 Centerline is valid? [False, False] Translation: X:5.62, Y:0.08, Z:1.14 [[ 9.99916306e-01 -5.27330408e-04 -1.29268560e-02 5.61524522e+00] [ 5.64060764e-04 9.99995814e-01 2.83791774e-03 8.39398297e-02] [ 1.29253054e-02 -2.84497175e-03 9.99912417e-01 1.13802241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73255784400004 meters Centerline goodness [0,1] 0.25440680895187073 Centerline is valid? [False, False] Translation: X:5.64, Y:0.08, Z:1.14 [[ 9.99907326e-01 7.46799854e-03 -1.13827814e-02 5.63670207e+00] [-7.46340533e-03 9.99972049e-01 4.45948300e-04 8.28227831e-02] [ 1.13857935e-02 -3.60952662e-04 9.99935115e-01 1.13740986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76255784400007 meters Centerline goodness [0,1] 0.25609756097560976 Centerline is valid? [False, False] Translation: X:5.64, Y:0.08, Z:1.14 [[ 9.99908513e-01 7.45246498e-03 -1.12883382e-02 5.63641995e+00] [-7.44897020e-03 9.99972194e-01 3.51606010e-04 8.33646427e-02] [ 1.12906446e-02 -2.67487348e-04 9.99936223e-01 1.13747979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79255784400004 meters Centerline goodness [0,1] 0.25656543823624767 Centerline is valid? [False, False] Translation: X:5.64, Y:0.08, Z:1.14 [[ 9.99909201e-01 7.47639272e-03 -1.12112767e-02 5.63628034e+00] [-7.47400276e-03 9.99972037e-01 2.55058227e-04 8.40430120e-02] [ 1.12128701e-02 -1.71241956e-04 9.99937119e-01 1.13741020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8225578440001 meters Centerline goodness [0,1] 0.2567309362515199 Centerline is valid? [False, False] Translation: X:5.64, Y:0.08, Z:1.14 [[ 9.99908281e-01 7.42959519e-03 -1.13238781e-02 5.63674926e+00] [-7.42846534e-03 9.99972399e-01 1.41833858e-04 8.45466499e-02] [ 1.13246193e-02 -5.77018130e-05 9.99935873e-01 1.13711744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85255784400005 meters Centerline goodness [0,1] 0.25921164447737133 Centerline is valid? [False, False] Translation: X:5.64, Y:0.09, Z:1.14 [[ 9.99907940e-01 7.37894848e-03 -1.13869767e-02 5.63711600e+00] [-7.37950500e-03 9.99972771e-01 -6.85709973e-06 8.52567462e-02] [ 1.13866160e-02 9.08867196e-05 9.99935166e-01 1.13677491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8825578440001 meters Centerline goodness [0,1] 0.2574272422373688 Centerline is valid? [False, False] Translation: X:5.65, Y:0.09, Z:1.14 [[ 9.99917633e-01 1.05751438e-03 -1.27909463e-02 5.65478930e+00] [-1.04959239e-03 9.99999253e-01 6.26040356e-04 9.10190583e-02] [ 1.27915987e-02 -6.12563511e-04 9.99917997e-01 1.13879017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91255784400005 meters Centerline goodness [0,1] 0.2612675290792478 Centerline is valid? [False, False] Translation: X:5.65, Y:0.09, Z:1.14 [[ 9.99920949e-01 9.97427399e-04 -1.25340201e-02 5.65375252e+00] [-9.91882761e-04 9.99999407e-01 4.48575650e-04 9.17998691e-02] [ 1.25344601e-02 -4.36107911e-04 9.99921345e-01 1.13944499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9425578440001 meters Centerline goodness [0,1] 0.25464386230785885 Centerline is valid? [False, False] Translation: X:5.65, Y:0.09, Z:1.14 [[ 9.99921531e-01 9.55983342e-04 -1.24907405e-02 5.65334992e+00] [-9.51565271e-04 9.99999483e-01 3.59645996e-04 9.22380243e-02] [ 1.24910778e-02 -3.47732020e-04 9.99921923e-01 1.13991684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97255784400005 meters Centerline goodness [0,1] 0.26813081255730686 Centerline is valid? [False, False] Translation: X:5.65, Y:0.09, Z:1.14 [[ 9.99921280e-01 9.19674647e-04 -1.25135452e-02 5.65336921e+00] [-9.16253422e-04 9.99999541e-01 2.79132007e-04 9.27140763e-02] [ 1.25137962e-02 -2.67644455e-04 9.99921664e-01 1.13995295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002557844 meters Centerline goodness [0,1] 0.26813081255730686 Centerline is valid? [False, False] Translation: X:5.65, Y:0.09, Z:1.14 [[ 9.99921280e-01 9.19674647e-04 -1.25135452e-02 5.65336921e+00] [-9.16253422e-04 9.99999541e-01 2.79132007e-04 9.27140763e-02] [ 1.25137962e-02 -2.67644455e-04 9.99921664e-01 1.13995295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03255784400005 meters Centerline goodness [0,1] 0.25357050116852764 Centerline is valid? [False, False] Translation: X:5.65, Y:0.09, Z:1.14 [[ 9.99919440e-01 8.27872516e-04 -1.26660072e-02 5.65394738e+00] [-8.26834886e-04 9.99999654e-01 8.71587780e-05 9.36063747e-02] [ 1.26660750e-02 -7.66790599e-05 9.99919779e-01 1.13964963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062557844 meters Centerline goodness [0,1] 0.254256723134506 Centerline is valid? [False, False] Translation: X:5.65, Y:0.10, Z:1.14 [[ 9.99916237e-01 6.13438887e-04 -1.29284043e-02 5.65490277e+00] [-6.17882853e-04 9.99999751e-01 -3.39745138e-04 9.55071424e-02] [ 1.29281927e-02 3.47704919e-04 9.99916367e-01 1.13910952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09255784400005 meters Centerline goodness [0,1] 0.2662065085684612 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.14 [[ 9.99914833e-01 5.14226360e-04 -1.30407691e-02 5.65512087e+00] [-5.21294373e-04 9.99999719e-01 -5.38600200e-04 9.64388904e-02] [ 1.30404885e-02 5.45352409e-04 9.99914820e-01 1.13922958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122557844 meters Centerline goodness [0,1] 0.25277837837837835 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.14 [[ 9.99913274e-01 3.99841876e-04 -1.31637747e-02 5.65527830e+00] [-4.10047772e-04 9.99999617e-01 -7.72611724e-04 9.74956038e-02] [ 1.31634608e-02 7.77942495e-04 9.99913055e-01 1.13945531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15255784400006 meters Centerline goodness [0,1] 0.2526417942635325 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.14 [[ 9.99911706e-01 2.64195390e-04 -1.32857548e-02 5.65547475e+00] [-2.77928221e-04 9.99999429e-01 -1.03181510e-03 9.85308164e-02] [ 1.32854746e-02 1.03541648e-03 9.99911208e-01 1.13963010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18255784400003 meters Centerline goodness [0,1] 0.26561788987843726 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.14 [[ 9.99909722e-01 1.14013786e-04 -1.34363087e-02 5.65584460e+00] [-1.32141796e-04 9.99999082e-01 -1.34830074e-03 9.99154020e-02] [ 1.34361426e-02 1.34995452e-03 9.99908820e-01 1.13962763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21255784400006 meters Centerline goodness [0,1] 0.26926276157954643 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.14 [[ 9.99910291e-01 -5.17403046e-05 -1.33942958e-02 5.65561498e+00] [ 2.70517401e-05 9.99998301e-01 -1.84338944e-03 1.02820641e-01] [ 1.33943684e-02 1.84286173e-03 9.99908593e-01 1.13971794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24255784400003 meters Centerline goodness [0,1] 0.26640893097606533 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.14 [[ 9.99911150e-01 -1.67426271e-04 -1.33290653e-02 5.65523601e+00] [ 1.38469974e-04 9.99997629e-01 -2.17331096e-03 1.04678535e-01] [ 1.33293975e-02 2.17127219e-03 9.99908802e-01 1.14008598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27255784400006 meters Centerline goodness [0,1] 0.26692079443806715 Centerline is valid? [False, False] Translation: X:5.66, Y:0.11, Z:1.14 [[ 9.99910856e-01 -2.84284219e-04 -1.33491610e-02 5.65504967e+00] [ 2.51363665e-04 9.99996924e-01 -2.46772716e-03 1.06195318e-01] [ 1.33498215e-02 2.46415168e-03 9.99907851e-01 1.14045372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30255784400003 meters Centerline goodness [0,1] 0.2704905495465968 Centerline is valid? [False, False] Translation: X:5.66, Y:0.11, Z:1.14 [[ 9.99908596e-01 -4.25547363e-04 -1.35136617e-02 5.65537225e+00] [ 3.88254285e-04 9.99996110e-01 -2.76216110e-03 1.07531541e-01] [ 1.35147846e-02 2.75666189e-03 9.99904871e-01 1.14058750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33255784400006 meters Centerline goodness [0,1] 0.25017837452163194 Centerline is valid? [False, False] Translation: X:5.67, Y:0.12, Z:1.14 [[ 9.99870485e-01 -7.59489055e-03 -1.41891137e-02 5.67484912e+00] [ 7.56677649e-03 9.99969303e-01 -2.03401926e-03 1.15079988e-01] [ 1.42041262e-02 1.92638998e-03 9.99897261e-01 1.14296222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36255784400004 meters Centerline goodness [0,1] 0.253249692815107 Centerline is valid? [False, False] Translation: X:5.67, Y:0.12, Z:1.14 [[ 9.99872676e-01 -7.58610883e-03 -1.40386351e-02 5.67408643e+00] [ 7.55826857e-03 9.99969365e-01 -2.03511337e-03 1.15318299e-01] [ 1.40536436e-02 1.92874648e-03 9.99899382e-01 1.14356650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39255784400007 meters Centerline goodness [0,1] 0.2567456006951988 Centerline is valid? [False, False] Translation: X:5.67, Y:0.12, Z:1.14 [[ 9.99874776e-01 -7.59451344e-03 -1.38836336e-02 5.67329297e+00] [ 7.56618840e-03 9.99969189e-01 -2.09156383e-03 1.15773634e-01] [ 1.38990902e-02 1.98625573e-03 9.99901430e-01 1.14423703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42255784400004 meters Centerline goodness [0,1] 0.25574475478910563 Centerline is valid? [False, False] Translation: X:5.67, Y:0.12, Z:1.14 [[ 9.99872431e-01 -7.77053085e-03 -1.39549490e-02 5.67313510e+00] [ 7.73585156e-03 9.99966859e-01 -2.53735258e-03 1.17764836e-01] [ 1.39742031e-02 2.42907548e-03 9.99899406e-01 1.14484021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45255784400007 meters Centerline goodness [0,1] 0.2691532258064516 Centerline is valid? [False, False] Translation: X:5.65, Y:0.11, Z:1.14 [[ 9.99906855e-01 -2.96933761e-04 -1.36452306e-02 5.65300546e+00] [ 2.48373154e-04 9.99993631e-01 -3.56035390e-03 1.14269684e-01] [ 1.36462009e-02 3.55663316e-03 9.99900561e-01 1.14361621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48255784400004 meters Centerline goodness [0,1] 0.25506734667189745 Centerline is valid? [False, False] Translation: X:5.65, Y:0.12, Z:1.14 [[ 9.99909280e-01 -3.57386538e-04 -1.34649513e-02 5.65243945e+00] [ 3.05093307e-04 9.99992405e-01 -3.88550940e-03 1.16330714e-01] [ 1.34662376e-02 3.88104884e-03 9.99901794e-01 1.14378914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51255784400007 meters Centerline goodness [0,1] 0.25460295455530046 Centerline is valid? [False, False] Translation: X:5.65, Y:0.12, Z:1.14 [[ 9.99912548e-01 -4.36014943e-04 -1.32176126e-02 5.65181103e+00] [ 3.79510109e-04 9.99990781e-01 -4.27717197e-03 1.18842010e-01] [ 1.32193557e-02 4.27178171e-03 9.99903496e-01 1.14376894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54255784400004 meters Centerline goodness [0,1] 0.2547151468014778 Centerline is valid? [False, False] Translation: X:5.65, Y:0.12, Z:1.14 [[ 9.99916109e-01 -6.09293714e-04 -1.29384803e-02 5.65138410e+00] [ 5.43083073e-04 9.99986744e-01 -5.12023993e-03 1.24143079e-01] [ 1.29414285e-02 5.11278372e-03 9.99903185e-01 1.14331820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5725578440001 meters Centerline goodness [0,1] 0.2595654639849919 Centerline is valid? [False, False] Translation: X:5.65, Y:0.13, Z:1.14 [[ 9.99915406e-01 -7.97995769e-04 -1.29824877e-02 5.65163968e+00] [ 7.25374660e-04 9.99984071e-01 -5.59752203e-03 1.26400372e-01] [ 1.29867477e-02 5.58763135e-03 9.99900056e-01 1.14305523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60255784400005 meters Centerline goodness [0,1] 0.2509201265577581 Centerline is valid? [False, False] Translation: X:5.67, Y:0.13, Z:1.15 [[ 9.99871751e-01 -7.56481718e-03 -1.41157781e-02 5.67038817e+00] [ 7.49477844e-03 9.99959373e-01 -5.00805561e-03 1.33917406e-01] [ 1.41530896e-02 4.90161870e-03 9.99887826e-01 1.14514287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6325578440001 meters Centerline goodness [0,1] 0.25609596510359867 Centerline is valid? [False, False] Translation: X:5.65, Y:0.13, Z:1.14 [[ 9.99893183e-01 5.42874687e-05 -1.46157564e-02 5.65031097e+00] [-1.39567715e-04 9.99982973e-01 -5.83385907e-03 1.29509794e-01] [ 1.46151908e-02 5.83527580e-03 9.99876165e-01 1.14441731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66255784400005 meters Centerline goodness [0,1] 0.256226357334966 Centerline is valid? [False, False] Translation: X:5.65, Y:0.13, Z:1.14 [[ 9.99890504e-01 -1.23470305e-05 -1.47979834e-02 5.65064837e+00] [-7.51386484e-05 9.99982525e-01 -5.91142951e-03 1.29838327e-01] [ 1.47977978e-02 5.91189413e-03 9.99873029e-01 1.14456491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6925578440001 meters Centerline goodness [0,1] 0.25588267246061924 Centerline is valid? [False, False] Translation: X:5.65, Y:0.13, Z:1.14 [[ 9.99880752e-01 -6.87832565e-04 -1.54275021e-02 5.65222668e+00] [ 5.91024156e-04 9.99980114e-01 -6.27873575e-03 1.29768661e-01] [ 1.54315140e-02 6.26886900e-03 9.99861275e-01 1.14459727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72255784400005 meters Centerline goodness [0,1] 0.2514408285305716 Centerline is valid? [False, False] Translation: X:5.65, Y:0.13, Z:1.14 [[ 9.99876588e-01 -9.04694468e-04 -1.56840492e-02 5.65275447e+00] [ 8.07173007e-04 9.99980311e-01 -6.22309084e-03 1.28671542e-01] [ 1.56893704e-02 6.20966310e-03 9.99857632e-01 1.14479045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.752557844 meters Centerline goodness [0,1] 0.2530512965295574 Centerline is valid? [False, False] Translation: X:5.65, Y:0.13, Z:1.15 [[ 9.99873482e-01 -1.10260525e-03 -1.58683722e-02 5.65297752e+00] [ 1.00680207e-03 9.99981227e-01 -6.04408983e-03 1.27016836e-01] [ 1.58747386e-02 6.02734883e-03 9.99855821e-01 1.14521114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78255784400005 meters Centerline goodness [0,1] 0.250516662361147 Centerline is valid? [False, False] Translation: X:5.67, Y:0.13, Z:1.15 [[ 9.99839169e-01 -9.23717019e-03 -1.53724165e-02 5.67338638e+00] [ 9.15841805e-03 9.99944616e-01 -5.18548910e-03 1.29055664e-01] [ 1.54194643e-02 5.04386809e-03 9.99868391e-01 1.14658117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.812557844 meters Centerline goodness [0,1] 0.2523848577718306 Centerline is valid? [False, False] Translation: X:5.67, Y:0.13, Z:1.15 [[ 9.99834646e-01 -9.38748957e-03 -1.55742014e-02 5.67360406e+00] [ 9.31299759e-03 9.99944878e-01 -4.84868955e-03 1.26648084e-01] [ 1.56188599e-02 4.70284530e-03 9.99866958e-01 1.14706667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84255784400005 meters Centerline goodness [0,1] 0.2505632094272593 Centerline is valid? [False, False] Translation: X:5.67, Y:0.12, Z:1.15 [[ 9.99822564e-01 -1.00034234e-02 -1.59616083e-02 5.67466791e+00] [ 9.93061346e-03 9.99939951e-01 -4.63432612e-03 1.22973072e-01] [ 1.60070090e-02 4.47499526e-03 9.99861866e-01 1.14710919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.872557844 meters Centerline goodness [0,1] 0.24789879746562649 Centerline is valid? [False, False] Translation: X:5.68, Y:0.12, Z:1.15 [[ 9.99815590e-01 -9.97098768e-03 -1.64123728e-02 5.67583346e+00] [ 9.90178922e-03 9.99941764e-01 -4.29211506e-03 1.20925263e-01] [ 1.64542137e-02 4.12881170e-03 9.99856096e-01 1.14705050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90255784400006 meters Centerline goodness [0,1] 0.2516706704520638 Centerline is valid? [False, False] Translation: X:5.66, Y:0.11, Z:1.15 [[ 9.99852909e-01 -2.45877512e-03 -1.69739582e-02 5.65639775e+00] [ 2.37496230e-03 9.99984898e-01 -4.95612283e-03 1.13876341e-01] [ 1.69858878e-02 4.91508132e-03 9.99843649e-01 1.14570681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93255784400003 meters Centerline goodness [0,1] 0.25152601281633535 Centerline is valid? [False, False] Translation: X:5.66, Y:0.11, Z:1.15 [[ 9.99850199e-01 -2.35769320e-03 -1.71470150e-02 5.65664628e+00] [ 2.28074921e-03 9.99987249e-01 -4.50548278e-03 1.11455496e-01] [ 1.71574190e-02 4.46569981e-03 9.99842828e-01 1.14595970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96255784400006 meters Centerline goodness [0,1] 0.25292118820563414 Centerline is valid? [False, False] Translation: X:5.66, Y:0.11, Z:1.15 [[ 9.99852053e-01 -2.26649289e-03 -1.70509765e-02 5.65608318e+00] [ 2.19387893e-03 9.99988451e-01 -4.27614011e-03 1.10401750e-01] [ 1.70604714e-02 4.23809969e-03 9.99845477e-01 1.14647814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99255784400003 meters Centerline goodness [0,1] 0.25581090527787487 Centerline is valid? [False, False] Translation: X:5.66, Y:0.11, Z:1.15 [[ 9.99856836e-01 -2.18629482e-03 -1.67787622e-02 5.65503752e+00] [ 2.11895889e-03 9.99989635e-01 -4.02989371e-03 1.09181924e-01] [ 1.67873989e-02 3.99376327e-03 9.99851105e-01 1.14709007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02255784400006 meters Centerline goodness [0,1] 0.24917997410444537 Centerline is valid? [False, False] Translation: X:5.67, Y:0.11, Z:1.15 [[ 9.99839244e-01 -9.78717007e-03 -1.50232634e-02 5.67466451e+00] [ 9.74249089e-03 9.99947907e-01 -3.04431211e-03 1.11964623e-01] [ 1.50522759e-02 2.89745871e-03 9.99882510e-01 1.14839100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05255784400003 meters Centerline goodness [0,1] 0.2540031807585892 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.15 [[ 9.99908997e-01 -3.72260326e-03 -1.29668548e-02 5.65570927e+00] [ 3.67561297e-03 9.99986599e-01 -3.64582533e-03 1.03639954e-01] [ 1.29802530e-02 3.59783241e-03 9.99909280e-01 1.14668464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08255784400006 meters Centerline goodness [0,1] 0.25731699296253263 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.15 [[ 9.99906229e-01 -3.62925748e-03 -1.32046389e-02 5.65622770e+00] [ 3.58641359e-03 9.99988233e-01 -3.26684318e-03 1.01761663e-01] [ 1.32163397e-02 3.21917954e-03 9.99907478e-01 1.14671095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11255784400004 meters Centerline goodness [0,1] 0.2559935252428034 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.15 [[ 9.99904951e-01 -3.51209401e-03 -1.33324668e-02 5.65652192e+00] [ 3.47507192e-03 9.99990045e-01 -2.79898867e-03 9.94454420e-02] [ 1.33421644e-02 2.75239135e-03 9.99907201e-01 1.14660928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14255784400007 meters Centerline goodness [0,1] 0.25483471881579234 Centerline is valid? [False, False] Translation: X:5.66, Y:0.10, Z:1.15 [[ 9.99905031e-01 -3.41220755e-03 -1.33523656e-02 5.65633352e+00] [ 3.38249111e-03 9.99991754e-01 -2.24750626e-03 9.65516106e-02] [ 1.33599245e-02 2.20212855e-03 9.99908327e-01 1.14694831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17255784400004 meters Centerline goodness [0,1] 0.25338264085273 Centerline is valid? [False, False] Translation: X:5.66, Y:0.09, Z:1.15 [[ 9.99908120e-01 -3.38411472e-03 -1.31262491e-02 5.65532281e+00] [ 3.36171661e-03 9.99992856e-01 -1.72804926e-03 9.34622013e-02] [ 1.31320032e-02 1.68376376e-03 9.99912354e-01 1.14768610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20255784400007 meters Centerline goodness [0,1] 0.25166980092082225 Centerline is valid? [False, False] Translation: X:5.65, Y:0.09, Z:1.15 [[ 9.99887407e-01 -7.18257155e-03 -1.31750922e-02 5.65499304e+00] [ 7.12068567e-03 9.99963422e-01 -4.73809888e-03 8.85417488e-02] [ 1.32086420e-02 4.64374972e-03 9.99901979e-01 1.14827431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23255784400004 meters Centerline goodness [0,1] 0.25496079547943407 Centerline is valid? [False, False] Translation: X:5.64, Y:0.08, Z:1.15 [[ 9.99917069e-01 -1.94306413e-04 -1.28770101e-02 5.63618171e+00] [ 1.27406393e-04 9.99986493e-01 -5.19592364e-03 8.03615990e-02] [ 1.28778458e-02 5.19385212e-03 9.99903588e-01 1.14652882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26255784400007 meters Centerline goodness [0,1] 0.2494630654083957 Centerline is valid? [False, False] Translation: X:5.66, Y:0.08, Z:1.15 [[ 9.99884006e-01 -7.85648192e-03 -1.30479666e-02 5.65718996e+00] [ 7.80535710e-03 9.99961679e-01 -3.96453546e-03 8.06824892e-02] [ 1.30786139e-02 3.86223156e-03 9.99907012e-01 1.14802746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29255784400004 meters Centerline goodness [0,1] 0.2530467346364482 Centerline is valid? [False, False] Translation: X:5.66, Y:0.08, Z:1.15 [[ 9.99884437e-01 -7.73363428e-03 -1.30883148e-02 5.65699745e+00] [ 7.69037789e-03 9.99964810e-01 -3.35207165e-03 7.74469734e-02] [ 1.31137780e-02 3.25103018e-03 9.99908726e-01 1.14839756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3225578440001 meters Centerline goodness [0,1] 0.2513908431648447 Centerline is valid? [False, False] Translation: X:5.66, Y:0.07, Z:1.15 [[ 0.99985089 -0.01155544 -0.01283238 5.65626465] [ 0.01147308 0.99991323 -0.00647356 0.07271852] [ 0.01290607 0.00632537 0.99989671 1.14865719] [ 0. 0. 0. 1. ]] SLAMing on 358.35255784400005 meters Centerline goodness [0,1] 0.252048338629829 Centerline is valid? [False, False] Translation: X:5.66, Y:0.07, Z:1.15 [[ 0.99985006 -0.01144941 -0.01299136 5.65647418] [ 0.01137282 0.9999176 -0.00595412 0.06975214] [ 0.01305846 0.00580548 0.99989788 1.14890821] [ 0. 0. 0. 1. ]] SLAMing on 358.3825578440001 meters Centerline goodness [0,1] 0.2539803045421023 Centerline is valid? [False, False] Translation: X:5.66, Y:0.07, Z:1.15 [[ 9.99848911e-01 -1.13078662e-02 -1.32017849e-02 5.65690670e+00] [ 1.12364321e-02 9.99921893e-01 -5.47263230e-03 6.72396993e-02] [ 1.32626375e-02 5.32346449e-03 9.99897876e-01 1.14895459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41255784400005 meters Centerline goodness [0,1] 0.2533146188728137 Centerline is valid? [False, False] Translation: X:5.66, Y:0.07, Z:1.15 [[ 9.99848153e-01 -1.11556218e-02 -1.33873874e-02 5.65742199e+00] [ 1.10883601e-02 9.99925577e-01 -5.08801651e-03 6.54322457e-02] [ 1.34431511e-02 4.93879974e-03 9.99897440e-01 1.14880171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4425578440001 meters Centerline goodness [0,1] 0.25400871459694985 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99926866e-01 -3.76693064e-03 -1.14923126e-02 5.63705504e+00] [ 3.70938260e-03 9.99980496e-01 -5.02473724e-03 5.85773124e-02] [ 1.15110163e-02 4.98174037e-03 9.99921336e-01 1.14702740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47255784400005 meters Centerline goodness [0,1] 0.25438251366120224 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99928163e-01 -3.69454904e-03 -1.14026244e-02 5.63662209e+00] [ 3.63851726e-03 9.99981224e-01 -4.93077705e-03 5.82107542e-02] [ 1.14206273e-02 4.88893419e-03 9.99922831e-01 1.14742358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.502557844 meters Centerline goodness [0,1] 0.26376241947810897 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99928557e-01 -3.66009169e-03 -1.13790970e-02 5.63638744e+00] [ 3.60427377e-03 9.99981392e-01 -4.92194672e-03 5.81901637e-02] [ 1.13969000e-02 4.88058170e-03 9.99923142e-01 1.14775774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53255784400005 meters Centerline goodness [0,1] 0.2531480109799137 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99928655e-01 -3.65543015e-03 -1.13720398e-02 5.63637812e+00] [ 3.59888399e-03 9.99981079e-01 -4.98888111e-03 5.85678441e-02] [ 1.13900611e-02 4.94759853e-03 9.99922891e-01 1.14779313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562557844 meters Centerline goodness [0,1] 0.2562639870112774 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99924420e-01 -3.54153692e-03 -1.17733850e-02 5.63773454e+00] [ 3.48085387e-03 9.99980573e-01 -5.17075933e-03 6.00895645e-02] [ 1.17914687e-02 5.12938708e-03 9.99917322e-01 1.14712100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59255784400005 meters Centerline goodness [0,1] 0.25459887302944595 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99924431e-01 -3.55992307e-03 -1.17668926e-02 5.63783375e+00] [ 3.49752324e-03 9.99979736e-01 -5.31933108e-03 6.10261644e-02] [ 1.17855905e-02 5.27777412e-03 9.99916619e-01 1.14693697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622557844 meters Centerline goodness [0,1] 0.25207293249403084 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99924593e-01 -3.55715676e-03 -1.17539295e-02 5.63758858e+00] [ 3.49479963e-03 9.99979734e-01 -5.32150301e-03 6.10610271e-02] [ 1.17726207e-02 5.28002410e-03 9.99916760e-01 1.14728932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65255784400006 meters Centerline goodness [0,1] 0.2645175438596491 Centerline is valid? [False, False] Translation: X:5.62, Y:0.06, Z:1.15 [[ 9.99946910e-01 3.23366255e-03 -9.78364867e-03 5.61809698e+00] [-3.29219327e-03 9.99976746e-01 -5.97232536e-03 5.64046055e-02] [ 9.76410867e-03 6.00421795e-03 9.99934304e-01 1.14524325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68255784400003 meters Centerline goodness [0,1] 0.2503529002975221 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99949787e-01 -4.53011031e-03 -8.93872271e-03 5.63828110e+00] [ 4.48665937e-03 9.99978052e-01 -4.87505824e-03 5.79740243e-02] [ 8.96061107e-03 4.83470845e-03 9.99948165e-01 1.14661439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71255784400006 meters Centerline goodness [0,1] 0.2504839165706083 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99949905e-01 -4.43538074e-03 -8.97300322e-03 5.63831850e+00] [ 4.39434205e-03 9.99979819e-01 -4.58813111e-03 5.66844429e-02] [ 8.99317225e-03 4.54847082e-03 9.99949216e-01 1.14659220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74255784400003 meters Centerline goodness [0,1] 0.25284971830370795 Centerline is valid? [False, False] Translation: X:5.64, Y:0.06, Z:1.15 [[ 9.99948960e-01 -4.39390050e-03 -9.09784156e-03 5.63861073e+00] [ 4.35436361e-03 9.99981010e-01 -4.36100171e-03 5.55147155e-02] [ 9.11683060e-03 4.32116382e-03 9.99949104e-01 1.14652141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77255784400006 meters Centerline goodness [0,1] 0.25428452305194094 Centerline is valid? [False, False] Translation: X:5.64, Y:0.05, Z:1.15 [[ 9.99948121e-01 -4.35490702e-03 -9.20815392e-03 5.63877577e+00] [ 4.31676441e-03 9.99982038e-01 -4.15808988e-03 5.43736207e-02] [ 9.22609662e-03 4.11812473e-03 9.99948959e-01 1.14665133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80255784400003 meters Centerline goodness [0,1] 0.2553467985286668 Centerline is valid? [False, False] Translation: X:5.64, Y:0.05, Z:1.15 [[ 9.99948443e-01 -4.24676233e-03 -9.22363110e-03 5.63849289e+00] [ 4.21126611e-03 9.99983666e-01 -3.86441767e-03 5.29863542e-02] [ 9.23989170e-03 3.82537527e-03 9.99949994e-01 1.14714329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83255784400006 meters Centerline goodness [0,1] 0.2511900640470832 Centerline is valid? [False, False] Translation: X:5.68, Y:0.05, Z:1.15 [[ 9.99970765e-01 -2.59064645e-03 -7.19421392e-03 5.68128333e+00] [ 2.56129594e-03 9.99988372e-01 -4.08595898e-03 5.22769201e-02] [ 7.20471554e-03 4.06741302e-03 9.99965774e-01 1.14704828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86255784400004 meters Centerline goodness [0,1] 0.26320610687022905 Centerline is valid? [False, False] Translation: X:5.68, Y:0.05, Z:1.15 [[ 9.99971409e-01 -2.58679751e-03 -7.10557488e-03 5.68089797e+00] [ 2.55776508e-03 9.99988357e-01 -4.09192038e-03 5.22745193e-02] [ 7.11607712e-03 4.07362900e-03 9.99966383e-01 1.14738266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89255784400007 meters Centerline goodness [0,1] 0.2503197554683605 Centerline is valid? [False, False] Translation: X:5.68, Y:0.05, Z:1.15 [[ 9.99971829e-01 -2.66290242e-03 -7.01778888e-03 5.68056250e+00] [ 2.63320118e-03 9.99987552e-01 -4.23812627e-03 5.26782698e-02] [ 7.02898724e-03 4.21952763e-03 9.99966394e-01 1.14759761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92255784400004 meters Centerline goodness [0,1] 0.2503197554683605 Centerline is valid? [False, False] Translation: X:5.68, Y:0.05, Z:1.15 [[ 9.99971829e-01 -2.66290242e-03 -7.01778888e-03 5.68056250e+00] [ 2.63320118e-03 9.99987552e-01 -4.23812627e-03 5.26782698e-02] [ 7.02898724e-03 4.21952763e-03 9.99966394e-01 1.14759761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95255784400007 meters Centerline goodness [0,1] 0.25498164656528577 Centerline is valid? [False, False] Translation: X:5.68, Y:0.05, Z:1.15 [[ 9.99974363e-01 -2.70790255e-03 -6.62878669e-03 5.67933694e+00] [ 2.67763587e-03 9.99985970e-01 -4.57057048e-03 5.45846281e-02] [ 6.64107035e-03 4.55270382e-03 9.99967584e-01 1.14811199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98255784400004 meters Centerline goodness [0,1] 0.24906245958877538 Centerline is valid? [False, False] Translation: X:5.70, Y:0.06, Z:1.15 [[ 9.99950668e-01 -7.76375650e-03 -6.19565702e-03 5.70125209e+00] [ 7.75390720e-03 9.99968638e-01 -1.61215063e-03 5.74970948e-02] [ 6.20797906e-03 1.56403055e-03 9.99979507e-01 1.14850974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01255784400007 meters Centerline goodness [0,1] 0.25160492756137764 Centerline is valid? [False, False] Translation: X:5.70, Y:0.06, Z:1.15 [[ 9.99949467e-01 -7.90156810e-03 -6.21516781e-03 5.70148443e+00] [ 7.88940177e-03 9.99966919e-01 -1.97961040e-03 5.93518987e-02] [ 6.23060423e-03 1.93047641e-03 9.99978726e-01 1.14822633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04255784400004 meters Centerline goodness [0,1] 0.2514911402324873 Centerline is valid? [False, False] Translation: X:5.70, Y:0.06, Z:1.15 [[ 9.99946828e-01 -8.05896345e-03 -6.43378229e-03 5.70223968e+00] [ 8.04372985e-03 9.99964792e-01 -2.39012713e-03 6.12829529e-02] [ 6.45281772e-03 2.33824844e-03 9.99976447e-01 1.14787860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0725578440001 meters Centerline goodness [0,1] 0.2522859517871987 Centerline is valid? [False, False] Translation: X:5.70, Y:0.06, Z:1.15 [[ 9.99944226e-01 -8.22608130e-03 -6.62395824e-03 5.70288844e+00] [ 8.20755153e-03 9.99962342e-01 -2.81972812e-03 6.33185661e-02] [ 6.64690411e-03 2.76520438e-03 9.99974086e-01 1.14755980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10255784400005 meters Centerline goodness [0,1] 0.2519724620260081 Centerline is valid? [False, False] Translation: X:5.70, Y:0.07, Z:1.15 [[ 9.99965031e-01 -5.07648695e-03 -6.64575856e-03 5.70218025e+00] [ 5.07800355e-03 9.99987085e-01 2.11350911e-04 6.55969641e-02] [ 6.64459980e-03 -2.45090705e-04 9.99977894e-01 1.14840752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1325578440001 meters Centerline goodness [0,1] 0.25179919063764633 Centerline is valid? [False, False] Translation: X:5.70, Y:0.07, Z:1.15 [[ 9.99965865e-01 -5.14416185e-03 -6.46574924e-03 5.70162680e+00] [ 5.14447119e-03 9.99986767e-01 3.12132557e-05 6.65703553e-02] [ 6.46550311e-03 -6.44750510e-05 9.99979096e-01 1.14854767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16255784400005 meters Centerline goodness [0,1] 0.24873726378124184 Centerline is valid? [False, False] Translation: X:5.70, Y:0.07, Z:1.15 [[ 9.99965726e-01 -5.27172806e-03 -6.38400130e-03 5.70148552e+00] [ 5.27073852e-03 9.99986095e-01 -1.71816984e-04 6.73572887e-02] [ 6.38481831e-03 1.38162693e-04 9.99979607e-01 1.14839465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1925578440001 meters Centerline goodness [0,1] 0.25004887160885336 Centerline is valid? [False, False] Translation: X:5.70, Y:0.07, Z:1.15 [[ 9.99964479e-01 -5.42169042e-03 -6.45330507e-03 5.70183054e+00] [ 5.41921531e-03 9.99985236e-01 -4.00965711e-04 6.81914729e-02] [ 6.45538370e-03 3.65979619e-04 9.99979097e-01 1.14806076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22255784400005 meters Centerline goodness [0,1] 0.24882119032615546 Centerline is valid? [False, False] Translation: X:5.70, Y:0.07, Z:1.15 [[ 9.99961665e-01 -5.64478894e-03 -6.69368706e-03 5.70300249e+00] [ 5.63922858e-03 9.99983739e-01 -8.49271235e-04 7.04342300e-02] [ 6.69837217e-03 8.11491446e-04 9.99977236e-01 1.14700474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.252557844 meters Centerline goodness [0,1] 0.252354297003622 Centerline is valid? [False, False] Translation: X:5.68, Y:0.07, Z:1.15 [[ 9.99979074e-01 1.87383769e-03 -6.19199795e-03 5.68311650e+00] [-1.88386869e-03 9.99996922e-01 -1.61455953e-03 6.80247588e-02] [ 6.18895347e-03 1.62619066e-03 9.99979526e-01 1.14554597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28255784400005 meters Centerline goodness [0,1] 0.2504929670040752 Centerline is valid? [False, False] Translation: X:5.68, Y:0.07, Z:1.15 [[ 9.99980338e-01 1.80396423e-03 -6.00581695e-03 5.68255870e+00] [-1.81464946e-03 9.99996780e-01 -1.77417388e-03 6.88138673e-02] [ 6.00259707e-03 1.78503745e-03 9.99980391e-01 1.14573809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.312557844 meters Centerline goodness [0,1] 0.24767701271415887 Centerline is valid? [False, False] Translation: X:5.70, Y:0.07, Z:1.15 [[ 9.99974227e-01 -5.83093831e-03 -4.18870011e-03 5.70190686e+00] [ 5.82687315e-03 9.99982541e-01 -9.82054125e-04 7.29859607e-02] [ 4.19435328e-03 9.57621790e-04 9.99990745e-01 1.14722675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34255784400005 meters Centerline goodness [0,1] 0.24759865005192105 Centerline is valid? [False, False] Translation: X:5.70, Y:0.08, Z:1.15 [[ 9.99976075e-01 -5.95427007e-03 -3.52076098e-03 5.69957768e+00] [ 5.94943966e-03 9.99981349e-01 -1.38086336e-03 7.52031202e-02] [ 3.52891735e-03 1.35988377e-03 9.99992849e-01 1.14837100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.372557844 meters Centerline goodness [0,1] 0.24891634156913744 Centerline is valid? [False, False] Translation: X:5.70, Y:0.08, Z:1.15 [[ 9.99975526e-01 -6.06304259e-03 -3.49104204e-03 5.69953883e+00] [ 6.05718212e-03 9.99980232e-01 -1.68684947e-03 7.67582082e-02] [ 3.50120047e-03 1.66566231e-03 9.99992484e-01 1.14835283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40255784400006 meters Centerline goodness [0,1] 0.24992372401168117 Centerline is valid? [False, False] Translation: X:5.70, Y:0.08, Z:1.15 [[ 9.99974549e-01 -6.20205385e-03 -3.52657862e-03 5.69985916e+00] [ 6.19479844e-03 9.99978681e-01 -2.06456709e-03 7.85025347e-02] [ 3.53930799e-03 2.04266810e-03 9.99991650e-01 1.14800327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43255784400003 meters Centerline goodness [0,1] 0.250560452715203 Centerline is valid? [False, False] Translation: X:5.70, Y:0.08, Z:1.15 [[ 9.99973308e-01 -6.38910919e-03 -3.54429577e-03 5.70002434e+00] [ 6.37983728e-03 9.99976213e-01 -2.62117745e-03 8.11514685e-02] [ 3.56095845e-03 2.59849546e-03 9.99990284e-01 1.14788817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46255784400006 meters Centerline goodness [0,1] 0.2532393626335143 Centerline is valid? [False, False] Translation: X:5.70, Y:0.08, Z:1.15 [[ 9.99972108e-01 -6.58265418e-03 -3.52869811e-03 5.70001961e+00] [ 6.57127455e-03 9.99973203e-01 -3.22683076e-03 8.40899432e-02] [ 3.54984466e-03 3.20355271e-03 9.99988568e-01 1.14792768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49255784400003 meters Centerline goodness [0,1] 0.2519108975758899 Centerline is valid? [False, False] Translation: X:5.70, Y:0.09, Z:1.15 [[ 9.99989754e-01 -2.84707431e-03 -3.51931027e-03 5.69974427e+00] [ 2.84638154e-03 9.99995929e-01 -2.01841278e-04 8.90205362e-02] [ 3.51987060e-03 1.91821910e-04 9.99993787e-01 1.14836210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52255784400006 meters Centerline goodness [0,1] 0.25028172676837723 Centerline is valid? [False, False] Translation: X:5.70, Y:0.09, Z:1.15 [[ 9.99990140e-01 -2.89728426e-03 -3.36528045e-03 5.69936442e+00] [ 2.89442924e-03 9.99995447e-01 -8.52935359e-04 9.29404976e-02] [ 3.36773633e-03 8.43186383e-04 9.99993974e-01 1.14843977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55255784400003 meters Centerline goodness [0,1] 0.25011355034065097 Centerline is valid? [False, False] Translation: X:5.70, Y:0.10, Z:1.15 [[ 9.99990517e-01 -3.04861771e-03 -3.10995494e-03 5.69876781e+00] [ 3.04352776e-03 9.99994024e-01 -1.64008756e-03 9.71421325e-02] [ 3.11493636e-03 1.63060678e-03 9.99993819e-01 1.14850689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58255784400006 meters Centerline goodness [0,1] 0.25249452954048135 Centerline is valid? [False, False] Translation: X:5.68, Y:0.10, Z:1.15 [[ 9.99975190e-01 5.71929352e-03 -4.11203098e-03 5.67630121e+00] [-5.73080454e-03 9.99979678e-01 -2.79303750e-03 1.04223603e-01] [ 4.09597321e-03 2.81653345e-03 9.99987645e-01 1.14830000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61255784400004 meters Centerline goodness [0,1] 0.2512959010323649 Centerline is valid? [False, False] Translation: X:5.68, Y:0.11, Z:1.15 [[ 9.99976036e-01 5.46762009e-03 -4.24653992e-03 5.67715138e+00] [-5.48319592e-03 9.99978251e-01 -3.66494819e-03 1.08812533e-01] [ 4.22640902e-03 3.68814497e-03 9.99984267e-01 1.14751325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64255784400007 meters Centerline goodness [0,1] 0.2521010237715833 Centerline is valid? [False, False] Translation: X:5.68, Y:0.11, Z:1.15 [[ 9.99976825e-01 5.20361869e-03 -4.39000353e-03 5.67797093e+00] [-5.22337506e-03 9.99976229e-01 -4.50090954e-03 1.13038016e-01] [ 4.36647816e-03 4.52373587e-03 9.99980235e-01 1.14679026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67255784400004 meters Centerline goodness [0,1] 0.2528532073986619 Centerline is valid? [False, False] Translation: X:5.68, Y:0.12, Z:1.15 [[ 9.99977511e-01 4.91857079e-03 -4.55899893e-03 5.67867571e+00] [-4.94265276e-03 9.99973813e-01 -5.28616621e-03 1.16728590e-01] [ 4.53287916e-03 5.30858088e-03 9.99975636e-01 1.14637427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70255784400007 meters Centerline goodness [0,1] 0.2493009437259699 Centerline is valid? [False, False] Translation: X:5.68, Y:0.12, Z:1.15 [[ 9.99978109e-01 4.64326812e-03 -4.71399402e-03 5.67924269e+00] [-4.67142605e-03 9.99971209e-01 -5.97992848e-03 1.19877802e-01] [ 4.68609189e-03 6.00181865e-03 9.99971009e-01 1.14611235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73255784400004 meters Centerline goodness [0,1] 0.24850312486342385 Centerline is valid? [False, False] Translation: X:5.68, Y:0.12, Z:1.15 [[ 9.99978756e-01 4.33844970e-03 -4.86477233e-03 5.67994553e+00] [-4.37159505e-03 9.99967164e-01 -6.82353333e-03 1.24431675e-01] [ 4.83500903e-03 6.84465518e-03 9.99964886e-01 1.14551865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76255784400007 meters Centerline goodness [0,1] 0.25161191280319317 Centerline is valid? [False, False] Translation: X:5.68, Y:0.13, Z:1.15 [[ 9.99979450e-01 4.23921668e-03 -4.80917959e-03 5.67986233e+00] [-4.27313853e-03 9.99965910e-01 -7.06535235e-03 1.25705219e-01] [ 4.77906408e-03 7.08575745e-03 9.99963476e-01 1.14540928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79255784400004 meters Centerline goodness [0,1] 0.24684511593380198 Centerline is valid? [False, False] Translation: X:5.68, Y:0.13, Z:1.15 [[ 9.99979763e-01 4.12943992e-03 -4.83947045e-03 5.67982847e+00] [-4.16423708e-03 9.99965392e-01 -7.20240101e-03 1.26123620e-01] [ 4.80956108e-03 7.22240796e-03 9.99962352e-01 1.14559112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8225578440001 meters Centerline goodness [0,1] 0.24367259601876068 Centerline is valid? [False, False] Translation: X:5.70, Y:0.13, Z:1.15 [[ 9.99982409e-01 -3.87015458e-03 -4.49484632e-03 5.69993249e+00] [ 3.83962837e-03 9.99969642e-01 -6.78026948e-03 1.30453618e-01] [ 4.52095056e-03 6.76289167e-03 9.99966912e-01 1.14723244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85255784400005 meters Centerline goodness [0,1] 0.24750786988457507 Centerline is valid? [False, False] Translation: X:5.68, Y:0.13, Z:1.15 [[ 9.99982804e-01 4.37899417e-03 -3.90090605e-03 5.67805807e+00] [-4.40691375e-03 9.99964530e-01 -7.17759338e-03 1.28029978e-01] [ 3.86933704e-03 7.19466091e-03 9.99966632e-01 1.14655145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8825578440001 meters Centerline goodness [0,1] 0.24932397069085832 Centerline is valid? [False, False] Translation: X:5.68, Y:0.13, Z:1.15 [[ 9.99982921e-01 4.41137289e-03 -3.83361568e-03 5.67787978e+00] [-4.43993396e-03 9.99962213e-01 -7.47386820e-03 1.30183063e-01] [ 3.80050080e-03 7.49076155e-03 9.99964722e-01 1.14666616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91255784400005 meters Centerline goodness [0,1] 0.24741571073406898 Centerline is valid? [False, False] Translation: X:5.68, Y:0.13, Z:1.15 [[ 9.99984004e-01 4.44136912e-03 -3.50222411e-03 5.67713194e+00] [-4.46876652e-03 9.99959170e-01 -7.85422611e-03 1.32640175e-01] [ 3.46719760e-03 7.86975109e-03 9.99963022e-01 1.14670767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9425578440001 meters Centerline goodness [0,1] 0.25144489760310573 Centerline is valid? [False, False] Translation: X:5.67, Y:0.14, Z:1.15 [[ 9.99984382e-01 4.92663320e-03 -2.63903293e-03 5.67447599e+00] [-4.94847721e-03 9.99953013e-01 -8.33571000e-03 1.37398771e-01] [ 2.59784194e-03 8.34863901e-03 9.99961775e-01 1.14775769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97255784400005 meters Centerline goodness [0,1] 0.25287381489347727 Centerline is valid? [False, False] Translation: X:5.67, Y:0.14, Z:1.15 [[ 9.99985311e-01 4.97075965e-03 -2.16108590e-03 5.67340606e+00] [-4.98977553e-03 9.99948081e-01 -8.88472659e-03 1.40710023e-01] [ 2.11680986e-03 8.89537941e-03 9.99958195e-01 1.14776177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002557844 meters Centerline goodness [0,1] 0.25042690135294887 Centerline is valid? [False, False] Translation: X:5.67, Y:0.14, Z:1.15 [[ 9.99985006e-01 5.07081221e-03 -2.06741117e-03 5.67333730e+00] [-5.09007870e-03 9.99942648e-01 -9.42289476e-03 1.44389788e-01] [ 2.01951087e-03 9.43327676e-03 9.99953466e-01 1.14754769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03255784400005 meters Centerline goodness [0,1] 0.24881783870547913 Centerline is valid? [False, False] Translation: X:5.69, Y:0.15, Z:1.15 [[ 9.99991811e-01 1.04057496e-03 -3.91081903e-03 5.69431301e+00] [-1.06536432e-03 9.99979322e-01 -6.34193308e-03 1.50677409e-01] [ 3.90413891e-03 6.34604760e-03 9.99972242e-01 1.14864531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062557844 meters Centerline goodness [0,1] 0.249777372342043 Centerline is valid? [False, False] Translation: X:5.69, Y:0.16, Z:1.15 [[ 9.99981643e-01 4.54536163e-03 -4.00665119e-03 5.69491764e+00] [-4.55980318e-03 9.99983114e-01 -3.60266040e-03 1.55984032e-01] [ 3.99020814e-03 3.62086380e-03 9.99985484e-01 1.14817797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09255784400005 meters Centerline goodness [0,1] 0.2525091290752848 Centerline is valid? [False, False] Translation: X:5.69, Y:0.16, Z:1.15 [[ 9.99982845e-01 4.33065003e-03 -3.94394977e-03 5.69493230e+00] [-4.34736252e-03 9.99981566e-01 -4.23883362e-03 1.58993694e-01] [ 3.92552016e-03 4.25590669e-03 9.99983239e-01 1.14789572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122557844 meters Centerline goodness [0,1] 0.25087214372928657 Centerline is valid? [False, False] Translation: X:5.70, Y:0.16, Z:1.15 [[ 9.99983775e-01 4.12714911e-03 -3.92630896e-03 5.69507429e+00] [-4.14614929e-03 9.99979675e-01 -4.84342885e-03 1.61976383e-01] [ 3.90623961e-03 4.85962933e-03 9.99980562e-01 1.14759291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15255784400006 meters Centerline goodness [0,1] 0.24818514746354048 Centerline is valid? [False, False] Translation: X:5.71, Y:0.17, Z:1.15 [[ 9.99984105e-01 -2.17030360e-03 -5.20371619e-03 5.71264815e+00] [ 2.15140633e-03 9.99991081e-01 -3.63434627e-03 1.69628196e-01] [ 5.21155741e-03 3.62309319e-03 9.99979856e-01 1.15024839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18255784400003 meters Centerline goodness [0,1] 0.2424718907508724 Centerline is valid? [False, False] Translation: X:5.71, Y:0.17, Z:1.15 [[ 9.99982369e-01 -2.55901858e-03 -5.35842733e-03 5.71320903e+00] [ 2.53381611e-03 9.99985722e-01 -4.70485233e-03 1.74887117e-01] [ 5.37039062e-03 4.69119211e-03 9.99974575e-01 1.14993904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21255784400006 meters Centerline goodness [0,1] 0.24969951266417534 Centerline is valid? [False, False] Translation: X:5.67, Y:0.18, Z:1.15 [[ 9.99963480e-01 -2.98539733e-03 -8.00781853e-03 5.66766733e+00] [ 2.95002679e-03 9.99985857e-01 -4.42518225e-03 1.77143914e-01] [ 8.02091620e-03 4.40139737e-03 9.99958145e-01 1.15102078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24255784400003 meters Centerline goodness [0,1] 0.25108310358408825 Centerline is valid? [False, False] Translation: X:5.67, Y:0.18, Z:1.15 [[ 9.99964288e-01 -3.11410050e-03 -7.85648312e-03 5.66733308e+00] [ 3.07537594e-03 9.99983088e-01 -4.93626926e-03 1.79948546e-01] [ 7.87172228e-03 4.91193134e-03 9.99956954e-01 1.15099023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27255784400006 meters Centerline goodness [0,1] 0.24981567419872486 Centerline is valid? [False, False] Translation: X:5.67, Y:0.18, Z:1.15 [[ 9.99966741e-01 -3.16138795e-03 -7.51817386e-03 5.66641466e+00] [ 3.12060681e-03 9.99980389e-01 -5.42990075e-03 1.83074166e-01] [ 7.53519244e-03 5.40625889e-03 9.99956996e-01 1.15115601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30255784400003 meters Centerline goodness [0,1] 0.24821038517268967 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99974364e-01 5.52339508e-04 -7.13909993e-03 5.66529557e+00] [-5.67914511e-04 9.99997463e-01 -2.17980490e-03 1.86037176e-01] [ 7.13787783e-03 2.18380341e-03 9.99972140e-01 1.15148992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33255784400006 meters Centerline goodness [0,1] 0.24758933021300567 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99975034e-01 3.94570187e-04 -7.05519751e-03 5.66530519e+00] [-4.13327803e-04 9.99996384e-01 -2.65743418e-03 1.88247643e-01] [ 7.05412345e-03 2.66028395e-03 9.99971581e-01 1.15112529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36255784400004 meters Centerline goodness [0,1] 0.24783021719417941 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99974176e-01 2.19195562e-04 -7.18328148e-03 5.66590712e+00] [-2.41682844e-04 9.99995073e-01 -3.12978421e-03 1.90352730e-01] [ 7.18256006e-03 3.13143946e-03 9.99969302e-01 1.15065382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39255784400007 meters Centerline goodness [0,1] 0.2469594521613273 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99973193e-01 8.27316731e-05 -7.32157416e-03 5.66643256e+00] [-1.08674821e-04 9.99993717e-01 -3.54305699e-03 1.92285091e-01] [ 7.32123504e-03 3.54375768e-03 9.99966920e-01 1.15032882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42255784400004 meters Centerline goodness [0,1] 0.25197591680350306 Centerline is valid? [False, False] Translation: X:5.62, Y:0.20, Z:1.15 [[ 9.99941881e-01 1.33370418e-03 -1.06984106e-02 5.62263944e+00] [-1.35660395e-03 9.99996804e-01 -2.13351255e-03 1.95546213e-01] [ 1.06955309e-02 2.14790205e-03 9.99940494e-01 1.15110090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45255784400007 meters Centerline goodness [0,1] 0.25248369731716924 Centerline is valid? [False, False] Translation: X:5.62, Y:0.20, Z:1.15 [[ 9.99940681e-01 1.23680355e-03 -1.08215192e-02 5.62308837e+00] [-1.26482489e-03 9.99995864e-01 -2.58294866e-03 1.98036514e-01] [ 1.08182799e-02 2.59648277e-03 9.99938110e-01 1.15082312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48255784400004 meters Centerline goodness [0,1] 0.24655605614278286 Centerline is valid? [False, False] Translation: X:5.62, Y:0.20, Z:1.15 [[ 9.99938748e-01 1.11093755e-03 -1.10121015e-02 5.62378342e+00] [-1.14468524e-03 9.99994667e-01 -3.05877079e-03 2.00443794e-01] [ 1.10086447e-02 3.07118883e-03 9.99934687e-01 1.15043255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51255784400007 meters Centerline goodness [0,1] 0.24948314508933433 Centerline is valid? [False, False] Translation: X:5.62, Y:0.20, Z:1.15 [[ 9.99937135e-01 9.40018107e-04 -1.11732951e-02 5.62440518e+00] [-9.79684811e-04 9.99993236e-01 -3.54519180e-03 2.02707835e-01] [ 1.11698870e-02 3.55591524e-03 9.99931292e-01 1.15001469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54255784400004 meters Centerline goodness [0,1] 0.2505835896764622 Centerline is valid? [False, False] Translation: X:5.62, Y:0.21, Z:1.15 [[ 9.99938644e-01 1.06319225e-03 -1.10262747e-02 5.62433128e+00] [-1.10878303e-03 9.99990859e-01 -4.12945179e-03 2.06925216e-01] [ 1.10217835e-02 4.14142416e-03 9.99930682e-01 1.14945912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5725578440001 meters Centerline goodness [0,1] 0.25188648472327935 Centerline is valid? [False, False] Translation: X:5.62, Y:0.21, Z:1.15 [[ 9.99943469e-01 1.09308088e-03 -1.05765688e-02 5.62320612e+00] [-1.14086615e-03 9.99989165e-01 -4.51305375e-03 2.09732628e-01] [ 1.05715211e-02 4.52486507e-03 9.99933882e-01 1.14947040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60255784400005 meters Centerline goodness [0,1] 0.2501581622635747 Centerline is valid? [False, False] Translation: X:5.62, Y:0.21, Z:1.15 [[ 9.99946326e-01 9.79925173e-04 -1.03143405e-02 5.62248284e+00] [-1.03146529e-03 9.99987004e-01 -4.99280464e-03 2.12303081e-01] [ 1.03093139e-02 5.00317554e-03 9.99934341e-01 1.14959759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6325578440001 meters Centerline goodness [0,1] 0.2503132487744829 Centerline is valid? [False, False] Translation: X:5.62, Y:0.21, Z:1.15 [[ 9.99946468e-01 8.03320764e-04 -1.03157984e-02 5.62260335e+00] [-8.59436286e-04 9.99984853e-01 -5.43648488e-03 2.14224480e-01] [ 1.03112749e-02 5.44505963e-03 9.99932012e-01 1.14936917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66255784400005 meters Centerline goodness [0,1] 0.24825965889314305 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99895314e-01 -6.15724775e-03 -1.30938523e-02 5.64328135e+00] [ 6.08778208e-03 9.99967219e-01 -5.33846944e-03 2.22974372e-01] [ 1.31262934e-02 5.25819806e-03 9.99900021e-01 1.15086941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6925578440001 meters Centerline goodness [0,1] 0.24868208948721304 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99892251e-01 -6.21020018e-03 -1.33010969e-02 5.64388393e+00] [ 6.13759772e-03 9.99966082e-01 -5.49226373e-03 2.23906137e-01] [ 1.33347538e-02 5.41003516e-03 9.99896453e-01 1.15066484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72255784400005 meters Centerline goodness [0,1] 0.2504195087933402 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99891979e-01 -6.22247570e-03 -1.33158104e-02 5.64380361e+00] [ 6.14921806e-03 9.99965772e-01 -5.53544240e-03 2.24273223e-01] [ 1.33497988e-02 5.45296264e-03 9.99896019e-01 1.15085491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.752557844 meters Centerline goodness [0,1] 0.2486461898366763 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99894636e-01 -6.21130968e-03 -1.31200516e-02 5.64291307e+00] [ 6.13980574e-03 9.99966118e-01 -5.48324065e-03 2.24032422e-01] [ 1.31536651e-02 5.40210835e-03 9.99898894e-01 1.15156271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78255784400005 meters Centerline goodness [0,1] 0.25253186659682203 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99899434e-01 -6.20758230e-03 -1.27510134e-02 5.64161807e+00] [ 6.13891974e-03 9.99966484e-01 -5.41697134e-03 2.23585168e-01] [ 1.27842123e-02 5.33814913e-03 9.99904029e-01 1.15222790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.812557844 meters Centerline goodness [0,1] 0.25253186659682203 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99899434e-01 -6.20758230e-03 -1.27510134e-02 5.64161807e+00] [ 6.13891974e-03 9.99966484e-01 -5.41697134e-03 2.23585168e-01] [ 1.27842123e-02 5.33814913e-03 9.99904029e-01 1.15222790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84255784400005 meters Centerline goodness [0,1] 0.25168485586329836 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99903380e-01 -6.18600497e-03 -1.24484611e-02 5.64050115e+00] [ 6.11982034e-03 9.99966974e-01 -5.34777982e-03 2.23226964e-01] [ 1.24811313e-02 5.27108077e-03 9.99908214e-01 1.15285015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.872557844 meters Centerline goodness [0,1] 0.2491594102939909 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99903507e-01 -6.09490599e-03 -1.24831131e-02 5.64041632e+00] [ 6.02921102e-03 9.99967813e-01 -5.29359605e-03 2.23493366e-01] [ 1.25149752e-02 5.21782193e-03 9.99908071e-01 1.15312458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90255784400006 meters Centerline goodness [0,1] 0.24703770973879946 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99902065e-01 -6.09374719e-03 -1.25986751e-02 5.64080644e+00] [ 6.02633675e-03 9.99967360e-01 -5.38165542e-03 2.24073514e-01] [ 1.26310584e-02 5.30520451e-03 9.99906151e-01 1.15296876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93255784400003 meters Centerline goodness [0,1] 0.24983236356557292 Centerline is valid? [False, False] Translation: X:5.64, Y:0.23, Z:1.15 [[ 9.99911375e-01 -5.84691133e-03 -1.19606226e-02 5.63917387e+00] [ 5.78210868e-03 9.99968457e-01 -5.44542369e-03 2.25050429e-01] [ 1.19920842e-02 5.37578347e-03 9.99913642e-01 1.15307614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96255784400006 meters Centerline goodness [0,1] 0.24798718725651459 Centerline is valid? [False, False] Translation: X:5.64, Y:0.23, Z:1.15 [[ 9.99915229e-01 -5.86167693e-03 -1.16264607e-02 5.63820941e+00] [ 5.79612197e-03 9.99967161e-01 -5.66413150e-03 2.26237533e-01] [ 1.16592802e-02 5.59626296e-03 9.99916368e-01 1.15328597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99255784400003 meters Centerline goodness [0,1] 0.2511109193666681 Centerline is valid? [False, False] Translation: X:5.64, Y:0.23, Z:1.15 [[ 0.99991645 -0.00587707 -0.01151337 5.63792618] [ 0.00580998 0.999966 -0.00585243 0.22734625] [ 0.01154738 0.00578505 0.99991659 1.15322855] [ 0. 0. 0. 1. ]] SLAMing on 361.02255784400006 meters Centerline goodness [0,1] 0.251469571230982 Centerline is valid? [False, False] Translation: X:5.64, Y:0.23, Z:1.15 [[ 0.99991672 -0.00593872 -0.01145803 5.63783179] [ 0.00586931 0.99996428 -0.00608153 0.22853397] [ 0.01149374 0.00601378 0.99991586 1.15310527] [ 0. 0. 0. 1. ]] SLAMing on 361.05255784400003 meters Centerline goodness [0,1] 0.2488282089873145 Centerline is valid? [False, False] Translation: X:5.64, Y:0.23, Z:1.15 [[ 0.99991727 -0.00598898 -0.01138333 5.6376309 ] [ 0.00591799 0.99996289 -0.00626034 0.2295903 ] [ 0.0114204 0.00619245 0.99991561 1.15306943] [ 0. 0. 0. 1. ]] SLAMing on 361.08255784400006 meters Centerline goodness [0,1] 0.25206914389171475 Centerline is valid? [False, False] Translation: X:5.64, Y:0.23, Z:1.15 [[ 0.99991862 -0.00589774 -0.0113126 5.63742457] [ 0.00582989 0.99996488 -0.0060208 0.22848413] [ 0.01134771 0.00595436 0.99991788 1.1531054 ] [ 0. 0. 0. 1. ]] SLAMing on 361.11255784400004 meters Centerline goodness [0,1] 0.25125333680578166 Centerline is valid? [False, False] Translation: X:5.64, Y:0.23, Z:1.15 [[ 9.99918500e-01 -5.82333605e-03 -1.13614080e-02 5.63746289e+00] [ 5.75925657e-03 9.99967371e-01 -5.66468969e-03 2.26498048e-01] [ 1.13940247e-02 5.59879476e-03 9.99919412e-01 1.15327919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14255784400007 meters Centerline goodness [0,1] 0.262194460710955 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99916765e-01 -5.73251571e-03 -1.15586227e-02 5.63795663e+00] [ 5.67284968e-03 9.99970450e-01 -5.18823169e-03 2.23806012e-01] [ 1.15880228e-02 5.12222952e-03 9.99919737e-01 1.15328850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17255784400004 meters Centerline goodness [0,1] 0.25241832054431235 Centerline is valid? [False, False] Translation: X:5.64, Y:0.22, Z:1.15 [[ 9.99911767e-01 -5.66876540e-03 -1.20134420e-02 5.63935533e+00] [ 5.61242930e-03 9.99973120e-01 -4.71795896e-03 2.20951331e-01] [ 1.20398641e-02 4.65011809e-03 9.99916706e-01 1.15285716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20255784400007 meters Centerline goodness [0,1] 0.2538205691180626 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:1.15 [[ 0.99988226 -0.00768211 -0.01328332 5.64507477] [ 0.0076038 0.99995347 -0.00593607 0.21379361] [ 0.01332831 0.00583436 0.99989415 1.14979894] [ 0. 0. 0. 1. ]] SLAMing on 361.23255784400004 meters Centerline goodness [0,1] 0.25340510384204673 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:1.15 [[ 9.99881532e-01 -7.43206257e-03 -1.34791048e-02 5.64576381e+00] [ 7.36209277e-03 9.99959206e-01 -5.23319528e-03 2.10334585e-01] [ 1.35174484e-02 5.13334090e-03 9.99895458e-01 1.14948429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26255784400007 meters Centerline goodness [0,1] 0.25248647705461524 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:1.15 [[ 9.99884426e-01 -7.15592326e-03 -1.34137265e-02 5.64558695e+00] [ 7.09484392e-03 9.99964271e-01 -4.59556426e-03 2.07444512e-01] [ 1.34461327e-02 4.49986483e-03 9.99899471e-01 1.14953789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29255784400004 meters Centerline goodness [0,1] 0.25085918127637363 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:1.15 [[ 9.99888516e-01 -6.91577577e-03 -1.32335657e-02 5.64502894e+00] [ 6.86212105e-03 9.99968068e-01 -4.09556245e-03 2.05246598e-01] [ 1.32614671e-02 4.00429553e-03 9.99904045e-01 1.14979326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3225578440001 meters Centerline goodness [0,1] 0.25152121001390826 Centerline is valid? [False, False] Translation: X:5.64, Y:0.20, Z:1.15 [[ 9.99891476e-01 -6.71205269e-03 -1.31142838e-02 5.64468474e+00] [ 6.66348280e-03 9.99970791e-01 -3.74377921e-03 2.03756152e-01] [ 1.31390292e-02 3.65598612e-03 9.99906996e-01 1.14991578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35255784400005 meters Centerline goodness [0,1] 0.2499781830875295 Centerline is valid? [False, False] Translation: X:5.65, Y:0.20, Z:1.15 [[ 9.99888909e-01 -5.92888167e-03 -1.36754749e-02 5.64647719e+00] [ 5.88730932e-03 9.99977932e-01 -3.07817759e-03 2.01856789e-01] [ 1.36934232e-02 2.99732388e-03 9.99901748e-01 1.14914919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3825578440001 meters Centerline goodness [0,1] 0.2538998759872071 Centerline is valid? [False, False] Translation: X:5.65, Y:0.20, Z:1.15 [[ 9.99881204e-01 -5.62676593e-03 -1.43497953e-02 5.64842698e+00] [ 5.58454495e-03 9.99979964e-01 -2.98064645e-03 2.01936793e-01] [ 1.43662792e-02 2.90015528e-03 9.99892594e-01 1.14850370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41255784400005 meters Centerline goodness [0,1] 0.24852071005917165 Centerline is valid? [False, False] Translation: X:5.67, Y:0.20, Z:1.15 [[ 9.99885034e-01 3.74964970e-03 -1.46921647e-02 5.66999366e+00] [-3.80520531e-03 9.99985709e-01 -3.75517986e-03 1.99515735e-01] [ 1.46778741e-02 3.81065485e-03 9.99885013e-01 1.14943662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4425578440001 meters Centerline goodness [0,1] 0.25230595196658545 Centerline is valid? [False, False] Translation: X:5.67, Y:0.20, Z:1.15 [[ 9.99890777e-01 4.69048732e-03 -1.40155008e-02 5.66834573e+00] [-4.73482133e-03 9.99983887e-01 -3.13170669e-03 1.99286070e-01] [ 1.40005857e-02 3.19772552e-03 9.99896874e-01 1.14920398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47255784400005 meters Centerline goodness [0,1] 0.25435812720079987 Centerline is valid? [False, False] Translation: X:5.67, Y:0.20, Z:1.15 [[ 9.99895592e-01 4.80350610e-03 -1.36283434e-02 5.66725555e+00] [-4.84683092e-03 9.99983300e-01 -3.14777745e-03 1.99843217e-01] [ 1.36129955e-02 3.21350307e-03 9.99902175e-01 1.14939391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5025578440001 meters Centerline goodness [0,1] 0.25370822790332437 Centerline is valid? [False, False] Translation: X:5.67, Y:0.20, Z:1.15 [[ 9.99899622e-01 4.81602348e-03 -1.33248595e-02 5.66626196e+00] [-4.85973920e-03 9.99982909e-01 -3.25033219e-03 2.00448839e-01] [ 1.33089781e-02 3.31476127e-03 9.99905937e-01 1.14976590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53255784400005 meters Centerline goodness [0,1] 0.2510984750581545 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99920063e-01 -2.56941347e-03 -1.23800850e-02 5.68482646e+00] [ 2.54168225e-03 9.99994227e-01 -2.25519945e-03 2.06067475e-01] [ 1.23858080e-02 2.22355293e-03 9.99920821e-01 1.15128515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.562557844 meters Centerline goodness [0,1] 0.25145276619645285 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99926625e-01 -2.54137817e-03 -1.18442615e-02 5.68318692e+00] [ 2.51360484e-03 9.99994058e-01 -2.35917344e-03 2.06901682e-01] [ 1.18501867e-02 2.32922854e-03 9.99927071e-01 1.15173874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59255784400005 meters Centerline goodness [0,1] 0.2513797861331494 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99930176e-01 -2.54126520e-03 -1.15406034e-02 5.68240169e+00] [ 2.51271947e-03 9.99993750e-01 -2.48733062e-03 2.07801719e-01] [ 1.15468522e-02 2.45815865e-03 9.99930311e-01 1.15170574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.622557844 meters Centerline goodness [0,1] 0.25057080084435446 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99931522e-01 -2.59704328e-03 -1.14108305e-02 5.68203453e+00] [ 2.56623395e-03 9.99993025e-01 -2.71382031e-03 2.09111247e-01] [ 1.14177989e-02 2.68435161e-03 9.99931212e-01 1.15171750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65255784400006 meters Centerline goodness [0,1] 0.25251607038504 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99927844e-01 -2.76142466e-03 -1.16911055e-02 5.68288074e+00] [ 2.72264702e-03 9.99990744e-01 -3.33146760e-03 2.12140527e-01] [ 1.17001969e-02 3.29939646e-03 9.99926107e-01 1.15133214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68255784400003 meters Centerline goodness [0,1] 0.2559272774949195 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99925421e-01 -2.93649218e-03 -1.18545053e-02 5.68347494e+00] [ 2.89208531e-03 9.99988744e-01 -3.76139737e-03 2.13979112e-01] [ 1.18654172e-02 3.72683261e-03 9.99922658e-01 1.15093202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71255784400006 meters Centerline goodness [0,1] 0.2514613552717039 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99923361e-01 -3.06376369e-03 -1.19952273e-02 5.68396931e+00] [ 3.01414910e-03 9.99986837e-01 -4.15208994e-03 2.15881033e-01] [ 1.20077904e-02 4.11561632e-03 9.99919434e-01 1.15059439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74255784400003 meters Centerline goodness [0,1] 0.25271946460881123 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99924466e-01 -3.19545347e-03 -1.18681018e-02 5.68375931e+00] [ 3.14164346e-03 9.99984714e-01 -4.54988283e-03 2.17961356e-01] [ 1.18824593e-02 4.51225382e-03 9.99919220e-01 1.15031898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77255784400006 meters Centerline goodness [0,1] 0.25072943007197046 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99927094e-01 -3.31963119e-03 -1.16097971e-02 5.68306461e+00] [ 3.26222839e-03 9.99982379e-01 -4.95978904e-03 2.20270167e-01] [ 1.16260572e-02 4.92155363e-03 9.99920303e-01 1.15030531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80255784400003 meters Centerline goodness [0,1] 0.2537965195854788 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99930364e-01 -3.44504250e-03 -1.12871167e-02 5.68215637e+00] [ 3.38444880e-03 9.99979784e-01 -5.38310487e-03 2.22634868e-01] [ 1.13054335e-02 5.34452934e-03 9.99921809e-01 1.15040928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83255784400006 meters Centerline goodness [0,1] 0.25214129279875097 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:1.15 [[ 9.99932866e-01 -3.78575627e-03 -1.09513029e-02 5.68111105e+00] [ 3.71644727e-03 9.99972981e-01 -6.34227871e-03 2.27725161e-01] [ 1.09750174e-02 6.30115299e-03 9.99919919e-01 1.15060390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86255784400004 meters Centerline goodness [0,1] 0.2535902839637604 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:1.15 [[ 9.99932044e-01 -3.97087196e-03 -1.09608260e-02 5.68115489e+00] [ 3.89632278e-03 9.99969191e-01 -6.81441486e-03 2.30020345e-01] [ 1.09875475e-02 6.77124486e-03 9.99916709e-01 1.15049649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89255784400007 meters Centerline goodness [0,1] 0.25179403794037936 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:1.15 [[ 9.99931806e-01 -4.14408589e-03 -1.09183695e-02 5.68110977e+00] [ 4.06498963e-03 9.99965408e-01 -7.25658952e-03 2.32196269e-01] [ 1.09480637e-02 7.21171160e-03 9.99914062e-01 1.15032949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92255784400004 meters Centerline goodness [0,1] 0.25414606397409534 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:1.15 [[ 9.99931314e-01 -4.33441317e-03 -1.08894318e-02 5.68114800e+00] [ 4.25059136e-03 9.99961252e-01 -7.70892457e-03 2.34321195e-01] [ 1.09224235e-02 7.66210855e-03 9.99910992e-01 1.15008769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95255784400007 meters Centerline goodness [0,1] 0.2524077657238516 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99931056e-01 -4.67951662e-03 -1.07696537e-02 5.68079048e+00] [ 4.58893116e-03 9.99954017e-01 -8.42057350e-03 2.37737593e-01] [ 1.08085627e-02 8.37057175e-03 9.99906550e-01 1.15011610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98255784400004 meters Centerline goodness [0,1] 0.25413788609409615 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99931770e-01 -4.79194704e-03 -1.06532609e-02 5.68017879e+00] [ 4.69998752e-03 9.99951626e-01 -8.64039657e-03 2.38842384e-01] [ 1.06941498e-02 8.58973684e-03 9.99905921e-01 1.15064675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01255784400007 meters Centerline goodness [0,1] 0.2527460600008683 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99932393e-01 -4.89643475e-03 -1.05467268e-02 5.67965787e+00] [ 4.80343834e-03 9.99949523e-01 -8.82491806e-03 2.39802951e-01] [ 1.05894051e-02 8.77366089e-03 9.99905439e-01 1.15108169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04255784400004 meters Centerline goodness [0,1] 0.24749580843471908 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99929802e-01 -5.09561747e-03 -1.06969805e-02 5.67997417e+00] [ 4.99765687e-03 9.99945515e-01 -9.16462268e-03 2.41335717e-01] [ 1.07430971e-02 9.11051951e-03 9.99900787e-01 1.15118280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0725578440001 meters Centerline goodness [0,1] 0.2498164067562314 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99929277e-01 -5.17490208e-03 -1.07080072e-02 5.68003063e+00] [ 5.07485760e-03 9.99943418e-01 -9.34913320e-03 2.42221493e-01] [ 1.07557821e-02 9.29413039e-03 9.99898961e-01 1.15110309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10255784400005 meters Centerline goodness [0,1] 0.24943344916150478 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99928260e-01 -5.24753077e-03 -1.07674902e-02 5.68035463e+00] [ 5.14499355e-03 9.99941366e-01 -9.52855649e-03 2.43075134e-01] [ 1.08168602e-02 9.47247424e-03 9.99896629e-01 1.15077514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1325578440001 meters Centerline goodness [0,1] 0.25164832789295055 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99927320e-01 -5.26903376e-03 -1.08440212e-02 5.68070999e+00] [ 5.16475888e-03 9.99940374e-01 -9.62153149e-03 2.43636853e-01] [ 1.08940707e-02 9.56482543e-03 9.99894911e-01 1.15048541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16255784400005 meters Centerline goodness [0,1] 0.2540972859577816 Centerline is valid? [False, False] Translation: X:5.66, Y:0.24, Z:1.15 [[ 9.99936334e-01 2.80958154e-03 -1.09285949e-02 5.66093331e+00] [-2.92337211e-03 9.99941539e-01 -1.04101863e-02 2.38365230e-01] [ 1.08987077e-02 1.04414719e-02 9.99886090e-01 1.14876869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1925578440001 meters Centerline goodness [0,1] 0.24773407393054747 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99928767e-01 -4.55785236e-03 -1.10312152e-02 5.68017759e+00] [ 4.45528671e-03 9.99946786e-01 -9.30454819e-03 2.43448955e-01] [ 1.10730369e-02 9.25473817e-03 9.99895863e-01 1.15024221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22255784400005 meters Centerline goodness [0,1] 0.25195397307859313 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99923464e-01 -4.54481805e-03 -1.15070256e-02 5.68170640e+00] [ 4.43671720e-03 9.99945953e-01 -9.40249811e-03 2.43786538e-01] [ 1.15491363e-02 9.35072506e-03 9.99889585e-01 1.14957440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2525578440001 meters Centerline goodness [0,1] 0.25347372991749895 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99920164e-01 -4.56698908e-03 -1.17816513e-02 5.68268652e+00] [ 4.45480759e-03 9.99944661e-01 -9.53044722e-03 2.44388873e-01] [ 1.18245248e-02 9.47720137e-03 9.99885175e-01 1.14903038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28255784400005 meters Centerline goodness [0,1] 0.2591398318009499 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99919309e-01 -4.49591894e-03 -1.18812095e-02 5.68303431e+00] [ 4.38299004e-03 9.99945137e-01 -9.51383849e-03 2.44529083e-01] [ 1.19233312e-02 9.46099558e-03 9.99884155e-01 1.14876668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.312557844 meters Centerline goodness [0,1] 0.25104412369349294 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99921028e-01 -4.45193210e-03 -1.17523567e-02 5.68271223e+00] [ 4.34001727e-03 9.99945159e-01 -9.53114542e-03 2.44813379e-01] [ 1.17941442e-02 9.47938730e-03 9.99885513e-01 1.14872226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34255784400005 meters Centerline goodness [0,1] 0.2509381065343972 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99932760e-01 -4.24373197e-03 -1.07919340e-02 5.67968504e+00] [ 4.14224409e-03 9.99947154e-01 -9.40907724e-03 2.44743155e-01] [ 1.08312933e-02 9.36374175e-03 9.99897496e-01 1.14976496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.372557844 meters Centerline goodness [0,1] 0.254161220043573 Centerline is valid? [False, False] Translation: X:5.66, Y:0.24, Z:1.15 [[ 9.99945979e-01 3.54215222e-03 -9.77197593e-03 5.65917666e+00] [-3.64301006e-03 9.99940083e-01 -1.03227105e-02 2.39960756e-01] [ 9.73482581e-03 1.03577522e-02 9.99898970e-01 1.14825909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40255784400006 meters Centerline goodness [0,1] 0.2517231693351484 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99946700e-01 -3.33782120e-03 -9.77021532e-03 5.67677913e+00] [ 3.25141649e-03 9.99955585e-01 -8.84624887e-03 2.46431160e-01] [ 9.79930857e-03 8.81401032e-03 9.99913140e-01 1.15044802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43255784400003 meters Centerline goodness [0,1] 0.25094729590079223 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99947044e-01 -3.40985647e-03 -9.70986582e-03 5.67682405e+00] [ 3.32187160e-03 9.99953411e-01 -9.06314475e-03 2.47470769e-01] [ 9.74031747e-03 9.03040987e-03 9.99911785e-01 1.15004427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46255784400006 meters Centerline goodness [0,1] 0.2506634447345142 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99947676e-01 -3.38775939e-03 -9.65242585e-03 5.67647152e+00] [ 3.30096413e-03 9.99954106e-01 -8.99385398e-03 2.47095211e-01] [ 9.68245187e-03 8.96152107e-03 9.99912967e-01 1.15038808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49255784400003 meters Centerline goodness [0,1] 0.2581378235650593 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99949668e-01 -3.33350927e-03 -9.46305315e-03 5.67571445e+00] [ 3.24947791e-03 9.99955279e-01 -8.88147122e-03 2.46663106e-01] [ 9.49223642e-03 8.85027421e-03 9.99915782e-01 1.15085418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52255784400006 meters Centerline goodness [0,1] 0.2522911870737957 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99950867e-01 -3.25726790e-03 -9.36231060e-03 5.67516874e+00] [ 3.17559800e-03 9.99956895e-01 -8.72493142e-03 2.45997320e-01] [ 9.39032647e-03 8.69477181e-03 9.99918108e-01 1.15133839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55255784400003 meters Centerline goodness [0,1] 0.2635550096508159 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99945616e-01 -3.26840360e-03 -9.90366331e-03 5.67696976e+00] [ 3.18130954e-03 9.99956244e-01 -8.79715448e-03 2.46225984e-01] [ 9.93198261e-03 8.76516944e-03 9.99912260e-01 1.15049531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58255784400006 meters Centerline goodness [0,1] 0.25182742988525697 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99941252e-01 -3.28556596e-03 -1.03294171e-02 5.67841863e+00] [ 3.19294163e-03 9.99954664e-01 -8.97078238e-03 2.47083816e-01] [ 1.03584229e-02 8.93727414e-03 9.99906410e-01 1.14972633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61255784400004 meters Centerline goodness [0,1] 0.251590840223367 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99940409e-01 -3.27720898e-03 -1.04134194e-02 5.67875054e+00] [ 3.18263647e-03 9.99953662e-01 -9.08542233e-03 2.47831394e-01] [ 1.04427116e-02 9.05173879e-03 9.99904503e-01 1.14944262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64255784400007 meters Centerline goodness [0,1] 0.25086214328821455 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99944016e-01 -1.68127700e-04 -1.05799962e-02 5.67911265e+00] [ 1.06207455e-04 9.99982866e-01 -5.85286697e-03 2.46861321e-01] [ 1.05807989e-02 5.85141563e-03 9.99926901e-01 1.14951338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67255784400004 meters Centerline goodness [0,1] 0.2511085635179857 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99947676e-01 -1.57074623e-04 -1.02283824e-02 5.67802475e+00] [ 9.63837968e-05 9.99982390e-01 -5.93379294e-03 2.47426192e-01] [ 1.02291343e-02 5.93249661e-03 9.99930083e-01 1.14979440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70255784400007 meters Centerline goodness [0,1] 0.25248426990670425 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99948293e-01 -1.24040927e-04 -1.01684026e-02 5.67790653e+00] [ 6.47484786e-05 9.99982996e-01 -5.83117033e-03 2.46899601e-01] [ 1.01689530e-02 5.83021043e-03 9.99931298e-01 1.14971526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73255784400004 meters Centerline goodness [0,1] 0.25248426990670425 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99948293e-01 -1.24040927e-04 -1.01684026e-02 5.67790653e+00] [ 6.47484786e-05 9.99982996e-01 -5.83117033e-03 2.46899601e-01] [ 1.01689530e-02 5.83021043e-03 9.99931298e-01 1.14971526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76255784400007 meters Centerline goodness [0,1] 0.2582173847185857 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.15 [[ 9.99945479e-01 -1.23480790e-04 -1.04414131e-02 5.67880955e+00] [ 6.38196031e-05 9.99983673e-01 -5.71403981e-03 2.46117865e-01] [ 1.04419482e-02 5.71306191e-03 9.99929161e-01 1.14936804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79255784400004 meters Centerline goodness [0,1] 0.25075941676792224 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99941219e-01 -8.37850578e-05 -1.08421465e-02 5.68009770e+00] [ 2.41952822e-05 9.99984896e-01 -5.49613791e-03 2.44853339e-01] [ 1.08424432e-02 5.49555251e-03 9.99926117e-01 1.14886038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8225578440001 meters Centerline goodness [0,1] 0.2594181438090676 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99929695e-01 -2.04251914e-04 -1.18559403e-02 5.68314371e+00] [ 1.42419516e-04 9.99986387e-01 -5.21591946e-03 2.42808390e-01] [ 1.18568442e-02 5.21386424e-03 9.99916112e-01 1.14791946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85255784400005 meters Centerline goodness [0,1] 0.24946630727762809 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.15 [[ 9.99900973e-01 -7.91265472e-03 -1.16375768e-02 5.70274507e+00] [ 7.86754435e-03 9.99961379e-01 -3.91695557e-03 2.46695301e-01] [ 1.16681209e-02 3.82500854e-03 9.99924609e-01 1.14954654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8825578440001 meters Centerline goodness [0,1] 0.26151625180454086 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99945092e-01 -5.77482795e-04 -1.04632300e-02 5.68237129e+00] [ 5.31152728e-04 9.99990046e-01 -4.43013138e-03 2.38137639e-01] [ 1.04656842e-02 4.42433056e-03 9.99935445e-01 1.14865952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91255784400005 meters Centerline goodness [0,1] 0.2513287775246773 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.15 [[ 9.99945409e-01 -5.38999244e-04 -1.04349841e-02 5.68184430e+00] [ 4.97155527e-04 9.99991828e-01 -4.01212420e-03 2.35819335e-01] [ 1.04370614e-02 4.00671736e-03 9.99937505e-01 1.14950042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9425578440001 meters Centerline goodness [0,1] 0.2627581088750164 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:1.15 [[ 9.99947900e-01 -9.84293827e-04 -1.01601450e-02 5.68085398e+00] [ 9.47760947e-04 9.99993071e-01 -3.59989336e-03 2.31763902e-01] [ 1.01636180e-02 3.59007641e-03 9.99941904e-01 1.15022092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97255784400005 meters Centerline goodness [0,1] 0.2601248807562223 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:1.15 [[ 9.99948329e-01 -9.49836182e-04 -1.01210893e-02 5.68066574e+00] [ 9.18523190e-04 9.99994779e-01 -3.09803556e-03 2.28992103e-01] [ 1.01239791e-02 3.08857903e-03 9.99943981e-01 1.15045462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0025578440001 meters Centerline goodness [0,1] 0.2503934631222646 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:1.15 [[ 9.99949279e-01 -9.51616752e-04 -1.00266239e-02 5.68028599e+00] [ 9.25529048e-04 9.99996176e-01 -2.60616228e-03 2.26063260e-01] [ 1.00290656e-02 2.59675016e-03 9.99946336e-01 1.15082065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03255784400005 meters Centerline goodness [0,1] 0.26386412074289944 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99951551e-01 -9.83160639e-04 -9.79436124e-03 5.67947601e+00] [ 9.61470169e-04 9.99997076e-01 -2.21905000e-03 2.23542852e-01] [ 9.79651429e-03 2.20952550e-03 9.99949572e-01 1.15134272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.062557844 meters Centerline goodness [0,1] 0.2531409352283823 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99952145e-01 -1.17734528e-03 -9.71194621e-03 5.67912920e+00] [ 1.16008380e-03 9.99997738e-01 -1.78278747e-03 2.20107009e-01] [ 9.71402320e-03 1.77143548e-03 9.99951249e-01 1.15175205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09255784400005 meters Centerline goodness [0,1] 0.2487222066466821 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99949819e-01 -1.06892798e-03 -9.96076322e-03 5.67987723e+00] [ 1.05456306e-03 9.99998397e-01 -1.44729133e-03 2.18450365e-01] [ 9.96229430e-03 1.43671445e-03 9.99949343e-01 1.15153918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.122557844 meters Centerline goodness [0,1] 0.2526038835373676 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99947936e-01 -9.55335893e-04 -1.01594032e-02 5.68070268e+00] [ 9.43903737e-04 9.99998916e-01 -1.13001370e-03 2.16911182e-01] [ 1.01604717e-02 1.12036536e-03 9.99947753e-01 1.15097647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15255784400006 meters Centerline goodness [0,1] 0.2505530253741054 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99945138e-01 -8.72359054e-04 -1.04383765e-02 5.68167131e+00] [ 8.63042062e-04 9.99999225e-01 -8.97042195e-04 2.15734339e-01] [ 1.04391510e-02 8.87984224e-04 9.99945116e-01 1.15050137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18255784400003 meters Centerline goodness [0,1] 0.25052608742813753 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99942909e-01 -7.59947789e-04 -1.06583970e-02 5.68227966e+00] [ 7.54933604e-04 9.99999602e-01 -4.74459953e-04 2.13422791e-01] [ 1.06587533e-02 4.66386483e-04 9.99943085e-01 1.15042834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21255784400006 meters Centerline goodness [0,1] 0.24988681685889835 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99943331e-01 -6.76343310e-04 -1.06243908e-02 5.68195825e+00] [ 6.74629593e-04 9.99999759e-01 -1.64883300e-04 2.11725758e-01] [ 1.06244998e-02 1.57706428e-04 9.99943546e-01 1.15084574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24255784400003 meters Centerline goodness [0,1] 0.252807158525726 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99944530e-01 -5.92102161e-04 -1.05160147e-02 5.68144949e+00] [ 5.93542625e-04 9.99999815e-01 1.33857673e-04 2.10129514e-01] [ 1.05159335e-02 -1.40091951e-04 9.99944696e-01 1.15127107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27255784400006 meters Centerline goodness [0,1] 0.2533710924735868 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99946414e-01 -7.86406283e-04 -1.03223276e-02 5.68087079e+00] [ 7.92704913e-04 9.99999502e-01 6.06117539e-04 2.06775076e-01] [ 1.03218458e-02 -6.14267620e-04 9.99946540e-01 1.15150971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30255784400003 meters Centerline goodness [0,1] 0.24746085713666977 Centerline is valid? [False, False] Translation: X:5.68, Y:0.20, Z:1.15 [[ 9.99940981e-01 -8.87179248e-04 -1.08281280e-02 5.68229702e+00] [ 8.97197379e-04 9.99999174e-01 9.20372583e-04 2.04440763e-01] [ 1.08273026e-02 -9.30033231e-04 9.99940951e-01 1.15121591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33255784400006 meters Centerline goodness [0,1] 0.25187216997561823 Centerline is valid? [False, False] Translation: X:5.68, Y:0.20, Z:1.15 [[ 9.99934453e-01 -9.85430805e-04 -1.14069269e-02 5.68395933e+00] [ 1.00056978e-03 9.99998626e-01 1.32154349e-03 2.01519316e-01] [ 1.14056090e-02 -1.33287030e-03 9.99934066e-01 1.15077902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36255784400004 meters Centerline goodness [0,1] 0.2440715931852937 Centerline is valid? [False, False] Translation: X:5.69, Y:0.20, Z:1.15 [[ 9.99923805e-01 -1.28757176e-03 -1.22770968e-02 5.68639791e+00] [ 1.30744412e-03 9.99997848e-01 1.61076468e-03 1.98378272e-01] [ 1.22749964e-02 -1.62669356e-03 9.99923336e-01 1.15036027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39255784400007 meters Centerline goodness [0,1] 0.24798979768286356 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.15 [[ 9.99917199e-01 -1.39741996e-03 -1.27923097e-02 5.68776852e+00] [ 1.42465519e-03 9.99996738e-01 2.12016645e-03 1.94702906e-01] [ 1.27893052e-02 -2.13821552e-03 9.99915927e-01 1.15025451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42255784400004 meters Centerline goodness [0,1] 0.2562711714304692 Centerline is valid? [False, False] Translation: X:5.64, Y:0.18, Z:1.15 [[ 9.99876798e-01 -4.38695663e-03 -1.50712810e-02 5.64329071e+00] [ 4.41459145e-03 9.99988634e-01 1.80082858e-03 1.84844820e-01] [ 1.50632095e-02 -1.86714026e-03 9.99884800e-01 1.15084962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45255784400007 meters Centerline goodness [0,1] 0.2497006379133918 Centerline is valid? [False, False] Translation: X:5.67, Y:0.18, Z:1.15 [[ 9.99906603e-01 1.57582603e-03 -1.35757752e-02 5.66559567e+00] [-1.59047606e-03 9.99998164e-01 -1.06840186e-03 1.81236149e-01] [ 1.35740667e-02 1.08989402e-03 9.99907274e-01 1.15023989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48255784400004 meters Centerline goodness [0,1] 0.2486059074671081 Centerline is valid? [False, False] Translation: X:5.67, Y:0.18, Z:1.15 [[ 9.99905221e-01 1.72075651e-03 -1.36597532e-02 5.66567268e+00] [-1.72863952e-03 9.99998346e-01 -5.65311384e-04 1.78774382e-01] [ 1.36587579e-02 5.88870593e-04 9.99906541e-01 1.15043988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51255784400007 meters Centerline goodness [0,1] 0.24903223000304464 Centerline is valid? [False, False] Translation: X:5.67, Y:0.18, Z:1.15 [[ 9.99904536e-01 1.86638909e-03 -1.36907036e-02 5.66579810e+00] [-1.86863249e-03 9.99998243e-01 -1.51073166e-04 1.76769487e-01] [ 1.36903976e-02 1.76641637e-04 9.99906267e-01 1.15036953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54255784400004 meters Centerline goodness [0,1] 0.2551452983943594 Centerline is valid? [False, False] Translation: X:5.66, Y:0.17, Z:1.15 [[ 9.99907749e-01 2.08964848e-03 -1.34211164e-02 5.66489324e+00] [-2.08578047e-03 9.99997779e-01 3.02194533e-04 1.74872349e-01] [ 1.34217181e-02 -2.74173153e-04 9.99909887e-01 1.15079292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5725578440001 meters Centerline goodness [0,1] 0.24690317141189444 Centerline is valid? [False, False] Translation: X:5.68, Y:0.18, Z:1.15 [[ 9.99916105e-01 -5.30879615e-03 -1.18152455e-02 5.68371948e+00] [ 5.32818364e-03 9.99984509e-01 1.61001529e-03 1.78676721e-01] [ 1.18065152e-02 -1.67283402e-03 9.99928901e-01 1.15210296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60255784400005 meters Centerline goodness [0,1] 0.24787676575093165 Centerline is valid? [False, False] Translation: X:5.68, Y:0.18, Z:1.15 [[ 9.99919845e-01 -5.23880604e-03 -1.15264464e-02 5.68274808e+00] [ 5.25923243e-03 9.99984652e-01 1.74253510e-03 1.78139779e-01] [ 1.15171406e-02 -1.80301568e-03 9.99932050e-01 1.15250130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6325578440001 meters Centerline goodness [0,1] 0.25043988269794726 Centerline is valid? [False, False] Translation: X:5.68, Y:0.18, Z:1.15 [[ 9.99922247e-01 -5.20148220e-03 -1.13333749e-02 5.68223988e+00] [ 5.22301797e-03 9.99984609e-01 1.87143928e-03 1.77362040e-01] [ 1.13234662e-02 -1.93048819e-03 9.99934024e-01 1.15255050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66255784400005 meters Centerline goodness [0,1] 0.24479573250065056 Centerline is valid? [False, False] Translation: X:5.68, Y:0.18, Z:1.15 [[ 9.99917535e-01 -5.34762897e-03 -1.16759036e-02 5.68334325e+00] [ 5.37188558e-03 9.99983476e-01 2.04712028e-03 1.75251880e-01] [ 1.16647635e-02 -2.10967308e-03 9.99929739e-01 1.15210171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6925578440001 meters Centerline goodness [0,1] 0.2445924900501817 Centerline is valid? [False, False] Translation: X:5.68, Y:0.17, Z:1.15 [[ 9.99913341e-01 -5.27436221e-03 -1.20619955e-02 5.68454784e+00] [ 5.30282965e-03 9.99983227e-01 2.32933026e-03 1.73841308e-01] [ 1.20495075e-02 -2.39309111e-03 9.99924538e-01 1.15161773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72255784400005 meters Centerline goodness [0,1] 0.24950836865795567 Centerline is valid? [False, False] Translation: X:5.67, Y:0.17, Z:1.15 [[ 9.99943408e-01 8.74884968e-04 -1.06025655e-02 5.66949565e+00] [-8.59203583e-04 9.99998531e-01 1.48348275e-03 1.68583114e-01] [ 1.06038478e-02 -1.47428903e-03 9.99942691e-01 1.14817011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7525578440001 meters Centerline goodness [0,1] 0.24519147835087118 Centerline is valid? [False, False] Translation: X:5.69, Y:0.17, Z:1.15 [[ 9.99915516e-01 -6.99879221e-03 -1.09534648e-02 5.69090977e+00] [ 7.02729042e-03 9.99972017e-01 2.56543132e-03 1.70977247e-01] [ 1.09352034e-02 -2.64218776e-03 9.99936718e-01 1.14916873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78255784400005 meters Centerline goodness [0,1] 0.24952547180102547 Centerline is valid? [False, False] Translation: X:5.67, Y:0.16, Z:1.15 [[ 9.99950259e-01 -2.61718439e-03 -9.62448253e-03 5.67012407e+00] [ 2.61397551e-03 9.99996524e-01 -3.45971810e-04 1.63318609e-01] [ 9.62535454e-03 3.20796439e-04 9.99953624e-01 1.14817415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.812557844 meters Centerline goodness [0,1] 0.24368566732981578 Centerline is valid? [False, False] Translation: X:5.67, Y:0.16, Z:1.15 [[ 9.99950816e-01 -2.78098841e-03 -9.52003381e-03 5.66954564e+00] [ 2.78001348e-03 9.99996129e-01 -1.15639806e-04 1.61191323e-01] [ 9.52031855e-03 8.91682956e-05 9.99954677e-01 1.14868829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84255784400005 meters Centerline goodness [0,1] 0.24498650836481384 Centerline is valid? [False, False] Translation: X:5.67, Y:0.16, Z:1.15 [[ 9.99953745e-01 -2.80518708e-03 -9.19997408e-03 5.66857650e+00] [ 2.80689579e-03 9.99996046e-01 1.72822865e-04 1.59442602e-01] [ 9.19945291e-03 -1.98638239e-04 9.99957664e-01 1.14892900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.872557844 meters Centerline goodness [0,1] 0.24720827562326875 Centerline is valid? [False, False] Translation: X:5.67, Y:0.16, Z:1.15 [[ 9.99957364e-01 -2.95952996e-03 -8.74703906e-03 5.66745044e+00] [ 2.96461319e-03 9.99995444e-01 5.68229137e-04 1.57047019e-01] [ 8.74531752e-03 -5.94136498e-04 9.99961582e-01 1.14890036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90255784400006 meters Centerline goodness [0,1] 0.24539359861591692 Centerline is valid? [False, False] Translation: X:5.67, Y:0.16, Z:1.15 [[ 9.99957553e-01 -2.94720819e-03 -8.72965390e-03 5.66745044e+00] [ 2.95386394e-03 9.99995356e-01 7.49634586e-04 1.55966241e-01] [ 8.72740403e-03 -7.75388976e-04 9.99961615e-01 1.14880941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93255784400003 meters Centerline goodness [0,1] 0.2529455402338977 Centerline is valid? [False, False] Translation: X:5.67, Y:0.16, Z:1.15 [[ 9.99958254e-01 -2.95966454e-03 -8.64468797e-03 5.66709460e+00] [ 2.96733017e-03 9.99995215e-01 8.74053464e-04 1.55008593e-01] [ 8.64205970e-03 -8.99668619e-04 9.99962252e-01 1.14901270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96255784400006 meters Centerline goodness [0,1] 0.24959923746804735 Centerline is valid? [False, False] Translation: X:5.67, Y:0.15, Z:1.15 [[ 9.99959568e-01 -2.98523080e-03 -8.48238728e-03 5.66639621e+00] [ 2.99344763e-03 9.99995062e-01 9.56162629e-04 1.54343017e-01] [ 8.47949103e-03 -9.81515552e-04 9.99963567e-01 1.14949336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99255784400003 meters Centerline goodness [0,1] 0.2508761303162722 Centerline is valid? [False, False] Translation: X:5.67, Y:0.15, Z:1.15 [[ 9.99962403e-01 -2.97750270e-03 -8.14410799e-03 5.66524607e+00] [ 2.98550439e-03 9.99995072e-01 9.70532359e-04 1.54474916e-01] [ 8.14117810e-03 -9.94810140e-04 9.99966365e-01 1.15000053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02255784400006 meters Centerline goodness [0,1] 0.25148282529819455 Centerline is valid? [False, False] Translation: X:5.67, Y:0.16, Z:1.15 [[ 9.99962021e-01 -3.01740212e-03 -8.17624638e-03 5.66545540e+00] [ 3.02439831e-03 9.99995071e-01 8.43442953e-04 1.55172612e-01] [ 8.17366107e-03 -8.68139146e-04 9.99966218e-01 1.14977689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05255784400003 meters Centerline goodness [0,1] 0.2540235170465742 Centerline is valid? [False, False] Translation: X:5.67, Y:0.16, Z:1.15 [[ 9.99960341e-01 -3.09258041e-03 -8.35174735e-03 5.66617767e+00] [ 3.09823696e-03 9.99994980e-01 6.64437037e-04 1.55982718e-01] [ 8.34965060e-03 -6.90286379e-04 9.99964903e-01 1.14926494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08255784400006 meters Centerline goodness [0,1] 0.25091523514502956 Centerline is valid? [False, False] Translation: X:5.69, Y:0.15, Z:1.15 [[ 9.99952204e-01 5.24980414e-03 -8.24792823e-03 5.68646475e+00] [-5.25643146e-03 9.99985879e-01 -7.82040207e-04 1.52363096e-01] [ 8.24370620e-03 8.25357499e-04 9.99965679e-01 1.14984499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11255784400004 meters Centerline goodness [0,1] 0.2522932781348731 Centerline is valid? [False, False] Translation: X:5.69, Y:0.16, Z:1.15 [[ 9.99954246e-01 5.11426432e-03 -8.08391405e-03 5.68603685e+00] [-5.12542316e-03 9.99985940e-01 -1.36026144e-03 1.55479533e-01] [ 8.07684365e-03 1.40163269e-03 9.99966399e-01 1.14996665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14255784400007 meters Centerline goodness [0,1] 0.24951790782831018 Centerline is valid? [False, False] Translation: X:5.69, Y:0.16, Z:1.15 [[ 9.99956297e-01 5.00518045e-03 -7.89632137e-03 5.68530908e+00] [-5.01962012e-03 9.99985764e-01 -1.80990003e-03 1.57983996e-01] [ 7.88715008e-03 1.84945746e-03 9.99967186e-01 1.15048487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17255784400004 meters Centerline goodness [0,1] 0.24843134709420567 Centerline is valid? [False, False] Translation: X:5.69, Y:0.16, Z:1.15 [[ 9.99957470e-01 4.85399101e-03 -7.84196011e-03 5.68513483e+00] [-4.87263062e-03 9.99985345e-01 -2.35955272e-03 1.60863394e-01] [ 7.83039194e-03 2.39766335e-03 9.99966468e-01 1.15063832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20255784400007 meters Centerline goodness [0,1] 0.24837025967556803 Centerline is valid? [False, False] Translation: X:5.69, Y:0.16, Z:1.15 [[ 9.99957168e-01 4.66933742e-03 -7.99116961e-03 5.68576441e+00] [-4.69352301e-03 9.99984454e-01 -3.01046745e-03 1.64111706e-01] [ 7.97698849e-03 3.04784524e-03 9.99963538e-01 1.15024251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23255784400004 meters Centerline goodness [0,1] 0.2502232580427348 Centerline is valid? [False, False] Translation: X:5.69, Y:0.17, Z:1.15 [[ 9.99956073e-01 4.47901623e-03 -8.23354052e-03 5.68681528e+00] [-4.50914193e-03 9.99983194e-01 -3.64398452e-03 1.67293771e-01] [ 8.21708069e-03 3.68095066e-03 9.99959464e-01 1.14955465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26255784400007 meters Centerline goodness [0,1] 0.25383118728548626 Centerline is valid? [False, False] Translation: X:5.69, Y:0.17, Z:1.15 [[ 9.99935217e-01 7.22559224e-03 -8.79505063e-03 5.69054444e+00] [-7.24126405e-03 9.99972248e-01 -1.75135175e-03 1.74023096e-01] [ 8.78215200e-03 1.81492557e-03 9.99959789e-01 1.14672324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29255784400004 meters Centerline goodness [0,1] 0.24867794239762253 Centerline is valid? [False, False] Translation: X:5.69, Y:0.18, Z:1.15 [[ 9.99935845e-01 6.99831216e-03 -8.90668782e-03 5.69111960e+00] [-7.02043371e-03 9.99972343e-01 -2.45486423e-03 1.77457945e-01] [ 8.88926158e-03 2.51723555e-03 9.99957321e-01 1.14629864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3225578440001 meters Centerline goodness [0,1] 0.2519613169618603 Centerline is valid? [False, False] Translation: X:5.71, Y:0.18, Z:1.15 [[ 9.99944240e-01 5.68216566e-04 -1.05448109e-02 5.70899848e+00] [-5.85986525e-04 9.99998413e-01 -1.68217202e-03 1.84720937e-01] [ 1.05438383e-02 1.68825734e-03 9.99942987e-01 1.14877777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35255784400005 meters Centerline goodness [0,1] 0.24948888598895125 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:1.15 [[ 9.99943137e-01 3.88950569e-04 -1.06569755e-02 5.70926276e+00] [-4.13607989e-04 9.99997243e-01 -2.31162903e-03 1.87854551e-01] [ 1.06560470e-02 2.31590540e-03 9.99940541e-01 1.14885648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3825578440001 meters Centerline goodness [0,1] 0.24892965031621495 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:1.15 [[ 9.99941857e-01 6.11203235e-04 -1.07660940e-02 5.70948687e+00] [-6.42885819e-04 9.99995473e-01 -2.93959644e-03 1.92874702e-01] [ 1.07642486e-02 2.94634689e-03 9.99937723e-01 1.14888005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41255784400005 meters Centerline goodness [0,1] 0.24535115032001387 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:1.15 [[ 9.99940531e-01 5.04684459e-04 -1.08940362e-02 5.70992557e+00] [-5.41514089e-04 9.99994148e-01 -3.37802992e-03 1.95168893e-01] [ 1.08922676e-02 3.38372831e-03 9.99934952e-01 1.14869912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4425578440001 meters Centerline goodness [0,1] 0.24626056796011275 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:1.15 [[ 9.99940732e-01 3.54313298e-04 -1.08814844e-02 5.71002487e+00] [-3.96185550e-04 9.99992525e-01 -3.84611302e-03 1.97437583e-01] [ 1.08800404e-02 3.85019615e-03 9.99933398e-01 1.14847175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47255784400005 meters Centerline goodness [0,1] 0.25419208150237205 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:1.15 [[ 9.99942080e-01 2.64298187e-04 -1.07595042e-02 5.70959090e+00] [-3.09689313e-04 9.99991059e-01 -4.21725307e-03 1.99399879e-01] [ 1.07582934e-02 4.22034091e-03 9.99933222e-01 1.14871050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5025578440001 meters Centerline goodness [0,1] 0.2519180196040077 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:1.15 [[ 9.99945433e-01 3.24668257e-04 -1.04415358e-02 5.70844850e+00] [-3.71948398e-04 9.99989686e-01 -4.52645997e-03 2.01950150e-01] [ 1.04399585e-02 4.53009669e-03 9.99935241e-01 1.14929237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53255784400005 meters Centerline goodness [0,1] 0.24514004004219503 Centerline is valid? [False, False] Translation: X:5.73, Y:0.21, Z:1.15 [[ 9.99923469e-01 -7.32443003e-03 -9.97042211e-03 5.72763478e+00] [ 7.29147437e-03 9.99967847e-01 -3.33769021e-03 2.06102770e-01] [ 9.99454820e-03 3.26473570e-03 9.99944724e-01 1.15106970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.562557844 meters Centerline goodness [0,1] 0.24929068029715618 Centerline is valid? [False, False] Translation: X:5.73, Y:0.20, Z:1.15 [[ 9.99925008e-01 -7.23989880e-03 -9.87731961e-03 5.72741975e+00] [ 7.21007301e-03 9.99969350e-01 -3.05189893e-03 2.04404822e-01] [ 9.89911231e-03 2.98045387e-03 9.99946561e-01 1.15107550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59255784400005 meters Centerline goodness [0,1] 0.25231612370057843 Centerline is valid? [False, False] Translation: X:5.73, Y:0.20, Z:1.15 [[ 9.99925442e-01 -7.23858961e-03 -9.83425608e-03 5.72733526e+00] [ 7.20871474e-03 9.99969305e-01 -3.06989622e-03 2.04413675e-01] [ 9.85617593e-03 2.99877499e-03 9.99946930e-01 1.15104044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.622557844 meters Centerline goodness [0,1] 0.25231612370057843 Centerline is valid? [False, False] Translation: X:5.73, Y:0.20, Z:1.15 [[ 9.99925442e-01 -7.23858961e-03 -9.83425608e-03 5.72733526e+00] [ 7.20871474e-03 9.99969305e-01 -3.06989622e-03 2.04413675e-01] [ 9.85617593e-03 2.99877499e-03 9.99946930e-01 1.15104044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65255784400006 meters Centerline goodness [0,1] 0.24836488440866022 Centerline is valid? [False, False] Translation: X:5.73, Y:0.21, Z:1.15 [[ 9.99925853e-01 -7.26071562e-03 -9.77603926e-03 5.72722964e+00] [ 7.22911843e-03 9.99968544e-01 -3.26357330e-03 2.05497543e-01] [ 9.79942763e-03 3.19265917e-03 9.99946888e-01 1.15098013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68255784400003 meters Centerline goodness [0,1] 0.24974933519333886 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:1.15 [[ 9.99948054e-01 1.26254343e-03 -1.01141449e-02 5.70608974e+00] [-1.30319955e-03 9.99991094e-01 -4.01414789e-03 2.03340911e-01] [ 1.01089867e-02 4.02712012e-03 9.99940794e-01 1.14992009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71255784400006 meters Centerline goodness [0,1] 0.24506219578150357 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99930619e-01 5.11674329e-03 -1.06102088e-02 5.70765671e+00] [-5.12337912e-03 9.99986696e-01 -5.98332815e-04 2.06125375e-01] [ 1.06070061e-02 6.52651424e-04 9.99943531e-01 1.14941145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74255784400003 meters Centerline goodness [0,1] 0.24578642545714846 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99928595e-01 5.00715689e-03 -1.08504613e-02 5.70848176e+00] [-5.01962441e-03 9.99986772e-01 -1.12210299e-03 2.08828523e-01] [ 1.08446993e-02 1.17648811e-03 9.99940502e-01 1.14902209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77255784400006 meters Centerline goodness [0,1] 0.24998374899785492 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99927583e-01 4.85034490e-03 -1.10137590e-02 5.70897605e+00] [-4.86902504e-03 9.99986752e-01 -1.66989244e-03 2.11456048e-01] [ 1.10055135e-02 1.72339778e-03 9.99937952e-01 1.14882072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80255784400003 meters Centerline goodness [0,1] 0.2528252585737616 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99928947e-01 4.70476426e-03 -1.09529319e-02 5.70875538e+00] [-4.72865788e-03 9.99986494e-01 -2.15660798e-03 2.13825217e-01] [ 1.09426376e-02 2.20824741e-03 9.99937689e-01 1.14894034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83255784400006 meters Centerline goodness [0,1] 0.25205201313288406 Centerline is valid? [False, False] Translation: X:5.73, Y:0.22, Z:1.15 [[ 9.99949846e-01 -2.43679887e-03 -9.71426274e-03 5.72635315e+00] [ 2.42976027e-03 9.99996777e-01 -7.36300120e-04 2.22762927e-01] [ 9.71602565e-03 7.12659862e-04 9.99952544e-01 1.15122044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86255784400004 meters Centerline goodness [0,1] 0.25028126352228475 Centerline is valid? [False, False] Translation: X:5.73, Y:0.22, Z:1.15 [[ 9.99950944e-01 -2.51010750e-03 -9.58170994e-03 5.72586099e+00] [ 2.50133478e-03 9.99996442e-01 -9.27444170e-04 2.23769945e-01] [ 9.58400383e-03 9.03431609e-04 9.99953664e-01 1.15146466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89255784400007 meters Centerline goodness [0,1] 0.24810859885002812 Centerline is valid? [False, False] Translation: X:5.73, Y:0.22, Z:1.15 [[ 9.99951335e-01 -2.60542146e-03 -9.51517840e-03 5.72558477e+00] [ 2.59518854e-03 9.99996041e-01 -1.08761979e-03 2.24411553e-01] [ 9.51797444e-03 1.06287318e-03 9.99954138e-01 1.15165096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92255784400004 meters Centerline goodness [0,1] 0.25023869455776404 Centerline is valid? [False, False] Translation: X:5.73, Y:0.22, Z:1.15 [[ 9.99950357e-01 -2.70650905e-03 -9.58945707e-03 5.72575488e+00] [ 2.69484544e-03 9.99995614e-01 -1.22900717e-03 2.24846862e-01] [ 9.59274133e-03 1.20310405e-03 9.99953265e-01 1.15166084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95255784400007 meters Centerline goodness [0,1] 0.25298059350796276 Centerline is valid? [False, False] Translation: X:5.73, Y:0.22, Z:1.15 [[ 9.99949595e-01 -2.73989489e-03 -9.65922624e-03 5.72590176e+00] [ 2.72801178e-03 9.99995506e-01 -1.24319552e-03 2.24896432e-01] [ 9.66258906e-03 1.21678237e-03 9.99952576e-01 1.15164797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98255784400004 meters Centerline goodness [0,1] 0.24792016897280056 Centerline is valid? [False, False] Translation: X:5.73, Y:0.22, Z:1.15 [[ 9.99949467e-01 -2.70505076e-03 -9.68225437e-03 5.72578180e+00] [ 2.69433792e-03 9.99995744e-01 -1.11931363e-03 2.24524504e-01] [ 9.68524097e-03 1.09316980e-03 9.99952499e-01 1.15191810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01255784400007 meters Centerline goodness [0,1] 0.24517596101786676 Centerline is valid? [False, False] Translation: X:5.72, Y:0.22, Z:1.15 [[ 9.99952627e-01 -2.88574691e-03 -9.29604633e-03 5.72459264e+00] [ 2.87689581e-03 9.99995396e-01 -9.65367302e-04 2.23235339e-01] [ 9.29878933e-03 9.38577813e-04 9.99956325e-01 1.15237668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04255784400004 meters Centerline goodness [0,1] 0.24642826218720237 Centerline is valid? [False, False] Translation: X:5.72, Y:0.22, Z:1.15 [[ 9.99953512e-01 -2.88979165e-03 -9.19908989e-03 5.72421140e+00] [ 2.88293589e-03 9.99995557e-01 -7.58438319e-04 2.21838433e-01] [ 9.20124074e-03 7.31882675e-04 9.99957400e-01 1.15263991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0725578440001 meters Centerline goodness [0,1] 0.24807402625349684 Centerline is valid? [False, False] Translation: X:5.72, Y:0.22, Z:1.15 [[ 9.99953842e-01 -2.83299604e-03 -9.18087627e-03 5.72410169e+00] [ 2.82811034e-03 9.99995852e-01 -5.45098823e-04 2.20673321e-01] [ 9.18238245e-03 5.19109131e-04 9.99957706e-01 1.15275189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10255784400005 meters Centerline goodness [0,1] 0.2528995694578684 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99929976e-01 -2.61331278e-03 -1.15418587e-02 5.67844527e+00] [ 2.61877345e-03 9.99996466e-01 4.58030882e-04 2.19252198e-01] [ 1.15406209e-02 -4.88224322e-04 9.99933286e-01 1.15328653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1325578440001 meters Centerline goodness [0,1] 0.25027170369082297 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.15 [[ 9.99922564e-01 5.92767426e-03 -1.09420200e-02 5.69840908e+00] [-5.93489576e-03 9.99982191e-01 -6.27625208e-04 2.15370675e-01] [ 1.09381048e-02 6.92516355e-04 9.99939937e-01 1.15420536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16255784400005 meters Centerline goodness [0,1] 0.24877275294322077 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.15 [[ 9.99923732e-01 5.89594748e-03 -1.08520512e-02 5.69824331e+00] [-5.90414832e-03 9.99982308e-01 -7.23812788e-04 2.15692853e-01] [ 1.08475917e-02 7.87829705e-04 9.99940853e-01 1.15414097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1925578440001 meters Centerline goodness [0,1] 0.24979432777657506 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.15 [[ 9.99923479e-01 5.85285826e-03 -1.08986678e-02 5.69819508e+00] [-5.86244063e-03 9.99982457e-01 -8.47484136e-04 2.15953403e-01] [ 1.08935164e-02 9.11312078e-04 9.99940249e-01 1.15439155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22255784400005 meters Centerline goodness [0,1] 0.252076367166433 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.15 [[ 9.99922058e-01 5.89936310e-03 -1.10034458e-02 5.69849918e+00] [-5.90830988e-03 9.99982241e-01 -7.80758714e-04 2.15707258e-01] [ 1.09986444e-02 8.45709627e-04 9.99939155e-01 1.15430011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2525578440001 meters Centerline goodness [0,1] 0.254204384338532 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99923043e-01 -2.49577911e-03 -1.21523230e-02 5.67970880e+00] [ 2.50540845e-03 9.99996559e-01 7.77226906e-04 2.19239171e-01] [ 1.21503414e-02 -8.07613626e-04 9.99925856e-01 1.15262262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28255784400005 meters Centerline goodness [0,1] 0.2474921460296826 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99921188e-01 -2.40129136e-03 -1.23228174e-02 5.68030547e+00] [ 2.41318566e-03 9.99996637e-01 9.50447361e-04 2.18496213e-01] [ 1.23204937e-02 -9.80109701e-04 9.99923619e-01 1.15231314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.312557844 meters Centerline goodness [0,1] 0.25114520311149524 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99920585e-01 -2.27774957e-03 -1.23949562e-02 5.68026530e+00] [ 2.29361524e-03 9.99996568e-01 1.26594603e-03 2.16761750e-01] [ 1.23920302e-02 -1.29427476e-03 9.99922378e-01 1.15269308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34255784400005 meters Centerline goodness [0,1] 0.24912628899339861 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99921849e-01 -2.22084990e-03 -1.23030139e-02 5.67981578e+00] [ 2.23807934e-03 9.99996534e-01 1.38683333e-03 2.16176133e-01] [ 1.22998913e-02 -1.41426007e-03 9.99923353e-01 1.15306499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.372557844 meters Centerline goodness [0,1] 0.2502507303885231 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99923974e-01 -2.13392785e-03 -1.21446244e-02 5.67922589e+00] [ 2.15278978e-03 9.99996497e-01 1.54024840e-03 2.15538618e-01] [ 1.21412950e-02 -1.56627613e-03 9.99925065e-01 1.15339144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40255784400006 meters Centerline goodness [0,1] 0.2492361035865207 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99925910e-01 -2.02554807e-03 -1.20029882e-02 5.67877296e+00] [ 2.04657046e-03 9.99996393e-01 1.73940569e-03 2.14651261e-01] [ 1.19994217e-02 -1.76384178e-03 9.99926449e-01 1.15358741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43255784400003 meters Centerline goodness [0,1] 0.24812549968668296 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99927172e-01 -1.89797924e-03 -1.19184334e-02 5.67847692e+00] [ 1.92368051e-03 9.99995848e-01 2.14533666e-03 2.12393809e-01] [ 1.19143121e-02 -2.16810768e-03 9.99926672e-01 1.15371615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46255784400006 meters Centerline goodness [0,1] 0.24865542043760935 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99924758e-01 -1.81954172e-03 -1.21312966e-02 5.67918945e+00] [ 1.84885884e-03 9.99995397e-01 2.40587516e-03 2.10966218e-01] [ 1.21268631e-02 -2.42812319e-03 9.99923519e-01 1.15340283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49255784400003 meters Centerline goodness [0,1] 0.24507521875942928 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99921255e-01 -1.77448051e-03 -1.24231266e-02 5.68032978e+00] [ 1.80716075e-03 9.99994935e-01 2.61986588e-03 2.09661920e-01] [ 1.24184148e-02 -2.64211016e-03 9.99919398e-01 1.15272532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52255784400006 meters Centerline goodness [0,1] 0.24895579533588585 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99918693e-01 -1.69010660e-03 -1.26392321e-02 5.68108122e+00] [ 1.72649131e-03 9.99994396e-01 2.86835535e-03 2.08360364e-01] [ 1.26343135e-02 -2.88994366e-03 9.99916008e-01 1.15234502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55255784400003 meters Centerline goodness [0,1] 0.24965837364162857 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99918440e-01 -1.51686202e-03 -1.26811753e-02 5.68095992e+00] [ 1.55836122e-03 9.99993461e-01 3.26326378e-03 2.06513356e-01] [ 1.26761425e-02 -3.28275948e-03 9.99914266e-01 1.15272923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58255784400006 meters Centerline goodness [0,1] 0.2483137050773202 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99920931e-01 -1.45715358e-03 -1.24903116e-02 5.68018250e+00] [ 1.49901190e-03 9.99993290e-01 3.34255646e-03 2.06267003e-01] [ 1.24853572e-02 -3.36101529e-03 9.99916406e-01 1.15323293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61255784400004 meters Centerline goodness [0,1] 0.25467581730874644 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99923707e-01 -1.38124366e-03 -1.22748435e-02 5.67951804e+00] [ 1.42374174e-03 9.99993021e-01 3.45414570e-03 2.05878567e-01] [ 1.22699868e-02 -3.47135838e-03 9.99918695e-01 1.15345508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64255784400007 meters Centerline goodness [0,1] 0.25186470078057244 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99909850e-01 7.13946483e-03 -1.13718735e-02 5.69929489e+00] [-7.11272507e-03 9.99971848e-01 2.39010580e-03 2.00943662e-01] [ 1.13886174e-02 -2.30900532e-03 9.99932482e-01 1.15441089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67255784400004 meters Centerline goodness [0,1] 0.24454148471615722 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99902786e-01 7.24421266e-03 -1.19138267e-02 5.70138118e+00] [-7.21111102e-03 9.99970026e-01 2.81903696e-03 1.98372740e-01] [ 1.19338912e-02 -2.73285098e-03 9.99925054e-01 1.15317150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70255784400007 meters Centerline goodness [0,1] 0.2482734580945949 Centerline is valid? [False, False] Translation: X:5.68, Y:0.20, Z:1.15 [[ 9.99912407e-01 -1.25529465e-03 -1.31758376e-02 5.68283300e+00] [ 1.31336237e-03 9.99989460e-01 4.39941017e-03 2.01373083e-01] [ 1.31701762e-02 -4.41632946e-03 9.99903517e-01 1.15155882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73255784400004 meters Centerline goodness [0,1] 0.2544470393085536 Centerline is valid? [False, False] Translation: X:5.68, Y:0.20, Z:1.15 [[ 9.99913101e-01 -1.15229796e-03 -1.31325144e-02 5.68275787e+00] [ 1.21212960e-03 9.99988919e-01 4.54894477e-03 2.00886380e-01] [ 1.31271271e-02 -4.56446778e-03 9.99903417e-01 1.15151646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76255784400007 meters Centerline goodness [0,1] 0.24927151741834475 Centerline is valid? [False, False] Translation: X:5.68, Y:0.20, Z:1.15 [[ 9.99915741e-01 -1.10521333e-03 -1.29340223e-02 5.68202254e+00] [ 1.16496571e-03 9.99988681e-01 4.61316177e-03 2.00597744e-01] [ 1.29287774e-02 -4.62784077e-03 9.99905710e-01 1.15194011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79255784400004 meters Centerline goodness [0,1] 0.2559564180541274 Centerline is valid? [False, False] Translation: X:5.68, Y:0.20, Z:1.15 [[ 9.99920181e-01 -1.05960233e-03 -1.25900036e-02 5.68088114e+00] [ 1.11793232e-03 9.99988671e-01 4.62690606e-03 2.00560118e-01] [ 1.25849583e-02 -4.64061152e-03 9.99910038e-01 1.15247050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8225578440001 meters Centerline goodness [0,1] 0.24879133212466542 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99899670e-01 8.73941074e-03 -1.11477850e-02 5.70177327e+00] [-8.69248466e-03 9.99953184e-01 4.25098396e-03 1.99381416e-01] [ 1.11844142e-02 -4.15365551e-03 9.99928825e-01 1.15261433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85255784400005 meters Centerline goodness [0,1] 0.2512123311395913 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99897606e-01 8.80019431e-03 -1.12842557e-02 5.70242592e+00] [-8.75555254e-03 9.99953671e-01 3.99942958e-03 2.01164648e-01] [ 1.13189287e-02 -3.90022016e-03 9.99928332e-01 1.15202257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8825578440001 meters Centerline goodness [0,1] 0.2531145548465512 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99895448e-01 8.81936252e-03 -1.14591181e-02 5.70316053e+00] [-8.77786936e-03 9.99954753e-01 3.66623708e-03 2.03195507e-01] [ 1.14909335e-02 -3.56526713e-03 9.99927621e-01 1.15145283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91255784400005 meters Centerline goodness [0,1] 0.2530070690592714 Centerline is valid? [False, False] Translation: X:5.70, Y:0.21, Z:1.15 [[ 9.99894713e-01 9.26102372e-03 -1.11711993e-02 5.70229535e+00] [-9.22429817e-03 9.99951895e-01 3.33457892e-03 2.06435768e-01] [ 1.12015435e-02 -3.23118136e-03 9.99932040e-01 1.15153229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9425578440001 meters Centerline goodness [0,1] 0.2633813858281434 Centerline is valid? [False, False] Translation: X:5.70, Y:0.21, Z:1.15 [[ 9.99897952e-01 9.22665651e-03 -1.09066648e-02 5.70152813e+00] [-9.19558063e-03 9.99953526e-01 2.89597886e-03 2.08836907e-01] [ 1.09328782e-02 -2.79539022e-03 9.99936327e-01 1.15169097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97255784400005 meters Centerline goodness [0,1] 0.25485574614813844 Centerline is valid? [False, False] Translation: X:5.70, Y:0.21, Z:1.15 [[ 9.99899600e-01 9.08164588e-03 -1.08771812e-02 5.70157037e+00] [-9.05683872e-03 9.99956277e-01 2.32775271e-03 2.11712828e-01] [ 1.08978455e-02 -2.22900613e-03 9.99938132e-01 1.15140959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0025578440001 meters Centerline goodness [0,1] 0.25380160090240567 Centerline is valid? [False, False] Translation: X:5.70, Y:0.21, Z:1.15 [[ 9.99896825e-01 9.00200803e-03 -1.11938991e-02 5.70269194e+00] [-8.98139942e-03 9.99957880e-01 1.88996765e-03 2.14124326e-01] [ 1.12104411e-02 -1.78923577e-03 9.99935560e-01 1.15073275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03255784400005 meters Centerline goodness [0,1] 0.2624614314892877 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.15 [[ 9.99892868e-01 8.88438106e-03 -1.16327246e-02 5.70457675e+00] [-8.86781832e-03 9.99959593e-01 1.47461415e-03 2.16233946e-01] [ 1.16453556e-02 -1.37129928e-03 9.99931250e-01 1.14928996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.062557844 meters Centerline goodness [0,1] 0.25051764299887846 Centerline is valid? [False, False] Translation: X:5.72, Y:0.22, Z:1.15 [[ 9.99924526e-01 9.59529835e-04 -1.22483257e-02 5.72481299e+00] [-9.37386701e-04 9.99997916e-01 1.81346279e-03 2.21315149e-01] [ 1.22500403e-02 -1.80184451e-03 9.99923342e-01 1.15024714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09255784400005 meters Centerline goodness [0,1] 0.25401957357567284 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99886446e-01 -7.12036668e-04 -1.50528771e-02 5.67956604e+00] [ 7.32735652e-04 9.99998794e-01 1.36961443e-03 2.18054569e-01] [ 1.50518837e-02 -1.38048868e-03 9.99885761e-01 1.15108324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.122557844 meters Centerline goodness [0,1] 0.2504668838219327 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99884901e-01 -7.20882849e-04 -1.51546900e-02 5.67963921e+00] [ 7.43521854e-04 9.99998616e-01 1.48828016e-03 2.17289451e-01] [ 1.51535961e-02 -1.49937671e-03 9.99884053e-01 1.15144035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15255784400006 meters Centerline goodness [0,1] 0.25190306890309067 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99886430e-01 -6.36409185e-04 -1.50573216e-02 5.67922820e+00] [ 6.62890497e-04 9.99998242e-01 1.75377447e-03 2.16145158e-01] [ 1.50561791e-02 -1.76355665e-03 9.99885094e-01 1.15172589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18255784400003 meters Centerline goodness [0,1] 0.2652178685105916 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99888168e-01 -6.00358055e-04 -1.49429365e-02 5.67898803e+00] [ 6.28057638e-04 9.99998093e-01 1.84906693e-03 2.15702200e-01] [ 1.49417979e-02 -1.85824517e-03 9.99886638e-01 1.15165148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21255784400006 meters Centerline goodness [0,1] 0.2543559325729987 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99888883e-01 -5.46749091e-04 -1.48970723e-02 5.67899801e+00] [ 5.76642953e-04 9.99997829e-01 2.00247230e-03 2.14903605e-01] [ 1.48959451e-02 -2.01084008e-03 9.99887027e-01 1.15147048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24255784400003 meters Centerline goodness [0,1] 0.251805896006421 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99889260e-01 -4.81119200e-04 -1.48740432e-02 5.67893893e+00] [ 5.13314900e-04 9.99997534e-01 2.16081407e-03 2.14093357e-01] [ 1.48729670e-02 -2.16820985e-03 9.99887040e-01 1.15148958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27255784400006 meters Centerline goodness [0,1] 0.25249630980290005 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99889637e-01 -3.32695552e-04 -1.48527162e-02 5.67870698e+00] [ 3.68932884e-04 9.99996962e-01 2.43710482e-03 2.12890279e-01] [ 1.48518603e-02 -2.44231551e-03 9.99886722e-01 1.15180710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30255784400003 meters Centerline goodness [0,1] 0.24906017056561625 Centerline is valid? [False, False] Translation: X:5.70, Y:0.21, Z:1.15 [[ 9.99857012e-01 8.14891240e-03 -1.48172166e-02 5.69889370e+00] [-8.13287467e-03 9.99966275e-01 1.14230681e-03 2.09475797e-01] [ 1.48260254e-02 -1.02163691e-03 9.99889567e-01 1.15324621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33255784400006 meters Centerline goodness [0,1] 0.24872006247830614 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99873592e-01 -4.91129662e-04 -1.58921132e-02 5.68051201e+00] [ 5.29951861e-04 9.99996886e-01 2.43874038e-03 2.12845762e-01] [ 1.58908660e-02 -2.44685415e-03 9.99870738e-01 1.15134863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36255784400004 meters Centerline goodness [0,1] 0.2530277947198746 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99873647e-01 -4.88115701e-04 -1.58887503e-02 5.68075763e+00] [ 5.25545595e-04 9.99997097e-01 2.35165797e-03 2.13349959e-01] [ 1.58875563e-02 -2.35971109e-03 9.99871000e-01 1.15086100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39255784400007 meters Centerline goodness [0,1] 0.25368737999650903 Centerline is valid? [False, False] Translation: X:5.68, Y:0.21, Z:1.15 [[ 9.99891769e-01 7.12322250e-05 -1.47120757e-02 5.67753828e+00] [-3.23853907e-05 9.99996513e-01 2.64069406e-03 2.13984581e-01] [ 1.47122125e-02 -2.63993180e-03 9.99888285e-01 1.15137152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42255784400004 meters Centerline goodness [0,1] 0.24825551343900754 Centerline is valid? [False, False] Translation: X:5.70, Y:0.21, Z:1.15 [[ 9.99885478e-01 8.76885216e-03 -1.23344217e-02 5.69702501e+00] [-8.75047964e-03 9.99960524e-01 1.54271365e-03 2.12949226e-01] [ 1.23474626e-02 -1.43460487e-03 9.99922738e-01 1.15219473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45255784400007 meters Centerline goodness [0,1] 0.25467177767129856 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99936914e-01 1.44540014e-04 -1.12315404e-02 5.67561711e+00] [-1.18649617e-04 9.99997335e-01 2.30578314e-03 2.18028535e-01] [ 1.12318438e-02 -2.30430506e-03 9.99934266e-01 1.15078135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48255784400004 meters Centerline goodness [0,1] 0.2541567695961995 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:1.15 [[ 9.99939459e-01 1.00661623e-04 -1.10031250e-02 5.67508611e+00] [-7.73956453e-05 9.99997761e-01 2.11489353e-03 2.19046911e-01] [ 1.10033133e-02 -2.11391390e-03 9.99937227e-01 1.15064166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51255784400007 meters Centerline goodness [0,1] 0.24834108927955878 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.15 [[ 9.99913570e-01 8.60561356e-03 -9.93963594e-03 5.69540050e+00] [-8.60064930e-03 9.99962867e-01 5.42078603e-04 2.18715611e-01] [ 9.94393177e-03 -4.56544428e-04 9.99950454e-01 1.15133311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54255784400004 meters Centerline goodness [0,1] 0.24834108927955878 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.15 [[ 9.99913570e-01 8.60561356e-03 -9.93963594e-03 5.69540050e+00] [-8.60064930e-03 9.99962867e-01 5.42078603e-04 2.18715611e-01] [ 9.94393177e-03 -4.56544428e-04 9.99950454e-01 1.15133311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5725578440001 meters Centerline goodness [0,1] 0.25590138136037766 Centerline is valid? [False, False] Translation: X:5.67, Y:0.22, Z:1.15 [[ 9.99947613e-01 -4.51146030e-04 -1.02258733e-02 5.67431310e+00] [ 4.63807819e-04 9.99999129e-01 1.23587333e-03 2.23571634e-01] [ 1.02253069e-02 -1.24055142e-03 9.99946951e-01 1.15034115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60255784400005 meters Centerline goodness [0,1] 0.2533388617318436 Centerline is valid? [False, False] Translation: X:5.67, Y:0.22, Z:1.15 [[ 9.99948969e-01 -5.05775094e-04 -1.00898065e-02 5.67394997e+00] [ 5.16537686e-04 9.99999300e-01 1.06410232e-03 2.24496389e-01] [ 1.00892612e-02 -1.06925978e-03 9.99948530e-01 1.15034672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6325578440001 meters Centerline goodness [0,1] 0.2538912207065408 Centerline is valid? [False, False] Translation: X:5.67, Y:0.23, Z:1.15 [[ 9.99950782e-01 -5.30926701e-04 -9.90718383e-03 5.67343804e+00] [ 5.40549766e-04 9.99999385e-01 9.68669471e-04 2.25030268e-01] [ 9.90666344e-03 -9.73977121e-04 9.99950453e-01 1.15044591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66255784400005 meters Centerline goodness [0,1] 0.25271715502999736 Centerline is valid? [False, False] Translation: X:5.67, Y:0.23, Z:1.15 [[ 9.99952650e-01 -5.78768522e-04 -9.71401716e-03 5.67299363e+00] [ 5.86964209e-04 9.99999474e-01 8.40867240e-04 2.25745933e-01] [ 9.71352538e-03 -8.46529205e-04 9.99952464e-01 1.15032382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6925578440001 meters Centerline goodness [0,1] 0.25311734218116366 Centerline is valid? [False, False] Translation: X:5.67, Y:0.23, Z:1.15 [[ 9.99950830e-01 -6.61729737e-04 -9.89442119e-03 5.67371228e+00] [ 6.68901023e-04 9.99999516e-01 7.21489062e-04 2.26071737e-01] [ 9.89393897e-03 -7.28071975e-04 9.99950789e-01 1.14989489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72255784400005 meters Centerline goodness [0,1] 0.251387838859488 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:1.15 [[ 9.99946413e-01 -7.67782474e-04 -1.03238579e-02 5.67515294e+00] [ 7.73729927e-04 9.99999537e-01 5.72106522e-04 2.26486350e-01] [ 1.03234139e-02 -5.80063742e-04 9.99946544e-01 1.14924858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7525578440001 meters Centerline goodness [0,1] 0.2531332668372436 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:1.15 [[ 9.99944041e-01 -8.37326015e-04 -1.05457829e-02 5.67586783e+00] [ 8.41799686e-04 9.99999558e-01 4.19782509e-04 2.27151353e-01] [ 1.05454267e-02 -4.28636455e-04 9.99944304e-01 1.14893743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78255784400005 meters Centerline goodness [0,1] 0.2517233904183829 Centerline is valid? [False, False] Translation: X:5.67, Y:0.23, Z:1.15 [[ 9.99949267e-01 -7.89877544e-04 -1.00419072e-02 5.67401268e+00] [ 7.93253875e-04 9.99999630e-01 3.32245501e-04 2.28342492e-01] [ 1.00416411e-02 -3.40194427e-04 9.99949524e-01 1.14986253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.812557844 meters Centerline goodness [0,1] 0.25033464311930564 Centerline is valid? [False, False] Translation: X:5.67, Y:0.23, Z:1.15 [[ 9.99952733e-01 -8.19591542e-04 -9.68816803e-03 5.67277251e+00] [ 8.22110180e-04 9.99999629e-01 2.55990913e-04 2.28734202e-01] [ 9.68795463e-03 -2.63943555e-04 9.99953036e-01 1.15046932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84255784400005 meters Centerline goodness [0,1] 0.2530877573131094 Centerline is valid? [False, False] Translation: X:5.67, Y:0.23, Z:1.15 [[ 9.99954576e-01 -8.84981029e-04 -9.49010040e-03 5.67199497e+00] [ 8.86680345e-04 9.99999592e-01 1.74856070e-04 2.28848300e-01] [ 9.48994178e-03 -1.83262812e-04 9.99954953e-01 1.15096258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.872557844 meters Centerline goodness [0,1] 0.2505961413396922 Centerline is valid? [False, False] Translation: X:5.67, Y:0.23, Z:1.15 [[ 9.99950698e-01 -1.02625220e-03 -9.87667357e-03 5.67329514e+00] [ 1.02529622e-03 9.99999469e-01 -1.01854247e-04 2.29873590e-01] [ 9.87677286e-03 9.17227088e-05 9.99951219e-01 1.15029960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90255784400006 meters Centerline goodness [0,1] 0.2623610073396915 Centerline is valid? [False, False] Translation: X:5.63, Y:0.23, Z:1.15 [[ 9.99909963e-01 -1.27753682e-03 -1.33579157e-02 5.63099800e+00] [ 1.28846897e-03 9.99998842e-01 8.09828230e-04 2.26820679e-01] [ 1.33568656e-02 -8.26966575e-04 9.99910451e-01 1.14959267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93255784400003 meters Centerline goodness [0,1] 0.2536804857804378 Centerline is valid? [False, False] Translation: X:5.63, Y:0.23, Z:1.15 [[ 9.99906683e-01 -1.28876548e-03 -1.36001314e-02 5.63193006e+00] [ 1.29910832e-03 9.99998874e-01 7.51688610e-04 2.27259447e-01] [ 1.35991473e-02 -7.69286509e-04 9.99907231e-01 1.14899754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96255784400006 meters Centerline goodness [0,1] 0.25081981360027616 Centerline is valid? [False, False] Translation: X:5.65, Y:0.22, Z:1.15 [[ 9.99893403e-01 7.07048929e-03 -1.27746435e-02 5.65182237e+00] [-7.07780994e-03 9.99974813e-01 -5.27941704e-04 2.24694626e-01] [ 1.27705890e-02 6.18301926e-04 9.99918262e-01 1.15017807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99255784400003 meters Centerline goodness [0,1] 0.25010277603479236 Centerline is valid? [False, False] Translation: X:5.65, Y:0.23, Z:1.15 [[ 9.99896035e-01 7.05542265e-03 -1.25753713e-02 5.65105409e+00] [-7.06330064e-03 9.99974885e-01 -5.82157955e-04 2.25098697e-01] [ 1.25709481e-02 6.70921059e-04 9.99920757e-01 1.15064679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02255784400006 meters Centerline goodness [0,1] 0.2549503868514228 Centerline is valid? [False, False] Translation: X:5.63, Y:0.23, Z:1.15 [[ 9.99915182e-01 -1.62866993e-03 -1.29219391e-02 5.63178104e+00] [ 1.63625289e-03 9.99998495e-01 5.76278267e-04 2.29114276e-01] [ 1.29209811e-02 -5.97372949e-04 9.99916342e-01 1.14863455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05255784400003 meters Centerline goodness [0,1] 0.25051428076481674 Centerline is valid? [False, False] Translation: X:5.65, Y:0.23, Z:1.15 [[ 9.99890124e-01 6.71712340e-03 -1.32143993e-02 5.65186053e+00] [-6.73152188e-03 9.99976797e-01 -1.04542877e-03 2.27376412e-01] [ 1.32070704e-02 1.13426692e-03 9.99912140e-01 1.15019355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08255784400006 meters Centerline goodness [0,1] 0.2531836681108047 Centerline is valid? [False, False] Translation: X:5.63, Y:0.23, Z:1.15 [[ 9.99898476e-01 -2.08710346e-03 -1.40954366e-02 5.63300617e+00] [ 2.08575536e-03 9.99997819e-01 -1.10341127e-04 2.32214414e-01] [ 1.40956361e-02 8.09302922e-05 9.99900648e-01 1.14818130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11255784400004 meters Centerline goodness [0,1] 0.2518853367526569 Centerline is valid? [False, False] Translation: X:5.63, Y:0.23, Z:1.15 [[ 9.99894992e-01 1.89754782e-03 -1.43667920e-02 5.63366966e+00] [-1.84650942e-03 9.99991941e-01 3.56495813e-03 2.34115693e-01] [ 1.43734409e-02 -3.53805536e-03 9.99890437e-01 1.14804260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14255784400007 meters Centerline goodness [0,1] 0.2599617607439273 Centerline is valid? [False, False] Translation: X:5.63, Y:0.24, Z:1.15 [[ 9.99898630e-01 1.89457683e-03 -1.41117352e-02 5.63307579e+00] [-1.84928842e-03 9.99993101e-01 3.22163112e-03 2.36652297e-01] [ 1.41177414e-02 -3.19520787e-03 9.99895235e-01 1.14788620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17255784400004 meters Centerline goodness [0,1] 0.25195485953170016 Centerline is valid? [False, False] Translation: X:5.63, Y:0.24, Z:1.15 [[ 9.99901541e-01 1.83141179e-03 -1.39123424e-02 5.63248569e+00] [-1.79118545e-03 9.99994181e-01 2.90332435e-03 2.38539592e-01] [ 1.39175787e-02 -2.87811891e-03 9.99899004e-01 1.14798882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20255784400007 meters Centerline goodness [0,1] 0.25397448478900886 Centerline is valid? [False, False] Translation: X:5.63, Y:0.24, Z:1.15 [[ 9.99907870e-01 1.61111199e-03 -1.34779535e-02 5.63107088e+00] [-1.58083917e-03 9.99996205e-01 2.25645171e-03 2.41555153e-01] [ 1.34815377e-02 -2.23493734e-03 9.99906622e-01 1.14846234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23255784400004 meters Centerline goodness [0,1] 0.25118277703025305 Centerline is valid? [False, False] Translation: X:5.63, Y:0.24, Z:1.15 [[ 9.99909279e-01 1.50361844e-03 -1.33855502e-02 5.63086972e+00] [-1.47764266e-03 9.99997007e-01 1.95026243e-03 2.43140656e-01] [ 1.33884426e-02 -1.93030644e-03 9.99908508e-01 1.14829964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26255784400007 meters Centerline goodness [0,1] 0.24645028247373957 Centerline is valid? [False, False] Translation: X:5.63, Y:0.24, Z:1.15 [[ 9.99910348e-01 1.40927102e-03 -1.33157444e-02 5.63090318e+00] [-1.38717378e-03 9.99997646e-01 1.66857235e-03 2.44792349e-01] [ 1.33180646e-02 -1.64995151e-03 9.99909949e-01 1.14792000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29255784400004 meters Centerline goodness [0,1] 0.24832546157148994 Centerline is valid? [False, False] Translation: X:5.63, Y:0.25, Z:1.15 [[ 9.99912898e-01 1.27969403e-03 -1.31361437e-02 5.63047745e+00] [-1.26202029e-03 9.99998287e-01 1.35362941e-03 2.46426637e-01] [ 1.31378534e-02 -1.33693343e-03 9.99912801e-01 1.14783652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3225578440001 meters Centerline goodness [0,1] 0.2510784972576904 Centerline is valid? [False, False] Translation: X:5.63, Y:0.25, Z:1.15 [[ 9.99917304e-01 1.01792635e-03 -1.28198600e-02 5.62934128e+00] [-1.00800161e-03 9.99999187e-01 7.80607387e-04 2.49019559e-01] [ 1.28206441e-02 -7.67620395e-04 9.99917518e-01 1.14835857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35255784400005 meters Centerline goodness [0,1] 0.2495894200017288 Centerline is valid? [False, False] Translation: X:5.63, Y:0.25, Z:1.15 [[ 9.99917324e-01 8.71955401e-04 -1.28290509e-02 5.62911288e+00] [-8.66105042e-04 9.99999518e-01 4.61573132e-04 2.50436259e-01] [ 1.28294472e-02 -4.50423665e-04 9.99917598e-01 1.14874659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3825578440001 meters Centerline goodness [0,1] 0.25199538939996957 Centerline is valid? [False, False] Translation: X:5.63, Y:0.25, Z:1.15 [[ 9.99917018e-01 7.32497866e-04 -1.28615874e-02 5.62914795e+00] [-7.31199689e-04 9.99999727e-01 1.05636536e-04 2.52188565e-01] [ 1.28616612e-02 -9.62233811e-05 9.99917281e-01 1.14877103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41255784400005 meters Centerline goodness [0,1] 0.25377689607813214 Centerline is valid? [False, False] Translation: X:5.63, Y:0.25, Z:1.15 [[ 9.99916322e-01 6.38028023e-04 -1.29206005e-02 5.62952816e+00] [-6.39830371e-04 9.99999786e-01 -1.35360933e-04 2.53367419e-01] [ 1.29205114e-02 1.43616599e-04 9.99916516e-01 1.14831598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4425578440001 meters Centerline goodness [0,1] 0.2501024479672167 Centerline is valid? [False, False] Translation: X:5.63, Y:0.25, Z:1.15 [[ 9.99914699e-01 5.42569958e-04 -1.30499538e-02 5.63025198e+00] [-5.47415127e-04 9.99999783e-01 -3.67709409e-04 2.54483863e-01] [ 1.30497514e-02 3.74821785e-04 9.99914778e-01 1.14762558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47255784400005 meters Centerline goodness [0,1] 0.24720745539461508 Centerline is valid? [False, False] Translation: X:5.63, Y:0.26, Z:1.15 [[ 9.99916635e-01 4.43749977e-04 -1.29044951e-02 5.63007170e+00] [-4.51251977e-04 9.99999731e-01 -5.78441947e-04 2.55338472e-01] [ 1.29042349e-02 5.84216904e-04 9.99916566e-01 1.14725717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5025578440001 meters Centerline goodness [0,1] 0.2513059499295546 Centerline is valid? [False, False] Translation: X:5.63, Y:0.26, Z:1.15 [[ 9.99918507e-01 4.49500787e-04 -1.27584548e-02 5.62958506e+00] [-4.56948404e-04 9.99999727e-01 -5.80830593e-04 2.55425203e-01] [ 1.27581902e-02 5.86613214e-04 9.99918439e-01 1.14744169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53255784400005 meters Centerline goodness [0,1] 0.24937119762667415 Centerline is valid? [False, False] Translation: X:5.63, Y:0.26, Z:1.15 [[ 9.99919778e-01 4.38477123e-04 -1.26588246e-02 5.62920936e+00] [-4.45781152e-04 9.99999736e-01 -5.74175185e-04 2.55342836e-01] [ 1.26585695e-02 5.79772189e-04 9.99919709e-01 1.14764856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.562557844 meters Centerline goodness [0,1] 0.25312152709681635 Centerline is valid? [False, False] Translation: X:5.58, Y:0.25, Z:1.15 [[ 9.99880843e-01 -1.04654798e-03 -1.54014610e-02 5.58365536e+00] [ 1.02861633e-03 9.99998784e-01 -1.17215781e-03 2.51350773e-01] [ 1.54026690e-02 1.15617595e-03 9.99880703e-01 1.14827405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59255784400005 meters Centerline goodness [0,1] 0.2528533611074947 Centerline is valid? [False, False] Translation: X:5.58, Y:0.25, Z:1.15 [[ 9.99878098e-01 -1.02862443e-03 -1.55798523e-02 5.58452343e+00] [ 1.01503049e-03 9.99999097e-01 -8.80415901e-04 2.49198903e-01] [ 1.55807439e-02 8.64494551e-04 9.99878239e-01 1.14760009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.622557844 meters Centerline goodness [0,1] 0.25328954522716896 Centerline is valid? [False, False] Translation: X:5.58, Y:0.25, Z:1.15 [[ 9.99877614e-01 -9.42526668e-04 -1.56162960e-02 5.58491913e+00] [ 9.31977449e-04 9.99999333e-01 -6.82789991e-04 2.48410542e-01] [ 1.56169291e-02 6.68152391e-04 9.99877825e-01 1.14706487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65255784400006 meters Centerline goodness [0,1] 0.25094094743672934 Centerline is valid? [False, False] Translation: X:5.58, Y:0.25, Z:1.15 [[ 9.99877874e-01 -8.36092147e-04 -1.56057094e-02 5.58499945e+00] [ 8.28834524e-04 9.99999545e-01 -4.71523904e-04 2.47603254e-01] [ 1.56060965e-02 4.58531768e-04 9.99878112e-01 1.14692717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68255784400003 meters Centerline goodness [0,1] 0.2513573383138601 Centerline is valid? [False, False] Translation: X:5.59, Y:0.25, Z:1.15 [[ 9.99875230e-01 -7.36372852e-04 -1.57791944e-02 5.58550030e+00] [ 7.32883710e-04 9.99999706e-01 -2.26904362e-04 2.46313180e-01] [ 1.57793569e-02 2.15311737e-04 9.99875475e-01 1.14683483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71255784400006 meters Centerline goodness [0,1] 0.2486838429636633 Centerline is valid? [False, False] Translation: X:5.59, Y:0.25, Z:1.15 [[ 9.99870308e-01 -6.69764663e-04 -1.60909521e-02 5.58649059e+00] [ 6.68667714e-04 9.99999774e-01 -7.35517850e-05 2.45507221e-01] [ 1.60909977e-02 6.27827458e-05 9.99870530e-01 1.14646741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74255784400003 meters Centerline goodness [0,1] 0.2517802865827182 Centerline is valid? [False, False] Translation: X:5.59, Y:0.24, Z:1.15 [[ 9.99867279e-01 -6.00607295e-04 -1.62807839e-02 5.58719001e+00] [ 6.02384068e-04 9.99999813e-01 1.04229352e-04 2.44592113e-01] [ 1.62807183e-02 -1.14022804e-04 9.99867454e-01 1.14609207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77255784400006 meters Centerline goodness [0,1] 0.25031386640114295 Centerline is valid? [False, False] Translation: X:5.59, Y:0.24, Z:1.15 [[ 9.99866658e-01 -4.07007904e-04 -1.63248152e-02 5.58756193e+00] [ 4.17601446e-04 9.99999704e-01 6.45518991e-04 2.41945063e-01] [ 1.63245477e-02 -6.52250183e-04 9.99866533e-01 1.14570484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80255784400003 meters Centerline goodness [0,1] 0.24972351729372222 Centerline is valid? [False, False] Translation: X:5.59, Y:0.24, Z:1.15 [[ 9.99868629e-01 -2.99202706e-04 -1.62060053e-02 5.58712832e+00] [ 3.15317817e-04 9.99999458e-01 9.91845212e-04 2.40142892e-01] [ 1.62056998e-02 -9.96824955e-04 9.99868182e-01 1.14598026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83255784400006 meters Centerline goodness [0,1] 0.2501515020344559 Centerline is valid? [False, False] Translation: X:5.59, Y:0.24, Z:1.15 [[ 9.99871126e-01 -1.80830173e-04 -1.60529708e-02 5.58647632e+00] [ 2.03532733e-04 9.99998982e-01 1.41260543e-03 2.37950980e-01] [ 1.60526990e-02 -1.41569069e-03 9.99870145e-01 1.14648877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86255784400004 meters Centerline goodness [0,1] 0.25094678525828307 Centerline is valid? [False, False] Translation: X:5.59, Y:0.24, Z:1.15 [[ 9.99873112e-01 -2.35015698e-05 -1.59298128e-02 5.58600255e+00] [ 5.30165914e-05 9.99998283e-01 1.85239684e-03 2.35847308e-01] [ 1.59297419e-02 -1.85300633e-03 9.99871397e-01 1.14679056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89255784400007 meters Centerline goodness [0,1] 0.24380645161290326 Centerline is valid? [False, False] Translation: X:5.59, Y:0.23, Z:1.15 [[ 9.99865362e-01 7.60134810e-05 -1.64089216e-02 5.58748590e+00] [-3.57296626e-05 9.99996985e-01 2.45527408e-03 2.32122897e-01] [ 1.64090587e-02 -2.45435722e-03 9.99862350e-01 1.14644630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92255784400004 meters Centerline goodness [0,1] 0.25193517970308976 Centerline is valid? [False, False] Translation: X:5.54, Y:0.23, Z:1.15 [[ 9.99801883e-01 -1.32053649e-03 -1.98607773e-02 5.54444131e+00] [ 1.36397664e-03 9.99996707e-01 2.17384570e-03 2.27229256e-01] [ 1.98578412e-02 -2.20050466e-03 9.99800392e-01 1.14593606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95255784400007 meters Centerline goodness [0,1] 0.24969591659426582 Centerline is valid? [False, False] Translation: X:5.56, Y:0.22, Z:1.15 [[ 9.99768275e-01 6.92391889e-03 -2.03827213e-02 5.56494883e+00] [-6.90482773e-03 9.99975654e-01 1.00686357e-03 2.22887674e-01] [ 2.03891965e-02 -8.65891079e-04 9.99791744e-01 1.14739276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98255784400004 meters Centerline goodness [0,1] 0.2482583094277765 Centerline is valid? [False, False] Translation: X:5.58, Y:0.23, Z:1.15 [[ 9.99795611e-01 -3.93234105e-04 -2.02134058e-02 5.58364474e+00] [ 4.40786385e-04 9.99997146e-01 2.34811053e-03 2.27198846e-01] [ 2.02124248e-02 -2.35654040e-03 9.99792931e-01 1.14919845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01255784400007 meters Centerline goodness [0,1] 0.24910932135685449 Centerline is valid? [False, False] Translation: X:5.58, Y:0.23, Z:1.15 [[ 9.99800923e-01 -2.62583333e-04 -1.99510766e-02 5.58262823e+00] [ 3.14076887e-04 9.99996628e-01 2.57790170e-03 2.26100870e-01] [ 1.99503324e-02 -2.58365467e-03 9.99797634e-01 1.14978206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04255784400004 meters Centerline goodness [0,1] 0.2526288232470876 Centerline is valid? [False, False] Translation: X:5.58, Y:0.23, Z:1.15 [[ 9.99804188e-01 -2.05083775e-04 -1.97874444e-02 5.58219547e+00] [ 2.58710430e-04 9.99996301e-01 2.70761370e-03 2.25433095e-01] [ 1.97868160e-02 -2.71220274e-03 9.99800543e-01 1.14982052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0725578440001 meters Centerline goodness [0,1] 0.24931506849315066 Centerline is valid? [False, False] Translation: X:5.60, Y:0.22, Z:1.15 [[ 9.99788187e-01 8.50194301e-03 -1.87429582e-02 5.60249666e+00] [-8.47198624e-03 9.99962706e-01 1.67711891e-03 2.22797058e-01] [ 1.87565179e-02 -1.51797359e-03 9.99822929e-01 1.15043930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10255784400005 meters Centerline goodness [0,1] 0.25078782646233544 Centerline is valid? [False, False] Translation: X:5.60, Y:0.22, Z:1.15 [[ 9.99790318e-01 8.47688029e-03 -1.86403436e-02 5.60254568e+00] [-8.44910560e-03 9.99963076e-01 1.56828175e-03 2.23441995e-01] [ 1.86529495e-02 -1.41045868e-03 9.99825024e-01 1.14992173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1325578440001 meters Centerline goodness [0,1] 0.2507097808890141 Centerline is valid? [False, False] Translation: X:5.60, Y:0.22, Z:1.15 [[ 9.99798320e-01 8.42543071e-03 -1.82299590e-02 5.60124839e+00] [-8.39997409e-03 9.99963635e-01 1.47253963e-03 2.23797913e-01] [ 1.82417028e-02 -1.31911146e-03 9.99832736e-01 1.15032447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16255784400005 meters Centerline goodness [0,1] 0.25292658514295663 Centerline is valid? [False, False] Translation: X:5.60, Y:0.22, Z:1.15 [[ 9.99801533e-01 8.42133777e-03 -1.80548088e-02 5.60036791e+00] [-8.39503757e-03 9.99963588e-01 1.53198516e-03 2.23362762e-01] [ 1.80670528e-02 -1.38011031e-03 9.99835825e-01 1.15104594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1925578440001 meters Centerline goodness [0,1] 0.2442124667752722 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99847936e-01 5.35305752e-04 -1.74303729e-02 5.62024644e+00] [-4.93757333e-04 9.99997027e-01 2.38789554e-03 2.28107827e-01] [ 1.74315993e-02 -2.37892606e-03 9.99845228e-01 1.15240039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22255784400005 meters Centerline goodness [0,1] 0.2530380243041944 Centerline is valid? [False, False] Translation: X:5.58, Y:0.22, Z:1.15 [[ 9.99788109e-01 -5.79367850e-04 -2.05767062e-02 5.57579081e+00] [ 6.34278204e-04 9.99996255e-01 2.66214258e-03 2.23778933e-01] [ 2.05750868e-02 -2.67462986e-03 9.99784733e-01 1.15267785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2525578440001 meters Centerline goodness [0,1] 0.2520415496178219 Centerline is valid? [False, False] Translation: X:5.58, Y:0.22, Z:1.15 [[ 9.99769167e-01 -8.35375693e-04 -2.14689353e-02 5.57815904e+00] [ 8.97238088e-04 9.99995473e-01 2.87201317e-03 2.21273218e-01] [ 2.14664389e-02 -2.89061296e-03 9.99765391e-01 1.15246318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28255784400005 meters Centerline goodness [0,1] 0.25182608695652176 Centerline is valid? [False, False] Translation: X:5.58, Y:0.22, Z:1.15 [[ 9.99766230e-01 -8.00461851e-04 -2.16065777e-02 5.57842045e+00] [ 8.71031558e-04 9.99994317e-01 3.25690795e-03 2.18912472e-01] [ 2.16038479e-02 -3.27496660e-03 9.99761246e-01 1.15266911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.312557844 meters Centerline goodness [0,1] 0.24945233705671832 Centerline is valid? [False, False] Translation: X:5.58, Y:0.22, Z:1.15 [[ 9.99769792e-01 -6.91205670e-04 -2.14449532e-02 5.57787633e+00] [ 7.72035535e-04 9.99992629e-01 3.76112875e-03 2.16233769e-01] [ 2.14421954e-02 -3.77681918e-03 9.99762956e-01 1.15298181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34255784400005 meters Centerline goodness [0,1] 0.25426173616574876 Centerline is valid? [False, False] Translation: X:5.58, Y:0.21, Z:1.15 [[ 9.99774913e-01 -4.65216180e-04 -2.12110137e-02 5.57732168e+00] [ 5.65469091e-04 9.99988698e-01 4.72070271e-03 2.11304659e-01] [ 2.12085778e-02 -4.73163431e-03 9.99763876e-01 1.15315686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.372557844 meters Centerline goodness [0,1] 0.24956721197957243 Centerline is valid? [False, False] Translation: X:5.60, Y:0.21, Z:1.15 [[ 9.99748908e-01 5.98958120e-03 -2.15927334e-02 5.60061364e+00] [-5.95108899e-03 9.99980587e-01 1.84646395e-03 2.08225569e-01] [ 2.16033738e-02 -1.71750004e-03 9.99765145e-01 1.15301059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40255784400006 meters Centerline goodness [0,1] 0.2528371198040802 Centerline is valid? [False, False] Translation: X:5.60, Y:0.21, Z:1.15 [[ 9.99739129e-01 6.09025570e-03 -2.20132575e-02 5.60199127e+00] [-6.04346280e-03 9.99979337e-01 2.19157136e-03 2.06221658e-01] [ 2.20261499e-02 -2.05796334e-03 9.99755277e-01 1.15248528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43255784400003 meters Centerline goodness [0,1] 0.2528371198040802 Centerline is valid? [False, False] Translation: X:5.60, Y:0.21, Z:1.15 [[ 9.99739129e-01 6.09025570e-03 -2.20132575e-02 5.60199127e+00] [-6.04346280e-03 9.99979337e-01 2.19157136e-03 2.06221658e-01] [ 2.20261499e-02 -2.05796334e-03 9.99755277e-01 1.15248528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46255784400006 meters Centerline goodness [0,1] 0.24611605507552414 Centerline is valid? [False, False] Translation: X:5.62, Y:0.21, Z:1.15 [[ 9.99734915e-01 -1.37190450e-03 -2.29829721e-02 5.62296099e+00] [ 1.43851732e-03 9.99994812e-01 2.88207314e-03 2.09677320e-01] [ 2.29788989e-02 -2.91437055e-03 9.99731702e-01 1.15342004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49255784400003 meters Centerline goodness [0,1] 0.2538020718536478 Centerline is valid? [False, False] Translation: X:5.58, Y:0.20, Z:1.15 [[ 9.99643200e-01 -1.51724445e-03 -2.66677793e-02 5.58089332e+00] [ 1.61744639e-03 9.99991712e-01 3.73624700e-03 2.04741173e-01] [ 2.66618895e-02 -3.77804762e-03 9.99637369e-01 1.15236054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52255784400006 meters Centerline goodness [0,1] 0.24823588162494303 Centerline is valid? [False, False] Translation: X:5.60, Y:0.20, Z:1.15 [[ 9.99640959e-01 7.67698457e-03 -2.56713445e-02 5.60210819e+00] [-7.59847005e-03 9.99966155e-01 3.15460137e-03 2.02435297e-01] [ 2.56946935e-02 -2.95840579e-03 9.99665459e-01 1.15294251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55255784400003 meters Centerline goodness [0,1] 0.2629149071176947 Centerline is valid? [False, False] Translation: X:5.60, Y:0.20, Z:1.15 [[ 9.99649053e-01 7.74978734e-03 -2.53320432e-02 5.60120652e+00] [-7.67355941e-03 9.99965737e-01 3.10497734e-03 2.03109332e-01] [ 2.53552382e-02 -2.90950072e-03 9.99674270e-01 1.15303913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58255784400006 meters Centerline goodness [0,1] 0.2625859002788329 Centerline is valid? [False, False] Translation: X:5.60, Y:0.20, Z:1.15 [[ 9.99655914e-01 7.81184475e-03 -2.50405440e-02 5.60038492e+00] [-7.73968930e-03 9.99965616e-01 2.97717036e-03 2.04125294e-01] [ 2.50629402e-02 -2.78233993e-03 9.99682003e-01 1.15318527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61255784400004 meters Centerline goodness [0,1] 0.24826961640468337 Centerline is valid? [False, False] Translation: X:5.64, Y:0.21, Z:1.15 [[ 9.99676296e-01 9.97595991e-03 -2.34047547e-02 5.64363605e+00] [-9.91402731e-03 9.99947044e-01 2.76070060e-03 2.10548770e-01] [ 2.34310560e-02 -2.52777158e-03 9.99722259e-01 1.15398328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64255784400007 meters Centerline goodness [0,1] 0.2503480076561684 Centerline is valid? [False, False] Translation: X:5.62, Y:0.22, Z:1.15 [[ 9.99724433e-01 2.02849549e-03 -2.33868379e-02 5.62476516e+00] [-1.92808341e-03 9.99988830e-01 4.31527936e-03 2.16812566e-01] [ 2.33953302e-02 -4.26899844e-03 9.99717177e-01 1.15145359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67255784400004 meters Centerline goodness [0,1] 0.250856349997832 Centerline is valid? [False, False] Translation: X:5.62, Y:0.22, Z:1.15 [[ 9.99731835e-01 2.01818980e-03 -2.30691348e-02 5.62406395e+00] [-1.92849272e-03 9.99990497e-01 3.90977206e-03 2.19415594e-01] [ 2.30768063e-02 -3.86423493e-03 9.99726227e-01 1.15121663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70255784400007 meters Centerline goodness [0,1] 0.25190426728988147 Centerline is valid? [False, False] Translation: X:5.62, Y:0.22, Z:1.15 [[ 9.99740734e-01 1.89434641e-03 -2.26908786e-02 5.62322227e+00] [-1.81741892e-03 9.99992533e-01 3.41038069e-03 2.22145586e-01] [ 2.26971696e-02 -3.36825767e-03 9.99736712e-01 1.15094207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73255784400004 meters Centerline goodness [0,1] 0.24826978463654725 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99742104e-01 1.46268386e-03 -2.26624286e-02 5.62325170e+00] [-1.40974570e-03 9.99996241e-01 2.35174401e-03 2.26848402e-01] [ 2.26657833e-02 -2.31918924e-03 9.99740408e-01 1.15059987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76255784400007 meters Centerline goodness [0,1] 0.25964433469794446 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99741750e-01 1.28751920e-03 -2.26886576e-02 5.62325753e+00] [-1.24389204e-03 9.99997351e-01 1.93687028e-03 2.28856436e-01] [ 2.26910912e-02 -1.90814784e-03 9.99740703e-01 1.15060929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79255784400004 meters Centerline goodness [0,1] 0.2605326771993439 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99743399e-01 1.12670394e-03 -2.26244582e-02 5.62297778e+00] [-1.09213290e-03 9.99998217e-01 1.54033630e-03 2.30954673e-01] [ 2.26261533e-02 -1.51523213e-03 9.99742848e-01 1.15071846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8225578440001 meters Centerline goodness [0,1] 0.2626773300791039 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99744969e-01 9.09605017e-04 -2.25647833e-02 5.62267421e+00] [-8.83982293e-04 9.99998953e-01 1.14546701e-03 2.32907137e-01] [ 2.25658016e-02 -1.12522801e-03 9.99744727e-01 1.15098538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85255784400005 meters Centerline goodness [0,1] 0.2624149066154652 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99746082e-01 8.05128397e-04 -2.25193788e-02 5.62236785e+00] [-7.79725497e-04 9.99999050e-01 1.13680406e-03 2.32560127e-01] [ 2.25202727e-02 -1.11895647e-03 9.99745760e-01 1.15134867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8825578440001 meters Centerline goodness [0,1] 0.25891526448797975 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99742380e-01 6.16292461e-04 -2.26890630e-02 5.62260877e+00] [-5.89822782e-04 9.99999138e-01 1.17330090e-03 2.31658548e-01] [ 2.26897665e-02 -1.15961611e-03 9.99741882e-01 1.15169080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91255784400005 meters Centerline goodness [0,1] 0.2496660778146409 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99742791e-01 5.32868626e-04 -2.26730654e-02 5.62241537e+00] [-5.02395456e-04 9.99998963e-01 1.34970008e-03 2.30435390e-01] [ 2.26737611e-02 -1.33796208e-03 9.99742022e-01 1.15203695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9425578440001 meters Centerline goodness [0,1] 0.26321067317753755 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99741746e-01 2.96699618e-04 -2.27234283e-02 5.62233815e+00] [-2.59039208e-04 9.99998588e-01 1.66026396e-03 2.28239010e-01] [ 2.27238888e-02 -1.65394893e-03 9.99740411e-01 1.15251257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97255784400005 meters Centerline goodness [0,1] 0.2628520630515383 Centerline is valid? [False, False] Translation: X:5.62, Y:0.23, Z:1.15 [[ 9.99732463e-01 2.88375147e-04 -2.31283384e-02 5.62333768e+00] [-2.43601353e-04 9.99998091e-01 1.93867865e-03 2.26381117e-01] [ 2.31288533e-02 -1.93252589e-03 9.99730624e-01 1.15259466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0025578440001 meters Centerline goodness [0,1] 0.263409026828898 Centerline is valid? [False, False] Translation: X:5.62, Y:0.22, Z:1.15 [[ 9.99725847e-01 3.35917261e-04 -2.34119029e-02 5.62407463e+00] [-2.81444193e-04 9.99997246e-01 2.32998156e-03 2.23912307e-01] [ 2.34126211e-02 -2.32275364e-03 9.99723189e-01 1.15263221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03255784400005 meters Centerline goodness [0,1] 0.2646070602609416 Centerline is valid? [False, False] Translation: X:5.62, Y:0.22, Z:1.15 [[ 9.99721396e-01 4.50352063e-04 -2.35993035e-02 5.62451496e+00] [-3.83660416e-04 9.99995921e-01 2.83045216e-03 2.21069624e-01] [ 2.36004819e-02 -2.82060947e-03 9.99717491e-01 1.15271632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.062557844 meters Centerline goodness [0,1] 0.2640209332751854 Centerline is valid? [False, False] Translation: X:5.63, Y:0.22, Z:1.15 [[ 9.99715669e-01 7.14259383e-04 -2.38342557e-02 5.62516691e+00] [-6.27394021e-04 9.99993135e-01 3.65183825e-03 2.16868461e-01] [ 2.38367004e-02 -3.63584645e-03 9.99709254e-01 1.15270431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09255784400005 meters Centerline goodness [0,1] 0.2537157983813223 Centerline is valid? [False, False] Translation: X:5.63, Y:0.22, Z:1.15 [[ 9.99713514e-01 8.52044764e-04 -2.39199505e-02 5.62555322e+00] [-7.57615224e-04 9.99991886e-01 3.95651622e-03 2.15510401e-01] [ 2.39231276e-02 -3.93726061e-03 9.99706048e-01 1.15243692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.122557844 meters Centerline goodness [0,1] 0.251750685050672 Centerline is valid? [False, False] Translation: X:5.63, Y:0.21, Z:1.15 [[ 9.99711000e-01 9.36127338e-04 -2.40216643e-02 5.62602245e+00] [-8.37145878e-04 9.99991120e-01 4.13023348e-03 2.14668351e-01] [ 2.40253174e-02 -4.10893021e-03 9.99702906e-01 1.15210104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15255784400006 meters Centerline goodness [0,1] 0.264138986013986 Centerline is valid? [False, False] Translation: X:5.63, Y:0.21, Z:1.15 [[ 9.99715640e-01 1.20840856e-03 -2.38155205e-02 5.62555877e+00] [-1.10482760e-03 9.99989876e-01 4.36198283e-03 2.13911274e-01] [ 2.38205504e-02 -4.33443042e-03 9.99706854e-01 1.15205850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18255784400003 meters Centerline goodness [0,1] 0.24851536276788022 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:1.15 [[ 9.99692529e-01 1.02683917e-02 -2.25700381e-02 5.64638757e+00] [-1.01933395e-02 9.99942137e-01 3.43783865e-03 2.12112458e-01] [ 2.26040332e-02 -3.20671755e-03 9.99739353e-01 1.15285127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21255784400006 meters Centerline goodness [0,1] 0.25077978789769184 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:1.15 [[ 9.99696345e-01 1.03869665e-02 -2.23456546e-02 5.64592489e+00] [-1.03158344e-02 9.99941358e-01 3.29618362e-03 2.13467329e-01] [ 2.23785816e-02 -3.06466864e-03 9.99744871e-01 1.15264393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24255784400003 meters Centerline goodness [0,1] 0.25082777897226405 Centerline is valid? [False, False] Translation: X:5.65, Y:0.22, Z:1.15 [[ 9.99698745e-01 1.04640020e-02 -2.22018752e-02 5.64568050e+00] [-1.03982632e-02 9.99941211e-01 3.07434068e-03 2.15150472e-01] [ 2.22327399e-02 -2.84255358e-03 9.99748781e-01 1.15239851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27255784400006 meters Centerline goodness [0,1] 0.25505737865557565 Centerline is valid? [False, False] Translation: X:5.63, Y:0.22, Z:1.15 [[ 9.99732352e-01 1.98445630e-03 -2.30496692e-02 5.62613354e+00] [-1.89772010e-03 9.99991039e-01 3.78427713e-03 2.20629501e-01] [ 2.30569724e-02 -3.73952245e-03 9.99727159e-01 1.15085652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30255784400003 meters Centerline goodness [0,1] 0.2517052322569504 Centerline is valid? [False, False] Translation: X:5.63, Y:0.22, Z:1.15 [[ 9.99729526e-01 1.92604415e-03 -2.31768433e-02 5.62664462e+00] [-1.84102493e-03 9.99991501e-01 3.68906139e-03 2.20793737e-01] [ 2.31837516e-02 -3.64539445e-03 9.99724574e-01 1.15052190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33255784400006 meters Centerline goodness [0,1] 0.2505225955218413 Centerline is valid? [False, False] Translation: X:5.63, Y:0.22, Z:1.15 [[ 9.99727140e-01 1.87095134e-03 -2.32840286e-02 5.62703965e+00] [-1.78573300e-03 9.99991634e-01 3.68020289e-03 2.20508652e-01] [ 2.32907193e-02 -3.63761965e-03 9.99722116e-01 1.15031799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36255784400004 meters Centerline goodness [0,1] 0.253967910738226 Centerline is valid? [False, False] Translation: X:5.63, Y:0.22, Z:1.15 [[ 9.99725702e-01 1.89625790e-03 -2.33436152e-02 5.62708292e+00] [-1.80630107e-03 9.99990864e-01 3.87407706e-03 2.19488570e-01] [ 2.33507481e-02 -3.83084882e-03 9.99719994e-01 1.15051523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39255784400007 meters Centerline goodness [0,1] 0.2536959219665136 Centerline is valid? [False, False] Translation: X:5.63, Y:0.22, Z:1.15 [[ 9.99733982e-01 1.49612595e-03 -2.30158008e-02 5.62594218e+00] [-1.40217860e-03 9.99990622e-01 4.09745999e-03 2.17192538e-01] [ 2.30217153e-02 -4.06409773e-03 9.99726705e-01 1.15126618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42255784400004 meters Centerline goodness [0,1] 0.25252173913043474 Centerline is valid? [False, False] Translation: X:5.63, Y:0.22, Z:1.15 [[ 9.99728206e-01 1.43774123e-03 -2.32690228e-02 5.62641050e+00] [-1.33573889e-03 9.99989434e-01 4.39855998e-03 2.15200893e-01] [ 2.32751010e-02 -4.36628314e-03 9.99719563e-01 1.15159126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45255784400007 meters Centerline goodness [0,1] 0.2532780479333102 Centerline is valid? [False, False] Translation: X:5.63, Y:0.21, Z:1.15 [[ 9.99720420e-01 1.37973502e-03 -2.36046191e-02 5.62714329e+00] [-1.26811631e-03 9.99987948e-01 4.74299645e-03 2.12828818e-01] [ 2.36108787e-02 -4.71173700e-03 9.99710121e-01 1.15184577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48255784400004 meters Centerline goodness [0,1] 0.26449883399080265 Centerline is valid? [False, False] Translation: X:5.63, Y:0.21, Z:1.15 [[ 9.99711681e-01 1.32191299e-03 -2.39751328e-02 5.62796652e+00] [-1.20063945e-03 9.99986417e-01 5.07199484e-03 2.10495209e-01] [ 2.39815119e-02 -5.04174700e-03 9.99699689e-01 1.15207358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51255784400007 meters Centerline goodness [0,1] 0.2509318911464954 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:1.15 [[ 9.99704588e-01 -7.70486060e-03 -2.30515169e-02 5.64990549e+00] [ 7.83340238e-03 9.99954241e-01 5.49119009e-03 2.09354857e-01] [ 2.30081533e-02 -5.67013974e-03 9.99719198e-01 1.15251428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54255784400004 meters Centerline goodness [0,1] 0.2517583603020497 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:1.15 [[ 0.99970592 -0.00755692 -0.02304256 5.64974162] [ 0.00769693 0.99995242 0.00599357 0.20684164] [ 0.02299617 -0.00616917 0.99971652 1.15285101] [ 0. 0. 0. 1. ]] SLAMing on 369.5725578440001 meters Centerline goodness [0,1] 0.25244005825707017 Centerline is valid? [False, False] Translation: X:5.65, Y:0.20, Z:1.15 [[ 0.99970909 -0.00737391 -0.0229642 5.64931995] [ 0.00752518 0.99995051 0.00650739 0.2043423 ] [ 0.02291508 -0.00667831 0.99971511 1.15330819] [ 0. 0. 0. 1. ]] SLAMing on 369.60255784400005 meters Centerline goodness [0,1] 0.2512549766314697 Centerline is valid? [False, False] Translation: X:5.67, Y:0.20, Z:1.16 [[ 9.99762229e-01 6.46709050e-04 -2.17960201e-02 5.66685538e+00] [-5.39919152e-04 9.99987824e-01 4.90504232e-03 1.96971864e-01] [ 2.17989268e-02 -4.89210795e-03 9.99750406e-01 1.15645663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6325578440001 meters Centerline goodness [0,1] 0.2513910624239263 Centerline is valid? [False, False] Translation: X:5.67, Y:0.20, Z:1.16 [[ 9.99761767e-01 7.31037114e-04 -2.18145757e-02 5.66698905e+00] [-6.19556557e-04 9.99986718e-01 5.11669117e-03 1.95903486e-01] [ 2.18180264e-02 -5.10195684e-03 9.99748940e-01 1.15630806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66255784400005 meters Centerline goodness [0,1] 0.2491708661756472 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.16 [[ 9.99727012e-01 9.44191016e-03 -2.13717371e-02 5.68717248e+00] [-9.35761257e-03 9.99948052e-01 4.04092638e-03 1.91800477e-01] [ 2.14087810e-02 -3.83983482e-03 9.99763432e-01 1.15747822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6925578440001 meters Centerline goodness [0,1] 0.25419784235253173 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.16 [[ 9.99764745e-01 7.64288766e-04 -2.16764983e-02 5.66760078e+00] [-6.46606236e-04 9.99985018e-01 5.43552727e-03 1.94631478e-01] [ 2.16803279e-02 -5.42023237e-03 9.99750261e-01 1.15558074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72255784400005 meters Centerline goodness [0,1] 0.25292638515564037 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.16 [[ 9.99770448e-01 9.45452174e-04 -2.14045974e-02 5.66687201e+00] [-8.22184346e-04 9.99983033e-01 5.76700967e-03 1.93075658e-01] [ 2.14096867e-02 -5.74808732e-03 9.99754262e-01 1.15568583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7525578440001 meters Centerline goodness [0,1] 0.2538821896417107 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.16 [[ 9.99772287e-01 1.03548404e-03 -2.13143777e-02 5.66650380e+00] [-9.08924873e-04 9.99981906e-01 5.94656838e-03 1.92309289e-01] [ 2.13201497e-02 -5.92584110e-03 9.99755138e-01 1.15591459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78255784400005 meters Centerline goodness [0,1] 0.2500917708535769 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.16 [[ 9.99771735e-01 1.11814236e-03 -2.13360869e-02 5.66654226e+00] [-9.88473719e-04 9.99980985e-01 6.08701175e-03 1.91763402e-01] [ 2.13424874e-02 -6.06453213e-03 9.99753830e-01 1.15593233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.812557844 meters Centerline goodness [0,1] 0.24900428426876786 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99762727e-01 1.19378457e-03 -2.17500346e-02 5.66822859e+00] [-1.05948901e-03 9.99980312e-01 6.18497610e-03 1.91322112e-01] [ 2.17569899e-02 -6.16046465e-03 9.99744308e-01 1.15489429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84255784400005 meters Centerline goodness [0,1] 0.2539710094609843 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99760511e-01 1.20475582e-03 -2.18510498e-02 5.66877066e+00] [-1.06904729e-03 9.99980076e-01 6.22123635e-03 1.91024597e-01] [ 2.18581095e-02 -6.19638663e-03 9.99741881e-01 1.15443532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.872557844 meters Centerline goodness [0,1] 0.251632648662629 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99757892e-01 1.17889801e-03 -2.19719638e-02 5.66925428e+00] [-1.04321560e-03 9.99980324e-01 6.18569124e-03 1.91018124e-01] [ 2.19788238e-02 -6.16127214e-03 9.99739451e-01 1.15413398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90255784400006 meters Centerline goodness [0,1] 0.2514175648184218 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99756733e-01 1.13747128e-03 -2.20268301e-02 5.66946358e+00] [-1.00359431e-03 9.99980964e-01 6.08800551e-03 1.91407001e-01] [ 2.20333357e-02 -6.06441849e-03 9.99738843e-01 1.15401381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93255784400003 meters Centerline goodness [0,1] 0.25276936391172655 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99754702e-01 1.09342940e-03 -2.21210520e-02 5.66990339e+00] [-9.63312628e-04 9.99982179e-01 5.89183472e-03 1.92492102e-01] [ 2.21271001e-02 -5.86907998e-03 9.99737938e-01 1.15362530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96255784400006 meters Centerline goodness [0,1] 0.2484096965529098 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99752701e-01 1.05287030e-03 -2.22132422e-02 5.67037114e+00] [-9.25267494e-04 9.99983018e-01 5.75394360e-03 1.93227567e-01] [ 2.22189232e-02 -5.73196746e-03 9.99736697e-01 1.15320636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99255784400003 meters Centerline goodness [0,1] 0.25416457984016727 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99753340e-01 1.00012075e-03 -2.21869179e-02 5.67035610e+00] [-8.75683262e-04 9.99983838e-01 5.61760405e-03 1.93927451e-01] [ 2.21921776e-02 -5.59678970e-03 9.99738057e-01 1.15309037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02255784400006 meters Centerline goodness [0,1] 0.25321776814734565 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99755041e-01 9.58500076e-04 -2.21119924e-02 5.66995146e+00] [-8.36148026e-04 9.99984294e-01 5.54187143e-03 1.94280622e-01] [ 2.21169570e-02 -5.52202500e-03 9.99740140e-01 1.15344490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05255784400003 meters Centerline goodness [0,1] 0.2548675252590954 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99753469e-01 8.76654870e-04 -2.21863007e-02 5.66979559e+00] [-7.54400532e-04 9.99984490e-01 5.51812249e-03 1.94091678e-01] [ 2.21907941e-02 -5.50002475e-03 9.99738625e-01 1.15400280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08255784400006 meters Centerline goodness [0,1] 0.2542509066429238 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99751348e-01 8.54846235e-04 -2.22825516e-02 5.67002037e+00] [-7.31161097e-04 9.99984285e-01 5.55831810e-03 1.93819567e-01] [ 2.22869530e-02 -5.54064387e-03 9.99736262e-01 1.15399574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11255784400004 meters Centerline goodness [0,1] 0.2645176789185175 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99750763e-01 8.56887073e-04 -2.23086910e-02 5.67000835e+00] [-7.31670458e-04 9.99983937e-01 5.62046468e-03 1.93492040e-01] [ 2.23131488e-02 -5.60274125e-03 9.99735331e-01 1.15412289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14255784400007 meters Centerline goodness [0,1] 0.26375092985603643 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99749115e-01 8.27636317e-04 -2.23835174e-02 5.67000608e+00] [-6.99071482e-04 9.99983219e-01 5.75094301e-03 1.92635576e-01] [ 2.23879015e-02 -5.73385251e-03 9.99732917e-01 1.15446086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17255784400004 meters Centerline goodness [0,1] 0.26313724635470015 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99750076e-01 8.23686630e-04 -2.23406852e-02 5.66973391e+00] [-6.93924865e-04 9.99982849e-01 5.81544682e-03 1.92265989e-01] [ 2.23450922e-02 -5.79849064e-03 9.99733502e-01 1.15473782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20255784400007 meters Centerline goodness [0,1] 0.24985429663047465 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.16 [[ 9.99740785e-01 9.26517130e-03 -2.07971121e-02 5.68894133e+00] [-9.17199623e-03 9.99947488e-01 4.57111846e-03 1.89047817e-01] [ 2.08383722e-02 -4.37918252e-03 9.99773267e-01 1.15603885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23255784400004 meters Centerline goodness [0,1] 0.2644767365518449 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99778532e-01 2.47881080e-05 -2.10448882e-02 5.66769582e+00] [ 8.72557338e-05 9.99985828e-01 5.32310578e-03 1.92754215e-01] [ 2.10447219e-02 -5.32376316e-03 9.99764361e-01 1.15483253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26255784400007 meters Centerline goodness [0,1] 0.254234704985848 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99776410e-01 9.20286533e-06 -2.11454550e-02 5.66822756e+00] [ 1.03009583e-04 9.99985920e-01 5.30559813e-03 1.92815519e-01] [ 2.11452061e-02 -5.30659004e-03 9.99762332e-01 1.15433585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29255784400004 meters Centerline goodness [0,1] 0.25353407151297647 Centerline is valid? [False, False] Translation: X:5.67, Y:0.19, Z:1.15 [[ 9.99776854e-01 4.68114468e-05 -2.11243705e-02 5.66879610e+00] [ 6.60871631e-05 9.99985720e-01 5.34374241e-03 1.92875361e-01] [ 2.11243190e-02 -5.34394603e-03 9.99762575e-01 1.15332348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3225578440001 meters Centerline goodness [0,1] 0.2533521371230202 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.15 [[ 9.99780265e-01 8.39352361e-03 -1.92085846e-02 5.68776632e+00] [-8.31988925e-03 9.99957744e-01 3.91011940e-03 1.89369481e-01] [ 1.92405926e-02 -3.74944692e-03 9.99807852e-01 1.15477698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35255784400005 meters Centerline goodness [0,1] 0.2533521371230202 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.15 [[ 9.99780265e-01 8.39352361e-03 -1.92085846e-02 5.68776632e+00] [-8.31988925e-03 9.99957744e-01 3.91011940e-03 1.89369481e-01] [ 1.92405926e-02 -3.74944692e-03 9.99807852e-01 1.15477698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3825578440001 meters Centerline goodness [0,1] 0.24846269619436678 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:1.16 [[ 9.99849765e-01 4.42803165e-04 -1.73277564e-02 5.70684154e+00] [-3.60886522e-04 9.99988747e-01 4.73032265e-03 1.92180674e-01] [ 1.73296560e-02 -4.72335864e-03 9.99838673e-01 1.15625535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41255784400005 meters Centerline goodness [0,1] 0.2518741604194653 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:1.16 [[ 9.99855281e-01 6.28247601e-04 -1.70006563e-02 5.70541923e+00] [-5.41043712e-04 9.99986677e-01 5.13355586e-03 1.90518050e-01] [ 1.70036549e-02 -5.12361484e-03 9.99842300e-01 1.15727698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4425578440001 meters Centerline goodness [0,1] 0.2597729867108919 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:1.16 [[ 9.99854523e-01 6.83154749e-04 -1.70430610e-02 5.70566315e+00] [-5.94420905e-04 9.99986246e-01 5.21097253e-03 1.90411902e-01] [ 1.70463865e-02 -5.20008370e-03 9.99841177e-01 1.15705032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47255784400005 meters Centerline goodness [0,1] 0.24948618653051513 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:1.16 [[ 9.99853501e-01 6.73024159e-04 -1.71033394e-02 5.70627488e+00] [-5.84001643e-04 9.99986260e-01 5.20944022e-03 1.90363185e-01] [ 1.71066105e-02 -5.19868866e-03 9.99840156e-01 1.15631874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5025578440001 meters Centerline goodness [0,1] 0.2638894950464802 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:1.16 [[ 9.99850674e-01 6.08238232e-04 -1.72701924e-02 5.70708881e+00] [-5.19300803e-04 9.99986584e-01 5.15378242e-03 1.90126665e-01] [ 1.72730955e-02 -5.14404440e-03 9.99837576e-01 1.15569973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53255784400005 meters Centerline goodness [0,1] 0.24860383194432512 Centerline is valid? [False, False] Translation: X:5.73, Y:0.19, Z:1.16 [[ 9.99825301e-01 7.92490038e-03 -1.69281825e-02 5.73004042e+00] [-7.88452846e-03 9.99965915e-01 2.45030561e-03 1.88748969e-01] [ 1.69470240e-02 -2.31640681e-03 9.99853706e-01 1.15515674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.562557844 meters Centerline goodness [0,1] 0.26396250383284414 Centerline is valid? [False, False] Translation: X:5.68, Y:0.19, Z:1.16 [[ 9.99773452e-01 7.73985208e-03 -1.98277357e-02 5.68461010e+00] [-7.66891044e-03 9.99963927e-01 3.65144137e-03 1.86345678e-01] [ 1.98552820e-02 -3.49855701e-03 9.99796743e-01 1.15610705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59255784400005 meters Centerline goodness [0,1] 0.25289746755919496 Centerline is valid? [False, False] Translation: X:5.70, Y:0.19, Z:1.16 [[ 9.99790810e-01 8.16521250e-04 -2.04369539e-02 5.70467320e+00] [-7.20614647e-04 9.99988697e-01 4.69972770e-03 1.92660997e-01] [ 2.04405603e-02 -4.68401740e-03 9.99780098e-01 1.15733035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.622557844 meters Centerline goodness [0,1] 0.25209644747446147 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:1.16 [[ 9.99784104e-01 6.25034643e-04 -2.07690841e-02 5.70639619e+00] [-5.33481926e-04 9.99990119e-01 4.41337312e-03 1.93094337e-01] [ 2.07716373e-02 -4.40134036e-03 9.99774558e-01 1.15594033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65255784400006 meters Centerline goodness [0,1] 0.2549393262364743 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:1.16 [[ 9.99781882e-01 6.33719706e-04 -2.08755294e-02 5.70663735e+00] [-5.40195738e-04 9.99989795e-01 4.48541093e-03 1.92415844e-01] [ 2.08781588e-02 -4.47315571e-03 9.99772021e-01 1.15597928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68255784400003 meters Centerline goodness [0,1] 0.24945990321465605 Centerline is valid? [False, False] Translation: X:5.73, Y:0.19, Z:1.16 [[ 9.99774121e-01 9.34844440e-03 -1.90870176e-02 5.72600339e+00] [-9.28395045e-03 9.99950901e-01 3.46476318e-03 1.89852020e-01] [ 1.91184706e-02 -3.28677763e-03 9.99811823e-01 1.15678208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71255784400006 meters Centerline goodness [0,1] 0.24950259515570938 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:1.16 [[ 9.99779662e-01 9.45234737e-03 -1.87424676e-02 5.72490889e+00] [-9.38805514e-03 9.99949752e-01 3.51532197e-03 1.90260310e-01] [ 1.87747539e-02 -3.33859209e-03 9.99818165e-01 1.15714738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74255784400003 meters Centerline goodness [0,1] 0.26249945512401374 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99858488e-01 1.67409381e-03 -1.67392340e-02 5.70483439e+00] [-1.59470730e-03 9.99987424e-01 4.75476580e-03 1.96094800e-01] [ 1.67469834e-02 -4.72739876e-03 9.99848584e-01 1.15447234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77255784400006 meters Centerline goodness [0,1] 0.25426895502932867 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:1.15 [[ 9.99857826e-01 1.55045056e-03 -1.67905731e-02 5.70517555e+00] [-1.47596715e-03 9.99989021e-01 4.44750957e-03 1.97270651e-01] [ 1.67972844e-02 -4.42209491e-03 9.99849137e-01 1.15409789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80255784400003 meters Centerline goodness [0,1] 0.25417229508911066 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:1.15 [[ 9.99856048e-01 1.45695272e-03 -1.69044328e-02 5.70560185e+00] [-1.38770548e-03 9.99990602e-01 4.10740227e-03 1.98978022e-01] [ 1.69102582e-02 -4.08335263e-03 9.99848673e-01 1.15376792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83255784400006 meters Centerline goodness [0,1] 0.25157463330457286 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:1.15 [[ 9.99854257e-01 1.47718427e-03 -1.70083098e-02 5.70598014e+00] [-1.41063640e-03 9.99991306e-01 3.92400083e-03 2.00507550e-01] [ 1.70139584e-02 -3.89943639e-03 9.99847648e-01 1.15346737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86255784400004 meters Centerline goodness [0,1] 0.2546330615270571 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:1.15 [[ 9.99859550e-01 1.54269403e-03 -1.66883400e-02 5.70529252e+00] [-1.47890406e-03 9.99991556e-01 3.83409306e-03 2.01620172e-01] [ 1.66941140e-02 -3.80887410e-03 9.99853389e-01 1.15329329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89255784400007 meters Centerline goodness [0,1] 0.2504803644292839 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99860903e-01 1.51796921e-03 -1.66093247e-02 5.70489821e+00] [-1.45394914e-03 9.99991471e-01 3.86586228e-03 2.01041866e-01] [ 1.66150513e-02 -3.84117544e-03 9.99854582e-01 1.15362746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92255784400004 meters Centerline goodness [0,1] 0.2531896796144032 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99861177e-01 1.49805733e-03 -1.65946401e-02 5.70473421e+00] [-1.43320261e-03 9.99991292e-01 3.91937618e-03 2.00392690e-01] [ 1.66003671e-02 -3.89504860e-03 9.99854618e-01 1.15386010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95255784400007 meters Centerline goodness [0,1] 0.2524373715734709 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99862113e-01 1.64357086e-03 -1.65243457e-02 5.70447013e+00] [-1.57466565e-03 9.99990015e-01 4.18206721e-03 1.99602271e-01] [ 1.65310542e-02 -4.15547024e-03 9.99854718e-01 1.15395720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98255784400004 meters Centerline goodness [0,1] 0.2537766329025498 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99861849e-01 1.72061578e-03 -1.65324402e-02 5.70439855e+00] [-1.64836650e-03 9.99989037e-01 4.38278577e-03 1.98757842e-01] [ 1.65398000e-02 -4.35492877e-03 9.99853724e-01 1.15411744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01255784400007 meters Centerline goodness [0,1] 0.26335335882031674 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99861822e-01 1.77863307e-03 -1.65279289e-02 5.70432440e+00] [-1.70304315e-03 9.99988032e-01 4.58641617e-03 1.97563363e-01] [ 1.65358887e-02 -4.55763466e-03 9.99852885e-01 1.15427371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04255784400004 meters Centerline goodness [0,1] 0.2556752133002873 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.15 [[ 9.99862010e-01 1.78351520e-03 -1.65160529e-02 5.70423794e+00] [-1.70628694e-03 9.99987551e-01 4.68886269e-03 1.96720843e-01] [ 1.65242099e-02 -4.66003455e-03 9.99852606e-01 1.15442523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0725578440001 meters Centerline goodness [0,1] 0.2510603306500476 Centerline is valid? [False, False] Translation: X:5.73, Y:0.20, Z:1.15 [[ 9.99800153e-01 1.09210888e-02 -1.67446674e-02 5.72657152e+00] [-1.08597040e-02 9.99933991e-01 3.75248517e-03 1.95625723e-01] [ 1.67845433e-02 -3.56989312e-03 9.99852757e-01 1.15484931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10255784400005 meters Centerline goodness [0,1] 0.2486212839293408 Centerline is valid? [False, False] Translation: X:5.73, Y:0.20, Z:1.15 [[ 9.99797851e-01 1.08506639e-02 -1.69269181e-02 5.72745981e+00] [-1.07944233e-02 9.99935923e-01 3.41039184e-03 1.97525705e-01] [ 1.69628385e-02 -3.22698611e-03 9.99850913e-01 1.15410832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1325578440001 meters Centerline goodness [0,1] 0.2518275011894978 Centerline is valid? [False, False] Translation: X:5.73, Y:0.20, Z:1.15 [[ 9.99797925e-01 1.06955425e-02 -1.70209992e-02 5.72795418e+00] [-1.06470099e-02 9.99938999e-01 2.93940781e-03 1.99774387e-01] [ 1.70513994e-02 -2.75759108e-03 9.99850812e-01 1.15361652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16255784400005 meters Centerline goodness [0,1] 0.2546384317839113 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99868450e-01 1.97562808e-03 -1.60990358e-02 5.70663513e+00] [-1.92088033e-03 9.99992322e-01 3.41543879e-03 2.07067776e-01] [ 1.61056598e-02 -3.38406517e-03 9.99864569e-01 1.15204175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1925578440001 meters Centerline goodness [0,1] 0.25509294488531364 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99870871e-01 1.92476461e-03 -1.59541859e-02 5.70623539e+00] [-1.87391492e-03 9.99993119e-01 3.20156866e-03 2.08398743e-01] [ 1.59602384e-02 -3.17125846e-03 9.99867598e-01 1.15202560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22255784400005 meters Centerline goodness [0,1] 0.260942358287491 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99871747e-01 1.85906069e-03 -1.59070350e-02 5.70619413e+00] [-1.81111905e-03 9.99993776e-01 3.02773895e-03 2.09382763e-01] [ 1.59125647e-02 -2.99854110e-03 9.99868891e-01 1.15185230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2525578440001 meters Centerline goodness [0,1] 0.2602757572467702 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99869334e-01 1.73923215e-03 -1.60713744e-02 5.70672083e+00] [-1.69401679e-03 9.99994570e-01 2.82659502e-03 2.10169544e-01] [ 1.60762032e-02 -2.79900050e-03 9.99866852e-01 1.15162404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28255784400005 meters Centerline goodness [0,1] 0.2516183690315853 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99856432e-01 1.29904136e-03 -1.68946396e-02 5.70903626e+00] [-1.25896134e-03 9.99996369e-01 2.38277017e-03 2.11210666e-01] [ 1.68976735e-02 -2.36115838e-03 9.99854436e-01 1.15115144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.312557844 meters Centerline goodness [0,1] 0.2534161760552671 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99856432e-01 1.26008542e-03 -1.68975539e-02 5.70893339e+00] [-1.22047820e-03 9.99996484e-01 2.35406944e-03 2.11440985e-01] [ 1.69004608e-02 -2.33310837e-03 9.99854455e-01 1.15132829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34255784400005 meters Centerline goodness [0,1] 0.25014032209317383 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99859688e-01 1.23519298e-03 -1.67056251e-02 5.70817038e+00] [-1.19683452e-03 9.99996625e-01 2.30594314e-03 2.11955902e-01] [ 1.67084170e-02 -2.28562572e-03 9.99857792e-01 1.15179315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.372557844 meters Centerline goodness [0,1] 0.24891654151469644 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:1.15 [[ 9.99869445e-01 1.04511297e-03 -1.61245428e-02 5.70585704e+00] [-1.01488488e-03 9.99997713e-01 1.88273228e-03 2.14248326e-01] [ 1.61264736e-02 -1.86612193e-03 9.99868219e-01 1.15319019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40255784400006 meters Centerline goodness [0,1] 0.2509559919631862 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.15 [[ 9.99875174e-01 9.50889840e-04 -1.57712713e-02 5.70463263e+00] [-9.26258411e-04 9.99998340e-01 1.56902208e-03 2.15921897e-01] [ 1.57727371e-02 -1.55421795e-03 9.99874395e-01 1.15373334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43255784400003 meters Centerline goodness [0,1] 0.25368629069035153 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.15 [[ 9.99876437e-01 8.12952873e-04 -1.56987240e-02 5.70445907e+00] [-7.95327955e-04 9.99999047e-01 1.12890808e-03 2.18190023e-01] [ 1.56996268e-02 -1.11628295e-03 9.99876130e-01 1.15364412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46255784400006 meters Centerline goodness [0,1] 0.2525998786723286 Centerline is valid? [False, False] Translation: X:5.71, Y:0.22, Z:1.15 [[ 9.99860434e-01 7.01248905e-04 -1.66919300e-02 5.70767768e+00] [-6.95037390e-04 9.99999687e-01 3.77925084e-04 2.22292094e-01] [ 1.66921898e-02 -3.66270823e-04 9.99860609e-01 1.15216858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49255784400003 meters Centerline goodness [0,1] 0.25242359692214056 Centerline is valid? [False, False] Translation: X:5.71, Y:0.22, Z:1.15 [[ 9.99856276e-01 5.52297972e-04 -1.69446711e-02 5.70852042e+00] [-5.51932362e-04 9.99999847e-01 2.62532076e-05 2.23810641e-01] [ 1.69446830e-02 -1.68971221e-05 9.99856428e-01 1.15176808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52255784400006 meters Centerline goodness [0,1] 0.25213406025326357 Centerline is valid? [False, False] Translation: X:5.71, Y:0.22, Z:1.15 [[ 9.99854218e-01 4.44743910e-04 -1.70688377e-02 5.70881071e+00] [-4.48825066e-04 9.99999872e-01 -2.35269827e-04 2.24956275e-01] [ 1.70687309e-02 2.42896451e-04 9.99854289e-01 1.15176689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55255784400003 meters Centerline goodness [0,1] 0.2511254436845295 Centerline is valid? [False, False] Translation: X:5.71, Y:0.23, Z:1.15 [[ 9.99853711e-01 3.26467934e-04 -1.71011901e-02 5.70877528e+00] [-3.35007807e-04 9.99999821e-01 -4.96510666e-04 2.26230996e-01] [ 1.71010249e-02 5.02167063e-04 9.99853641e-01 1.15193493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58255784400006 meters Centerline goodness [0,1] 0.25434511707221097 Centerline is valid? [False, False] Translation: X:5.71, Y:0.23, Z:1.15 [[ 9.99852824e-01 1.30904432e-04 -1.71555593e-02 5.70884743e+00] [-1.49003510e-04 9.99999434e-01 -1.05372386e-03 2.29292112e-01] [ 1.71554117e-02 1.05612501e-03 9.99852277e-01 1.15191260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61255784400004 meters Centerline goodness [0,1] 0.2533429000065227 Centerline is valid? [False, False] Translation: X:5.71, Y:0.23, Z:1.15 [[ 9.99851823e-01 -2.87575268e-06 -1.72143105e-02 5.70903955e+00] [-2.08734691e-05 9.99999048e-01 -1.37944102e-03 2.30939861e-01] [ 1.72142981e-02 1.37959594e-03 9.99850871e-01 1.15183013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64255784400007 meters Centerline goodness [0,1] 0.2540913944518294 Centerline is valid? [False, False] Translation: X:5.71, Y:0.23, Z:1.15 [[ 9.99852861e-01 -1.05617318e-04 -1.71535795e-02 5.70883865e+00] [ 7.73387734e-05 9.99998637e-01 -1.64920567e-03 2.32309532e-01] [ 1.71537303e-02 1.64763637e-03 9.99851506e-01 1.15186746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67255784400004 meters Centerline goodness [0,1] 0.2612013517933064 Centerline is valid? [False, False] Translation: X:5.71, Y:0.23, Z:1.15 [[ 9.99856034e-01 -1.97416525e-04 -1.69667881e-02 5.70813586e+00] [ 1.65470952e-04 9.99998211e-01 -1.88421295e-03 2.33495783e-01] [ 1.69671297e-02 1.88113418e-03 9.99854278e-01 1.15226416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70255784400007 meters Centerline goodness [0,1] 0.2521268031592002 Centerline is valid? [False, False] Translation: X:5.71, Y:0.24, Z:1.15 [[ 9.99865197e-01 -4.12849635e-04 -1.64139310e-02 5.70603163e+00] [ 3.75077992e-04 9.99997275e-01 -2.30420609e-03 2.35417600e-01] [ 1.64148376e-02 2.29773897e-03 9.99862627e-01 1.15349952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73255784400004 meters Centerline goodness [0,1] 0.2523291589028036 Centerline is valid? [False, False] Translation: X:5.71, Y:0.24, Z:1.15 [[ 9.99866690e-01 -5.27790173e-04 -1.63194010e-02 5.70566188e+00] [ 4.85659960e-04 9.99996540e-01 -2.58545825e-03 2.36854022e-01] [ 1.63207091e-02 2.57718790e-03 9.99863487e-01 1.15370587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76255784400007 meters Centerline goodness [0,1] 0.2635055591890124 Centerline is valid? [False, False] Translation: X:5.71, Y:0.24, Z:1.15 [[ 9.99867553e-01 -6.47364764e-04 -1.62621758e-02 5.70543410e+00] [ 6.00468073e-04 9.99995648e-01 -2.88850677e-03 2.38410214e-01] [ 1.62639750e-02 2.87835927e-03 9.99863590e-01 1.15380337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79255784400004 meters Centerline goodness [0,1] 0.25882276759696954 Centerline is valid? [False, False] Translation: X:5.71, Y:0.24, Z:1.15 [[ 9.99868452e-01 -7.34693329e-04 -1.62030337e-02 5.70522421e+00] [ 6.82826165e-04 9.99994626e-01 -3.20637736e-03 2.40306639e-01] [ 1.62053024e-02 3.19489171e-03 9.99863581e-01 1.15388606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8225578440001 meters Centerline goodness [0,1] 0.26263879817113 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.15 [[ 9.99876547e-01 -9.09956930e-04 -1.56863916e-02 5.70377928e+00] [ 8.49135139e-04 9.99992098e-01 -3.88358468e-03 2.44015250e-01] [ 1.56898015e-02 3.86978537e-03 9.99869419e-01 1.15406644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85255784400005 meters Centerline goodness [0,1] 0.25233826547143323 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.15 [[ 9.99877815e-01 -1.05948697e-03 -1.55958859e-02 5.70340344e+00] [ 9.93015596e-04 9.99990394e-01 -4.26923696e-03 2.45876121e-01] [ 1.56002593e-02 4.25322837e-03 9.99869262e-01 1.15427961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8825578440001 meters Centerline goodness [0,1] 0.2617138398855706 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.15 [[ 9.99879007e-01 -1.18856973e-03 -1.55099254e-02 5.70318004e+00] [ 1.11718115e-03 9.99988747e-01 -4.61061994e-03 2.47562647e-01] [ 1.55152309e-02 4.59273469e-03 9.99869084e-01 1.15423111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91255784400005 meters Centerline goodness [0,1] 0.2600883269830274 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.15 [[ 9.99877603e-01 -1.31621321e-03 -1.55899405e-02 5.70371256e+00] [ 1.23857827e-03 9.99986791e-01 -4.98841906e-03 2.49759602e-01] [ 1.55963004e-02 4.96849913e-03 9.99866026e-01 1.15365196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9425578440001 meters Centerline goodness [0,1] 0.2596633753213923 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.15 [[ 9.99877037e-01 -1.33316588e-03 -1.56247889e-02 5.70388877e+00] [ 1.25438872e-03 9.99986459e-01 -5.05052279e-03 2.50208675e-01] [ 1.56313105e-02 5.03030221e-03 9.99865170e-01 1.15349005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97255784400005 meters Centerline goodness [0,1] 0.2623826621101354 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.15 [[ 9.99874826e-01 -1.37583630e-03 -1.57619415e-02 5.70438635e+00] [ 1.29534490e-03 9.99986075e-01 -5.11576448e-03 2.50444208e-01] [ 1.57687605e-02 5.09470697e-03 9.99862686e-01 1.15321986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0025578440001 meters Centerline goodness [0,1] 0.2622409523395751 Centerline is valid? [False, False] Translation: X:5.71, Y:0.25, Z:1.15 [[ 9.99870185e-01 -1.45889758e-03 -1.60463352e-02 5.70533743e+00] [ 1.37474808e-03 9.99985253e-01 -5.25393780e-03 2.50959122e-01] [ 1.60537635e-02 5.23119609e-03 9.99857445e-01 1.15279491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03255784400005 meters Centerline goodness [0,1] 0.26372143634385203 Centerline is valid? [False, False] Translation: X:5.71, Y:0.25, Z:1.15 [[ 9.99860292e-01 -1.66890598e-03 -1.66316613e-02 5.70727496e+00] [ 1.57542162e-03 9.99982897e-01 -5.63238493e-03 2.52552704e-01] [ 1.66407767e-02 5.60539616e-03 9.99845820e-01 1.15193279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.062557844 meters Centerline goodness [0,1] 0.2625672859871505 Centerline is valid? [False, False] Translation: X:5.71, Y:0.25, Z:1.15 [[ 9.99859988e-01 -1.73328534e-03 -1.66433488e-02 5.70751633e+00] [ 1.63672664e-03 9.99981762e-01 -5.81350852e-03 2.53548000e-01] [ 1.66531217e-02 5.78545394e-03 9.99844589e-01 1.15153245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09255784400005 meters Centerline goodness [0,1] 0.2617129669946878 Centerline is valid? [False, False] Translation: X:5.71, Y:0.25, Z:1.15 [[ 9.99861120e-01 -1.77857346e-03 -1.65703895e-02 5.70736305e+00] [ 1.68034319e-03 9.99980946e-01 -5.94009824e-03 2.54248956e-01] [ 1.65806387e-02 5.91142934e-03 9.99845057e-01 1.15146419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.122557844 meters Centerline goodness [0,1] 0.26047445334254327 Centerline is valid? [False, False] Translation: X:5.71, Y:0.25, Z:1.15 [[ 9.99861553e-01 -1.84869512e-03 -1.65365139e-02 5.70712506e+00] [ 1.74811828e-03 9.99979900e-01 -6.09449507e-03 2.54987325e-01] [ 1.65474484e-02 6.06474353e-03 9.99844688e-01 1.15169826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15255784400006 meters Centerline goodness [0,1] 0.26259055220578664 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99860780e-01 -1.99703858e-03 -1.65660207e-02 5.70709405e+00] [ 1.89152679e-03 9.99977843e-01 -6.38239480e-03 2.56132102e-01] [ 1.65783995e-02 6.35017117e-03 9.99842404e-01 1.15185081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18255784400003 meters Centerline goodness [0,1] 0.2592751908807399 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99859701e-01 -2.07229350e-03 -1.66218047e-02 5.70725729e+00] [ 1.96392704e-03 9.99976730e-01 -6.53321241e-03 2.56760079e-01] [ 1.66349567e-02 6.49965180e-03 9.99840504e-01 1.15177734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21255784400006 meters Centerline goodness [0,1] 0.2608939996541587 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99858005e-01 -2.14551619e-03 -1.67142668e-02 5.70761270e+00] [ 2.03443975e-03 9.99975754e-01 -6.65977735e-03 2.57294368e-01] [ 1.67281502e-02 6.62482753e-03 9.99838127e-01 1.15157995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24255784400003 meters Centerline goodness [0,1] 0.2608939996541587 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99858005e-01 -2.14551619e-03 -1.67142668e-02 5.70761270e+00] [ 2.03443975e-03 9.99975754e-01 -6.65977735e-03 2.57294368e-01] [ 1.67281502e-02 6.62482753e-03 9.99838127e-01 1.15157995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27255784400006 meters Centerline goodness [0,1] 0.26320159052675274 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99852249e-01 -2.18292079e-03 -1.70503411e-02 5.70898220e+00] [ 2.06891215e-03 9.99975405e-01 -6.70136929e-03 2.57595432e-01] [ 1.70645503e-02 6.66510350e-03 9.99832175e-01 1.15065041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30255784400003 meters Centerline goodness [0,1] 0.2616703096933365 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99849643e-01 -2.17928936e-03 -1.72029664e-02 5.70939912e+00] [ 2.06509715e-03 9.99975737e-01 -6.65291326e-03 2.57390625e-01] [ 1.72170476e-02 6.61638715e-03 9.99829884e-01 1.15060182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33255784400006 meters Centerline goodness [0,1] 0.2649589490968801 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99848026e-01 -2.16449277e-03 -1.72985527e-02 5.70955838e+00] [ 2.05119707e-03 9.99976350e-01 -6.56449393e-03 2.56857306e-01] [ 1.73123524e-02 6.52801355e-03 9.99828819e-01 1.15074771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36255784400004 meters Centerline goodness [0,1] 0.2617298398456971 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99845338e-01 -2.16293737e-03 -1.74534430e-02 5.70992967e+00] [ 2.05063796e-03 9.99977099e-01 -6.44956013e-03 2.56078058e-01] [ 1.74669933e-02 6.41277193e-03 9.99826875e-01 1.15075019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39255784400007 meters Centerline goodness [0,1] 0.26109310866277813 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99843274e-01 -2.12424683e-03 -1.75759654e-02 5.71025425e+00] [ 2.01433095e-03 9.99978320e-01 -6.26910250e-03 2.55096905e-01] [ 1.75889015e-02 6.23271616e-03 9.99825877e-01 1.15075634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42255784400004 meters Centerline goodness [0,1] 0.2615374629481382 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99845299e-01 -2.12803445e-03 -1.74599470e-02 5.70985725e+00] [ 2.01835396e-03 9.99978136e-01 -6.29705276e-03 2.55247649e-01] [ 1.74729656e-02 6.26083824e-03 9.99827734e-01 1.15094264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45255784400007 meters Centerline goodness [0,1] 0.2640072883451552 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99848694e-01 -2.14419201e-03 -1.72624502e-02 5.70912625e+00] [ 2.03390866e-03 9.99977428e-01 -6.40365003e-03 2.55823368e-01] [ 1.72757912e-02 6.36757087e-03 9.99830486e-01 1.15132441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48255784400004 meters Centerline goodness [0,1] 0.2611076107502118 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99858234e-01 -2.03923922e-03 -1.67138921e-02 5.70753742e+00] [ 1.92918037e-03 9.99976370e-01 -6.59835234e-03 2.57413925e-01] [ 1.67269528e-02 6.56517281e-03 9.99838541e-01 1.15164593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51255784400007 meters Centerline goodness [0,1] 0.25002149613069646 Centerline is valid? [False, False] Translation: X:5.71, Y:0.26, Z:1.15 [[ 9.99859874e-01 -2.04723057e-03 -1.66144815e-02 5.70734067e+00] [ 1.93484329e-03 9.99975159e-01 -6.77767468e-03 2.58483510e-01] [ 1.66279443e-02 6.74457853e-03 9.99838998e-01 1.15154865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54255784400004 meters Centerline goodness [0,1] 0.26519831481521905 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99811552e-01 -2.32795409e-03 -1.92728025e-02 5.66120096e+00] [ 2.20343902e-03 9.99976581e-01 -6.47937870e-03 2.56232829e-01] [ 1.92874348e-02 6.43569123e-03 9.99793267e-01 1.15246250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5725578440001 meters Centerline goodness [0,1] 0.2649928139018335 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99812627e-01 -2.36138945e-03 -1.92128895e-02 5.66104441e+00] [ 2.23438371e-03 9.99975530e-01 -6.62922785e-03 2.56961880e-01] [ 1.92280736e-02 6.58505674e-03 9.99793438e-01 1.15243943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60255784400005 meters Centerline goodness [0,1] 0.2537123644906141 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99815634e-01 -2.32207086e-03 -1.90605818e-02 5.66030972e+00] [ 2.19271844e-03 9.99974445e-01 -6.80447996e-03 2.58348483e-01] [ 1.90758952e-02 6.76143096e-03 9.99795176e-01 1.15294556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6325578440001 meters Centerline goodness [0,1] 0.262085799455653 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99818626e-01 -2.27116630e-03 -1.89091871e-02 5.65968934e+00] [ 2.14407025e-03 9.99974994e-01 -6.73895398e-03 2.58263379e-01] [ 1.89240195e-02 6.69718908e-03 9.99798494e-01 1.15330173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66255784400005 meters Centerline goodness [0,1] 0.2668959624947971 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.15 [[ 9.99806247e-01 5.56928289e-03 -1.88799339e-02 5.63945585e+00] [-5.71512764e-03 9.99954179e-01 -7.67972051e-03 2.52275287e-01] [ 1.88362982e-02 7.78613377e-03 9.99792263e-01 1.15198263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6925578440001 meters Centerline goodness [0,1] 0.24920972840461908 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99826131e-01 -1.96326497e-03 -1.85432995e-02 5.65879486e+00] [ 1.84449551e-03 9.99977691e-01 -6.41991249e-03 2.56586470e-01] [ 1.85554898e-02 6.38459323e-03 9.99807447e-01 1.15362989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72255784400005 meters Centerline goodness [0,1] 0.254965738572296 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99824179e-01 -1.88921801e-03 -1.86559050e-02 5.65915001e+00] [ 1.77227376e-03 9.99978691e-01 -6.28302962e-03 2.56129375e-01] [ 1.86673775e-02 6.24886156e-03 9.99806222e-01 1.15347218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7525578440001 meters Centerline goodness [0,1] 0.26548267596426234 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99821190e-01 -1.80656406e-03 -1.88234906e-02 5.65976388e+00] [ 1.69171219e-03 9.99979868e-01 -6.11565582e-03 2.55478694e-01] [ 1.88341600e-02 6.08271835e-03 9.99804118e-01 1.15315539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78255784400005 meters Centerline goodness [0,1] 0.26099738440587106 Centerline is valid? [False, False] Translation: X:5.66, Y:0.25, Z:1.15 [[ 9.99820140e-01 -1.75895511e-03 -1.88836798e-02 5.65998636e+00] [ 1.64598926e-03 9.99980669e-01 -5.99607163e-03 2.54855896e-01] [ 1.88938616e-02 5.96391084e-03 9.99803708e-01 1.15307376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.812557844 meters Centerline goodness [0,1] 0.26402352684892716 Centerline is valid? [False, False] Translation: X:5.66, Y:0.25, Z:1.15 [[ 9.99824673e-01 -1.76907716e-03 -1.86411614e-02 5.65914540e+00] [ 1.65827655e-03 9.99980878e-01 -5.95765019e-03 2.54170551e-01] [ 1.86513444e-02 5.92569346e-03 9.99808488e-01 1.15345381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84255784400005 meters Centerline goodness [0,1] 0.2618657585032548 Centerline is valid? [False, False] Translation: X:5.66, Y:0.25, Z:1.15 [[ 9.99825042e-01 -1.77030965e-03 -1.86212872e-02 5.65909969e+00] [ 1.65810501e-03 9.99980388e-01 -6.03932604e-03 2.54685344e-01] [ 1.86316135e-02 6.00739335e-03 9.99808369e-01 1.15340034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.872557844 meters Centerline goodness [0,1] 0.25304594343093334 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99823665e-01 -1.75141514e-03 -1.86968257e-02 5.65948253e+00] [ 1.63632971e-03 9.99979634e-01 -6.16887059e-03 2.55704888e-01] [ 1.87072492e-02 6.13718863e-03 9.99806168e-01 1.15301030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90255784400006 meters Centerline goodness [0,1] 0.26482023502686647 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99823735e-01 -1.78189309e-03 -1.86902145e-02 5.65975218e+00] [ 1.66309357e-03 9.99978329e-01 -6.36986001e-03 2.56948937e-01] [ 1.87011599e-02 6.33765365e-03 9.99805031e-01 1.15247023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93255784400003 meters Centerline goodness [0,1] 0.2630193031707688 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99831073e-01 -1.76652833e-03 -1.82949383e-02 5.65860284e+00] [ 1.64790439e-03 9.99977536e-01 -6.49702316e-03 2.57802343e-01] [ 1.83060045e-02 6.46577733e-03 9.99811524e-01 1.15271624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96255784400006 meters Centerline goodness [0,1] 0.2553357457043184 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99831713e-01 -1.75277602e-03 -1.82612334e-02 5.65831238e+00] [ 1.63593803e-03 9.99978110e-01 -6.41111801e-03 2.57307606e-01] [ 1.82720709e-02 6.38016486e-03 9.99812695e-01 1.15303941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99255784400003 meters Centerline goodness [0,1] 0.2560724131194513 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.15 [[ 9.99829302e-01 -1.67321386e-03 -1.84001988e-02 5.65852117e+00] [ 1.56298918e-03 9.99980759e-01 -6.00315722e-03 2.55088624e-01] [ 1.84098893e-02 5.97337318e-03 9.99812680e-01 1.15326604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02255784400006 meters Centerline goodness [0,1] 0.2641406539711625 Centerline is valid? [False, False] Translation: X:5.66, Y:0.25, Z:1.15 [[ 9.99828041e-01 -1.61942523e-03 -1.84734094e-02 5.65878344e+00] [ 1.51299541e-03 9.99982187e-01 -5.77376633e-03 2.53813785e-01] [ 1.84824305e-02 5.74482329e-03 9.99812681e-01 1.15316438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05255784400003 meters Centerline goodness [0,1] 0.2654219014911099 Centerline is valid? [False, False] Translation: X:5.66, Y:0.25, Z:1.15 [[ 9.99826269e-01 -1.53169976e-03 -1.85764833e-02 5.65903356e+00] [ 1.42975141e-03 9.99983852e-01 -5.50007303e-03 2.52393130e-01] [ 1.85846078e-02 5.47255774e-03 9.99812314e-01 1.15320301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08255784400006 meters Centerline goodness [0,1] 0.2614822659779108 Centerline is valid? [False, False] Translation: X:5.66, Y:0.25, Z:1.15 [[ 9.99825107e-01 -1.44174639e-03 -1.86460918e-02 5.65926340e+00] [ 1.34519007e-03 9.99985628e-01 -5.18987404e-03 2.50717198e-01] [ 1.86533063e-02 5.16388383e-03 9.99812677e-01 1.15314314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11255784400004 meters Centerline goodness [0,1] 0.2545305133860992 Centerline is valid? [False, False] Translation: X:5.66, Y:0.25, Z:1.15 [[ 9.99822367e-01 -1.22543638e-03 -1.88077878e-02 5.65974501e+00] [ 1.14219227e-03 9.99989508e-01 -4.43614862e-03 2.46781746e-01] [ 1.88130267e-02 4.41387851e-03 9.99813276e-01 1.15310769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14255784400007 meters Centerline goodness [0,1] 0.26483322817171084 Centerline is valid? [False, False] Translation: X:5.66, Y:0.24, Z:1.15 [[ 9.99821696e-01 -1.05869143e-03 -1.88535250e-02 5.65980633e+00] [ 9.83599075e-04 9.99991549e-01 -3.99176230e-03 2.44551783e-01] [ 1.88575917e-02 3.97250624e-03 9.99814288e-01 1.15321773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17255784400004 meters Centerline goodness [0,1] 0.2651043254780677 Centerline is valid? [False, False] Translation: X:5.66, Y:0.24, Z:1.15 [[ 9.99819809e-01 -9.08134826e-04 -1.89611517e-02 5.66015403e+00] [ 8.40329692e-04 9.99993226e-01 -3.58366425e-03 2.42448802e-01] [ 1.89642777e-02 3.56708489e-03 9.99813799e-01 1.15308213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20255784400007 meters Centerline goodness [0,1] 0.26158675181296676 Centerline is valid? [False, False] Translation: X:5.66, Y:0.24, Z:1.15 [[ 9.99816341e-01 -7.63237427e-04 -1.91494395e-02 5.66075083e+00] [ 7.00953580e-04 9.99994444e-01 -3.25901668e-03 2.40851285e-01] [ 1.91518205e-02 3.24499527e-03 9.99811321e-01 1.15286884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23255784400004 meters Centerline goodness [0,1] 0.2637745819977475 Centerline is valid? [False, False] Translation: X:5.66, Y:0.24, Z:1.15 [[ 9.99808011e-01 -4.60474390e-04 -1.95890200e-02 5.66239012e+00] [ 4.04136138e-04 9.99995771e-01 -2.87987326e-03 2.39506574e-01] [ 1.95902632e-02 2.87140373e-03 9.99803969e-01 1.15192045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26255784400007 meters Centerline goodness [0,1] 0.26527638846605484 Centerline is valid? [False, False] Translation: X:5.66, Y:0.24, Z:1.15 [[ 9.99807344e-01 -3.82203619e-04 -1.96247168e-02 5.66273159e+00] [ 3.25942350e-04 9.99995828e-01 -2.86997617e-03 2.39683373e-01] [ 1.96257318e-02 2.86302672e-03 9.99803298e-01 1.15148668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29255784400004 meters Centerline goodness [0,1] 0.260096339942368 Centerline is valid? [False, False] Translation: X:5.66, Y:0.24, Z:1.15 [[ 9.99808055e-01 -3.01537163e-04 -1.95898439e-02 5.66280466e+00] [ 2.42186531e-04 9.99995374e-01 -3.03196512e-03 2.40835305e-01] [ 1.95906676e-02 3.02663875e-03 9.99803503e-01 1.15113961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3225578440001 meters Centerline goodness [0,1] 0.26331982753017136 Centerline is valid? [False, False] Translation: X:5.66, Y:0.24, Z:1.15 [[ 9.99816686e-01 4.37543424e-04 -1.91416682e-02 5.66176837e+00] [-4.96950735e-04 9.99995075e-01 -3.09891322e-03 2.44028492e-01] [ 1.91402180e-02 3.10785762e-03 9.99811979e-01 1.15067925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35255784400005 meters Centerline goodness [0,1] 0.2630688106243083 Centerline is valid? [False, False] Translation: X:5.66, Y:0.25, Z:1.15 [[ 9.99824417e-01 5.36279116e-04 -1.87309258e-02 5.66087111e+00] [-6.02303259e-04 9.99993625e-01 -3.51940999e-03 2.46939088e-01] [ 1.87289190e-02 3.53007374e-03 9.99818367e-01 1.15030727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3825578440001 meters Centerline goodness [0,1] 0.26511587193907693 Centerline is valid? [False, False] Translation: X:5.66, Y:0.25, Z:1.15 [[ 9.99830683e-01 4.93219874e-04 -1.83946064e-02 5.66017371e+00] [-5.68949739e-04 9.99991384e-01 -4.11195436e-03 2.50474133e-01] [ 1.83924198e-02 4.12172374e-03 9.99822349e-01 1.14995907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41255784400005 meters Centerline goodness [0,1] 0.259604190919674 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.15 [[ 9.99813089e-01 -4.08821068e-03 -1.88964037e-02 5.68159918e+00] [ 4.06942999e-03 9.99991187e-01 -1.03222201e-03 2.58491110e-01] [ 1.89004571e-02 9.55131481e-04 9.99820914e-01 1.15030811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4425578440001 meters Centerline goodness [0,1] 0.26297412764850037 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.15 [[ 9.99819673e-01 -5.02574520e-04 -1.89833949e-02 5.68191370e+00] [ 5.35820571e-04 9.99998332e-01 1.74627699e-03 2.64114750e-01] [ 1.89824856e-02 -1.75613378e-03 9.99818274e-01 1.14993639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47255784400005 meters Centerline goodness [0,1] 0.26629793187879847 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.15 [[ 9.99820915e-01 -7.89644800e-04 -1.89080587e-02 5.68173325e+00] [ 8.09228041e-04 9.99999144e-01 1.02808000e-03 2.67590696e-01] [ 1.89072306e-02 -1.04319682e-03 9.99820698e-01 1.14978345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5025578440001 meters Centerline goodness [0,1] 0.26211688849195114 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.15 [[ 9.99821063e-01 -1.03308747e-03 -1.88884854e-02 5.68157529e+00] [ 1.04198272e-03 9.99999351e-01 4.61099578e-04 2.70326057e-01] [ 1.88879968e-02 -4.80698546e-04 9.99821490e-01 1.14988264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53255784400005 meters Centerline goodness [0,1] 0.2534409112482202 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.15 [[ 9.99826340e-01 7.01742142e-03 -1.72639729e-02 5.70049897e+00] [-7.03675347e-03 9.99974681e-01 -1.05930006e-03 2.70854326e-01] [ 1.72561022e-02 1.18059843e-03 9.99850405e-01 1.15082602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.562557844 meters Centerline goodness [0,1] 0.26211277070823125 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.15 [[ 9.99834040e-01 6.56168729e-03 -1.69951952e-02 5.69940520e+00] [-6.59270483e-03 9.99976702e-01 -1.76969412e-03 2.74301370e-01] [ 1.69831871e-02 1.88144473e-03 9.99854005e-01 1.15144055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59255784400005 meters Centerline goodness [0,1] 0.2638717097411193 Centerline is valid? [False, False] Translation: X:5.70, Y:0.28, Z:1.15 [[ 9.99838187e-01 6.36877941e-03 -1.68237496e-02 5.69884707e+00] [-6.40409389e-03 9.99977400e-01 -2.04604449e-03 2.75531722e-01] [ 1.68103386e-02 2.15345428e-03 9.99856377e-01 1.15171123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.622557844 meters Centerline goodness [0,1] 0.26100716946196745 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.15 [[ 9.99862168e-01 -1.69729261e-03 -1.65155521e-02 5.71801650e+00] [ 1.67823126e-03 9.99997910e-01 -1.16793644e-03 2.81999230e-01] [ 1.65174999e-02 1.14005855e-03 9.99862927e-01 1.15363701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65255784400006 meters Centerline goodness [0,1] 0.2641010065949323 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.15 [[ 9.99863876e-01 -1.86906772e-03 -1.63931649e-02 5.71762751e+00] [ 1.84727236e-03 9.99997390e-01 -1.34458131e-03 2.82459429e-01] [ 1.63956352e-02 1.31411564e-03 9.99864719e-01 1.15382287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68255784400003 meters Centerline goodness [0,1] 0.2625734531628068 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.15 [[ 9.99860313e-01 -2.33328006e-03 -1.65502560e-02 5.71784406e+00] [ 2.30627717e-03 9.99995979e-01 -1.65046748e-03 2.83130643e-01] [ 1.65540405e-02 1.61206746e-03 9.99861673e-01 1.15419706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71255784400006 meters Centerline goodness [0,1] 0.2653141532945652 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.15 [[ 9.99859359e-01 -2.37606762e-03 -1.66017277e-02 5.71784100e+00] [ 2.34888284e-03 9.99995869e-01 -1.65677388e-03 2.83034119e-01] [ 1.66055958e-02 1.61754536e-03 9.99860809e-01 1.15445172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74255784400003 meters Centerline goodness [0,1] 0.2546937186364423 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99883289e-01 3.86957543e-03 -1.47795336e-02 5.73892743e+00] [-3.93868028e-03 9.99981434e-01 -4.64947042e-03 2.82875958e-01] [ 1.47612677e-02 4.70713964e-03 9.99879967e-01 1.15448017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77255784400006 meters Centerline goodness [0,1] 0.2566747572815534 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99884852e-01 3.81136028e-03 -1.46886149e-02 5.73862694e+00] [-3.87943218e-03 9.99981855e-01 -4.60862657e-03 2.82305374e-01] [ 1.46707833e-02 4.66507938e-03 9.99881496e-01 1.15463747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80255784400003 meters Centerline goodness [0,1] 0.2641382454464538 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99887383e-01 3.78615509e-03 -1.45219519e-02 5.73826047e+00] [-3.84931226e-03 9.99983244e-01 -4.32359997e-03 2.80439744e-01] [ 1.45053387e-02 4.37901258e-03 9.99885203e-01 1.15465594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83255784400006 meters Centerline goodness [0,1] 0.26484306887532694 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99885710e-01 3.84818505e-03 -1.46204738e-02 5.73854581e+00] [-3.90878082e-03 9.99983881e-01 -4.11827042e-03 2.79355141e-01] [ 1.46043903e-02 4.17494797e-03 9.99884634e-01 1.15462984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86255784400004 meters Centerline goodness [0,1] 0.26507857158382053 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99884227e-01 3.91604139e-03 -1.47036136e-02 5.73889335e+00] [-3.97424370e-03 9.99984375e-01 -3.93123698e-03 2.78368839e-01] [ 1.46879890e-02 3.98921759e-03 9.99884168e-01 1.15441795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89255784400007 meters Centerline goodness [0,1] 0.2651355634184991 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99882479e-01 3.96445114e-03 -1.48091462e-02 5.73923132e+00] [-4.02105457e-03 9.99984717e-01 -3.79437544e-03 2.77547827e-01] [ 1.47938772e-02 3.85347791e-03 9.99883139e-01 1.15431381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92255784400004 meters Centerline goodness [0,1] 0.2642953136515368 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99880916e-01 4.11061245e-03 -1.48746987e-02 5.73954173e+00] [-4.16474685e-03 9.99984810e-01 -3.61021637e-03 2.76548878e-01] [ 1.48596326e-02 3.67173581e-03 9.99882848e-01 1.15403139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95255784400007 meters Centerline goodness [0,1] 0.2668698874975328 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.15 [[ 9.99880010e-01 -4.09841917e-03 -1.49388156e-02 5.72024483e+00] [ 4.06517501e-03 9.99989195e-01 -2.25504151e-03 2.79836399e-01] [ 1.49478963e-02 2.19404203e-03 9.99885867e-01 1.15218491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98255784400004 meters Centerline goodness [0,1] 0.2540383372819298 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.15 [[ 9.99911369e-01 -2.89544782e-03 -1.29950274e-02 5.76418169e+00] [ 2.86807996e-03 9.99993631e-01 -2.12416848e-03 2.82637477e-01] [ 1.30010950e-02 2.08670943e-03 9.99913305e-01 1.15249419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01255784400007 meters Centerline goodness [0,1] 0.2567517573066963 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.15 [[ 9.99912045e-01 -2.90784536e-03 -1.29401248e-02 5.76402745e+00] [ 2.87914188e-03 9.99993355e-01 -2.23625309e-03 2.83167241e-01] [ 1.29465415e-02 2.19879994e-03 9.99913772e-01 1.15248401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04255784400004 meters Centerline goodness [0,1] 0.26344958974692034 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.15 [[ 9.99916640e-01 -2.78890819e-03 -1.26069427e-02 5.76318347e+00] [ 2.75870827e-03 9.99993285e-01 -2.41225512e-03 2.84505841e-01] [ 1.26135856e-02 2.37727516e-03 9.99917620e-01 1.15238378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0725578440001 meters Centerline goodness [0,1] 0.25174268502581754 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99918645e-01 -2.79832248e-03 -1.24447862e-02 5.76276073e+00] [ 2.76694654e-03 9.99992952e-01 -2.53771568e-03 2.85273500e-01] [ 1.24517998e-02 2.50307516e-03 9.99919340e-01 1.15232323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10255784400005 meters Centerline goodness [0,1] 0.26634577688722394 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99908825e-01 5.16839950e-03 -1.24751851e-02 5.74268622e+00] [-5.21415220e-03 9.99979789e-01 -3.63776172e-03 2.80486488e-01] [ 1.24561315e-02 3.70247756e-03 9.99915565e-01 1.15061667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1325578440001 meters Centerline goodness [0,1] 0.266333968087202 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99907465e-01 5.12660327e-03 -1.26007829e-02 5.74319014e+00] [-5.17461164e-03 9.99979466e-01 -3.78030545e-03 2.81242446e-01] [ 1.25811440e-02 3.84515980e-03 9.99913461e-01 1.15023276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16255784400005 meters Centerline goodness [0,1] 0.266333968087202 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99907465e-01 5.12660327e-03 -1.26007829e-02 5.74319014e+00] [-5.17461164e-03 9.99979466e-01 -3.78030545e-03 2.81242446e-01] [ 1.25811440e-02 3.84515980e-03 9.99913461e-01 1.15023276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1925578440001 meters Centerline goodness [0,1] 0.2546570428318278 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99900629e-01 -2.44906291e-03 -1.38829074e-02 5.76388395e+00] [ 2.40602761e-03 9.99992252e-01 -3.11573187e-03 2.87961732e-01] [ 1.38904305e-02 3.08201960e-03 9.99898773e-01 1.15130551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22255784400005 meters Centerline goodness [0,1] 0.25736815736162244 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99900219e-01 -2.40049158e-03 -1.39208079e-02 5.76379235e+00] [ 2.36024378e-03 9.99992990e-01 -2.90690559e-03 2.86926017e-01] [ 1.39276883e-02 2.87375903e-03 9.99898875e-01 1.15164606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2525578440001 meters Centerline goodness [0,1] 0.25420095279341703 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99901375e-01 -2.34344934e-03 -1.38473053e-02 5.76340859e+00] [ 2.30825662e-03 9.99994067e-01 -2.55692111e-03 2.85155092e-01] [ 1.38532152e-02 2.52470580e-03 9.99900852e-01 1.15204300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28255784400005 meters Centerline goodness [0,1] 0.2667756703727927 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.15 [[ 9.99897123e-01 -2.85703608e-03 -1.40563670e-02 5.76422189e+00] [ 2.82396282e-03 9.99993199e-01 -2.37218856e-03 2.82082270e-01] [ 1.40630489e-02 2.33224985e-03 9.99898390e-01 1.15183262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.312557844 meters Centerline goodness [0,1] 0.25656924811378023 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.15 [[ 9.99893883e-01 -2.81604672e-03 -1.42930867e-02 5.76492677e+00] [ 2.78757607e-03 9.99994092e-01 -2.01144908e-03 2.79849101e-01] [ 1.42986666e-02 1.97139256e-03 9.99895825e-01 1.15174819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34255784400005 meters Centerline goodness [0,1] 0.2572864103010266 Centerline is valid? [False, False] Translation: X:5.77, Y:0.28, Z:1.15 [[ 9.99894099e-01 -2.71312224e-03 -1.42978884e-02 5.76500920e+00] [ 2.68964369e-03 9.99995003e-01 -1.66107230e-03 2.77958782e-01] [ 1.43023237e-02 1.62244017e-03 9.99896400e-01 1.15166848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.372557844 meters Centerline goodness [0,1] 0.25808978739146515 Centerline is valid? [False, False] Translation: X:5.77, Y:0.28, Z:1.15 [[ 9.99894782e-01 -2.58648812e-03 -1.42735433e-02 5.76505599e+00] [ 2.56745880e-03 9.99995791e-01 -1.35135171e-03 2.76586487e-01] [ 1.42769785e-02 1.31456279e-03 9.99897215e-01 1.15147890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40255784400006 meters Centerline goodness [0,1] 0.24978468693480316 Centerline is valid? [False, False] Translation: X:5.77, Y:0.27, Z:1.15 [[ 9.99891299e-01 -2.36833247e-03 -1.45526797e-02 5.76624661e+00] [ 2.35531143e-03 9.99996811e-01 -9.11825632e-04 2.74804724e-01] [ 1.45547928e-02 8.77450424e-04 9.99893688e-01 1.15072103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43255784400003 meters Centerline goodness [0,1] 0.2698133918770582 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.15 [[ 9.99841456e-01 -2.78653037e-03 -1.75868522e-02 5.72183997e+00] [ 2.77523249e-03 9.99995927e-01 -6.66778215e-04 2.71369651e-01] [ 1.75886385e-02 6.17864898e-04 9.99845117e-01 1.15089728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46255784400006 meters Centerline goodness [0,1] 0.2590452096918413 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.15 [[ 9.99839577e-01 -2.76794290e-03 -1.76962720e-02 5.72207177e+00] [ 2.75561322e-03 9.99995943e-01 -7.21085200e-04 2.71722251e-01] [ 1.76981962e-02 6.72205440e-04 9.99843149e-01 1.15094183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49255784400003 meters Centerline goodness [0,1] 0.25255102040816324 Centerline is valid? [False, False] Translation: X:5.74, Y:0.27, Z:1.15 [[ 9.99851354e-01 6.42686999e-03 -1.59989054e-02 5.74200339e+00] [-6.45440817e-03 9.99977775e-01 -1.67021375e-03 2.72456652e-01] [ 1.59878156e-02 1.77322894e-03 9.99870614e-01 1.15192207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52255784400006 meters Centerline goodness [0,1] 0.25776242313625797 Centerline is valid? [False, False] Translation: X:5.74, Y:0.27, Z:1.15 [[ 9.99859448e-01 6.38560299e-03 -1.55018979e-02 5.74069057e+00] [-6.41765355e-03 9.99977369e-01 -2.01865962e-03 2.74510876e-01] [ 1.54886567e-02 2.11786170e-03 9.99877801e-01 1.15198880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55255784400003 meters Centerline goodness [0,1] 0.2584384293125529 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.15 [[ 9.99866711e-01 6.30676108e-03 -1.50593572e-02 5.73944078e+00] [-6.34434838e-03 9.99976874e-01 -2.44947543e-03 2.76923786e-01] [ 1.50435607e-02 2.54469076e-03 9.99883601e-01 1.15216447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58255784400006 meters Centerline goodness [0,1] 0.2532305306685044 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99889881e-01 -6.41467024e-04 -1.48261585e-02 5.75665945e+00] [ 6.19244206e-04 9.99998678e-01 -1.50343464e-03 2.86806175e-01] [ 1.48271033e-02 1.49408807e-03 9.99888956e-01 1.15434595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61255784400004 meters Centerline goodness [0,1] 0.25566364029399047 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99887302e-01 -7.91972727e-04 -1.49919001e-02 5.75713002e+00] [ 7.64156308e-04 9.99997976e-01 -1.86106733e-03 2.88434471e-01] [ 1.49933437e-02 1.84940143e-03 9.99885883e-01 1.15423461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64255784400007 meters Centerline goodness [0,1] 0.2659420132949354 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99884766e-01 -8.75342662e-04 -1.51554976e-02 5.75752853e+00] [ 8.43821680e-04 9.99997468e-01 -2.08610782e-03 2.89585992e-01] [ 1.51572853e-02 2.07307889e-03 9.99882973e-01 1.15420882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67255784400004 meters Centerline goodness [0,1] 0.2689464759337362 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99884785e-01 -9.35664437e-04 -1.51506041e-02 5.75752879e+00] [ 9.02065825e-04 9.99997119e-01 -2.22432369e-03 2.90308041e-01] [ 1.51526417e-02 2.21040057e-03 9.99882749e-01 1.15414900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70255784400007 meters Centerline goodness [0,1] 0.26596947427925377 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99885826e-01 -1.01307323e-03 -1.50767565e-02 5.75717342e+00] [ 9.78235086e-04 9.99996835e-01 -2.31791382e-03 2.90571448e-01] [ 1.50790570e-02 2.30290057e-03 9.99883653e-01 1.15444234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73255784400004 meters Centerline goodness [0,1] 0.2569650716562236 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99887064e-01 -1.20830907e-03 -1.49799819e-02 5.75689534e+00] [ 1.17197652e-03 9.99996351e-01 -2.43394861e-03 2.90459399e-01] [ 1.49828682e-02 2.41611754e-03 9.99884831e-01 1.15459591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76255784400007 meters Centerline goodness [0,1] 0.2698322558098899 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99886965e-01 -1.22431321e-03 -1.49852750e-02 5.75684490e+00] [ 1.18728618e-03 9.99996221e-01 -2.47954148e-03 2.90835637e-01] [ 1.49882541e-02 2.46146940e-03 9.99884640e-01 1.15468269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79255784400004 meters Centerline goodness [0,1] 0.26593420853429073 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99887397e-01 -1.20303757e-03 -1.49581478e-02 5.75659871e+00] [ 1.16182355e-03 9.99995506e-01 -2.76367339e-03 2.93284540e-01] [ 1.49614054e-02 2.74598347e-03 9.99884301e-01 1.15495969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8225578440001 meters Centerline goodness [0,1] 0.25898216615919967 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.15 [[ 9.99886873e-01 -1.32718337e-03 -1.49826510e-02 5.75681586e+00] [ 1.27934680e-03 9.99994055e-01 -3.20193049e-03 2.95480519e-01] [ 1.49868115e-02 3.18240026e-03 9.99882627e-01 1.15463836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85255784400005 meters Centerline goodness [0,1] 0.2550090681405993 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.15 [[ 9.99884188e-01 -1.42527760e-03 -1.51518710e-02 5.75740639e+00] [ 1.36934958e-03 9.99992214e-01 -3.70089694e-03 2.97991614e-01] [ 1.51570279e-02 3.67972012e-03 9.99878355e-01 1.15425192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8825578440001 meters Centerline goodness [0,1] 0.25202728793924567 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.15 [[ 9.99884385e-01 -1.51737780e-03 -1.51299075e-02 5.75749529e+00] [ 1.45405525e-03 9.99990142e-01 -4.19537948e-03 3.00638050e-01] [ 1.51361243e-02 4.17289471e-03 9.99876735e-01 1.15383777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91255784400005 meters Centerline goodness [0,1] 0.25582996299802085 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99906870e-01 -2.66530006e-04 -1.36447874e-02 5.75186389e+00] [ 2.23794309e-04 9.99995066e-01 -3.13344749e-03 3.01141969e-01] [ 1.36455552e-02 3.13010204e-03 9.99901996e-01 1.15607524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9425578440001 meters Centerline goodness [0,1] 0.2526865543328748 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99909589e-01 -2.21039400e-04 -1.34449217e-02 5.75091469e+00] [ 1.80946062e-04 9.99995534e-01 -2.98318664e-03 3.00433401e-01] [ 1.34455210e-02 2.98048412e-03 9.99905163e-01 1.15682118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97255784400005 meters Centerline goodness [0,1] 0.25583248960599725 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99909729e-01 -1.84329799e-04 -1.34350460e-02 5.75065215e+00] [ 1.48592343e-04 9.99996449e-01 -2.66096708e-03 2.98451809e-01] [ 1.34354888e-02 2.65873053e-03 9.99906205e-01 1.15732374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0025578440001 meters Centerline goodness [0,1] 0.2588859991330733 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99908492e-01 -1.88793929e-04 -1.35267355e-02 5.75085595e+00] [ 1.57806394e-04 9.99997361e-01 -2.29186688e-03 2.95863861e-01] [ 1.35271325e-02 2.28952255e-03 9.99905883e-01 1.15744060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03255784400005 meters Centerline goodness [0,1] 0.2546323197107625 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99899948e-01 -2.94895941e-04 -1.41423577e-02 5.75288731e+00] [ 2.70546069e-04 9.99998478e-01 -1.72365117e-03 2.91706755e-01] [ 1.41428445e-02 1.71965256e-03 9.99898506e-01 1.15677936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.062557844 meters Centerline goodness [0,1] 0.2574677159876516 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99897273e-01 -1.32134122e-04 -1.43326798e-02 5.75379932e+00] [ 1.12593680e-04 9.99999063e-01 -1.36414719e-03 2.90194143e-01] [ 1.43328466e-02 1.36239329e-03 9.99896351e-01 1.15608107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09255784400005 meters Centerline goodness [0,1] 0.2535002258210207 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.16 [[ 9.99891536e-01 7.89820159e-06 -1.47280921e-02 5.75538749e+00] [-2.42115210e-05 9.99999386e-01 -1.10745492e-03 2.89090594e-01] [ 1.47280744e-02 1.10769139e-03 9.99890922e-01 1.15517541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.122557844 meters Centerline goodness [0,1] 0.25439728207113066 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99886085e-01 3.09750688e-05 -1.50935778e-02 5.75701610e+00] [-4.71973716e-05 9.99999422e-01 -1.07442679e-03 2.88663935e-01] [ 1.50935357e-02 1.07501677e-03 9.99885508e-01 1.15400591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15255784400006 meters Centerline goodness [0,1] 0.25568194081716344 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99869325e-01 4.08244620e-04 -1.61606567e-02 5.76034807e+00] [-4.24644114e-04 9.99999398e-01 -1.01136050e-03 2.89116682e-01] [ 1.61602341e-02 1.01809087e-03 9.99868897e-01 1.15272458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18255784400003 meters Centerline goodness [0,1] 0.26696071795095744 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99867999e-01 5.05539668e-04 -1.62397177e-02 5.76070400e+00] [-5.24279867e-04 9.99999202e-01 -1.14973656e-03 2.90490740e-01] [ 1.62391235e-02 1.15809895e-03 9.99867466e-01 1.15232764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21255784400006 meters Centerline goodness [0,1] 0.25800078162317075 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99866849e-01 5.64655497e-04 -1.63084647e-02 5.76117478e+00] [-5.86465206e-04 9.99998940e-01 -1.33257294e-03 2.92020380e-01] [ 1.63076950e-02 1.34195986e-03 9.99866120e-01 1.15175505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24255784400003 meters Centerline goodness [0,1] 0.2678234055028339 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99868444e-01 5.05253720e-04 -1.62122967e-02 5.76108125e+00] [-5.29871153e-04 9.99998713e-01 -1.51418251e-03 2.92852894e-01] [ 1.62115108e-02 1.52257374e-03 9.99867426e-01 1.15148051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27255784400006 meters Centerline goodness [0,1] 0.25517894827511955 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99868132e-01 4.04398982e-04 -1.62343627e-02 5.76116520e+00] [-4.30630933e-04 9.99998607e-01 -1.61236562e-03 2.92761871e-01] [ 1.62336881e-02 1.61914402e-03 9.99866914e-01 1.15143514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30255784400003 meters Centerline goodness [0,1] 0.25677305422750574 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99875315e-01 1.45410886e-04 -1.57903198e-02 5.75961415e+00] [-1.71861322e-04 9.99998584e-01 -1.67376047e-03 2.92024107e-01] [ 1.57900541e-02 1.67626553e-03 9.99873924e-01 1.15223021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33255784400006 meters Centerline goodness [0,1] 0.26605943349057626 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99878951e-01 1.70823126e-04 -1.55580794e-02 5.75871530e+00] [-1.95961851e-04 9.99998678e-01 -1.61428862e-03 2.91989260e-01] [ 1.55577831e-02 1.61714200e-03 9.99877663e-01 1.15276775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36255784400004 meters Centerline goodness [0,1] 0.2558925457950363 Centerline is valid? [False, False] Translation: X:5.78, Y:0.30, Z:1.15 [[ 9.99882907e-01 -6.10548170e-03 -1.40319672e-02 5.77864884e+00] [ 6.12320029e-03 9.99980509e-01 1.22011458e-03 2.96061779e-01] [ 1.40242443e-02 -1.30589225e-03 9.99900803e-01 1.15308474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39255784400007 meters Centerline goodness [0,1] 0.25558794946550045 Centerline is valid? [False, False] Translation: X:5.78, Y:0.30, Z:1.15 [[ 9.99876317e-01 -6.27399885e-03 -1.44217602e-02 5.77982495e+00] [ 6.29122970e-03 9.99979549e-01 1.14972414e-03 2.95804968e-01] [ 1.44142519e-02 -1.24031254e-03 9.99895340e-01 1.15285063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42255784400004 meters Centerline goodness [0,1] 0.2576699071167211 Centerline is valid? [False, False] Translation: X:5.78, Y:0.30, Z:1.15 [[ 9.99868981e-01 -6.36182254e-03 -1.48844831e-02 5.78130645e+00] [ 6.37951678e-03 9.99978999e-01 1.14159209e-03 2.95323745e-01] [ 1.48769080e-02 -1.23639833e-03 9.99888568e-01 1.15234428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45255784400007 meters Centerline goodness [0,1] 0.25641805969175924 Centerline is valid? [False, False] Translation: X:5.78, Y:0.29, Z:1.15 [[ 9.99863233e-01 -6.37812484e-03 -1.52589252e-02 5.78249931e+00] [ 6.39715076e-03 9.99978820e-01 1.19838629e-03 2.94890811e-01] [ 1.52509585e-02 -1.29583603e-03 9.99882858e-01 1.15190233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48255784400004 meters Centerline goodness [0,1] 0.25519518353078263 Centerline is valid? [False, False] Translation: X:5.80, Y:0.29, Z:1.15 [[ 9.99880511e-01 1.57708331e-03 -1.53778047e-02 5.80152226e+00] [-1.57840127e-03 9.99998752e-01 -7.35689258e-05 2.91835390e-01] [ 1.53776695e-02 9.78324817e-05 9.99881752e-01 1.15365063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51255784400007 meters Centerline goodness [0,1] 0.25438407977305943 Centerline is valid? [False, False] Translation: X:5.80, Y:0.29, Z:1.15 [[ 9.99886727e-01 1.47334066e-03 -1.49787552e-02 5.80010565e+00] [-1.47234264e-03 9.99998913e-01 7.76562924e-05 2.90562356e-01] [ 1.49788534e-02 -5.55936360e-05 9.99887809e-01 1.15446562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54255784400004 meters Centerline goodness [0,1] 0.2603503707105833 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99858244e-01 4.14073292e-04 -1.68321083e-02 5.75201580e+00] [-4.15054620e-04 9.99999912e-01 -5.48076499e-05 2.86999911e-01] [ 1.68320842e-02 6.17861249e-05 9.99858329e-01 1.15624564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5725578440001 meters Centerline goodness [0,1] 0.25900376471612296 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99860923e-01 4.47448425e-04 -1.66713920e-02 5.75139589e+00] [-4.46863093e-04 9.99999899e-01 3.88351197e-05 2.86757972e-01] [ 1.66714077e-02 -3.13798888e-05 9.99861022e-01 1.15661494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60255784400005 meters Centerline goodness [0,1] 0.25824486599373475 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99861761e-01 4.73581478e-04 -1.66203170e-02 5.75133654e+00] [-4.72902984e-04 9.99999887e-01 4.47532884e-05 2.87039396e-01] [ 1.66203364e-02 -3.68873042e-05 9.99861872e-01 1.15650258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6325578440001 meters Centerline goodness [0,1] 0.25676056033082906 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99852874e-01 4.26354846e-04 -1.71478301e-02 5.75340230e+00] [-4.28362526e-04 9.99999902e-01 -1.13407882e-04 2.87668043e-01] [ 1.71477801e-02 1.20736685e-04 9.99852959e-01 1.15526076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66255784400005 meters Centerline goodness [0,1] 0.25734174461605397 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99851534e-01 3.89794951e-04 -1.72266902e-02 5.75368426e+00] [-3.92375852e-04 9.99999912e-01 -1.46440249e-04 2.87493739e-01] [ 1.72266316e-02 1.53177844e-04 9.99851599e-01 1.15513289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6925578440001 meters Centerline goodness [0,1] 0.2564490342652206 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99855469e-01 4.15465706e-04 -1.69961469e-02 5.75270420e+00] [-4.16584500e-04 9.99999911e-01 -6.22859422e-05 2.87054314e-01] [ 1.69961195e-02 6.93572713e-05 9.99855553e-01 1.15580878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72255784400005 meters Centerline goodness [0,1] 0.25712244544509877 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99873003e-01 5.52809563e-04 -1.59270766e-02 5.74891007e+00] [-5.48082808e-04 9.99999804e-01 3.01138222e-04 2.85715675e-01] [ 1.59272400e-02 -2.92370621e-04 9.99873111e-01 1.15778416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7525578440001 meters Centerline goodness [0,1] 0.25580993146983155 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99873970e-01 5.77042938e-04 -1.58654302e-02 5.74868081e+00] [-5.70537154e-04 9.99999751e-01 4.14583492e-04 2.85050989e-01] [ 1.58656654e-02 -4.05479424e-04 9.99874050e-01 1.15794521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78255784400005 meters Centerline goodness [0,1] 0.25669890253178307 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.16 [[ 9.99870822e-01 5.61988503e-04 -1.60631376e-02 5.74937307e+00] [-5.55111275e-04 9.99999752e-01 4.32592794e-04 2.84677450e-01] [ 1.60633767e-02 -4.23620084e-04 9.99870886e-01 1.15762070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.812557844 meters Centerline goodness [0,1] 0.2565260826130391 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.16 [[ 9.99867053e-01 5.67160543e-04 -1.62958555e-02 5.75014914e+00] [-5.59797164e-04 9.99999739e-01 4.56413856e-04 2.84415630e-01] [ 1.62961101e-02 -4.47230804e-04 9.99867110e-01 1.15729030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84255784400005 meters Centerline goodness [0,1] 0.25594114200143236 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.16 [[ 9.99865293e-01 6.48218682e-04 -1.64004858e-02 5.75036137e+00] [-6.40609035e-04 9.99999685e-01 4.69238389e-04 2.84748138e-01] [ 1.64007848e-02 -4.58668880e-04 9.99865393e-01 1.15731681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.872557844 meters Centerline goodness [0,1] 0.25524650414283545 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.16 [[ 9.99868455e-01 7.01607993e-04 -1.62043565e-02 5.74975573e+00] [-6.93574467e-04 9.99999634e-01 5.01377862e-04 2.84887130e-01] [ 1.62047023e-02 -4.90072980e-04 9.99868575e-01 1.15748252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90255784400006 meters Centerline goodness [0,1] 0.258282208588957 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99868698e-01 6.88281481e-04 -1.61899344e-02 5.74968705e+00] [-6.81131762e-04 9.99999668e-01 4.47125026e-04 2.85184677e-01] [ 1.61902368e-02 -4.36038839e-04 9.99868834e-01 1.15752230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93255784400003 meters Centerline goodness [0,1] 0.25905231682563246 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99866530e-01 6.45864542e-04 -1.63250080e-02 5.75014796e+00] [-6.40118424e-04 9.99999731e-01 3.57205452e-04 2.85384022e-01] [ 1.63252343e-02 -3.46707837e-04 9.99866674e-01 1.15731197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96255784400006 meters Centerline goodness [0,1] 0.25715277325871455 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99863967e-01 5.77921302e-04 -1.64837641e-02 5.75080158e+00] [-5.74286814e-04 9.99999810e-01 2.25221616e-04 2.85735209e-01] [ 1.64838912e-02 -2.15724570e-04 9.99864108e-01 1.15685365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99255784400003 meters Centerline goodness [0,1] 0.25398913230981546 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99861928e-01 4.55808192e-04 -1.66107374e-02 5.75142501e+00] [-4.60166688e-04 9.99999861e-01 -2.58569056e-04 2.88328232e-01] [ 1.66106173e-02 2.66177063e-04 9.99861999e-01 1.15625513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02255784400006 meters Centerline goodness [0,1] 0.25494377665761925 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99865588e-01 3.76686905e-04 -1.63909902e-02 5.75086877e+00] [-3.85741367e-04 9.99999775e-01 -5.49246775e-04 2.89976542e-01] [ 1.63907796e-02 5.55495633e-04 9.99865508e-01 1.15617791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05255784400003 meters Centerline goodness [0,1] 0.25494377665761925 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99865588e-01 3.76686905e-04 -1.63909902e-02 5.75086877e+00] [-3.85741367e-04 9.99999775e-01 -5.49246775e-04 2.89976542e-01] [ 1.63907796e-02 5.55495633e-04 9.99865508e-01 1.15617791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08255784400006 meters Centerline goodness [0,1] 0.2538602347367288 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99869888e-01 2.94509600e-04 -1.61282188e-02 5.74996332e+00] [-3.07910163e-04 9.99999609e-01 -8.28399954e-04 2.91458638e-01] [ 1.61279685e-02 8.33258212e-04 9.99869589e-01 1.15654700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11255784400004 meters Centerline goodness [0,1] 0.2557137625745859 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.16 [[ 9.99873728e-01 1.62063105e-04 -1.58903314e-02 5.74899128e+00] [-1.80537363e-04 9.99999310e-01 -1.16118245e-03 2.92993204e-01] [ 1.58901322e-02 1.16390462e-03 9.99873066e-01 1.15712595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14255784400007 meters Centerline goodness [0,1] 0.2501715560130383 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99871360e-01 -1.45360256e-04 -1.60387992e-02 5.74934915e+00] [ 1.14153353e-04 9.99998099e-01 -1.94661157e-03 2.96871840e-01] [ 1.60390517e-02 1.94453027e-03 9.99869475e-01 1.15701655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17255784400004 meters Centerline goodness [0,1] 0.2541448375482397 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99868255e-01 -2.77355064e-04 -1.62294860e-02 5.75022147e+00] [ 2.39242125e-04 9.99997209e-01 -2.35027064e-03 2.99134376e-01] [ 1.62300926e-02 2.34607822e-03 9.99865531e-01 1.15634619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20255784400007 meters Centerline goodness [0,1] 0.25219373709566417 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99865980e-01 -3.76448021e-04 -1.63670231e-02 5.75075192e+00] [ 3.32892951e-04 9.99996397e-01 -2.66379097e-03 3.00949909e-01] [ 1.63679669e-02 2.65798551e-03 9.99862503e-01 1.15599895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23255784400004 meters Centerline goodness [0,1] 0.25544515793127387 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99865664e-01 -4.52305081e-04 -1.63844055e-02 5.75089392e+00] [ 4.05613697e-04 9.99995848e-01 -2.85295637e-03 3.01912973e-01] [ 1.63856279e-02 2.84592738e-03 9.99861696e-01 1.15580755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26255784400007 meters Centerline goodness [0,1] 0.2534034120282612 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99862962e-01 -5.96761315e-04 -1.65438848e-02 5.75137999e+00] [ 5.45358751e-04 9.99995011e-01 -3.11138053e-03 3.02908030e-01] [ 1.65456590e-02 3.10193180e-03 9.99858300e-01 1.15568913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29255784400004 meters Centerline goodness [0,1] 0.24983900742712406 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99860919e-01 -6.55951244e-04 -1.66647280e-02 5.75178770e+00] [ 6.01972840e-04 9.99994557e-01 -3.24389075e-03 3.03518093e-01] [ 1.66667652e-02 3.23340788e-03 9.99855872e-01 1.15552789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3225578440001 meters Centerline goodness [0,1] 0.2548981276336939 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99859471e-01 -7.51905876e-04 -1.67473095e-02 5.75213268e+00] [ 6.93992000e-04 9.99993761e-01 -3.46364356e-03 3.04500974e-01] [ 1.67498093e-02 3.45153432e-03 9.99853755e-01 1.15529841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35255784400005 meters Centerline goodness [0,1] 0.25328748161605674 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:1.16 [[ 9.99858226e-01 -8.30942651e-04 -1.68177453e-02 5.75239878e+00] [ 7.68619487e-04 9.99992815e-01 -3.71192232e-03 3.05772559e-01] [ 1.68207089e-02 3.69846962e-03 9.99851682e-01 1.15508935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3825578440001 meters Centerline goodness [0,1] 0.25735406022393736 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:1.16 [[ 9.99858491e-01 -9.37770096e-04 -1.67963636e-02 5.75237146e+00] [ 8.70632792e-04 9.99991605e-01 -4.00399963e-03 3.07324095e-01] [ 1.67999774e-02 3.98880957e-03 9.99850914e-01 1.15500009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41255784400005 meters Centerline goodness [0,1] 0.25505571605447797 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:1.16 [[ 9.99861538e-01 -1.03184583e-03 -1.66084197e-02 5.75180675e+00] [ 9.59195351e-04 9.99989940e-01 -4.38168804e-03 3.09725260e-01] [ 1.66127738e-02 4.36515062e-03 9.99852470e-01 1.15506583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4425578440001 meters Centerline goodness [0,1] 0.2530672196302056 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:1.16 [[ 9.99862337e-01 -1.03379308e-03 -1.65601517e-02 5.75157157e+00] [ 9.61583443e-04 9.99989999e-01 -4.36781448e-03 3.09687589e-01] [ 1.65645015e-02 4.35128923e-03 9.99853331e-01 1.15526498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47255784400005 meters Centerline goodness [0,1] 0.25393555661563816 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:1.16 [[ 9.99861991e-01 -1.01693201e-03 -1.65820662e-02 5.75149558e+00] [ 9.47361033e-04 9.99990719e-01 -4.20287105e-03 3.08673286e-01] [ 1.65861863e-02 4.18658181e-03 9.99853675e-01 1.15552079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5025578440001 meters Centerline goodness [0,1] 0.25122972040041425 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:1.16 [[ 9.99859665e-01 -1.02960382e-03 -1.67209461e-02 5.75177040e+00] [ 9.62216082e-04 9.99991386e-01 -4.03768453e-03 3.07531329e-01] [ 1.67249593e-02 4.02102873e-03 9.99852043e-01 1.15568303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53255784400005 meters Centerline goodness [0,1] 0.25144521138912856 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:1.16 [[ 9.99860023e-01 -9.81199273e-04 -1.67024473e-02 5.75170273e+00] [ 9.18071497e-04 9.99992409e-01 -3.78680048e-03 3.06080776e-01] [ 1.67060361e-02 3.77093638e-03 9.99853333e-01 1.15576628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.562557844 meters Centerline goodness [0,1] 0.2541215617640068 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99867787e-01 -9.07157580e-04 -1.62353364e-02 5.75024208e+00] [ 8.52631569e-04 9.99993975e-01 -3.36508426e-03 3.03950336e-01] [ 1.62382912e-02 3.35079659e-03 9.99862536e-01 1.15636184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59255784400005 meters Centerline goodness [0,1] 0.2546669540849321 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99870032e-01 -8.47927040e-04 -1.60997091e-02 5.74982064e+00] [ 7.95796686e-04 9.99994421e-01 -3.24409906e-03 3.03467373e-01] [ 1.61023700e-02 3.23086534e-03 9.99865128e-01 1.15650520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.622557844 meters Centerline goodness [0,1] 0.2530404164776532 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99869508e-01 -7.61625093e-04 -1.61365079e-02 5.75017077e+00] [ 7.12769736e-04 9.99995146e-01 -3.03316373e-03 3.02250391e-01] [ 1.61387397e-02 3.02126631e-03 9.99865197e-01 1.15610730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65255784400006 meters Centerline goodness [0,1] 0.254291052883153 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99866968e-01 -6.69195126e-04 -1.62972134e-02 5.75077792e+00] [ 6.23133233e-04 9.99995798e-01 -2.83128020e-03 3.01189826e-01] [ 1.62990396e-02 2.82074821e-03 9.99863183e-01 1.15576918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68255784400003 meters Centerline goodness [0,1] 0.250968992248062 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.16 [[ 9.99863138e-01 -5.74238925e-04 -1.65341011e-02 5.75160308e+00] [ 5.30341572e-04 9.99996324e-01 -2.65922082e-03 3.00334908e-01] [ 1.65355673e-02 2.65008815e-03 9.99859766e-01 1.15536236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71255784400006 meters Centerline goodness [0,1] 0.25563812040988754 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.15 [[ 9.99860507e-01 -5.36509362e-04 -1.66936462e-02 5.75229189e+00] [ 4.93415296e-04 9.99996536e-01 -2.58547684e-03 2.99914222e-01] [ 1.66949756e-02 2.57687929e-03 9.99857309e-01 1.15487596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74255784400003 meters Centerline goodness [0,1] 0.25521173347260306 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.15 [[ 9.99856252e-01 -4.72163035e-04 -1.69485415e-02 5.75324296e+00] [ 4.30993685e-04 9.99996948e-01 -2.43264966e-03 2.98852355e-01] [ 1.69496384e-02 2.42499525e-03 9.99853404e-01 1.15435038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77255784400006 meters Centerline goodness [0,1] 0.2551033732317737 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.15 [[ 9.99856095e-01 -4.11393242e-04 -1.69593765e-02 5.75320264e+00] [ 3.72538479e-04 9.99997299e-01 -2.29414461e-03 2.98155581e-01] [ 1.69602745e-02 2.28749645e-03 9.99853547e-01 1.15445231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80255784400003 meters Centerline goodness [0,1] 0.2544429808460559 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.15 [[ 9.99858960e-01 -3.32338221e-04 -1.67913574e-02 5.75267843e+00] [ 2.96659991e-04 9.99997693e-01 -2.12724340e-03 2.97511336e-01] [ 1.67920256e-02 2.12196205e-03 9.99856752e-01 1.15462376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83255784400006 meters Centerline goodness [0,1] 0.2537264997944746 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.15 [[ 9.99861961e-01 -2.21994236e-04 -1.66135423e-02 5.75204472e+00] [ 1.90946004e-04 9.99998233e-01 -1.87041373e-03 2.96416674e-01] [ 1.66139282e-02 1.86698325e-03 9.99860236e-01 1.15494831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86255784400004 meters Centerline goodness [0,1] 0.2534811702795764 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.15 [[ 9.99855465e-01 -1.39893931e-04 -1.70008515e-02 5.75341221e+00] [ 1.16263294e-04 9.99999026e-01 -1.39094824e-03 2.93615084e-01] [ 1.70010295e-02 1.38877062e-03 9.99854508e-01 1.15434590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89255784400007 meters Centerline goodness [0,1] 0.25268423095166226 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99846519e-01 -8.45626239e-05 -1.75194719e-02 5.75510291e+00] [ 6.56445739e-05 9.99999414e-01 -1.08040218e-03 2.91685131e-01] [ 1.75195530e-02 1.07908630e-03 9.99845939e-01 1.15376560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92255784400004 meters Centerline goodness [0,1] 0.2508982164755491 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99841774e-01 3.01380268e-05 -1.77883543e-02 5.75585232e+00] [-4.25269964e-05 9.99999757e-01 -6.96087331e-04 2.89539979e-01] [ 1.77883290e-02 6.96733678e-04 9.99841532e-01 1.15370305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95255784400007 meters Centerline goodness [0,1] 0.2547676837725381 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.15 [[ 9.99842293e-01 1.78096201e-04 -1.77583014e-02 5.75551803e+00] [-1.83416700e-04 9.99999939e-01 -2.97978037e-04 2.87587767e-01] [ 1.77582472e-02 3.01188213e-04 9.99842265e-01 1.15418366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98255784400004 meters Centerline goodness [0,1] 0.25310970746114214 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.16 [[ 9.99854433e-01 3.95511813e-04 -1.70574404e-02 5.75298203e+00] [-3.89680183e-04 9.99999864e-01 3.45204237e-04 2.84164527e-01] [ 1.70575746e-02 -3.38507040e-04 9.99854452e-01 1.15553314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01255784400007 meters Centerline goodness [0,1] 0.2560033001867211 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.16 [[ 9.99859712e-01 5.04621941e-04 -1.67422148e-02 5.75202432e+00] [-4.95266251e-04 9.99999719e-01 5.62949935e-04 2.83175461e-01] [ 1.67424942e-02 -5.54579105e-04 9.99859681e-01 1.15581027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04255784400004 meters Centerline goodness [0,1] 0.2558830598466144 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.16 [[ 9.99860700e-01 5.80297737e-04 -1.66806527e-02 5.75198683e+00] [-5.68843570e-04 9.99999599e-01 6.91410260e-04 2.82693994e-01] [ 1.66810473e-02 -6.81825264e-04 9.99860629e-01 1.15560723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0725578440001 meters Centerline goodness [0,1] 0.253032629143512 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.15 [[ 9.99855106e-01 6.62176641e-04 -1.70096649e-02 5.75327696e+00] [-6.49748142e-04 9.99999518e-01 7.36188796e-04 2.82698933e-01] [ 1.70101442e-02 -7.25030128e-04 9.99855054e-01 1.15475685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10255784400005 meters Centerline goodness [0,1] 0.25552974885497837 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.15 [[ 9.99849028e-01 6.88393122e-04 -1.73622613e-02 5.75467137e+00] [-6.76517390e-04 9.99999533e-01 6.89860921e-04 2.83013878e-01] [ 1.73627281e-02 -6.78010899e-04 9.99849027e-01 1.15386904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1325578440001 meters Centerline goodness [0,1] 0.254431153409587 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.15 [[ 9.99839992e-01 9.44467362e-04 -1.78633309e-02 5.75630702e+00] [-9.32552116e-04 9.99999337e-01 6.75340776e-04 2.83705476e-01] [ 1.78639569e-02 -6.58574229e-04 9.99840210e-01 1.15306093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16255784400005 meters Centerline goodness [0,1] 0.2535516020457228 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.15 [[ 9.99845156e-01 9.73975476e-04 -1.75703163e-02 5.75539473e+00] [-9.64888408e-04 9.99999396e-01 5.25652888e-04 2.84789958e-01] [ 1.75708177e-02 -5.08618099e-04 9.99845492e-01 1.15332546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1925578440001 meters Centerline goodness [0,1] 0.25746955226496104 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.15 [[ 9.99852187e-01 1.00191716e-03 -1.71639086e-02 5.75408609e+00] [-9.95480213e-04 9.99999431e-01 3.83567640e-04 2.85890176e-01] [ 1.71642831e-02 -3.66424612e-04 9.99852616e-01 1.15376237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22255784400005 meters Centerline goodness [0,1] 0.25354276194803227 Centerline is valid? [False, False] Translation: X:5.80, Y:0.29, Z:1.15 [[ 9.99898009e-01 2.20405104e-03 -1.41107975e-02 5.79553939e+00] [-2.19592924e-03 9.99997414e-01 5.91041685e-04 2.91407032e-01] [ 1.41120637e-02 -5.59995091e-04 9.99900263e-01 1.15467198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2525578440001 meters Centerline goodness [0,1] 0.25432227963459564 Centerline is valid? [False, False] Translation: X:5.80, Y:0.29, Z:1.15 [[ 9.99899694e-01 2.15175994e-03 -1.39989927e-02 5.79525582e+00] [-2.14522300e-03 9.99997583e-01 4.81957144e-04 2.91935906e-01] [ 1.39999959e-02 -4.51877839e-04 9.99901893e-01 1.15464969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28255784400005 meters Centerline goodness [0,1] 0.25541577037568175 Centerline is valid? [False, False] Translation: X:5.80, Y:0.29, Z:1.15 [[ 9.99900361e-01 2.11563815e-03 -1.39568205e-02 5.79508788e+00] [-2.10968950e-03 9.99997677e-01 4.40927614e-04 2.92052667e-01] [ 1.39577209e-02 -4.11439122e-04 9.99902502e-01 1.15473793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.312557844 meters Centerline goodness [0,1] 0.25082501132368484 Centerline is valid? [False, False] Translation: X:5.80, Y:0.29, Z:1.16 [[ 9.99899969e-01 2.04845556e-03 -1.39948708e-02 5.79502857e+00] [-2.04363528e-03 9.99997847e-01 3.58724004e-04 2.92379584e-01] [ 1.39955755e-02 -3.30087709e-04 9.99902003e-01 1.15503139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34255784400005 meters Centerline goodness [0,1] 0.247812285518188 Centerline is valid? [False, False] Translation: X:5.80, Y:0.29, Z:1.16 [[ 9.99895966e-01 1.89867378e-03 -1.42986980e-02 5.79580523e+00] [-1.89700105e-03 9.99998192e-01 1.30546396e-04 2.93247199e-01] [ 1.42989200e-02 -1.03408170e-04 9.99897760e-01 1.15502215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.372557844 meters Centerline goodness [0,1] 0.25294780648517423 Centerline is valid? [False, False] Translation: X:5.80, Y:0.29, Z:1.16 [[ 9.99894960e-01 1.82227213e-03 -1.43787265e-02 5.79598588e+00] [-1.82309554e-03 9.99998337e-01 -4.41582387e-05 2.94126051e-01] [ 1.43786221e-02 7.03673925e-05 9.99896620e-01 1.15504019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40255784400006 meters Centerline goodness [0,1] 0.2551885349761873 Centerline is valid? [False, False] Translation: X:5.80, Y:0.30, Z:1.16 [[ 9.99896481e-01 1.76721056e-03 -1.42794994e-02 5.79558001e+00] [-1.77029959e-03 9.99998412e-01 -2.03688405e-04 2.95030357e-01] [ 1.42791168e-02 2.28946312e-04 9.99898022e-01 1.15528884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43255784400003 meters Centerline goodness [0,1] 0.25447216472382617 Centerline is valid? [False, False] Translation: X:5.80, Y:0.30, Z:1.16 [[ 9.99898487e-01 1.67883010e-03 -1.41491078e-02 5.79505908e+00] [-1.68494538e-03 9.99998492e-01 -4.20293393e-04 2.96155438e-01] [ 1.41483809e-02 4.44091202e-04 9.99899808e-01 1.15562396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46255784400006 meters Centerline goodness [0,1] 0.2532189773097383 Centerline is valid? [False, False] Translation: X:5.80, Y:0.30, Z:1.16 [[ 9.99897837e-01 1.49037319e-03 -1.42159783e-02 5.79517681e+00] [-1.50119676e-03 9.99998591e-01 -7.50725470e-04 2.97370522e-01] [ 1.42148394e-02 7.71989754e-04 9.99898666e-01 1.15570543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49255784400003 meters Centerline goodness [0,1] 0.25387796180016187 Centerline is valid? [False, False] Translation: X:5.80, Y:0.30, Z:1.16 [[ 9.99897415e-01 1.44358174e-03 -1.42504849e-02 5.79519101e+00] [-1.45539429e-03 9.99998606e-01 -8.18586593e-04 2.97600507e-01] [ 1.42492833e-02 8.39242692e-04 9.99898122e-01 1.15581550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52255784400006 meters Centerline goodness [0,1] 0.25257731958762886 Centerline is valid? [False, False] Translation: X:5.79, Y:0.30, Z:1.16 [[ 9.99900087e-01 1.44329088e-03 -1.40617836e-02 5.79459634e+00] [-1.45428425e-03 9.99998645e-01 -7.71596760e-04 2.97416497e-01] [ 1.40606509e-02 7.91969498e-04 9.99900831e-01 1.15605011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55255784400003 meters Centerline goodness [0,1] 0.2544181826038111 Centerline is valid? [False, False] Translation: X:5.81, Y:0.30, Z:1.16 [[ 9.99898131e-01 -6.36867298e-03 -1.27736752e-02 5.81346696e+00] [ 6.37588798e-03 9.99979536e-01 5.24189539e-04 3.02168506e-01] [ 1.27700754e-02 -6.05579663e-04 9.99918276e-01 1.15760966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58255784400006 meters Centerline goodness [0,1] 0.25125508525924 Centerline is valid? [False, False] Translation: X:5.81, Y:0.30, Z:1.16 [[ 9.99900223e-01 -6.33802035e-03 -1.26242862e-02 5.81297013e+00] [ 6.34664076e-03 9.99979653e-01 6.42897245e-04 3.01570329e-01] [ 1.26199546e-02 -7.22954908e-04 9.99920104e-01 1.15783694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61255784400004 meters Centerline goodness [0,1] 0.2557481890757216 Centerline is valid? [False, False] Translation: X:5.81, Y:0.30, Z:1.16 [[ 9.99898390e-01 -6.32833736e-03 -1.27734589e-02 5.81344528e+00] [ 6.33814081e-03 9.99979649e-01 7.27149613e-04 3.00935470e-01] [ 1.27685973e-02 -8.08035708e-04 9.99918152e-01 1.15770068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64255784400007 meters Centerline goodness [0,1] 0.2542015436460485 Centerline is valid? [False, False] Translation: X:5.81, Y:0.30, Z:1.16 [[ 9.99894064e-01 -6.33280736e-03 -1.31056053e-02 5.81462780e+00] [ 6.34086525e-03 9.99979732e-01 5.73382350e-04 3.01744643e-01] [ 1.31017086e-02 -6.56422485e-04 9.99913953e-01 1.15701026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67255784400004 meters Centerline goodness [0,1] 0.25581091384380783 Centerline is valid? [False, False] Translation: X:5.81, Y:0.30, Z:1.16 [[ 9.99897469e-01 -6.26048161e-03 -1.28785807e-02 5.81401470e+00] [ 6.26680420e-03 9.99980262e-01 4.50641211e-04 3.02927743e-01] [ 1.28755053e-02 -5.31302550e-04 9.99916966e-01 1.15705290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70255784400007 meters Centerline goodness [0,1] 0.25519474873934966 Centerline is valid? [False, False] Translation: X:5.81, Y:0.30, Z:1.16 [[ 9.99904284e-01 -6.16653162e-03 -1.23853344e-02 5.81258344e+00] [ 6.17071722e-03 9.99980916e-01 2.99761460e-04 3.04215845e-01] [ 1.23832496e-02 -3.76159164e-04 9.99923254e-01 1.15733457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73255784400004 meters Centerline goodness [0,1] 0.2512727586504444 Centerline is valid? [False, False] Translation: X:5.83, Y:0.31, Z:1.16 [[ 9.99933867e-01 3.03211827e-03 -1.10935840e-02 5.83223390e+00] [-3.04429529e-03 9.99994782e-01 -1.08094222e-03 3.05876427e-01] [ 1.10902486e-02 1.11464288e-03 9.99937880e-01 1.15884638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76255784400007 meters Centerline goodness [0,1] 0.2536884004672695 Centerline is valid? [False, False] Translation: X:5.83, Y:0.31, Z:1.16 [[ 9.99932650e-01 2.99998292e-03 -1.12113595e-02 5.83274681e+00] [-3.01632590e-03 9.99994413e-01 -1.44109133e-03 3.07855316e-01] [ 1.12069736e-02 1.47481139e-03 9.99936112e-01 1.15832317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79255784400004 meters Centerline goodness [0,1] 0.2541694753093131 Centerline is valid? [False, False] Translation: X:5.83, Y:0.31, Z:1.16 [[ 9.99931917e-01 2.97166253e-03 -1.12841114e-02 5.83314277e+00] [-2.99202371e-03 9.99993925e-01 -1.78795946e-03 3.09884088e-01] [ 1.12787297e-02 1.82160006e-03 9.99934734e-01 1.15781748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8225578440001 meters Centerline goodness [0,1] 0.25314943527367506 Centerline is valid? [False, False] Translation: X:5.83, Y:0.31, Z:1.16 [[ 9.99931822e-01 2.90995346e-03 -1.13085311e-02 5.83342817e+00] [-2.93419876e-03 9.99993431e-01 -2.12798391e-03 3.11773446e-01] [ 1.13022645e-02 2.16102031e-03 9.99933792e-01 1.15732857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85255784400005 meters Centerline goodness [0,1] 0.25326715935935507 Centerline is valid? [False, False] Translation: X:5.83, Y:0.31, Z:1.16 [[ 9.99932468e-01 2.78554978e-03 -1.12826935e-02 5.83371936e+00] [-2.81582559e-03 9.99992475e-01 -2.66838835e-03 3.14689804e-01] [ 1.12751756e-02 2.69997824e-03 9.99932788e-01 1.15653659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8825578440001 meters Centerline goodness [0,1] 0.25364291781925896 Centerline is valid? [False, False] Translation: X:5.83, Y:0.32, Z:1.16 [[ 9.99932120e-01 2.72645915e-03 -1.13279597e-02 5.83386553e+00] [-2.75870046e-03 9.99992186e-01 -2.83152015e-03 3.15528025e-01] [ 1.13201512e-02 2.86257839e-03 9.99931828e-01 1.15644834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91255784400005 meters Centerline goodness [0,1] 0.2537147102526003 Centerline is valid? [False, False] Translation: X:5.83, Y:0.32, Z:1.16 [[ 9.99930658e-01 2.63183432e-03 -1.14783365e-02 5.83424490e+00] [-2.66632183e-03 9.99991974e-01 -2.99030660e-03 3.16131631e-01] [ 1.14703744e-02 3.02070418e-03 9.99929650e-01 1.15641903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9425578440001 meters Centerline goodness [0,1] 0.25259191496776445 Centerline is valid? [False, False] Translation: X:5.83, Y:0.32, Z:1.16 [[ 9.99928607e-01 2.52437462e-03 -1.16793678e-02 5.83479311e+00] [-2.56121684e-03 9.99991788e-01 -3.14058874e-03 3.16678020e-01] [ 1.16713439e-02 3.17027791e-03 9.99926862e-01 1.15634535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97255784400005 meters Centerline goodness [0,1] 0.25259191496776445 Centerline is valid? [False, False] Translation: X:5.83, Y:0.32, Z:1.16 [[ 9.99928607e-01 2.52437462e-03 -1.16793678e-02 5.83479311e+00] [-2.56121684e-03 9.99991788e-01 -3.14058874e-03 3.16678020e-01] [ 1.16713439e-02 3.17027791e-03 9.99926862e-01 1.15634535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0025578440001 meters Centerline goodness [0,1] 0.2549593638031985 Centerline is valid? [False, False] Translation: X:5.84, Y:0.32, Z:1.16 [[ 9.99926676e-01 2.42666971e-03 -1.18639672e-02 5.83527054e+00] [-2.46526488e-03 9.99991714e-01 -3.23960034e-03 3.16870835e-01] [ 1.18560074e-02 3.26861062e-03 9.99924373e-01 1.15631173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03255784400005 meters Centerline goodness [0,1] 0.253905909051235 Centerline is valid? [False, False] Translation: X:5.83, Y:0.32, Z:1.16 [[ 9.99928164e-01 2.31489637e-03 -1.17604279e-02 5.83496340e+00] [-2.35410204e-03 9.99991715e-01 -3.32094563e-03 3.17310595e-01] [ 1.17526428e-02 3.34839231e-03 9.99925329e-01 1.15644111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.062557844 meters Centerline goodness [0,1] 0.250171939477304 Centerline is valid? [False, False] Translation: X:5.85, Y:0.32, Z:1.16 [[ 9.99928012e-01 -5.44830936e-03 -1.06904685e-02 5.85377432e+00] [ 5.42722202e-03 9.99983271e-01 -2.00055681e-03 3.23185881e-01] [ 1.07011893e-02 1.94239325e-03 9.99940854e-01 1.15817180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09255784400005 meters Centerline goodness [0,1] 0.2528280665325633 Centerline is valid? [False, False] Translation: X:5.85, Y:0.32, Z:1.16 [[ 9.99929726e-01 -5.43170674e-03 -1.05375661e-02 5.85318218e+00] [ 5.41195968e-03 9.99983547e-01 -1.90157889e-03 3.22766979e-01] [ 1.05477216e-02 1.84441637e-03 9.99942670e-01 1.15857035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.122557844 meters Centerline goodness [0,1] 0.254121177852203 Centerline is valid? [False, False] Translation: X:5.85, Y:0.32, Z:1.16 [[ 9.99927968e-01 -5.45521761e-03 -1.06911048e-02 5.85342312e+00] [ 5.43593238e-03 9.99983547e-01 -1.83208793e-03 3.22164525e-01] [ 1.07009233e-02 1.77383984e-03 9.99941170e-01 1.15885226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15255784400006 meters Centerline goodness [0,1] 0.245983462576582 Centerline is valid? [False, False] Translation: X:5.88, Y:0.32, Z:1.16 [[ 9.99939309e-01 4.30298724e-05 -1.10171106e-02 5.87705330e+00] [-1.01694227e-04 9.99985820e-01 -5.32433547e-03 3.20970714e-01] [ 1.10167253e-02 5.32513270e-03 9.99925135e-01 1.15864959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18255784400003 meters Centerline goodness [0,1] 0.2524139718747975 Centerline is valid? [False, False] Translation: X:5.88, Y:0.32, Z:1.16 [[ 9.99938820e-01 9.65969515e-05 -1.10610959e-02 5.87720637e+00] [-1.53762866e-04 9.99986637e-01 -5.16746248e-03 3.20223001e-01] [ 1.10604490e-02 5.16884712e-03 9.99925472e-01 1.15861866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21255784400006 meters Centerline goodness [0,1] 0.25213009817914445 Centerline is valid? [False, False] Translation: X:5.88, Y:0.32, Z:1.16 [[ 9.99939888e-01 1.85952832e-04 -1.09629723e-02 5.87694482e+00] [-2.40500237e-04 9.99987598e-01 -4.97449526e-03 3.19473973e-01] [ 1.09619113e-02 4.97683283e-03 9.99927531e-01 1.15863343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24255784400003 meters Centerline goodness [0,1] 0.2506657429258048 Centerline is valid? [False, False] Translation: X:5.88, Y:0.32, Z:1.16 [[ 9.99940631e-01 2.71957643e-04 -1.08931638e-02 5.87663190e+00] [-3.23689089e-04 9.99988678e-01 -4.74750111e-03 3.18444818e-01] [ 1.08917494e-02 4.75074525e-03 9.99929398e-01 1.15886281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27255784400006 meters Centerline goodness [0,1] 0.2520437436638554 Centerline is valid? [False, False] Translation: X:5.88, Y:0.32, Z:1.16 [[ 9.99939106e-01 3.88362945e-04 -1.10287992e-02 5.87717312e+00] [-4.34769213e-04 9.99991062e-01 -4.20564954e-03 3.15333621e-01] [ 1.10270673e-02 4.21018842e-03 9.99930337e-01 1.15861897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30255784400003 meters Centerline goodness [0,1] 0.2550877805921915 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:1.16 [[ 9.99880250e-01 -8.27256496e-03 -1.30786354e-02 5.85687325e+00] [ 8.23355150e-03 9.99961501e-01 -3.03402728e-03 3.15493660e-01] [ 1.31032311e-02 2.92598033e-03 9.99909868e-01 1.15769410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33255784400006 meters Centerline goodness [0,1] 0.2528815775138904 Centerline is valid? [False, False] Translation: X:5.86, Y:0.31, Z:1.16 [[ 9.99877491e-01 -8.13822873e-03 -1.33705852e-02 5.85793524e+00] [ 8.10327408e-03 9.99963613e-01 -2.66639427e-03 3.13694838e-01] [ 1.33917984e-02 2.55772210e-03 9.99907055e-01 1.15715160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36255784400004 meters Centerline goodness [0,1] 0.25383490802766806 Centerline is valid? [False, False] Translation: X:5.86, Y:0.31, Z:1.16 [[ 9.99878806e-01 -7.89322544e-03 -1.34190410e-02 5.85824293e+00] [ 7.86741544e-03 9.99967101e-01 -1.97508939e-03 3.10134934e-01] [ 1.34341894e-02 1.86927685e-03 9.99908010e-01 1.15696943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39255784400007 meters Centerline goodness [0,1] 0.2509599739668077 Centerline is valid? [False, False] Translation: X:5.88, Y:0.31, Z:1.16 [[ 9.99921874e-01 1.64008841e-04 -1.24987904e-02 5.87689072e+00] [-2.07468811e-04 9.99993937e-01 -3.47591678e-03 3.05169314e-01] [ 1.24981445e-02 3.47823833e-03 9.99915846e-01 1.15901146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42255784400004 meters Centerline goodness [0,1] 0.25312792392889005 Centerline is valid? [False, False] Translation: X:5.88, Y:0.30, Z:1.16 [[ 9.99921452e-01 2.52588192e-04 -1.25309640e-02 5.87682317e+00] [-2.93235513e-04 9.99994702e-01 -3.24201928e-03 3.03914182e-01] [ 1.25300787e-02 3.24543915e-03 9.99916229e-01 1.15925412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45255784400007 meters Centerline goodness [0,1] 0.25244021209825773 Centerline is valid? [False, False] Translation: X:5.88, Y:0.30, Z:1.16 [[ 9.99919707e-01 3.48255569e-04 -1.26672303e-02 5.87738968e+00] [-3.86777201e-04 9.99995308e-01 -3.03872351e-03 3.03016320e-01] [ 1.26661126e-02 3.04337892e-03 9.99915150e-01 1.15886509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48255784400004 meters Centerline goodness [0,1] 0.2517341541663054 Centerline is valid? [False, False] Translation: X:5.88, Y:0.30, Z:1.16 [[ 9.99918395e-01 4.33272333e-04 -1.27677537e-02 5.87791197e+00] [-4.70207442e-04 9.99995713e-01 -2.88998329e-03 3.02524034e-01] [ 1.27664468e-02 2.89575095e-03 9.99914313e-01 1.15839006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51255784400007 meters Centerline goodness [0,1] 0.250694384168041 Centerline is valid? [False, False] Translation: X:5.88, Y:0.30, Z:1.16 [[ 9.99919352e-01 5.13318838e-04 -1.26896358e-02 5.87780252e+00] [-5.48126043e-04 9.99996097e-01 -2.73963758e-03 3.01953089e-01] [ 1.26881800e-02 2.74637215e-03 9.99915730e-01 1.15823159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54255784400004 meters Centerline goodness [0,1] 0.2534411375804738 Centerline is valid? [False, False] Translation: X:5.88, Y:0.30, Z:1.16 [[ 9.99923134e-01 6.31190246e-04 -1.23825230e-02 5.87673191e+00] [-6.60966396e-04 9.99996900e-01 -2.40074670e-03 3.00184405e-01] [ 1.23809693e-02 2.40874660e-03 9.99920452e-01 1.15876118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5725578440001 meters Centerline goodness [0,1] 0.25203199308257673 Centerline is valid? [False, False] Translation: X:5.88, Y:0.30, Z:1.16 [[ 9.99923800e-01 6.93788440e-04 -1.23252670e-02 5.87654121e+00] [-7.20892071e-04 9.99997332e-01 -2.19472327e-03 2.99101739e-01] [ 1.23237114e-02 2.20344122e-03 9.99921632e-01 1.15883213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60255784400005 meters Centerline goodness [0,1] 0.25349344978165944 Centerline is valid? [False, False] Translation: X:5.88, Y:0.30, Z:1.16 [[ 9.99922260e-01 7.43918659e-04 -1.24467208e-02 5.87680762e+00] [-7.68980573e-04 9.99997687e-01 -2.00887078e-03 2.98156300e-01] [ 1.24451976e-02 2.01828590e-03 9.99920519e-01 1.15889501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6325578440001 meters Centerline goodness [0,1] 0.25274963663578975 Centerline is valid? [False, False] Translation: X:5.88, Y:0.30, Z:1.16 [[ 9.99921495e-01 7.93274757e-04 -1.25049796e-02 5.87690156e+00] [-8.16143136e-04 9.99998004e-01 -1.82374475e-03 2.97272521e-01] [ 1.25035079e-02 1.83380743e-03 9.99920147e-01 1.15897553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66255784400005 meters Centerline goodness [0,1] 0.2542439535950711 Centerline is valid? [False, False] Translation: X:5.88, Y:0.30, Z:1.16 [[ 9.99927344e-01 7.23521385e-04 -1.20326038e-02 5.87525334e+00] [-7.42020901e-04 9.99998550e-01 -1.53305579e-03 2.95668405e-01] [ 1.20314772e-02 1.54187285e-03 9.99926430e-01 1.15991467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6925578440001 meters Centerline goodness [0,1] 0.25357703716628865 Centerline is valid? [False, False] Translation: X:5.87, Y:0.29, Z:1.16 [[ 9.99932180e-01 7.10062096e-04 -1.16245801e-02 5.87382471e+00] [-7.25324276e-04 9.99998881e-01 -1.30875979e-03 2.94399808e-01] [ 1.16236378e-02 1.31710262e-03 9.99931576e-01 1.16070510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72255784400005 meters Centerline goodness [0,1] 0.2485698188437202 Centerline is valid? [False, False] Translation: X:5.87, Y:0.29, Z:1.16 [[ 9.99936112e-01 6.50385307e-04 -1.12848538e-02 5.87265813e+00] [-6.62792356e-04 9.99999180e-01 -1.09573749e-03 2.92887430e-01] [ 1.12841319e-02 1.10314700e-03 9.99935724e-01 1.16135817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7525578440001 meters Centerline goodness [0,1] 0.25321588976583964 Centerline is valid? [False, False] Translation: X:5.87, Y:0.29, Z:1.16 [[ 9.99942500e-01 -8.75110105e-05 -1.07232664e-02 5.87107374e+00] [ 7.45778553e-05 9.99999269e-01 -1.20647749e-03 2.90744387e-01] [ 1.07233641e-02 1.20560840e-03 9.99941776e-01 1.16187532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78255784400005 meters Centerline goodness [0,1] 0.25464115668544973 Centerline is valid? [False, False] Translation: X:5.87, Y:0.29, Z:1.16 [[ 9.99937402e-01 -8.26391267e-05 -1.11886571e-02 5.87235576e+00] [ 7.30312047e-05 9.99999628e-01 -8.59125714e-04 2.88643476e-01] [ 1.11887239e-02 8.58254813e-04 9.99937036e-01 1.16163030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.812557844 meters Centerline goodness [0,1] 0.2506721595836947 Centerline is valid? [False, False] Translation: X:5.87, Y:0.29, Z:1.16 [[ 9.99931695e-01 -1.39682966e-04 -1.16870041e-02 5.87367276e+00] [ 1.34023877e-04 9.99999873e-01 -4.85002493e-04 2.86227878e-01] [ 1.16870704e-02 4.83403027e-04 9.99931587e-01 1.16150468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84255784400005 meters Centerline goodness [0,1] 0.2525643254520167 Centerline is valid? [False, False] Translation: X:5.87, Y:0.28, Z:1.16 [[ 9.99930983e-01 -9.43164271e-05 -1.17482114e-02 5.87370585e+00] [ 9.45805603e-05 9.99999995e-01 2.19272484e-05 2.83396971e-01] [ 1.17482093e-02 -2.30368874e-05 9.99930987e-01 1.16177150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.872557844 meters Centerline goodness [0,1] 0.2501461893314274 Centerline is valid? [False, False] Translation: X:5.87, Y:0.28, Z:1.16 [[ 9.99933731e-01 -5.77240408e-05 -1.15121979e-02 5.87287653e+00] [ 6.40563764e-05 9.99999847e-01 5.49686477e-04 2.80456313e-01] [ 1.15121644e-02 -5.50387479e-04 9.99933581e-01 1.16225178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90255784400006 meters Centerline goodness [0,1] 0.2519635358875617 Centerline is valid? [False, False] Translation: X:5.87, Y:0.28, Z:1.16 [[ 9.99938237e-01 -6.24991629e-05 -1.11138498e-02 5.87168227e+00] [ 7.35026564e-05 9.99999508e-01 9.89664677e-04 2.77696755e-01] [ 1.11137825e-02 -9.90420450e-04 9.99937750e-01 1.16267919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93255784400003 meters Centerline goodness [0,1] 0.2549652974813392 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.16 [[ 9.99937420e-01 -2.60213101e-04 -1.11843209e-02 5.87200853e+00] [ 2.77578344e-04 9.99998758e-01 1.55111741e-03 2.73413881e-01] [ 1.11839034e-02 -1.55412487e-03 9.99936250e-01 1.16255772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96255784400006 meters Centerline goodness [0,1] 0.2680969862170539 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.16 [[ 9.99932599e-01 -1.47539258e-04 -1.16092572e-02 5.87340985e+00] [ 1.71016489e-04 9.99997943e-01 2.02131859e-03 2.70952266e-01] [ 1.16089351e-02 -2.02316773e-03 9.99930567e-01 1.16188490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99255784400003 meters Centerline goodness [0,1] 0.2521092458902322 Centerline is valid? [False, False] Translation: X:5.88, Y:0.27, Z:1.16 [[ 9.99924188e-01 -1.31372610e-04 -1.23126519e-02 5.87558479e+00] [ 1.60974780e-04 9.99997099e-01 2.40324723e-03 2.68629709e-01] [ 1.23123005e-02 -2.40504706e-03 9.99921308e-01 1.16109005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02255784400006 meters Centerline goodness [0,1] 0.25062803187803184 Centerline is valid? [False, False] Translation: X:5.88, Y:0.27, Z:1.16 [[ 9.99916183e-01 -9.33214335e-05 -1.29467850e-02 5.87757476e+00] [ 1.30615563e-04 9.99995845e-01 2.87975508e-03 2.65714386e-01] [ 1.29464624e-02 -2.88120476e-03 9.99912040e-01 1.16038534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05255784400003 meters Centerline goodness [0,1] 0.2469822177995068 Centerline is valid? [False, False] Translation: X:5.88, Y:0.26, Z:1.16 [[ 9.99909406e-01 -3.80941178e-04 -1.34549431e-02 5.87909319e+00] [ 4.26754266e-04 9.99994121e-01 3.40221925e-03 2.60979706e-01] [ 1.34535680e-02 -3.40765299e-03 9.99903690e-01 1.16001453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08255784400006 meters Centerline goodness [0,1] 0.25047109532370204 Centerline is valid? [False, False] Translation: X:5.88, Y:0.26, Z:1.16 [[ 9.99909707e-01 -2.12216173e-04 -1.34362734e-02 5.87888778e+00] [ 2.65136678e-04 9.99992215e-01 3.93697083e-03 2.58324099e-01] [ 1.34353333e-02 -3.94017779e-03 9.99901979e-01 1.16026744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11255784400004 meters Centerline goodness [0,1] 0.2561444354147906 Centerline is valid? [False, False] Translation: X:5.83, Y:0.25, Z:1.16 [[ 9.99876831e-01 -1.20669901e-03 -1.56482269e-02 5.83253163e+00] [ 1.27273211e-03 9.99990326e-01 4.21057347e-03 2.54268387e-01] [ 1.56429946e-02 -4.22997085e-03 9.99868693e-01 1.16118896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14255784400007 meters Centerline goodness [0,1] 0.2455947847414962 Centerline is valid? [False, False] Translation: X:5.88, Y:0.25, Z:1.16 [[ 9.99912232e-01 -1.61152506e-03 -1.31503180e-02 5.87608089e+00] [ 1.65891242e-03 9.99992168e-01 3.59340214e-03 2.52728862e-01] [ 1.31444241e-02 -3.61490198e-03 9.99907074e-01 1.16139536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17255784400004 meters Centerline goodness [0,1] 0.25397937512315816 Centerline is valid? [False, False] Translation: X:5.83, Y:0.25, Z:1.16 [[ 9.99863798e-01 -4.26094830e-03 -1.59445583e-02 5.83085152e+00] [ 4.29957132e-03 9.99987903e-01 2.38883664e-03 2.47101371e-01] [ 1.59341867e-02 -2.45706605e-03 9.99870024e-01 1.16229574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20255784400007 meters Centerline goodness [0,1] 0.25024412473146285 Centerline is valid? [False, False] Translation: X:5.85, Y:0.24, Z:1.16 [[ 9.99866341e-01 2.69040504e-03 -1.61264222e-02 5.85165124e+00] [-2.68624125e-03 9.99996353e-01 2.79852692e-04 2.41615566e-01] [ 1.61271163e-02 -2.36495827e-04 9.99869922e-01 1.16329743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23255784400004 meters Centerline goodness [0,1] 0.25070288507288374 Centerline is valid? [False, False] Translation: X:5.85, Y:0.24, Z:1.16 [[ 9.99863107e-01 2.78519200e-03 -1.63098106e-02 5.85227174e+00] [-2.77443575e-03 9.99995919e-01 6.82085821e-04 2.39633669e-01] [ 1.63116438e-02 -6.36741927e-04 9.99866754e-01 1.16295747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26255784400007 meters Centerline goodness [0,1] 0.2488473277485551 Centerline is valid? [False, False] Translation: X:5.85, Y:0.24, Z:1.16 [[ 9.99859735e-01 2.90482511e-03 -1.64946320e-02 5.85298135e+00] [-2.88727077e-03 9.99995240e-01 1.08795969e-03 2.37662197e-01] [ 1.64977138e-02 -1.04018262e-03 9.99863362e-01 1.16252550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29255784400004 meters Centerline goodness [0,1] 0.24499203032783357 Centerline is valid? [False, False] Translation: X:5.85, Y:0.24, Z:1.16 [[ 9.99855379e-01 2.77968186e-03 -1.67778084e-02 5.85364901e+00] [-2.75775707e-03 9.99995313e-01 1.32976741e-03 2.35544095e-01] [ 1.67814261e-02 -1.28330597e-03 9.99858358e-01 1.16260775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3225578440001 meters Centerline goodness [0,1] 0.24826497740687092 Centerline is valid? [False, False] Translation: X:5.85, Y:0.24, Z:1.16 [[ 9.99856694e-01 2.75373064e-03 -1.67035557e-02 5.85325222e+00] [-2.73191601e-03 9.99995386e-01 1.32866484e-03 2.35386875e-01] [ 1.67071374e-02 -1.28284173e-03 9.99859603e-01 1.16292859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35255784400005 meters Centerline goodness [0,1] 0.2483662968671978 Centerline is valid? [False, False] Translation: X:5.85, Y:0.24, Z:1.16 [[ 9.99857945e-01 2.72808761e-03 -1.66327492e-02 5.85298754e+00] [-2.70687006e-03 9.99995494e-01 1.29802837e-03 2.35508726e-01] [ 1.66362153e-02 -1.25282129e-03 9.99860824e-01 1.16304905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3825578440001 meters Centerline goodness [0,1] 0.2527913279132792 Centerline is valid? [False, False] Translation: X:5.85, Y:0.24, Z:1.16 [[ 9.99858508e-01 2.69077736e-03 -1.66049329e-02 5.85289314e+00] [-2.67081691e-03 9.99995684e-01 1.22413877e-03 2.35982561e-01] [ 1.66081551e-02 -1.17961683e-03 9.99861379e-01 1.16307414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41255784400005 meters Centerline goodness [0,1] 0.24996735582154517 Centerline is valid? [False, False] Translation: X:5.85, Y:0.24, Z:1.16 [[ 9.99861889e-01 2.61497131e-03 -1.64123218e-02 5.85242736e+00] [-2.59718120e-03 9.99996017e-01 1.10516938e-03 2.36550645e-01] [ 1.64151464e-02 -1.06239097e-03 9.99864698e-01 1.16302982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4425578440001 meters Centerline goodness [0,1] 0.2532477456824087 Centerline is valid? [False, False] Translation: X:5.85, Y:0.24, Z:1.16 [[ 9.99864594e-01 2.55066166e-03 -1.62569461e-02 5.85183505e+00] [-2.53386422e-03 9.99996235e-01 1.05376081e-03 2.36492702e-01] [ 1.62595726e-02 -1.01242523e-03 9.99867292e-01 1.16337424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47255784400005 meters Centerline goodness [0,1] 0.24869647995499877 Centerline is valid? [False, False] Translation: X:5.87, Y:0.24, Z:1.16 [[ 9.99878740e-01 -5.61474927e-03 -1.45251593e-02 5.87141438e+00] [ 5.64325900e-03 9.99982229e-01 1.92254028e-03 2.39901013e-01] [ 1.45141066e-02 -2.00427639e-03 9.99892656e-01 1.16477305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5025578440001 meters Centerline goodness [0,1] 0.24248613320720647 Centerline is valid? [False, False] Translation: X:5.89, Y:0.24, Z:1.17 [[ 9.99912714e-01 2.22413435e-03 -1.30237442e-02 5.88871188e+00] [-2.22284836e-03 9.99997523e-01 1.13216876e-04 2.35778357e-01] [ 1.30239637e-02 -8.42571849e-05 9.99915181e-01 1.16684122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53255784400005 meters Centerline goodness [0,1] 0.25504190675746463 Centerline is valid? [False, False] Translation: X:5.87, Y:0.24, Z:1.17 [[ 9.99890323e-01 -6.93975575e-03 -1.30836810e-02 5.86685737e+00] [ 6.95079489e-03 9.99975524e-01 7.98449103e-04 2.40876590e-01] [ 1.30778197e-02 -8.89303514e-04 9.99914086e-01 1.16597105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.562557844 meters Centerline goodness [0,1] 0.2505819138984968 Centerline is valid? [False, False] Translation: X:5.87, Y:0.24, Z:1.17 [[ 9.99888720e-01 -7.00795971e-03 -1.31695192e-02 5.86736975e+00] [ 7.01774140e-03 9.99975133e-01 6.96685886e-04 2.41352600e-01] [ 1.31643094e-02 -7.89028638e-04 9.99913035e-01 1.16541866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59255784400005 meters Centerline goodness [0,1] 0.2534004708344232 Centerline is valid? [False, False] Translation: X:5.87, Y:0.24, Z:1.17 [[ 9.99886130e-01 -7.08694796e-03 -1.33230229e-02 5.86796061e+00] [ 7.09451202e-03 9.99974698e-01 5.20566215e-04 2.42281901e-01] [ 1.33189966e-02 -6.15027285e-04 9.99911109e-01 1.16503215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.622557844 meters Centerline goodness [0,1] 0.25120247241386817 Centerline is valid? [False, False] Translation: X:5.87, Y:0.24, Z:1.16 [[ 9.99883566e-01 -7.14919337e-03 -1.34812411e-02 5.86841229e+00] [ 7.15450435e-03 9.99974346e-01 3.45765630e-04 2.43243812e-01] [ 1.34784233e-02 -4.42176969e-04 9.99909064e-01 1.16492333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65255784400006 meters Centerline goodness [0,1] 0.24707280190105851 Centerline is valid? [False, False] Translation: X:5.89, Y:0.24, Z:1.17 [[ 9.99913388e-01 1.09275498e-03 -1.31157027e-02 5.88789078e+00] [-1.10930902e-03 9.99998597e-01 -1.25494592e-03 2.41877946e-01] [ 1.31143129e-02 1.26938659e-03 9.99913198e-01 1.16646438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68255784400003 meters Centerline goodness [0,1] 0.2546575730503563 Centerline is valid? [False, False] Translation: X:5.89, Y:0.24, Z:1.17 [[ 9.99913126e-01 9.88192689e-04 -1.31439748e-02 5.88795904e+00] [-1.00841019e-03 9.99998319e-01 -1.53161854e-03 2.43248066e-01] [ 1.31424392e-02 1.54474000e-03 9.99912441e-01 1.16648927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71255784400006 meters Centerline goodness [0,1] 0.2507395806142869 Centerline is valid? [False, False] Translation: X:5.89, Y:0.24, Z:1.17 [[ 9.99912576e-01 8.75123861e-04 -1.31937470e-02 5.88818682e+00] [-9.00005834e-04 9.99997828e-01 -1.88007177e-03 2.44969464e-01] [ 1.31920731e-02 1.89178185e-03 9.99911191e-01 1.16634739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74255784400003 meters Centerline goodness [0,1] 0.24816124623028357 Centerline is valid? [False, False] Translation: X:5.89, Y:0.25, Z:1.17 [[ 9.99911452e-01 7.45608682e-04 -1.32865520e-02 5.88869433e+00] [-7.75732986e-04 9.99997140e-01 -2.26226837e-03 2.46952749e-01] [ 1.32848273e-02 2.27237487e-03 9.99909171e-01 1.16591903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77255784400006 meters Centerline goodness [0,1] 0.24936857690297853 Centerline is valid? [False, False] Translation: X:5.89, Y:0.25, Z:1.17 [[ 9.99909221e-01 6.36383409e-04 -1.34590148e-02 5.88936444e+00] [-6.71988127e-04 9.99996287e-01 -2.64106099e-03 2.48935190e-01] [ 1.34572841e-02 2.64986553e-03 9.99905935e-01 1.16552449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80255784400003 meters Centerline goodness [0,1] 0.2482843720910095 Centerline is valid? [False, False] Translation: X:5.89, Y:0.25, Z:1.16 [[ 9.99898407e-01 6.42171094e-04 -1.42395237e-02 5.89172581e+00] [-6.88677271e-04 9.99994445e-01 -3.26132957e-03 2.52936866e-01] [ 1.42373502e-02 3.27080468e-03 9.99893294e-01 1.16480220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83255784400006 meters Centerline goodness [0,1] 0.24927056569263595 Centerline is valid? [False, False] Translation: X:5.89, Y:0.25, Z:1.16 [[ 9.99897332e-01 5.04304193e-04 -1.43203360e-02 5.89191221e+00] [-5.56825560e-04 9.99993133e-01 -3.66385694e-03 2.54949815e-01] [ 1.43183899e-02 3.67145471e-03 9.99890746e-01 1.16482545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86255784400004 meters Centerline goodness [0,1] 0.24927056569263595 Centerline is valid? [False, False] Translation: X:5.89, Y:0.25, Z:1.16 [[ 9.99897332e-01 5.04304193e-04 -1.43203360e-02 5.89191221e+00] [-5.56825560e-04 9.99993133e-01 -3.66385694e-03 2.54949815e-01] [ 1.43183899e-02 3.67145471e-03 9.99890746e-01 1.16482545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89255784400007 meters Centerline goodness [0,1] 0.24637430191783194 Centerline is valid? [False, False] Translation: X:5.89, Y:0.26, Z:1.16 [[ 9.99895262e-01 4.16264626e-04 -1.44669517e-02 5.89222917e+00] [-4.73366650e-04 9.99992111e-01 -3.94386668e-03 2.56358313e-01] [ 1.44651958e-02 3.95030178e-03 9.99887570e-01 1.16491086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92255784400004 meters Centerline goodness [0,1] 0.2455978155705102 Centerline is valid? [False, False] Translation: X:5.89, Y:0.26, Z:1.16 [[ 9.99893948e-01 3.51879148e-04 -1.45591314e-02 5.89257829e+00] [-4.12005339e-04 9.99991399e-01 -4.12699920e-03 2.57243063e-01] [ 1.45575540e-02 4.13255996e-03 9.99885493e-01 1.16472785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95255784400007 meters Centerline goodness [0,1] 0.257854204953181 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:1.16 [[ 9.99842894e-01 1.84295106e-04 -1.77243603e-02 5.84858752e+00] [-2.56617679e-04 9.99991651e-01 -4.07821745e-03 2.58750971e-01] [ 1.77234607e-02 4.08212512e-03 9.99834594e-01 1.16477962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98255784400004 meters Centerline goodness [0,1] 0.25485724310337265 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:1.16 [[ 9.99841192e-01 1.41398995e-04 -1.78205129e-02 5.84876470e+00] [-2.16428899e-04 9.99991121e-01 -4.20845290e-03 2.59347340e-01] [ 1.78197596e-02 4.21164143e-03 9.99832345e-01 1.16490803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01255784400007 meters Centerline goodness [0,1] 0.25050373740656484 Centerline is valid? [False, False] Translation: X:5.87, Y:0.26, Z:1.17 [[ 9.99818609e-01 -7.33153929e-03 -1.75783476e-02 5.86770735e+00] [ 7.27838311e-03 9.99968750e-01 -3.08602952e-03 2.64087501e-01] [ 1.76004237e-02 2.95752780e-03 9.99840726e-01 1.16677060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04255784400004 meters Centerline goodness [0,1] 0.2530374951008143 Centerline is valid? [False, False] Translation: X:5.87, Y:0.26, Z:1.17 [[ 9.99818891e-01 -7.31232748e-03 -1.75702884e-02 5.86751933e+00] [ 7.25670470e-03 9.99968462e-01 -3.22740372e-03 2.64984973e-01] [ 1.75933341e-02 3.09931681e-03 9.99840422e-01 1.16709177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0725578440001 meters Centerline goodness [0,1] 0.25191915687209954 Centerline is valid? [False, False] Translation: X:5.87, Y:0.26, Z:1.17 [[ 9.99838000e-01 -3.38681681e-03 -1.76777444e-02 5.86725919e+00] [ 3.39646061e-03 9.99994099e-01 5.15538686e-04 2.64825908e-01] [ 1.76758940e-02 -5.75496931e-04 9.99843604e-01 1.16771946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10255784400005 meters Centerline goodness [0,1] 0.25042053051541946 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.17 [[ 9.99840704e-01 -3.31009380e-03 -1.75388283e-02 5.86699409e+00] [ 3.31700434e-03 9.99994432e-01 3.64937697e-04 2.66014438e-01] [ 1.75375227e-02 -4.23055933e-04 9.99846116e-01 1.16760741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1325578440001 meters Centerline goodness [0,1] 0.25316455696202533 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.17 [[ 9.99844449e-01 -3.26520870e-03 -1.73325100e-02 5.86649187e+00] [ 3.26830818e-03 9.99994648e-01 1.50501939e-04 2.67412654e-01] [ 1.73319258e-02 -2.07126513e-04 9.99849769e-01 1.16762683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16255784400005 meters Centerline goodness [0,1] 0.251085149113525 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.17 [[ 9.99847032e-01 -3.18611913e-03 -1.71977150e-02 5.86605288e+00] [ 3.18604387e-03 9.99994924e-01 -3.17748078e-05 2.68736278e-01] [ 1.71977290e-02 -2.30227273e-05 9.99852108e-01 1.16779326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1925578440001 meters Centerline goodness [0,1] 0.25138247348903775 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.17 [[ 9.99851147e-01 -3.13638892e-03 -1.69660467e-02 5.86523463e+00] [ 3.13322542e-03 9.99995069e-01 -2.13038674e-04 2.70011310e-01] [ 1.69666312e-02 1.59848514e-04 9.99856044e-01 1.16821263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22255784400005 meters Centerline goodness [0,1] 0.25189832341806384 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.17 [[ 9.99848095e-01 -2.76745423e-03 -1.72083596e-02 5.86574032e+00] [ 2.76243571e-03 9.99996135e-01 -3.15395947e-04 2.71661700e-01] [ 1.72091659e-02 2.67811049e-04 9.99851875e-01 1.16828937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2525578440001 meters Centerline goodness [0,1] 0.2570276772361776 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.17 [[ 9.99847543e-01 -2.77632364e-03 -1.72389876e-02 5.86589524e+00] [ 2.76881276e-03 9.99996061e-01 -4.59543798e-04 2.72447286e-01] [ 1.72401955e-02 4.11742208e-04 9.99851292e-01 1.16818513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28255784400005 meters Centerline goodness [0,1] 0.2505937729412273 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.17 [[ 9.99848481e-01 -2.74727734e-03 -1.71891642e-02 5.86574226e+00] [ 2.73920565e-03 9.99996127e-01 -4.93106659e-04 2.72773440e-01] [ 1.71904523e-02 4.45947288e-04 9.99852134e-01 1.16818314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.312557844 meters Centerline goodness [0,1] 0.2477500865351333 Centerline is valid? [False, False] Translation: X:5.87, Y:0.27, Z:1.17 [[ 9.99851068e-01 -2.70782374e-03 -1.70443144e-02 5.86528204e+00] [ 2.70016188e-03 9.99996243e-01 -4.72522620e-04 2.72921775e-01] [ 1.70455299e-02 4.26429838e-04 9.99854623e-01 1.16831988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34255784400005 meters Centerline goodness [0,1] 0.2557156245232439 Centerline is valid? [False, False] Translation: X:5.86, Y:0.27, Z:1.17 [[ 9.99854882e-01 -2.60539597e-03 -1.68352876e-02 5.86440866e+00] [ 2.60069252e-03 9.99996573e-01 -3.01267221e-04 2.72406489e-01] [ 1.68360148e-02 2.57440095e-04 9.99858231e-01 1.16894337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.372557844 meters Centerline goodness [0,1] 0.2488756270541429 Centerline is valid? [False, False] Translation: X:5.88, Y:0.27, Z:1.17 [[ 9.99860917e-01 5.54387404e-03 -1.57293613e-02 5.88315507e+00] [-5.57318514e-03 9.99982813e-01 -1.82024212e-03 2.68290138e-01] [ 1.57189997e-02 1.90765159e-03 9.99874629e-01 1.17088813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40255784400006 meters Centerline goodness [0,1] 0.24714492346883699 Centerline is valid? [False, False] Translation: X:5.88, Y:0.27, Z:1.17 [[ 9.99861869e-01 5.51833566e-03 -1.56777434e-02 5.88273716e+00] [-5.54769452e-03 9.99982937e-01 -1.82977278e-03 2.68146051e-01] [ 1.56673786e-02 1.91649536e-03 9.99875422e-01 1.17136720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43255784400003 meters Centerline goodness [0,1] 0.25166634310489877 Centerline is valid? [False, False] Translation: X:5.88, Y:0.27, Z:1.17 [[ 9.99863615e-01 5.55040640e-03 -1.55545425e-02 5.88225166e+00] [-5.58192354e-03 9.99982454e-01 -1.98355225e-03 2.69287100e-01] [ 1.55432600e-02 2.07010599e-03 9.99877053e-01 1.17168566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46255784400006 meters Centerline goodness [0,1] 0.2538035659793365 Centerline is valid? [False, False] Translation: X:5.86, Y:0.27, Z:1.17 [[ 9.99876427e-01 -2.27386285e-03 -1.55550424e-02 5.86363855e+00] [ 2.26960940e-03 9.99997382e-01 -2.91092506e-04 2.74945141e-01] [ 1.55556636e-02 2.55752664e-04 9.99878971e-01 1.16930661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49255784400003 meters Centerline goodness [0,1] 0.24927673906472647 Centerline is valid? [False, False] Translation: X:5.88, Y:0.27, Z:1.17 [[ 9.99869290e-01 6.59116528e-03 -1.47634509e-02 5.88442118e+00] [-6.61262663e-03 9.99977149e-01 -1.40533788e-03 2.73838610e-01] [ 1.47538507e-02 1.50277937e-03 9.99890027e-01 1.17021293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52255784400006 meters Centerline goodness [0,1] 0.2521053884955944 Centerline is valid? [False, False] Translation: X:5.88, Y:0.28, Z:1.17 [[ 9.99870703e-01 6.53085001e-03 -1.46944274e-02 5.88428955e+00] [-6.55806414e-03 9.99976867e-01 -1.80457988e-03 2.75951344e-01] [ 1.46823020e-02 1.90071355e-03 9.99890403e-01 1.17016764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55255784400003 meters Centerline goodness [0,1] 0.25484257544394817 Centerline is valid? [False, False] Translation: X:5.88, Y:0.28, Z:1.17 [[ 9.99871291e-01 6.47058593e-03 -1.46810325e-02 5.88434497e+00] [-6.50421136e-03 9.99976330e-01 -2.24380946e-03 2.78265331e-01] [ 1.46661663e-02 2.33900920e-03 9.99889710e-01 1.17000106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58255784400006 meters Centerline goodness [0,1] 0.2519463667820069 Centerline is valid? [False, False] Translation: X:5.89, Y:0.28, Z:1.17 [[ 9.99857294e-01 6.76492307e-03 -1.54799171e-02 5.88645154e+00] [-6.80692944e-03 9.99973288e-01 -2.66252615e-03 2.81787532e-01] [ 1.54614918e-02 2.76751689e-03 9.99876634e-01 1.16959021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61255784400004 meters Centerline goodness [0,1] 0.2539892750917262 Centerline is valid? [False, False] Translation: X:5.89, Y:0.28, Z:1.17 [[ 9.99857157e-01 6.68684705e-03 -1.55226394e-02 5.88654507e+00] [-6.73300191e-03 9.99973061e-01 -2.92303626e-03 2.83191354e-01] [ 1.55026753e-02 3.02713269e-03 9.99875244e-01 1.16957858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64255784400007 meters Centerline goodness [0,1] 0.2482534069346214 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:1.17 [[ 9.99877986e-01 -5.39118331e-04 -1.56116121e-02 5.90493366e+00] [ 5.16073192e-04 9.99998771e-01 -1.48014470e-03 2.89050568e-01] [ 1.56123909e-02 1.47190736e-03 9.99877036e-01 1.17169370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67255784400004 meters Centerline goodness [0,1] 0.2550976044519804 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:1.17 [[ 9.99879290e-01 -5.11860594e-04 -1.55287796e-02 5.90470299e+00] [ 4.89686248e-04 9.99998855e-01 -1.43172033e-03 2.88936074e-01] [ 1.55294947e-02 1.42394328e-03 9.99878396e-01 1.17174486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70255784400007 meters Centerline goodness [0,1] 0.2551227495908347 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:1.17 [[ 9.99880622e-01 -4.96250781e-04 -1.54432744e-02 5.90463641e+00] [ 4.75091776e-04 9.99998944e-01 -1.37374990e-03 2.88554572e-01] [ 1.54439398e-02 1.36624893e-03 9.99879802e-01 1.17149553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73255784400004 meters Centerline goodness [0,1] 0.24936788191818127 Centerline is valid? [False, False] Translation: X:5.91, Y:0.29, Z:1.17 [[ 9.99876703e-01 -5.23293599e-04 -1.56941160e-02 5.90559497e+00] [ 5.01690126e-04 9.99998921e-01 -1.38043870e-03 2.88050571e-01] [ 1.56948215e-02 1.37239491e-03 9.99875887e-01 1.17097805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76255784400007 meters Centerline goodness [0,1] 0.2522082600863772 Centerline is valid? [False, False] Translation: X:5.91, Y:0.29, Z:1.17 [[ 9.99874308e-01 -5.10361416e-04 -1.58463965e-02 5.90614073e+00] [ 4.88017199e-04 9.99998881e-01 -1.41388524e-03 2.88267601e-01] [ 1.58471004e-02 1.40597422e-03 9.99873438e-01 1.17071728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79255784400004 meters Centerline goodness [0,1] 0.24992450062556626 Centerline is valid? [False, False] Translation: X:5.91, Y:0.29, Z:1.17 [[ 9.99872673e-01 -4.60918393e-04 -1.59507299e-02 5.90659480e+00] [ 4.37739350e-04 9.99998843e-01 -1.45662586e-03 2.88780592e-01] [ 1.59513828e-02 1.44945813e-03 9.99871718e-01 1.17036439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8225578440001 meters Centerline goodness [0,1] 0.2558483025261191 Centerline is valid? [False, False] Translation: X:5.91, Y:0.29, Z:1.17 [[ 9.99872101e-01 -4.25002404e-04 -1.59875021e-02 5.90680690e+00] [ 4.00240884e-04 9.99998716e-01 -1.55197254e-03 2.89620399e-01] [ 1.59881411e-02 1.54537519e-03 9.99870987e-01 1.17012996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85255784400005 meters Centerline goodness [0,1] 0.2451336760372529 Centerline is valid? [False, False] Translation: X:5.91, Y:0.29, Z:1.17 [[ 9.99864807e-01 2.44511017e-06 -1.64428529e-02 5.90825570e+00] [-2.77557616e-05 9.99998815e-01 -1.53908218e-03 2.90861630e-01] [ 1.64428296e-02 1.53933049e-03 9.99863623e-01 1.16946468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8825578440001 meters Centerline goodness [0,1] 0.2512345944088976 Centerline is valid? [False, False] Translation: X:5.91, Y:0.29, Z:1.17 [[ 9.99860986e-01 5.03049148e-06 -1.66735989e-02 5.90929112e+00] [-3.37353159e-05 9.99998518e-01 -1.72129259e-03 2.91843047e-01] [ 1.66735656e-02 1.72161579e-03 9.99859504e-01 1.16867524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91255784400005 meters Centerline goodness [0,1] 0.2574595802479954 Centerline is valid? [False, False] Translation: X:5.87, Y:0.29, Z:1.17 [[ 9.99799857e-01 -7.23172653e-05 -2.00060279e-02 5.86545050e+00] [ 4.51983265e-05 9.99999080e-01 -1.35598723e-03 2.89362968e-01] [ 2.00061076e-02 1.35481160e-03 9.99798940e-01 1.16890616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9425578440001 meters Centerline goodness [0,1] 0.25436511366583114 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:1.17 [[ 9.99765310e-01 8.95555402e-03 -1.97262059e-02 5.88735741e+00] [-9.00134518e-03 9.99956992e-01 -2.23376960e-03 2.87763278e-01] [ 1.97053529e-02 2.41080774e-03 9.99802924e-01 1.16965476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97255784400005 meters Centerline goodness [0,1] 0.2558640497845859 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:1.17 [[ 9.99765041e-01 8.88847266e-03 -1.97701125e-02 5.88756689e+00] [-8.93777147e-03 9.99957161e-01 -2.40664132e-03 2.88548921e-01] [ 1.97478742e-02 2.58277661e-03 9.99801656e-01 1.16947694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0025578440001 meters Centerline goodness [0,1] 0.2656685236768802 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:1.17 [[ 9.99765644e-01 8.80187870e-03 -1.97783745e-02 5.88767432e+00] [-8.85558349e-03 9.99957332e-01 -2.62938632e-03 2.89580175e-01] [ 1.97543871e-02 2.80391916e-03 9.99800931e-01 1.16930415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03255784400005 meters Centerline goodness [0,1] 0.2512215597218934 Centerline is valid? [False, False] Translation: X:5.91, Y:0.30, Z:1.17 [[ 9.99807803e-01 1.20731372e-03 -1.95678308e-02 5.90671028e+00] [-1.24289187e-03 9.99997597e-01 -1.80613628e-03 2.96496771e-01] [ 1.95656032e-02 1.83010985e-03 9.99806900e-01 1.17066380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.062557844 meters Centerline goodness [0,1] 0.2583538515652479 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:1.17 [[ 9.99754895e-01 8.37841365e-04 -2.21234673e-02 5.85991847e+00] [-8.71753878e-04 9.99998460e-01 -1.52327535e-03 2.94504544e-01] [ 2.21221569e-02 1.54218820e-03 9.99754086e-01 1.17204639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09255784400005 meters Centerline goodness [0,1] 0.25010238613583946 Centerline is valid? [False, False] Translation: X:5.90, Y:0.30, Z:1.17 [[ 9.99802304e-01 1.75703429e-03 -1.98057101e-02 5.90258025e+00] [-1.79216968e-03 9.99996852e-01 -1.75639353e-03 3.00747379e-01] [ 1.98025617e-02 1.79154149e-03 9.99802305e-01 1.17299881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.122557844 meters Centerline goodness [0,1] 0.25738378189444255 Centerline is valid? [False, False] Translation: X:5.88, Y:0.31, Z:1.17 [[ 9.99780922e-01 -6.83380908e-03 -1.97840294e-02 5.88181581e+00] [ 6.82083370e-03 9.99976476e-01 -7.23256075e-04 3.05212592e-01] [ 1.97885066e-02 5.88154051e-04 9.99804015e-01 1.17174767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15255784400006 meters Centerline goodness [0,1] 0.2555447154471545 Centerline is valid? [False, False] Translation: X:5.90, Y:0.30, Z:1.17 [[ 9.99826504e-01 1.28751883e-03 -1.85823837e-02 5.90037892e+00] [-1.32725526e-03 9.99996859e-01 -2.12621797e-03 3.03045940e-01] [ 1.85795878e-02 2.15051264e-03 9.99825072e-01 1.17351540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18255784400003 meters Centerline goodness [0,1] 0.2515588045581595 Centerline is valid? [False, False] Translation: X:5.92, Y:0.31, Z:1.18 [[ 9.99807408e-01 -6.48842516e-03 -1.85215539e-02 5.91954061e+00] [ 6.47117826e-03 9.99978571e-01 -9.90961981e-04 3.08661940e-01] [ 1.85275867e-02 8.70914853e-04 9.99827970e-01 1.17543747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21255784400006 meters Centerline goodness [0,1] 0.2532395650192095 Centerline is valid? [False, False] Translation: X:5.92, Y:0.31, Z:1.18 [[ 9.99807021e-01 -6.70567406e-03 -1.84649375e-02 5.91925608e+00] [ 6.69070675e-03 9.99977237e-01 -8.72238836e-04 3.07645359e-01] [ 1.84703661e-02 7.48527031e-04 9.99829128e-01 1.17579357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24255784400003 meters Centerline goodness [0,1] 0.2564396727131044 Centerline is valid? [False, False] Translation: X:5.92, Y:0.31, Z:1.18 [[ 9.99809081e-01 -6.66246817e-03 -1.83687944e-02 5.91873088e+00] [ 6.65201406e-03 9.99977677e-01 -6.30165404e-04 3.06478583e-01] [ 1.83725828e-02 5.07855615e-04 9.99831081e-01 1.17631186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27255784400006 meters Centerline goodness [0,1] 0.25582103180642213 Centerline is valid? [False, False] Translation: X:5.92, Y:0.31, Z:1.18 [[ 9.99812987e-01 -6.65923764e-03 -1.81561291e-02 5.91785615e+00] [ 6.65188808e-03 9.99977768e-01 -4.65159208e-04 3.05585942e-01] [ 1.81588231e-02 3.44299679e-04 9.99835056e-01 1.17699076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30255784400003 meters Centerline goodness [0,1] 0.25855704331491225 Centerline is valid? [False, False] Translation: X:5.92, Y:0.30, Z:1.18 [[ 9.99816357e-01 -6.64759662e-03 -1.79739380e-02 5.91709138e+00] [ 6.64290148e-03 9.99977884e-01 -3.20911822e-04 3.04714648e-01] [ 1.79756738e-02 2.01453790e-04 9.99838404e-01 1.17757254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33255784400006 meters Centerline goodness [0,1] 0.2566109951287404 Centerline is valid? [False, False] Translation: X:5.92, Y:0.30, Z:1.18 [[ 9.99812689e-01 -6.64636288e-03 -1.81772393e-02 5.91761429e+00] [ 6.64369566e-03 9.99977909e-01 -2.07117980e-04 3.03787543e-01] [ 1.81782144e-02 8.63151385e-05 9.99834759e-01 1.17758225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36255784400004 meters Centerline goodness [0,1] 0.2568104365191344 Centerline is valid? [False, False] Translation: X:5.92, Y:0.30, Z:1.18 [[ 9.99809206e-01 -6.61164272e-03 -1.83803466e-02 5.91831389e+00] [ 6.60884837e-03 9.99978139e-01 -2.12767461e-04 3.04078510e-01] [ 1.83813515e-02 9.12539427e-05 9.99831045e-01 1.17725493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39255784400007 meters Centerline goodness [0,1] 0.25408227097219527 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99824464e-01 2.10722365e-03 -1.86172068e-02 5.93897366e+00] [-2.12880000e-03 9.99997085e-01 -1.13920454e-03 3.02068699e-01] [ 1.86147520e-02 1.17863688e-03 9.99826036e-01 1.17883243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42255784400004 meters Centerline goodness [0,1] 0.2566744019605717 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99822329e-01 2.09389730e-03 -1.87330045e-02 5.93936316e+00] [-2.11818007e-03 9.99996942e-01 -1.27650834e-03 3.02800267e-01] [ 1.87302743e-02 1.31596142e-03 9.99823707e-01 1.17865034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45255784400007 meters Centerline goodness [0,1] 0.2576274130854922 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99822238e-01 2.04094512e-03 -1.87437277e-02 5.93947944e+00] [-2.06765249e-03 9.99996875e-01 -1.40560065e-03 3.03156967e-01] [ 1.87408003e-02 1.44410631e-03 9.99823333e-01 1.17847508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48255784400004 meters Centerline goodness [0,1] 0.26642925806169715 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99823183e-01 2.05176205e-03 -1.86920480e-02 5.93923905e+00] [-2.07908332e-03 9.99996799e-01 -1.44233607e-03 3.03186575e-01] [ 1.86890288e-02 1.48094336e-03 9.99824248e-01 1.17858350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51255784400007 meters Centerline goodness [0,1] 0.2574930094372597 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99822678e-01 2.12376455e-03 -1.87109916e-02 5.93929982e+00] [-2.14922321e-03 9.99996792e-01 -1.34062250e-03 3.03001866e-01] [ 1.87080844e-02 1.38059888e-03 9.99824035e-01 1.17855010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54255784400004 meters Centerline goodness [0,1] 0.26682037768994293 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99820793e-01 2.18217210e-03 -1.88047655e-02 5.93974743e+00] [-2.20573161e-03 9.99996808e-01 -1.23219787e-03 3.02517519e-01] [ 1.88020166e-02 1.27345532e-03 9.99822415e-01 1.17818446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5725578440001 meters Centerline goodness [0,1] 0.2558828011058142 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99818574e-01 2.20556299e-03 -1.89197001e-02 5.94015938e+00] [-2.22689018e-03 9.99996909e-01 -1.10625379e-03 3.01565927e-01] [ 1.89172017e-02 1.14818519e-03 9.99820394e-01 1.17800287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60255784400005 meters Centerline goodness [0,1] 0.25887028101050247 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99821263e-01 2.20365743e-03 -1.87772519e-02 5.93937262e+00] [-2.22370979e-03 9.99996979e-01 -1.04709461e-03 3.00621207e-01] [ 1.87748877e-02 1.08866262e-03 9.99823144e-01 1.17865636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6325578440001 meters Centerline goodness [0,1] 0.257024362704651 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99825217e-01 2.20285860e-03 -1.85656563e-02 5.93861303e+00] [-2.22531866e-03 9.99996817e-01 -1.18919167e-03 3.01515909e-01] [ 1.85629776e-02 1.23029832e-03 9.99826936e-01 1.17898637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66255784400005 meters Centerline goodness [0,1] 0.2645302417149732 Centerline is valid? [False, False] Translation: X:5.94, Y:0.30, Z:1.18 [[ 9.99827424e-01 2.27455856e-03 -1.84376973e-02 5.93826423e+00] [-2.29969154e-03 9.99996455e-01 -1.34204249e-03 3.02876462e-01] [ 1.84345794e-02 1.38421190e-03 9.99829111e-01 1.17895481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6925578440001 meters Centerline goodness [0,1] 0.25753257771879823 Centerline is valid? [False, False] Translation: X:5.94, Y:0.31, Z:1.18 [[ 9.99805692e-01 6.13139669e-03 -1.87345749e-02 5.93967824e+00] [-6.09367557e-03 9.99979291e-01 2.06987298e-03 3.05173137e-01] [ 1.87468781e-02 -1.95530837e-03 9.99822350e-01 1.17796301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72255784400005 meters Centerline goodness [0,1] 0.2635471204188482 Centerline is valid? [False, False] Translation: X:5.94, Y:0.31, Z:1.18 [[ 9.99806221e-01 6.05718503e-03 -1.87304712e-02 5.93972511e+00] [-6.02744572e-03 9.99980484e-01 1.64379686e-03 3.07417095e-01] [ 1.87400624e-02 -1.53058143e-03 9.99823218e-01 1.17773339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7525578440001 meters Centerline goodness [0,1] 0.25600104365976695 Centerline is valid? [False, False] Translation: X:5.94, Y:0.31, Z:1.18 [[ 9.99809369e-01 5.95349362e-03 -1.85951980e-02 5.93922295e+00] [-5.93274118e-03 9.99981716e-01 1.17097722e-03 3.09943750e-01] [ 1.86018294e-02 -1.06043349e-03 9.99826409e-01 1.17788604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78255784400005 meters Centerline goodness [0,1] 0.25600104365976695 Centerline is valid? [False, False] Translation: X:5.94, Y:0.31, Z:1.18 [[ 9.99809369e-01 5.95349362e-03 -1.85951980e-02 5.93922295e+00] [-5.93274118e-03 9.99981716e-01 1.17097722e-03 3.09943750e-01] [ 1.86018294e-02 -1.06043349e-03 9.99826409e-01 1.17788604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.812557844 meters Centerline goodness [0,1] 0.2628538922679736 Centerline is valid? [False, False] Translation: X:5.94, Y:0.31, Z:1.18 [[ 9.99815832e-01 5.87643092e-03 -1.82693711e-02 5.93818410e+00] [-5.86253117e-03 9.99982484e-01 8.14287198e-04 3.12012739e-01] [ 1.82738362e-02 -7.07032475e-04 9.99832770e-01 1.17819674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84255784400005 meters Centerline goodness [0,1] 0.2540744738262277 Centerline is valid? [False, False] Translation: X:5.96, Y:0.32, Z:1.18 [[ 9.99852006e-01 -1.65919933e-03 -1.71234921e-02 5.95653011e+00] [ 1.69074747e-03 9.99996900e-01 1.82807705e-03 3.19668490e-01] [ 1.71204059e-02 -1.85675800e-03 9.99851711e-01 1.17969769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.872557844 meters Centerline goodness [0,1] 0.2536968676467414 Centerline is valid? [False, False] Translation: X:5.96, Y:0.32, Z:1.18 [[ 9.99854406e-01 -1.75014708e-03 -1.69736020e-02 5.95612145e+00] [ 1.77833805e-03 9.99997064e-01 1.64592013e-03 3.20465709e-01] [ 1.69706716e-02 -1.67586529e-03 9.99854583e-01 1.17970102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90255784400006 meters Centerline goodness [0,1] 0.2573326075122482 Centerline is valid? [False, False] Translation: X:5.96, Y:0.32, Z:1.18 [[ 9.99849084e-01 -1.91348904e-03 -1.72669416e-02 5.95699848e+00] [ 1.93895500e-03 9.99997057e-01 1.45821850e-03 3.21213469e-01] [ 1.72641005e-02 -1.49147825e-03 9.99849852e-01 1.17942841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93255784400003 meters Centerline goodness [0,1] 0.2522413270388497 Centerline is valid? [False, False] Translation: X:5.96, Y:0.32, Z:1.18 [[ 9.99847536e-01 -1.90458775e-03 -1.73573639e-02 5.95710625e+00] [ 1.93179395e-03 9.99996932e-01 1.55078372e-03 3.21002167e-01] [ 1.73543570e-02 -1.58407813e-03 9.99848147e-01 1.17965415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96255784400006 meters Centerline goodness [0,1] 0.25528264599213846 Centerline is valid? [False, False] Translation: X:5.96, Y:0.32, Z:1.18 [[ 9.99846147e-01 -1.93514871e-03 -1.74338027e-02 5.95705630e+00] [ 1.96602595e-03 9.99996529e-01 1.75414827e-03 3.19759220e-01] [ 1.74303476e-02 -1.78815370e-03 9.99846481e-01 1.18012856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99255784400003 meters Centerline goodness [0,1] 0.25370170515864454 Centerline is valid? [False, False] Translation: X:5.96, Y:0.32, Z:1.18 [[ 9.99842775e-01 -2.14697455e-03 -1.76015745e-02 5.95716210e+00] [ 2.17979791e-03 9.99995921e-01 1.84582335e-03 3.18284399e-01] [ 1.75975398e-02 -1.88390102e-03 9.99843376e-01 1.18076622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02255784400006 meters Centerline goodness [0,1] 0.2519307934590327 Centerline is valid? [False, False] Translation: X:5.96, Y:0.32, Z:1.18 [[ 9.99836101e-01 -3.04041247e-03 -1.78473010e-02 5.95763614e+00] [ 3.06861327e-03 9.99994086e-01 1.55294276e-03 3.16474596e-01] [ 1.78424739e-02 -1.60745470e-03 9.99839518e-01 1.18114679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05255784400003 meters Centerline goodness [0,1] 0.2537077532639054 Centerline is valid? [False, False] Translation: X:5.96, Y:0.32, Z:1.18 [[ 9.99828043e-01 -3.02623900e-03 -1.82955512e-02 5.95906668e+00] [ 3.05813476e-03 9.99993852e-01 1.71563529e-03 3.15549462e-01] [ 1.82902468e-02 -1.77129053e-03 9.99831150e-01 1.18068600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08255784400006 meters Centerline goodness [0,1] 0.25053399210338945 Centerline is valid? [False, False] Translation: X:5.96, Y:0.31, Z:1.18 [[ 9.99822262e-01 -2.99535502e-03 -1.86137658e-02 5.96034786e+00] [ 3.03091135e-03 9.99993635e-01 1.88229986e-03 3.14665729e-01] [ 1.86080092e-02 -1.93838198e-03 9.99824977e-01 1.17996274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11255784400004 meters Centerline goodness [0,1] 0.26261547847306954 Centerline is valid? [False, False] Translation: X:5.96, Y:0.31, Z:1.18 [[ 9.99819768e-01 -2.96955825e-03 -1.87513368e-02 5.96101095e+00] [ 3.00743481e-03 9.99993493e-01 1.99206270e-03 3.13994793e-01] [ 1.87452992e-02 -2.04809709e-03 9.99822194e-01 1.17945725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14255784400007 meters Centerline goodness [0,1] 0.26478149100257065 Centerline is valid? [False, False] Translation: X:5.96, Y:0.31, Z:1.18 [[ 9.99825996e-01 -2.99686352e-03 -1.84118574e-02 5.95952892e+00] [ 3.03603288e-03 9.99993187e-01 2.09981542e-03 3.12865581e-01] [ 1.84054391e-02 -2.15534905e-03 9.99828282e-01 1.18057016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17255784400004 meters Centerline goodness [0,1] 0.2524996237125594 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99873757e-01 -1.99064544e-03 -1.57640909e-02 6.00189349e+00] [ 2.02744604e-03 9.99995256e-01 2.31882054e-03 3.15936029e-01] [ 1.57594002e-02 -2.35048865e-03 9.99873050e-01 1.18138786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20255784400007 meters Centerline goodness [0,1] 0.263103937179627 Centerline is valid? [False, False] Translation: X:5.98, Y:0.31, Z:1.18 [[ 9.99840950e-01 6.47710230e-03 -1.66168994e-02 5.98121037e+00] [-6.45043470e-03 9.99977821e-01 1.65794392e-03 3.11529234e-01] [ 1.66272695e-02 -1.55049400e-03 9.99860555e-01 1.18064498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23255784400004 meters Centerline goodness [0,1] 0.25450245193768173 Centerline is valid? [False, False] Translation: X:5.98, Y:0.31, Z:1.18 [[ 9.99823917e-01 6.41531237e-03 -1.76345772e-02 5.98451869e+00] [-6.39850041e-03 9.99979020e-01 1.00960881e-03 3.14699724e-01] [ 1.76406842e-02 -8.96596191e-04 9.99843989e-01 1.17915003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26255784400007 meters Centerline goodness [0,1] 0.2551563249465836 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.18 [[ 9.99820792e-01 6.29227344e-03 -1.78547301e-02 5.98542881e+00] [-6.28212415e-03 9.99980072e-01 6.24467471e-04 3.16522049e-01] [ 1.78583036e-02 -5.12189930e-04 9.99840397e-01 1.17844244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29255784400004 meters Centerline goodness [0,1] 0.2616419567631115 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.18 [[ 9.99821259e-01 6.21517797e-03 -1.78555984e-02 5.98559913e+00] [-6.21053153e-03 9.99980665e-01 3.15662520e-04 3.18186057e-01] [ 1.78572151e-02 -2.04713341e-04 9.99840526e-01 1.17809162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3225578440001 meters Centerline goodness [0,1] 0.2625604927408711 Centerline is valid? [False, False] Translation: X:5.97, Y:0.32, Z:1.18 [[ 9.99850474e-01 -2.16684518e-03 -1.71561846e-02 5.96509112e+00] [ 2.19058666e-03 9.99996669e-01 1.36517195e-03 3.22885033e-01] [ 1.71531693e-02 -1.40254993e-03 9.99851890e-01 1.17618140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35255784400005 meters Centerline goodness [0,1] 0.2503996198211431 Centerline is valid? [False, False] Translation: X:6.01, Y:0.33, Z:1.18 [[ 9.99892851e-01 -2.68594761e-03 -1.43900053e-02 6.00555133e+00] [ 2.68629881e-03 9.99996392e-01 5.07674576e-06 3.27807668e-01] [ 1.43899397e-02 -4.37320559e-05 9.99896459e-01 1.17774010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3825578440001 meters Centerline goodness [0,1] 0.25242592271703346 Centerline is valid? [False, False] Translation: X:6.01, Y:0.33, Z:1.18 [[ 9.99893362e-01 -2.67971362e-03 -1.43556014e-02 6.00512714e+00] [ 2.68074656e-03 9.99996405e-01 5.27114510e-05 3.27594674e-01] [ 1.43554086e-02 -9.11895591e-05 9.99896952e-01 1.17830754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41255784400005 meters Centerline goodness [0,1] 0.25289881871777575 Centerline is valid? [False, False] Translation: X:6.01, Y:0.33, Z:1.18 [[ 9.99892742e-01 -2.66217327e-03 -1.44019719e-02 6.00503109e+00] [ 2.66332540e-03 9.99996451e-01 6.08189778e-05 3.27791129e-01] [ 1.44017589e-02 -9.91695921e-05 9.99896284e-01 1.17864996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4425578440001 meters Centerline goodness [0,1] 0.26260370832512425 Centerline is valid? [False, False] Translation: X:6.01, Y:0.33, Z:1.18 [[ 9.99892327e-01 -2.62935426e-03 -1.44367645e-02 6.00513160e+00] [ 2.63074202e-03 9.99996537e-01 7.71371066e-05 3.28049638e-01] [ 1.44365117e-02 -1.15108204e-04 9.99895782e-01 1.17858868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47255784400005 meters Centerline goodness [0,1] 0.25514394303438037 Centerline is valid? [False, False] Translation: X:6.01, Y:0.33, Z:1.18 [[ 9.99891962e-01 -2.57611672e-03 -1.44715973e-02 6.00523981e+00] [ 2.57826963e-03 9.99996668e-01 1.30113332e-04 3.28102427e-01] [ 1.44712139e-02 -1.67410954e-04 9.99895272e-01 1.17854501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5025578440001 meters Centerline goodness [0,1] 0.24976256259713348 Centerline is valid? [False, False] Translation: X:6.03, Y:0.33, Z:1.18 [[ 9.99894125e-01 6.00802701e-03 -1.32530279e-02 6.02556295e+00] [-6.02055577e-03 9.99981466e-01 -9.05655526e-04 3.25901541e-01] [ 1.32473411e-02 9.85350234e-04 9.99911765e-01 1.17968611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53255784400005 meters Centerline goodness [0,1] 0.25140628030776524 Centerline is valid? [False, False] Translation: X:6.03, Y:0.33, Z:1.18 [[ 9.99894816e-01 6.01195202e-03 -1.31990211e-02 6.02523965e+00] [-6.02468873e-03 9.99981423e-01 -9.25424237e-04 3.26022433e-01] [ 1.31932123e-02 1.00484689e-03 9.99912461e-01 1.17994815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.562557844 meters Centerline goodness [0,1] 0.26174217553075074 Centerline is valid? [False, False] Translation: X:6.00, Y:0.33, Z:1.18 [[ 9.99896030e-01 -2.50576361e-03 -1.42003512e-02 6.00457146e+00] [ 2.50914797e-03 9.99996828e-01 2.20517753e-04 3.29230988e-01] [ 1.41997536e-02 -2.56125608e-04 9.99899146e-01 1.17920049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59255784400005 meters Centerline goodness [0,1] 0.25169348923501744 Centerline is valid? [False, False] Translation: X:6.02, Y:0.33, Z:1.18 [[ 9.99894002e-01 6.01844925e-03 -1.32575553e-02 6.02483020e+00] [-6.02823280e-03 9.99981586e-01 -6.98122035e-04 3.26792674e-01] [ 1.32531096e-02 7.77967665e-04 9.99911871e-01 1.18011022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.622557844 meters Centerline goodness [0,1] 0.24953653804699294 Centerline is valid? [False, False] Translation: X:6.02, Y:0.33, Z:1.18 [[ 9.99894845e-01 6.04956903e-03 -1.31795610e-02 6.02448029e+00] [-6.05793190e-03 9.99981474e-01 -5.94703132e-04 3.25967262e-01] [ 1.31757191e-02 6.74481479e-04 9.99912969e-01 1.18034653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65255784400006 meters Centerline goodness [0,1] 0.25278624292555507 Centerline is valid? [False, False] Translation: X:6.00, Y:0.33, Z:1.18 [[ 9.99909413e-01 -2.88155766e-03 -1.31477366e-02 6.00352486e+00] [ 2.88325515e-03 9.99995837e-01 1.10155522e-04 3.28058347e-01] [ 1.31473644e-02 -1.48053822e-04 9.99913559e-01 1.17928562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68255784400003 meters Centerline goodness [0,1] 0.2494602297262285 Centerline is valid? [False, False] Translation: X:6.02, Y:0.32, Z:1.18 [[ 9.99905479e-01 5.20337837e-03 -1.27262872e-02 6.02250707e+00] [-5.22076803e-03 9.99985482e-01 -1.33359606e-03 3.24379059e-01] [ 1.27191633e-02 1.39991100e-03 9.99918128e-01 1.18113159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71255784400006 meters Centerline goodness [0,1] 0.2501718803712616 Centerline is valid? [False, False] Translation: X:6.02, Y:0.32, Z:1.18 [[ 9.99906061e-01 5.26246898e-03 -1.26560577e-02 6.02227061e+00] [-5.27856539e-03 9.99985301e-01 -1.23876653e-03 3.24221990e-01] [ 1.26493527e-02 1.30545599e-03 9.99919142e-01 1.18122491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74255784400003 meters Centerline goodness [0,1] 0.25265928520154013 Centerline is valid? [False, False] Translation: X:6.00, Y:0.33, Z:1.18 [[ 9.99929954e-01 -3.03166434e-03 -1.14409399e-02 5.99961890e+00] [ 3.03214913e-03 9.99995403e-01 2.50274352e-05 3.26909485e-01] [ 1.14408115e-02 -5.97163182e-05 9.99934550e-01 1.18017913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77255784400006 meters Centerline goodness [0,1] 0.2523911770447004 Centerline is valid? [False, False] Translation: X:6.00, Y:0.33, Z:1.18 [[ 9.99930179e-01 -3.00448643e-03 -1.14285082e-02 5.99947942e+00] [ 3.00659357e-03 9.99995466e-01 1.67198581e-04 3.26057919e-01] [ 1.14279540e-02 -2.01547786e-04 9.99934678e-01 1.18037065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80255784400003 meters Centerline goodness [0,1] 0.25365684274491085 Centerline is valid? [False, False] Translation: X:6.00, Y:0.33, Z:1.18 [[ 9.99928641e-01 -2.97933389e-03 -1.15687824e-02 5.99982930e+00] [ 2.98285580e-03 9.99995510e-01 2.87189463e-04 3.25349460e-01] [ 1.15678748e-02 -3.21676979e-04 9.99933038e-01 1.18041047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83255784400006 meters Centerline goodness [0,1] 0.2527293642697458 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99925863e-01 -2.95814348e-03 -1.18117653e-02 6.00057131e+00] [ 2.96271853e-03 9.99995543e-01 3.69850814e-04 3.24857867e-01] [ 1.18106186e-02 -4.04818330e-04 9.99930170e-01 1.18018221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86255784400004 meters Centerline goodness [0,1] 0.25203181739581537 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99924000e-01 -2.93074318e-03 -1.19751941e-02 6.00128965e+00] [ 2.93626869e-03 9.99995591e-01 4.43857879e-04 3.24439277e-01] [ 1.19738405e-02 -4.78986533e-04 9.99928196e-01 1.17968686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89255784400007 meters Centerline goodness [0,1] 0.2528437351325634 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99926087e-01 -2.83315237e-03 -1.18234608e-02 6.00058555e+00] [ 2.84213597e-03 9.99995685e-01 7.43078437e-04 3.22891160e-01] [ 1.18213045e-02 -7.76627397e-04 9.99929824e-01 1.18026948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92255784400004 meters Centerline goodness [0,1] 0.25341843357853744 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99927745e-01 -2.77556812e-03 -1.16962154e-02 6.00002550e+00] [ 2.78571901e-03 9.99995757e-01 8.51676041e-04 3.22522660e-01] [ 1.16938019e-02 -8.84196872e-04 9.99931234e-01 1.18065673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95255784400007 meters Centerline goodness [0,1] 0.2514352563963691 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99927277e-01 -2.74807262e-03 -1.17425697e-02 6.00014654e+00] [ 2.75819658e-03 9.99995838e-01 8.46051542e-04 3.22789857e-01] [ 1.17401959e-02 -8.78378331e-04 9.99930696e-01 1.18064495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98255784400004 meters Centerline goodness [0,1] 0.24753264664052066 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99923834e-01 -2.73529578e-03 -1.20350891e-02 6.00112953e+00] [ 2.74487167e-03 9.99995929e-01 7.79218069e-04 3.23288848e-01] [ 1.20329087e-02 -8.12193495e-04 9.99927272e-01 1.18018645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01255784400007 meters Centerline goodness [0,1] 0.26024190401872804 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99917447e-01 -2.76946772e-03 -1.25470936e-02 6.00288524e+00] [ 2.77767192e-03 9.99995940e-01 6.36493088e-04 3.23785852e-01] [ 1.25452799e-02 -6.71292253e-04 9.99921080e-01 1.17932656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04255784400004 meters Centerline goodness [0,1] 0.26257496826161186 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99917851e-01 -2.75013601e-03 -1.25191198e-02 6.00261774e+00] [ 2.75865943e-03 9.99995975e-01 6.63614053e-04 3.23603377e-01] [ 1.25172443e-02 -6.98095525e-04 9.99921413e-01 1.17959675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0725578440001 meters Centerline goodness [0,1] 0.2502590897314103 Centerline is valid? [False, False] Translation: X:6.02, Y:0.32, Z:1.18 [[ 9.99922262e-01 5.70412977e-03 -1.10875000e-02 6.02260866e+00] [-5.70909972e-03 9.99983616e-01 -4.16649028e-04 3.21360546e-01] [ 1.10849417e-02 4.79916282e-04 9.99938445e-01 1.18062992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10255784400005 meters Centerline goodness [0,1] 0.25109160866369806 Centerline is valid? [False, False] Translation: X:6.02, Y:0.32, Z:1.18 [[ 9.99923323e-01 5.73152072e-03 -1.09771042e-02 6.02211897e+00] [-5.73621090e-03 9.99983469e-01 -3.95832594e-04 3.21447975e-01] [ 1.09746540e-02 4.58769228e-04 9.99939671e-01 1.18095714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1325578440001 meters Centerline goodness [0,1] 0.24875086147484493 Centerline is valid? [False, False] Translation: X:6.02, Y:0.32, Z:1.18 [[ 9.99924640e-01 5.73110765e-03 -1.08567032e-02 6.02177543e+00] [-5.73601087e-03 9.99983461e-01 -4.20546472e-04 3.21652543e-01] [ 1.08541134e-02 4.82788947e-04 9.99940976e-01 1.18100781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16255784400005 meters Centerline goodness [0,1] 0.25459719789842383 Centerline is valid? [False, False] Translation: X:5.97, Y:0.32, Z:1.18 [[ 9.99900443e-01 5.38021841e-03 -1.30444399e-02 5.97488497e+00] [-5.38527151e-03 9.99985437e-01 -3.52280743e-04 3.19298538e-01] [ 1.30423546e-02 4.22493522e-04 9.99914856e-01 1.18244532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1925578440001 meters Centerline goodness [0,1] 0.25276668194617247 Centerline is valid? [False, False] Translation: X:5.97, Y:0.32, Z:1.18 [[ 9.99902932e-01 5.32737858e-03 -1.28742160e-02 5.97445937e+00] [-5.33534879e-03 9.99985596e-01 -5.84816877e-04 3.20591047e-01] [ 1.28709150e-02 6.53448543e-04 9.99916953e-01 1.18240897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22255784400005 meters Centerline goodness [0,1] 0.2611920703689117 Centerline is valid? [False, False] Translation: X:5.97, Y:0.32, Z:1.18 [[ 9.99906130e-01 5.31606321e-03 -1.26281359e-02 5.97388832e+00] [-5.32684450e-03 9.99985476e-01 -8.20269190e-04 3.22147644e-01] [ 1.26235919e-02 8.87460308e-04 9.99919925e-01 1.18228523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2525578440001 meters Centerline goodness [0,1] 0.24916203533507775 Centerline is valid? [False, False] Translation: X:6.00, Y:0.33, Z:1.18 [[ 9.99921231e-01 -2.12590413e-04 -1.25493972e-02 5.99571266e+00] [ 2.37901680e-04 9.99997941e-01 2.01547258e-03 3.27341676e-01] [ 1.25489429e-02 -2.01829935e-03 9.99919222e-01 1.18232899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28255784400005 meters Centerline goodness [0,1] 0.2622943608691827 Centerline is valid? [False, False] Translation: X:5.95, Y:0.32, Z:1.18 [[ 9.99884806e-01 -6.14704550e-04 -1.51656222e-02 5.95022870e+00] [ 6.47015504e-04 9.99997531e-01 2.12572482e-03 3.24548498e-01] [ 1.51642781e-02 -2.13529234e-03 9.99882736e-01 1.18308920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.312557844 meters Centerline goodness [0,1] 0.250985659200208 Centerline is valid? [False, False] Translation: X:5.97, Y:0.33, Z:1.18 [[ 9.99877482e-01 5.58020920e-03 -1.46247062e-02 5.97343773e+00] [-5.60064063e-03 9.99983396e-01 -1.35646521e-03 3.25003613e-01] [ 1.46168941e-02 1.43820674e-03 9.99892133e-01 1.18299854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34255784400005 meters Centerline goodness [0,1] 0.2507372712290745 Centerline is valid? [False, False] Translation: X:5.97, Y:0.32, Z:1.18 [[ 9.99876817e-01 5.60465495e-03 -1.46607730e-02 5.97347784e+00] [-5.62309187e-03 9.99983450e-01 -1.21664854e-03 3.24080430e-01] [ 1.46537115e-02 1.29893755e-03 9.99891785e-01 1.18307331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.372557844 meters Centerline goodness [0,1] 0.24780957313651863 Centerline is valid? [False, False] Translation: X:5.97, Y:0.32, Z:1.18 [[ 9.99877493e-01 5.69256442e-03 -1.45806247e-02 5.97311744e+00] [-5.70725037e-03 9.99983247e-01 -9.65811669e-04 3.22951716e-01] [ 1.45748825e-02 1.04890863e-03 9.99893231e-01 1.18333059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40255784400006 meters Centerline goodness [0,1] 0.25364792867239316 Centerline is valid? [False, False] Translation: X:5.97, Y:0.32, Z:1.18 [[ 9.99878989e-01 5.78905442e-03 -1.44393306e-02 5.97258294e+00] [-5.79947623e-03 9.99982952e-01 -6.79997592e-04 3.21583947e-01] [ 1.44351479e-02 7.63655859e-04 9.99895516e-01 1.18369261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43255784400003 meters Centerline goodness [0,1] 0.2472023758285271 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.18 [[ 9.99901889e-01 -2.42440410e-03 -1.37961688e-02 5.99355230e+00] [ 2.42802087e-03 9.99997022e-01 2.45414006e-04 3.24049076e-01] [ 1.37955328e-02 -2.78887314e-04 9.99904798e-01 1.18427908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46255784400006 meters Centerline goodness [0,1] 0.2506200263106817 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.18 [[ 9.99898266e-01 -2.39740147e-03 -1.40609493e-02 5.99437992e+00] [ 2.40347337e-03 9.99997026e-01 4.14944583e-04 3.22969726e-01] [ 1.40599126e-02 -4.48697486e-04 9.99901054e-01 1.18400892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49255784400003 meters Centerline goodness [0,1] 0.25171957384945864 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99895008e-01 -2.33495365e-03 -1.43010833e-02 5.99504892e+00] [ 2.34392629e-03 9.99997067e-01 6.10680662e-04 3.21879952e-01] [ 1.42996154e-02 -6.44137231e-04 9.99897548e-01 1.18391124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52255784400006 meters Centerline goodness [0,1] 0.25105082983056726 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:1.18 [[ 9.99892949e-01 -2.28357170e-03 -1.44525342e-02 5.99535478e+00] [ 2.29552869e-03 9.99997037e-01 8.10793314e-04 3.20710699e-01] [ 1.44506399e-02 -8.43882724e-04 9.99895228e-01 1.18406053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55255784400003 meters Centerline goodness [0,1] 0.2533997693596466 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.18 [[ 9.99895956e-01 -2.15035970e-03 -1.42637016e-02 5.99454769e+00] [ 2.16815583e-03 9.99996890e-01 1.23230531e-03 3.18512505e-01] [ 1.42610074e-02 -1.26310302e-03 9.99897509e-01 1.18468135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58255784400006 meters Centerline goodness [0,1] 0.24958535271943993 Centerline is valid? [False, False] Translation: X:6.01, Y:0.32, Z:1.19 [[ 9.99895363e-01 6.21193268e-03 -1.30642973e-02 6.01417296e+00] [-6.21134593e-03 9.99980706e-01 8.54882173e-05 3.15564202e-01] [ 1.30645762e-02 -4.33240248e-06 9.99914655e-01 1.18571989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61255784400004 meters Centerline goodness [0,1] 0.25002152203856753 Centerline is valid? [False, False] Translation: X:6.01, Y:0.32, Z:1.19 [[ 9.99896210e-01 6.22921181e-03 -1.29909702e-02 6.01406611e+00] [-6.22840045e-03 9.99980598e-01 1.02912703e-04 3.15592813e-01] [ 1.29913592e-02 -2.19890569e-05 9.99915608e-01 1.18558247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64255784400007 meters Centerline goodness [0,1] 0.2569713697399838 Centerline is valid? [False, False] Translation: X:5.97, Y:0.31, Z:1.19 [[ 9.99856692e-01 5.71331103e-03 -1.59358967e-02 5.96874208e+00] [-5.70751054e-03 9.99983628e-01 4.09445719e-04 3.12649296e-01] [ 1.59379751e-02 -3.18432744e-04 9.99872932e-01 1.18635788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67255784400004 meters Centerline goodness [0,1] 0.2569713697399838 Centerline is valid? [False, False] Translation: X:5.97, Y:0.31, Z:1.19 [[ 9.99856692e-01 5.71331103e-03 -1.59358967e-02 5.96874208e+00] [-5.70751054e-03 9.99983628e-01 4.09445719e-04 3.12649296e-01] [ 1.59379751e-02 -3.18432744e-04 9.99872932e-01 1.18635788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70255784400007 meters Centerline goodness [0,1] 0.2533556681967498 Centerline is valid? [False, False] Translation: X:5.97, Y:0.31, Z:1.19 [[ 9.99854891e-01 5.66561343e-03 -1.60653956e-02 5.96926990e+00] [-5.66191028e-03 9.99983933e-01 2.75979215e-04 3.13269157e-01] [ 1.60667011e-02 -1.84978340e-04 9.99870905e-01 1.18596592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73255784400004 meters Centerline goodness [0,1] 0.25153240407477695 Centerline is valid? [False, False] Translation: X:5.97, Y:0.31, Z:1.19 [[ 9.99853054e-01 5.62144908e-03 -1.61947458e-02 5.96983373e+00] [-5.61941800e-03 9.99984196e-01 1.70919139e-04 3.13702803e-01] [ 1.61954507e-02 -7.98889771e-05 9.99868842e-01 1.18555214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76255784400007 meters Centerline goodness [0,1] 0.2529164213601971 Centerline is valid? [False, False] Translation: X:5.97, Y:0.32, Z:1.18 [[ 9.99849865e-01 5.47520061e-03 -1.64398802e-02 5.97105410e+00] [-5.47898733e-03 9.99984973e-01 -1.85305613e-04 3.15282794e-01] [ 1.64386186e-02 2.75351687e-04 9.99864839e-01 1.18444296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79255784400004 meters Centerline goodness [0,1] 0.25242550242550243 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.19 [[ 9.99841513e-01 -1.26506784e-03 -1.77580434e-02 5.98825328e+00] [ 1.28107010e-03 9.99998784e-01 8.89780689e-04 3.21810582e-01] [ 1.77568961e-02 -9.12388969e-04 9.99841918e-01 1.18722469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8225578440001 meters Centerline goodness [0,1] 0.26150341685649203 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.19 [[ 9.99843666e-01 -1.29722522e-03 -1.76340630e-02 5.98767839e+00] [ 1.31065979e-03 9.99998860e-01 7.50318130e-04 3.22697363e-01] [ 1.76330695e-02 -7.73313088e-04 9.99844226e-01 1.18759281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85255784400005 meters Centerline goodness [0,1] 0.25191221208170356 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.19 [[ 9.99846009e-01 -1.36910308e-03 -1.74952299e-02 5.98713352e+00] [ 1.37839255e-03 9.99998915e-01 5.18923884e-04 3.23994801e-01] [ 1.74945005e-02 -5.42959269e-04 9.99846812e-01 1.18787102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8825578440001 meters Centerline goodness [0,1] 0.2495795420242356 Centerline is valid? [False, False] Translation: X:5.99, Y:0.33, Z:1.19 [[ 9.99850246e-01 -1.51356799e-03 -1.72393604e-02 5.98620038e+00] [ 1.51245863e-03 9.99998853e-01 -7.73881026e-05 3.27330675e-01] [ 1.72394578e-02 5.13026940e-05 9.99851388e-01 1.18818173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91255784400005 meters Centerline goodness [0,1] 0.25068090441398994 Centerline is valid? [False, False] Translation: X:5.99, Y:0.33, Z:1.19 [[ 9.99855454e-01 -1.54179092e-03 -1.69320179e-02 5.98519712e+00] [ 1.53711656e-03 9.99998777e-01 -2.89076749e-04 3.28839271e-01] [ 1.69324429e-02 2.63008479e-04 9.99856601e-01 1.18847378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9425578440001 meters Centerline goodness [0,1] 0.25265692100811177 Centerline is valid? [False, False] Translation: X:5.98, Y:0.33, Z:1.19 [[ 9.99859753e-01 -1.54431724e-03 -1.66760085e-02 5.98431254e+00] [ 1.53792141e-03 9.99998739e-01 -3.96352088e-04 3.29765744e-01] [ 1.66765995e-02 3.70650110e-04 9.99860867e-01 1.18882946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97255784400005 meters Centerline goodness [0,1] 0.26287464449792164 Centerline is valid? [False, False] Translation: X:5.98, Y:0.33, Z:1.19 [[ 9.99861611e-01 -1.59445187e-03 -1.65594805e-02 5.98397844e+00] [ 1.58616699e-03 9.99998610e-01 -5.13432287e-04 3.30334035e-01] [ 1.65602761e-02 4.87095132e-04 9.99862751e-01 1.18889360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0025578440001 meters Centerline goodness [0,1] 0.24844039065525103 Centerline is valid? [False, False] Translation: X:6.03, Y:0.33, Z:1.19 [[ 9.99889605e-01 -1.72446429e-03 -1.47582117e-02 6.02915151e+00] [ 1.70314550e-03 9.99997488e-01 -1.45698376e-03 3.34794457e-01] [ 1.47606872e-02 1.43168753e-03 9.99890030e-01 1.18854598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03255784400005 meters Centerline goodness [0,1] 0.24679439152306537 Centerline is valid? [False, False] Translation: X:6.03, Y:0.33, Z:1.19 [[ 9.99884198e-01 -1.78633319e-03 -1.51129234e-02 6.03009231e+00] [ 1.76498335e-03 9.99997426e-01 -1.42590766e-03 3.34133665e-01] [ 1.51154317e-02 1.39906848e-03 9.99884777e-01 1.18848547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.062557844 meters Centerline goodness [0,1] 0.26209721344691606 Centerline is valid? [False, False] Translation: X:5.99, Y:0.33, Z:1.19 [[ 9.99821585e-01 -3.34750024e-03 -1.85900912e-02 5.98619162e+00] [ 3.31414000e-03 9.99992843e-01 -1.82503547e-03 3.29167628e-01] [ 1.85960675e-02 1.76309969e-03 9.99825524e-01 1.18917076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09255784400005 meters Centerline goodness [0,1] 0.26063795090343767 Centerline is valid? [False, False] Translation: X:5.99, Y:0.33, Z:1.19 [[ 9.99819337e-01 -3.28860073e-03 -1.87210812e-02 5.98640394e+00] [ 3.25877930e-03 9.99993373e-01 -1.62321666e-03 3.28229394e-01] [ 1.87262952e-02 1.56191553e-03 9.99823428e-01 1.18940670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.122557844 meters Centerline goodness [0,1] 0.25101039572932204 Centerline is valid? [False, False] Translation: X:5.99, Y:0.33, Z:1.19 [[ 9.99818526e-01 -3.19645395e-03 -1.87802284e-02 5.98641540e+00] [ 3.17218459e-03 9.99994095e-01 -1.32193028e-03 3.26723133e-01] [ 1.87843430e-02 1.26211604e-03 9.99822762e-01 1.18967220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15255784400006 meters Centerline goodness [0,1] 0.2616561066200568 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.19 [[ 9.99820902e-01 -3.10880361e-03 -1.86681369e-02 5.98591867e+00] [ 3.09110372e-03 9.99994745e-01 -9.76913989e-04 3.24897905e-01] [ 1.86710758e-02 9.19033878e-04 9.99825258e-01 1.19007739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18255784400003 meters Centerline goodness [0,1] 0.260479756865299 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:1.19 [[ 9.99823730e-01 -3.05303439e-03 -1.85253254e-02 5.98537432e+00] [ 3.04163322e-03 9.99995167e-01 -6.43581668e-04 3.22964139e-01] [ 1.85272008e-02 5.87120979e-04 9.99828184e-01 1.19047136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21255784400006 meters Centerline goodness [0,1] 0.2484851098699674 Centerline is valid? [False, False] Translation: X:5.98, Y:0.32, Z:1.19 [[ 9.99827153e-01 -2.94695328e-03 -1.83569773e-02 5.98466247e+00] [ 2.94278146e-03 9.99995638e-01 -2.54268977e-04 3.20911030e-01] [ 1.83576466e-02 2.00204455e-04 9.99831464e-01 1.19101416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24255784400003 meters Centerline goodness [0,1] 0.26339996076465333 Centerline is valid? [False, False] Translation: X:5.98, Y:0.32, Z:1.19 [[ 9.99841284e-01 -2.97622782e-03 -1.75655341e-02 5.98208444e+00] [ 2.98189099e-03 9.99995510e-01 2.96219915e-04 3.17268326e-01] [ 1.75645736e-02 -3.48551409e-04 9.99845670e-01 1.19225497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27255784400006 meters Centerline goodness [0,1] 0.26102243313201035 Centerline is valid? [False, False] Translation: X:6.00, Y:0.31, Z:1.19 [[ 9.99865814e-01 3.58595355e-03 -1.59841811e-02 6.00342728e+00] [-3.62417345e-03 9.99990641e-01 -2.36278286e-03 3.14381096e-01] [ 1.59755586e-02 2.42039525e-03 9.99869453e-01 1.19247518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30255784400003 meters Centerline goodness [0,1] 0.25306735120083534 Centerline is valid? [False, False] Translation: X:6.00, Y:0.31, Z:1.19 [[ 9.99863146e-01 3.76377433e-03 -1.61097296e-02 6.00379901e+00] [-3.79458413e-03 9.99991029e-01 -1.88235716e-03 3.11952780e-01] [ 1.61025003e-02 1.94322928e-03 9.99868458e-01 1.19241823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33255784400006 meters Centerline goodness [0,1] 0.25888958203368684 Centerline is valid? [False, False] Translation: X:6.02, Y:0.32, Z:1.19 [[ 9.99861701e-01 -3.96868962e-03 -1.61501598e-02 6.02429682e+00] [ 3.95724471e-03 9.99991896e-01 -7.40551598e-04 3.15024536e-01] [ 1.61529679e-02 6.76539047e-04 9.99869303e-01 1.19303665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36255784400004 meters Centerline goodness [0,1] 0.2625581243041456 Centerline is valid? [False, False] Translation: X:6.01, Y:0.31, Z:1.19 [[ 9.99838822e-01 3.91921535e-03 -1.75205445e-02 6.00536164e+00] [-3.95018421e-03 9.99990696e-01 -1.73331648e-03 3.07692852e-01] [ 1.75135882e-02 1.80224648e-03 9.99845001e-01 1.19129252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39255784400007 meters Centerline goodness [0,1] 0.2589907941151166 Centerline is valid? [False, False] Translation: X:6.03, Y:0.31, Z:1.19 [[ 9.99829878e-01 -3.83091261e-03 -1.80427234e-02 6.02591188e+00] [ 3.81313375e-03 9.99992210e-01 -1.01967525e-03 3.11594959e-01] [ 1.80464892e-02 9.50702463e-04 9.99836697e-01 1.19203324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42255784400004 meters Centerline goodness [0,1] 0.2534386698006442 Centerline is valid? [False, False] Translation: X:6.01, Y:0.30, Z:1.19 [[ 9.99809244e-01 3.62664112e-03 -1.91917480e-02 6.00808873e+00] [-3.67538599e-03 9.99990108e-01 -2.50522493e-03 3.03133437e-01] [ 1.91824726e-02 2.57528412e-03 9.99812683e-01 1.18971532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45255784400007 meters Centerline goodness [0,1] 0.26179904264766407 Centerline is valid? [False, False] Translation: X:6.01, Y:0.30, Z:1.19 [[ 9.99806937e-01 3.70177372e-03 -1.92973059e-02 6.00849432e+00] [-3.74825756e-03 9.99990159e-01 -2.37321290e-03 3.02612616e-01] [ 1.92883309e-02 2.44508599e-03 9.99810973e-01 1.18948269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48255784400004 meters Centerline goodness [0,1] 0.26030317385125534 Centerline is valid? [False, False] Translation: X:6.01, Y:0.30, Z:1.19 [[ 9.99805958e-01 3.80436380e-03 -1.93280537e-02 6.00862030e+00] [-3.84715049e-03 9.99990230e-01 -2.17700912e-03 3.01899939e-01] [ 1.93195828e-02 2.25094462e-03 9.99810826e-01 1.18937200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51255784400007 meters Centerline goodness [0,1] 0.2590166760029301 Centerline is valid? [False, False] Translation: X:6.01, Y:0.30, Z:1.19 [[ 9.99801639e-01 3.94061070e-03 -1.95231762e-02 6.00936540e+00] [-3.97874910e-03 9.99990251e-01 -1.91503652e-03 3.00857429e-01] [ 1.95154394e-02 1.99233447e-03 9.99807571e-01 1.18896595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54255784400004 meters Centerline goodness [0,1] 0.2612696690179056 Centerline is valid? [False, False] Translation: X:6.01, Y:0.30, Z:1.19 [[ 9.99800019e-01 3.96984171e-03 -1.96000450e-02 6.00986474e+00] [-4.00696240e-03 9.99990252e-01 -1.85499958e-03 3.00581691e-01] [ 1.95924899e-02 1.93316526e-03 9.99806180e-01 1.18848874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5725578440001 meters Centerline goodness [0,1] 0.261236442516269 Centerline is valid? [False, False] Translation: X:6.01, Y:0.30, Z:1.19 [[ 9.99799209e-01 3.95020159e-03 -1.96452865e-02 6.01012700e+00] [-3.98790048e-03 9.99990281e-01 -1.88017321e-03 3.00590375e-01] [ 1.96376685e-02 1.95813914e-03 9.99805245e-01 1.18823941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60255784400005 meters Centerline goodness [0,1] 0.2612778294640732 Centerline is valid? [False, False] Translation: X:6.01, Y:0.30, Z:1.19 [[ 9.99802678e-01 3.93250282e-03 -1.94715391e-02 6.00965635e+00] [-3.97008049e-03 9.99990330e-01 -1.89159724e-03 3.00493984e-01] [ 1.94639121e-02 1.96852756e-03 9.99808622e-01 1.18825497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6325578440001 meters Centerline goodness [0,1] 0.26286596772088566 Centerline is valid? [False, False] Translation: X:6.01, Y:0.30, Z:1.19 [[ 9.99805345e-01 3.89850987e-03 -1.93409676e-02 6.00916149e+00] [-3.93638640e-03 9.99990408e-01 -1.92067369e-03 3.00411689e-01] [ 1.93332943e-02 1.99643334e-03 9.99811101e-01 1.18852189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66255784400005 meters Centerline goodness [0,1] 0.2590954210003884 Centerline is valid? [False, False] Translation: X:6.03, Y:0.31, Z:1.19 [[ 9.99820751e-01 -3.77871685e-03 -1.85523007e-02 6.02778872e+00] [ 3.76555483e-03 9.99992633e-01 -7.44336179e-04 3.05533805e-01] [ 1.85549767e-02 6.74343051e-04 9.99827614e-01 1.19032683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6925578440001 meters Centerline goodness [0,1] 0.25860360942412886 Centerline is valid? [False, False] Translation: X:6.03, Y:0.30, Z:1.19 [[ 9.99825673e-01 -3.69103103e-03 -1.83030118e-02 6.02664013e+00] [ 3.68414813e-03 9.99993130e-01 -4.09757091e-04 3.04146754e-01] [ 1.83043985e-02 3.42254653e-04 9.99832402e-01 1.19118636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72255784400005 meters Centerline goodness [0,1] 0.2489303605598675 Centerline is valid? [False, False] Translation: X:6.03, Y:0.30, Z:1.19 [[ 9.99825421e-01 -3.60801304e-03 -1.83333178e-02 6.02649373e+00] [ 3.60587149e-03 9.99993488e-01 -1.49867166e-04 3.02850821e-01] [ 1.83337391e-02 8.37334148e-05 9.99831919e-01 1.19155297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7525578440001 meters Centerline goodness [0,1] 0.2637882886813858 Centerline is valid? [False, False] Translation: X:6.00, Y:0.30, Z:1.19 [[ 9.99827619e-01 2.28108157e-03 -1.84263363e-02 6.00324082e+00] [-2.33199074e-03 9.99993522e-01 -2.74183370e-03 2.97920971e-01] [ 1.84199626e-02 2.78433110e-03 9.99826461e-01 1.19171205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78255784400005 meters Centerline goodness [0,1] 0.2629032964146566 Centerline is valid? [False, False] Translation: X:6.00, Y:0.30, Z:1.19 [[ 9.99824057e-01 2.33104242e-03 -1.86124126e-02 6.00368928e+00] [-2.37816802e-03 9.99994022e-01 -2.51021276e-03 2.96525674e-01] [ 1.86064499e-02 2.55403455e-03 9.99823623e-01 1.19174362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.812557844 meters Centerline goodness [0,1] 0.26131307650569724 Centerline is valid? [False, False] Translation: X:6.02, Y:0.30, Z:1.19 [[ 9.99801153e-01 -5.63840391e-03 -1.91275453e-02 6.02448983e+00] [ 5.60961436e-03 9.99983052e-01 -1.55845603e-03 2.99075805e-01] [ 1.91360084e-02 1.45084798e-03 9.99815837e-01 1.19274925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84255784400005 meters Centerline goodness [0,1] 0.248348206624335 Centerline is valid? [False, False] Translation: X:6.04, Y:0.29, Z:1.19 [[ 9.99825486e-01 2.70901663e-03 -1.84839998e-02 6.04439524e+00] [-2.75530019e-03 9.99993131e-01 -2.47897270e-03 2.94484426e-01] [ 1.84771573e-02 2.52946906e-03 9.99826083e-01 1.19408382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.872557844 meters Centerline goodness [0,1] 0.2634539207318408 Centerline is valid? [False, False] Translation: X:6.00, Y:0.29, Z:1.20 [[ 9.99776301e-01 2.02329023e-03 -2.10536025e-02 5.99801374e+00] [-2.06461495e-03 9.99995984e-01 -1.94128247e-03 2.89613480e-01] [ 2.10495901e-02 1.98431579e-03 9.99776464e-01 1.19553711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90255784400006 meters Centerline goodness [0,1] 0.26319223909166045 Centerline is valid? [False, False] Translation: X:6.00, Y:0.29, Z:1.20 [[ 9.99775437e-01 2.10400475e-03 -2.10866994e-02 5.99801066e+00] [-2.14041999e-03 9.99996257e-01 -1.70450865e-03 2.88306917e-01] [ 2.10830341e-02 1.74926028e-03 9.99776198e-01 1.19570992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93255784400003 meters Centerline goodness [0,1] 0.2604387980748385 Centerline is valid? [False, False] Translation: X:6.00, Y:0.29, Z:1.20 [[ 9.99772839e-01 2.15773102e-03 -2.12041058e-02 5.99834494e+00] [-2.19059317e-03 9.99996435e-01 -1.52669616e-03 2.87176213e-01] [ 2.12007360e-02 1.57279893e-03 9.99774002e-01 1.19563652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96255784400006 meters Centerline goodness [0,1] 0.26110605469596493 Centerline is valid? [False, False] Translation: X:6.00, Y:0.29, Z:1.20 [[ 9.99769988e-01 2.29520140e-03 -2.13237674e-02 5.99898819e+00] [-2.32239209e-03 9.99996521e-01 -1.25045929e-03 2.85667113e-01] [ 2.13208232e-02 1.29969382e-03 9.99771841e-01 1.19507758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99255784400003 meters Centerline goodness [0,1] 0.2645132937815865 Centerline is valid? [False, False] Translation: X:5.95, Y:0.28, Z:1.20 [[ 9.99723493e-01 2.29986178e-03 -2.34018918e-02 5.95205087e+00] [-2.30662825e-03 9.99997305e-01 -2.62152768e-04 2.81341840e-01] [ 2.34012259e-02 3.16059745e-04 9.99726104e-01 1.19601650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02255784400006 meters Centerline goodness [0,1] 0.2601487181704206 Centerline is valid? [False, False] Translation: X:5.99, Y:0.28, Z:1.20 [[ 9.99783456e-01 3.65823227e-03 -2.04855580e-02 5.99303547e+00] [-3.65697176e-03 9.99993308e-01 9.89928499e-05 2.82625859e-01] [ 2.04857831e-02 -2.40563064e-05 9.99790144e-01 1.19744311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05255784400003 meters Centerline goodness [0,1] 0.2651361545337606 Centerline is valid? [False, False] Translation: X:5.99, Y:0.28, Z:1.20 [[ 9.99790031e-01 3.80004881e-03 -2.01358565e-02 5.99175296e+00] [-3.79187652e-03 9.99992712e-01 4.44022562e-04 2.80882941e-01] [ 2.01373970e-02 -3.67576650e-04 9.99797154e-01 1.19813669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08255784400006 meters Centerline goodness [0,1] 0.2632954396968509 Centerline is valid? [False, False] Translation: X:5.99, Y:0.28, Z:1.20 [[ 9.99793017e-01 3.95006855e-03 -1.99579445e-02 5.99093500e+00] [-3.93418292e-03 9.99991912e-01 8.35155922e-04 2.78873239e-01] [ 1.99610821e-02 -7.56464854e-04 9.99800472e-01 1.19874692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11255784400004 meters Centerline goodness [0,1] 0.2636316201408818 Centerline is valid? [False, False] Translation: X:5.99, Y:0.27, Z:1.20 [[ 9.99788070e-01 4.28555676e-03 -2.01357479e-02 5.99116937e+00] [-4.25198340e-03 9.99989498e-01 1.70986807e-03 2.74432537e-01] [ 2.01428642e-02 -1.62388883e-03 9.99795793e-01 1.19911434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14255784400007 meters Centerline goodness [0,1] 0.2599100939926441 Centerline is valid? [False, False] Translation: X:6.01, Y:0.28, Z:1.20 [[ 9.99783971e-01 -3.39305539e-03 -2.05060747e-02 6.01174976e+00] [ 3.44680409e-03 9.99990715e-01 2.58633566e-03 2.77070901e-01] [ 2.04971087e-02 -2.65645736e-03 9.99786383e-01 1.19994041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17255784400004 meters Centerline goodness [0,1] 0.25996114828404926 Centerline is valid? [False, False] Translation: X:6.01, Y:0.27, Z:1.20 [[ 9.99779857e-01 -3.26844753e-03 -2.07257269e-02 6.01274496e+00] [ 3.33084863e-03 9.99990021e-01 2.97699792e-03 2.74826256e-01] [ 2.07157899e-02 -3.04537681e-03 9.99780767e-01 1.19927856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20255784400007 meters Centerline goodness [0,1] 0.26363715580341585 Centerline is valid? [False, False] Translation: X:6.01, Y:0.27, Z:1.20 [[ 9.99776079e-01 -3.12511689e-03 -2.09290777e-02 6.01365577e+00] [ 3.19538091e-03 9.99989368e-01 3.32464416e-03 2.73100946e-01] [ 2.09184652e-02 -3.39077608e-03 9.99775435e-01 1.19867437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23255784400004 meters Centerline goodness [0,1] 0.2594972308757355 Centerline is valid? [False, False] Translation: X:6.03, Y:0.27, Z:1.20 [[ 9.99738575e-01 5.76332478e-03 -2.21261308e-02 6.03495050e+00] [-5.70208159e-03 9.99979738e-01 2.83000585e-03 2.67646302e-01] [ 2.21419928e-02 -2.70310101e-03 9.99751182e-01 1.20041444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26255784400007 meters Centerline goodness [0,1] 0.26299151221202144 Centerline is valid? [False, False] Translation: X:6.04, Y:0.27, Z:1.20 [[ 9.99736312e-01 5.82681284e-03 -2.22116090e-02 6.03513424e+00] [-5.76171897e-03 9.99978921e-01 2.99349502e-03 2.66690867e-01] [ 2.22285833e-02 -2.86472862e-03 9.99748810e-01 1.20046556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29255784400004 meters Centerline goodness [0,1] 0.26129589632829375 Centerline is valid? [False, False] Translation: X:6.04, Y:0.27, Z:1.20 [[ 9.99732221e-01 5.85351089e-03 -2.23879831e-02 6.03567534e+00] [-5.78510540e-03 9.99978402e-01 3.11900314e-03 2.65721589e-01] [ 2.24057566e-02 -2.98865109e-03 9.99744492e-01 1.20030325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3225578440001 meters Centerline goodness [0,1] 0.2621264827258388 Centerline is valid? [False, False] Translation: X:6.04, Y:0.26, Z:1.20 [[ 9.99728159e-01 5.91497592e-03 -2.25526508e-02 6.03619001e+00] [-5.84191881e-03 9.99977478e-01 3.30391176e-03 2.64670651e-01] [ 2.25716854e-02 -3.17126286e-03 9.99740197e-01 1.20014665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35255784400005 meters Centerline goodness [0,1] 0.26519312835102304 Centerline is valid? [False, False] Translation: X:6.02, Y:0.27, Z:1.20 [[ 9.99717933e-01 -3.01769011e-03 -2.35573443e-02 6.01579449e+00] [ 3.12434925e-03 9.99985029e-01 4.49214641e-03 2.66575875e-01] [ 2.35434357e-02 -4.56448069e-03 9.99712395e-01 1.19847073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3825578440001 meters Centerline goodness [0,1] 0.26380073720255626 Centerline is valid? [False, False] Translation: X:6.02, Y:0.27, Z:1.20 [[ 9.99720911e-01 -2.91618082e-03 -2.34434671e-02 6.01568561e+00] [ 3.02819123e-03 9.99984163e-01 4.74381458e-03 2.65376575e-01] [ 2.34292620e-02 -4.81348193e-03 9.99713909e-01 1.19819330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41255784400005 meters Centerline goodness [0,1] 0.26023524333657067 Centerline is valid? [False, False] Translation: X:6.04, Y:0.26, Z:1.20 [[ 9.99778539e-01 2.58874763e-03 -2.08847083e-02 6.03714317e+00] [-2.56024701e-03 9.99995755e-01 1.39128725e-03 2.60776337e-01] [ 2.08882214e-02 -1.33750912e-03 9.99780923e-01 1.19794699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4425578440001 meters Centerline goodness [0,1] 0.2630652173913044 Centerline is valid? [False, False] Translation: X:6.04, Y:0.26, Z:1.20 [[ 9.99775028e-01 2.69879157e-03 -2.10383156e-02 6.03727380e+00] [-2.65895544e-03 9.99994619e-01 1.92124674e-03 2.57666837e-01] [ 2.10433874e-02 -1.86487457e-03 9.99776824e-01 1.19839227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47255784400005 meters Centerline goodness [0,1] 0.26150997028295797 Centerline is valid? [False, False] Translation: X:6.04, Y:0.25, Z:1.20 [[ 9.99764473e-01 2.75987198e-03 -2.15263058e-02 6.03831939e+00] [-2.70803881e-03 9.99993365e-01 2.43667811e-03 2.54550757e-01] [ 2.15328879e-02 -2.37781014e-03 9.99765313e-01 1.19872856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5025578440001 meters Centerline goodness [0,1] 0.26074764339179013 Centerline is valid? [False, False] Translation: X:6.04, Y:0.25, Z:1.20 [[ 9.99757513e-01 2.91686908e-03 -2.18267475e-02 6.03900283e+00] [-2.85121197e-03 9.99991319e-01 3.03861879e-03 2.51337623e-01] [ 2.18354213e-02 -2.97564928e-03 9.99757150e-01 1.19888498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53255784400005 meters Centerline goodness [0,1] 0.2626633986928104 Centerline is valid? [False, False] Translation: X:6.04, Y:0.25, Z:1.20 [[ 9.99759842e-01 3.09732982e-03 -2.16947899e-02 6.03856240e+00] [-3.00956660e-03 9.99987161e-01 4.07684138e-03 2.45588777e-01] [ 2.17071387e-02 -4.01057038e-03 9.99756328e-01 1.19921523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.562557844 meters Centerline goodness [0,1] 0.2642360132659918 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99762864e-01 3.29884039e-03 -2.15251696e-02 6.03791173e+00] [-3.20033084e-03 9.99984256e-01 4.60932596e-03 2.43033124e-01] [ 2.15400361e-02 -4.53934526e-03 9.99757681e-01 1.19966733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59255784400005 meters Centerline goodness [0,1] 0.2642360132659918 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99762864e-01 3.29884039e-03 -2.15251696e-02 6.03791173e+00] [-3.20033084e-03 9.99984256e-01 4.60932596e-03 2.43033124e-01] [ 2.15400361e-02 -4.53934526e-03 9.99757681e-01 1.19966733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.622557844 meters Centerline goodness [0,1] 0.2658438012015292 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99764772e-01 3.45465280e-03 -2.14118189e-02 6.03743830e+00] [-3.34637555e-03 9.99981443e-01 5.09066035e-03 2.40482219e-01] [ 2.14290081e-02 -5.01781089e-03 9.99757780e-01 1.20003357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65255784400006 meters Centerline goodness [0,1] 0.26631842420285123 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99761819e-01 3.57049948e-03 -2.15303870e-02 6.03760681e+00] [-3.45286080e-03 9.99978922e-01 5.49854596e-03 2.38164690e-01] [ 2.15495657e-02 -5.42289488e-03 9.99753074e-01 1.20028232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68255784400003 meters Centerline goodness [0,1] 0.26600813733382656 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99756198e-01 3.67807213e-03 -2.17719073e-02 6.03818930e+00] [-3.55187900e-03 9.99976686e-01 5.83198031e-03 2.36306239e-01] [ 2.17928501e-02 -5.75322728e-03 9.99745954e-01 1.20035299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71255784400006 meters Centerline goodness [0,1] 0.2639322720320545 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99751624e-01 3.77054011e-03 -2.19652967e-02 6.03864654e+00] [-3.63823716e-03 9.99975019e-01 6.06012349e-03 2.35184581e-01] [ 2.19875980e-02 -5.97870333e-03 9.99740367e-01 1.20041053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74255784400003 meters Centerline goodness [0,1] 0.2669513683109639 Centerline is valid? [False, False] Translation: X:6.04, Y:0.23, Z:1.20 [[ 9.99750854e-01 3.88533053e-03 -2.19803215e-02 6.03891572e+00] [-3.74914468e-03 9.99973543e-01 6.23362727e-03 2.34557456e-01] [ 2.20039597e-02 -6.14966678e-03 9.99738970e-01 1.20002751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77255784400006 meters Centerline goodness [0,1] 0.26533144660933927 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99751792e-01 3.85280042e-03 -2.19433460e-02 6.03903482e+00] [-3.71910831e-03 9.99974294e-01 6.13015817e-03 2.35032405e-01] [ 2.19664003e-02 -6.04702694e-03 9.99740422e-01 1.19966454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80255784400003 meters Centerline goodness [0,1] 0.2636548267219774 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99754191e-01 3.78497797e-03 -2.18456505e-02 6.03885955e+00] [-3.65625772e-03 9.99975738e-01 5.92919670e-03 2.35965480e-01] [ 2.18675624e-02 -5.84786592e-03 9.99743773e-01 1.19954010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83255784400006 meters Centerline goodness [0,1] 0.26293745547183656 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99768859e-01 3.72060441e-03 -2.11751300e-02 6.03682608e+00] [-3.60557999e-03 9.99978552e-01 5.46764182e-03 2.38616395e-01] [ 2.11950188e-02 -5.39002940e-03 9.99760831e-01 1.20001181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86255784400004 meters Centerline goodness [0,1] 0.26692187228119013 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99773641e-01 3.63322929e-03 -2.09634447e-02 6.03601939e+00] [-3.52651846e-03 9.99980649e-01 5.12505394e-03 2.40580022e-01] [ 2.09816595e-02 -5.04996587e-03 9.99767107e-01 1.20041151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89255784400007 meters Centerline goodness [0,1] 0.2530699297686242 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:1.20 [[ 9.99778620e-01 3.53057613e-03 -2.07423812e-02 6.03525507e+00] [-3.43334726e-03 9.99982961e-01 4.72119275e-03 2.42906501e-01] [ 2.07586963e-02 -4.64893177e-03 9.99773706e-01 1.20070651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92255784400004 meters Centerline goodness [0,1] 0.2644801418286381 Centerline is valid? [False, False] Translation: X:6.03, Y:0.25, Z:1.20 [[ 9.99783796e-01 3.37799190e-03 -2.05170824e-02 6.03441082e+00] [-3.29115599e-03 9.99985490e-01 4.26466377e-03 2.45390358e-01] [ 2.05311907e-02 -4.19621681e-03 9.99780407e-01 1.20108282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95255784400007 meters Centerline goodness [0,1] 0.2642743810993501 Centerline is valid? [False, False] Translation: X:6.03, Y:0.25, Z:1.20 [[ 9.99788936e-01 3.19246816e-03 -2.02951055e-02 6.03373837e+00] [-3.11687326e-03 9.99988091e-01 3.75532603e-03 2.47987372e-01] [ 2.03068526e-02 -3.69127614e-03 9.99786980e-01 1.20121180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98255784400004 meters Centerline goodness [0,1] 0.2621279889901944 Centerline is valid? [False, False] Translation: X:6.03, Y:0.25, Z:1.20 [[ 9.99791674e-01 2.98855993e-03 -2.01910160e-02 6.03350955e+00] [-2.92462741e-03 9.99990619e-01 3.19517144e-03 2.50803864e-01] [ 2.02003755e-02 -3.13545461e-03 9.99791035e-01 1.20108384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01255784400007 meters Centerline goodness [0,1] 0.2630034100228774 Centerline is valid? [False, False] Translation: X:6.03, Y:0.26, Z:1.20 [[ 9.99792634e-01 2.60721371e-03 -2.01963159e-02 6.03411845e+00] [-2.56580172e-03 9.99994553e-01 2.07611352e-03 2.56758945e-01] [ 2.02016188e-02 -2.02386326e-03 9.99793878e-01 1.19997714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04255784400004 meters Centerline goodness [0,1] 0.2654054171463325 Centerline is valid? [False, False] Translation: X:6.03, Y:0.26, Z:1.20 [[ 9.99793731e-01 2.38919390e-03 -2.01689452e-02 6.03405649e+00] [-2.36049959e-03 9.99996168e-01 1.44638435e-03 2.60102875e-01] [ 2.01723236e-02 -1.39847722e-03 9.99795540e-01 1.19986512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0725578440001 meters Centerline goodness [0,1] 0.2641915698812476 Centerline is valid? [False, False] Translation: X:6.03, Y:0.26, Z:1.20 [[ 9.99796629e-01 2.23795243e-03 -2.00422741e-02 6.03367815e+00] [-2.22119310e-03 9.99997165e-01 8.58421157e-04 2.63522959e-01] [ 2.00441384e-02 -8.13728818e-04 9.99798765e-01 1.19986108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10255784400005 meters Centerline goodness [0,1] 0.26356488400805766 Centerline is valid? [False, False] Translation: X:6.03, Y:0.27, Z:1.20 [[ 9.99798534e-01 2.03421903e-03 -1.99688201e-02 6.03349424e+00] [-2.03083153e-03 9.99997920e-01 1.89916820e-04 2.67109718e-01] [ 1.99691649e-02 -1.49325249e-04 9.99800585e-01 1.19974406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1325578440001 meters Centerline goodness [0,1] 0.2613260742757145 Centerline is valid? [False, False] Translation: X:6.03, Y:0.27, Z:1.20 [[ 9.99802202e-01 1.80832876e-03 -1.98062183e-02 6.03294371e+00] [-1.81751132e-03 9.99998249e-01 -4.45629366e-04 2.70228891e-01] [ 1.98053778e-02 4.81539247e-04 9.99803738e-01 1.19990177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16255784400005 meters Centerline goodness [0,1] 0.2608752053965234 Centerline is valid? [False, False] Translation: X:6.03, Y:0.27, Z:1.20 [[ 9.99804603e-01 1.58799233e-03 -1.97036777e-02 6.03259400e+00] [-1.60825696e-03 9.99998194e-01 -1.01266584e-03 2.72984488e-01] [ 1.97020340e-02 1.04415654e-03 9.99805351e-01 1.19997310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1925578440001 meters Centerline goodness [0,1] 0.2623482832478743 Centerline is valid? [False, False] Translation: X:6.03, Y:0.28, Z:1.20 [[ 9.99805632e-01 1.20946101e-03 -1.96783113e-02 6.03276298e+00] [-1.25108624e-03 9.99997006e-01 -2.10311124e-03 2.78712556e-01] [ 1.96757088e-02 2.12732173e-03 9.99804151e-01 1.19944020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22255784400005 meters Centerline goodness [0,1] 0.26280604271574926 Centerline is valid? [False, False] Translation: X:6.03, Y:0.28, Z:1.20 [[ 9.99803119e-01 9.80532915e-04 -1.98182434e-02 6.03337611e+00] [-1.03311478e-03 9.99995973e-01 -2.64314107e-03 2.81167005e-01] [ 1.98155719e-02 2.66309521e-03 9.99800106e-01 1.19896571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2525578440001 meters Centerline goodness [0,1] 0.2631053852994122 Centerline is valid? [False, False] Translation: X:6.03, Y:0.28, Z:1.20 [[ 9.99799642e-01 7.90855273e-04 -2.00012806e-02 6.03405357e+00] [-8.53005782e-04 9.99994834e-01 -3.09898592e-03 2.83201789e-01] [ 1.99987264e-02 3.11542622e-03 9.99795152e-01 1.19856578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28255784400005 meters Centerline goodness [0,1] 0.26577412802760614 Centerline is valid? [False, False] Translation: X:6.03, Y:0.29, Z:1.20 [[ 9.99795537e-01 6.10844521e-04 -2.02116686e-02 6.03467198e+00] [-6.82755114e-04 9.99993462e-01 -3.55116593e-03 2.85387256e-01] [ 2.02093673e-02 3.56423947e-03 9.99789417e-01 1.19833917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.312557844 meters Centerline goodness [0,1] 0.26213361042559635 Centerline is valid? [False, False] Translation: X:6.04, Y:0.29, Z:1.20 [[ 9.99765150e-01 2.73955750e-03 -2.14974307e-02 6.03941722e+00] [-2.78346212e-03 9.99994101e-01 -2.01266333e-03 2.90741385e-01] [ 2.14917900e-02 2.07202794e-03 9.99766878e-01 1.19651075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34255784400005 meters Centerline goodness [0,1] 0.2525736484299126 Centerline is valid? [False, False] Translation: X:6.04, Y:0.29, Z:1.20 [[ 9.99767053e-01 2.53010618e-03 -2.14345161e-02 6.03923783e+00] [-2.58589825e-03 9.99993340e-01 -2.57559107e-03 2.93599518e-01] [ 2.14278569e-02 2.63041857e-03 9.99766937e-01 1.19646861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.372557844 meters Centerline goodness [0,1] 0.26320043691971595 Centerline is valid? [False, False] Translation: X:6.02, Y:0.30, Z:1.19 [[ 9.99765569e-01 -5.85218297e-03 -2.08460586e-02 6.01880733e+00] [ 5.81803035e-03 9.99981632e-01 -1.69859710e-03 3.00430794e-01] [ 2.08556162e-02 1.57691590e-03 9.99781254e-01 1.19471993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40255784400006 meters Centerline goodness [0,1] 0.263214270100118 Centerline is valid? [False, False] Translation: X:6.02, Y:0.31, Z:1.19 [[ 9.99764889e-01 -6.13119758e-03 -2.07984375e-02 6.01839073e+00] [ 6.07806543e-03 9.99978104e-01 -2.61687571e-03 3.05803561e-01] [ 2.08140267e-02 2.48984619e-03 9.99780264e-01 1.19494541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43255784400003 meters Centerline goodness [0,1] 0.25085309489870844 Centerline is valid? [False, False] Translation: X:6.04, Y:0.31, Z:1.20 [[ 9.99800345e-01 2.31419309e-03 -1.98472644e-02 6.03909828e+00] [-2.39083485e-03 9.99989774e-01 -3.83871979e-03 3.05987751e-01] [ 1.98381779e-02 3.88540490e-03 9.99795654e-01 1.19565305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46255784400006 meters Centerline goodness [0,1] 0.2638393735920037 Centerline is valid? [False, False] Translation: X:6.02, Y:0.31, Z:1.19 [[ 9.99768531e-01 -6.52720700e-03 -2.05007182e-02 6.01901289e+00] [ 6.46873693e-03 9.99974823e-01 -2.91711910e-03 3.09962025e-01] [ 2.05192426e-02 2.78383012e-03 9.99785582e-01 1.19415660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49255784400003 meters Centerline goodness [0,1] 0.26222549486724134 Centerline is valid? [False, False] Translation: X:6.04, Y:0.31, Z:1.20 [[ 9.99815665e-01 1.50958693e-03 -1.91404583e-02 6.03848312e+00] [-1.59588111e-03 9.99988629e-01 -4.49399700e-03 3.08261442e-01] [ 1.91334565e-02 4.52371450e-03 9.99806705e-01 1.19538958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52255784400006 meters Centerline goodness [0,1] 0.2625710490211024 Centerline is valid? [False, False] Translation: X:6.04, Y:0.31, Z:1.20 [[ 9.99817007e-01 1.42465108e-03 -1.90767780e-02 6.03824000e+00] [-1.51261565e-03 9.99988288e-01 -4.59744593e-03 3.08531253e-01] [ 1.90700048e-02 4.62546046e-03 9.99807451e-01 1.19554365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55255784400003 meters Centerline goodness [0,1] 0.2609492988133765 Centerline is valid? [False, False] Translation: X:6.06, Y:0.32, Z:1.20 [[ 9.99796616e-01 -6.52623006e-03 -1.90823182e-02 6.05841617e+00] [ 6.45696791e-03 9.99972349e-01 -3.68901383e-03 3.15343181e-01] [ 1.91058659e-02 3.56504962e-03 9.99811110e-01 1.19697502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58255784400006 meters Centerline goodness [0,1] 0.2626860475237184 Centerline is valid? [False, False] Translation: X:6.06, Y:0.32, Z:1.20 [[ 9.99793833e-01 -6.52193801e-03 -1.92290373e-02 6.05897374e+00] [ 6.45265596e-03 9.99972473e-01 -3.66283786e-03 3.15434875e-01] [ 1.92523968e-02 3.53800435e-03 9.99808396e-01 1.19666513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61255784400004 meters Centerline goodness [0,1] 0.2511883156166278 Centerline is valid? [False, False] Translation: X:6.06, Y:0.32, Z:1.20 [[ 9.99788751e-01 -6.57353520e-03 -1.94741502e-02 6.05979694e+00] [ 6.50299225e-03 9.99972071e-01 -3.68350368e-03 3.15495966e-01] [ 1.94978200e-02 3.55608529e-03 9.99803575e-01 1.19636938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64255784400007 meters Centerline goodness [0,1] 0.26201943938210537 Centerline is valid? [False, False] Translation: X:6.06, Y:0.32, Z:1.20 [[ 9.99789898e-01 -6.67675133e-03 -1.93799199e-02 6.05945916e+00] [ 6.60670254e-03 9.99971418e-01 -3.67628159e-03 3.15025869e-01] [ 1.94039116e-02 3.54747183e-03 9.99805433e-01 1.19663422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67255784400004 meters Centerline goodness [0,1] 0.26288135959696424 Centerline is valid? [False, False] Translation: X:6.06, Y:0.31, Z:1.20 [[ 9.99791220e-01 -6.63557472e-03 -1.93257858e-02 6.05909085e+00] [ 6.56705324e-03 9.99971932e-01 -3.60690621e-03 3.14793799e-01] [ 1.93491772e-02 3.47923969e-03 9.99806733e-01 1.19702561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70255784400007 meters Centerline goodness [0,1] 0.2626948434702877 Centerline is valid? [False, False] Translation: X:6.04, Y:0.31, Z:1.20 [[ 9.99824297e-01 1.15745544e-03 -1.87092429e-02 6.03951248e+00] [-1.24253274e-03 9.99988939e-01 -4.53635596e-03 3.09835084e-01] [ 1.87037853e-02 4.55880575e-03 9.99814676e-01 1.19525829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73255784400004 meters Centerline goodness [0,1] 0.26193840067815766 Centerline is valid? [False, False] Translation: X:6.04, Y:0.31, Z:1.20 [[ 9.99824162e-01 1.10498045e-03 -1.87196249e-02 6.03960052e+00] [-1.19333714e-03 9.99988198e-01 -4.70949074e-03 3.10743043e-01] [ 1.87142001e-02 4.73100146e-03 9.99813681e-01 1.19514656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76255784400007 meters Centerline goodness [0,1] 0.2523640917138046 Centerline is valid? [False, False] Translation: X:6.04, Y:0.31, Z:1.19 [[ 9.99817355e-01 9.43089487e-04 -1.90884155e-02 6.04076068e+00] [-1.04306184e-03 9.99985790e-01 -5.22805265e-03 3.13152944e-01] [ 1.90832137e-02 5.24700817e-03 9.99804131e-01 1.19468200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79255784400004 meters Centerline goodness [0,1] 0.2616419043487691 Centerline is valid? [False, False] Translation: X:6.04, Y:0.31, Z:1.19 [[ 9.99816074e-01 8.67799376e-04 -1.91589414e-02 6.04085022e+00] [-9.73809591e-04 9.99984265e-01 -5.52456209e-03 3.14797387e-01] [ 1.91538457e-02 5.54220314e-03 9.99801187e-01 1.19473870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8225578440001 meters Centerline goodness [0,1] 0.2603583547668965 Centerline is valid? [False, False] Translation: X:6.04, Y:0.32, Z:1.19 [[ 9.99820922e-01 8.85509391e-04 -1.89034513e-02 6.04006330e+00] [-9.94704441e-04 9.99982871e-01 -5.76784030e-03 3.16576058e-01] [ 1.88980200e-02 5.78561075e-03 9.99804677e-01 1.19494927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85255784400005 meters Centerline goodness [0,1] 0.26436454410090215 Centerline is valid? [False, False] Translation: X:6.04, Y:0.32, Z:1.20 [[ 9.99828994e-01 8.61837950e-04 -1.84726555e-02 6.03862456e+00] [-9.73930765e-04 9.99981164e-01 -6.05990304e-03 3.18555441e-01] [ 1.84670849e-02 6.07685785e-03 9.99811001e-01 1.19554769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8825578440001 meters Centerline goodness [0,1] 0.2616139562031172 Centerline is valid? [False, False] Translation: X:6.06, Y:0.32, Z:1.20 [[ 9.99857550e-01 -4.08922100e-03 -1.63755488e-02 6.06059327e+00] [ 4.04229122e-03 9.99987631e-01 -2.89791970e-03 3.23164320e-01] [ 1.63871965e-02 2.83131216e-03 9.99861712e-01 1.19528717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91255784400005 meters Centerline goodness [0,1] 0.26013433254864693 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99866520e-01 -3.98505748e-03 -1.58449023e-02 6.05922806e+00] [ 3.92987455e-03 9.99986110e-01 -3.51230585e-03 3.27461261e-01] [ 1.58586789e-02 3.44956855e-03 9.99868293e-01 1.19514909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9425578440001 meters Centerline goodness [0,1] 0.26004876049105696 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.19 [[ 9.99863308e-01 -4.13537762e-03 -1.60082706e-02 6.05989163e+00] [ 4.07188136e-03 9.99983722e-01 -3.99702983e-03 3.29911760e-01] [ 1.60245393e-02 3.93129968e-03 9.99863870e-01 1.19463944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97255784400005 meters Centerline goodness [0,1] 0.2621378230227095 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.19 [[ 9.99861380e-01 -4.28371680e-03 -1.60894836e-02 6.06017244e+00] [ 4.21313625e-03 9.99981365e-01 -4.41808798e-03 3.32049709e-01] [ 1.61081096e-02 4.34968835e-03 9.99860795e-01 1.19438626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0025578440001 meters Centerline goodness [0,1] 0.26364211122980663 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99863964e-01 -4.38777947e-03 -1.58997042e-02 6.05915354e+00] [ 4.31286290e-03 9.99979451e-01 -4.74305100e-03 3.34059595e-01] [ 1.59201890e-02 4.67383253e-03 9.99862342e-01 1.19519312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03255784400005 meters Centerline goodness [0,1] 0.251828743545611 Centerline is valid? [False, False] Translation: X:6.08, Y:0.33, Z:1.20 [[ 9.99899508e-01 3.68291259e-03 -1.36897582e-02 6.07813250e+00] [-3.76482737e-03 9.99975136e-01 -5.96270678e-03 3.32065115e-01] [ 1.36674577e-02 6.01364715e-03 9.99888512e-01 1.19625680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.062557844 meters Centerline goodness [0,1] 0.25128017556693494 Centerline is valid? [False, False] Translation: X:6.08, Y:0.33, Z:1.20 [[ 9.99902213e-01 3.68747994e-03 -1.34895151e-02 6.07725723e+00] [-3.76643171e-03 9.99975900e-01 -5.83211023e-03 3.31315608e-01] [ 1.34676842e-02 5.88234726e-03 9.99892004e-01 1.19689350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09255784400005 meters Centerline goodness [0,1] 0.2497468927040476 Centerline is valid? [False, False] Translation: X:6.08, Y:0.33, Z:1.20 [[ 9.99901481e-01 3.67843627e-03 -1.35461384e-02 6.07737274e+00] [-3.75565193e-03 9.99976821e-01 -5.67917739e-03 3.30300207e-01] [ 1.35249339e-02 5.72949247e-03 9.99892119e-01 1.19697486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.122557844 meters Centerline goodness [0,1] 0.2638039489778088 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99875667e-01 -5.12587970e-03 -1.49122762e-02 6.05662911e+00] [ 5.05916403e-03 9.99977040e-01 -4.50816511e-03 3.31468539e-01] [ 1.49350421e-02 4.43216095e-03 9.99878643e-01 1.19608581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15255784400006 meters Centerline goodness [0,1] 0.26293730591326625 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99872189e-01 -5.12818679e-03 -1.51428771e-02 6.05711917e+00] [ 5.06558699e-03 9.99978478e-01 -4.16940984e-03 3.29352730e-01] [ 1.51639327e-02 4.09216938e-03 9.99876647e-01 1.19633389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18255784400003 meters Centerline goodness [0,1] 0.2594831852314048 Centerline is valid? [False, False] Translation: X:6.08, Y:0.33, Z:1.20 [[ 9.99902361e-01 2.99236991e-03 -1.36496984e-02 6.07566106e+00] [-3.06680841e-03 9.99980523e-01 -5.43582274e-03 3.25575455e-01] [ 1.36331666e-02 5.47715300e-03 9.99892063e-01 1.19793236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21255784400006 meters Centerline goodness [0,1] 0.24615186725549887 Centerline is valid? [False, False] Translation: X:6.07, Y:0.32, Z:1.20 [[ 9.99905019e-01 3.06013429e-03 -1.34383268e-02 6.07479869e+00] [-3.13012135e-03 9.99981633e-01 -5.19007808e-03 3.24299365e-01] [ 1.34221976e-02 5.23164872e-03 9.99896232e-01 1.19850063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24255784400003 meters Centerline goodness [0,1] 0.2611864662626959 Centerline is valid? [False, False] Translation: X:6.07, Y:0.32, Z:1.20 [[ 9.99905585e-01 3.13344510e-03 -1.33792077e-02 6.07448839e+00] [-3.20016935e-03 9.99982535e-01 -4.96866732e-03 3.23210237e-01] [ 1.33634050e-02 5.01101393e-03 9.99898149e-01 1.19879760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27255784400006 meters Centerline goodness [0,1] 0.2501292212267402 Centerline is valid? [False, False] Translation: X:6.08, Y:0.32, Z:1.20 [[ 9.99898910e-01 3.11570027e-03 -1.38731076e-02 6.07624855e+00] [-3.18432873e-03 9.99982790e-01 -4.92753162e-03 3.22677186e-01] [ 1.38575161e-02 4.97121003e-03 9.99891622e-01 1.19794638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30255784400003 meters Centerline goodness [0,1] 0.2546555441813866 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99860239e-01 -5.12979825e-03 -1.59118487e-02 6.05804218e+00] [ 5.07591396e-03 9.99981252e-01 -3.42496532e-03 3.26641704e-01] [ 1.59291198e-02 3.34371947e-03 9.99867533e-01 1.19596972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33255784400006 meters Centerline goodness [0,1] 0.26365057990530383 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99855422e-01 -5.11621504e-03 -1.62160029e-02 6.05924124e+00] [ 5.05824587e-03 9.99980677e-01 -3.61381402e-03 3.28015938e-01] [ 1.62341786e-02 3.53126701e-03 9.99861981e-01 1.19518291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36255784400004 meters Centerline goodness [0,1] 0.25264181523500806 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.19 [[ 9.99855050e-01 -5.13032825e-03 -1.62345079e-02 6.05946390e+00] [ 5.06889113e-03 9.99979844e-01 -3.82324177e-03 3.29332219e-01] [ 1.62537952e-02 3.74039664e-03 9.99860902e-01 1.19484766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39255784400007 meters Centerline goodness [0,1] 0.2504800327932515 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99863312e-01 -5.15850163e-03 -1.57081579e-02 6.05778364e+00] [ 5.09249576e-03 9.99978048e-01 -4.23911638e-03 3.31446188e-01] [ 1.57296806e-02 4.15854322e-03 9.99867633e-01 1.19534628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42255784400004 meters Centerline goodness [0,1] 0.25192058696590414 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99864355e-01 -5.18805905e-03 -1.56318965e-02 6.05730607e+00] [ 5.12022070e-03 9.99977314e-01 -4.37664010e-03 3.32213239e-01] [ 1.56542482e-02 4.29600767e-03 9.99868236e-01 1.19576183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45255784400007 meters Centerline goodness [0,1] 0.24894341900983263 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99865794e-01 -5.15601093e-03 -1.55502379e-02 6.05703518e+00] [ 5.08834258e-03 9.99977427e-01 -4.38802618e-03 3.32577638e-01] [ 1.55725116e-02 4.30831234e-03 9.99869459e-01 1.19581518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48255784400004 meters Centerline goodness [0,1] 0.24894341900983263 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99865794e-01 -5.15601093e-03 -1.55502379e-02 6.05703518e+00] [ 5.08834258e-03 9.99977427e-01 -4.38802618e-03 3.32577638e-01] [ 1.55725116e-02 4.30831234e-03 9.99869459e-01 1.19581518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51255784400007 meters Centerline goodness [0,1] 0.265349344978166 Centerline is valid? [False, False] Translation: X:6.04, Y:0.33, Z:1.19 [[ 9.99875897e-01 2.96188314e-03 -1.54731460e-02 6.03708979e+00] [-3.03939436e-03 9.99982939e-01 -4.98829088e-03 3.26275283e-01] [ 1.54581073e-02 5.03470081e-03 9.99867841e-01 1.19454170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54255784400004 meters Centerline goodness [0,1] 0.2626470079557247 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99870471e-01 -5.09770852e-03 -1.52660968e-02 6.05718107e+00] [ 5.03023965e-03 9.99977426e-01 -4.45466524e-03 3.30795371e-01] [ 1.52884607e-02 4.37729611e-03 9.99873543e-01 1.19510056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5725578440001 meters Centerline goodness [0,1] 0.26609367160402264 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99870650e-01 -5.11967248e-03 -1.52470234e-02 6.05712301e+00] [ 5.05168602e-03 9.99977141e-01 -4.49417959e-03 3.30742315e-01] [ 1.52696836e-02 4.41657510e-03 9.99873657e-01 1.19510510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60255784400005 meters Centerline goodness [0,1] 0.25162017469709774 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99872402e-01 -5.13186363e-03 -1.51275586e-02 6.05666456e+00] [ 5.06277798e-03 9.99976596e-01 -4.60163755e-03 3.31437357e-01] [ 1.51508195e-02 4.52446292e-03 9.99874983e-01 1.19530001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6325578440001 meters Centerline goodness [0,1] 0.25053288836257936 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99875362e-01 -5.09971254e-03 -1.49416757e-02 6.05597198e+00] [ 5.02927780e-03 9.99976082e-01 -4.74776721e-03 3.32724459e-01] [ 1.49655306e-02 4.67202962e-03 9.99877095e-01 1.19559234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66255784400005 meters Centerline goodness [0,1] 0.2621886563805155 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.20 [[ 9.99878394e-01 -5.08663510e-03 -1.47419240e-02 6.05536473e+00] [ 5.01396571e-03 9.99975118e-01 -4.96221255e-03 3.34364703e-01] [ 1.47667982e-02 4.88769361e-03 9.99879019e-01 1.19572440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6925578440001 meters Centerline goodness [0,1] 0.2617654650262411 Centerline is valid? [False, False] Translation: X:6.06, Y:0.34, Z:1.19 [[ 9.99872909e-01 -2.92629838e-03 -1.56717294e-02 6.05999048e+00] [ 2.87314096e-03 9.99990047e-01 -3.41337235e-03 3.38280783e-01] [ 1.56815620e-02 3.36791145e-03 9.99871365e-01 1.19296998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72255784400005 meters Centerline goodness [0,1] 0.24989233419465973 Centerline is valid? [False, False] Translation: X:6.06, Y:0.34, Z:1.19 [[ 9.99870770e-01 -3.05254595e-03 -1.57836961e-02 6.06060206e+00] [ 2.99174069e-03 9.99988018e-01 -3.87458750e-03 3.40604721e-01] [ 1.57953344e-02 3.82686606e-03 9.99867923e-01 1.19230125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7525578440001 meters Centerline goodness [0,1] 0.2644212998195299 Centerline is valid? [False, False] Translation: X:6.06, Y:0.34, Z:1.19 [[ 9.99870244e-01 -3.15532647e-03 -1.57967764e-02 6.06082130e+00] [ 3.08755841e-03 9.99985934e-01 -4.31254494e-03 3.43075572e-01] [ 1.58101617e-02 4.26321189e-03 9.99865923e-01 1.19183946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78255784400005 meters Centerline goodness [0,1] 0.26221710612049864 Centerline is valid? [False, False] Translation: X:6.06, Y:0.35, Z:1.19 [[ 9.99870063e-01 -3.29079916e-03 -1.57806096e-02 6.06077345e+00] [ 3.21249831e-03 9.99982417e-01 -4.98462427e-03 3.47125509e-01] [ 1.57967356e-02 4.93328140e-03 9.99863054e-01 1.19167834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.812557844 meters Centerline goodness [0,1] 0.2632106294924853 Centerline is valid? [False, False] Translation: X:6.06, Y:0.35, Z:1.19 [[ 9.99869318e-01 -3.39970539e-03 -1.58046984e-02 6.06063343e+00] [ 3.31750064e-03 9.99980849e-01 -5.22459725e-03 3.48224676e-01] [ 1.58221578e-02 5.17148239e-03 9.99861448e-01 1.19197262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84255784400005 meters Centerline goodness [0,1] 0.2497147163311444 Centerline is valid? [False, False] Translation: X:6.08, Y:0.35, Z:1.19 [[ 9.99886798e-01 4.60088276e-03 -1.43256150e-02 6.08008059e+00] [-4.69619869e-03 9.99967014e-01 -6.62701536e-03 3.46792142e-01] [ 1.42946524e-02 6.69354110e-03 9.99875422e-01 1.19310714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.872557844 meters Centerline goodness [0,1] 0.25140279696132595 Centerline is valid? [False, False] Translation: X:6.08, Y:0.35, Z:1.19 [[ 9.99888505e-01 4.57628455e-03 -1.42138750e-02 6.07968734e+00] [-4.67045100e-03 9.99967320e-01 -6.59885276e-03 3.46603588e-01] [ 1.41832123e-02 6.66450223e-03 9.99877203e-01 1.19332100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90255784400006 meters Centerline goodness [0,1] 0.2534187294443483 Centerline is valid? [False, False] Translation: X:6.08, Y:0.35, Z:1.19 [[ 9.99889517e-01 4.55024380e-03 -1.41509049e-02 6.07947237e+00] [-4.64272651e-03 9.99968035e-01 -6.50949313e-03 3.46090966e-01] [ 1.41208327e-02 6.57447273e-03 9.99878682e-01 1.19347593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93255784400003 meters Centerline goodness [0,1] 0.25203987168722686 Centerline is valid? [False, False] Translation: X:6.10, Y:0.35, Z:1.19 [[ 9.99901101e-01 -4.06298981e-03 -1.34640644e-02 6.09965452e+00] [ 3.98826288e-03 9.99976521e-01 -5.57231236e-03 3.49989286e-01] [ 1.34863885e-02 5.51806303e-03 9.99893829e-01 1.19462309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96255784400006 meters Centerline goodness [0,1] 0.2510481047672559 Centerline is valid? [False, False] Translation: X:6.10, Y:0.35, Z:1.19 [[ 9.99899895e-01 -4.00399457e-03 -1.35708270e-02 6.09987226e+00] [ 3.93232284e-03 9.99978203e-01 -5.30388439e-03 3.48631053e-01] [ 1.35917679e-02 5.24998858e-03 9.99893845e-01 1.19476673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99255784400003 meters Centerline goodness [0,1] 0.25412219040180506 Centerline is valid? [False, False] Translation: X:6.10, Y:0.35, Z:1.19 [[ 9.99899380e-01 -3.88376725e-03 -1.36435379e-02 6.09997897e+00] [ 3.81675886e-03 9.99980544e-01 -4.93397502e-03 3.46876499e-01] [ 1.36624349e-02 4.88140447e-03 9.99894749e-01 1.19495892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02255784400006 meters Centerline goodness [0,1] 0.26437825795427505 Centerline is valid? [False, False] Translation: X:6.10, Y:0.35, Z:1.20 [[ 9.99898778e-01 -3.81796612e-03 -1.37060726e-02 6.10008084e+00] [ 3.75398823e-03 9.99981953e-01 -4.69054675e-03 3.45554692e-01] [ 1.37237335e-02 4.63861953e-03 9.99895066e-01 1.19511622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05255784400003 meters Centerline goodness [0,1] 0.24649673314993126 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99897668e-01 -3.77718311e-03 -1.37980846e-02 6.10045568e+00] [ 3.71488562e-03 9.99982804e-01 -4.53778134e-03 3.44573578e-01] [ 1.38149873e-02 4.48605868e-03 9.99894505e-01 1.19489442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08255784400006 meters Centerline goodness [0,1] 0.2502968416053194 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99895760e-01 -3.74959248e-03 -1.39431207e-02 6.10114386e+00] [ 3.68686621e-03 9.99982980e-01 -4.52171146e-03 3.44401260e-01] [ 1.39598380e-02 4.46983369e-03 9.99892566e-01 1.19434113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11255784400004 meters Centerline goodness [0,1] 0.26141338336460285 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99895241e-01 -3.70363302e-03 -1.39924721e-02 6.10143843e+00] [ 3.64016312e-03 9.99982983e-01 -4.55875209e-03 3.44863276e-01] [ 1.40091179e-02 4.50733964e-03 9.99891708e-01 1.19403403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14255784400007 meters Centerline goodness [0,1] 0.26320693391115924 Centerline is valid? [False, False] Translation: X:6.10, Y:0.35, Z:1.19 [[ 9.99895901e-01 -3.67961816e-03 -1.39516157e-02 6.10138122e+00] [ 3.61434061e-03 9.99982418e-01 -4.70118372e-03 3.45775024e-01] [ 1.39686690e-02 4.65026844e-03 9.99891620e-01 1.19390066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17255784400004 meters Centerline goodness [0,1] 0.26454083316828414 Centerline is valid? [False, False] Translation: X:6.08, Y:0.34, Z:1.19 [[ 9.99885063e-01 4.70449560e-03 -1.44127748e-02 6.08028032e+00] [-4.78422383e-03 9.99973418e-01 -5.50229939e-03 3.40758124e-01] [ 1.43865062e-02 5.57062092e-03 9.99880991e-01 1.19310583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20255784400007 meters Centerline goodness [0,1] 0.26118839641971314 Centerline is valid? [False, False] Translation: X:6.10, Y:0.35, Z:1.19 [[ 9.99899168e-01 -5.34726010e-04 -1.41904317e-02 6.10268384e+00] [ 4.97448286e-04 9.99996417e-01 -2.63036155e-03 3.45413507e-01] [ 1.41917874e-02 2.62303732e-03 9.99895851e-01 1.19269311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23255784400004 meters Centerline goodness [0,1] 0.2622527198106447 Centerline is valid? [False, False] Translation: X:6.10, Y:0.35, Z:1.19 [[ 9.99900830e-01 -5.06985159e-04 -1.40738586e-02 6.10248981e+00] [ 4.70002982e-04 9.99996429e-01 -2.63090441e-03 3.45627644e-01] [ 1.40751422e-02 2.62402874e-03 9.99897497e-01 1.19249391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26255784400007 meters Centerline goodness [0,1] 0.2614773046427723 Centerline is valid? [False, False] Translation: X:6.10, Y:0.35, Z:1.19 [[ 9.99901242e-01 -4.72468583e-04 -1.40457595e-02 6.10255222e+00] [ 4.36354739e-04 9.99996592e-01 -2.57410982e-03 3.45386099e-01] [ 1.40469278e-02 2.56772667e-03 9.99898040e-01 1.19228240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29255784400004 meters Centerline goodness [0,1] 0.26114663440767305 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99901587e-01 -4.80703548e-04 -1.40209190e-02 6.10257685e+00] [ 4.45210143e-04 9.99996689e-01 -2.53447216e-03 3.44904765e-01] [ 1.40220909e-02 2.52798048e-03 9.99898490e-01 1.19215412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3225578440001 meters Centerline goodness [0,1] 0.26283126102388776 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99901008e-01 -4.64605308e-04 -1.40626816e-02 6.10264880e+00] [ 4.30616598e-04 9.99996979e-01 -2.41987523e-03 3.44085690e-01] [ 1.40637634e-02 2.41358006e-03 9.99898187e-01 1.19222194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35255784400005 meters Centerline goodness [0,1] 0.26036001036001033 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99900932e-01 -4.14164193e-04 -1.40696215e-02 6.10267036e+00] [ 3.82199082e-04 9.99997340e-01 -2.27453690e-03 3.43307053e-01] [ 1.40705261e-02 2.26893417e-03 9.99898431e-01 1.19223527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3825578440001 meters Centerline goodness [0,1] 0.2602437759336099 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99902881e-01 -2.76465314e-04 -1.39338811e-02 6.10226066e+00] [ 2.50372396e-04 9.99998212e-01 -1.87433350e-03 3.41452356e-01] [ 1.39343744e-02 1.87066281e-03 9.99901162e-01 1.19240673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41255784400005 meters Centerline goodness [0,1] 0.2597444571330073 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99903123e-01 -1.60904597e-04 -1.39183143e-02 6.10219454e+00] [ 1.39447802e-04 9.99998801e-01 -1.54257988e-03 3.39875498e-01] [ 1.39185458e-02 1.54048956e-03 9.99901946e-01 1.19248426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4425578440001 meters Centerline goodness [0,1] 0.2620073087966588 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99901822e-01 -8.91102337e-05 -1.40120941e-02 6.10237064e+00] [ 7.15386006e-05 9.99999211e-01 -1.25452956e-03 3.38225572e-01] [ 1.40121949e-02 1.25340399e-03 9.99901039e-01 1.19262913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47255784400005 meters Centerline goodness [0,1] 0.2599323115393736 Centerline is valid? [False, False] Translation: X:6.10, Y:0.33, Z:1.19 [[ 9.99894738e-01 -2.59592032e-04 -1.45067595e-02 6.10345601e+00] [ 2.48342748e-04 9.99999667e-01 -7.77247250e-04 3.34589766e-01] [ 1.45069564e-02 7.73562786e-04 9.99894469e-01 1.19297510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5025578440001 meters Centerline goodness [0,1] 0.2629426303011745 Centerline is valid? [False, False] Translation: X:6.06, Y:0.33, Z:1.19 [[ 9.99854146e-01 -1.45026902e-03 -1.70171566e-02 6.05778815e+00] [ 1.44164186e-03 9.99998826e-01 -5.19224875e-04 3.27683284e-01] [ 1.70178896e-02 4.94616499e-04 9.99855063e-01 1.19378702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53255784400005 meters Centerline goodness [0,1] 0.25916743915321105 Centerline is valid? [False, False] Translation: X:6.08, Y:0.32, Z:1.19 [[ 9.99866913e-01 4.30226061e-03 -1.57368301e-02 6.08033984e+00] [-4.35754381e-03 9.99984449e-01 -3.48038091e-03 3.24913834e-01] [ 1.57216119e-02 3.54849164e-03 9.99870111e-01 1.19331951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.562557844 meters Centerline goodness [0,1] 0.26211204457406523 Centerline is valid? [False, False] Translation: X:6.08, Y:0.32, Z:1.19 [[ 9.99873220e-01 4.30394279e-03 -1.53303578e-02 6.07919050e+00] [-4.35042225e-03 9.99986037e-01 -2.99979993e-03 3.21934570e-01] [ 1.53172328e-02 3.06611315e-03 9.99877983e-01 1.19366449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59255784400005 meters Centerline goodness [0,1] 0.2609933360650435 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99918123e-01 -5.06633929e-03 -1.17506936e-02 6.09707633e+00] [ 5.03472179e-03 9.99983630e-01 -2.71871493e-03 3.20193288e-01] [ 1.17642752e-02 2.65933086e-03 9.99927262e-01 1.19481274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.622557844 meters Centerline goodness [0,1] 0.2608375078611238 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.20 [[ 9.99918907e-01 -4.98740393e-03 -1.17177235e-02 6.09679318e+00] [ 4.96092531e-03 9.99985078e-01 -2.28768764e-03 3.17882187e-01] [ 1.17289583e-02 2.22937137e-03 9.99928728e-01 1.19524378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65255784400006 meters Centerline goodness [0,1] 0.2636582665885264 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.20 [[ 9.99917154e-01 -4.87803671e-03 -1.19117833e-02 6.09725583e+00] [ 4.85581169e-03 9.99986417e-01 -1.89401042e-03 3.15875899e-01] [ 1.19208605e-02 1.83601213e-03 9.99927258e-01 1.19530966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68255784400003 meters Centerline goodness [0,1] 0.2538543501424315 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.20 [[ 9.99915415e-01 -4.78953912e-03 -1.20922808e-02 6.09777697e+00] [ 4.77112050e-03 9.99987414e-01 -1.55156053e-03 3.14097991e-01] [ 1.20995599e-02 1.49373557e-03 9.99925682e-01 1.19522720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71255784400006 meters Centerline goodness [0,1] 0.26100125481372505 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.20 [[ 9.99914869e-01 -4.69811378e-03 -1.21730228e-02 6.09802326e+00] [ 4.68395048e-03 9.99988320e-01 -1.19174834e-03 3.12259344e-01] [ 1.21784796e-02 1.13462905e-03 9.99925196e-01 1.19517980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74255784400003 meters Centerline goodness [0,1] 0.2619135095416135 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.20 [[ 9.99923258e-01 -4.72443568e-03 -1.14523723e-02 6.09581120e+00] [ 4.71713243e-03 9.99988653e-01 -6.64634612e-04 3.09020781e-01] [ 1.14553824e-02 6.10561250e-04 9.99934199e-01 1.19607308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77255784400006 meters Centerline goodness [0,1] 0.26416984213391403 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.20 [[ 9.99924686e-01 -4.66408186e-03 -1.13520478e-02 6.09528012e+00] [ 4.65976124e-03 9.99989060e-01 -4.07023212e-04 3.07522391e-01] [ 1.13538220e-02 3.54094725e-04 9.99935481e-01 1.19657489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80255784400003 meters Centerline goodness [0,1] 0.2613376975752616 Centerline is valid? [False, False] Translation: X:6.12, Y:0.30, Z:1.20 [[ 9.99936798e-01 3.41684206e-03 -1.07110254e-02 6.11509602e+00] [-3.43499787e-03 9.99992694e-01 -1.67711908e-03 3.03145003e-01] [ 1.07052167e-02 1.71380543e-03 9.99941229e-01 1.19774567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83255784400006 meters Centerline goodness [0,1] 0.26221904328413204 Centerline is valid? [False, False] Translation: X:6.12, Y:0.30, Z:1.20 [[ 9.99935469e-01 3.46209831e-03 -1.08199306e-02 6.11560034e+00] [-3.47879987e-03 9.99992786e-01 -1.52515290e-03 3.02338555e-01] [ 1.08145723e-02 1.56269485e-03 9.99940300e-01 1.19735401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86255784400004 meters Centerline goodness [0,1] 0.2623476865704002 Centerline is valid? [False, False] Translation: X:6.12, Y:0.30, Z:1.20 [[ 9.99933967e-01 3.53864410e-03 -1.09333922e-02 6.11627573e+00] [-3.55278343e-03 9.99992877e-01 -1.27407240e-03 3.01006191e-01] [ 1.09288058e-02 1.31283224e-03 9.99939417e-01 1.19668722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89255784400007 meters Centerline goodness [0,1] 0.2606281862956883 Centerline is valid? [False, False] Translation: X:6.12, Y:0.30, Z:1.20 [[ 9.99933256e-01 3.55243258e-03 -1.09938098e-02 6.11647289e+00] [-3.56563809e-03 9.99992945e-01 -1.18180890e-03 3.00421593e-01] [ 1.09895340e-02 1.22092997e-03 9.99938868e-01 1.19661726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92255784400004 meters Centerline goodness [0,1] 0.26417196408676846 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99924260e-01 -4.88829788e-03 -1.12950808e-02 6.09681178e+00] [ 4.89043251e-03 9.99988029e-01 1.61375283e-04 3.03659996e-01] [ 1.12941567e-02 -2.16600891e-04 9.99936196e-01 1.19496322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95255784400007 meters Centerline goodness [0,1] 0.26275371462135877 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99925523e-01 -4.87457777e-03 -1.11886825e-02 6.09662209e+00] [ 4.87698352e-03 9.99988090e-01 1.87742161e-04 3.03556817e-01] [ 1.11876341e-02 -2.42295199e-04 9.99937387e-01 1.19483659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98255784400004 meters Centerline goodness [0,1] 0.26324028176363157 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99926927e-01 -4.86723550e-03 -1.10657872e-02 6.09634717e+00] [ 4.87062023e-03 9.99988100e-01 2.78944561e-04 3.02962946e-01] [ 1.10642978e-02 -3.32821424e-04 9.99938733e-01 1.19478021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01255784400007 meters Centerline goodness [0,1] 0.2639322433476676 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99926773e-01 -4.85797863e-03 -1.10837531e-02 6.09644000e+00] [ 4.86226762e-03 9.99988114e-01 3.60048072e-04 3.02420080e-01] [ 1.10818723e-02 -4.13913881e-04 9.99938509e-01 1.19469401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04255784400004 meters Centerline goodness [0,1] 0.26298955613577024 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99924886e-01 -4.87818172e-03 -1.12438911e-02 6.09687071e+00] [ 4.88284882e-03 9.99988004e-01 3.87664530e-04 3.02105166e-01] [ 1.12418651e-02 -4.42537631e-04 9.99936710e-01 1.19460886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0725578440001 meters Centerline goodness [0,1] 0.26342124237988074 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99921967e-01 -4.89641546e-03 -1.14928421e-02 6.09768889e+00] [ 4.90156600e-03 9.99987899e-01 4.20026781e-04 3.01837774e-01] [ 1.14906464e-02 -4.76326929e-04 9.99933867e-01 1.19424278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10255784400005 meters Centerline goodness [0,1] 0.2620968618837396 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99916124e-01 -4.94591490e-03 -1.19700518e-02 6.09936781e+00] [ 4.95086342e-03 9.99987671e-01 3.83810959e-04 3.02005495e-01] [ 1.19680059e-02 -4.43040858e-04 9.99928283e-01 1.19337868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1325578440001 meters Centerline goodness [0,1] 0.25980360418689974 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99907726e-01 -5.04902309e-03 -1.26113881e-02 6.10189468e+00] [ 5.05099535e-03 9.99987236e-01 1.24541331e-04 3.03668521e-01] [ 1.26105983e-02 -1.88229902e-04 9.99920466e-01 1.19178918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16255784400005 meters Centerline goodness [0,1] 0.25874245969559706 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99907622e-01 -5.15855429e-03 -1.25752765e-02 6.10166963e+00] [ 5.15788927e-03 9.99986694e-01 -8.53151484e-05 3.04641369e-01] [ 1.25755493e-02 2.04453832e-05 9.99920924e-01 1.19199670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1925578440001 meters Centerline goodness [0,1] 0.2616854758507372 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.19 [[ 9.99909708e-01 -5.23455969e-03 -1.23763949e-02 6.10070457e+00] [ 5.23252786e-03 9.99986291e-01 -1.96545001e-04 3.05113126e-01] [ 1.23772541e-02 1.31767423e-04 9.99923390e-01 1.19272150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22255784400005 meters Centerline goodness [0,1] 0.26185410334346504 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.19 [[ 9.99911583e-01 -5.30982032e-03 -1.21915081e-02 6.09981017e+00] [ 5.30719447e-03 9.99985886e-01 -2.47726247e-04 3.05348798e-01] [ 1.21926515e-02 1.83001639e-04 9.99925650e-01 1.19343553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2525578440001 meters Centerline goodness [0,1] 0.26214669596814555 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.19 [[ 9.99912179e-01 -6.05157724e-03 -1.17903261e-02 6.09838565e+00] [ 6.04392445e-03 9.99981501e-01 -6.84597204e-04 3.05726931e-01] [ 1.17942509e-02 6.13277242e-04 9.99930257e-01 1.19420907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28255784400005 meters Centerline goodness [0,1] 0.2618355391625081 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.19 [[ 9.99908371e-01 -6.28225303e-03 -1.19909301e-02 6.09895202e+00] [ 6.27406590e-03 9.99980058e-01 -7.20271974e-04 3.05214070e-01] [ 1.19952159e-02 6.44974091e-04 9.99927847e-01 1.19407438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.312557844 meters Centerline goodness [0,1] 0.2597318339100346 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99905057e-01 -6.52323910e-03 -1.21377560e-02 6.09931689e+00] [ 6.51462931e-03 9.99978499e-01 -7.48742740e-04 3.04631013e-01] [ 1.21423792e-02 6.69598671e-04 9.99926054e-01 1.19406186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34255784400005 meters Centerline goodness [0,1] 0.26286980320604714 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99907033e-01 -6.68283231e-03 -1.18854809e-02 6.09867274e+00] [ 6.67447613e-03 9.99977450e-01 -7.42585406e-04 3.04167200e-01] [ 1.18901754e-02 6.63187011e-04 9.99929089e-01 1.19411623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.372557844 meters Centerline goodness [0,1] 0.2638411690514504 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99913318e-01 -7.11832162e-03 -1.10763343e-02 6.09629661e+00] [ 7.10751972e-03 9.99974227e-01 -1.01428225e-03 3.04825099e-01] [ 1.10832688e-02 9.35469067e-04 9.99938141e-01 1.19482397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40255784400006 meters Centerline goodness [0,1] 0.2638411690514504 Centerline is valid? [False, False] Translation: X:6.10, Y:0.30, Z:1.19 [[ 9.99913318e-01 -7.11832162e-03 -1.10763343e-02 6.09629661e+00] [ 7.10751972e-03 9.99974227e-01 -1.01428225e-03 3.04825099e-01] [ 1.10832688e-02 9.35469067e-04 9.99938141e-01 1.19482397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43255784400003 meters Centerline goodness [0,1] 0.26246981792869417 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.19 [[ 9.99913585e-01 -7.21054480e-03 -1.09922717e-02 6.09604230e+00] [ 7.19735142e-03 9.99973331e-01 -1.23932895e-03 3.06053956e-01] [ 1.10009148e-02 1.16010662e-03 9.99938815e-01 1.19490580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46255784400006 meters Centerline goodness [0,1] 0.2615966770328165 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.19 [[ 9.99912659e-01 -7.37060704e-03 -1.09703601e-02 6.09602281e+00] [ 7.35296583e-03 9.99971609e-01 -1.64754516e-03 3.08072154e-01] [ 1.09821921e-02 1.56673658e-03 9.99938467e-01 1.19484095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49255784400003 meters Centerline goodness [0,1] 0.2627600479250626 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.19 [[ 9.99912247e-01 -7.54501389e-03 -1.08890728e-02 6.09586828e+00] [ 7.52186755e-03 9.99969367e-01 -2.16503990e-03 3.10800658e-01] [ 1.09050745e-02 2.08294375e-03 9.99938368e-01 1.19476908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52255784400006 meters Centerline goodness [0,1] 0.26415794876274923 Centerline is valid? [False, False] Translation: X:6.10, Y:0.31, Z:1.19 [[ 9.99912620e-01 -7.73940281e-03 -1.07169905e-02 6.09541203e+00] [ 7.71028638e-03 9.99966479e-01 -2.75550556e-03 3.13853000e-01] [ 1.07379572e-02 2.67263371e-03 9.99938775e-01 1.19481583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55255784400003 meters Centerline goodness [0,1] 0.2626462960137742 Centerline is valid? [False, False] Translation: X:6.09, Y:0.32, Z:1.20 [[ 9.99932694e-01 -4.97845601e-03 -1.04795938e-02 6.09450962e+00] [ 4.97820922e-03 9.99987607e-01 -4.96351806e-05 3.15164815e-01] [ 1.04797111e-02 -2.53777083e-06 9.99945086e-01 1.19521722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58255784400006 meters Centerline goodness [0,1] 0.2627965586164943 Centerline is valid? [False, False] Translation: X:6.09, Y:0.32, Z:1.20 [[ 9.99932014e-01 -5.22460984e-03 -1.04245186e-02 6.09439568e+00] [ 5.21861955e-03 9.99986202e-01 -6.01753717e-04 3.17728355e-01] [ 1.04275187e-02 5.47311210e-04 9.99945482e-01 1.19512391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61255784400004 meters Centerline goodness [0,1] 0.2518245804006497 Centerline is valid? [False, False] Translation: X:6.09, Y:0.32, Z:1.19 [[ 9.99930332e-01 -5.27514098e-03 -1.05595218e-02 6.09493572e+00] [ 5.26872785e-03 9.99985919e-01 -6.35058483e-04 3.17840690e-01] [ 1.05627231e-02 5.79378994e-04 9.99944045e-01 1.19471761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64255784400007 meters Centerline goodness [0,1] 0.2546564885496183 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99920228e-01 -5.48583316e-03 -1.13773478e-02 6.09726390e+00] [ 5.47974946e-03 9.99984826e-01 -5.65825341e-04 3.17056688e-01] [ 1.13802792e-02 5.03435189e-04 9.99935116e-01 1.19401974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67255784400004 meters Centerline goodness [0,1] 0.26506235728087124 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99917847e-01 -5.48433458e-03 -1.15853841e-02 6.09775288e+00] [ 5.48022661e-03 9.99984909e-01 -3.86298999e-04 3.16002878e-01] [ 1.15873279e-02 3.22776734e-04 9.99932813e-01 1.19400826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70255784400007 meters Centerline goodness [0,1] 0.25239242236833537 Centerline is valid? [False, False] Translation: X:6.12, Y:0.31, Z:1.19 [[ 9.99937334e-01 7.02943229e-04 -1.11728928e-02 6.12009686e+00] [-7.38072040e-04 9.99994797e-01 -3.14029842e-03 3.12776145e-01] [ 1.11706272e-02 3.14834803e-03 9.99932650e-01 1.19360192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73255784400004 meters Centerline goodness [0,1] 0.2500215759040304 Centerline is valid? [False, False] Translation: X:6.12, Y:0.31, Z:1.19 [[ 9.99936093e-01 6.77568971e-04 -1.12849698e-02 6.12052216e+00] [-7.11143196e-04 9.99995333e-01 -2.97138062e-03 3.11460191e-01] [ 1.12829038e-02 2.97921596e-03 9.99931908e-01 1.19331736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76255784400007 meters Centerline goodness [0,1] 0.25566343042071193 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99893970e-01 -7.66196378e-03 -1.23831628e-02 6.10077641e+00] [ 7.64201298e-03 9.99969425e-01 -1.65763983e-03 3.15106191e-01] [ 1.23954850e-02 1.56283178e-03 9.99921952e-01 1.19208046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79255784400004 meters Centerline goodness [0,1] 0.25387833362384526 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99894357e-01 -7.55455861e-03 -1.24178297e-02 6.10096847e+00] [ 7.53535924e-03 9.99970341e-01 -1.59217551e-03 3.15354735e-01] [ 1.24294896e-02 1.49843450e-03 9.99921628e-01 1.19192154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8225578440001 meters Centerline goodness [0,1] 0.25349760319285075 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99917056e-01 -3.82351775e-03 -1.22988153e-02 6.10067584e+00] [ 3.84842812e-03 9.99990590e-01 2.00239990e-03 3.15006977e-01] [ 1.22910433e-02 -2.04956492e-03 9.99922362e-01 1.19198656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85255784400005 meters Centerline goodness [0,1] 0.2505437240250651 Centerline is valid? [False, False] Translation: X:6.12, Y:0.31, Z:1.19 [[ 9.99922194e-01 4.37304933e-03 -1.16825941e-02 6.12017329e+00] [-4.36888890e-03 9.99990384e-01 3.81619193e-04 3.11804427e-01] [ 1.16841506e-02 -3.30549545e-04 9.99931683e-01 1.19371741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8825578440001 meters Centerline goodness [0,1] 0.25347267581101673 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99926174e-01 -3.70511073e-03 -1.15723461e-02 6.10078172e+00] [ 3.72240686e-03 9.99991986e-01 1.47342708e-03 3.17159371e-01] [ 1.15667941e-02 -1.51639528e-03 9.99931953e-01 1.19200069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91255784400005 meters Centerline goodness [0,1] 0.2651838243334864 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99927152e-01 -3.67442614e-03 -1.14973426e-02 6.10074207e+00] [ 3.69147172e-03 9.99992118e-01 1.46169686e-03 3.17390955e-01] [ 1.14918811e-02 -1.50403249e-03 9.99932835e-01 1.19173535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9425578440001 meters Centerline goodness [0,1] 0.26565813348490475 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99928994e-01 -3.57755051e-03 -1.13670033e-02 6.10073397e+00] [ 3.59719514e-03 9.99992071e-01 1.70823957e-03 3.16213596e-01] [ 1.13608019e-02 -1.74900761e-03 9.99933934e-01 1.19116103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97255784400005 meters Centerline goodness [0,1] 0.2654096854630561 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99929516e-01 -3.54359345e-03 -1.13316049e-02 6.10069470e+00] [ 3.56535878e-03 9.99991837e-01 1.90113975e-03 3.15050844e-01] [ 1.13247756e-02 -1.94140699e-03 9.99933988e-01 1.19104928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0025578440001 meters Centerline goodness [0,1] 0.2523108970186174 Centerline is valid? [False, False] Translation: X:6.12, Y:0.31, Z:1.19 [[ 9.99931412e-01 3.88923805e-03 -1.10474236e-02 6.11869390e+00] [-3.88662340e-03 9.99992414e-01 2.58134440e-04 3.09216444e-01] [ 1.10483438e-02 -2.15179560e-04 9.99938942e-01 1.19322129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03255784400005 meters Centerline goodness [0,1] 0.2632071570057247 Centerline is valid? [False, False] Translation: X:6.12, Y:0.31, Z:1.19 [[ 9.99931262e-01 3.90839575e-03 -1.10542456e-02 6.11864861e+00] [-3.90393432e-03 9.99992289e-01 4.25143512e-04 3.08189650e-01] [ 1.10558220e-02 -3.81959240e-04 9.99938810e-01 1.19329040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.062557844 meters Centerline goodness [0,1] 0.26539922294495133 Centerline is valid? [False, False] Translation: X:6.12, Y:0.31, Z:1.19 [[ 9.99929492e-01 3.87052670e-03 -1.12262876e-02 6.11927246e+00] [-3.86498477e-03 9.99992398e-01 5.15309527e-04 3.07485032e-01] [ 1.12281968e-02 -4.71883763e-04 9.99936850e-01 1.19292962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09255784400005 meters Centerline goodness [0,1] 0.25616826503923273 Centerline is valid? [False, False] Translation: X:6.12, Y:0.31, Z:1.19 [[ 9.99929528e-01 3.79387819e-03 -1.12492731e-02 6.11946549e+00] [-3.79023915e-03 9.99992758e-01 3.44792472e-04 3.08231271e-01] [ 1.12504998e-02 -3.02130738e-04 9.99936665e-01 1.19271093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.122557844 meters Centerline goodness [0,1] 0.25128305073734813 Centerline is valid? [False, False] Translation: X:6.12, Y:0.31, Z:1.19 [[ 9.99930319e-01 3.73909432e-03 -1.11971933e-02 6.11946531e+00] [-3.73770212e-03 9.99993004e-01 1.45258434e-04 3.09313729e-01] [ 1.11976581e-02 -1.03396539e-04 9.99937299e-01 1.19251337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15255784400006 meters Centerline goodness [0,1] 0.25255625932251025 Centerline is valid? [False, False] Translation: X:6.12, Y:0.31, Z:1.19 [[ 9.99931531e-01 3.67730500e-03 -1.11090160e-02 6.11926242e+00] [-3.67851449e-03 9.99993230e-01 -8.84441666e-05 3.10660811e-01] [ 1.11086155e-02 1.29302787e-04 9.99938289e-01 1.19248468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18255784400003 meters Centerline goodness [0,1] 0.2660899200419452 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99934718e-01 -4.09537052e-03 -1.06671660e-02 6.09997931e+00] [ 4.10942013e-03 9.99990717e-01 1.29550422e-03 3.17058156e-01] [ 1.06617614e-02 -1.33925551e-03 9.99942265e-01 1.19040084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21255784400006 meters Centerline goodness [0,1] 0.2629848926814402 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99936485e-01 -4.11164040e-03 -1.04937880e-02 6.09972059e+00] [ 4.12084756e-03 9.99991143e-01 8.55919537e-04 3.19883218e-01] [ 1.04901758e-02 -8.99108474e-04 9.99944572e-01 1.19011280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24255784400003 meters Centerline goodness [0,1] 0.2537527737893226 Centerline is valid? [False, False] Translation: X:6.10, Y:0.32, Z:1.19 [[ 9.99935776e-01 -4.14367451e-03 -1.05486261e-02 6.09997859e+00] [ 4.15108287e-03 9.99991153e-01 6.80507011e-04 3.20930079e-01] [ 1.05457129e-02 -7.24251527e-04 9.99944130e-01 1.18992243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27255784400006 meters Centerline goodness [0,1] 0.2613830177680865 Centerline is valid? [False, False] Translation: X:6.12, Y:0.32, Z:1.19 [[ 9.99938446e-01 3.94232704e-03 -1.03712422e-02 6.11961483e+00] [-3.95091609e-03 9.99991869e-01 -8.07802011e-04 3.18169282e-01] [ 1.03679732e-02 8.48728195e-04 9.99945891e-01 1.19152837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30255784400003 meters Centerline goodness [0,1] 0.2648993682016544 Centerline is valid? [False, False] Translation: X:6.12, Y:0.32, Z:1.19 [[ 9.99938111e-01 3.80741539e-03 -1.04535929e-02 6.11975030e+00] [-3.81963161e-03 9.99992045e-01 -1.14889805e-03 3.19681512e-01] [ 1.04491355e-02 1.18875582e-03 9.99944700e-01 1.19167023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33255784400006 meters Centerline goodness [0,1] 0.26584822403774744 Centerline is valid? [False, False] Translation: X:6.12, Y:0.32, Z:1.19 [[ 9.99940023e-01 3.57758600e-03 -1.03514060e-02 6.11919041e+00] [-3.59719625e-03 9.99991770e-01 -1.87645429e-03 3.23230866e-01] [ 1.03446076e-02 1.91357778e-03 9.99944662e-01 1.19218308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36255784400004 meters Centerline goodness [0,1] 0.2676491197337304 Centerline is valid? [False, False] Translation: X:6.12, Y:0.33, Z:1.19 [[ 9.99940506e-01 3.46342851e-03 -1.03435554e-02 6.11917484e+00] [-3.48764187e-03 9.99991218e-01 -2.32379214e-03 3.25772816e-01] [ 1.03354163e-02 2.35972850e-03 9.99943804e-01 1.19218498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39255784400007 meters Centerline goodness [0,1] 0.26199372933041276 Centerline is valid? [False, False] Translation: X:6.14, Y:0.33, Z:1.19 [[ 9.99949167e-01 -1.71322652e-03 -9.93619706e-03 6.14182255e+00] [ 1.72322808e-03 9.99998017e-01 9.98103875e-04 3.30195340e-01] [ 9.93446738e-03 -1.01517547e-03 9.99950137e-01 1.19184220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42255784400004 meters Centerline goodness [0,1] 0.26425443350821665 Centerline is valid? [False, False] Translation: X:6.14, Y:0.33, Z:1.19 [[ 9.99948558e-01 -1.81323721e-03 -9.97968940e-03 6.14210120e+00] [ 1.81820105e-03 9.99998228e-01 4.88344211e-04 3.33146140e-01] [ 9.97878623e-03 -5.06464171e-04 9.99950082e-01 1.19155074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45255784400007 meters Centerline goodness [0,1] 0.26399620149350367 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99945583e-01 -1.86708550e-03 -1.02638010e-02 6.14290234e+00] [ 1.86414033e-03 9.99998219e-01 -2.96506610e-04 3.37526581e-01] [ 1.02643364e-02 2.77357310e-04 9.99947282e-01 1.19128016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48255784400004 meters Centerline goodness [0,1] 0.26374692715745895 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99945338e-01 -1.98330940e-03 -1.02658571e-02 6.14286331e+00] [ 1.97678804e-03 9.99997838e-01 -6.45355172e-04 3.39246748e-01] [ 1.02671149e-02 6.25026472e-04 9.99947096e-01 1.19131498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51255784400007 meters Centerline goodness [0,1] 0.2641329134542295 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99945892e-01 -2.06476325e-03 -1.01956213e-02 6.14272815e+00] [ 2.05566169e-03 9.99997479e-01 -9.03092736e-04 3.40607631e-01] [ 1.01974602e-02 8.82085123e-04 9.99947615e-01 1.19119713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54255784400004 meters Centerline goodness [0,1] 0.2648950685465532 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99948401e-01 -2.15368944e-03 -9.92758416e-03 6.14207907e+00] [ 2.14275481e-03 9.99997086e-01 -1.11194373e-03 3.41540471e-01] [ 9.92995002e-03 1.09061397e-03 9.99950102e-01 1.19115044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5725578440001 meters Centerline goodness [0,1] 0.2654987982070548 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99950213e-01 -2.12189068e-03 -9.75031061e-03 6.14158419e+00] [ 2.11214118e-03 9.99997259e-01 -1.01010568e-03 3.40993074e-01] [ 9.75242723e-03 9.89461361e-04 9.99951954e-01 1.19125542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60255784400005 meters Centerline goodness [0,1] 0.26121877691645135 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99950451e-01 -2.09294361e-03 -9.73217141e-03 6.14153138e+00] [ 2.08389816e-03 9.99997387e-01 -9.39485374e-04 3.40691612e-01] [ 9.73411228e-03 9.19157969e-04 9.99952200e-01 1.19129640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6325578440001 meters Centerline goodness [0,1] 0.26396523628462787 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99949406e-01 -2.06355512e-03 -9.84514052e-03 6.14191767e+00] [ 2.05457876e-03 9.99997465e-01 -9.21783197e-04 3.40711179e-01] [ 9.84701771e-03 9.01508944e-04 9.99951111e-01 1.19114045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66255784400005 meters Centerline goodness [0,1] 0.26369238781355786 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99946315e-01 -2.01465857e-03 -1.01640933e-02 6.14307347e+00] [ 2.00549595e-03 9.99997574e-01 -9.11580741e-04 3.40824722e-01] [ 1.01659052e-02 8.91147754e-04 9.99947929e-01 1.19049210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6925578440001 meters Centerline goodness [0,1] 0.2648819240396125 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99941880e-01 -1.98322819e-03 -1.05973124e-02 6.14457567e+00] [ 1.97320782e-03 9.99997596e-01 -9.55929275e-04 3.41089143e-01] [ 1.05991827e-02 9.34963017e-04 9.99943390e-01 1.18973504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72255784400005 meters Centerline goodness [0,1] 0.26341674791463543 Centerline is valid? [False, False] Translation: X:6.15, Y:0.34, Z:1.19 [[ 9.99929888e-01 -1.49600274e-03 -1.17465138e-02 6.14798672e+00] [ 1.48514959e-03 9.99998462e-01 -9.32615099e-04 3.42400128e-01] [ 1.17478909e-02 9.15104382e-04 9.99930572e-01 1.18857895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7525578440001 meters Centerline goodness [0,1] 0.2675269007269272 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:1.19 [[ 9.99902950e-01 -7.29161250e-04 -1.39125440e-02 6.10139767e+00] [ 7.23800007e-04 9.99999662e-01 -3.90384437e-04 3.42552146e-01] [ 1.39128240e-02 3.80276651e-04 9.99903140e-01 1.18963399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78255784400005 meters Centerline goodness [0,1] 0.26311925020515703 Centerline is valid? [False, False] Translation: X:6.14, Y:0.34, Z:1.19 [[ 9.99940322e-01 2.97080054e-04 -1.09208220e-02 6.14306686e+00] [-2.98799980e-04 9.99999943e-01 -1.55859298e-04 3.44936734e-01] [ 1.09207751e-02 1.59113138e-04 9.99940354e-01 1.19060901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8125578440001 meters Centerline goodness [0,1] 0.2653207892329805 Centerline is valid? [False, False] Translation: X:6.14, Y:0.35, Z:1.19 [[ 9.99946767e-01 3.25917164e-04 -1.03129952e-02 6.14118512e+00] [-3.30132420e-04 9.99999863e-01 -4.07032816e-04 3.46466569e-01] [ 1.03128612e-02 4.10415802e-04 9.99946737e-01 1.19124526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84255784400005 meters Centerline goodness [0,1] 0.26319565217391305 Centerline is valid? [False, False] Translation: X:6.14, Y:0.35, Z:1.19 [[ 9.99952429e-01 7.74170572e-04 -9.72314642e-03 6.13934403e+00] [-7.79468293e-04 9.99999550e-01 -5.41078963e-04 3.48960663e-01] [ 9.72272315e-03 5.48632108e-04 9.99952583e-01 1.19182243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.872557844 meters Centerline goodness [0,1] 0.26534076072765256 Centerline is valid? [False, False] Translation: X:6.14, Y:0.35, Z:1.19 [[ 9.99951208e-01 7.94999508e-04 -9.84631981e-03 6.13973653e+00] [-8.03338549e-04 9.99999322e-01 -8.42993476e-04 3.50965081e-01] [ 9.84564295e-03 8.50862273e-04 9.99951168e-01 1.19159430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90255784400006 meters Centerline goodness [0,1] 0.26364624076488485 Centerline is valid? [False, False] Translation: X:6.14, Y:0.35, Z:1.19 [[ 9.99949906e-01 7.97940068e-04 -9.97740275e-03 6.14021072e+00] [-8.09377170e-04 9.99999020e-01 -1.14231522e-03 3.52858556e-01] [ 9.97648147e-03 1.15033348e-03 9.99949572e-01 1.19126202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93255784400003 meters Centerline goodness [0,1] 0.265700061140711 Centerline is valid? [False, False] Translation: X:6.14, Y:0.36, Z:1.19 [[ 9.99948884e-01 9.10538743e-04 -1.00697687e-02 6.14057302e+00] [-9.25940258e-04 9.99998409e-01 -1.52492420e-03 3.55454176e-01] [ 1.00683642e-02 1.53417026e-03 9.99948136e-01 1.19088373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96255784400006 meters Centerline goodness [0,1] 0.2609492988133765 Centerline is valid? [False, False] Translation: X:6.16, Y:0.36, Z:1.19 [[ 9.99939017e-01 -5.05383908e-03 -9.81942155e-03 6.16275133e+00] [ 5.06538999e-03 9.99986507e-01 1.15181959e-03 3.59234253e-01] [ 9.81346795e-03 -1.20148855e-03 9.99951125e-01 1.19065575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99255784400003 meters Centerline goodness [0,1] 0.26352874859075537 Centerline is valid? [False, False] Translation: X:6.16, Y:0.36, Z:1.19 [[ 9.99939418e-01 -5.09001573e-03 -9.75970795e-03 6.16251658e+00] [ 5.10039220e-03 9.99986454e-01 1.03860003e-03 3.59858909e-01] [ 9.75428925e-03 -1.08831545e-03 9.99951834e-01 1.19078334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02255784400006 meters Centerline goodness [0,1] 0.2622024133057941 Centerline is valid? [False, False] Translation: X:6.16, Y:0.36, Z:1.19 [[ 9.99940220e-01 -5.06778857e-03 -9.68884717e-03 6.16222634e+00] [ 5.07808606e-03 9.99986567e-01 1.03851382e-03 3.60045500e-01] [ 9.68345405e-03 -1.08765253e-03 9.99952523e-01 1.19094875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05255784400003 meters Centerline goodness [0,1] 0.26213193137318536 Centerline is valid? [False, False] Translation: X:6.16, Y:0.36, Z:1.19 [[ 9.99940232e-01 -5.02631342e-03 -9.70918044e-03 6.16227492e+00] [ 5.03747273e-03 9.99986679e-01 1.12524300e-03 3.59751716e-01] [ 9.70339527e-03 -1.17408548e-03 9.99952232e-01 1.19095670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08255784400006 meters Centerline goodness [0,1] 0.26501458995688343 Centerline is valid? [False, False] Translation: X:6.16, Y:0.36, Z:1.19 [[ 9.99941925e-01 -4.98548285e-03 -9.55467179e-03 6.16214981e+00] [ 4.99710354e-03 9.99986803e-01 1.19274414e-03 3.59675218e-01] [ 9.54859929e-03 -1.24042056e-03 9.99953642e-01 1.19053262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11255784400004 meters Centerline goodness [0,1] 0.26227275674974604 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99952351e-01 3.08886174e-03 -9.26041592e-03 6.18147858e+00] [-3.08951212e-03 9.99995226e-01 -5.59279957e-05 3.56692232e-01] [ 9.26019895e-03 8.45354980e-05 9.99957120e-01 1.19184798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14255784400007 meters Centerline goodness [0,1] 0.2627381287791769 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99953380e-01 3.07683695e-03 -9.15263716e-03 6.18139632e+00] [-3.07788177e-03 9.99995258e-01 -1.00071668e-04 3.56902627e-01] [ 9.15228586e-03 1.28237737e-04 9.99958109e-01 1.19153980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17255784400004 meters Centerline goodness [0,1] 0.26318650258729404 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99953447e-01 3.07642008e-03 -9.14540835e-03 6.18145077e+00] [-3.07775024e-03 9.99995255e-01 -1.31374906e-04 3.57109258e-01] [ 9.14496079e-03 1.59516073e-04 9.99958171e-01 1.19137566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20255784400007 meters Centerline goodness [0,1] 0.2632818407691476 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99953434e-01 3.12799315e-03 -9.12933540e-03 6.18149765e+00] [-3.12918829e-03 9.99995097e-01 -1.16630480e-04 3.57329375e-01] [ 9.12892583e-03 1.45192459e-04 9.99958320e-01 1.19124626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23255784400004 meters Centerline goodness [0,1] 0.26040745930796594 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99953182e-01 3.13696558e-03 -9.15390793e-03 6.18155209e+00] [-3.13799704e-03 9.99995072e-01 -9.83191915e-05 3.57119374e-01] [ 9.15355440e-03 1.27039524e-04 9.99958097e-01 1.19122468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26255784400007 meters Centerline goodness [0,1] 0.26044760060253924 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99952865e-01 3.11838634e-03 -9.19475682e-03 6.18177369e+00] [-3.11950946e-03 9.99995129e-01 -1.07808796e-04 3.56900667e-01] [ 9.19437584e-03 1.36486845e-04 9.99957722e-01 1.19104008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29255784400004 meters Centerline goodness [0,1] 0.26044760060253924 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99952865e-01 3.11838634e-03 -9.19475682e-03 6.18177369e+00] [-3.11950946e-03 9.99995129e-01 -1.07808796e-04 3.56900667e-01] [ 9.19437584e-03 1.36486845e-04 9.99957722e-01 1.19104008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3225578440001 meters Centerline goodness [0,1] 0.2618743643563499 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99952469e-01 3.08274687e-03 -9.24964660e-03 6.18221511e+00] [-3.08435212e-03 9.99995231e-01 -1.59286601e-04 3.56878399e-01] [ 9.24911144e-03 1.87808197e-04 9.99957208e-01 1.19051957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35255784400005 meters Centerline goodness [0,1] 0.26200449088867783 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99950602e-01 3.07806389e-03 -9.45089504e-03 6.18330673e+00] [-3.07989083e-03 9.99995241e-01 -1.78760612e-04 3.56779614e-01] [ 9.45029983e-03 2.07859507e-04 9.99955323e-01 1.18951469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3825578440001 meters Centerline goodness [0,1] 0.264271213080399 Centerline is valid? [False, False] Translation: X:6.16, Y:0.36, Z:1.19 [[ 9.99938277e-01 -5.10249831e-03 -9.86951419e-03 6.16352011e+00] [ 5.11456049e-03 9.99986204e-01 1.19731280e-03 3.60254799e-01] [ 9.86326874e-03 -1.24771712e-03 9.99950578e-01 1.18782655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41255784400005 meters Centerline goodness [0,1] 0.2639641403921057 Centerline is valid? [False, False] Translation: X:6.16, Y:0.36, Z:1.19 [[ 9.99937164e-01 -5.10110811e-03 -9.98230007e-03 6.16381406e+00] [ 5.11292413e-03 9.99986258e-01 1.15853522e-03 3.60515375e-01] [ 9.97625308e-03 -1.20950117e-03 9.99949504e-01 1.18779256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4425578440001 meters Centerline goodness [0,1] 0.2660297750475482 Centerline is valid? [False, False] Translation: X:6.16, Y:0.36, Z:1.19 [[ 9.99935258e-01 -5.10631377e-03 -1.01688226e-02 6.16439530e+00] [ 5.11781596e-03 9.99986293e-01 1.10542355e-03 3.60779821e-01] [ 1.01630386e-02 -1.15739414e-03 9.99947685e-01 1.18755689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47255784400005 meters Centerline goodness [0,1] 0.26143692168323884 Centerline is valid? [False, False] Translation: X:6.19, Y:0.36, Z:1.19 [[ 9.99930605e-01 3.25435337e-03 -1.13222968e-02 6.18718747e+00] [-3.25373577e-03 9.99994704e-01 7.29670395e-05 3.57542508e-01] [ 1.13224743e-02 -3.61222138e-05 9.99935898e-01 1.18828485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5025578440001 meters Centerline goodness [0,1] 0.26193104343873774 Centerline is valid? [False, False] Translation: X:6.19, Y:0.36, Z:1.19 [[ 9.99929834e-01 3.25061513e-03 -1.13912813e-02 6.18760520e+00] [-3.25071261e-03 9.99994716e-01 9.95812754e-06 3.57893114e-01] [ 1.13912535e-02 2.70723530e-05 9.99935117e-01 1.18783707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53255784400005 meters Centerline goodness [0,1] 0.2641678309465596 Centerline is valid? [False, False] Translation: X:6.19, Y:0.36, Z:1.19 [[ 9.99931046e-01 3.25780702e-03 -1.12822930e-02 6.18753345e+00] [-3.25794752e-03 9.99994693e-01 5.92650382e-06 3.57995518e-01] [ 1.12822524e-02 3.08310233e-05 9.99936353e-01 1.18748133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5625578440001 meters Centerline goodness [0,1] 0.26377645989351106 Centerline is valid? [False, False] Translation: X:6.19, Y:0.36, Z:1.19 [[ 9.99932586e-01 3.25190505e-03 -1.11466977e-02 6.18718301e+00] [-3.25241288e-03 9.99994711e-01 -2.74316037e-05 3.58232942e-01] [ 1.11465495e-02 6.36834176e-05 9.99937873e-01 1.18751233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59255784400005 meters Centerline goodness [0,1] 0.26729180816335474 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99934819e-01 -5.16715863e-03 -1.01813025e-02 6.16505470e+00] [ 5.17656020e-03 9.99986199e-01 8.97278835e-04 3.61855612e-01] [ 1.01765256e-02 -9.49924475e-04 9.99947767e-01 1.18653550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.622557844 meters Centerline goodness [0,1] 0.2655973427154127 Centerline is valid? [False, False] Translation: X:6.16, Y:0.36, Z:1.19 [[ 9.99936552e-01 -5.16674426e-03 -1.00098072e-02 6.16460813e+00] [ 5.17569903e-03 9.99986228e-01 8.68901349e-04 3.62066756e-01] [ 1.00051800e-02 -9.20653968e-04 9.99949523e-01 1.18654531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65255784400006 meters Centerline goodness [0,1] 0.2526277167461637 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99958789e-01 3.29965382e-03 -8.45771702e-03 6.18490104e+00] [-3.30174442e-03 9.99994522e-01 -2.33232478e-04 3.61389109e-01] [ 8.45690110e-03 2.61148086e-04 9.99964206e-01 1.18710029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68255784400003 meters Centerline goodness [0,1] 0.26271952479338845 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99961064e-01 3.24550951e-03 -8.20594304e-03 6.18418827e+00] [-3.24915101e-03 9.99994629e-01 -4.30471966e-04 3.62505597e-01] [ 8.20450186e-03 4.57117553e-04 9.99966238e-01 1.18720810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71255784400006 meters Centerline goodness [0,1] 0.262070301569193 Centerline is valid? [False, False] Translation: X:6.18, Y:0.36, Z:1.19 [[ 9.99963307e-01 3.14594373e-03 -7.96794741e-03 6.18338524e+00] [-3.15156098e-03 9.99994794e-01 -6.92522807e-04 3.63892149e-01] [ 7.96572729e-03 7.17608868e-04 9.99968016e-01 1.18753994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74255784400003 meters Centerline goodness [0,1] 0.26561070199137216 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99961388e-01 -4.99018198e-03 -7.23334389e-03 6.16212883e+00] [ 4.99328360e-03 9.99987449e-01 4.10799790e-04 3.68643839e-01] [ 7.23120314e-03 -4.46902065e-04 9.99973755e-01 1.18621349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77255784400006 meters Centerline goodness [0,1] 0.2669463889734336 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99961920e-01 -5.10990515e-03 -7.07441435e-03 6.16141954e+00] [ 5.11091731e-03 9.99986931e-01 1.25001849e-04 3.69994726e-01] [ 7.07368315e-03 -1.61153835e-04 9.99974968e-01 1.18671213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80255784400003 meters Centerline goodness [0,1] 0.26729032959860766 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99960028e-01 -5.16538619e-03 -7.29796595e-03 6.16224117e+00] [ 5.16566552e-03 9.99986658e-01 1.94254603e-05 3.70361121e-01] [ 7.29776824e-03 -5.71235349e-05 9.99973369e-01 1.18624416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83255784400006 meters Centerline goodness [0,1] 0.24923426221432088 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99966881e-01 3.00507646e-03 -7.56344971e-03 6.18374036e+00] [-3.01200141e-03 9.99995055e-01 -9.04356751e-04 3.67891973e-01] [ 7.56069465e-03 9.27107922e-04 9.99970988e-01 1.18663363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86255784400004 meters Centerline goodness [0,1] 0.2678338123856807 Centerline is valid? [False, False] Translation: X:6.14, Y:0.37, Z:1.19 [[ 9.99940549e-01 2.91726369e-03 -1.05065928e-02 6.13919058e+00] [-2.92437814e-03 9.99995505e-01 -6.61842494e-04 3.65302285e-01] [ 1.05046148e-02 6.92528397e-04 9.99944585e-01 1.18681763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89255784400007 meters Centerline goodness [0,1] 0.2568956897863368 Centerline is valid? [False, False] Translation: X:6.14, Y:0.37, Z:1.19 [[ 9.99942568e-01 2.93662672e-03 -1.03071674e-02 6.13849384e+00] [-2.94445614e-03 9.99995388e-01 -7.44516416e-04 3.65955946e-01] [ 1.03049334e-02 7.74822659e-04 9.99946603e-01 1.18715504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92255784400004 meters Centerline goodness [0,1] 0.253719470244238 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99943011e-01 -4.70443763e-03 -9.58343403e-03 6.15712974e+00] [ 4.70933886e-03 9.99988791e-01 4.88924932e-04 3.71664728e-01] [ 9.58102650e-03 -5.34028707e-04 9.99953958e-01 1.18873330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95255784400007 meters Centerline goodness [0,1] 0.25106674957651653 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99942857e-01 -4.71027337e-03 -9.59666376e-03 6.15711882e+00] [ 4.71437595e-03 9.99988805e-01 4.04924148e-04 3.72258841e-01] [ 9.59464903e-03 -4.50143290e-04 9.99953869e-01 1.18880340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98255784400004 meters Centerline goodness [0,1] 0.26346850658508536 Centerline is valid? [False, False] Translation: X:6.14, Y:0.37, Z:1.19 [[ 9.99925163e-01 3.60745288e-03 -1.16899714e-02 6.13804217e+00] [-3.61672416e-03 9.99993162e-01 -7.72053625e-04 3.68187824e-01] [ 1.16871063e-02 8.14275249e-04 9.99931372e-01 1.18706775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01255784400007 meters Centerline goodness [0,1] 0.2654583297198855 Centerline is valid? [False, False] Translation: X:6.14, Y:0.37, Z:1.19 [[ 9.99921068e-01 3.56346128e-03 -1.20482251e-02 6.13947780e+00] [-3.57474277e-03 9.99993192e-01 -9.14955485e-04 3.68726340e-01] [ 1.20448826e-02 9.57952571e-04 9.99926999e-01 1.18609548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04255784400004 meters Centerline goodness [0,1] 0.2574289757265702 Centerline is valid? [False, False] Translation: X:6.14, Y:0.37, Z:1.19 [[ 9.99919665e-01 3.57489526e-03 -1.21607039e-02 6.14002609e+00] [-3.58610940e-03 9.99993164e-01 -9.00481231e-04 3.68584750e-01] [ 1.21574016e-02 9.44018506e-04 9.99925650e-01 1.18562627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0725578440001 meters Centerline goodness [0,1] 0.26613796849538296 Centerline is valid? [False, False] Translation: X:6.14, Y:0.37, Z:1.19 [[ 9.99920148e-01 3.59432499e-03 -1.21152448e-02 6.14003437e+00] [-3.60533127e-03 9.99993108e-01 -8.86747149e-04 3.68590446e-01] [ 1.21119740e-02 9.30355811e-04 9.99926215e-01 1.18538961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10255784400005 meters Centerline goodness [0,1] 0.25873851057790975 Centerline is valid? [False, False] Translation: X:6.14, Y:0.37, Z:1.19 [[ 9.99920388e-01 3.73170816e-03 -1.20537014e-02 6.13995684e+00] [-3.74111269e-03 9.99992715e-01 -7.57765326e-04 3.68609402e-01] [ 1.20507858e-02 8.02799254e-04 9.99927064e-01 1.18522948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1325578440001 meters Centerline goodness [0,1] 0.2554487525650718 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99920843e-01 -4.15045752e-03 -1.18778028e-02 6.15976656e+00] [ 4.15312059e-03 9.99991356e-01 1.99549037e-04 3.73631180e-01] [ 1.18768719e-02 -2.48863189e-04 9.99929437e-01 1.18607440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16255784400005 meters Centerline goodness [0,1] 0.25387376157830266 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99919653e-01 -4.14439042e-03 -1.19796191e-02 6.16025755e+00] [ 4.14757741e-03 9.99991370e-01 2.41202663e-04 3.73235209e-01] [ 1.19785160e-02 -2.90869681e-04 9.99928213e-01 1.18569841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1925578440001 meters Centerline goodness [0,1] 0.26433059135954406 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99919358e-01 -4.11393793e-03 -1.20147233e-02 6.16058180e+00] [ 4.11824803e-03 9.99991464e-01 3.34016843e-04 3.72755808e-01] [ 1.20132466e-02 -3.83469518e-04 9.99927765e-01 1.18529413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22255784400005 meters Centerline goodness [0,1] 0.25559326430470586 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99920636e-01 -4.02852196e-03 -1.19370318e-02 6.16029782e+00] [ 4.03525610e-03 9.99991712e-01 5.40107217e-04 3.71932375e-01] [ 1.19347571e-02 -5.88233332e-04 9.99928605e-01 1.18546220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2525578440001 meters Centerline goodness [0,1] 0.2661223780779085 Centerline is valid? [False, False] Translation: X:6.16, Y:0.37, Z:1.19 [[ 9.99936449e-01 -4.40890642e-03 -1.03758978e-02 6.15531888e+00] [ 4.41662739e-03 9.99989986e-01 7.21329323e-04 3.69449246e-01] [ 1.03726136e-02 -7.67109956e-04 9.99945909e-01 1.18767623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28255784400005 meters Centerline goodness [0,1] 0.2553809728798967 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99961410e-01 3.16947230e-03 -8.19345555e-03 6.17335184e+00] [-3.17729818e-03 9.99994508e-01 -9.42298030e-04 3.64891709e-01] [ 8.19042397e-03 9.68294718e-04 9.99965989e-01 1.18973718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3125578440001 meters Centerline goodness [0,1] 0.2515668301001919 Centerline is valid? [False, False] Translation: X:6.19, Y:0.37, Z:1.19 [[ 9.99963911e-01 -4.86560740e-03 -6.96439154e-03 6.19291241e+00] [ 4.86730472e-03 9.99988129e-01 2.26786395e-04 3.68325010e-01] [ 6.96320541e-03 -2.60676026e-04 9.99975723e-01 1.19065321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34255784400005 meters Centerline goodness [0,1] 0.24914573722877154 Centerline is valid? [False, False] Translation: X:6.19, Y:0.37, Z:1.19 [[ 9.99964674e-01 -4.72746237e-03 -6.94999140e-03 6.19310175e+00] [ 4.73158646e-03 9.99988639e-01 5.77071813e-04 3.66659026e-01] [ 6.94718436e-03 -6.09935912e-04 9.99975682e-01 1.19032890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.372557844 meters Centerline goodness [0,1] 0.25648240335916195 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99971406e-01 3.06496742e-03 -6.91326393e-03 6.17398003e+00] [-3.06713846e-03 9.99995250e-01 -3.03459837e-04 3.58494491e-01] [ 6.91230100e-03 3.24655097e-04 9.99976057e-01 1.18838566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40255784400006 meters Centerline goodness [0,1] 0.2673557910183647 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99971265e-01 3.09393104e-03 -6.92073649e-03 6.17399187e+00] [-3.09530874e-03 9.99995192e-01 -1.88365558e-04 3.57786292e-01] [ 6.92012042e-03 2.09781962e-04 9.99976034e-01 1.18840460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43255784400003 meters Centerline goodness [0,1] 0.2487281551331446 Centerline is valid? [False, False] Translation: X:6.19, Y:0.36, Z:1.19 [[ 9.99966500e-01 -4.68377792e-03 -6.71277594e-03 6.19343397e+00] [ 4.68913506e-03 9.99988700e-01 7.82534902e-04 3.62932402e-01] [ 6.70903487e-03 -8.13985800e-04 9.99977163e-01 1.18960505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46255784400006 meters Centerline goodness [0,1] 0.25860388555586844 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99970601e-01 3.54587759e-03 -6.79887526e-03 6.17298928e+00] [-3.54602043e-03 9.99993713e-01 -8.95542130e-06 3.57177755e-01] [ 6.79880076e-03 3.30641086e-05 9.99976887e-01 1.18881253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49255784400003 meters Centerline goodness [0,1] 0.26691453028403445 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99973023e-01 3.63744958e-03 -6.38144807e-03 6.17147408e+00] [-3.63743955e-03 9.99993384e-01 1.31789163e-05 3.57543455e-01] [ 6.38145379e-03 1.00335708e-05 9.99979638e-01 1.18962555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52255784400006 meters Centerline goodness [0,1] 0.2560148189631034 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99972871e-01 3.64286060e-03 -6.40215257e-03 6.17157987e+00] [-3.64258367e-03 9.99993364e-01 5.49144571e-05 3.57230317e-01] [ 6.40231013e-03 -3.15925909e-05 9.99979505e-01 1.18951602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55255784400003 meters Centerline goodness [0,1] 0.25766579510339904 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99971122e-01 3.66109683e-03 -6.65975289e-03 6.17254633e+00] [-3.66003745e-03 9.99993287e-01 1.71251617e-04 3.56458747e-01] [ 6.66033515e-03 -1.46871727e-04 9.99977809e-01 1.18897106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58255784400006 meters Centerline goodness [0,1] 0.2678007185214042 Centerline is valid? [False, False] Translation: X:6.17, Y:0.35, Z:1.19 [[ 9.99967632e-01 3.76645138e-03 -7.10978516e-03 6.17431850e+00] [-3.76253523e-03 9.99992763e-01 5.64106059e-04 3.54352742e-01] [ 7.11185838e-03 -5.37336983e-04 9.99974566e-01 1.18789570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61255784400004 meters Centerline goodness [0,1] 0.2652889167513349 Centerline is valid? [False, False] Translation: X:6.17, Y:0.35, Z:1.19 [[ 9.99968096e-01 3.81937815e-03 -7.01563254e-03 6.17406452e+00] [-3.81417564e-03 9.99992441e-01 7.54789573e-04 3.53254093e-01] [ 7.01846233e-03 -7.28006638e-04 9.99975105e-01 1.18796443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64255784400007 meters Centerline goodness [0,1] 0.2587344510546241 Centerline is valid? [False, False] Translation: X:6.17, Y:0.35, Z:1.19 [[ 9.99968460e-01 3.87459115e-03 -6.93296215e-03 6.17365008e+00] [-3.86810862e-03 9.99992069e-01 9.48194827e-04 3.52070599e-01] [ 6.93658103e-03 -9.21347471e-04 9.99975517e-01 1.18835130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67255784400004 meters Centerline goodness [0,1] 0.2554188886977464 Centerline is valid? [False, False] Translation: X:6.17, Y:0.35, Z:1.19 [[ 9.99968342e-01 3.87100901e-03 -6.95198444e-03 6.17354152e+00] [-3.86400628e-03 9.99992014e-01 1.02044880e-03 3.51336146e-01] [ 6.95587909e-03 -9.93553985e-04 9.99975314e-01 1.18863005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70255784400007 meters Centerline goodness [0,1] 0.2683823529411765 Centerline is valid? [False, False] Translation: X:6.15, Y:0.35, Z:1.19 [[ 9.99952480e-01 -4.17462678e-03 -8.80963685e-03 6.15455038e+00] [ 4.19715021e-03 9.99987967e-01 2.53974327e-03 3.53326227e-01] [ 8.79892837e-03 -2.57659795e-03 9.99957969e-01 1.18741533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73255784400004 meters Centerline goodness [0,1] 0.2684172771340999 Centerline is valid? [False, False] Translation: X:6.16, Y:0.35, Z:1.19 [[ 9.99950888e-01 -4.12886499e-03 -9.00970968e-03 6.15544264e+00] [ 4.15165035e-03 9.99988227e-01 2.51174248e-03 3.53682478e-01] [ 8.99923296e-03 -2.54902429e-03 9.99956257e-01 1.18669348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76255784400007 meters Centerline goodness [0,1] 0.26507294401170545 Centerline is valid? [False, False] Translation: X:6.18, Y:0.35, Z:1.19 [[ 9.99947567e-01 4.45235705e-03 -9.22164991e-03 6.17696470e+00] [-4.43779878e-03 9.99988875e-01 1.59856667e-03 3.51526220e-01] [ 9.22866471e-03 -1.55755903e-03 9.99956202e-01 1.18752705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79255784400004 meters Centerline goodness [0,1] 0.25367204947603506 Centerline is valid? [False, False] Translation: X:6.18, Y:0.35, Z:1.19 [[ 9.99944511e-01 4.49336398e-03 -9.52813873e-03 6.17825375e+00] [-4.47958365e-03 9.99988890e-01 1.46712638e-03 3.52137791e-01] [ 9.53462521e-03 -1.42436287e-03 9.99953530e-01 1.18654290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8225578440001 meters Centerline goodness [0,1] 0.2666347534705601 Centerline is valid? [False, False] Translation: X:6.16, Y:0.35, Z:1.19 [[ 9.99937460e-01 -4.35920280e-03 -1.02991918e-02 6.15690408e+00] [ 4.38272995e-03 9.99987835e-01 2.26290426e-03 3.54649293e-01] [ 1.02892021e-02 -2.30790131e-03 9.99944401e-01 1.18566985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85255784400005 meters Centerline goodness [0,1] 0.2594780788768013 Centerline is valid? [False, False] Translation: X:6.16, Y:0.35, Z:1.19 [[ 9.99937864e-01 -4.29910497e-03 -1.02852724e-02 6.15679215e+00] [ 4.32427011e-03 9.99987708e-01 2.42572919e-03 3.53965780e-01] [ 1.02747175e-02 -2.47005475e-03 9.99944163e-01 1.18582152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8825578440001 meters Centerline goodness [0,1] 0.25553681114283244 Centerline is valid? [False, False] Translation: X:6.18, Y:0.35, Z:1.19 [[ 9.99933157e-01 3.38158429e-03 -1.10565008e-02 6.17560509e+00] [-3.36734009e-03 9.99993477e-01 1.30667268e-03 3.50039044e-01] [ 1.10608473e-02 -1.26935434e-03 9.99938021e-01 1.18776861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91255784400005 meters Centerline goodness [0,1] 0.26996997655102895 Centerline is valid? [False, False] Translation: X:6.15, Y:0.35, Z:1.19 [[ 9.99891580e-01 -6.63689778e-03 -1.31445385e-02 6.15497071e+00] [ 6.65578887e-03 9.99976878e-01 1.39395744e-03 3.49287963e-01] [ 1.31349830e-02 -1.48129358e-03 9.99912635e-01 1.18727862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9425578440001 meters Centerline goodness [0,1] 0.25630769896006744 Centerline is valid? [False, False] Translation: X:6.18, Y:0.35, Z:1.19 [[ 9.99927581e-01 -6.12908029e-04 -1.20190245e-02 6.17714526e+00] [ 5.91636454e-04 9.99998253e-01 -1.77330116e-03 3.47833962e-01] [ 1.20200904e-02 1.76606184e-03 9.99926197e-01 1.18735705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97255784400005 meters Centerline goodness [0,1] 0.252769949011424 Centerline is valid? [False, False] Translation: X:6.18, Y:0.35, Z:1.19 [[ 9.99926865e-01 -5.49276511e-04 -1.20815398e-02 6.17693072e+00] [ 5.30860578e-04 9.99998693e-01 -1.52745751e-03 3.46455356e-01] [ 1.20823630e-02 1.52093219e-03 9.99925849e-01 1.18800356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0025578440001 meters Centerline goodness [0,1] 0.25380656229894916 Centerline is valid? [False, False] Translation: X:6.18, Y:0.35, Z:1.19 [[ 9.99926713e-01 -4.76858473e-04 -1.20971446e-02 6.17678966e+00] [ 4.59993267e-04 9.99998919e-01 -1.39689182e-03 3.46052835e-01] [ 1.20977976e-02 1.39122484e-03 9.99925851e-01 1.18832521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03255784400005 meters Centerline goodness [0,1] 0.2552109154398293 Centerline is valid? [False, False] Translation: X:6.18, Y:0.35, Z:1.19 [[ 9.99926800e-01 -3.94362328e-04 -1.20929027e-02 6.17682385e+00] [ 3.76779314e-04 9.99998869e-01 -1.45623835e-03 3.47109212e-01] [ 1.20934633e-02 1.45157540e-03 9.99925818e-01 1.18821644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0625578440001 meters Centerline goodness [0,1] 0.25678048780487805 Centerline is valid? [False, False] Translation: X:6.18, Y:0.35, Z:1.19 [[ 9.99927434e-01 -4.35311374e-04 -1.20390074e-02 6.17672095e+00] [ 4.15656676e-04 9.99998577e-01 -1.63503856e-03 3.48150980e-01] [ 1.20397020e-02 1.62991582e-03 9.99926192e-01 1.18815932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09255784400005 meters Centerline goodness [0,1] 0.25743536577463877 Centerline is valid? [False, False] Translation: X:6.18, Y:0.35, Z:1.19 [[ 9.99928785e-01 -4.90543953e-04 -1.19241079e-02 6.17637006e+00] [ 4.67880375e-04 9.99998079e-01 -1.90336726e-03 3.49622292e-01] [ 1.19250187e-02 1.89765265e-03 9.99927094e-01 1.18822826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.122557844 meters Centerline goodness [0,1] 0.2575905126706919 Centerline is valid? [False, False] Translation: X:6.17, Y:0.35, Z:1.19 [[ 9.99934432e-01 -3.44831241e-04 -1.14461157e-02 6.17476493e+00] [ 3.18166864e-04 9.99997232e-01 -2.33129604e-03 3.52862288e-01] [ 1.14468879e-02 2.32750140e-03 9.99931773e-01 1.18875858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15255784400006 meters Centerline goodness [0,1] 0.2574549877288621 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99935060e-01 -4.73552836e-04 -1.13864359e-02 6.17458130e+00] [ 4.42168461e-04 9.99996097e-01 -2.75865443e-03 3.55030631e-01] [ 1.13876978e-02 2.75344056e-03 9.99931367e-01 1.18873232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18255784400003 meters Centerline goodness [0,1] 0.2585428335721419 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99935619e-01 -6.09371398e-04 -1.13308137e-02 6.17440609e+00] [ 5.73700991e-04 9.99994871e-01 -3.15107263e-03 3.56879910e-01] [ 1.13326758e-02 3.14436926e-03 9.99930839e-01 1.18872267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21255784400006 meters Centerline goodness [0,1] 0.2585428335721419 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99935619e-01 -6.09371398e-04 -1.13308137e-02 6.17440609e+00] [ 5.73700991e-04 9.99994871e-01 -3.15107263e-03 3.56879910e-01] [ 1.13326758e-02 3.14436926e-03 9.99930839e-01 1.18872267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24255784400003 meters Centerline goodness [0,1] 0.26666231902960735 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99936412e-01 -7.22950935e-04 -1.12538666e-02 6.17412791e+00] [ 6.83594684e-04 9.99993639e-01 -3.50058538e-03 3.58689699e-01] [ 1.12563257e-02 3.49266970e-03 9.99930546e-01 1.18878563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27255784400006 meters Centerline goodness [0,1] 0.25605774188004815 Centerline is valid? [False, False] Translation: X:6.20, Y:0.37, Z:1.19 [[ 9.99934404e-01 -5.85386066e-03 -9.84476707e-03 6.19508771e+00] [ 5.85286438e-03 9.99982863e-01 -1.30006927e-04 3.67020594e-01] [ 9.84535941e-03 7.23783125e-05 9.99951531e-01 1.18900727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30255784400003 meters Centerline goodness [0,1] 0.2667608695652174 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:1.19 [[ 9.99950132e-01 2.43614582e-03 -9.68497426e-03 6.17421358e+00] [-2.44578930e-03 9.99996525e-01 -9.83996669e-04 3.63807938e-01] [ 9.68254345e-03 1.00763501e-03 9.99952615e-01 1.18837400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33255784400006 meters Centerline goodness [0,1] 0.25515508205172266 Centerline is valid? [False, False] Translation: X:6.19, Y:0.37, Z:1.19 [[ 9.99943647e-01 -5.17376059e-03 -9.27009019e-03 6.19275335e+00] [ 5.17458128e-03 9.99986610e-01 6.45487755e-05 3.71992193e-01] [ 9.26963210e-03 -1.12513973e-04 9.99957030e-01 1.19026363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36255784400004 meters Centerline goodness [0,1] 0.258283034434843 Centerline is valid? [False, False] Translation: X:6.17, Y:0.37, Z:1.19 [[ 9.99955364e-01 2.50549548e-03 -9.11002919e-03 6.17383644e+00] [-2.51814856e-03 9.99995880e-01 -1.37771209e-03 3.68046384e-01] [ 9.10653981e-03 1.40059100e-03 9.99957554e-01 1.18878401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39255784400007 meters Centerline goodness [0,1] 0.25076217887218843 Centerline is valid? [False, False] Translation: X:6.22, Y:0.38, Z:1.19 [[ 9.99969507e-01 2.75516066e-03 -7.30717767e-03 6.21781800e+00] [-2.76570297e-03 9.99995149e-01 -1.43302106e-03 3.75267743e-01] [ 7.30319402e-03 1.45318685e-03 9.99972275e-01 1.18883222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42255784400004 meters Centerline goodness [0,1] 0.25670639219935 Centerline is valid? [False, False] Translation: X:6.17, Y:0.37, Z:1.19 [[ 9.99945040e-01 2.36084983e-03 -1.02148541e-02 6.17284097e+00] [-2.37422965e-03 9.99996339e-01 -1.29791147e-03 3.72865016e-01] [ 1.02117525e-02 1.32209254e-03 9.99946985e-01 1.18951763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45255784400007 meters Centerline goodness [0,1] 0.2538449988202235 Centerline is valid? [False, False] Translation: X:6.19, Y:0.38, Z:1.19 [[ 9.99920129e-01 -5.88499456e-03 -1.11848896e-02 6.19403890e+00] [ 5.87459125e-03 9.99982281e-01 -9.62749342e-04 3.79326110e-01] [ 1.11903572e-02 8.96965793e-04 9.99936984e-01 1.19025520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48255784400004 meters Centerline goodness [0,1] 0.2510971719723406 Centerline is valid? [False, False] Translation: X:6.19, Y:0.38, Z:1.19 [[ 9.99919584e-01 -5.86667644e-03 -1.12431420e-02 6.19412575e+00] [ 5.85668275e-03 9.99982425e-01 -9.21589719e-04 3.79217678e-01] [ 1.12483511e-02 8.55668092e-04 9.99936369e-01 1.19036451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51255784400007 meters Centerline goodness [0,1] 0.2568359163910685 Centerline is valid? [False, False] Translation: X:6.17, Y:0.37, Z:1.19 [[ 9.99938928e-01 2.15372608e-03 -1.08397794e-02 6.17474620e+00] [-2.17271000e-03 9.99996126e-01 -1.73984860e-03 3.73619265e-01] [ 1.08359903e-02 1.76329405e-03 9.99939734e-01 1.18911613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54255784400004 meters Centerline goodness [0,1] 0.257349439321124 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99937724e-01 2.13368757e-03 -1.09542652e-02 6.17500744e+00] [-2.15375857e-03 9.99996023e-01 -1.82078481e-03 3.74195698e-01] [ 1.09503366e-02 1.84426426e-03 9.99938343e-01 1.18914387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5725578440001 meters Centerline goodness [0,1] 0.25710644548125106 Centerline is valid? [False, False] Translation: X:6.18, Y:0.38, Z:1.19 [[ 9.99933961e-01 2.08528747e-03 -1.13015595e-02 6.17641415e+00] [-2.10792079e-03 9.99995796e-01 -1.99113044e-03 3.75035857e-01] [ 1.12973599e-02 2.01482174e-03 9.99934153e-01 1.18821146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60255784400005 meters Centerline goodness [0,1] 0.25662169454937933 Centerline is valid? [False, False] Translation: X:6.18, Y:0.38, Z:1.19 [[ 9.99933826e-01 2.05444619e-03 -1.13191332e-02 6.17678867e+00] [-2.07753958e-03 9.99995784e-01 -2.02882748e-03 3.75032509e-01] [ 1.13149174e-02 2.05220917e-03 9.99933878e-01 1.18766406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6325578440001 meters Centerline goodness [0,1] 0.2540960664843801 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99935348e-01 2.05020139e-03 -1.11846885e-02 6.17629514e+00] [-2.07294098e-03 9.99995807e-01 -2.02188643e-03 3.74936050e-01] [ 1.11804964e-02 2.04494091e-03 9.99935405e-01 1.18791112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66255784400005 meters Centerline goodness [0,1] 0.25613473720623525 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99937081e-01 2.08332721e-03 -1.10224304e-02 6.17557443e+00] [-2.10470482e-03 9.99995926e-01 -1.92822006e-03 3.74505946e-01] [ 1.10183684e-02 1.95129770e-03 9.99937392e-01 1.18844838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6925578440001 meters Centerline goodness [0,1] 0.25647013037555944 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99935918e-01 2.20263285e-03 -1.11044207e-02 6.17539918e+00] [-2.22013983e-03 9.99996312e-01 -1.56449771e-03 3.72668939e-01] [ 1.11009337e-02 1.58905082e-03 9.99937120e-01 1.18913411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72255784400005 meters Centerline goodness [0,1] 0.25951315358585303 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99934748e-01 2.30162542e-03 -1.11893782e-02 6.17564181e+00] [-2.31620764e-03 9.99996485e-01 -1.29043593e-03 3.71213073e-01] [ 1.11863688e-02 1.31626865e-03 9.99936564e-01 1.18910753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7525578440001 meters Centerline goodness [0,1] 0.25744505613594004 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99933597e-01 2.33096622e-03 -1.12857924e-02 6.17595308e+00] [-2.34381165e-03 9.99996620e-01 -1.12510164e-03 3.70087429e-01] [ 1.12831317e-02 1.15147870e-03 9.99935680e-01 1.18900671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78255784400005 meters Centerline goodness [0,1] 0.2559356484885179 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99933590e-01 2.39099999e-03 -1.12738308e-02 6.17597653e+00] [-2.40190401e-03 9.99996661e-01 -9.53757065e-04 3.69154596e-01] [ 1.12715127e-02 9.80772385e-04 9.99935993e-01 1.18893375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8125578440001 meters Centerline goodness [0,1] 0.251915441570984 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99933439e-01 2.47375317e-03 -1.12693025e-02 6.17608432e+00] [-2.48325068e-03 9.99996573e-01 -8.28862733e-04 3.68697409e-01] [ 1.12672135e-02 8.56792067e-04 9.99936156e-01 1.18876265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84255784400005 meters Centerline goodness [0,1] 0.2564784196762411 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99932812e-01 2.48290955e-03 -1.13228806e-02 6.17630899e+00] [-2.49272635e-03 9.99996529e-01 -8.52957009e-04 3.68855187e-01] [ 1.13207235e-02 8.81124543e-04 9.99935530e-01 1.18861338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.872557844 meters Centerline goodness [0,1] 0.25603677089402477 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99931456e-01 2.47050896e-03 -1.14446273e-02 6.17672519e+00] [-2.48187177e-03 9.99996441e-01 -9.78754873e-04 3.69440732e-01] [ 1.14421686e-02 1.00709188e-03 9.99934029e-01 1.18837483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90255784400006 meters Centerline goodness [0,1] 0.2588882127955494 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99926721e-01 2.75887184e-03 -1.17873485e-02 6.17789072e+00] [-2.77217321e-03 9.99995539e-01 -1.11225476e-03 3.70977438e-01] [ 1.17842273e-02 1.14484983e-03 9.99929908e-01 1.18764385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93255784400003 meters Centerline goodness [0,1] 0.2573320923789528 Centerline is valid? [False, False] Translation: X:6.18, Y:0.37, Z:1.19 [[ 9.99925558e-01 2.71831818e-03 -1.18948912e-02 6.17822126e+00] [-2.73576951e-03 9.99995205e-01 -1.45110231e-03 3.72873872e-01] [ 1.18908896e-02 1.48353597e-03 9.99928200e-01 1.18744103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96255784400006 meters Centerline goodness [0,1] 0.25527698802446797 Centerline is valid? [False, False] Translation: X:6.18, Y:0.38, Z:1.19 [[ 9.99927673e-01 2.66201200e-03 -1.17286725e-02 6.17775689e+00] [-2.68379906e-03 9.99994702e-01 -1.84224262e-03 3.75110716e-01] [ 1.17237063e-02 1.87358677e-03 9.99929520e-01 1.18742394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99255784400003 meters Centerline goodness [0,1] 0.25216382809647564 Centerline is valid? [False, False] Translation: X:6.18, Y:0.38, Z:1.19 [[ 9.99933171e-01 2.57890938e-03 -1.12695180e-02 6.17631396e+00] [-2.60471203e-03 9.99994019e-01 -2.27551884e-03 3.77586591e-01] [ 1.12635823e-02 2.30472062e-03 9.99933908e-01 1.18778192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02255784400006 meters Centerline goodness [0,1] 0.2559377559377559 Centerline is valid? [False, False] Translation: X:6.17, Y:0.38, Z:1.19 [[ 9.99946252e-01 2.74443163e-03 -9.99809419e-03 6.17241706e+00] [-2.77191799e-03 9.99992414e-01 -2.73634040e-03 3.81749956e-01] [ 9.99050865e-03 2.76390722e-03 9.99946274e-01 1.18880492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05255784400003 meters Centerline goodness [0,1] 0.25508845757471654 Centerline is valid? [False, False] Translation: X:6.17, Y:0.38, Z:1.19 [[ 9.99947568e-01 2.65414998e-03 -9.89019711e-03 6.17223581e+00] [-2.68463718e-03 9.99991682e-01 -3.07056799e-03 3.83859448e-01] [ 9.88196510e-03 3.09695859e-03 9.99946376e-01 1.18862330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08255784400006 meters Centerline goodness [0,1] 0.25391345370330665 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:1.19 [[ 9.99947475e-01 2.53433050e-03 -9.93102978e-03 6.17260904e+00] [-2.56799786e-03 9.99990994e-01 -3.37883398e-03 3.85530929e-01] [ 9.92237726e-03 3.40415936e-03 9.99944978e-01 1.18815031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11255784400004 meters Centerline goodness [0,1] 0.25861844107290355 Centerline is valid? [False, False] Translation: X:6.15, Y:0.39, Z:1.19 [[ 9.99918259e-01 -6.08360008e-03 -1.12457077e-02 6.15227030e+00] [ 6.05673566e-03 9.99978726e-01 -2.42137663e-03 3.88989033e-01] [ 1.12601991e-02 2.35306643e-03 9.99933833e-01 1.18677705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14255784400007 meters Centerline goodness [0,1] 0.25497638508486276 Centerline is valid? [False, False] Translation: X:6.15, Y:0.39, Z:1.19 [[ 9.99911576e-01 -6.45646075e-03 -1.16256027e-02 6.15290285e+00] [ 6.42301557e-03 9.99975133e-01 -2.91189827e-03 3.90758938e-01] [ 1.16441141e-02 2.83696936e-03 9.99928181e-01 1.18727112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17255784400004 meters Centerline goodness [0,1] 0.25738249929380064 Centerline is valid? [False, False] Translation: X:6.15, Y:0.39, Z:1.19 [[ 9.99907955e-01 -6.55412104e-03 -1.18795960e-02 6.15345904e+00] [ 6.51714569e-03 9.99973806e-01 -3.14855354e-03 3.92069426e-01] [ 1.18999209e-02 3.07084267e-03 9.99924478e-01 1.18740232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20255784400007 meters Centerline goodness [0,1] 0.25471779405428696 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:1.19 [[ 9.99910241e-01 1.16460549e-03 -1.33473916e-02 6.17311042e+00] [-1.21863938e-03 9.99991093e-01 -4.04085524e-03 3.91782418e-01] [ 1.33425667e-02 4.05675820e-03 9.99902755e-01 1.18924711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23255784400004 meters Centerline goodness [0,1] 0.2544007248252653 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:1.19 [[ 9.99907752e-01 9.75622069e-04 -1.35474989e-02 6.17381246e+00] [-1.03620182e-03 9.99989493e-01 -4.46535705e-03 3.93787101e-01] [ 1.35430000e-02 4.47898307e-03 9.99898258e-01 1.18893184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26255784400007 meters Centerline goodness [0,1] 0.2535403403923606 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99909088e-01 6.05299733e-04 -1.34703224e-02 6.17365288e+00] [-6.76900572e-04 9.99985665e-01 -5.31152677e-03 3.97701947e-01] [ 1.34669142e-02 5.32016196e-03 9.99895164e-01 1.18881402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29255784400004 meters Centerline goodness [0,1] 0.25396962003528556 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99910461e-01 5.05545052e-04 -1.33721421e-02 6.17320111e+00] [-5.81098544e-04 9.99983888e-01 -5.64678466e-03 3.99810526e-01] [ 1.33690720e-02 5.65404959e-03 9.99894644e-01 1.18913432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3225578440001 meters Centerline goodness [0,1] 0.2542383848841724 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99911255e-01 4.02613752e-04 -1.33161770e-02 6.17286280e+00] [-4.82188227e-04 9.99982045e-01 -5.97310414e-03 4.01734600e-01] [ 1.33135330e-02 5.97899496e-03 9.99893495e-01 1.18940743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35255784400005 meters Centerline goodness [0,1] 0.2517169368554759 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99908144e-01 1.47563236e-04 -1.35529447e-02 6.17314157e+00] [-2.33512001e-04 9.99979873e-01 -6.34034065e-03 4.03213355e-01] [ 1.35517363e-02 6.34292302e-03 9.99888053e-01 1.18996307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3825578440001 meters Centerline goodness [0,1] 0.25620175210339147 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99905522e-01 3.08909670e-05 -1.37457509e-02 6.17350223e+00] [-1.18543268e-04 9.99979667e-01 -6.37591429e-03 4.02803679e-01] [ 1.37452744e-02 6.37694138e-03 9.99885194e-01 1.19020604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41255784400005 meters Centerline goodness [0,1] 0.25166559209112405 Centerline is valid? [False, False] Translation: X:6.19, Y:0.41, Z:1.19 [[ 9.99868897e-01 -8.31836941e-03 -1.38922058e-02 6.19367144e+00] [ 8.24213005e-03 9.99950708e-01 -5.53619057e-03 4.07774183e-01] [ 1.39375731e-02 5.42096339e-03 9.99888172e-01 1.19155185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4425578440001 meters Centerline goodness [0,1] 0.2531869459243761 Centerline is valid? [False, False] Translation: X:6.19, Y:0.41, Z:1.19 [[ 9.99865325e-01 -8.29407423e-03 -1.41612449e-02 6.19443407e+00] [ 8.21806888e-03 9.99951559e-01 -5.41692159e-03 4.07189388e-01] [ 1.42054872e-02 5.29981398e-03 9.99885051e-01 1.19145516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47255784400005 meters Centerline goodness [0,1] 0.2529378847229995 Centerline is valid? [False, False] Translation: X:6.19, Y:0.41, Z:1.19 [[ 9.99865243e-01 -8.18132885e-03 -1.42324450e-02 6.19486579e+00] [ 8.10842137e-03 9.99953747e-01 -5.17281003e-03 4.06268138e-01] [ 1.42741071e-02 5.05671030e-03 9.99885333e-01 1.19115473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5025578440001 meters Centerline goodness [0,1] 0.2532100999655291 Centerline is valid? [False, False] Translation: X:6.19, Y:0.41, Z:1.19 [[ 9.99866110e-01 -8.14890267e-03 -1.41900167e-02 6.19462899e+00] [ 8.07681093e-03 9.99954221e-01 -5.13037408e-03 4.06059904e-01] [ 1.42311740e-02 5.01507709e-03 9.99886155e-01 1.19138807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53255784400005 meters Centerline goodness [0,1] 0.25741389438872087 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99904730e-01 8.65302526e-05 -1.38030307e-02 6.17443015e+00] [-1.71690904e-04 9.99980959e-01 -6.16864102e-03 4.00310723e-01] [ 1.38022341e-02 6.17042319e-03 9.99885706e-01 1.19007891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5625578440001 meters Centerline goodness [0,1] 0.2547102622207834 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99908924e-01 3.26639097e-04 -1.34921172e-02 6.17328636e+00] [-4.09745082e-04 9.99980960e-01 -6.15729063e-03 4.00793066e-01] [ 1.34898491e-02 6.16225817e-03 9.99890019e-01 1.19057758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59255784400005 meters Centerline goodness [0,1] 0.25545379930018575 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99909825e-01 3.69445732e-04 -1.34240418e-02 6.17328014e+00] [-4.52204984e-04 9.99980909e-01 -6.16249025e-03 4.00900546e-01] [ 1.34215089e-02 6.16800497e-03 9.99890903e-01 1.19023422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.622557844 meters Centerline goodness [0,1] 0.25418340386226457 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99907405e-01 4.13718620e-04 -1.36018511e-02 6.17403657e+00] [-4.97627047e-04 9.99980866e-01 -6.16609200e-03 4.01020963e-01] [ 1.35990398e-02 6.17228970e-03 9.99888478e-01 1.18969419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65255784400006 meters Centerline goodness [0,1] 0.2543182653436237 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99905961e-01 4.68154282e-04 -1.37058291e-02 6.17456652e+00] [-5.52214909e-04 9.99981059e-01 -6.13006072e-03 4.01041393e-01] [ 1.37026997e-02 6.13705282e-03 9.99887280e-01 1.18919340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68255784400003 meters Centerline goodness [0,1] 0.25217503107187245 Centerline is valid? [False, False] Translation: X:6.20, Y:0.41, Z:1.19 [[ 9.99890830e-01 -4.82479929e-03 -1.39660203e-02 6.19571440e+00] [ 4.78919532e-03 9.99985199e-01 -2.58165111e-03 4.05000780e-01] [ 1.39782695e-02 2.51448327e-03 9.99899138e-01 1.18965749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71255784400006 meters Centerline goodness [0,1] 0.25140134529147984 Centerline is valid? [False, False] Translation: X:6.20, Y:0.41, Z:1.19 [[ 9.99892136e-01 -4.84505441e-03 -1.38651165e-02 6.19521595e+00] [ 4.80911211e-03 9.99984992e-01 -2.62445057e-03 4.05142365e-01] [ 1.38776240e-02 2.55748859e-03 9.99900430e-01 1.19004458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74255784400003 meters Centerline goodness [0,1] 0.25450382338964017 Centerline is valid? [False, False] Translation: X:6.19, Y:0.41, Z:1.19 [[ 9.99893337e-01 -4.87968488e-03 -1.37660470e-02 6.19478237e+00] [ 4.84332496e-03 9.99984698e-01 -2.67337838e-03 4.05252316e-01] [ 1.37788816e-02 2.60641979e-03 9.99901670e-01 1.19034941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77255784400006 meters Centerline goodness [0,1] 0.2554516458003342 Centerline is valid? [False, False] Translation: X:6.20, Y:0.41, Z:1.19 [[ 9.99890419e-01 -4.94516892e-03 -1.39533430e-02 6.19563190e+00] [ 4.90349764e-03 9.99983420e-01 -3.01910617e-03 4.07405748e-01] [ 1.39680417e-02 2.95035515e-03 9.99898089e-01 1.18962400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80255784400003 meters Centerline goodness [0,1] 0.2553012490023082 Centerline is valid? [False, False] Translation: X:6.20, Y:0.41, Z:1.19 [[ 9.99888910e-01 -5.01358842e-03 -1.40368177e-02 6.19623504e+00] [ 4.96766337e-03 9.99982200e-01 -3.30471411e-03 4.08992732e-01] [ 1.40531363e-02 3.23461681e-03 9.99896018e-01 1.18893766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83255784400006 meters Centerline goodness [0,1] 0.25546890274368383 Centerline is valid? [False, False] Translation: X:6.20, Y:0.41, Z:1.19 [[ 9.99888760e-01 -5.14991777e-03 -1.39980396e-02 6.19626438e+00] [ 5.09951462e-03 9.99980394e-01 -3.63404155e-03 4.10463173e-01] [ 1.40164802e-02 3.56225409e-03 9.99895419e-01 1.18868553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86255784400004 meters Centerline goodness [0,1] 0.257202632611254 Centerline is valid? [False, False] Translation: X:6.20, Y:0.41, Z:1.19 [[ 9.99887256e-01 -5.29966028e-03 -1.40494880e-02 6.19635559e+00] [ 5.24417076e-03 9.99978315e-01 -3.98347930e-03 4.11978533e-01] [ 1.40702944e-02 3.90935228e-03 9.99893366e-01 1.18867737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89255784400007 meters Centerline goodness [0,1] 0.25449988115559974 Centerline is valid? [False, False] Translation: X:6.22, Y:0.41, Z:1.19 [[ 9.99899886e-01 2.84650163e-03 -1.38605880e-02 6.21572000e+00] [-2.91804087e-03 9.99982513e-01 -5.14385716e-03 4.14047296e-01] [ 1.38457037e-02 5.18378795e-03 9.99890706e-01 1.19063274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92255784400004 meters Centerline goodness [0,1] 0.2547733344918218 Centerline is valid? [False, False] Translation: X:6.22, Y:0.42, Z:1.19 [[ 9.99899659e-01 2.72452511e-03 -1.39013951e-02 6.21567221e+00] [-2.79996556e-03 9.99981445e-01 -5.41025287e-03 4.15382555e-01] [ 1.38863968e-02 5.44863343e-03 9.99888734e-01 1.19089092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95255784400007 meters Centerline goodness [0,1] 0.2524996237125594 Centerline is valid? [False, False] Translation: X:6.24, Y:0.42, Z:1.19 [[ 9.99892825e-01 -5.67057722e-03 -1.34975494e-02 6.23525379e+00] [ 5.60687277e-03 9.99972986e-01 -4.75287693e-03 4.22230497e-01] [ 1.35241363e-02 4.67668849e-03 9.99897608e-01 1.19217720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98255784400004 meters Centerline goodness [0,1] 0.25254178872996724 Centerline is valid? [False, False] Translation: X:6.23, Y:0.42, Z:1.19 [[ 9.99893326e-01 -6.28234388e-03 -1.31859393e-02 6.23420222e+00] [ 6.21381137e-03 9.99967007e-01 -5.23194370e-03 4.23309998e-01] [ 1.32183731e-02 5.14945064e-03 9.99899374e-01 1.19275327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01255784400007 meters Centerline goodness [0,1] 0.252432001035353 Centerline is valid? [False, False] Translation: X:6.23, Y:0.42, Z:1.19 [[ 9.99891581e-01 -6.31198822e-03 -1.33035896e-02 6.23438349e+00] [ 6.24328348e-03 9.99966992e-01 -5.19959534e-03 4.23301442e-01] [ 1.33359703e-02 5.11597352e-03 9.99897984e-01 1.19300938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04255784400004 meters Centerline goodness [0,1] 0.2542222798151268 Centerline is valid? [False, False] Translation: X:6.23, Y:0.42, Z:1.19 [[ 9.99889040e-01 -6.32601798e-03 -1.34866428e-02 6.23482987e+00] [ 6.25729851e-03 9.99967256e-01 -5.13149519e-03 4.23128710e-01] [ 1.35186632e-02 5.04653585e-03 9.99895884e-01 1.19312328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0725578440001 meters Centerline goodness [0,1] 0.2542679209128125 Centerline is valid? [False, False] Translation: X:6.24, Y:0.42, Z:1.19 [[ 9.99885435e-01 -6.38159388e-03 -1.37256001e-02 6.23532039e+00] [ 6.31235638e-03 9.99967164e-01 -5.08182744e-03 4.22765514e-01] [ 1.37575796e-02 4.99460436e-03 9.99892886e-01 1.19330666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10255784400005 meters Centerline goodness [0,1] 0.2542679209128125 Centerline is valid? [False, False] Translation: X:6.24, Y:0.42, Z:1.19 [[ 9.99885435e-01 -6.38159388e-03 -1.37256001e-02 6.23532039e+00] [ 6.31235638e-03 9.99967164e-01 -5.08182744e-03 4.22765514e-01] [ 1.37575796e-02 4.99460436e-03 9.99892886e-01 1.19330666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1325578440001 meters Centerline goodness [0,1] 0.25200189426554154 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99899408e-01 -3.57138917e-04 -1.41790508e-02 6.25489623e+00] [ 2.53981061e-04 9.99973494e-01 -7.27650525e-03 4.19203273e-01] [ 1.41812737e-02 7.27217209e-03 9.99872995e-01 1.19564759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16255784400005 meters Centerline goodness [0,1] 0.2524378194939645 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99898470e-01 -3.09556460e-04 -1.42462134e-02 6.25488999e+00] [ 2.07814875e-04 9.99974470e-01 -7.14258437e-03 4.18667211e-01] [ 1.42480608e-02 7.13889860e-03 9.99873006e-01 1.19594336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1925578440001 meters Centerline goodness [0,1] 0.25406701665694476 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99901069e-01 -2.31470175e-04 -1.40640888e-02 6.25426174e+00] [ 1.32774220e-04 9.99975364e-01 -7.01811468e-03 4.18392189e-01] [ 1.40653668e-02 7.01555302e-03 9.99876466e-01 1.19625836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22255784400005 meters Centerline goodness [0,1] 0.2551926225976041 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99907170e-01 -9.46346826e-05 -1.36250742e-02 6.25284611e+00] [ 8.37082621e-07 9.99976305e-01 -6.88403117e-03 4.18173353e-01] [ 1.36254028e-02 6.88338072e-03 9.99883477e-01 1.19682965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2525578440001 meters Centerline goodness [0,1] 0.25501079913606917 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99907583e-01 -6.61464574e-05 -1.35948780e-02 6.25283348e+00] [-2.73121074e-05 9.99976372e-01 -6.87424173e-03 4.18035715e-01] [ 1.35950115e-02 6.87397774e-03 9.99883955e-01 1.19670769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28255784400005 meters Centerline goodness [0,1] 0.2576879519121875 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99908257e-01 -3.29655456e-05 -1.35453699e-02 6.25274478e+00] [-5.98444785e-05 9.99976528e-01 -6.85132712e-03 4.17844183e-01] [ 1.35452778e-02 6.85150917e-03 9.99884784e-01 1.19661178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3125578440001 meters Centerline goodness [0,1] 0.256241301322199 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99917129e-01 2.95713487e-04 -1.28704026e-02 6.25087753e+00] [-3.81070099e-04 9.99977948e-01 -6.63006096e-03 4.17594075e-01] [ 1.28681582e-02 6.63441605e-03 9.99895192e-01 1.19690737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34255784400005 meters Centerline goodness [0,1] 0.25505295627601976 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99916151e-01 3.90515064e-04 -1.29437037e-02 6.25112938e+00] [-4.75763303e-04 9.99978214e-01 -6.58365300e-03 4.17611976e-01] [ 1.29408507e-02 6.58925911e-03 9.99894552e-01 1.19673334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.372557844 meters Centerline goodness [0,1] 0.26525216327244117 Centerline is valid? [False, False] Translation: X:6.21, Y:0.41, Z:1.20 [[ 9.99875899e-01 4.16526737e-04 -1.57484026e-02 6.20658642e+00] [-5.22475288e-04 9.99977257e-01 -6.72405880e-03 4.14198623e-01] [ 1.57452437e-02 6.73145249e-03 9.99853377e-01 1.19685476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40255784400006 meters Centerline goodness [0,1] 0.2513675268678808 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99897691e-01 5.66617468e-04 -1.42928570e-02 6.25164128e+00] [-6.66185446e-04 9.99975540e-01 -6.96247653e-03 4.16324665e-01] [ 1.42885623e-02 6.97128590e-03 9.99873611e-01 1.19668023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43255784400003 meters Centerline goodness [0,1] 0.25444322367995864 Centerline is valid? [False, False] Translation: X:6.25, Y:0.42, Z:1.20 [[ 9.99900322e-01 7.18393938e-04 -1.41006812e-02 6.25111929e+00] [-8.13214403e-04 9.99977090e-01 -6.71994940e-03 4.15186771e-01] [ 1.40955306e-02 6.73074645e-03 9.99877999e-01 1.19668149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46255784400006 meters Centerline goodness [0,1] 0.2598162254185128 Centerline is valid? [False, False] Translation: X:6.23, Y:0.42, Z:1.20 [[ 9.99866379e-01 -7.24544310e-03 -1.46535699e-02 6.23056268e+00] [ 7.16928414e-03 9.99960555e-01 -5.24316729e-03 4.18050425e-01] [ 1.46909810e-02 5.13741109e-03 9.99878884e-01 1.19540498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49255784400003 meters Centerline goodness [0,1] 0.25526435388577484 Centerline is valid? [False, False] Translation: X:6.23, Y:0.42, Z:1.20 [[ 9.99866312e-01 -7.14765829e-03 -1.47060606e-02 6.23071010e+00] [ 7.07371598e-03 9.99962108e-01 -5.07390420e-03 4.17466452e-01] [ 1.47417699e-02 4.96919939e-03 9.99878986e-01 1.19535962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52255784400006 meters Centerline goodness [0,1] 0.25289156885045383 Centerline is valid? [False, False] Translation: X:6.25, Y:0.41, Z:1.20 [[ 9.99877824e-01 3.43843960e-04 -1.56275178e-02 6.25130322e+00] [-4.39589827e-04 9.99981153e-01 -6.12372614e-03 4.10836382e-01] [ 1.56251177e-02 6.12984766e-03 9.99859130e-01 1.19735218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55255784400003 meters Centerline goodness [0,1] 0.25599895670318207 Centerline is valid? [False, False] Translation: X:6.21, Y:0.41, Z:1.20 [[ 9.99830253e-01 -4.12241439e-04 -1.84199908e-02 6.20576699e+00] [ 2.92470696e-04 9.99978803e-01 -6.50443595e-03 4.05701636e-01] [ 1.84222818e-02 6.49794453e-03 9.99809180e-01 1.19805607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58255784400006 meters Centerline goodness [0,1] 0.25672472655315637 Centerline is valid? [False, False] Translation: X:6.21, Y:0.40, Z:1.20 [[ 9.99828478e-01 -2.94142438e-04 -1.85183323e-02 6.20620111e+00] [ 1.79648610e-04 9.99980862e-01 -6.18408882e-03 4.04180313e-01] [ 1.85197969e-02 6.17970132e-03 9.99809396e-01 1.19775270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61255784400004 meters Centerline goodness [0,1] 0.2642735639202687 Centerline is valid? [False, False] Translation: X:6.21, Y:0.40, Z:1.20 [[ 9.99825228e-01 -1.87861058e-04 -1.86943400e-02 6.20695439e+00] [ 7.74740748e-05 9.99982560e-01 -5.90538353e-03 4.02903115e-01] [ 1.86951234e-02 5.90290311e-03 9.99807806e-01 1.19723354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64255784400007 meters Centerline goodness [0,1] 0.25367187836499117 Centerline is valid? [False, False] Translation: X:6.23, Y:0.41, Z:1.20 [[ 9.99774080e-01 -8.75353212e-03 -1.93691590e-02 6.22916583e+00] [ 8.65050547e-03 9.99948022e-01 -5.39651600e-03 4.06416400e-01] [ 1.94153908e-02 5.22774381e-03 9.99797836e-01 1.19735423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67255784400004 meters Centerline goodness [0,1] 0.2538311265465596 Centerline is valid? [False, False] Translation: X:6.21, Y:0.40, Z:1.20 [[ 9.99824926e-01 -1.07092102e-03 -1.86807402e-02 6.21075441e+00] [ 9.51792884e-04 9.99979164e-01 -6.38478192e-03 3.99377504e-01] [ 1.86871885e-02 6.36588392e-03 9.99805113e-01 1.19517327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70255784400007 meters Centerline goodness [0,1] 0.25127896479085166 Centerline is valid? [False, False] Translation: X:6.23, Y:0.40, Z:1.20 [[ 9.99811889e-01 -8.79039577e-03 -1.72891836e-02 6.22921772e+00] [ 8.70898566e-03 9.99950659e-01 -4.77840050e-03 4.03953415e-01] [ 1.73303345e-02 4.62693037e-03 9.99839113e-01 1.19690186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73255784400004 meters Centerline goodness [0,1] 0.2554279523293608 Centerline is valid? [False, False] Translation: X:6.21, Y:0.40, Z:1.19 [[ 9.99894002e-01 -1.83567339e-03 -1.44435017e-02 6.21145183e+00] [ 1.76536201e-03 9.99986538e-01 -4.87927302e-03 3.97568069e-01] [ 1.44522640e-02 4.85325782e-03 9.99883782e-01 1.19459961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76255784400007 meters Centerline goodness [0,1] 0.253290397873398 Centerline is valid? [False, False] Translation: X:6.21, Y:0.40, Z:1.19 [[ 9.99884286e-01 -1.78302122e-03 -1.51074873e-02 6.21344829e+00] [ 1.71384537e-03 9.99987994e-01 -4.59062203e-03 3.95761648e-01] [ 1.51154911e-02 4.56419894e-03 9.99875337e-01 1.19408019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79255784400004 meters Centerline goodness [0,1] 0.2537082952716516 Centerline is valid? [False, False] Translation: X:6.22, Y:0.40, Z:1.19 [[ 9.99875877e-01 -1.79645028e-03 -1.56525517e-02 6.21542530e+00] [ 1.72504849e-03 9.99988051e-01 -4.57397919e-03 3.95344438e-01] [ 1.56605816e-02 4.54641005e-03 9.99867029e-01 1.19299364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8225578440001 meters Centerline goodness [0,1] 0.2527943852352482 Centerline is valid? [False, False] Translation: X:6.22, Y:0.40, Z:1.19 [[ 9.99870375e-01 -1.58144762e-03 -1.60228538e-02 6.21671526e+00] [ 1.51154933e-03 9.99989293e-01 -4.37358367e-03 3.95101220e-01] [ 1.60295988e-02 4.34879741e-03 9.99862060e-01 1.19232349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85255784400005 meters Centerline goodness [0,1] 0.26303869689248927 Centerline is valid? [False, False] Translation: X:6.22, Y:0.39, Z:1.19 [[ 9.99877583e-01 -1.46942504e-03 -1.55775314e-02 6.21530189e+00] [ 1.40353101e-03 9.99990026e-01 -4.24015728e-03 3.94850756e-01] [ 1.55836066e-02 4.21777466e-03 9.99869672e-01 1.19284392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8825578440001 meters Centerline goodness [0,1] 0.25377047759382854 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99885633e-01 -1.38823586e-03 -1.50596953e-02 6.21346152e+00] [ 1.32584814e-03 9.99990502e-01 -4.15188763e-03 3.94506190e-01] [ 1.50653161e-02 4.13144592e-03 9.99877976e-01 1.19376439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91255784400005 meters Centerline goodness [0,1] 0.2541452010909563 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99889733e-01 -1.40682404e-03 -1.47831736e-02 6.21252259e+00] [ 1.34465001e-03 9.99990214e-01 -4.21482767e-03 3.94577622e-01] [ 1.47889584e-02 4.19448472e-03 9.99881840e-01 1.19416561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9425578440001 meters Centerline goodness [0,1] 0.24626546248341397 Centerline is valid? [False, False] Translation: X:6.21, Y:0.40, Z:1.19 [[ 9.99880040e-01 -1.16811323e-03 -1.54448085e-02 6.21445299e+00] [ 1.10126519e-03 9.99989993e-01 -4.33598495e-03 3.95774163e-01] [ 1.54497189e-02 4.31845597e-03 9.99871320e-01 1.19348174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97255784400005 meters Centerline goodness [0,1] 0.26225511536787116 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:1.19 [[ 9.99826093e-01 -1.09401614e-04 -1.86486592e-02 6.16957180e+00] [ 4.60708561e-05 9.99994231e-01 -3.39639103e-03 3.93357715e-01] [ 1.86489232e-02 3.39494122e-03 9.99820330e-01 1.19383437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0025578440001 meters Centerline goodness [0,1] 0.25354938937556637 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99826519e-01 -8.54462501e-05 -1.86258982e-02 6.16950043e+00] [ 1.70347865e-05 9.99993254e-01 -3.67304930e-03 3.95212894e-01] [ 1.86260864e-02 3.67209481e-03 9.99819776e-01 1.19374283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03255784400005 meters Centerline goodness [0,1] 0.26193644077038847 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99832170e-01 -1.01037375e-04 -1.83199856e-02 6.16850392e+00] [ 2.91551571e-05 9.99992301e-01 -3.92392957e-03 3.96784653e-01] [ 1.83202410e-02 3.92273689e-03 9.99824475e-01 1.19406721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0625578440001 meters Centerline goodness [0,1] 0.25265991815636446 Centerline is valid? [False, False] Translation: X:6.19, Y:0.40, Z:1.19 [[ 9.99833439e-01 8.61120947e-03 -1.60916550e-02 6.18922407e+00] [-8.69310400e-03 9.99949582e-01 -5.02625459e-03 3.99267797e-01] [ 1.60475615e-02 5.16530384e-03 9.99857888e-01 1.19465582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09255784400005 meters Centerline goodness [0,1] 0.25336293869104076 Centerline is valid? [False, False] Translation: X:6.19, Y:0.40, Z:1.19 [[ 9.99835623e-01 8.49259194e-03 -1.60188291e-02 6.18903719e+00] [-8.57907828e-03 9.99948951e-01 -5.33807238e-03 4.00777724e-01] [ 1.59726773e-02 5.47462171e-03 9.99857441e-01 1.19460364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.122557844 meters Centerline goodness [0,1] 0.2535678868624154 Centerline is valid? [False, False] Translation: X:6.19, Y:0.40, Z:1.19 [[ 9.99835895e-01 8.41228092e-03 -1.60441800e-02 6.18911653e+00] [-8.50164352e-03 9.99948681e-01 -5.50973351e-03 4.01573414e-01] [ 1.59970072e-02 5.64523123e-03 9.99856103e-01 1.19454722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15255784400006 meters Centerline goodness [0,1] 0.25504363533482777 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99874915e-01 -5.48415285e-04 -1.58067338e-02 6.16679519e+00] [ 4.74074981e-04 9.99988812e-01 -4.70644149e-03 4.03783591e-01] [ 1.58091380e-02 4.69835921e-03 9.99863989e-01 1.19351739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18255784400003 meters Centerline goodness [0,1] 0.26169156386184766 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99877051e-01 -6.01530572e-04 -1.56691320e-02 6.16603499e+00] [ 5.30706379e-04 9.99989627e-01 -4.52374787e-03 4.02611728e-01] [ 1.56716906e-02 4.51487597e-03 9.99866998e-01 1.19433325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21255784400006 meters Centerline goodness [0,1] 0.2552082201898638 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99881055e-01 -7.07231367e-04 -1.54069833e-02 6.16522747e+00] [ 6.39863254e-04 9.99990216e-01 -4.37706076e-03 4.01475226e-01] [ 1.54099281e-02 4.36668177e-03 9.99871725e-01 1.19473429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24255784400003 meters Centerline goodness [0,1] 0.25225515463917525 Centerline is valid? [False, False] Translation: X:6.19, Y:0.41, Z:1.20 [[ 9.99850383e-01 -9.07857827e-03 -1.47237978e-02 6.18549996e+00] [ 9.02946596e-03 9.99953458e-01 -3.39862978e-03 4.05670824e-01] [ 1.47539672e-02 3.26517326e-03 9.99885823e-01 1.19576734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27255784400006 meters Centerline goodness [0,1] 0.25213028245166313 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99888109e-01 -1.89332661e-03 -1.48386178e-02 6.16916701e+00] [ 1.81755261e-03 9.99985249e-01 -5.11836352e-03 3.99165857e-01] [ 1.48480896e-02 5.09082085e-03 9.99876801e-01 1.19251061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30255784400003 meters Centerline goodness [0,1] 0.2560158391714895 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99886104e-01 -1.90380941e-03 -1.49717596e-02 6.16978752e+00] [ 1.82699767e-03 9.99985109e-01 -5.14244680e-03 3.99286734e-01] [ 1.49813269e-02 5.11450773e-03 9.99874693e-01 1.19202569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33255784400006 meters Centerline goodness [0,1] 0.2523945120372767 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99882617e-01 -1.90094842e-03 -1.52032716e-02 6.17048779e+00] [ 1.82159482e-03 9.99984656e-01 -5.23165349e-03 3.99937755e-01] [ 1.52129835e-02 5.20334518e-03 9.99870737e-01 1.19177253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36255784400004 meters Centerline goodness [0,1] 0.2536889774869451 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99880735e-01 -1.82073248e-03 -1.53362731e-02 6.17087829e+00] [ 1.73987216e-03 9.99984525e-01 -5.28418154e-03 4.00949818e-01] [ 1.53456568e-02 5.25686816e-03 9.99868429e-01 1.19162227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39255784400007 meters Centerline goodness [0,1] 0.2539771866409818 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99882735e-01 -1.78827593e-03 -1.52091340e-02 6.17063073e+00] [ 1.70880320e-03 9.99984828e-01 -5.23671999e-03 4.00743930e-01] [ 1.52182680e-02 5.21011649e-03 9.99870621e-01 1.19150160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42255784400004 meters Centerline goodness [0,1] 0.2517771998266146 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99884787e-01 -1.77447315e-03 -1.50752923e-02 6.17024900e+00] [ 1.69749130e-03 9.99985463e-01 -5.11775348e-03 3.99908060e-01] [ 1.50841545e-02 5.09157367e-03 9.99873264e-01 1.19159719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45255784400007 meters Centerline goodness [0,1] 0.2512845871046804 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99884673e-01 -1.83148798e-03 -1.50759951e-02 6.17037001e+00] [ 1.75722170e-03 9.99986265e-01 -4.93790120e-03 3.98660639e-01] [ 1.50848318e-02 4.91083986e-03 9.99874158e-01 1.19145735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48255784400004 meters Centerline goodness [0,1] 0.2549441007272333 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99883661e-01 -1.76592529e-03 -1.51507856e-02 6.17063619e+00] [ 1.69424798e-03 9.99987319e-01 -4.74246215e-03 3.97801888e-01] [ 1.51589683e-02 4.71624123e-03 9.99873973e-01 1.19138438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51255784400007 meters Centerline goodness [0,1] 0.2521920398865297 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99882856e-01 -1.72825907e-03 -1.52081265e-02 6.17083266e+00] [ 1.65889857e-03 9.99988172e-01 -4.57218641e-03 3.96936888e-01] [ 1.52158486e-02 4.54642207e-03 9.99873896e-01 1.19135512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54255784400004 meters Centerline goodness [0,1] 0.25195527115247884 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:1.19 [[ 9.99882964e-01 -1.70586928e-03 -1.52035543e-02 6.17068680e+00] [ 1.63910677e-03 9.99988965e-01 -4.40262344e-03 3.95894133e-01] [ 1.52108968e-02 4.37718792e-03 9.99874727e-01 1.19160328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5725578440001 meters Centerline goodness [0,1] 0.25301126657007544 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:1.19 [[ 9.99885852e-01 -1.72329998e-03 -1.50104137e-02 6.16998852e+00] [ 1.66304008e-03 9.99990512e-01 -4.02609730e-03 3.93580819e-01] [ 1.50172094e-02 4.00067481e-03 9.99879232e-01 1.19205894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60255784400005 meters Centerline goodness [0,1] 0.2549937917964581 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:1.19 [[ 9.99884247e-01 -1.60577130e-03 -1.51298867e-02 6.17039682e+00] [ 1.54952007e-03 9.99991847e-01 -3.72887790e-03 3.92260215e-01] [ 1.51357511e-02 3.70500221e-03 9.99878584e-01 1.19192294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6325578440001 meters Centerline goodness [0,1] 0.2637044455087735 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:1.19 [[ 9.99879968e-01 -1.50670934e-03 -1.54200804e-02 6.17142096e+00] [ 1.45383745e-03 9.99993028e-01 -3.43940396e-03 3.90837938e-01] [ 1.54251551e-02 3.41657283e-03 9.99875188e-01 1.19145296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66255784400005 meters Centerline goodness [0,1] 0.25542992832712463 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:1.19 [[ 9.99876636e-01 -1.39327692e-03 -1.56451831e-02 6.17234550e+00] [ 1.34887575e-03 9.99995034e-01 -2.84820273e-03 3.87344968e-01] [ 1.56490737e-02 2.82674796e-03 9.99873550e-01 1.19091849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6925578440001 meters Centerline goodness [0,1] 0.25264254552557897 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:1.19 [[ 9.99879961e-01 -1.28324604e-03 -1.54407760e-02 6.17158674e+00] [ 1.24540574e-03 9.99996199e-01 -2.46003935e-03 3.85176005e-01] [ 1.54438742e-02 2.44051402e-03 9.99877758e-01 1.19141105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72255784400005 meters Centerline goodness [0,1] 0.25228108108108105 Centerline is valid? [False, False] Translation: X:6.17, Y:0.38, Z:1.19 [[ 9.99884113e-01 -1.13888228e-03 -1.51810369e-02 6.17054244e+00] [ 1.10863393e-03 9.99997384e-01 -2.00077559e-03 3.82793101e-01] [ 1.51832758e-02 1.98371351e-03 9.99882760e-01 1.19210640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7525578440001 meters Centerline goodness [0,1] 0.2538058939778921 Centerline is valid? [False, False] Translation: X:6.17, Y:0.38, Z:1.19 [[ 9.99888411e-01 -8.11628814e-04 -1.49166505e-02 6.16935681e+00] [ 7.92617769e-04 9.99998866e-01 -1.28035259e-03 3.79902906e-01] [ 1.49176727e-02 1.26838651e-03 9.99887921e-01 1.19302768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78255784400005 meters Centerline goodness [0,1] 0.2537468821169071 Centerline is valid? [False, False] Translation: X:6.17, Y:0.38, Z:1.19 [[ 9.99887546e-01 -7.20433639e-04 -1.49792006e-02 6.16973906e+00] [ 7.03773738e-04 9.99999128e-01 -1.11744380e-03 3.79259247e-01] [ 1.49799926e-02 1.10677617e-03 9.99887181e-01 1.19264308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8125578440001 meters Centerline goodness [0,1] 0.2521654606328977 Centerline is valid? [False, False] Translation: X:6.17, Y:0.38, Z:1.19 [[ 9.99883748e-01 -7.25491371e-04 -1.52303635e-02 6.17073417e+00] [ 7.07829606e-04 9.99999071e-01 -1.16500026e-03 3.79314944e-01] [ 1.52311946e-02 1.15408432e-03 9.99883333e-01 1.19204134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84255784400005 meters Centerline goodness [0,1] 0.26404347256776217 Centerline is valid? [False, False] Translation: X:6.17, Y:0.38, Z:1.19 [[ 9.99876944e-01 -5.19946647e-04 -1.56788856e-02 6.17210845e+00] [ 4.98547648e-04 9.99998939e-01 -1.36870674e-03 3.81051022e-01] [ 1.56795806e-02 1.36072164e-03 9.99876142e-01 1.19137621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.872557844 meters Centerline goodness [0,1] 0.24861724477983105 Centerline is valid? [False, False] Translation: X:6.22, Y:0.39, Z:1.19 [[ 9.99906240e-01 1.00861003e-03 -1.36562705e-02 6.21557135e+00] [-1.01697358e-03 9.99999300e-01 -6.05502561e-04 3.85604303e-01] [ 1.36556503e-02 6.19333856e-04 9.99906565e-01 1.19188550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90255784400006 meters Centerline goodness [0,1] 0.25119757234203965 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99910056e-01 1.07315484e-03 -1.33689136e-02 6.21485447e+00] [-1.08481023e-03 9.99999038e-01 -8.64607186e-04 3.87504479e-01] [ 1.33679729e-02 8.79032155e-04 9.99910258e-01 1.19185312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93255784400003 meters Centerline goodness [0,1] 0.26372952614522205 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99917364e-01 1.19778073e-03 -1.27996669e-02 6.21350298e+00] [-1.21500060e-03 9.99998367e-01 -1.33764626e-03 3.90554425e-01] [ 1.27980438e-02 1.35308733e-03 9.99917186e-01 1.19164653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96255784400006 meters Centerline goodness [0,1] 0.26211549307996007 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99918948e-01 1.08240697e-03 -1.26856423e-02 6.21316904e+00] [-1.10427472e-03 9.99997916e-01 -1.71694176e-03 3.92388426e-01] [ 1.26837575e-02 1.73081104e-03 9.99918060e-01 1.19158644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99255784400003 meters Centerline goodness [0,1] 0.2532312630117973 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99919427e-01 9.81935768e-04 -1.26560627e-02 6.21311930e+00] [-1.00822191e-03 9.99997348e-01 -2.07074769e-03 3.94238725e-01] [ 1.26539958e-02 2.08334096e-03 9.99917765e-01 1.19146750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02255784400006 meters Centerline goodness [0,1] 0.2532312630117973 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99919427e-01 9.81935768e-04 -1.26560627e-02 6.21311930e+00] [-1.00822191e-03 9.99997348e-01 -2.07074769e-03 3.94238725e-01] [ 1.26539958e-02 2.08334096e-03 9.99917765e-01 1.19146750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05255784400003 meters Centerline goodness [0,1] 0.2526055773439362 Centerline is valid? [False, False] Translation: X:6.21, Y:0.40, Z:1.19 [[ 9.99919681e-01 8.95592686e-04 -1.26423944e-02 6.21303796e+00] [-9.25425521e-04 9.99996801e-01 -2.35409293e-03 3.95728039e-01] [ 1.26402456e-02 2.36560345e-03 9.99917311e-01 1.19145656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08255784400006 meters Centerline goodness [0,1] 0.25445110300503737 Centerline is valid? [False, False] Translation: X:6.21, Y:0.40, Z:1.19 [[ 9.99924081e-01 7.67636835e-04 -1.22981247e-02 6.21193737e+00] [-8.01114875e-04 9.99995987e-01 -2.71751189e-03 3.97762661e-01] [ 1.22959892e-02 2.72715779e-03 9.99920682e-01 1.19182024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11255784400004 meters Centerline goodness [0,1] 0.2519079046370144 Centerline is valid? [False, False] Translation: X:6.23, Y:0.40, Z:1.19 [[ 9.99910464e-01 -7.33884921e-03 -1.11895162e-02 6.23099184e+00] [ 7.32010378e-03 9.99971737e-01 -1.71530441e-03 4.03953118e-01] [ 1.12017883e-02 1.63324241e-03 9.99935924e-01 1.19308143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14255784400007 meters Centerline goodness [0,1] 0.25019235701461917 Centerline is valid? [False, False] Translation: X:6.23, Y:0.40, Z:1.19 [[ 9.99912488e-01 -7.35674589e-03 -1.09952111e-02 6.23031319e+00] [ 7.33884791e-03 9.99971680e-01 -1.66726026e-03 4.03628592e-01] [ 1.10071654e-02 1.58642217e-03 9.99938161e-01 1.19340830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17255784400004 meters Centerline goodness [0,1] 0.251178480300999 Centerline is valid? [False, False] Translation: X:6.21, Y:0.40, Z:1.19 [[ 9.99942416e-01 4.34855033e-04 -1.07226395e-02 6.21085964e+00] [-4.63448131e-04 9.99996343e-01 -2.66426942e-03 3.96931314e-01] [ 1.07214417e-02 2.66908539e-03 9.99938961e-01 1.19189244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20255784400007 meters Centerline goodness [0,1] 0.2534408906090322 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99941896e-01 2.03642193e-04 -1.07778676e-02 6.21126902e+00] [-2.29308311e-04 9.99997141e-01 -2.38019036e-03 3.94594043e-01] [ 1.07773521e-02 2.38252351e-03 9.99939084e-01 1.19158714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23255784400004 meters Centerline goodness [0,1] 0.2540833660002614 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99939884e-01 2.68108301e-04 -1.09616093e-02 6.21189082e+00] [-2.90556563e-04 9.99997864e-01 -2.04635709e-03 3.92697741e-01] [ 1.09610373e-02 2.04941904e-03 9.99937826e-01 1.19136085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26255784400007 meters Centerline goodness [0,1] 0.25121168386360204 Centerline is valid? [False, False] Translation: X:6.23, Y:0.40, Z:1.19 [[ 9.99908983e-01 -7.99097291e-03 -1.08705887e-02 6.23247656e+00] [ 7.97982682e-03 9.99967590e-01 -1.06833260e-03 3.95975734e-01] [ 1.08787734e-02 9.81489949e-04 9.99940343e-01 1.19238803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29255784400004 meters Centerline goodness [0,1] 0.2547269931342184 Centerline is valid? [False, False] Translation: X:6.23, Y:0.39, Z:1.19 [[ 9.99910789e-01 -7.77903892e-03 -1.08581842e-02 6.23226188e+00] [ 7.77246071e-03 9.99969584e-01 -6.47896986e-04 3.94386866e-01] [ 1.08628939e-02 5.63444377e-04 9.99940838e-01 1.19267155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3225578440001 meters Centerline goodness [0,1] 0.25215164816249247 Centerline is valid? [False, False] Translation: X:6.25, Y:0.39, Z:1.19 [[ 9.99943631e-01 6.68414481e-04 -1.05966469e-02 6.25228309e+00] [-6.84438819e-04 9.99998628e-01 -1.50865401e-03 3.91598976e-01] [ 1.05956240e-02 1.51582172e-03 9.99942716e-01 1.19419375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35255784400005 meters Centerline goodness [0,1] 0.25162502429438316 Centerline is valid? [False, False] Translation: X:6.25, Y:0.39, Z:1.19 [[ 9.99945250e-01 6.97578039e-04 -1.04407680e-02 6.25204335e+00] [-7.13402546e-04 9.99998602e-01 -1.51199822e-03 3.91677752e-01] [ 1.04396987e-02 1.51936391e-03 9.99944351e-01 1.19389987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3825578440001 meters Centerline goodness [0,1] 0.2523556362378977 Centerline is valid? [False, False] Translation: X:6.25, Y:0.39, Z:1.19 [[ 9.99945549e-01 6.91324075e-04 -1.04125033e-02 6.25214595e+00] [-7.07882975e-04 9.99998491e-01 -1.58668838e-03 3.91917920e-01] [ 1.04113907e-02 1.59397282e-03 9.99944530e-01 1.19360122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41255784400005 meters Centerline goodness [0,1] 0.2536420395421436 Centerline is valid? [False, False] Translation: X:6.25, Y:0.39, Z:1.19 [[ 9.99937763e-01 8.77209980e-04 -1.11220820e-02 6.25448069e+00] [-8.96235264e-04 9.99998144e-01 -1.70571776e-03 3.93051467e-01] [ 1.11205651e-02 1.71557961e-03 9.99936693e-01 1.19239545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4425578440001 meters Centerline goodness [0,1] 0.2494207500214537 Centerline is valid? [False, False] Translation: X:6.26, Y:0.39, Z:1.19 [[ 9.99935044e-01 9.28931019e-04 -1.13597929e-02 6.25549959e+00] [-9.49473410e-04 9.99997924e-01 -1.80308262e-03 3.93914781e-01] [ 1.13580943e-02 1.81375132e-03 9.99933850e-01 1.19158955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47255784400005 meters Centerline goodness [0,1] 0.26268546155689665 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99902079e-01 7.77437177e-04 -1.39724299e-02 6.21012813e+00] [-8.04740368e-04 9.99997778e-01 -1.94855994e-03 3.91465568e-01] [ 1.39708840e-02 1.95961331e-03 9.99900482e-01 1.19195443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5025578440001 meters Centerline goodness [0,1] 0.26255742559167405 Centerline is valid? [False, False] Translation: X:6.21, Y:0.39, Z:1.19 [[ 9.99905089e-01 7.48127869e-04 -1.37569465e-02 6.20954375e+00] [-7.75778989e-04 9.99997690e-01 -2.00474860e-03 3.91605751e-01] [ 1.37554149e-02 2.01523068e-03 9.99903359e-01 1.19201680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53255784400005 meters Centerline goodness [0,1] 0.25098384980968147 Centerline is valid? [False, False] Translation: X:6.23, Y:0.40, Z:1.19 [[ 9.99901935e-01 -7.57849482e-03 -1.17765708e-02 6.22889277e+00] [ 7.56212129e-03 9.99970378e-01 -1.43425634e-03 3.97077278e-01] [ 1.17870915e-02 1.34505984e-03 9.99929625e-01 1.19263305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5625578440001 meters Centerline goodness [0,1] 0.25287008410265277 Centerline is valid? [False, False] Translation: X:6.23, Y:0.40, Z:1.19 [[ 9.99900971e-01 -7.61330538e-03 -1.18357839e-02 6.22914806e+00] [ 7.59623696e-03 9.99970043e-01 -1.48639073e-03 3.97233597e-01] [ 1.18467457e-02 1.39633611e-03 9.99928850e-01 1.19244643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59255784400005 meters Centerline goodness [0,1] 0.25203797003048845 Centerline is valid? [False, False] Translation: X:6.23, Y:0.40, Z:1.19 [[ 9.99894763e-01 -7.62558161e-03 -1.23415482e-02 6.23086841e+00] [ 7.60807684e-03 9.99969985e-01 -1.46468979e-03 3.97115045e-01] [ 1.23523468e-02 1.37064020e-03 9.99922767e-01 1.19166912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.622557844 meters Centerline goodness [0,1] 0.2505155082051722 Centerline is valid? [False, False] Translation: X:6.25, Y:0.39, Z:1.19 [[ 9.99918767e-01 2.24669482e-04 -1.27440008e-02 6.25024569e+00] [-2.55601325e-04 9.99997026e-01 -2.42559213e-03 3.93316970e-01] [ 1.27434179e-02 2.42865247e-03 9.99915850e-01 1.19353371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65255784400006 meters Centerline goodness [0,1] 0.25295928543554613 Centerline is valid? [False, False] Translation: X:6.25, Y:0.39, Z:1.19 [[ 9.99920373e-01 2.98735492e-04 -1.26158345e-02 6.24966315e+00] [-3.25968027e-04 9.99997621e-01 -2.15659849e-03 3.91948608e-01] [ 1.26151602e-02 2.16053913e-03 9.99918092e-01 1.19403102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68255784400003 meters Centerline goodness [0,1] 0.25249578633475944 Centerline is valid? [False, False] Translation: X:6.25, Y:0.39, Z:1.19 [[ 9.99922978e-01 4.05826675e-04 -1.24045512e-02 6.24882529e+00] [-4.26812045e-04 9.99998482e-01 -1.68914708e-03 3.89496318e-01] [ 1.24038469e-02 1.69431139e-03 9.99921634e-01 1.19462430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71255784400006 meters Centerline goodness [0,1] 0.25081896551724137 Centerline is valid? [False, False] Translation: X:6.25, Y:0.38, Z:1.20 [[ 9.99929619e-01 3.67910647e-05 -1.18640851e-02 6.24719523e+00] [-5.00606715e-05 9.99999374e-01 -1.11817358e-03 3.83551067e-01] [ 1.18640366e-02 1.11868881e-03 9.99928994e-01 1.19531428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74255784400003 meters Centerline goodness [0,1] 0.24579139001927608 Centerline is valid? [False, False] Translation: X:6.25, Y:0.38, Z:1.19 [[ 9.99925046e-01 1.32793739e-04 -1.22427075e-02 6.24856583e+00] [-1.38968934e-04 9.99999864e-01 -5.03548540e-04 3.79714906e-01] [ 1.22426390e-02 5.05212153e-04 9.99924928e-01 1.19472721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77255784400006 meters Centerline goodness [0,1] 0.25451767786992585 Centerline is valid? [False, False] Translation: X:6.21, Y:0.37, Z:1.19 [[ 9.99881646e-01 -9.69221935e-04 -1.53543035e-02 6.20559026e+00] [ 9.55170815e-04 9.99999118e-01 -9.22432885e-04 3.72489614e-01] [ 1.53551840e-02 9.07657729e-04 9.99881690e-01 1.19391777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80255784400003 meters Centerline goodness [0,1] 0.25108957262733367 Centerline is valid? [False, False] Translation: X:6.21, Y:0.37, Z:1.19 [[ 9.99876967e-01 -7.24702513e-04 -1.56692325e-02 6.20679362e+00] [ 7.22153244e-04 9.99999725e-01 -1.68350179e-04 3.68531993e-01] [ 1.56693502e-02 1.57013879e-04 9.99877216e-01 1.19331347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83255784400006 meters Centerline goodness [0,1] 0.25285261833485184 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99876045e-01 -2.46456215e-04 -1.57427579e-02 6.20705784e+00] [ 2.63565271e-04 9.99999377e-01 1.08472347e-03 3.61830583e-01] [ 1.57424808e-02 -1.08873826e-03 9.99875487e-01 1.19330418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86255784400004 meters Centerline goodness [0,1] 0.25315520799391766 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99877051e-01 -9.27729856e-06 -1.56806193e-02 6.20680115e+00] [ 3.54209879e-05 9.99998610e-01 1.66698437e-03 3.58999586e-01] [ 1.56805821e-02 -1.66733484e-03 9.99875662e-01 1.19348984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89255784400007 meters Centerline goodness [0,1] 0.2503732231333434 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99877874e-01 2.01103899e-04 -1.56267934e-02 6.20667325e+00] [-1.67950364e-04 9.99997733e-01 2.12286611e-03 3.56843193e-01] [ 1.56271849e-02 -2.11998233e-03 9.99875641e-01 1.19351793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92255784400004 meters Centerline goodness [0,1] 0.25090023071781276 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.19 [[ 9.99879152e-01 5.73528167e-04 -1.55355534e-02 6.20682286e+00] [-5.30918188e-04 9.99996087e-01 2.74672517e-03 3.54161224e-01] [ 1.55370679e-02 -2.73814512e-03 9.99875543e-01 1.19292158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95255784400007 meters Centerline goodness [0,1] 0.25433350007612165 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.19 [[ 9.99881111e-01 7.08229669e-04 -1.54033500e-02 6.20663624e+00] [-6.62011463e-04 9.99995265e-01 3.00542149e-03 3.52884940e-01] [ 1.54054056e-02 -2.99486698e-03 9.99876845e-01 1.19268658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98255784400004 meters Centerline goodness [0,1] 0.25019376507061664 Centerline is valid? [False, False] Translation: X:6.23, Y:0.35, Z:1.19 [[ 9.99853305e-01 9.01644022e-03 -1.45627153e-02 6.22639321e+00] [-8.99135238e-03 9.99957980e-01 1.78730072e-03 3.48512853e-01] [ 1.45782185e-02 -1.65610003e-03 9.99892361e-01 1.19417109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01255784400007 meters Centerline goodness [0,1] 0.2549631556133507 Centerline is valid? [False, False] Translation: X:6.23, Y:0.34, Z:1.19 [[ 9.99852064e-01 9.32120288e-03 -1.44556524e-02 6.22596078e+00] [-9.28602606e-03 9.99953762e-01 2.49864652e-03 3.44994469e-01] [ 1.44782743e-02 -2.36404131e-03 9.99892390e-01 1.19441333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04255784400004 meters Centerline goodness [0,1] 0.25147007955724665 Centerline is valid? [False, False] Translation: X:6.23, Y:0.34, Z:1.19 [[ 9.99852545e-01 9.51373870e-03 -1.42960595e-02 6.22548567e+00] [-9.47247450e-03 9.99950780e-01 2.95135145e-03 3.42937828e-01] [ 1.43234343e-02 -2.81549720e-03 9.99893450e-01 1.19456161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0725578440001 meters Centerline goodness [0,1] 0.25659916733875365 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.19 [[ 9.99890570e-01 8.78058268e-04 -1.47674610e-02 6.20508805e+00] [-8.15132266e-04 9.99990566e-01 4.26660469e-03 3.43668934e-01] [ 1.47710681e-02 -4.25410035e-03 9.99881852e-01 1.19299836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10255784400005 meters Centerline goodness [0,1] 0.26387922032718414 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.19 [[ 9.99888365e-01 9.57538975e-04 -1.49110715e-02 6.20563177e+00] [-8.90189458e-04 9.99989376e-01 4.52272795e-03 3.42216545e-01] [ 1.49152438e-02 -4.50894938e-03 9.99878595e-01 1.19275824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1325578440001 meters Centerline goodness [0,1] 0.25153957518528924 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.19 [[ 9.99882111e-01 1.01833157e-03 -1.53208152e-02 6.20712356e+00] [-9.45294477e-04 9.99988159e-01 4.77366764e-03 3.40567741e-01] [ 1.53254949e-02 -4.75862219e-03 9.99871234e-01 1.19201815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16255784400005 meters Centerline goodness [0,1] 0.2528882074758686 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.19 [[ 9.99881175e-01 1.03481346e-03 -1.53806977e-02 6.20747337e+00] [-9.61121674e-04 9.99988029e-01 4.79780575e-03 3.40506623e-01] [ 1.53854784e-02 -4.78245293e-03 9.99870199e-01 1.19169724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1925578440001 meters Centerline goodness [0,1] 0.2618836601024621 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.19 [[ 9.99882924e-01 1.06260309e-03 -1.52646703e-02 6.20729121e+00] [-9.89832020e-04 9.99988114e-01 4.77405149e-03 3.40803707e-01] [ 1.52695617e-02 -4.75838310e-03 9.99872091e-01 1.19147666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22255784400005 meters Centerline goodness [0,1] 0.2619336657272925 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.19 [[ 9.99886611e-01 1.01949016e-03 -1.50241859e-02 6.20677889e+00] [-9.50189901e-04 9.99988881e-01 4.61899656e-03 3.41629500e-01] [ 1.50287279e-02 -4.60419699e-03 9.99876462e-01 1.19129970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2525578440001 meters Centerline goodness [0,1] 0.2500161328486309 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.19 [[ 9.99889448e-01 9.11606490e-04 -1.48412128e-02 6.20636478e+00] [-8.50826519e-04 9.99991228e-01 4.10114969e-03 3.44280752e-01] [ 1.48448212e-02 -4.08806901e-03 9.99881452e-01 1.19110124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28255784400005 meters Centerline goodness [0,1] 0.24742290135230705 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.19 [[ 9.99887431e-01 7.95632461e-04 -1.49830974e-02 6.20687044e+00] [-7.39044466e-04 9.99992575e-01 3.78194711e-03 3.45889637e-01] [ 1.49859952e-02 -3.77044820e-03 9.99880595e-01 1.19078473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3125578440001 meters Centerline goodness [0,1] 0.2516806813514624 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.19 [[ 9.99884745e-01 6.66386291e-04 -1.51674785e-02 6.20749173e+00] [-6.14308785e-04 9.99993902e-01 3.43789803e-03 3.47683973e-01] [ 1.51696770e-02 -3.42818428e-03 9.99879057e-01 1.19044871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34255784400005 meters Centerline goodness [0,1] 0.2536476113853313 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.19 [[ 9.99883673e-01 3.61272146e-04 -1.52482687e-02 6.20780662e+00] [-3.20037672e-04 9.99996286e-01 2.70656046e-03 3.51164366e-01] [ 1.52491899e-02 -2.70136560e-03 9.99880075e-01 1.19014935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.372557844 meters Centerline goodness [0,1] 0.25077679958570687 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.19 [[ 9.99884751e-01 2.18296176e-04 -1.51801670e-02 6.20760466e+00] [-1.82949699e-04 9.99997269e-01 2.32981401e-03 3.53180954e-01] [ 1.51806341e-02 -2.32676830e-03 9.99882060e-01 1.19013328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40255784400006 meters Centerline goodness [0,1] 0.2513213245604573 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99884787e-01 9.53332595e-05 -1.51790555e-02 6.20755615e+00] [-6.47373824e-05 9.99997965e-01 2.01614269e-03 3.55001714e-01] [ 1.51792168e-02 -2.01492775e-03 9.99882759e-01 1.19015565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43255784400003 meters Centerline goodness [0,1] 0.25344992188856097 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99884132e-01 -2.23127725e-05 -1.52224068e-02 6.20773550e+00] [ 4.88895076e-05 9.99998475e-01 1.74552584e-03 3.56372494e-01] [ 1.52223446e-02 -1.74606781e-03 9.99882609e-01 1.19003495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46255784400006 meters Centerline goodness [0,1] 0.2535476742422601 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99881661e-01 -3.20618037e-04 -1.53805601e-02 6.20793645e+00] [ 3.41515512e-04 9.99999022e-01 1.35608677e-03 3.57581651e-01] [ 1.53801102e-02 -1.36117899e-03 9.99880793e-01 1.19038453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49255784400003 meters Centerline goodness [0,1] 0.24893626165814242 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99881906e-01 -4.31879242e-04 -1.53618800e-02 6.20769725e+00] [ 4.50088952e-04 9.99999200e-01 1.18194539e-03 3.58192014e-01] [ 1.53613573e-02 -1.18872002e-03 9.99881301e-01 1.19071735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52255784400006 meters Centerline goodness [0,1] 0.2547239476999261 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99882392e-01 -5.08314242e-04 -1.53278534e-02 6.20738228e+00] [ 5.23939860e-04 9.99999347e-01 1.01542792e-03 3.59105238e-01] [ 1.53273273e-02 -1.02333937e-03 9.99882006e-01 1.19107669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55255784400003 meters Centerline goodness [0,1] 0.25254534056764877 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99882843e-01 -5.57305364e-04 -1.52967370e-02 6.20726129e+00] [ 5.69551700e-04 9.99999521e-01 7.96240133e-04 3.60607381e-01] [ 1.52962859e-02 -8.04859131e-04 9.99882681e-01 1.19110172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58255784400006 meters Centerline goodness [0,1] 0.2516546297294384 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99885684e-01 -6.15246982e-04 -1.51075964e-02 6.20666554e+00] [ 6.20273646e-04 9.99999754e-01 3.28040823e-04 3.63603980e-01] [ 1.51073909e-02 -3.37374167e-04 9.99885820e-01 1.19122040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61255784400004 meters Centerline goodness [0,1] 0.25363699341877377 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99888583e-01 -6.70690013e-04 -1.49121285e-02 6.20583543e+00] [ 6.72706901e-04 9.99999765e-01 1.30235900e-04 3.64677619e-01] [ 1.49120376e-02 -1.40252881e-04 9.99888800e-01 1.19173344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64255784400007 meters Centerline goodness [0,1] 0.25398376101775866 Centerline is valid? [False, False] Translation: X:6.20, Y:0.37, Z:1.19 [[ 9.99892796e-01 -6.89805460e-04 -1.46260549e-02 6.20462896e+00] [ 6.87417998e-04 9.99999750e-01 -1.68260214e-04 3.66793766e-01] [ 1.46261673e-02 1.58187962e-04 9.99893019e-01 1.19243259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67255784400004 meters Centerline goodness [0,1] 0.2544319708725239 Centerline is valid? [False, False] Translation: X:6.21, Y:0.37, Z:1.19 [[ 9.99890237e-01 -7.34276991e-04 -1.47977685e-02 6.20524958e+00] [ 7.29635000e-04 9.99999683e-01 -3.19091672e-04 3.67695760e-01] [ 1.47979981e-02 3.08259678e-04 9.99890456e-01 1.19206409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70255784400007 meters Centerline goodness [0,1] 0.25206870476396237 Centerline is valid? [False, False] Translation: X:6.21, Y:0.37, Z:1.19 [[ 9.99884720e-01 -8.08483495e-04 -1.51622112e-02 6.20669644e+00] [ 8.01824358e-04 9.99999579e-01 -4.45266919e-04 3.68153441e-01] [ 1.51625648e-02 4.33058158e-04 9.99884948e-01 1.19119808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73255784400004 meters Centerline goodness [0,1] 0.24940377715231077 Centerline is valid? [False, False] Translation: X:6.21, Y:0.37, Z:1.19 [[ 9.99872040e-01 -1.17294233e-03 -1.59539371e-02 6.20930221e+00] [ 1.16150808e-03 9.99999062e-01 -7.25951227e-04 3.67863580e-01] [ 1.59547737e-02 7.07327707e-04 9.99872464e-01 1.19020132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76255784400007 meters Centerline goodness [0,1] 0.2523285351397121 Centerline is valid? [False, False] Translation: X:6.21, Y:0.37, Z:1.19 [[ 9.99872374e-01 -1.14415872e-03 -1.59350689e-02 6.20920407e+00] [ 1.13498714e-03 9.99999185e-01 -5.84590787e-04 3.67102029e-01] [ 1.59357248e-02 5.66430080e-04 9.99872858e-01 1.19030785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79255784400004 meters Centerline goodness [0,1] 0.2523963730569948 Centerline is valid? [False, False] Translation: X:6.21, Y:0.37, Z:1.19 [[ 9.99874053e-01 -1.02768836e-03 -1.58373561e-02 6.20879626e+00] [ 1.02325381e-03 9.99999435e-01 -2.88106068e-04 3.65890399e-01] [ 1.58376432e-02 2.71864147e-04 9.99874540e-01 1.19062411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8225578440001 meters Centerline goodness [0,1] 0.24913739525513812 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99873488e-01 -1.00544822e-03 -1.58743968e-02 6.20868448e+00] [ 1.00807811e-03 9.99999479e-01 1.57667780e-04 3.63264765e-01] [ 1.58742300e-02 -1.73650465e-04 9.99873981e-01 1.19108721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85255784400005 meters Centerline goodness [0,1] 0.2510052682507258 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99868667e-01 -9.71541530e-04 -1.61772960e-02 6.20960671e+00] [ 9.77681601e-04 9.99999453e-01 3.71644343e-04 3.61855892e-01] [ 1.61769261e-02 -3.87411778e-04 9.99869070e-01 1.19089122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8825578440001 meters Centerline goodness [0,1] 0.2506186387795064 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99865569e-01 -9.05930587e-04 -1.63714436e-02 6.21025640e+00] [ 9.15716865e-04 9.99999407e-01 5.90278689e-04 3.60604881e-01] [ 1.63708992e-02 -6.05190944e-04 9.99865805e-01 1.19064636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91255784400005 meters Centerline goodness [0,1] 0.2506186387795064 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99865569e-01 -9.05930587e-04 -1.63714436e-02 6.21025640e+00] [ 9.15716865e-04 9.99999407e-01 5.90278689e-04 3.60604881e-01] [ 1.63708992e-02 -6.05190944e-04 9.99865805e-01 1.19064636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9425578440001 meters Centerline goodness [0,1] 0.2509550016186468 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99865519e-01 -7.83236404e-04 -1.63808209e-02 6.21039488e+00] [ 7.97285610e-04 9.99999320e-01 8.51148932e-04 3.59537088e-01] [ 1.63801431e-02 -8.64094661e-04 9.99865463e-01 1.19049355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97255784400005 meters Centerline goodness [0,1] 0.25145666818290124 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99870487e-01 -6.05413501e-04 -1.60823809e-02 6.20967446e+00] [ 6.25599056e-04 9.99999023e-01 1.25013351e-03 3.57575492e-01] [ 1.60816084e-02 -1.26003272e-03 9.99869889e-01 1.19051475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0025578440001 meters Centerline goodness [0,1] 0.24594646971426115 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99871253e-01 -5.76745115e-04 -1.60357418e-02 6.20958363e+00] [ 5.98949459e-04 9.99998869e-01 1.37991015e-03 3.56513315e-01] [ 1.60349278e-02 -1.38933709e-03 9.99870467e-01 1.19051260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03255784400005 meters Centerline goodness [0,1] 0.2509105799693959 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99870511e-01 -5.67624701e-04 -1.60822499e-02 6.20969541e+00] [ 5.90244432e-04 9.99998843e-01 1.40179126e-03 3.56165048e-01] [ 1.60814356e-02 -1.41110221e-03 9.99869690e-01 1.19049764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0625578440001 meters Centerline goodness [0,1] 0.24927854589309562 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99874282e-01 -2.53147268e-04 -1.58542272e-02 6.20921007e+00] [ 2.76312983e-04 9.99998897e-01 1.45899612e-03 3.57167214e-01] [ 1.58538404e-02 -1.46319343e-03 9.99873249e-01 1.19027439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09255784400005 meters Centerline goodness [0,1] 0.25107591668101226 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99879585e-01 -1.95995774e-04 -1.55169960e-02 6.20827530e+00] [ 2.16510905e-04 9.99999105e-01 1.32043826e-03 3.58482382e-01] [ 1.55167233e-02 -1.32363886e-03 9.99878732e-01 1.19037284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.122557844 meters Centerline goodness [0,1] 0.2523983012481945 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99889856e-01 -1.56816730e-04 -1.48408549e-02 6.20645780e+00] [ 1.72434112e-04 9.99999433e-01 1.05104983e-03 3.60106729e-01] [ 1.48406816e-02 -1.05349313e-03 9.99889316e-01 1.19051730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15255784400006 meters Centerline goodness [0,1] 0.2533359201534847 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99888941e-01 -2.45462108e-04 -1.49011640e-02 6.20662843e+00] [ 2.58641128e-04 9.99999577e-01 8.82508190e-04 3.60642837e-01] [ 1.49009411e-02 -8.86264234e-04 9.99888582e-01 1.19044633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18255784400003 meters Centerline goodness [0,1] 0.25116239021870157 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99883906e-01 -2.35881817e-04 -1.52354483e-02 6.20761907e+00] [ 2.48982693e-04 9.99999601e-01 8.58003344e-04 3.60935484e-01] [ 1.52352399e-02 -8.61697098e-04 9.99883566e-01 1.19014531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21255784400006 meters Centerline goodness [0,1] 0.2549168255068446 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99883254e-01 -2.35773390e-04 -1.52781871e-02 6.20774950e+00] [ 2.49293170e-04 9.99999579e-01 8.83008879e-04 3.60843840e-01] [ 1.52779725e-02 -8.86714539e-04 9.99882892e-01 1.19009466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24255784400003 meters Centerline goodness [0,1] 0.2556459485844451 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99885509e-01 -2.27421582e-04 -1.51300088e-02 6.20732341e+00] [ 2.42215063e-04 9.99999494e-01 9.75932369e-04 3.60177339e-01] [ 1.51297792e-02 -9.79485350e-04 9.99885059e-01 1.19024979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27255784400006 meters Centerline goodness [0,1] 0.2517946838553905 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99888744e-01 -2.73686405e-04 -1.49138773e-02 6.20666807e+00] [ 2.89917944e-04 9.99999368e-01 1.08620022e-03 3.59095058e-01] [ 1.49135706e-02 -1.09040318e-03 9.99888192e-01 1.19051908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30255784400003 meters Centerline goodness [0,1] 0.25167720085423995 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99889981e-01 -2.11988778e-04 -1.48317385e-02 6.20649082e+00] [ 2.32644552e-04 9.99999006e-01 1.39096228e-03 3.57411069e-01] [ 1.48314289e-02 -1.39425977e-03 9.99889036e-01 1.19058066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33255784400006 meters Centerline goodness [0,1] 0.2483199862593125 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99887497e-01 -1.80867939e-04 -1.49986724e-02 6.20704033e+00] [ 2.02425847e-04 9.99998949e-01 1.43581536e-03 3.57412706e-01] [ 1.49983970e-02 -1.43868995e-03 9.99886483e-01 1.19034939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36255784400004 meters Centerline goodness [0,1] 0.250042966400275 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99886778e-01 -1.41065120e-04 -1.50469657e-02 6.20714382e+00] [ 1.63202628e-04 9.99998906e-01 1.47000963e-03 3.57506695e-01] [ 1.50467419e-02 -1.47229890e-03 9.99885707e-01 1.19036873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39255784400007 meters Centerline goodness [0,1] 0.2512519426696598 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99888056e-01 -1.34931782e-04 -1.49618824e-02 6.20687010e+00] [ 1.56607273e-04 9.99998940e-01 1.44755199e-03 3.57746513e-01] [ 1.49616713e-02 -1.44973308e-03 9.99887017e-01 1.19048335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42255784400004 meters Centerline goodness [0,1] 0.24336066446597804 Centerline is valid? [False, False] Translation: X:6.23, Y:0.36, Z:1.19 [[ 9.99873617e-01 8.18162756e-03 -1.36312525e-02 6.22682695e+00] [-8.18064592e-03 9.99966530e-01 1.27771567e-04 3.56405460e-01] [ 1.36318417e-02 -1.62429682e-05 9.99907082e-01 1.19206961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45255784400007 meters Centerline goodness [0,1] 0.24998388171326646 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99905340e-01 -7.04483517e-05 -1.37588417e-02 6.20685950e+00] [ 8.96893995e-05 9.99999019e-01 1.39783765e-03 3.60212770e-01] [ 1.37587298e-02 -1.39893935e-03 9.99904366e-01 1.19038232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48255784400004 meters Centerline goodness [0,1] 0.2474244505494505 Centerline is valid? [False, False] Translation: X:6.21, Y:0.36, Z:1.19 [[ 9.99903784e-01 -5.76711870e-05 -1.38715508e-02 6.20739627e+00] [ 7.68032198e-05 9.99999047e-01 1.37869935e-03 3.60415157e-01] [ 1.38714581e-02 -1.37963207e-03 9.99902835e-01 1.18994579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51255784400007 meters Centerline goodness [0,1] 0.2532189773097383 Centerline is valid? [False, False] Translation: X:6.19, Y:0.35, Z:1.19 [[ 9.99881541e-01 6.78539120e-03 -1.38153036e-02 6.19008635e+00] [-6.79201235e-03 9.99976841e-01 -4.32399426e-04 3.51557475e-01] [ 1.38120497e-02 5.26181917e-04 9.99904471e-01 1.18685082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54255784400004 meters Centerline goodness [0,1] 0.25175565591304916 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.19 [[ 9.99915539e-01 -1.64864619e-03 -1.28917038e-02 6.21007660e+00] [ 1.65483127e-03 9.99998521e-01 4.69119771e-04 3.53944011e-01] [ 1.28909113e-02 -4.90413744e-04 9.99916788e-01 1.18791499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5725578440001 meters Centerline goodness [0,1] 0.2521665838214 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.19 [[ 9.99917373e-01 -1.56182037e-03 -1.27596142e-02 6.20965352e+00] [ 1.57336899e-03 9.99998362e-01 8.95103666e-04 3.51605302e-01] [ 1.27581953e-02 -9.15105288e-04 9.99918192e-01 1.18815289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60255784400005 meters Centerline goodness [0,1] 0.24428950295149288 Centerline is valid? [False, False] Translation: X:6.23, Y:0.35, Z:1.19 [[ 9.99917269e-01 4.62494483e-03 -1.20027327e-02 6.23147432e+00] [-4.64696261e-03 9.99987570e-01 -1.80715636e-03 3.49069332e-01] [ 1.19942255e-02 1.86278310e-03 9.99926332e-01 1.18841900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6325578440001 meters Centerline goodness [0,1] 0.2449299647675518 Centerline is valid? [False, False] Translation: X:6.24, Y:0.35, Z:1.19 [[ 9.99901082e-01 4.40006578e-03 -1.33591361e-02 6.23552616e+00] [-4.42054665e-03 9.99989098e-01 -1.50395697e-03 3.46051254e-01] [ 1.33523729e-02 1.56286288e-03 9.99909632e-01 1.18738218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66255784400005 meters Centerline goodness [0,1] 0.25337771685921284 Centerline is valid? [False, False] Translation: X:6.22, Y:0.35, Z:1.19 [[ 9.99869063e-01 -4.19361682e-03 -1.56291647e-02 6.21582373e+00] [ 4.19076728e-03 9.99991196e-01 -2.15068324e-04 3.46711699e-01] [ 1.56299290e-02 1.49541971e-04 9.99877834e-01 1.18625680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6925578440001 meters Centerline goodness [0,1] 0.25110017559452835 Centerline is valid? [False, False] Translation: X:6.22, Y:0.34, Z:1.19 [[ 9.99866103e-01 -4.02062218e-03 -1.58622158e-02 6.21669643e+00] [ 4.02441245e-03 9.99991881e-01 2.07036412e-04 3.44735189e-01] [ 1.58612546e-02 -2.70844790e-04 9.99874166e-01 1.18583569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72255784400005 meters Centerline goodness [0,1] 0.2524381257856183 Centerline is valid? [False, False] Translation: X:6.22, Y:0.34, Z:1.19 [[ 9.99868005e-01 -3.68240819e-03 -1.58244276e-02 6.21659216e+00] [ 3.69873360e-03 9.99992657e-01 1.00251507e-03 3.41060609e-01] [ 1.58206198e-02 -1.06091309e-03 9.99874283e-01 1.18596622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7525578440001 meters Centerline goodness [0,1] 0.2515872673087721 Centerline is valid? [False, False] Translation: X:6.22, Y:0.34, Z:1.19 [[ 9.99872443e-01 -3.52109375e-03 -1.55788501e-02 6.21572230e+00] [ 3.54232204e-03 9.99992835e-01 1.33525072e-03 3.39499568e-01] [ 1.55740369e-02 -1.39026571e-03 9.99877751e-01 1.18641416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78255784400005 meters Centerline goodness [0,1] 0.25307687280806845 Centerline is valid? [False, False] Translation: X:6.22, Y:0.34, Z:1.19 [[ 9.99875416e-01 -3.39084294e-03 -1.54160304e-02 6.21503545e+00] [ 3.41609120e-03 9.99992866e-01 1.61175461e-03 3.38218091e-01] [ 1.54104553e-02 -1.66421637e-03 9.99879867e-01 1.18687851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8125578440001 meters Centerline goodness [0,1] 0.2513467321463341 Centerline is valid? [False, False] Translation: X:6.24, Y:0.33, Z:1.19 [[ 9.99850019e-01 4.86424178e-03 -1.66216321e-02 6.23601478e+00] [-4.85077800e-03 9.99987873e-01 8.50236693e-04 3.31670172e-01] [ 1.66255663e-02 -7.69481327e-04 9.99861490e-01 1.18879818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84255784400005 meters Centerline goodness [0,1] 0.2532240175717113 Centerline is valid? [False, False] Translation: X:6.24, Y:0.33, Z:1.19 [[ 9.99845279e-01 4.98609048e-03 -1.68688345e-02 6.23718433e+00] [-4.96793288e-03 9.99987035e-01 1.11813250e-03 3.30303955e-01] [ 1.68741909e-02 -1.03415627e-03 9.99857086e-01 1.18787688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.872557844 meters Centerline goodness [0,1] 0.2527888273953649 Centerline is valid? [False, False] Translation: X:6.24, Y:0.33, Z:1.19 [[ 9.99840417e-01 5.09856756e-03 -1.71214718e-02 6.23836527e+00] [-5.07562536e-03 9.99986162e-01 1.38315408e-03 3.28903993e-01] [ 1.71282870e-02 -1.29603118e-03 9.99852460e-01 1.18700180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90255784400006 meters Centerline goodness [0,1] 0.2522367515485203 Centerline is valid? [False, False] Translation: X:6.24, Y:0.33, Z:1.19 [[ 9.99837350e-01 5.32945733e-03 -1.72299199e-02 6.23880106e+00] [-5.29778445e-03 9.99984193e-01 1.88337056e-03 3.26369655e-01] [ 1.72396848e-02 -1.79178383e-03 9.99849780e-01 1.18677976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93255784400003 meters Centerline goodness [0,1] 0.2549515749062037 Centerline is valid? [False, False] Translation: X:6.22, Y:0.33, Z:1.19 [[ 9.99849215e-01 -3.38247931e-03 -1.70324759e-02 6.21667217e+00] [ 3.42851337e-03 9.99990547e-01 2.67424833e-03 3.29373938e-01] [ 1.70232693e-02 -2.73224117e-03 9.99851361e-01 1.18601430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96255784400006 meters Centerline goodness [0,1] 0.2516021837170662 Centerline is valid? [False, False] Translation: X:6.24, Y:0.33, Z:1.19 [[ 9.99861547e-01 5.14993416e-03 -1.58229452e-02 6.23677717e+00] [-5.12758332e-03 9.99985799e-01 1.45280430e-03 3.27467694e-01] [ 1.58302023e-02 -1.37146968e-03 9.99873754e-01 1.18733154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99255784400003 meters Centerline goodness [0,1] 0.24802632994170415 Centerline is valid? [False, False] Translation: X:6.24, Y:0.33, Z:1.19 [[ 9.99860339e-01 5.20825621e-03 -1.58800687e-02 6.23711428e+00] [-5.19134621e-03 9.99985913e-01 1.10589297e-03 3.29922012e-01] [ 1.58856047e-02 -1.02329958e-03 9.99873292e-01 1.18688253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02255784400006 meters Centerline goodness [0,1] 0.24176460495839414 Centerline is valid? [False, False] Translation: X:6.24, Y:0.33, Z:1.19 [[ 9.99861952e-01 5.11616340e-03 -1.58083098e-02 6.23708486e+00] [-5.10468390e-03 9.99986677e-01 7.66434917e-04 3.31767669e-01] [ 1.58120204e-02 -6.85632687e-04 9.99874747e-01 1.18655073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05255784400003 meters Centerline goodness [0,1] 0.25075188783348124 Centerline is valid? [False, False] Translation: X:6.24, Y:0.33, Z:1.19 [[ 9.99865897e-01 4.99005487e-03 -1.55976581e-02 6.23658831e+00] [-4.98444391e-03 9.99987498e-01 3.98585232e-04 3.33577444e-01] [ 1.55994520e-02 -3.20786129e-04 9.99878270e-01 1.18640530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08255784400006 meters Centerline goodness [0,1] 0.2542534515269078 Centerline is valid? [False, False] Translation: X:6.23, Y:0.34, Z:1.19 [[ 9.99875417e-01 4.86576781e-03 -1.50158492e-02 6.23431021e+00] [-4.86541052e-03 9.99988162e-01 6.03256944e-05 3.35465728e-01] [ 1.50159649e-02 1.27400916e-05 9.99887254e-01 1.18772998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11255784400004 meters Centerline goodness [0,1] 0.2533442474635418 Centerline is valid? [False, False] Translation: X:6.23, Y:0.34, Z:1.19 [[ 9.99878841e-01 4.83163395e-03 -1.47972288e-02 6.23325422e+00] [-4.83035822e-03 9.99988326e-01 1.21953249e-04 3.35060957e-01] [ 1.47976453e-02 -5.04625578e-05 9.99890508e-01 1.18857159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14255784400007 meters Centerline goodness [0,1] 0.2512335437719506 Centerline is valid? [False, False] Translation: X:6.23, Y:0.33, Z:1.19 [[ 9.99878629e-01 4.71820855e-03 -1.48481145e-02 6.23311647e+00] [-4.71525845e-03 9.99988856e-01 2.33687231e-04 3.33987754e-01] [ 1.48490516e-02 -1.63646171e-04 9.99889733e-01 1.18909138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17255784400004 meters Centerline goodness [0,1] 0.25108421257039293 Centerline is valid? [False, False] Translation: X:6.23, Y:0.33, Z:1.19 [[ 9.99878476e-01 4.52879004e-03 -1.49172242e-02 6.23310855e+00] [-4.52371571e-03 9.99989698e-01 3.73890348e-04 3.32525425e-01] [ 1.49187638e-02 -3.06363630e-04 9.99888662e-01 1.18947892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20255784400007 meters Centerline goodness [0,1] 0.2520133356425355 Centerline is valid? [False, False] Translation: X:6.23, Y:0.33, Z:1.19 [[ 9.99892416e-01 8.50602186e-04 -1.46435101e-02 6.23182894e+00] [-8.90438375e-04 9.99995920e-01 -2.71409402e-03 3.29498509e-01] [ 1.46411418e-02 2.72684117e-03 9.99889095e-01 1.19035080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23255784400004 meters Centerline goodness [0,1] 0.25429515897525123 Centerline is valid? [False, False] Translation: X:6.23, Y:0.33, Z:1.19 [[ 9.99897189e-01 7.11145794e-04 -1.43215276e-02 6.23089583e+00] [-7.45991274e-04 9.99996774e-01 -2.42788889e-03 3.27285251e-01] [ 1.43197548e-02 2.43832301e-03 9.99894494e-01 1.19076318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26255784400007 meters Centerline goodness [0,1] 0.2539256243096316 Centerline is valid? [False, False] Translation: X:6.23, Y:0.32, Z:1.19 [[ 9.99899317e-01 6.95751938e-04 -1.41729010e-02 6.23036896e+00] [-7.24888427e-04 9.99997634e-01 -2.05075523e-03 3.24975572e-01] [ 1.41714407e-02 2.06082253e-03 9.99897456e-01 1.19114830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29255784400004 meters Centerline goodness [0,1] 0.24735656836461128 Centerline is valid? [False, False] Translation: X:6.25, Y:0.33, Z:1.19 [[ 9.99853646e-01 -7.15459692e-03 -1.55402141e-02 6.25340958e+00] [ 7.14403192e-03 9.99974211e-01 -7.35257098e-04 3.26378801e-01] [ 1.55450738e-02 6.24129704e-04 9.99878973e-01 1.19161141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3225578440001 meters Centerline goodness [0,1] 0.24804834512570162 Centerline is valid? [False, False] Translation: X:6.25, Y:0.32, Z:1.19 [[ 9.99847785e-01 -7.01918084e-03 -1.59730626e-02 6.25485368e+00] [ 7.01475037e-03 9.99975341e-01 -3.33382288e-04 3.24372716e-01] [ 1.59750088e-02 2.21284495e-04 9.99872367e-01 1.19106720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35255784400005 meters Centerline goodness [0,1] 0.2502762550646762 Centerline is valid? [False, False] Translation: X:6.25, Y:0.32, Z:1.19 [[ 9.99841512e-01 -7.63662960e-03 -1.60820900e-02 6.25494916e+00] [ 7.63256516e-03 9.99970822e-01 -3.14094620e-04 3.16677174e-01] [ 1.60840194e-02 1.91297240e-04 9.99870625e-01 1.19142868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3825578440001 meters Centerline goodness [0,1] 0.2505753115366246 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:1.19 [[ 9.99844341e-01 -7.47173684e-03 -1.59833132e-02 6.25441235e+00] [ 7.47804196e-03 9.99971983e-01 3.34751680e-04 3.13122129e-01] [ 1.59803642e-02 -4.54223460e-04 9.99872203e-01 1.19198391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41255784400005 meters Centerline goodness [0,1] 0.2506914650347366 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:1.19 [[ 9.99846505e-01 -7.21777859e-03 -1.59646264e-02 6.25409403e+00] [ 7.23618038e-03 9.99973219e-01 1.09519499e-03 3.09440295e-01] [ 1.59562939e-02 -1.21054980e-03 9.99871957e-01 1.19247290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4425578440001 meters Centerline goodness [0,1] 0.24846685172035377 Centerline is valid? [False, False] Translation: X:6.28, Y:0.30, Z:1.19 [[ 9.99880574e-01 -1.35293821e-03 -1.53950371e-02 6.27632555e+00] [ 1.33124846e-03 9.99998107e-01 -1.41904040e-03 3.02370214e-01] [ 1.53969278e-02 1.39837631e-03 9.99880482e-01 1.19234763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47255784400005 meters Centerline goodness [0,1] 0.24933097375690605 Centerline is valid? [False, False] Translation: X:6.28, Y:0.30, Z:1.19 [[ 9.99879460e-01 -1.25201945e-03 -1.54757407e-02 6.27653901e+00] [ 1.23676976e-03 9.99998740e-01 -9.94924221e-04 2.99871952e-01] [ 1.54769669e-02 9.75664365e-04 9.99879749e-01 1.19235096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5025578440001 meters Centerline goodness [0,1] 0.2505046996765581 Centerline is valid? [False, False] Translation: X:6.28, Y:0.30, Z:1.19 [[ 9.99878356e-01 -1.12319211e-03 -1.55567355e-02 6.27686952e+00] [ 1.11415203e-03 9.99999205e-01 -5.89758362e-04 2.97700862e-01] [ 1.55573855e-02 5.72354053e-04 9.99878813e-01 1.19218232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53255784400005 meters Centerline goodness [0,1] 0.2552308565937186 Centerline is valid? [False, False] Translation: X:6.28, Y:0.30, Z:1.19 [[ 9.99876676e-01 -9.62407762e-04 -1.56750367e-02 6.27730146e+00] [ 9.60070322e-04 9.99999527e-01 -1.56642987e-04 2.95617849e-01] [ 1.56751800e-02 1.41574532e-04 9.99877127e-01 1.19195774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5625578440001 meters Centerline goodness [0,1] 0.24997282195116644 Centerline is valid? [False, False] Translation: X:6.28, Y:0.29, Z:1.19 [[ 9.99870953e-01 -7.09449744e-04 -1.60491176e-02 6.27827695e+00] [ 7.20359517e-04 9.99999513e-01 6.74003265e-04 2.91422586e-01] [ 1.60486317e-02 -6.85477422e-04 9.99870977e-01 1.19189893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59255784400005 meters Centerline goodness [0,1] 0.25144690351808896 Centerline is valid? [False, False] Translation: X:6.28, Y:0.29, Z:1.19 [[ 9.99868996e-01 -5.60852422e-04 -1.61764340e-02 6.27853575e+00] [ 5.80212819e-04 9.99999121e-01 1.19215887e-03 2.88583451e-01] [ 1.61757512e-02 -1.20138847e-03 9.99868442e-01 1.19204103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.622557844 meters Centerline goodness [0,1] 0.24851071204211161 Centerline is valid? [False, False] Translation: X:6.28, Y:0.29, Z:1.19 [[ 9.99869998e-01 -4.20506940e-04 -1.61186097e-02 6.27818812e+00] [ 4.49380638e-04 9.99998301e-01 1.78774674e-03 2.85266287e-01] [ 1.61178306e-02 -1.79475772e-03 9.99868489e-01 1.19242285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65255784400006 meters Centerline goodness [0,1] 0.2477790236329136 Centerline is valid? [False, False] Translation: X:6.28, Y:0.28, Z:1.19 [[ 9.99873448e-01 -2.97841959e-04 -1.59059457e-02 6.27749661e+00] [ 3.35817880e-04 9.99997100e-01 2.38491232e-03 2.81772101e-01] [ 1.59051893e-02 -2.38995201e-03 9.99870648e-01 1.19278238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68255784400003 meters Centerline goodness [0,1] 0.252507999654069 Centerline is valid? [False, False] Translation: X:6.28, Y:0.28, Z:1.19 [[ 9.99881581e-01 -1.60208154e-04 -1.53882779e-02 6.27611564e+00] [ 2.12058994e-04 9.99994306e-01 3.36792985e-03 2.75280452e-01] [ 1.53876507e-02 -3.37079425e-03 9.99875921e-01 1.19315057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71255784400006 meters Centerline goodness [0,1] 0.25524840266006 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99881621e-01 -2.88988370e-06 -1.53864945e-02 6.27623071e+00] [ 6.11333174e-05 9.99992835e-01 3.78489183e-03 2.73206398e-01] [ 1.53863734e-02 -3.78538441e-03 9.99874457e-01 1.19296476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74255784400003 meters Centerline goodness [0,1] 0.2555268134686868 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99880132e-01 1.72481353e-04 -1.54819691e-02 6.27688830e+00] [-1.07099510e-04 9.99991074e-01 4.22382582e-03 2.70918352e-01] [ 1.54825594e-02 -4.22166141e-03 9.99871226e-01 1.19235371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77255784400006 meters Centerline goodness [0,1] 0.25023277971460123 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99879278e-01 1.93675607e-04 -1.55367883e-02 6.27705094e+00] [-1.27864322e-04 9.99991017e-01 4.23671739e-03 2.70801341e-01] [ 1.55374693e-02 -4.23421933e-03 9.99870321e-01 1.19228602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80255784400003 meters Centerline goodness [0,1] 0.25239512502444006 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99880626e-01 2.47674588e-04 -1.54490521e-02 6.27676676e+00] [-1.81007071e-04 9.99990667e-01 4.31656344e-03 2.70466800e-01] [ 1.54499770e-02 -4.31325176e-03 9.99871339e-01 1.19239596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83255784400006 meters Centerline goodness [0,1] 0.25239512502444006 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99880626e-01 2.47674588e-04 -1.54490521e-02 6.27676676e+00] [-1.81007071e-04 9.99990667e-01 4.31656344e-03 2.70466800e-01] [ 1.54499770e-02 -4.31325176e-03 9.99871339e-01 1.19239596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86255784400004 meters Centerline goodness [0,1] 0.2530050155655482 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99880443e-01 3.25936354e-04 -1.54594423e-02 6.27656128e+00] [-2.54831196e-04 9.99989382e-01 4.60121156e-03 2.68653567e-01] [ 1.54607779e-02 -4.59672191e-03 9.99869909e-01 1.19273865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89255784400007 meters Centerline goodness [0,1] 0.25447770950451043 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99876379e-01 3.81341106e-04 -1.57188323e-02 6.27741155e+00] [-3.05167483e-04 9.99988201e-01 4.84812399e-03 2.67135567e-01] [ 1.57204957e-02 -4.84272778e-03 9.99864698e-01 1.19241426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92255784400004 meters Centerline goodness [0,1] 0.2516877271940453 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99866350e-01 3.67433398e-04 -1.63446134e-02 6.27935530e+00] [-2.84439448e-04 9.99987057e-01 5.07979033e-03 2.65521773e-01] [ 1.63462683e-02 -5.07446237e-03 9.99853514e-01 1.19175257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95255784400007 meters Centerline goodness [0,1] 0.2473204080312278 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99848888e-01 3.01469263e-04 -1.73813448e-02 6.28226156e+00] [-2.02514475e-04 9.99983765e-01 5.69463969e-03 2.61340567e-01] [ 1.73827794e-02 -5.69025919e-03 9.99832716e-01 1.19124604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98255784400004 meters Centerline goodness [0,1] 0.24804358165074147 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99851478e-01 4.43789918e-04 -1.72285874e-02 6.28164741e+00] [-3.37574178e-04 9.99980924e-01 6.16750566e-03 2.58916357e-01] [ 1.72309959e-02 -6.16077373e-03 9.99832555e-01 1.19169310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01255784400007 meters Centerline goodness [0,1] 0.2580257172848146 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99853603e-01 6.04207678e-04 -1.70999557e-02 6.28109525e+00] [-4.91138630e-04 9.99977996e-01 6.61566943e-03 2.56730909e-01] [ 1.71035766e-02 -6.60630246e-03 9.99831898e-01 1.19212423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04255784400004 meters Centerline goodness [0,1] 0.2517614822546973 Centerline is valid? [False, False] Translation: X:6.28, Y:0.25, Z:1.19 [[ 9.99849062e-01 7.44877014e-04 -1.73579714e-02 6.28170899e+00] [-6.22288826e-04 9.99974837e-01 7.06668822e-03 2.54073106e-01] [ 1.73627984e-02 -7.05481991e-03 9.99824366e-01 1.19222302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0725578440001 meters Centerline goodness [0,1] 0.2443158508410166 Centerline is valid? [False, False] Translation: X:6.28, Y:0.25, Z:1.19 [[ 9.99845758e-01 7.94972775e-04 -1.75450327e-02 6.28226932e+00] [-6.69689949e-04 9.99974247e-01 7.14536419e-03 2.53659456e-01] [ 1.75502612e-02 -7.13251235e-03 9.99820542e-01 1.19208835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10255784400005 meters Centerline goodness [0,1] 0.250767833196349 Centerline is valid? [False, False] Translation: X:6.28, Y:0.25, Z:1.19 [[ 9.99846437e-01 8.51507500e-04 -1.75036522e-02 6.28228188e+00] [-7.26705353e-04 9.99974280e-01 7.13518760e-03 2.54001562e-01] [ 1.75092777e-02 -7.12137190e-03 9.99821340e-01 1.19190130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1325578440001 meters Centerline goodness [0,1] 0.2525368853349558 Centerline is valid? [False, False] Translation: X:6.28, Y:0.25, Z:1.19 [[ 9.99851524e-01 1.00172897e-03 -1.72025423e-02 6.28153847e+00] [-8.78052124e-04 9.99973727e-01 7.19550045e-03 2.54304867e-01] [ 1.72092983e-02 -7.17932736e-03 9.99826134e-01 1.19188508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16255784400005 meters Centerline goodness [0,1] 0.2555229078245729 Centerline is valid? [False, False] Translation: X:6.28, Y:0.25, Z:1.19 [[ 9.99868098e-01 1.52470769e-03 -1.61697745e-02 6.27886105e+00] [-1.40460651e-03 9.99971364e-01 7.43626912e-03 2.54647935e-01] [ 1.61806496e-02 -7.41257609e-03 9.99841608e-01 1.19211678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1925578440001 meters Centerline goodness [0,1] 0.25567123287671234 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99869363e-01 1.53644921e-03 -1.60902771e-02 6.27854160e+00] [-1.41827695e-03 9.99971959e-01 7.35316448e-03 2.55116738e-01] [ 1.61011237e-02 -7.32938341e-03 9.99843505e-01 1.19229416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22255784400005 meters Centerline goodness [0,1] 0.2498008053922519 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.19 [[ 9.99826644e-01 1.03010740e-02 -1.55102977e-02 6.29908649e+00] [-1.02059142e-02 9.99928685e-01 6.20197416e-03 2.52732168e-01] [ 1.55730785e-02 -6.04260225e-03 9.99860473e-01 1.19338679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2525578440001 meters Centerline goodness [0,1] 0.25307960425191056 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.19 [[ 9.99825733e-01 1.02909012e-02 -1.55756751e-02 6.29945761e+00] [-1.01972063e-02 9.99929505e-01 6.08297530e-03 2.53495416e-01] [ 1.56371764e-02 -5.92308687e-03 9.99860188e-01 1.19301900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28255784400005 meters Centerline goodness [0,1] 0.2537264786406501 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.19 [[ 9.99826239e-01 1.03085796e-02 -1.55314393e-02 6.29950344e+00] [-1.02183372e-02 9.99930512e-01 5.87850731e-03 2.54929351e-01] [ 1.55909591e-02 -5.71878037e-03 9.99862099e-01 1.19271318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3125578440001 meters Centerline goodness [0,1] 0.2564454614797864 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.19 [[ 9.99830818e-01 1.02314346e-02 -1.52857159e-02 6.29860725e+00] [-1.01453664e-02 9.99932302e-01 5.69760689e-03 2.55665160e-01] [ 1.53429758e-02 -5.54156377e-03 9.99866933e-01 1.19318417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34255784400005 meters Centerline goodness [0,1] 0.2543667411634517 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.19 [[ 9.99835346e-01 1.01883404e-02 -1.50159620e-02 6.29760154e+00] [-1.01056164e-02 9.99933397e-01 5.57468872e-03 2.56249307e-01] [ 1.50717587e-02 -5.42202527e-03 9.99871714e-01 1.19374465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.372557844 meters Centerline goodness [0,1] 0.2676259622113366 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99878734e-01 1.47459099e-03 -1.55029860e-02 6.27792228e+00] [-1.37180489e-03 9.99977023e-01 6.63862934e-03 2.61616308e-01] [ 1.55124190e-02 -6.61655723e-03 9.99857783e-01 1.19221735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40255784400006 meters Centerline goodness [0,1] 0.2549691867025432 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99875181e-01 1.39177075e-03 -1.57380101e-02 6.27873634e+00] [-1.29007025e-03 9.99978235e-01 6.47040076e-03 2.62288635e-01] [ 1.57466729e-02 -6.44929000e-03 9.99855214e-01 1.19177031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43255784400003 meters Centerline goodness [0,1] 0.25503574455140043 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99873552e-01 1.31184301e-03 -1.58480242e-02 6.27917867e+00] [-1.21180273e-03 9.99979292e-01 6.32043094e-03 2.62825102e-01] [ 1.58559874e-02 -6.30042705e-03 9.99854436e-01 1.19150723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46255784400006 meters Centerline goodness [0,1] 0.2562591404186585 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99873874e-01 1.28745035e-03 -1.58296906e-02 6.27905555e+00] [-1.18905816e-03 9.99979927e-01 6.22351498e-03 2.63343995e-01] [ 1.58373854e-02 -6.20390761e-03 9.99855334e-01 1.19161603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49255784400003 meters Centerline goodness [0,1] 0.25754182584639707 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99875820e-01 1.25645902e-03 -1.57088040e-02 6.27876651e+00] [-1.16000132e-03 9.99980428e-01 6.14796401e-03 2.63686482e-01] [ 1.57162212e-02 -6.12897832e-03 9.99857708e-01 1.19157099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52255784400006 meters Centerline goodness [0,1] 0.2564947104373432 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99876397e-01 1.25375426e-03 -1.56722068e-02 6.27884992e+00] [-1.15747169e-03 9.99980412e-01 6.15108539e-03 2.63496577e-01] [ 1.56796117e-02 -6.13218497e-03 9.99858263e-01 1.19127640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55255784400003 meters Centerline goodness [0,1] 0.2575075403243432 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99873890e-01 1.25545927e-03 -1.58312158e-02 6.27948546e+00] [-1.15791262e-03 9.99980299e-01 6.16932676e-03 2.63297728e-01] [ 1.58386492e-02 -6.15021759e-03 9.99855646e-01 1.19086899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58255784400006 meters Centerline goodness [0,1] 0.25037180730682185 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.19 [[ 9.99834218e-01 9.83099191e-03 -1.53260785e-02 6.30008030e+00] [-9.75581637e-03 9.99940049e-01 4.97214652e-03 2.60351608e-01] [ 1.53740408e-02 -4.82180382e-03 9.99870186e-01 1.19178511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61255784400004 meters Centerline goodness [0,1] 0.25530486748657544 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.19 [[ 9.99836315e-01 9.86108029e-03 -1.51691284e-02 6.29956398e+00] [-9.78729041e-03 9.99939945e-01 4.93104810e-03 2.60609505e-01] [ 1.52168429e-02 -4.78177629e-03 9.99872783e-01 1.19198487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64255784400007 meters Centerline goodness [0,1] 0.25170273299422363 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.19 [[ 9.99838320e-01 9.89499969e-03 -1.50140550e-02 6.29895493e+00] [-9.82229540e-03 9.99939713e-01 4.90845520e-03 2.60998814e-01] [ 1.50617190e-02 -4.76018913e-03 9.99875235e-01 1.19231020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67255784400004 meters Centerline goodness [0,1] 0.2557988152841365 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99893370e-01 1.69735841e-03 -1.45040382e-02 6.27877058e+00] [-1.60401164e-03 9.99977944e-01 6.44512681e-03 2.65385063e-01] [ 1.45146580e-02 -6.42117493e-03 9.99874039e-01 1.19042225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70255784400007 meters Centerline goodness [0,1] 0.25332152347209924 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99893550e-01 1.68270405e-03 -1.44933572e-02 6.27879504e+00] [-1.59125077e-03 9.99978767e-01 6.31923514e-03 2.66242642e-01] [ 1.45036828e-02 -6.29549989e-03 9.99874997e-01 1.19028146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73255784400004 meters Centerline goodness [0,1] 0.2588835837972233 Centerline is valid? [False, False] Translation: X:6.24, Y:0.26, Z:1.19 [[ 9.99829240e-01 7.78352960e-04 -1.84630617e-02 6.23829774e+00] [-6.60850961e-04 9.99979497e-01 6.36941420e-03 2.64025033e-01] [ 1.84676408e-02 -6.35612523e-03 9.99809255e-01 1.18885819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76255784400007 meters Centerline goodness [0,1] 0.25322796562594463 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99830731e-01 1.64956248e-03 -1.83245425e-02 6.28397724e+00] [-1.54855522e-03 9.99983538e-01 5.52495249e-03 2.68059690e-01] [ 1.83333546e-02 -5.49564072e-03 9.99816826e-01 1.18877577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79255784400004 meters Centerline goodness [0,1] 0.2546902885996605 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99825877e-01 1.62004938e-03 -1.85900945e-02 6.28475920e+00] [-1.51857449e-03 9.99983879e-01 5.47136488e-03 2.68240595e-01] [ 1.85986587e-02 -5.44218175e-03 9.99812219e-01 1.18856094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8225578440001 meters Centerline goodness [0,1] 0.2557907087914476 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99829753e-01 1.69860722e-03 -1.83733279e-02 6.28367675e+00] [-1.59327031e-03 9.99982221e-01 5.74626218e-03 2.67046615e-01] [ 1.83827619e-02 -5.71601022e-03 9.99814683e-01 1.18947207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85255784400005 meters Centerline goodness [0,1] 0.2567472835611637 Centerline is valid? [False, False] Translation: X:6.28, Y:0.27, Z:1.19 [[ 9.99834068e-01 1.71985346e-03 -1.81349847e-02 6.28276813e+00] [-1.61301460e-03 9.99981269e-01 5.90429504e-03 2.66057028e-01] [ 1.81447995e-02 -5.87406334e-03 9.99818114e-01 1.19005639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8825578440001 meters Centerline goodness [0,1] 0.2567712084506427 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99835940e-01 1.73705897e-03 -1.80298617e-02 6.28230249e+00] [-1.62686080e-03 9.99979920e-01 6.12484945e-03 2.64576155e-01] [ 1.80401388e-02 -6.09451253e-03 9.99818689e-01 1.19042787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91255784400005 meters Centerline goodness [0,1] 0.2542177329821277 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99834479e-01 1.76554544e-03 -1.81079593e-02 6.28246588e+00] [-1.65068187e-03 9.99978436e-01 6.35625034e-03 2.63205461e-01] [ 1.81187911e-02 -6.32530777e-03 9.99815833e-01 1.19050515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9425578440001 meters Centerline goodness [0,1] 0.25464052287581695 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99833468e-01 1.92080904e-03 -1.81479001e-02 6.28256295e+00] [-1.79694887e-03 9.99975000e-01 6.83888504e-03 2.61037180e-01] [ 1.81605826e-02 -6.80513530e-03 9.99811924e-01 1.19059316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97255784400005 meters Centerline goodness [0,1] 0.2540652173913044 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99834332e-01 1.97611217e-03 -1.80942707e-02 6.28233562e+00] [-1.84955461e-03 9.99973730e-01 7.00840947e-03 2.60132229e-01] [ 1.81076447e-02 -6.97378206e-03 9.99811722e-01 1.19078820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0025578440001 meters Centerline goodness [0,1] 0.25421186495945736 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99835418e-01 1.94085522e-03 -1.80379937e-02 6.28197061e+00] [-1.81443902e-03 9.99973699e-01 7.02205442e-03 2.59528868e-01] [ 1.80511481e-02 -6.98816988e-03 9.99812643e-01 1.19119851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03255784400005 meters Centerline goodness [0,1] 0.2559756627553238 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99834553e-01 1.91367845e-03 -1.80887846e-02 6.28216701e+00] [-1.78900649e-03 9.99974554e-01 6.90589522e-03 2.60086419e-01] [ 1.81015400e-02 -6.87239170e-03 9.99812535e-01 1.19104124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0625578440001 meters Centerline goodness [0,1] 0.2562158157372906 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99833049e-01 1.92417881e-03 -1.81706513e-02 6.28235216e+00] [-1.80044142e-03 9.99975098e-01 6.82364407e-03 2.60707464e-01] [ 1.81833287e-02 -6.78978966e-03 9.99811615e-01 1.19102662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09255784400005 meters Centerline goodness [0,1] 0.25589959253045125 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99835258e-01 1.97744004e-03 -1.80429040e-02 6.28216698e+00] [-1.85536361e-03 9.99975293e-01 6.78013012e-03 2.61223571e-01] [ 1.80558655e-02 -6.74553700e-03 9.99814224e-01 1.19075129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.122557844 meters Centerline goodness [0,1] 0.2542115317818687 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99837033e-01 1.99119909e-03 -1.79427596e-02 6.28186855e+00] [-1.86917282e-03 9.99975030e-01 6.81507000e-03 2.60930698e-01] [ 1.79558817e-02 -6.78042125e-03 9.99815789e-01 1.19082535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15255784400006 meters Centerline goodness [0,1] 0.25354456643900747 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99838579e-01 1.98931885e-03 -1.78565830e-02 6.28158201e+00] [-1.86689083e-03 9.99974657e-01 6.87023697e-03 2.60441778e-01] [ 1.78697976e-02 -6.83579168e-03 9.99816954e-01 1.19095607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18255784400003 meters Centerline goodness [0,1] 0.25843041079092577 Centerline is valid? [False, False] Translation: X:6.26, Y:0.25, Z:1.19 [[ 9.99795330e-01 9.51841499e-03 -1.78521055e-02 6.26180143e+00] [-9.41481409e-03 9.99938401e-01 5.87838242e-03 2.53944959e-01] [ 1.79069587e-02 -5.70910504e-03 9.99823358e-01 1.18954352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21255784400006 meters Centerline goodness [0,1] 0.24896077882358014 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.19 [[ 9.99846222e-01 1.54961239e-03 -1.74679974e-02 6.28262556e+00] [-1.43311255e-03 9.99976662e-01 6.67987620e-03 2.56545398e-01] [ 1.74779410e-02 -6.65381538e-03 9.99825109e-01 1.19052777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24255784400003 meters Centerline goodness [0,1] 0.25495071098316324 Centerline is valid? [False, False] Translation: X:6.28, Y:0.25, Z:1.19 [[ 9.99843852e-01 1.65429325e-03 -1.75936135e-02 6.28294617e+00] [-1.53123057e-03 9.99974286e-01 7.00590809e-03 2.54834798e-01] [ 1.76047509e-02 -6.97787425e-03 9.99820675e-01 1.19056821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27255784400006 meters Centerline goodness [0,1] 0.2543390317108182 Centerline is valid? [False, False] Translation: X:6.28, Y:0.25, Z:1.19 [[ 9.99843992e-01 1.74538683e-03 -1.75768392e-02 6.28280160e+00] [-1.61554665e-03 9.99971326e-01 7.39849584e-03 2.52617665e-01] [ 1.75892484e-02 -7.36894541e-03 9.99818142e-01 1.19082522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30255784400003 meters Centerline goodness [0,1] 0.251189446366782 Centerline is valid? [False, False] Translation: X:6.28, Y:0.25, Z:1.19 [[ 9.99845473e-01 1.84979467e-03 -1.74816556e-02 6.28244199e+00] [-1.71236142e-03 9.99967539e-01 7.87327087e-03 2.49936126e-01] [ 1.74956520e-02 -7.84211933e-03 9.99816185e-01 1.19113067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33255784400006 meters Centerline goodness [0,1] 0.252991970913498 Centerline is valid? [False, False] Translation: X:6.28, Y:0.25, Z:1.19 [[ 9.99842629e-01 1.96653343e-03 -1.76309139e-02 6.28275127e+00] [-1.81889748e-03 9.99963184e-01 8.38582687e-03 2.47067493e-01] [ 1.76467558e-02 -8.35243836e-03 9.99809396e-01 1.19130778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36255784400004 meters Centerline goodness [0,1] 0.25702714535901927 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.19 [[ 9.99841582e-01 -1.70971986e-03 -1.77168945e-02 6.28347009e+00] [ 1.80410862e-03 9.99984258e-01 5.31300031e-03 2.43347240e-01] [ 1.77075318e-02 -5.34412184e-03 9.99828927e-01 1.19063571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39255784400007 meters Centerline goodness [0,1] 0.24874463912415679 Centerline is valid? [False, False] Translation: X:6.31, Y:0.24, Z:1.19 [[ 9.99829539e-01 4.50783068e-03 -1.79045149e-02 6.30663847e+00] [-4.46451641e-03 9.99987012e-01 2.45841586e-03 2.39134240e-01] [ 1.79153645e-02 -2.37806179e-03 9.99836679e-01 1.19060334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42255784400004 meters Centerline goodness [0,1] 0.2493536154442817 Centerline is valid? [False, False] Translation: X:6.31, Y:0.24, Z:1.19 [[ 9.99819935e-01 4.65188876e-03 -1.83972372e-02 6.30773578e+00] [-4.59643453e-03 9.99984769e-01 3.05540621e-03 2.35880959e-01] [ 1.84111704e-02 -2.97029434e-03 9.99826088e-01 1.19089257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45255784400007 meters Centerline goodness [0,1] 0.2471910112359551 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.19 [[ 9.99814353e-01 4.86768842e-03 -1.86431007e-02 6.30827233e+00] [-4.80023165e-03 9.99981776e-01 3.66136584e-03 2.32895078e-01] [ 1.86605833e-02 -3.57119491e-03 9.99819498e-01 1.19106594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48255784400004 meters Centerline goodness [0,1] 0.2541593074725802 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.19 [[ 9.99810145e-01 5.21349469e-03 -1.87748282e-02 6.30845611e+00] [-5.12923687e-03 9.99976570e-01 4.53316988e-03 2.28817592e-01] [ 1.87980219e-02 -4.43600870e-03 9.99813461e-01 1.19138638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51255784400007 meters Centerline goodness [0,1] 0.2533576341426371 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.19 [[ 9.99809828e-01 5.31958722e-03 -1.87619086e-02 6.30834953e+00] [-5.23079123e-03 9.99974901e-01 4.77868350e-03 2.27553804e-01] [ 1.87868583e-02 -4.67963510e-03 9.99812560e-01 1.19154951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54255784400004 meters Centerline goodness [0,1] 0.25280037985884796 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.19 [[ 9.99809965e-01 5.38875392e-03 -1.87348572e-02 6.30834473e+00] [-5.29760565e-03 9.99973906e-01 4.91140067e-03 2.26853172e-01] [ 1.87608346e-02 -4.81121745e-03 9.99812424e-01 1.19146153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5725578440001 meters Centerline goodness [0,1] 0.2544785703402189 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.19 [[ 9.99809806e-01 5.45257571e-03 -1.87249070e-02 6.30847906e+00] [-5.36022068e-03 9.99973239e-01 4.97885514e-03 2.26639230e-01] [ 1.87515535e-02 -4.87753855e-03 9.99812277e-01 1.19122268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60255784400005 meters Centerline goodness [0,1] 0.25532427167465577 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.19 [[ 9.99811751e-01 5.90771842e-03 -1.84813853e-02 6.30810882e+00] [-5.81105599e-03 9.99969178e-01 5.27959708e-03 2.26611758e-01] [ 1.85120060e-02 -5.17120684e-03 9.99815265e-01 1.19079314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6325578440001 meters Centerline goodness [0,1] 0.2510724034836864 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:1.19 [[ 9.99836548e-01 -1.05478276e-03 -1.80489660e-02 6.32647469e+00] [ 1.17107990e-03 9.99978615e-01 6.43406800e-03 2.32289692e-01] [ 1.80417935e-02 -6.45415312e-03 9.99816402e-01 1.19242692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66255784400005 meters Centerline goodness [0,1] 0.25245469094684025 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:1.19 [[ 9.99841579e-01 -1.03619575e-03 -1.77691642e-02 6.32570913e+00] [ 1.14940379e-03 9.99979102e-01 6.36201031e-03 2.32796737e-01] [ 1.77622005e-02 -6.38142638e-03 9.99821875e-01 1.19255064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6925578440001 meters Centerline goodness [0,1] 0.24904840756112767 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:1.19 [[ 9.99843749e-01 -1.08775345e-03 -1.76435404e-02 6.32536205e+00] [ 1.19696676e-03 9.99980183e-01 6.18060988e-03 2.33589963e-01] [ 1.76364678e-02 -6.20076288e-03 9.99825238e-01 1.19258586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72255784400005 meters Centerline goodness [0,1] 0.24904840756112767 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:1.19 [[ 9.99843749e-01 -1.08775345e-03 -1.76435404e-02 6.32536205e+00] [ 1.19696676e-03 9.99980183e-01 6.18060988e-03 2.33589963e-01] [ 1.76364678e-02 -6.20076288e-03 9.99825238e-01 1.19258586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7525578440001 meters Centerline goodness [0,1] 0.2516176343714951 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:1.19 [[ 9.99845809e-01 -1.17377117e-03 -1.75208583e-02 6.32516394e+00] [ 1.27827705e-03 9.99981454e-01 5.95464830e-03 2.34589736e-01] [ 1.75135440e-02 -5.97612666e-03 9.99828766e-01 1.19239131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78255784400005 meters Centerline goodness [0,1] 0.2511577580610258 Centerline is valid? [False, False] Translation: X:6.32, Y:0.24, Z:1.19 [[ 9.99856710e-01 -1.02838538e-03 -1.68968255e-02 6.32369700e+00] [ 1.12344056e-03 9.99983593e-01 5.61709491e-03 2.37378314e-01] [ 1.68907717e-02 -5.63527261e-03 9.99841460e-01 1.19209861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8125578440001 meters Centerline goodness [0,1] 0.2550434782608696 Centerline is valid? [False, False] Translation: X:6.32, Y:0.24, Z:1.19 [[ 9.99861982e-01 -1.01961265e-03 -1.65824444e-02 6.32292551e+00] [ 1.10814930e-03 9.99985177e-01 5.33086816e-03 2.39441264e-01] [ 1.65767632e-02 -5.34850822e-03 9.99848291e-01 1.19198012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84255784400005 meters Centerline goodness [0,1] 0.2589254385964912 Centerline is valid? [False, False] Translation: X:6.32, Y:0.24, Z:1.19 [[ 9.99867355e-01 -1.11787925e-03 -1.62487530e-02 6.32204671e+00] [ 1.19792747e-03 9.99987191e-01 4.91752445e-03 2.41732340e-01] [ 1.62430477e-02 -4.93633699e-03 9.99855888e-01 1.19200429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.872557844 meters Centerline goodness [0,1] 0.26395487579997834 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:1.19 [[ 9.99863701e-01 7.44720301e-03 -1.47349572e-02 6.34189318e+00] [-7.40133040e-03 9.99967600e-01 3.16526957e-03 2.42266601e-01] [ 1.47580522e-02 -3.05577986e-03 9.99886425e-01 1.19307731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90255784400006 meters Centerline goodness [0,1] 0.25301543383338376 Centerline is valid? [False, False] Translation: X:6.34, Y:0.25, Z:1.19 [[ 9.99864027e-01 7.17195097e-03 -1.48489115e-02 6.34259062e+00] [-7.13762305e-03 9.99971734e-01 2.36352112e-03 2.46191507e-01] [ 1.48654429e-02 -2.25721381e-03 9.99886955e-01 1.19225955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93255784400003 meters Centerline goodness [0,1] 0.25075678948278846 Centerline is valid? [False, False] Translation: X:6.34, Y:0.25, Z:1.19 [[ 9.99864694e-01 7.02545904e-03 -1.48740172e-02 6.34296900e+00] [-6.99625757e-03 9.99973497e-01 2.01437908e-03 2.47876653e-01] [ 1.48877749e-02 -1.91004407e-03 9.99887347e-01 1.19171701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96255784400006 meters Centerline goodness [0,1] 0.25365197195632827 Centerline is valid? [False, False] Translation: X:6.34, Y:0.25, Z:1.19 [[ 9.99865561e-01 6.89889848e-03 -1.48749545e-02 6.34301683e+00] [-6.87407009e-03 9.99974895e-01 1.71962414e-03 2.49262544e-01] [ 1.48864445e-02 -1.61714147e-03 9.99887883e-01 1.19160176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99255784400003 meters Centerline goodness [0,1] 0.25192502642193126 Centerline is valid? [False, False] Translation: X:6.34, Y:0.25, Z:1.19 [[ 9.99866592e-01 6.74199494e-03 -1.48775990e-02 6.34297115e+00] [-6.72209683e-03 9.99976444e-01 1.38705691e-03 2.50752687e-01] [ 1.48866001e-02 -1.28686320e-03 9.99888360e-01 1.19165470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02255784400006 meters Centerline goodness [0,1] 0.2497740866646585 Centerline is valid? [False, False] Translation: X:6.34, Y:0.25, Z:1.19 [[ 9.99870786e-01 6.46351108e-03 -1.47184961e-02 6.34253010e+00] [-6.45352476e-03 9.99978912e-01 7.25882656e-04 2.53979328e-01] [ 1.47228775e-02 -6.30802683e-04 9.99891414e-01 1.19165059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05255784400003 meters Centerline goodness [0,1] 0.25642257951765113 Centerline is valid? [False, False] Translation: X:6.32, Y:0.26, Z:1.19 [[ 9.99872241e-01 -2.53669350e-03 -1.57818815e-02 6.32223122e+00] [ 2.56370459e-03 9.99995283e-01 1.69152936e-03 2.58978351e-01] [ 1.57775162e-02 -1.73177333e-03 9.99874028e-01 1.19033115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08255784400006 meters Centerline goodness [0,1] 0.24914089347079038 Centerline is valid? [False, False] Translation: X:6.34, Y:0.26, Z:1.19 [[ 9.99869284e-01 6.02101173e-03 -1.50054015e-02 6.34296439e+00] [-6.01790608e-03 9.99981860e-01 2.52114012e-04 2.59319280e-01] [ 1.50066473e-02 -1.61779960e-04 9.99887381e-01 1.19076556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11255784400004 meters Centerline goodness [0,1] 0.252934017212901 Centerline is valid? [False, False] Translation: X:6.32, Y:0.26, Z:1.19 [[ 9.99865647e-01 -2.80952525e-03 -1.61491549e-02 6.32407290e+00] [ 2.83279545e-03 9.99994982e-01 1.41826068e-03 2.64455231e-01] [ 1.61450893e-02 -1.46381738e-03 9.99868588e-01 1.18874713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14255784400007 meters Centerline goodness [0,1] 0.2532083351459521 Centerline is valid? [False, False] Translation: X:6.32, Y:0.27, Z:1.19 [[ 9.99862951e-01 -2.93961208e-03 -1.62922440e-02 6.32478150e+00] [ 2.95760991e-03 9.99995042e-01 1.08070248e-03 2.66150458e-01] [ 1.62889864e-02 -1.12874047e-03 9.99866689e-01 1.18809767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17255784400004 meters Centerline goodness [0,1] 0.25392324509188513 Centerline is valid? [False, False] Translation: X:6.33, Y:0.27, Z:1.19 [[ 9.99858873e-01 -3.12628716e-03 -1.65063823e-02 6.32561402e+00] [ 3.13634496e-03 9.99994911e-01 5.83476202e-04 2.68781745e-01] [ 1.65044742e-02 -6.35163567e-04 9.99863590e-01 1.18754697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20255784400007 meters Centerline goodness [0,1] 0.25265553869499247 Centerline is valid? [False, False] Translation: X:6.33, Y:0.27, Z:1.19 [[ 9.99860547e-01 -3.16178026e-03 -1.63978347e-02 6.32515451e+00] [ 3.17033517e-03 9.99994852e-01 4.95741249e-04 2.69285529e-01] [ 1.63961828e-02 -5.47658749e-04 9.99865424e-01 1.18784628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23255784400004 meters Centerline goodness [0,1] 0.26315675441447295 Centerline is valid? [False, False] Translation: X:6.32, Y:0.27, Z:1.19 [[ 9.99862710e-01 -3.18779994e-03 -1.62603383e-02 6.32457382e+00] [ 3.19604545e-03 9.99994777e-01 4.81132346e-04 2.69299462e-01] [ 1.62587196e-02 -5.33035072e-04 9.99867676e-01 1.18822927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26255784400007 meters Centerline goodness [0,1] 0.251739158702295 Centerline is valid? [False, False] Translation: X:6.32, Y:0.27, Z:1.19 [[ 9.99864880e-01 -3.23583246e-03 -1.61167952e-02 6.32416400e+00] [ 3.24252340e-03 9.99994667e-01 3.89039370e-04 2.69760564e-01] [ 1.61154504e-02 -4.41245888e-04 9.99870040e-01 1.18831078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29255784400004 meters Centerline goodness [0,1] 0.24872059519201828 Centerline is valid? [False, False] Translation: X:6.34, Y:0.27, Z:1.19 [[ 9.99877030e-01 5.42639678e-03 -1.47132236e-02 6.34368547e+00] [-5.44277029e-03 9.99984612e-01 -1.07302900e-03 2.70257692e-01] [ 1.47071745e-02 1.15297775e-03 9.99891179e-01 1.18861808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3225578440001 meters Centerline goodness [0,1] 0.25095955762766997 Centerline is valid? [False, False] Translation: X:6.34, Y:0.27, Z:1.19 [[ 9.99879502e-01 5.28552010e-03 -1.45960451e-02 6.34358242e+00] [-5.30769609e-03 9.99984817e-01 -1.48099522e-03 2.72267259e-01] [ 1.45879957e-02 1.55828813e-03 9.99892375e-01 1.18822448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35255784400005 meters Centerline goodness [0,1] 0.2537388271201221 Centerline is valid? [False, False] Translation: X:6.34, Y:0.27, Z:1.19 [[ 9.99880555e-01 5.14429868e-03 -1.45743902e-02 6.34381373e+00] [-5.17256087e-03 9.99984813e-01 -1.90213666e-03 2.74338568e-01] [ 1.45643837e-02 1.97729638e-03 9.99891979e-01 1.18769799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3825578440001 meters Centerline goodness [0,1] 0.2551716621253406 Centerline is valid? [False, False] Translation: X:6.34, Y:0.28, Z:1.19 [[ 9.99880782e-01 5.02402786e-03 -1.46007268e-02 6.34406333e+00] [-5.05851107e-03 9.99984501e-01 -2.32577532e-03 2.76508565e-01] [ 1.45888157e-02 2.39935598e-03 9.99890699e-01 1.18730040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41255784400005 meters Centerline goodness [0,1] 0.25401180133690426 Centerline is valid? [False, False] Translation: X:6.34, Y:0.28, Z:1.19 [[ 9.99881924e-01 4.86930953e-03 -1.45749056e-02 6.34401229e+00] [-4.91141352e-03 9.99983865e-01 -2.85440176e-03 2.79325452e-01] [ 1.45607715e-02 2.92564811e-03 9.99889706e-01 1.18718083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4425578440001 meters Centerline goodness [0,1] 0.24982255393285013 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:1.19 [[ 9.99892232e-01 -2.46209139e-03 -1.44728131e-02 6.36287979e+00] [ 2.43474012e-03 9.99995217e-01 -1.90715435e-03 2.85969863e-01] [ 1.44774395e-02 1.87171128e-03 9.99893445e-01 1.18894409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47255784400005 meters Centerline goodness [0,1] 0.2522669450061974 Centerline is valid? [False, False] Translation: X:6.35, Y:0.28, Z:1.19 [[ 9.99922862e-01 3.33172448e-03 -1.19653736e-02 6.34641765e+00] [-3.36779539e-03 9.99989842e-01 -2.99572511e-03 2.81585296e-01] [ 1.19552711e-02 3.03579095e-03 9.99923925e-01 1.18577261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5025578440001 meters Centerline goodness [0,1] 0.25300182719916475 Centerline is valid? [False, False] Translation: X:6.35, Y:0.28, Z:1.19 [[ 9.99923858e-01 3.31910678e-03 -1.18853501e-02 6.34619191e+00] [-3.35500432e-03 9.99989867e-01 -3.00165529e-03 2.81633616e-01] [ 1.18752668e-02 3.04130214e-03 9.99924861e-01 1.18580234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53255784400005 meters Centerline goodness [0,1] 0.25239047287899863 Centerline is valid? [False, False] Translation: X:6.35, Y:0.28, Z:1.19 [[ 9.99924391e-01 3.32644888e-03 -1.18383450e-02 6.34607176e+00] [-3.36129154e-03 9.99990074e-01 -2.92452439e-03 2.81157674e-01] [ 1.18284992e-02 2.96409540e-03 9.99925648e-01 1.18582358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5625578440001 meters Centerline goodness [0,1] 0.249881317163696 Centerline is valid? [False, False] Translation: X:6.35, Y:0.28, Z:1.19 [[ 9.99922573e-01 3.17607434e-03 -1.20316404e-02 6.34664688e+00] [-3.20892623e-03 9.99991174e-01 -2.71213795e-03 2.79041060e-01] [ 1.20229203e-02 2.75053660e-03 9.99923939e-01 1.18575221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59255784400005 meters Centerline goodness [0,1] 0.2515285363040971 Centerline is valid? [False, False] Translation: X:6.35, Y:0.28, Z:1.19 [[ 9.99922109e-01 3.25684302e-03 -1.20486276e-02 6.34651646e+00] [-3.28630604e-03 9.99991656e-01 -2.42635276e-03 2.77525279e-01] [ 1.20406249e-02 2.46575924e-03 9.99924469e-01 1.18606249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.622557844 meters Centerline goodness [0,1] 0.2503728359305769 Centerline is valid? [False, False] Translation: X:6.35, Y:0.28, Z:1.19 [[ 9.99923213e-01 3.31828700e-03 -1.19397461e-02 6.34607043e+00] [-3.34459928e-03 9.99992021e-01 -2.18446289e-03 2.76282152e-01] [ 1.19324021e-02 2.22422882e-03 9.99926333e-01 1.18638951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65255784400006 meters Centerline goodness [0,1] 0.250108290738976 Centerline is valid? [False, False] Translation: X:6.35, Y:0.27, Z:1.19 [[ 9.99923478e-01 3.43154114e-03 -1.18854015e-02 6.34580423e+00] [-3.45286315e-03 9.99992465e-01 -1.77391093e-03 2.74089402e-01] [ 1.18792247e-02 1.81481385e-03 9.99927793e-01 1.18665421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68255784400003 meters Centerline goodness [0,1] 0.25021564737341495 Centerline is valid? [False, False] Translation: X:6.35, Y:0.27, Z:1.19 [[ 9.99922944e-01 3.48226588e-03 -1.19155615e-02 6.34600642e+00] [-3.50154703e-03 9.99992593e-01 -1.59766939e-03 2.73136326e-01] [ 1.19099098e-02 1.63926918e-03 9.99927731e-01 1.18646463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71255784400006 meters Centerline goodness [0,1] 0.2503726104330921 Centerline is valid? [False, False] Translation: X:6.35, Y:0.27, Z:1.19 [[ 9.99922352e-01 3.54692902e-03 -1.19461254e-02 6.34618120e+00] [-3.56440593e-03 9.99992608e-01 -1.44200408e-03 2.72405302e-01] [ 1.19409224e-02 1.48447295e-03 9.99927603e-01 1.18629019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74255784400003 meters Centerline goodness [0,1] 0.25085649854720504 Centerline is valid? [False, False] Translation: X:6.35, Y:0.27, Z:1.19 [[ 9.99923955e-01 3.61421281e-03 -1.17907638e-02 6.34579535e+00] [-3.62980135e-03 9.99992566e-01 -1.30096561e-03 2.71838119e-01] [ 1.17859741e-02 1.34366481e-03 9.99929640e-01 1.18627603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77255784400006 meters Centerline goodness [0,1] 0.2524749243924197 Centerline is valid? [False, False] Translation: X:6.34, Y:0.27, Z:1.19 [[ 9.99926075e-01 3.76857630e-03 -1.15603892e-02 6.34496862e+00] [-3.77987593e-03 9.99992400e-01 -9.55749722e-04 2.70290588e-01] [ 1.15566995e-02 9.99375905e-04 9.99932720e-01 1.18669435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80255784400003 meters Centerline goodness [0,1] 0.25233259558217247 Centerline is valid? [False, False] Translation: X:6.34, Y:0.27, Z:1.19 [[ 9.99926420e-01 3.82316632e-03 -1.15124786e-02 6.34480253e+00] [-3.83171288e-03 9.99992399e-01 -7.20408218e-04 2.68937633e-01] [ 1.15096369e-02 7.64467723e-04 9.99933470e-01 1.18680396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83255784400006 meters Centerline goodness [0,1] 0.248137942911267 Centerline is valid? [False, False] Translation: X:6.34, Y:0.27, Z:1.19 [[ 9.99926995e-01 3.85511736e-03 -1.14517898e-02 6.34471687e+00] [-3.86007078e-03 9.99992466e-01 -4.10474010e-04 2.66976652e-01] [ 1.14501211e-02 4.54648762e-04 9.99934342e-01 1.18674047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86255784400004 meters Centerline goodness [0,1] 0.25004853845324126 Centerline is valid? [False, False] Translation: X:6.34, Y:0.26, Z:1.19 [[ 9.99927902e-01 3.94433025e-03 -1.13416301e-02 6.34435264e+00] [-3.94420126e-03 9.99992221e-01 3.37407207e-05 2.64498233e-01] [ 1.13416750e-02 1.09953837e-05 9.99935681e-01 1.18692737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89255784400007 meters Centerline goodness [0,1] 0.25176623096035433 Centerline is valid? [False, False] Translation: X:6.34, Y:0.26, Z:1.19 [[ 9.99928981e-01 4.06193211e-03 -1.12041437e-02 6.34394607e+00] [-4.05579973e-03 9.99991613e-01 5.69999565e-04 2.61764748e-01] [ 1.12063651e-02 -5.24517322e-04 9.99937069e-01 1.18708196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92255784400004 meters Centerline goodness [0,1] 0.25035598705501616 Centerline is valid? [False, False] Translation: X:6.34, Y:0.26, Z:1.19 [[ 9.99928629e-01 4.17558312e-03 -1.11937701e-02 6.34383155e+00] [-4.16364003e-03 9.99990738e-01 1.09003276e-03 2.59107319e-01] [ 1.11982180e-02 -1.04334814e-03 9.99936754e-01 1.18725463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95255784400007 meters Centerline goodness [0,1] 0.25150931556055656 Centerline is valid? [False, False] Translation: X:6.35, Y:0.26, Z:1.19 [[ 9.99920065e-01 3.79868212e-03 -1.20595902e-02 6.34634006e+00] [-3.78282586e-03 9.99991951e-01 1.33736424e-03 2.55688140e-01] [ 1.20645733e-02 -1.29163801e-03 9.99926386e-01 1.18677994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98255784400004 meters Centerline goodness [0,1] 0.2527041172365666 Centerline is valid? [False, False] Translation: X:6.35, Y:0.25, Z:1.19 [[ 9.99917106e-01 3.86575067e-03 -1.22815886e-02 6.34705116e+00] [-3.84630149e-03 9.99991312e-01 1.60683062e-03 2.54144533e-01] [ 1.22876935e-02 -1.55945873e-03 9.99923287e-01 1.18651837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01255784400007 meters Centerline goodness [0,1] 0.2520417274647734 Centerline is valid? [False, False] Translation: X:6.35, Y:0.25, Z:1.19 [[ 9.99914542e-01 3.94371501e-03 -1.24641920e-02 6.34782954e+00] [-3.92163972e-03 9.99990699e-01 1.79504181e-03 2.53314213e-01] [ 1.24711552e-02 -1.74600834e-03 9.99920708e-01 1.18595765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04255784400004 meters Centerline goodness [0,1] 0.2527659203763394 Centerline is valid? [False, False] Translation: X:6.35, Y:0.25, Z:1.18 [[ 9.99910159e-01 3.99217140e-03 -1.27959655e-02 6.34949430e+00] [-3.96644952e-03 9.99990063e-01 2.03490345e-03 2.51749208e-01] [ 1.28039620e-02 -1.98396608e-03 9.99916058e-01 1.18457057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0725578440001 meters Centerline goodness [0,1] 0.2542696579883216 Centerline is valid? [False, False] Translation: X:6.35, Y:0.25, Z:1.18 [[ 9.99909482e-01 3.99726175e-03 -1.28471454e-02 6.34981554e+00] [-3.96955131e-03 9.99989741e-01 2.18170981e-03 2.50550351e-01] [ 1.28557345e-02 -2.13051492e-03 9.99915092e-01 1.18427096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10255784400005 meters Centerline goodness [0,1] 0.25307953177989284 Centerline is valid? [False, False] Translation: X:6.35, Y:0.25, Z:1.18 [[ 9.99909740e-01 4.04764751e-03 -1.28112832e-02 6.34968111e+00] [-4.01697483e-03 9.99989006e-01 2.41902014e-03 2.49055538e-01] [ 1.28209337e-02 -2.36733920e-03 9.99915006e-01 1.18435973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1325578440001 meters Centerline goodness [0,1] 0.25166681097930554 Centerline is valid? [False, False] Translation: X:6.37, Y:0.25, Z:1.19 [[ 9.99924791e-01 -3.52246153e-03 -1.17475780e-02 6.36952603e+00] [ 3.56463381e-03 9.99987271e-01 3.57086560e-03 2.52178010e-01] [ 1.17348503e-02 -3.61247285e-03 9.99924619e-01 1.18533020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16255784400005 meters Centerline goodness [0,1] 0.24958258342910422 Centerline is valid? [False, False] Translation: X:6.37, Y:0.25, Z:1.19 [[ 9.99928738e-01 -3.19179288e-03 -1.15035120e-02 6.36886985e+00] [ 3.24487413e-03 9.99984162e-01 4.59864538e-03 2.47227222e-01] [ 1.14886519e-02 -4.63564512e-03 9.99923258e-01 1.18549725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1925578440001 meters Centerline goodness [0,1] 0.24963762628994224 Centerline is valid? [False, False] Translation: X:6.37, Y:0.24, Z:1.19 [[ 9.99926852e-01 -3.07515144e-03 -1.16976120e-02 6.36937379e+00] [ 3.13574525e-03 9.99981744e-01 5.16520629e-03 2.43955044e-01] [ 1.16815146e-02 -5.20150919e-03 9.99918240e-01 1.18558432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22255784400005 meters Centerline goodness [0,1] 0.2516381843909873 Centerline is valid? [False, False] Translation: X:6.37, Y:0.24, Z:1.19 [[ 9.99923254e-01 -2.96325478e-03 -1.20293552e-02 6.37019134e+00] [ 3.03233275e-03 9.99978996e-01 5.72827797e-03 2.40541243e-01] [ 1.20121282e-02 -5.76431535e-03 9.99911237e-01 1.18564035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2525578440001 meters Centerline goodness [0,1] 0.24945793581960107 Centerline is valid? [False, False] Translation: X:6.37, Y:0.24, Z:1.19 [[ 9.99922644e-01 -2.78006936e-03 -1.21234476e-02 6.37030711e+00] [ 2.85762147e-03 9.99975537e-01 6.38424496e-03 2.37098076e-01] [ 1.21054024e-02 -6.41839533e-03 9.99906127e-01 1.18592259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28255784400005 meters Centerline goodness [0,1] 0.25243838718105027 Centerline is valid? [False, False] Translation: X:6.37, Y:0.23, Z:1.19 [[ 9.99924987e-01 -2.51150170e-03 -1.19879997e-02 6.36981392e+00] [ 2.59675715e-03 9.99971413e-01 7.10147356e-03 2.33712709e-01] [ 1.19698217e-02 -7.13207078e-03 9.99902924e-01 1.18624167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3125578440001 meters Centerline goodness [0,1] 0.2516771966390934 Centerline is valid? [False, False] Translation: X:6.37, Y:0.23, Z:1.19 [[ 9.99931435e-01 -2.00620855e-03 -1.15369528e-02 6.36846305e+00] [ 2.10367914e-03 9.99962147e-01 8.44263611e-03 2.26333970e-01] [ 1.15195784e-02 -8.46632729e-03 9.99897805e-01 1.18681804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34255784400005 meters Centerline goodness [0,1] 0.2525215037331354 Centerline is valid? [False, False] Translation: X:6.37, Y:0.22, Z:1.19 [[ 9.99932229e-01 -1.76940153e-03 -1.15067653e-02 6.36840334e+00] [ 1.87407305e-03 9.99956910e-01 9.09210840e-03 2.22998104e-01] [ 1.14901819e-02 -9.11305675e-03 9.99892458e-01 1.18687625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.372557844 meters Centerline goodness [0,1] 0.25060094852415704 Centerline is valid? [False, False] Translation: X:6.39, Y:0.22, Z:1.19 [[ 9.99917361e-01 5.26411918e-03 -1.17285787e-02 6.39016647e+00] [-5.18800395e-03 9.99965347e-01 6.51072459e-03 2.17423401e-01] [ 1.17624455e-02 -6.44933864e-03 9.99910021e-01 1.18727476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40255784400006 meters Centerline goodness [0,1] 0.2526237699373787 Centerline is valid? [False, False] Translation: X:6.39, Y:0.21, Z:1.19 [[ 9.99912292e-01 5.48565395e-03 -1.20547299e-02 6.39114961e+00] [-5.39976708e-03 9.99959889e-01 7.14577944e-03 2.14144974e-01] [ 1.20934457e-02 -7.08005996e-03 9.99901806e-01 1.18700586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43255784400003 meters Centerline goodness [0,1] 0.2511482797469451 Centerline is valid? [False, False] Translation: X:6.39, Y:0.21, Z:1.19 [[ 9.99905093e-01 5.98029699e-03 -1.24112970e-02 6.39198754e+00] [-5.87639217e-03 9.99947524e-01 8.39144450e-03 2.07252509e-01] [ 1.24608291e-02 -8.31771445e-03 9.99887765e-01 1.18715266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46255784400006 meters Centerline goodness [0,1] 0.2508817101932189 Centerline is valid? [False, False] Translation: X:6.39, Y:0.21, Z:1.19 [[ 9.99927582e-01 2.92961546e-03 -1.16725494e-02 6.39001484e+00] [-2.86651097e-03 9.99981207e-01 5.41929744e-03 2.05497875e-01] [ 1.16882065e-02 -5.38544550e-03 9.99917188e-01 1.18732151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49255784400003 meters Centerline goodness [0,1] 0.25245392737686645 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99929142e-01 3.11140072e-03 -1.14904247e-02 6.38939171e+00] [-3.04366678e-03 9.99977918e-01 5.90760569e-03 2.03046258e-01] [ 1.15085519e-02 -5.87221407e-03 9.99916532e-01 1.18761893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52255784400006 meters Centerline goodness [0,1] 0.2508446498245308 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99929866e-01 3.28438603e-03 -1.13787797e-02 6.38906759e+00] [-3.21243147e-03 9.99974767e-01 6.33609071e-03 2.01073688e-01] [ 1.13993028e-02 -6.29909278e-03 9.99915185e-01 1.18771428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55255784400003 meters Centerline goodness [0,1] 0.25228194176441254 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99929322e-01 3.52602485e-03 -1.13542442e-02 6.38942675e+00] [-3.44860570e-03 9.99970723e-01 6.83089526e-03 1.99037494e-01] [ 1.13779976e-02 -6.79125615e-03 9.99912206e-01 1.18705620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58255784400006 meters Centerline goodness [0,1] 0.2530021242467594 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99926480e-01 3.48849373e-03 -1.16131724e-02 6.39040030e+00] [-3.40979631e-03 9.99971138e-01 6.78948153e-03 1.98888811e-01] [ 1.16365223e-02 -6.74938382e-03 9.99909514e-01 1.18652894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61255784400004 meters Centerline goodness [0,1] 0.25295867625024426 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99924733e-01 3.45693890e-03 -1.17719182e-02 6.39099948e+00] [-3.37789634e-03 9.99971663e-01 6.72777722e-03 1.98943865e-01] [ 1.17948422e-02 -6.68750652e-03 9.99908075e-01 1.18620256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64255784400007 meters Centerline goodness [0,1] 0.25295867625024426 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99924733e-01 3.45693890e-03 -1.17719182e-02 6.39099948e+00] [-3.37789634e-03 9.99971663e-01 6.72777722e-03 1.98943865e-01] [ 1.17948422e-02 -6.68750652e-03 9.99908075e-01 1.18620256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67255784400004 meters Centerline goodness [0,1] 0.2519901358484036 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99925433e-01 3.45646932e-03 -1.17124490e-02 6.39073997e+00] [-3.37811492e-03 9.99971828e-01 6.70303197e-03 1.99053739e-01] [ 1.17352879e-02 -6.66296615e-03 9.99908940e-01 1.18634116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70255784400007 meters Centerline goodness [0,1] 0.25410678740949755 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99928675e-01 3.52891928e-03 -1.14101823e-02 6.38961612e+00] [-3.45154888e-03 9.99970968e-01 6.79341705e-03 1.98841111e-01] [ 1.14338245e-02 -6.75354971e-03 9.99911825e-01 1.18696690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73255784400004 meters Centerline goodness [0,1] 0.2509866505639544 Centerline is valid? [False, False] Translation: X:6.41, Y:0.20, Z:1.19 [[ 9.99890481e-01 1.20242645e-02 -8.62805122e-03 6.40825575e+00] [-1.19782007e-02 9.99913835e-01 5.37080160e-03 1.96154132e-01] [ 8.69188772e-03 -5.26686487e-03 9.99948354e-01 1.18782896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76255784400007 meters Centerline goodness [0,1] 0.25440163862982657 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99961419e-01 1.84937936e-03 -8.58717195e-03 6.38603398e+00] [-1.80029212e-03 9.99982017e-01 5.72056057e-03 1.96926760e-01] [ 8.59759702e-03 -5.70488045e-03 9.99946766e-01 1.18728255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79255784400004 meters Centerline goodness [0,1] 0.2561455690665734 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99959333e-01 1.81499467e-03 -8.83391813e-03 6.38688179e+00] [-1.76357400e-03 9.99981479e-01 5.82513571e-03 1.96053550e-01] [ 8.84432710e-03 -5.80931956e-03 9.99944013e-01 1.18685429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8225578440001 meters Centerline goodness [0,1] 0.2508777252828226 Centerline is valid? [False, False] Translation: X:6.39, Y:0.20, Z:1.19 [[ 9.99957270e-01 1.82510243e-03 -9.06244481e-03 6.38768952e+00] [-1.77112934e-03 9.99980670e-01 5.96014516e-03 1.95342424e-01] [ 9.07314750e-03 -5.94383971e-03 9.99941173e-01 1.18642923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85255784400005 meters Centerline goodness [0,1] 0.2496109958506224 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:1.19 [[ 9.99956458e-01 1.88159865e-03 -9.14013888e-03 6.38782544e+00] [-1.82497960e-03 9.99979121e-01 6.19894604e-03 1.94128108e-01] [ 9.15161198e-03 -6.18199556e-03 9.99939014e-01 1.18656403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8825578440001 meters Centerline goodness [0,1] 0.2519568941217286 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:1.19 [[ 9.99956666e-01 1.90227394e-03 -9.11302182e-03 6.38742699e+00] [-1.84500606e-03 9.99978525e-01 6.28847110e-03 1.93545730e-01] [ 9.12478851e-03 -6.27138501e-03 9.99938702e-01 1.18712656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91255784400005 meters Centerline goodness [0,1] 0.2504423632989513 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:1.19 [[ 9.99956915e-01 1.88916651e-03 -9.08843537e-03 6.38715539e+00] [-1.83230728e-03 9.99978724e-01 6.26048080e-03 1.93603716e-01] [ 9.10006910e-03 -6.24355826e-03 9.99939102e-01 1.18751565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9425578440001 meters Centerline goodness [0,1] 0.26606287326901623 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:1.19 [[ 9.99908741e-01 9.74334747e-03 -9.35827862e-03 6.36604350e+00] [-9.69163335e-03 9.99937602e-01 5.55557406e-03 1.89569893e-01] [ 9.41182457e-03 -5.46437006e-03 9.99940777e-01 1.18661812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97255784400005 meters Centerline goodness [0,1] 0.2552103728843058 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:1.19 [[ 9.99909577e-01 9.82086918e-03 -9.18628878e-03 6.36581421e+00] [-9.77209837e-03 9.99937999e-01 5.33899262e-03 1.91389067e-01] [ 9.23815277e-03 -5.24874053e-03 9.99943552e-01 1.18628753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0025578440001 meters Centerline goodness [0,1] 0.24879815465539912 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:1.19 [[ 9.99908356e-01 1.00098390e-02 -9.11499135e-03 6.36594939e+00] [-9.96374023e-03 9.99937411e-01 5.08891123e-03 1.93709867e-01] [ 9.16536004e-03 -4.99762546e-03 9.99945508e-01 1.18569414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03255784400005 meters Centerline goodness [0,1] 0.2557067651106403 Centerline is valid? [False, False] Translation: X:6.35, Y:0.20, Z:1.18 [[ 9.99945322e-01 3.51849787e-03 -9.84749737e-03 6.34672906e+00] [-3.44477391e-03 9.99965990e-01 7.49354290e-03 2.02060160e-01] [ 9.87352847e-03 -7.45921077e-03 9.99923434e-01 1.18432753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0625578440001 meters Centerline goodness [0,1] 0.25516866158868334 Centerline is valid? [False, False] Translation: X:6.35, Y:0.20, Z:1.18 [[ 9.99944868e-01 3.44917072e-03 -9.91789590e-03 6.34711129e+00] [-3.38029711e-03 9.99970116e-01 6.95277541e-03 2.04940981e-01] [ 9.94158082e-03 -6.91886666e-03 9.99926644e-01 1.18384355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09255784400005 meters Centerline goodness [0,1] 0.24914226528278272 Centerline is valid? [False, False] Translation: X:6.35, Y:0.21, Z:1.18 [[ 9.99945054e-01 3.42484602e-03 -9.90751571e-03 6.34726867e+00] [-3.36092692e-03 9.99973479e-01 6.46104797e-03 2.07841338e-01] [ 9.92938105e-03 -6.42739453e-03 9.99930046e-01 1.18338851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.122557844 meters Centerline goodness [0,1] 0.26781369863013693 Centerline is valid? [False, False] Translation: X:6.30, Y:0.21, Z:1.18 [[ 9.99909758e-01 2.96201592e-03 -1.31035515e-02 6.30222754e+00] [-2.86433929e-03 9.99968021e-01 7.46670841e-03 2.07154093e-01] [ 1.31252489e-02 -7.42850158e-03 9.99886266e-01 1.18439917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15255784400006 meters Centerline goodness [0,1] 0.26771756978653527 Centerline is valid? [False, False] Translation: X:6.30, Y:0.21, Z:1.18 [[ 9.99906382e-01 2.78469249e-03 -1.33967466e-02 6.30354709e+00] [-2.69688108e-03 9.99974792e-01 6.56828813e-03 2.11986798e-01] [ 1.34146996e-02 -6.53154379e-03 9.99888686e-01 1.18313684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18255784400003 meters Centerline goodness [0,1] 0.2642617993303813 Centerline is valid? [False, False] Translation: X:6.32, Y:0.21, Z:1.18 [[ 9.99859756e-01 1.12340248e-02 -1.24203634e-02 6.32438090e+00] [-1.11760480e-02 9.99926371e-01 4.72748129e-03 2.12639643e-01] [ 1.24725575e-02 -4.58800771e-03 9.99911689e-01 1.18304003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21255784400006 meters Centerline goodness [0,1] 0.25401817669132165 Centerline is valid? [False, False] Translation: X:6.30, Y:0.22, Z:1.18 [[ 9.99918138e-01 2.46924572e-03 -1.25546990e-02 6.30498537e+00] [-2.39358755e-03 9.99978908e-01 6.03774183e-03 2.17996460e-01] [ 1.25693429e-02 -6.00719679e-03 9.99902958e-01 1.18102892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24255784400003 meters Centerline goodness [0,1] 0.2524223548749892 Centerline is valid? [False, False] Translation: X:6.30, Y:0.22, Z:1.18 [[ 9.99920611e-01 2.33660664e-03 -1.23819436e-02 6.30447261e+00] [-2.26649922e-03 9.99981339e-01 5.67307985e-03 2.19822176e-01] [ 1.23949683e-02 -5.64456581e-03 9.99907248e-01 1.18112068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27255784400006 meters Centerline goodness [0,1] 0.2555001530857718 Centerline is valid? [False, False] Translation: X:6.30, Y:0.22, Z:1.18 [[ 9.99921137e-01 2.24653387e-03 -1.23560973e-02 6.30423541e+00] [-2.17928769e-03 9.99982757e-01 5.45312192e-03 2.20910188e-01] [ 1.23681348e-02 -5.42576438e-03 9.99908791e-01 1.18136908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30255784400003 meters Centerline goodness [0,1] 0.2533373720764188 Centerline is valid? [False, False] Translation: X:6.30, Y:0.22, Z:1.18 [[ 9.99918843e-01 2.05827827e-03 -1.25726027e-02 6.30459328e+00] [-1.99304461e-03 9.99984500e-01 5.19888443e-03 2.21836516e-01] [ 1.25831086e-02 -5.17340474e-03 9.99907446e-01 1.18162142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33255784400006 meters Centerline goodness [0,1] 0.25462641181581236 Centerline is valid? [False, False] Translation: X:6.30, Y:0.22, Z:1.18 [[ 9.99917918e-01 2.00356165e-03 -1.26547260e-02 6.30479463e+00] [-1.93861921e-03 9.99984900e-01 5.14205659e-03 2.21963189e-01] [ 1.26648374e-02 -5.11710182e-03 9.99906704e-01 1.18163743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36255784400004 meters Centerline goodness [0,1] 0.2517312048322726 Centerline is valid? [False, False] Translation: X:6.31, Y:0.22, Z:1.18 [[ 9.99916329e-01 1.90585334e-03 -1.27946409e-02 6.30531586e+00] [-1.84236066e-03 9.99985940e-01 4.97239668e-03 2.22593632e-01] [ 1.28039377e-02 -4.94840829e-03 9.99905782e-01 1.18133419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39255784400007 meters Centerline goodness [0,1] 0.253882863340564 Centerline is valid? [False, False] Translation: X:6.31, Y:0.22, Z:1.18 [[ 9.99914256e-01 1.75708779e-03 -1.29766762e-02 6.30605385e+00] [-1.69630406e-03 9.99987546e-01 4.69359721e-03 2.23583964e-01] [ 1.29847617e-02 -4.67118237e-03 9.99904783e-01 1.18085238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42255784400004 meters Centerline goodness [0,1] 0.2548260041551247 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.18 [[ 9.99912348e-01 1.46233931e-03 -1.31589090e-02 6.30675976e+00] [-1.41136082e-03 9.99991467e-01 3.88251903e-03 2.27375253e-01] [ 1.31644743e-02 -3.86360676e-03 9.99905880e-01 1.18034359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45255784400007 meters Centerline goodness [0,1] 0.25703732843780047 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.18 [[ 9.99916389e-01 1.36840211e-03 -1.28585292e-02 6.30598947e+00] [-1.32470346e-03 9.99993321e-01 3.40632028e-03 2.30181428e-01] [ 1.28631045e-02 -3.38900174e-03 9.99911524e-01 1.18026771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48255784400004 meters Centerline goodness [0,1] 0.2554187619212762 Centerline is valid? [False, False] Translation: X:6.30, Y:0.23, Z:1.18 [[ 9.99921425e-01 1.32148375e-03 -1.24658868e-02 6.30494162e+00] [-1.28514450e-03 9.99994903e-01 2.92265572e-03 2.33270818e-01] [ 1.24696855e-02 -2.90640561e-03 9.99918027e-01 1.18026630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51255784400007 meters Centerline goodness [0,1] 0.25312615131222505 Centerline is valid? [False, False] Translation: X:6.30, Y:0.24, Z:1.18 [[ 9.99925929e-01 1.17611020e-03 -1.21142107e-02 6.30407654e+00] [-1.14792427e-03 9.99996619e-01 2.33337342e-03 2.36545622e-01] [ 1.21169140e-02 -2.31929439e-03 9.99923898e-01 1.18015269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54255784400004 meters Centerline goodness [0,1] 0.2575800633949066 Centerline is valid? [False, False] Translation: X:6.30, Y:0.24, Z:1.18 [[ 9.99927966e-01 9.34615469e-04 -1.19661904e-02 6.30374254e+00] [-9.14599812e-04 9.99998174e-01 1.67804723e-03 2.39664748e-01] [ 1.19677369e-02 -1.66698208e-03 9.99926995e-01 1.18002052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5725578440001 meters Centerline goodness [0,1] 0.2558164794821106 Centerline is valid? [False, False] Translation: X:6.30, Y:0.24, Z:1.18 [[ 9.99927619e-01 6.58379122e-04 -1.20134714e-02 6.30387839e+00] [-6.46078865e-04 9.99999263e-01 1.02772426e-03 2.42535515e-01] [ 1.20141391e-02 -1.01988822e-03 9.99927308e-01 1.17990682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60255784400005 meters Centerline goodness [0,1] 0.25135216346153844 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99925875e-01 1.51180311e-04 -1.21746573e-02 6.30460678e+00] [-1.52486391e-04 9.99999983e-01 -1.06350357e-04 2.47979483e-01] [ 1.21746410e-02 1.08198943e-04 9.99925880e-01 1.17919595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6325578440001 meters Centerline goodness [0,1] 0.25241731380735033 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99926295e-01 -7.99753759e-05 -1.21407632e-02 6.30472871e+00] [ 7.19763724e-05 9.99999780e-01 -6.59290587e-04 2.50736819e-01] [ 1.21408132e-02 6.58368146e-04 9.99926081e-01 1.17878320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66255784400005 meters Centerline goodness [0,1] 0.2567755991285403 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99927861e-01 -2.90359637e-04 -1.20078198e-02 6.30428253e+00] [ 2.76112834e-04 9.99999256e-01 -1.18810120e-03 2.53426627e-01] [ 1.20081559e-02 1.18469998e-03 9.99927198e-01 1.17888354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6925578440001 meters Centerline goodness [0,1] 0.256121428260775 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99930181e-01 -4.49522043e-04 -1.18081329e-02 6.30348099e+00] [ 4.31119773e-04 9.99998689e-01 -1.56093954e-03 2.55346784e-01] [ 1.18088191e-02 1.55573984e-03 9.99929063e-01 1.17935511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72255784400005 meters Centerline goodness [0,1] 0.2589244675961391 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99930567e-01 -5.87718715e-04 -1.17692633e-02 6.30316283e+00] [ 5.66164250e-04 9.99998157e-01 -1.83466811e-03 2.56635861e-01] [ 1.17703199e-02 1.82787739e-03 9.99929057e-01 1.17967486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7525578440001 meters Centerline goodness [0,1] 0.25766790922765026 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99927488e-01 -7.26755562e-04 -1.20203909e-02 6.30369644e+00] [ 7.03180021e-04 9.99997821e-01 -1.96540585e-03 2.57057568e-01] [ 1.20217931e-02 1.95681084e-03 9.99925821e-01 1.17983509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78255784400005 meters Centerline goodness [0,1] 0.2567815890794539 Centerline is valid? [False, False] Translation: X:6.31, Y:0.26, Z:1.18 [[ 9.99916931e-01 -1.46770620e-03 -1.28053570e-02 6.30610175e+00] [ 1.43690496e-03 9.99996053e-01 -2.41420931e-03 2.57019432e-01] [ 1.28088498e-02 2.39560869e-03 9.99915094e-01 1.17919182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8125578440001 meters Centerline goodness [0,1] 0.2551445688981505 Centerline is valid? [False, False] Translation: X:6.31, Y:0.26, Z:1.18 [[ 9.99913046e-01 -1.56747082e-03 -1.30936782e-02 6.30698926e+00] [ 1.53686500e-03 9.99996064e-01 -2.34718544e-03 2.56229952e-01] [ 1.30973058e-02 2.32685812e-03 9.99911519e-01 1.17892568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84255784400005 meters Centerline goodness [0,1] 0.2527658100413518 Centerline is valid? [False, False] Translation: X:6.31, Y:0.26, Z:1.18 [[ 9.99912485e-01 -1.54695090e-03 -1.31388805e-02 6.30713565e+00] [ 1.51756737e-03 9.99996326e-01 -2.24605601e-03 2.55793350e-01] [ 1.31423068e-02 2.22592031e-03 9.99911159e-01 1.17888710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.872557844 meters Centerline goodness [0,1] 0.25559022360894434 Centerline is valid? [False, False] Translation: X:6.31, Y:0.26, Z:1.18 [[ 9.99913951e-01 -1.51593365e-03 -1.30304091e-02 6.30673834e+00] [ 1.48668242e-03 9.99996354e-01 -2.25423681e-03 2.56108260e-01] [ 1.30337789e-02 2.23467075e-03 9.99912560e-01 1.17906961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90255784400006 meters Centerline goodness [0,1] 0.2554857229845813 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99931165e-01 -8.62553472e-04 -1.17013702e-02 6.30266377e+00] [ 8.39278131e-04 9.99997660e-01 -1.99387711e-03 2.57733896e-01] [ 1.17030626e-02 1.98391916e-03 9.99929549e-01 1.18026716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93255784400003 meters Centerline goodness [0,1] 0.25258120837195264 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99931439e-01 -8.92438606e-04 -1.16756932e-02 6.30245215e+00] [ 8.64410519e-04 9.99996733e-01 -2.40537643e-03 2.60038396e-01] [ 1.16778018e-02 2.39511892e-03 9.99928944e-01 1.18048072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96255784400006 meters Centerline goodness [0,1] 0.252842014264102 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99931063e-01 -9.62946525e-04 -1.17022563e-02 6.30259799e+00] [ 9.29873080e-04 9.99995559e-01 -2.83135754e-03 2.62203396e-01] [ 1.17049307e-02 2.82028074e-03 9.99927518e-01 1.18026660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99255784400003 meters Centerline goodness [0,1] 0.25724740890067266 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:1.18 [[ 9.99892759e-01 7.14787592e-03 -1.27819551e-02 6.28173171e+00] [-7.19674394e-03 9.99966954e-01 -3.78130327e-03 2.59327999e-01] [ 1.27545044e-02 3.87288622e-03 9.99911158e-01 1.17921561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02255784400006 meters Centerline goodness [0,1] 0.2569560589934621 Centerline is valid? [False, False] Translation: X:6.30, Y:0.27, Z:1.18 [[ 9.99907887e-01 2.01661185e-04 -1.35711964e-02 6.30073195e+00] [-2.41912368e-04 9.99995577e-01 -2.96435112e-03 2.66334730e-01] [ 1.35705386e-02 2.96736110e-03 9.99903513e-01 1.18070341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05255784400003 meters Centerline goodness [0,1] 0.2536942082603145 Centerline is valid? [False, False] Translation: X:6.30, Y:0.27, Z:1.18 [[ 9.99905086e-01 6.15133938e-05 -1.37773193e-02 6.30147199e+00] [-1.05571954e-04 9.99994883e-01 -3.19720066e-03 2.67055696e-01] [ 1.37770521e-02 3.19835171e-03 9.99899977e-01 1.18029472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08255784400006 meters Centerline goodness [0,1] 0.25418697865886686 Centerline is valid? [False, False] Translation: X:6.30, Y:0.27, Z:1.18 [[ 9.99902789e-01 4.85194837e-05 -1.39430856e-02 6.30173549e+00] [-9.14690681e-05 9.99995253e-01 -3.07972886e-03 2.66261170e-01] [ 1.39428699e-02 3.08070484e-03 9.99898048e-01 1.18053238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11255784400004 meters Centerline goodness [0,1] 0.2541089685518313 Centerline is valid? [False, False] Translation: X:6.30, Y:0.27, Z:1.18 [[ 9.99900690e-01 3.58178383e-05 -1.40928796e-02 6.30189920e+00] [-7.69691485e-05 9.99995735e-01 -2.91947567e-03 2.65315775e-01] [ 1.40927149e-02 2.92027045e-03 9.99896428e-01 1.18091401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14255784400007 meters Centerline goodness [0,1] 0.25337096949299753 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99899953e-01 3.37534335e-05 -1.41450956e-02 6.30183714e+00] [-7.21653935e-05 9.99996312e-01 -2.71506574e-03 2.64160113e-01] [ 1.41449518e-02 2.71581489e-03 9.99896267e-01 1.18125422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17255784400004 meters Centerline goodness [0,1] 0.2516290510507919 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99898317e-01 3.54700608e-05 -1.42602582e-02 6.30208592e+00] [-7.13124279e-05 9.99996840e-01 -2.51294384e-03 2.63036224e-01] [ 1.42601240e-02 2.51370525e-03 9.99895160e-01 1.18135634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20255784400007 meters Centerline goodness [0,1] 0.2537404050479205 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99898687e-01 3.58609608e-05 -1.42342516e-02 6.30186025e+00] [-6.85977002e-05 9.99997354e-01 -2.29937515e-03 2.61809347e-01] [ 1.42341315e-02 2.30011864e-03 9.99896044e-01 1.18166355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23255784400004 meters Centerline goodness [0,1] 0.2542564280750521 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99912840e-01 -4.19654987e-04 -1.31961002e-02 6.29880183e+00] [ 3.89209565e-04 9.99997257e-01 -2.30963643e-03 2.60352472e-01] [ 1.31970333e-02 2.30429907e-03 9.99910260e-01 1.18274914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26255784400007 meters Centerline goodness [0,1] 0.2493654549365455 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99914679e-01 -4.06883591e-04 -1.30563887e-02 6.29824205e+00] [ 3.79213925e-04 9.99997677e-01 -2.12164911e-03 2.59253171e-01] [ 1.30572216e-02 2.11651693e-03 9.99912511e-01 1.18311793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29255784400004 meters Centerline goodness [0,1] 0.249186895556465 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99914243e-01 -3.74791240e-04 -1.30906651e-02 6.29832019e+00] [ 3.49395819e-04 9.99998053e-01 -1.94219722e-03 2.58244110e-01] [ 1.30913676e-02 1.93745684e-03 9.99912427e-01 1.18314532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3225578440001 meters Centerline goodness [0,1] 0.24851216146282562 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99901901e-01 -5.27992703e-04 -1.39967713e-02 6.30114146e+00] [ 5.03209083e-04 9.99998300e-01 -1.77412963e-03 2.56408698e-01] [ 1.39976842e-02 1.76691229e-03 9.99900466e-01 1.18228433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35255784400005 meters Centerline goodness [0,1] 0.24926591242767082 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99897123e-01 -5.16907440e-04 -1.43344323e-02 6.30212823e+00] [ 4.93026059e-04 9.99998485e-01 -1.66949889e-03 2.55598389e-01] [ 1.43352736e-02 1.66225989e-03 9.99895863e-01 1.18207322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3825578440001 meters Centerline goodness [0,1] 0.2549423393739704 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99896172e-01 -4.84863685e-04 -1.44017697e-02 6.30213629e+00] [ 4.61360756e-04 9.99998557e-01 -1.63522484e-03 2.55513861e-01] [ 1.44025417e-02 1.62841065e-03 9.99894952e-01 1.18234008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41255784400005 meters Centerline goodness [0,1] 0.24754137166713297 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99898676e-01 -4.24572002e-04 -1.42287370e-02 6.30146250e+00] [ 4.00381043e-04 9.99998470e-01 -1.70295349e-03 2.56372369e-01] [ 1.42294382e-02 1.69708403e-03 9.99897316e-01 1.18269078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4425578440001 meters Centerline goodness [0,1] 0.2512494614390349 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99904705e-01 -2.72433533e-04 -1.38024217e-02 6.30008900e+00] [ 2.48521318e-04 9.99998465e-01 -1.73415079e-03 2.57418352e-01] [ 1.38028729e-02 1.73055534e-03 9.99903238e-01 1.18314045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47255784400005 meters Centerline goodness [0,1] 0.2528112926550258 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99909899e-01 -2.45820343e-04 -1.34213468e-02 6.29901647e+00] [ 2.20748610e-04 9.99998228e-01 -1.86949848e-03 2.58512776e-01] [ 1.34217826e-02 1.86636729e-03 9.99908182e-01 1.18331263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5025578440001 meters Centerline goodness [0,1] 0.2536564257897014 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99910331e-01 -3.20030324e-04 -1.33876203e-02 6.29930579e+00] [ 2.92734833e-04 9.99997875e-01 -2.04077047e-03 2.59067110e-01] [ 1.33882450e-02 2.03666846e-03 9.99908299e-01 1.18267354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53255784400005 meters Centerline goodness [0,1] 0.2536564257897014 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99910331e-01 -3.20030324e-04 -1.33876203e-02 6.29930579e+00] [ 2.92734833e-04 9.99997875e-01 -2.04077047e-03 2.59067110e-01] [ 1.33882450e-02 2.03666846e-03 9.99908299e-01 1.18267354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5625578440001 meters Centerline goodness [0,1] 0.25331832059415804 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99909687e-01 -2.79923805e-04 -1.34365190e-02 6.29951409e+00] [ 2.54357622e-04 9.99998154e-01 -1.90440981e-03 2.58328743e-01] [ 1.34370273e-02 1.90082013e-03 9.99907912e-01 1.18251252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59255784400005 meters Centerline goodness [0,1] 0.2552992383025027 Centerline is valid? [False, False] Translation: X:6.30, Y:0.26, Z:1.18 [[ 9.99910795e-01 -1.87279520e-04 -1.33553912e-02 6.29919087e+00] [ 1.65285403e-04 9.99998629e-01 -1.64791908e-03 2.57152720e-01] [ 1.33556815e-02 1.64556463e-03 9.99909455e-01 1.18267940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.622557844 meters Centerline goodness [0,1] 0.24631217838765007 Centerline is valid? [False, False] Translation: X:6.32, Y:0.26, Z:1.18 [[ 9.99887112e-01 -7.95830337e-03 -1.27447546e-02 6.31933810e+00] [ 7.95202459e-03 9.99968235e-01 -5.43255869e-04 2.60604449e-01] [ 1.27486732e-02 4.41847939e-04 9.99918635e-01 1.18410758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65255784400006 meters Centerline goodness [0,1] 0.25599040662814787 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99922236e-01 -3.22397140e-03 -1.20468871e-02 6.29840879e+00] [ 3.18226432e-03 9.99988883e-01 -3.47962983e-03 2.52912207e-01] [ 1.20579714e-02 3.44102286e-03 9.99921379e-01 1.18281609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68255784400003 meters Centerline goodness [0,1] 0.24771492627403635 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99917319e-01 -3.24875852e-03 -1.24419093e-02 6.29943062e+00] [ 3.20932673e-03 9.99989769e-01 -3.18792687e-03 2.51042571e-01] [ 1.24521388e-02 3.14773314e-03 9.99917515e-01 1.18274148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71255784400006 meters Centerline goodness [0,1] 0.2493839436254377 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99915188e-01 -3.13930724e-03 -1.26396985e-02 6.29990303e+00] [ 3.10372769e-03 9.99991169e-01 -2.83353786e-03 2.49391119e-01] [ 1.26484822e-02 2.79406736e-03 9.99916101e-01 1.18277799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74255784400003 meters Centerline goodness [0,1] 0.253679842760428 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99914471e-01 -3.02925172e-03 -1.27230148e-02 6.30007540e+00] [ 2.99696926e-03 9.99992243e-01 -2.55562814e-03 2.48229977e-01] [ 1.27306578e-02 2.51727907e-03 9.99915793e-01 1.18281293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77255784400006 meters Centerline goodness [0,1] 0.25305402521612264 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99914295e-01 -2.98407004e-03 -1.27474582e-02 6.30007849e+00] [ 2.95357269e-03 9.99992733e-01 -2.41058209e-03 2.47536577e-01] [ 1.27545589e-02 2.37272495e-03 9.99915842e-01 1.18290087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80255784400003 meters Centerline goodness [0,1] 0.2479390564979067 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99915146e-01 -2.95985295e-03 -1.26862428e-02 6.29971527e+00] [ 2.93098015e-03 9.99993074e-01 -2.29390312e-03 2.46798119e-01] [ 1.26929445e-02 2.25652535e-03 9.99916895e-01 1.18325747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83255784400006 meters Centerline goodness [0,1] 0.24705173452698637 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99919588e-01 -2.99662717e-03 -1.23222139e-02 6.29842474e+00] [ 2.97016639e-03 9.99993245e-01 -2.16514488e-03 2.45865845e-01] [ 1.23286188e-02 2.12837175e-03 9.99921735e-01 1.18383093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86255784400004 meters Centerline goodness [0,1] 0.24668714159919247 Centerline is valid? [False, False] Translation: X:6.30, Y:0.25, Z:1.18 [[ 9.99918980e-01 -2.96729936e-03 -1.23785766e-02 6.29867248e+00] [ 2.94210584e-03 9.99993565e-01 -2.05296526e-03 2.45376222e-01] [ 1.23845887e-02 2.01637985e-03 9.99921275e-01 1.18361187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89255784400007 meters Centerline goodness [0,1] 0.2505928681765768 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.18 [[ 9.99904800e-01 4.59020791e-03 -1.30123403e-02 6.27952367e+00] [-4.63050416e-03 9.99984572e-01 -3.06833705e-03 2.39549475e-01] [ 1.29980552e-02 3.12829864e-03 9.99910628e-01 1.18187117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92255784400004 meters Centerline goodness [0,1] 0.2502866538303442 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.18 [[ 9.99894173e-01 3.99101531e-03 -1.39898344e-02 6.28227960e+00] [-4.03688526e-03 9.99986564e-01 -3.25210167e-03 2.38318868e-01] [ 1.39766672e-02 3.30823287e-03 9.99896849e-01 1.18129704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95255784400007 meters Centerline goodness [0,1] 0.25271621034332903 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.18 [[ 9.99890256e-01 3.94402902e-03 -1.42801017e-02 6.28302944e+00] [-3.98857988e-03 9.99987263e-01 -3.09265048e-03 2.37067481e-01] [ 1.42677223e-02 3.14926841e-03 9.99893251e-01 1.18121520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98255784400004 meters Centerline goodness [0,1] 0.25551309084519414 Centerline is valid? [False, False] Translation: X:6.26, Y:0.24, Z:1.18 [[ 9.99873956e-01 -5.31230629e-03 -1.49616501e-02 6.26288672e+00] [ 5.28207789e-03 9.99983930e-01 -2.05918448e-03 2.39758311e-01] [ 1.49723487e-02 1.97989633e-03 9.99885948e-01 1.17993103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01255784400007 meters Centerline goodness [0,1] 0.24831139591271212 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.18 [[ 9.99905885e-01 1.70902812e-03 -1.36125124e-02 6.28429641e+00] [-1.76963591e-03 9.99988570e-01 -4.44155918e-03 2.37642674e-01] [ 1.36047661e-02 4.46523036e-03 9.99897481e-01 1.17944077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04255784400004 meters Centerline goodness [0,1] 0.2503303511470225 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.18 [[ 9.99907421e-01 1.69031591e-03 -1.35015740e-02 6.28396838e+00] [-1.75014018e-03 9.99988699e-01 -4.42032509e-03 2.37517730e-01] [ 1.34939496e-02 4.44354550e-03 9.99899079e-01 1.17950105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0725578440001 meters Centerline goodness [0,1] 0.24939855653568566 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.18 [[ 9.99908008e-01 1.59795244e-03 -1.34693280e-02 6.28421516e+00] [-1.65947669e-03 9.99988236e-01 -4.55779198e-03 2.38208437e-01] [ 1.34618864e-02 4.57972473e-03 9.99898897e-01 1.17892477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10255784400005 meters Centerline goodness [0,1] 0.24591046061127853 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.18 [[ 9.99907190e-01 1.50726140e-03 -1.35402889e-02 6.28449093e+00] [-1.57100525e-03 9.99987729e-01 -4.69831505e-03 2.38778230e-01] [ 1.35330411e-02 4.71915087e-03 9.99897288e-01 1.17874168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1325578440001 meters Centerline goodness [0,1] 0.2514964846215798 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.18 [[ 9.99905799e-01 1.42750346e-03 -1.36512224e-02 6.28479537e+00] [-1.49309258e-03 9.99987386e-01 -4.79564877e-03 2.38976002e-01] [ 1.36442044e-02 4.81557955e-03 9.99895317e-01 1.17868251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16255784400005 meters Centerline goodness [0,1] 0.2506774186555678 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.18 [[ 9.99903699e-01 1.33163207e-03 -1.38137385e-02 6.28523015e+00] [-1.39878783e-03 9.99987246e-01 -4.85299714e-03 2.38883144e-01] [ 1.38071000e-02 4.87185228e-03 9.99892809e-01 1.17861939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1925578440001 meters Centerline goodness [0,1] 0.2505975403068098 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.18 [[ 9.99902846e-01 1.10515376e-03 -1.38952065e-02 6.28543276e+00] [-1.17263304e-03 9.99987556e-01 -4.84909058e-03 2.38321041e-01] [ 1.38896746e-02 4.86491345e-03 9.99891699e-01 1.17850218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22255784400005 meters Centerline goodness [0,1] 0.2526318078997738 Centerline is valid? [False, False] Translation: X:6.28, Y:0.24, Z:1.18 [[ 9.99905910e-01 1.14387296e-03 -1.36697891e-02 6.28481015e+00] [-1.20794407e-03 9.99988320e-01 -4.67972254e-03 2.37636246e-01] [ 1.36642765e-02 4.69579456e-03 9.99895613e-01 1.17853425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2525578440001 meters Centerline goodness [0,1] 0.24745558047265825 Centerline is valid? [False, False] Translation: X:6.30, Y:0.24, Z:1.18 [[ 9.99899982e-01 -6.73878251e-03 -1.24344582e-02 6.30459477e+00] [ 6.69651248e-03 9.99971668e-01 -3.43793724e-03 2.40622010e-01] [ 1.24572734e-02 3.35432588e-03 9.99916779e-01 1.17993372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28255784400005 meters Centerline goodness [0,1] 0.24978232477144102 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.18 [[ 9.99941139e-01 3.65994896e-04 -1.08436584e-02 6.28521297e+00] [-4.13180677e-04 9.99990455e-01 -4.34954259e-03 2.35283603e-01] [ 1.08419630e-02 4.35376696e-03 9.99931746e-01 1.17725444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3125578440001 meters Centerline goodness [0,1] 0.25102871698852625 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.18 [[ 9.99938401e-01 2.31868455e-04 -1.10968862e-02 6.28607279e+00] [-2.79765956e-04 9.99990651e-01 -4.31494331e-03 2.34482850e-01] [ 1.10957820e-02 4.31778204e-03 9.99929118e-01 1.17683409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34255784400005 meters Centerline goodness [0,1] 0.25123913043478263 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.18 [[ 9.99936872e-01 2.40355971e-04 -1.12336098e-02 6.28661228e+00] [-2.88705284e-04 9.99990702e-01 -4.30256381e-03 2.34554368e-01] [ 1.12324712e-02 4.30553540e-03 9.99927644e-01 1.17647760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.372557844 meters Centerline goodness [0,1] 0.2518403634854409 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.18 [[ 9.99935169e-01 2.74147519e-04 -1.13834389e-02 6.28727410e+00] [-3.22475654e-04 9.99990943e-01 -4.24385920e-03 2.34469677e-01] [ 1.13821724e-02 4.24725494e-03 9.99926201e-01 1.17594103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40255784400006 meters Centerline goodness [0,1] 0.2506677669439076 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.18 [[ 9.99934390e-01 2.68349970e-04 -1.14518382e-02 6.28770447e+00] [-3.16940591e-04 9.99990955e-01 -4.24143730e-03 2.34417475e-01] [ 1.14505964e-02 4.24478857e-03 9.99925430e-01 1.17549765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43255784400003 meters Centerline goodness [0,1] 0.2511497133889845 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.18 [[ 9.99936162e-01 1.76784112e-04 -1.12978032e-02 6.28740298e+00] [-2.26835475e-04 9.99990166e-01 -4.42905754e-03 2.35025922e-01] [ 1.12969091e-02 4.43133754e-03 9.99926369e-01 1.17539913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46255784400006 meters Centerline goodness [0,1] 0.2630464674684069 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.18 [[ 9.99937083e-01 1.31048023e-04 -1.12166674e-02 6.28711430e+00] [-1.82542503e-04 9.99989449e-01 -4.58998881e-03 2.35904621e-01] [ 1.12159475e-02 4.59174754e-03 9.99926556e-01 1.17550875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49255784400003 meters Centerline goodness [0,1] 0.25257292690921007 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.18 [[ 9.99935960e-01 6.92198333e-05 -1.13168545e-02 6.28732351e+00] [-1.23928719e-04 9.99988310e-01 -4.83365393e-03 2.37278397e-01] [ 1.13163876e-02 4.83474686e-03 9.99924279e-01 1.17560649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52255784400006 meters Centerline goodness [0,1] 0.2532796040384573 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99931972e-01 -1.14366684e-04 -1.16635335e-02 6.28859869e+00] [ 5.08835360e-05 9.99985185e-01 -5.44302591e-03 2.40485205e-01] [ 1.16639832e-02 5.44206215e-03 9.99917164e-01 1.17494048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55255784400003 meters Centerline goodness [0,1] 0.25270291015153845 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99931302e-01 -2.46292163e-04 -1.17188009e-02 6.28878360e+00] [ 1.79023124e-04 9.99983504e-01 -5.74096913e-03 2.41749940e-01] [ 1.17200215e-02 5.73847680e-03 9.99914852e-01 1.17486681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58255784400006 meters Centerline goodness [0,1] 0.2526426137852712 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99931910e-01 -3.25397070e-04 -1.16648767e-02 6.28856005e+00] [ 2.56576667e-04 9.99982557e-01 -5.90080802e-03 2.42437772e-01] [ 1.16665933e-02 5.89741330e-03 9.99914552e-01 1.17498406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61255784400004 meters Centerline goodness [0,1] 0.24934559221200647 Centerline is valid? [False, False] Translation: X:6.31, Y:0.25, Z:1.18 [[ 9.99908444e-01 -8.17244640e-03 -1.07849092e-02 6.30820776e+00] [ 8.12076192e-03 9.99955374e-01 -4.82741886e-03 2.46239378e-01] [ 1.08238797e-02 4.73939520e-03 9.99930188e-01 1.17646347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64255784400007 meters Centerline goodness [0,1] 0.2535734580583119 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99962489e-01 -1.57909150e-03 -8.51623117e-03 6.28733581e+00] [ 1.52885685e-03 9.99981414e-01 -5.90198346e-03 2.40675905e-01] [ 8.52539266e-03 5.88874198e-03 9.99946319e-01 1.17441969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67255784400004 meters Centerline goodness [0,1] 0.2526827996698092 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99962406e-01 -1.67527030e-03 -8.50764800e-03 6.28702351e+00] [ 1.62603592e-03 9.99981912e-01 -5.79069663e-03 2.39503894e-01] [ 8.51719509e-03 5.77664520e-03 9.99947042e-01 1.17484020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70255784400007 meters Centerline goodness [0,1] 0.25306095580813626 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99961827e-01 -1.71476756e-03 -8.56760904e-03 6.28707745e+00] [ 1.66678021e-03 9.99982903e-01 -5.60502339e-03 2.38195832e-01] [ 8.57707387e-03 5.59052910e-03 9.99947589e-01 1.17489160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73255784400004 meters Centerline goodness [0,1] 0.2521784593935169 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99958568e-01 -1.72366688e-03 -8.93820672e-03 6.28811647e+00] [ 1.67567194e-03 9.99984154e-01 -5.37435026e-03 2.36917428e-01] [ 8.94732868e-03 5.35915008e-03 9.99945611e-01 1.17453117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76255784400007 meters Centerline goodness [0,1] 0.25134005732163567 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99957072e-01 -1.65704936e-03 -9.11639369e-03 6.28883730e+00] [ 1.61044205e-03 9.99985609e-01 -5.11743948e-03 2.35733605e-01] [ 9.12474235e-03 5.10253837e-03 9.99945350e-01 1.17397233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79255784400004 meters Centerline goodness [0,1] 0.25085513845617546 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.17 [[ 9.99956329e-01 -1.59665259e-03 -9.20822223e-03 6.28919435e+00] [ 1.55219239e-03 9.99987114e-01 -4.83344299e-03 2.34195209e-01] [ 9.21582090e-03 4.81893898e-03 9.99945922e-01 1.17369847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8225578440001 meters Centerline goodness [0,1] 0.2540070453544694 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.17 [[ 9.99961218e-01 -1.71801844e-03 -8.63779765e-03 6.28737730e+00] [ 1.67839028e-03 9.99988044e-01 -4.59292035e-03 2.31844761e-01] [ 8.64558510e-03 4.57824463e-03 9.99952146e-01 1.17438109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85255784400005 meters Centerline goodness [0,1] 0.2482529623681583 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.18 [[ 9.99932176e-01 -9.45135928e-03 -6.80546301e-03 6.30679201e+00] [ 9.42889102e-03 9.99950015e-01 -3.32605522e-03 2.33944971e-01] [ 6.83655859e-03 3.26166167e-03 9.99971311e-01 1.17582641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8825578440001 meters Centerline goodness [0,1] 0.24593522232285336 Centerline is valid? [False, False] Translation: X:6.31, Y:0.23, Z:1.18 [[ 9.99933718e-01 -9.35250948e-03 -6.71487576e-03 6.30644757e+00] [ 9.33148940e-03 9.99951484e-01 -3.15491259e-03 2.33474490e-01] [ 6.74405633e-03 3.09204369e-03 9.99972478e-01 1.17598610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91255784400005 meters Centerline goodness [0,1] 0.253022376577131 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.17 [[ 9.99958367e-01 -1.58252764e-03 -8.98663059e-03 6.28753109e+00] [ 1.54426762e-03 9.99989722e-01 -4.26278164e-03 2.29547925e-01] [ 8.99328420e-03 4.24872640e-03 9.99950533e-01 1.17387141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9425578440001 meters Centerline goodness [0,1] 0.2514239574013051 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.17 [[ 9.99956899e-01 -1.59977901e-03 -9.14554726e-03 6.28812607e+00] [ 1.56066125e-03 9.99989611e-01 -4.28278449e-03 2.29501480e-01] [ 9.15230375e-03 4.26832680e-03 9.99949007e-01 1.17352316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97255784400005 meters Centerline goodness [0,1] 0.2468834395592524 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.17 [[ 9.99957243e-01 -1.61709361e-03 -9.10480304e-03 6.28799703e+00] [ 1.57750559e-03 9.99989279e-01 -4.35354092e-03 2.29866394e-01] [ 9.11174551e-03 4.33899189e-03 9.99949073e-01 1.17357966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0025578440001 meters Centerline goodness [0,1] 0.2510346329775648 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.17 [[ 9.99958216e-01 -1.61043320e-03 -8.99849136e-03 6.28759489e+00] [ 1.57004022e-03 9.99988669e-01 -4.49412413e-03 2.30926699e-01] [ 9.00562689e-03 4.47980835e-03 9.99949414e-01 1.17383906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03255784400005 meters Centerline goodness [0,1] 0.2508867189210492 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.17 [[ 9.99958665e-01 -1.60219789e-03 -8.94989484e-03 6.28739694e+00] [ 1.56042281e-03 9.99987865e-01 -4.67269536e-03 2.32300225e-01] [ 8.95727282e-03 4.65853660e-03 9.99949031e-01 1.17398914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0625578440001 meters Centerline goodness [0,1] 0.24921101552029745 Centerline is valid? [False, False] Translation: X:6.31, Y:0.24, Z:1.18 [[ 9.99917556e-01 -8.81176199e-03 -9.33987796e-03 6.30691066e+00] [ 8.77833813e-03 9.99954940e-01 -3.61359299e-03 2.37436626e-01] [ 9.37129923e-03 3.53130647e-03 9.99949853e-01 1.17577014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09255784400005 meters Centerline goodness [0,1] 0.2475903744937079 Centerline is valid? [False, False] Translation: X:6.31, Y:0.24, Z:1.18 [[ 9.99915104e-01 -8.97370868e-03 -9.44761765e-03 6.30733178e+00] [ 8.93712248e-03 9.99952428e-01 -3.90765498e-03 2.38370139e-01] [ 9.48223437e-03 3.82288872e-03 9.99947735e-01 1.17549273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.122557844 meters Centerline goodness [0,1] 0.24489443087761764 Centerline is valid? [False, False] Translation: X:6.31, Y:0.24, Z:1.18 [[ 9.99914657e-01 -8.99969639e-03 -9.47016088e-03 6.30740331e+00] [ 8.96280652e-03 9.99952108e-01 -3.93063689e-03 2.38363052e-01] [ 9.50508188e-03 3.84542222e-03 9.99947432e-01 1.17546384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15255784400006 meters Centerline goodness [0,1] 0.2514122445418657 Centerline is valid? [False, False] Translation: X:6.29, Y:0.23, Z:1.17 [[ 9.99957964e-01 -9.58073744e-04 -9.11879940e-03 6.28701257e+00] [ 9.15238968e-04 9.99988534e-01 -4.70042844e-03 2.34891365e-01] [ 9.12319820e-03 4.69188497e-03 9.99947375e-01 1.17360997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18255784400003 meters Centerline goodness [0,1] 0.24541165267076448 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99956521e-01 -1.07972944e-03 -9.26228403e-03 6.28758731e+00] [ 1.03253551e-03 9.99986469e-01 -5.09855014e-03 2.37116332e-01] [ 9.26766376e-03 5.08876482e-03 9.99944106e-01 1.17325117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21255784400006 meters Centerline goodness [0,1] 0.24851851851851847 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99955797e-01 -1.19679191e-03 -9.32583936e-03 6.28781573e+00] [ 1.14618045e-03 9.99984598e-01 -5.43046962e-03 2.38768464e-01] [ 9.33219487e-03 5.41954049e-03 9.99941768e-01 1.17317138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24255784400003 meters Centerline goodness [0,1] 0.25046104445553363 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99955366e-01 -1.30302041e-03 -9.35777456e-03 6.28785473e+00] [ 1.24904248e-03 9.99982563e-01 -5.77177354e-03 2.40540251e-01] [ 9.36513213e-03 5.75982767e-03 9.99939558e-01 1.17322630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27255784400006 meters Centerline goodness [0,1] 0.2530834604488995 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99955632e-01 -1.43303849e-03 -9.31018914e-03 6.28766773e+00] [ 1.37606400e-03 9.99980307e-01 -6.12311094e-03 2.42360341e-01] [ 9.31878045e-03 6.11002785e-03 9.99937912e-01 1.17335333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30255784400003 meters Centerline goodness [0,1] 0.24669670320149029 Centerline is valid? [False, False] Translation: X:6.29, Y:0.24, Z:1.17 [[ 9.99955828e-01 -1.55850519e-03 -9.26894849e-03 6.28767115e+00] [ 1.49891286e-03 9.99978186e-01 -6.43271932e-03 2.43925136e-01] [ 9.27877173e-03 6.41854183e-03 9.99936351e-01 1.17318548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33255784400006 meters Centerline goodness [0,1] 0.2632656205295244 Centerline is valid? [False, False] Translation: X:6.24, Y:0.25, Z:1.17 [[ 9.99920713e-01 -3.69241696e-03 -1.20388691e-02 6.24413481e+00] [ 3.60171522e-03 9.99965034e-01 -7.54707129e-03 2.48377346e-01] [ 1.20663151e-02 7.50311232e-03 9.99899049e-01 1.17262601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36255784400004 meters Centerline goodness [0,1] 0.24729374218311984 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99941400e-01 -3.53963749e-03 -1.02307141e-02 6.28851643e+00] [ 3.45876323e-03 9.99962718e-01 -7.91195711e-03 2.47740931e-01] [ 1.02583381e-02 7.87610785e-03 9.99916363e-01 1.17213764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39255784400007 meters Centerline goodness [0,1] 0.2475710218010303 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99940765e-01 -3.58946302e-03 -1.02753044e-02 6.28874954e+00] [ 3.50736166e-03 9.99961872e-01 -7.99706300e-03 2.48403589e-01] [ 1.03036178e-02 7.96055009e-03 9.99915229e-01 1.17183500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42255784400004 meters Centerline goodness [0,1] 0.2513292389157751 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99939556e-01 -3.64062054e-03 -1.03745321e-02 6.28926610e+00] [ 3.55672563e-03 9.99960921e-01 -8.09362941e-03 2.49184723e-01] [ 1.04035925e-02 8.05624083e-03 9.99913427e-01 1.17132733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45255784400007 meters Centerline goodness [0,1] 0.2513292389157751 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99939556e-01 -3.64062054e-03 -1.03745321e-02 6.28926610e+00] [ 3.55672563e-03 9.99960921e-01 -8.09362941e-03 2.49184723e-01] [ 1.04035925e-02 8.05624083e-03 9.99913427e-01 1.17132733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48255784400004 meters Centerline goodness [0,1] 0.24637243047158408 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99937733e-01 -3.74449267e-03 -1.05122936e-02 6.28977587e+00] [ 3.65853184e-03 9.99959814e-01 -8.18452708e-03 2.49558475e-01] [ 1.05425180e-02 8.14555790e-03 9.99911249e-01 1.17098870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51255784400007 meters Centerline goodness [0,1] 0.2441109340683002 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99936113e-01 -4.31422582e-03 -1.04478802e-02 6.28951289e+00] [ 4.22516177e-03 9.99954678e-01 -8.53172601e-03 2.49854030e-01] [ 1.04842145e-02 8.48703695e-03 9.99909022e-01 1.17104236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54255784400004 meters Centerline goodness [0,1] 0.24965132496513254 Centerline is valid? [False, False] Translation: X:6.27, Y:0.25, Z:1.17 [[ 9.99939134e-01 3.52539650e-03 -1.04547023e-02 6.26871291e+00] [-3.62500547e-03 9.99948074e-01 -9.52407708e-03 2.46193861e-01] [ 1.04205833e-02 9.56139573e-03 9.99899991e-01 1.16957332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5725578440001 meters Centerline goodness [0,1] 0.2447522274717926 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99934263e-01 -4.38872405e-03 -1.05929115e-02 6.28933045e+00] [ 4.29902017e-03 9.99954835e-01 -8.47625932e-03 2.48929066e-01] [ 1.06296331e-02 8.43016297e-03 9.99907967e-01 1.17098608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60255784400005 meters Centerline goodness [0,1] 0.25039249890972526 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99943778e-01 -1.43813220e-03 -1.05058343e-02 6.28957044e+00] [ 1.38095294e-03 9.99984207e-01 -5.44784795e-03 2.50006431e-01] [ 1.05135031e-02 5.43303360e-03 9.99929972e-01 1.17034859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6325578440001 meters Centerline goodness [0,1] 0.24934326219578384 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99943596e-01 -1.52457847e-03 -1.05109545e-02 6.28962490e+00] [ 1.46446042e-03 9.99982540e-01 -5.72488809e-03 2.51365217e-01] [ 1.05194991e-02 5.70917231e-03 9.99928370e-01 1.17034138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66255784400005 meters Centerline goodness [0,1] 0.2475847494177521 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99943357e-01 -1.60144673e-03 -1.05223167e-02 6.28944712e+00] [ 1.53838850e-03 9.99980827e-01 -5.99817161e-03 2.52689174e-01] [ 1.05317207e-02 5.98164444e-03 9.99926649e-01 1.17077350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6925578440001 meters Centerline goodness [0,1] 0.2498698933125163 Centerline is valid? [False, False] Translation: X:6.29, Y:0.25, Z:1.17 [[ 9.99944322e-01 -1.68344120e-03 -1.04172135e-02 6.28893826e+00] [ 1.61745024e-03 9.99978594e-01 -6.33998463e-03 2.54417796e-01] [ 1.04276635e-02 6.32278231e-03 9.99925640e-01 1.17126030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72255784400005 meters Centerline goodness [0,1] 0.24500754798361013 Centerline is valid? [False, False] Translation: X:6.29, Y:0.26, Z:1.17 [[ 9.99946093e-01 -1.64509510e-03 -1.02520982e-02 6.28832014e+00] [ 1.57709778e-03 9.99976731e-01 -6.63708587e-03 2.56439506e-01] [ 1.02627783e-02 6.62055952e-03 9.99925419e-01 1.17175095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7525578440001 meters Centerline goodness [0,1] 0.247082677250275 Centerline is valid? [False, False] Translation: X:6.29, Y:0.26, Z:1.17 [[ 9.99946226e-01 2.13658884e-03 -1.01479360e-02 6.28803799e+00] [-2.17044367e-03 9.99992112e-01 -3.32628865e-03 2.59153761e-01] [ 1.01407490e-02 3.34813530e-03 9.99942976e-01 1.17192011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78255784400005 meters Centerline goodness [0,1] 0.24528179937952432 Centerline is valid? [False, False] Translation: X:6.29, Y:0.26, Z:1.17 [[ 9.99945830e-01 2.01260313e-03 -1.02120610e-02 6.28837741e+00] [-2.05157257e-03 9.99990649e-01 -3.80698070e-03 2.61554579e-01] [ 1.02043036e-02 3.82772526e-03 9.99940609e-01 1.17168466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8125578440001 meters Centerline goodness [0,1] 0.25050369375419745 Centerline is valid? [False, False] Translation: X:6.29, Y:0.26, Z:1.17 [[ 9.99945184e-01 1.88045993e-03 -1.03001012e-02 6.28866995e+00] [-1.92393602e-03 9.99989276e-01 -4.21265701e-03 2.63518445e-01] [ 1.02920690e-02 4.23224282e-03 9.99938079e-01 1.17161942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84255784400005 meters Centerline goodness [0,1] 0.25306400862543177 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99924900e-01 -4.55997822e-03 -1.13754286e-02 6.26602519e+00] [ 4.54411936e-03 9.99988668e-01 -1.41959026e-03 2.68653462e-01] [ 1.13817730e-02 1.36779235e-03 9.99934290e-01 1.17242231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.872557844 meters Centerline goodness [0,1] 0.2515979842492201 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99923855e-01 -4.62028894e-03 -1.14427907e-02 6.26631144e+00] [ 4.60135722e-03 9.99988002e-01 -1.68024227e-03 2.70257577e-01] [ 1.14504166e-02 1.62746196e-03 9.99933117e-01 1.17221298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90255784400006 meters Centerline goodness [0,1] 0.25240102559645383 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99921331e-01 -4.80900817e-03 -1.15846976e-02 6.26683496e+00] [ 4.78595384e-03 9.99986513e-01 -2.01696948e-03 2.71622508e-01] [ 1.15942409e-02 1.96136698e-03 9.99930861e-01 1.17192093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93255784400003 meters Centerline goodness [0,1] 0.24818103074924214 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99919768e-01 -4.91320257e-03 -1.16755375e-02 6.26725328e+00] [ 4.88926475e-03 9.99985889e-01 -2.07791403e-03 2.71529785e-01] [ 1.16855819e-02 2.02066252e-03 9.99929680e-01 1.17152528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96255784400006 meters Centerline goodness [0,1] 0.24768503529107044 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99919480e-01 -4.93646252e-03 -1.16903567e-02 6.26744598e+00] [ 4.91304493e-03 9.99985868e-01 -2.03102684e-03 2.71212385e-01] [ 1.17002176e-02 1.97342806e-03 9.99929603e-01 1.17118471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99255784400003 meters Centerline goodness [0,1] 0.25063866023275616 Centerline is valid? [False, False] Translation: X:6.25, Y:0.27, Z:1.17 [[ 9.99943692e-01 2.71701461e-03 -1.02582358e-02 6.24742676e+00] [-2.74581759e-03 9.99992325e-01 -2.79475225e-03 2.67695316e-01] [ 1.02505637e-02 2.82276213e-03 9.99943477e-01 1.16894603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02255784400006 meters Centerline goodness [0,1] 0.2514851485148515 Centerline is valid? [False, False] Translation: X:6.25, Y:0.27, Z:1.17 [[ 9.99946201e-01 2.69364762e-03 -1.00169738e-02 6.24683450e+00] [-2.72100757e-03 9.99992602e-01 -2.71873380e-03 2.67450966e-01] [ 1.00095764e-02 2.74584380e-03 9.99946133e-01 1.16889131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05255784400003 meters Centerline goodness [0,1] 0.24904462724269705 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99934734e-01 -5.89221248e-03 -9.78821520e-03 6.26789162e+00] [ 5.87553081e-03 9.99981239e-01 -1.73214407e-03 2.69582682e-01] [ 9.79823772e-03 1.67452006e-03 9.99950594e-01 1.17001460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08255784400006 meters Centerline goodness [0,1] 0.255231869433598 Centerline is valid? [False, False] Translation: X:6.25, Y:0.27, Z:1.17 [[ 9.99942082e-01 2.12968951e-03 -1.05496998e-02 6.24765932e+00] [-2.15903560e-03 9.99993830e-01 -2.77109146e-03 2.66142667e-01] [ 1.05437331e-02 2.79370814e-03 9.99940511e-01 1.16835869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11255784400004 meters Centerline goodness [0,1] 0.24914003850896738 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99925363e-01 -6.14100232e-03 -1.05620321e-02 6.26917759e+00] [ 6.12037738e-03 9.99979302e-01 -1.98396013e-03 2.68237915e-01] [ 1.05739970e-02 1.91916843e-03 9.99942252e-01 1.16915903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14255784400007 meters Centerline goodness [0,1] 0.2480633574241572 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99925049e-01 -6.13206099e-03 -1.05969391e-02 6.26953116e+00] [ 6.11244280e-03 9.99979547e-01 -1.88270509e-03 2.67688103e-01] [ 1.06082672e-02 1.81779079e-03 9.99942078e-01 1.16864666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17255784400004 meters Centerline goodness [0,1] 0.25110888850234825 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99923108e-01 -6.16886510e-03 -1.07574900e-02 6.27008722e+00] [ 6.15054330e-03 9.99979579e-01 -1.73541977e-03 2.66711580e-01] [ 1.07679759e-02 1.66912192e-03 9.99940631e-01 1.16826972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20255784400007 meters Centerline goodness [0,1] 0.24742779491382838 Centerline is valid? [False, False] Translation: X:6.27, Y:0.27, Z:1.17 [[ 9.99921676e-01 -6.17995791e-03 -1.08835097e-02 6.27034080e+00] [ 6.16247958e-03 9.99979669e-01 -1.63875052e-03 2.66004799e-01] [ 1.08934158e-02 1.57155276e-03 9.99939430e-01 1.16830642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23255784400004 meters Centerline goodness [0,1] 0.25173527742611423 Centerline is valid? [False, False] Translation: X:6.25, Y:0.26, Z:1.17 [[ 9.99938257e-01 2.00804023e-03 -1.09293099e-02 6.24954325e+00] [-2.03638631e-03 9.99994590e-01 -2.58307351e-03 2.62467595e-01] [ 1.09240638e-02 2.60517032e-03 9.99936937e-01 1.16676989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26255784400007 meters Centerline goodness [0,1] 0.24977818173948796 Centerline is valid? [False, False] Translation: X:6.25, Y:0.26, Z:1.17 [[ 9.99937858e-01 1.96365496e-03 -1.09737885e-02 6.24959158e+00] [-1.99346588e-03 9.99994351e-01 -2.70627879e-03 2.62996819e-01] [ 1.09684123e-02 2.72798649e-03 9.99936124e-01 1.16687023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29255784400004 meters Centerline goodness [0,1] 0.25216615143466714 Centerline is valid? [False, False] Translation: X:6.25, Y:0.27, Z:1.17 [[ 9.99942953e-01 2.05087688e-03 -1.04825662e-02 6.24820951e+00] [-2.08323495e-03 9.99993097e-01 -3.07685987e-03 2.65829497e-01] [ 1.04761836e-02 3.09852199e-03 9.99940323e-01 1.16730647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3225578440001 meters Centerline goodness [0,1] 0.2513333044270043 Centerline is valid? [False, False] Translation: X:6.25, Y:0.27, Z:1.17 [[ 9.99944297e-01 2.00338119e-03 -1.03628974e-02 6.24792296e+00] [-2.03949789e-03 9.99991880e-01 -3.47580092e-03 2.68210343e-01] [ 1.03558499e-02 3.49674241e-03 9.99940263e-01 1.16742079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35255784400005 meters Centerline goodness [0,1] 0.2508868528150776 Centerline is valid? [False, False] Translation: X:6.25, Y:0.27, Z:1.17 [[ 9.99944662e-01 1.86642324e-03 -1.03532307e-02 6.24781775e+00] [-1.90741549e-03 9.99990376e-01 -3.95090806e-03 2.70648353e-01] [ 1.03457570e-02 3.97043734e-03 9.99938599e-01 1.16765420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3825578440001 meters Centerline goodness [0,1] 0.25218690455569026 Centerline is valid? [False, False] Translation: X:6.25, Y:0.27, Z:1.17 [[ 9.99945188e-01 1.66653819e-03 -1.03365478e-02 6.24775202e+00] [-1.71325219e-03 9.99988353e-01 -4.51209733e-03 2.73230977e-01] [ 1.03289078e-02 4.52955912e-03 9.99936396e-01 1.16782051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41255784400005 meters Centerline goodness [0,1] 0.2531076896235879 Centerline is valid? [False, False] Translation: X:6.25, Y:0.28, Z:1.17 [[ 9.99946409e-01 1.43405415e-03 -1.02529709e-02 6.24739463e+00] [-1.48668224e-03 9.99985751e-01 -5.12718232e-03 2.76004203e-01] [ 1.02454721e-02 5.14215045e-03 9.99934292e-01 1.16818021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4425578440001 meters Centerline goodness [0,1] 0.24951753149597766 Centerline is valid? [False, False] Translation: X:6.25, Y:0.28, Z:1.17 [[ 9.99947913e-01 1.18392026e-03 -1.01375300e-02 6.24711933e+00] [-1.24262613e-03 9.99982485e-01 -5.78660530e-03 2.79112090e-01] [ 1.01305016e-02 5.79890105e-03 9.99931871e-01 1.16822935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47255784400005 meters Centerline goodness [0,1] 0.25500559222789976 Centerline is valid? [False, False] Translation: X:6.23, Y:0.29, Z:1.17 [[ 9.99936964e-01 -4.70466659e-03 -1.01948453e-02 6.22604924e+00] [ 4.67719669e-03 9.99985372e-01 -2.71665858e-03 2.88741077e-01] [ 1.02074771e-02 2.66880403e-03 9.99944341e-01 1.16711248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5025578440001 meters Centerline goodness [0,1] 0.2534615468480844 Centerline is valid? [False, False] Translation: X:6.23, Y:0.29, Z:1.17 [[ 9.99935118e-01 -4.88175019e-03 -1.02921784e-02 6.22663259e+00] [ 4.84974800e-03 9.99983335e-01 -3.13203801e-03 2.90807350e-01] [ 1.03072967e-02 3.08192032e-03 9.99942129e-01 1.16652485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53255784400005 meters Centerline goodness [0,1] 0.2533419997833387 Centerline is valid? [False, False] Translation: X:6.23, Y:0.29, Z:1.17 [[ 9.99932181e-01 -5.28418803e-03 -1.03783609e-02 6.22729943e+00] [ 5.24406468e-03 9.99978686e-01 -3.88947484e-03 2.94217112e-01] [ 1.03986924e-02 3.83478627e-03 9.99938579e-01 1.16575936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5625578440001 meters Centerline goodness [0,1] 0.25111933034845235 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99932487e-01 -5.45768955e-03 -1.02584388e-02 6.22703054e+00] [ 5.41427044e-03 9.99976288e-01 -4.25554323e-03 2.96001404e-01] [ 1.02814210e-02 4.19971396e-03 9.99938325e-01 1.16568853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59255784400005 meters Centerline goodness [0,1] 0.24878321919283286 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99934358e-01 -5.59308532e-03 -9.99982799e-03 6.22633728e+00] [ 5.54802382e-03 9.99974357e-01 -4.52830359e-03 2.97338828e-01] [ 1.00248988e-02 4.47252706e-03 9.99939747e-01 1.16573298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.622557844 meters Centerline goodness [0,1] 0.25571680337677594 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:1.16 [[ 9.99958125e-01 1.94873773e-03 -8.94150069e-03 6.20673196e+00] [-2.00214683e-03 9.99980186e-01 -5.96811110e-03 2.96045711e-01] [ 8.92969324e-03 5.98576338e-03 9.99942214e-01 1.16325368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65255784400006 meters Centerline goodness [0,1] 0.25253925284244716 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:1.16 [[ 9.99959048e-01 1.83738531e-03 -8.86149470e-03 6.20676751e+00] [-1.89148655e-03 9.99979602e-01 -6.10069307e-03 2.96633879e-01] [ 8.85010462e-03 6.11720463e-03 9.99942126e-01 1.16280138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68255784400003 meters Centerline goodness [0,1] 0.2530902815230288 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:1.16 [[ 9.99955953e-01 1.63683571e-03 -9.24195719e-03 6.20836812e+00] [-1.69592528e-03 9.99978149e-01 -6.38940814e-03 2.98410663e-01] [ 9.23129684e-03 6.40480037e-03 9.99936879e-01 1.16171000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71255784400006 meters Centerline goodness [0,1] 0.25712274217323394 Centerline is valid? [False, False] Translation: X:6.17, Y:0.30, Z:1.16 [[ 9.99917494e-01 1.69150605e-03 -1.27335676e-02 6.16551996e+00] [-1.77179056e-03 9.99978608e-01 -6.29631112e-03 3.04152860e-01] [ 1.27226449e-02 6.31835285e-03 9.99899101e-01 1.16163155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74255784400003 meters Centerline goodness [0,1] 0.2540874752356693 Centerline is valid? [False, False] Translation: X:6.19, Y:0.31, Z:1.16 [[ 9.99883745e-01 -6.36604137e-03 -1.38553102e-02 6.18711952e+00] [ 6.28911006e-03 9.99964605e-01 -5.58898465e-03 3.08219855e-01] [ 1.38903995e-02 5.50119733e-03 9.99888391e-01 1.16296910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77255784400006 meters Centerline goodness [0,1] 0.2550024081614781 Centerline is valid? [False, False] Translation: X:6.19, Y:0.31, Z:1.16 [[ 9.99880147e-01 -6.47371049e-03 -1.40635258e-02 6.18791832e+00] [ 6.39181673e-03 9.99962400e-01 -5.86029621e-03 3.09578641e-01] [ 1.41009349e-02 5.76970236e-03 9.99883930e-01 1.16252146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80255784400003 meters Centerline goodness [0,1] 0.2513638635919059 Centerline is valid? [False, False] Translation: X:6.19, Y:0.31, Z:1.16 [[ 9.99876385e-01 -6.55809933e-03 -1.42900764e-02 6.18870019e+00] [ 6.47083073e-03 9.99960185e-01 -6.14464026e-03 3.11169951e-01] [ 1.43298046e-02 6.05141203e-03 9.99879011e-01 1.16218916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83255784400006 meters Centerline goodness [0,1] 0.2513286622269464 Centerline is valid? [False, False] Translation: X:6.19, Y:0.31, Z:1.16 [[ 9.99898724e-01 -2.82263145e-03 -1.39489906e-02 6.18790076e+00] [ 2.78740080e-03 9.99992878e-01 -2.54447392e-03 3.12426876e-01] [ 1.39560734e-02 2.50533480e-03 9.99899471e-01 1.16203714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86255784400004 meters Centerline goodness [0,1] 0.2540471333709474 Centerline is valid? [False, False] Translation: X:6.19, Y:0.31, Z:1.16 [[ 9.99899256e-01 -2.93252610e-03 -1.38880903e-02 6.18754789e+00] [ 2.89316906e-03 9.99991745e-01 -2.85311322e-03 3.13882775e-01] [ 1.38963425e-02 2.81264519e-03 9.99899485e-01 1.16240955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89255784400007 meters Centerline goodness [0,1] 0.2553567532184159 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99898737e-01 -3.05882015e-03 -1.38981978e-02 6.18751475e+00] [ 3.01544753e-03 9.99990522e-01 -3.14062151e-03 3.15058330e-01] [ 1.39076727e-02 3.09839419e-03 9.99898483e-01 1.16253243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92255784400004 meters Centerline goodness [0,1] 0.25396790885767706 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99897004e-01 -3.13926426e-03 -1.40045358e-02 6.18771404e+00] [ 3.09202105e-03 9.99989461e-01 -3.39379960e-03 3.16288516e-01] [ 1.40150422e-02 3.35014774e-03 9.99896172e-01 1.16267375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95255784400007 meters Centerline goodness [0,1] 0.25487419671059797 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99896195e-01 -3.17084873e-03 -1.40550812e-02 6.18785064e+00] [ 3.11973120e-03 9.99988445e-01 -3.65737761e-03 3.18120766e-01] [ 1.40665158e-02 3.61314988e-03 9.99894534e-01 1.16272828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98255784400004 meters Centerline goodness [0,1] 0.2533212168419231 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99896857e-01 -3.19185335e-03 -1.40031199e-02 6.18769901e+00] [ 3.13959258e-03 9.99988031e-01 -3.75247716e-03 3.18671271e-01] [ 1.40149297e-02 3.70812603e-03 9.99894910e-01 1.16279243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01255784400007 meters Centerline goodness [0,1] 0.2555916817596613 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99898775e-01 -3.23541258e-03 -1.38553885e-02 6.18731069e+00] [ 3.18225158e-03 9.99987498e-01 -3.85717593e-03 3.19079035e-01] [ 1.38676949e-02 3.81269416e-03 9.99896570e-01 1.16285568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04255784400004 meters Centerline goodness [0,1] 0.25262839094881673 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99900318e-01 -3.29672408e-03 -1.37290381e-02 6.18689300e+00] [ 3.24183511e-03 9.99986672e-01 -4.01835793e-03 3.19705648e-01] [ 1.37421026e-02 3.97345009e-03 9.99897678e-01 1.16305061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0725578440001 meters Centerline goodness [0,1] 0.25525473198144233 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99900550e-01 -3.34453572e-03 -1.37004960e-02 6.18666870e+00] [ 3.28760313e-03 9.99985877e-01 -4.17592989e-03 3.20567056e-01] [ 1.37142691e-02 4.13047280e-03 9.99897424e-01 1.16330232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10255784400005 meters Centerline goodness [0,1] 0.25576081989686006 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99897306e-01 -3.40538140e-03 -1.39205178e-02 6.18693218e+00] [ 3.34227042e-03 9.99984043e-01 -4.55441952e-03 3.22885364e-01] [ 1.39358052e-02 4.50742568e-03 9.99892732e-01 1.16384155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1325578440001 meters Centerline goodness [0,1] 0.2503233316088981 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99896609e-01 -3.48308448e-03 -1.39513516e-02 6.18688753e+00] [ 3.41718226e-03 9.99982905e-01 -4.74477189e-03 3.23704989e-01] [ 1.39676395e-02 4.69660701e-03 9.99891418e-01 1.16406930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16255784400005 meters Centerline goodness [0,1] 0.2540142826228089 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99898490e-01 -3.52920345e-03 -1.38041450e-02 6.18632835e+00] [ 3.46246297e-03 9.99982216e-01 -4.85572938e-03 3.24106928e-01] [ 1.38210363e-02 4.80744013e-03 9.99892928e-01 1.16437187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1925578440001 meters Centerline goodness [0,1] 0.25764096738251807 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99902026e-01 -3.55712320e-03 -1.35383045e-02 6.18558341e+00] [ 3.49112411e-03 9.99981923e-01 -4.89550433e-03 3.24199495e-01] [ 1.35554737e-02 4.84776079e-03 9.99896369e-01 1.16448969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22255784400005 meters Centerline goodness [0,1] 0.25518393197987155 Centerline is valid? [False, False] Translation: X:6.18, Y:0.32, Z:1.16 [[ 9.99906078e-01 -3.57537316e-03 -1.32307030e-02 6.18466770e+00] [ 3.51110514e-03 9.99981941e-01 -4.87753500e-03 3.23984196e-01] [ 1.32479031e-02 4.83062250e-03 9.99900574e-01 1.16467876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2525578440001 meters Centerline goodness [0,1] 0.2543068088597211 Centerline is valid? [False, False] Translation: X:6.18, Y:0.32, Z:1.16 [[ 9.99910629e-01 -3.56216248e-03 -1.28858719e-02 6.18388133e+00] [ 3.50136167e-03 9.99982646e-01 -4.73789583e-03 3.23152299e-01] [ 1.29025255e-02 4.69235430e-03 9.99905749e-01 1.16448079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28255784400005 meters Centerline goodness [0,1] 0.25585784951835455 Centerline is valid? [False, False] Translation: X:6.18, Y:0.32, Z:1.16 [[ 9.99907840e-01 -3.52068496e-03 -1.31116527e-02 6.18471124e+00] [ 3.46101099e-03 9.99983563e-01 -4.57112931e-03 3.22234730e-01] [ 1.31275307e-02 4.52532846e-03 9.99903590e-01 1.16397473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3125578440001 meters Centerline goodness [0,1] 0.25685265967836446 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99903791e-01 -3.45627593e-03 -1.34336555e-02 6.18578727e+00] [ 3.39853212e-03 9.99984898e-01 -4.31889788e-03 3.20882100e-01] [ 1.34483799e-02 4.27282765e-03 9.99900437e-01 1.16341960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34255784400005 meters Centerline goodness [0,1] 0.25685265967836446 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99903791e-01 -3.45627593e-03 -1.34336555e-02 6.18578727e+00] [ 3.39853212e-03 9.99984898e-01 -4.31889788e-03 3.20882100e-01] [ 1.34483799e-02 4.27282765e-03 9.99900437e-01 1.16341960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.372557844 meters Centerline goodness [0,1] 0.25604746691008673 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99900011e-01 -3.37620329e-03 -1.37320702e-02 6.18676677e+00] [ 3.32085898e-03 9.99986280e-01 -4.05110336e-03 3.19567273e-01] [ 1.37455591e-02 4.00509603e-03 9.99897504e-01 1.16293855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40255784400006 meters Centerline goodness [0,1] 0.2530325922728254 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99898483e-01 -3.28449695e-03 -1.38648999e-02 6.18721420e+00] [ 3.23123347e-03 9.99987321e-01 -3.86226076e-03 3.18793231e-01] [ 1.38774096e-02 3.81706795e-03 9.99896418e-01 1.16272166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43255784400003 meters Centerline goodness [0,1] 0.26098509397278025 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99899439e-01 -3.17891434e-03 -1.38205346e-02 6.18700613e+00] [ 3.12781569e-03 9.99988199e-01 -3.71734361e-03 3.18378738e-01] [ 1.38321886e-02 3.67374170e-03 9.99897582e-01 1.16290147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46255784400006 meters Centerline goodness [0,1] 0.26157890163364617 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99899213e-01 -3.13168306e-03 -1.38476156e-02 6.18706132e+00] [ 3.08049678e-03 9.99988350e-01 -3.71618287e-03 3.18653928e-01] [ 1.38590922e-02 3.67315079e-03 9.99897211e-01 1.16295678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49255784400003 meters Centerline goodness [0,1] 0.2560418875354291 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99896176e-01 -3.06616745e-03 -1.40796587e-02 6.18766480e+00] [ 3.01400578e-03 9.99988522e-01 -3.72447962e-03 3.18989211e-01] [ 1.40909169e-02 3.68165675e-03 9.99893940e-01 1.16296201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52255784400006 meters Centerline goodness [0,1] 0.25573990642869515 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99888832e-01 -2.85050558e-03 -1.46355269e-02 6.18923729e+00] [ 2.79505439e-03 9.99988844e-01 -3.80786504e-03 3.20121597e-01] [ 1.46462180e-02 3.76653463e-03 9.99885644e-01 1.16275542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55255784400003 meters Centerline goodness [0,1] 0.2630846506773359 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99889322e-01 -2.84675457e-03 -1.46027384e-02 6.18916370e+00] [ 2.78871624e-03 9.99988138e-01 -3.99330697e-03 3.21117776e-01] [ 1.46139331e-02 3.95214211e-03 9.99885400e-01 1.16284302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58255784400006 meters Centerline goodness [0,1] 0.2570449270017572 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99891810e-01 -2.83531086e-03 -1.44336495e-02 6.18854270e+00] [ 2.77426447e-03 9.99987130e-01 -4.24771697e-03 3.22615215e-01] [ 1.44455073e-02 4.20721465e-03 9.99886807e-01 1.16329794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61255784400004 meters Centerline goodness [0,1] 0.25868169309395883 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99892876e-01 -2.83544579e-03 -1.43595811e-02 6.18814133e+00] [ 2.77021073e-03 9.99985762e-01 -4.56081843e-03 3.24620397e-01] [ 1.43723086e-02 4.52055079e-03 9.99886494e-01 1.16376045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64255784400007 meters Centerline goodness [0,1] 0.2569815351747291 Centerline is valid? [False, False] Translation: X:6.19, Y:0.33, Z:1.16 [[ 9.99890344e-01 -2.80357836e-03 -1.45409524e-02 6.18840941e+00] [ 2.73340330e-03 9.99984534e-01 -4.84366026e-03 3.26703231e-01] [ 1.45543070e-02 4.80338284e-03 9.99882543e-01 1.16414084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67255784400004 meters Centerline goodness [0,1] 0.2544070773433943 Centerline is valid? [False, False] Translation: X:6.19, Y:0.33, Z:1.16 [[ 9.99884299e-01 -2.81726758e-03 -1.49483132e-02 6.18958149e+00] [ 2.74047789e-03 9.99982958e-01 -5.15501314e-03 3.28763833e-01] [ 1.49625815e-02 5.11345118e-03 9.99874979e-01 1.16394925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70255784400007 meters Centerline goodness [0,1] 0.2553209973069238 Centerline is valid? [False, False] Translation: X:6.19, Y:0.33, Z:1.16 [[ 9.99872379e-01 -2.80603387e-03 -1.57274191e-02 6.19201966e+00] [ 2.71850005e-03 9.99980712e-01 -5.58430103e-03 3.31535158e-01] [ 1.57427855e-02 5.54083337e-03 9.99860722e-01 1.16316031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73255784400004 meters Centerline goodness [0,1] 0.25654586440090166 Centerline is valid? [False, False] Translation: X:6.19, Y:0.33, Z:1.16 [[ 9.99870896e-01 -2.89379114e-03 -1.58056407e-02 6.19228686e+00] [ 2.80095054e-03 9.99978714e-01 -5.89287230e-03 3.33136680e-01] [ 1.58223570e-02 5.84784069e-03 9.99857718e-01 1.16307311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76255784400007 meters Centerline goodness [0,1] 0.2539933336219211 Centerline is valid? [False, False] Translation: X:6.19, Y:0.34, Z:1.16 [[ 9.99871385e-01 -2.99371245e-03 -1.57559617e-02 6.19217758e+00] [ 2.89545975e-03 9.99976245e-01 -6.25502766e-03 3.35124832e-01] [ 1.57743132e-02 6.20860242e-03 9.99856302e-01 1.16310371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79255784400004 meters Centerline goodness [0,1] 0.25441703792241666 Centerline is valid? [False, False] Translation: X:6.19, Y:0.34, Z:1.16 [[ 9.99872471e-01 -3.10105060e-03 -1.56660669e-02 6.19186344e+00] [ 2.99819589e-03 9.99973826e-01 -6.58467134e-03 3.36912937e-01] [ 1.56860762e-02 6.53686167e-03 9.99855598e-01 1.16329624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8225578440001 meters Centerline goodness [0,1] 0.25196765265525 Centerline is valid? [False, False] Translation: X:6.19, Y:0.34, Z:1.16 [[ 9.99871272e-01 -3.38187176e-03 -1.56844653e-02 6.19207697e+00] [ 3.26907183e-03 9.99968650e-01 -7.21189597e-03 3.39743997e-01] [ 1.57083633e-02 7.15969395e-03 9.99850982e-01 1.16307151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85255784400005 meters Centerline goodness [0,1] 0.2532409912347149 Centerline is valid? [False, False] Translation: X:6.19, Y:0.34, Z:1.16 [[ 9.99869862e-01 -3.48656171e-03 -1.57512989e-02 6.19256725e+00] [ 3.36976333e-03 9.99966678e-01 -7.43562419e-03 3.40760444e-01] [ 1.57766987e-02 7.38157838e-03 9.99848293e-01 1.16252854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8825578440001 meters Centerline goodness [0,1] 0.25504902280484354 Centerline is valid? [False, False] Translation: X:6.19, Y:0.34, Z:1.16 [[ 9.99868857e-01 -3.55923451e-03 -1.57987525e-02 6.19283822e+00] [ 3.43936963e-03 9.99965146e-01 -7.60768125e-03 3.41707239e-01] [ 1.58252793e-02 7.55234580e-03 9.99846249e-01 1.16225161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91255784400005 meters Centerline goodness [0,1] 0.25089675439733783 Centerline is valid? [False, False] Translation: X:6.19, Y:0.34, Z:1.16 [[ 9.99870739e-01 -3.65358784e-03 -1.56574781e-02 6.19239639e+00] [ 3.53090862e-03 9.99962910e-01 -7.85567824e-03 3.43338789e-01] [ 1.56855987e-02 7.79937768e-03 9.99846554e-01 1.16240404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9425578440001 meters Centerline goodness [0,1] 0.24983239256904344 Centerline is valid? [False, False] Translation: X:6.19, Y:0.34, Z:1.16 [[ 9.99872136e-01 -3.75054467e-03 -1.55449464e-02 6.19188836e+00] [ 3.62637232e-03 9.99961356e-01 -8.00846123e-03 3.43803999e-01] [ 1.55743818e-02 7.95106547e-03 9.99847098e-01 1.16277507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97255784400005 meters Centerline goodness [0,1] 0.2573389996730958 Centerline is valid? [False, False] Translation: X:6.19, Y:0.34, Z:1.16 [[ 9.99873162e-01 -3.85669558e-03 -1.54527138e-02 6.19147288e+00] [ 3.73048131e-03 9.99959517e-01 -8.18829013e-03 3.44323334e-01] [ 1.54836680e-02 8.12960548e-03 9.99847071e-01 1.16309193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0025578440001 meters Centerline goodness [0,1] 0.25361722405129095 Centerline is valid? [False, False] Translation: X:6.19, Y:0.34, Z:1.16 [[ 9.99873447e-01 -3.93020615e-03 -1.54156582e-02 6.19123318e+00] [ 3.80187021e-03 9.99957948e-01 -8.34552820e-03 3.44917864e-01] [ 1.54478096e-02 8.28586372e-03 9.99846343e-01 1.16332183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03255784400005 meters Centerline goodness [0,1] 0.2582621206836414 Centerline is valid? [False, False] Translation: X:6.19, Y:0.35, Z:1.16 [[ 9.99894439e-01 -5.69425818e-04 -1.45184897e-02 6.18876775e+00] [ 4.98132050e-04 9.99987804e-01 -4.91369338e-03 3.45404508e-01] [ 1.45211106e-02 4.90594256e-03 9.99882528e-01 1.16363163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0625578440001 meters Centerline goodness [0,1] 0.2563599930301447 Centerline is valid? [False, False] Translation: X:6.19, Y:0.35, Z:1.16 [[ 9.99896543e-01 -5.91850160e-04 -1.43719782e-02 6.18833597e+00] [ 5.19228096e-04 9.99987082e-01 -5.05623762e-03 3.46234354e-01] [ 1.43747851e-02 5.04825218e-03 9.99883934e-01 1.16381000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09255784400005 meters Centerline goodness [0,1] 0.2555391753024324 Centerline is valid? [False, False] Translation: X:6.19, Y:0.35, Z:1.16 [[ 9.99897352e-01 -6.72219869e-04 -1.43120165e-02 6.18806460e+00] [ 5.97159390e-04 9.99986050e-01 -5.24820520e-03 3.46921500e-01] [ 1.43153448e-02 5.23911993e-03 9.99883805e-01 1.16403324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.122557844 meters Centerline goodness [0,1] 0.2589359752105791 Centerline is valid? [False, False] Translation: X:6.19, Y:0.35, Z:1.16 [[ 9.99897978e-01 -7.39601350e-04 -1.42648843e-02 6.18782350e+00] [ 6.62369301e-04 9.99985103e-01 -5.41810265e-03 3.47621916e-01] [ 1.42686791e-02 5.40810126e-03 9.99883572e-01 1.16425649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15255784400006 meters Centerline goodness [0,1] 0.25865353037766836 Centerline is valid? [False, False] Translation: X:6.19, Y:0.35, Z:1.16 [[ 9.99897768e-01 -7.61751656e-04 -1.42784532e-02 6.18763501e+00] [ 6.82575752e-04 9.99984370e-01 -5.54918504e-03 3.48404059e-01] [ 1.42824571e-02 5.53887161e-03 9.99882659e-01 1.16466045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18255784400003 meters Centerline goodness [0,1] 0.25638194218902244 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.17 [[ 9.99888992e-01 -6.10901051e-03 -1.35898163e-02 6.21015577e+00] [ 6.08746841e-03 9.99980149e-01 -1.62596638e-03 3.48515816e-01] [ 1.35994795e-02 1.54305831e-03 9.99906332e-01 1.16535797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21255784400006 meters Centerline goodness [0,1] 0.25390944729246545 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.17 [[ 9.99886990e-01 -6.05069792e-03 -1.37621624e-02 6.21073214e+00] [ 6.03119834e-03 9.99980749e-01 -1.45796042e-03 3.47609214e-01] [ 1.37707191e-02 1.37479332e-03 9.99904234e-01 1.16511369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24255784400003 meters Centerline goodness [0,1] 0.25041420118343194 Centerline is valid? [False, False] Translation: X:6.21, Y:0.35, Z:1.16 [[ 9.99887807e-01 -5.94845240e-03 -1.37473601e-02 6.21074703e+00] [ 5.93307127e-03 9.99981727e-01 -1.15935541e-03 3.45929232e-01] [ 1.37540053e-02 1.07766128e-03 9.99904828e-01 1.16498583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27255784400006 meters Centerline goodness [0,1] 0.2527929948669283 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.17 [[ 9.99891679e-01 -5.85796696e-03 -1.35023727e-02 6.20996532e+00] [ 5.84762123e-03 9.99982578e-01 -8.05569284e-04 3.43912544e-01] [ 1.35068565e-02 7.26525263e-04 9.99908514e-01 1.16518120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30255784400003 meters Centerline goodness [0,1] 0.2564887152777777 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.17 [[ 9.99896543e-01 -5.72737774e-03 -1.31947280e-02 6.20893646e+00] [ 5.72338880e-03 9.99983563e-01 -3.40055096e-04 3.41494718e-01] [ 1.31964587e-02 2.64501356e-04 9.99912888e-01 1.16552114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33255784400006 meters Centerline goodness [0,1] 0.2561346362649294 Centerline is valid? [False, False] Translation: X:6.21, Y:0.34, Z:1.17 [[ 9.99894804e-01 -5.55228988e-03 -1.33997080e-02 6.20946362e+00] [ 5.56160059e-03 9.99984318e-01 6.57680155e-04 3.36220833e-01] [ 1.33958462e-02 -7.32134794e-04 9.99910004e-01 1.16526780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36255784400004 meters Centerline goodness [0,1] 0.2536214624428902 Centerline is valid? [False, False] Translation: X:6.21, Y:0.33, Z:1.16 [[ 9.99890647e-01 -5.36980140e-03 -1.37789546e-02 6.21074104e+00] [ 5.38752856e-03 9.99984706e-01 1.24974215e-03 3.33236133e-01] [ 1.37720330e-02 -1.32384000e-03 9.99904285e-01 1.16463437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39255784400007 meters Centerline goodness [0,1] 0.25185841472901715 Centerline is valid? [False, False] Translation: X:6.21, Y:0.33, Z:1.16 [[ 9.99893153e-01 -5.06283143e-03 -1.37131265e-02 6.21058441e+00] [ 5.09330511e-03 9.99984635e-01 2.18821494e-03 3.28131695e-01] [ 1.37018372e-02 -2.25782627e-03 9.99903576e-01 1.16451425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42255784400004 meters Centerline goodness [0,1] 0.2560246854560073 Centerline is valid? [False, False] Translation: X:6.21, Y:0.33, Z:1.17 [[ 9.99896954e-01 -4.88615336e-03 -1.34984343e-02 6.20951574e+00] [ 4.92165868e-03 9.99984513e-01 2.59836349e-03 3.26163660e-01] [ 1.34855292e-02 -2.66453043e-03 9.99905516e-01 1.16538991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45255784400007 meters Centerline goodness [0,1] 0.25420208968784475 Centerline is valid? [False, False] Translation: X:6.21, Y:0.32, Z:1.17 [[ 9.99899872e-01 -4.74729559e-03 -1.33307301e-02 6.20856032e+00] [ 4.78648985e-03 9.99984311e-01 2.90977942e-03 3.24625857e-01] [ 1.33167073e-02 -2.97329547e-03 9.99906908e-01 1.16628280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48255784400004 meters Centerline goodness [0,1] 0.2544239172759919 Centerline is valid? [False, False] Translation: X:6.21, Y:0.32, Z:1.17 [[ 9.99900505e-01 -4.60444119e-03 -1.33333983e-02 6.20852249e+00] [ 4.64832979e-03 9.99983874e-01 3.26251108e-03 3.22860919e-01] [ 1.33181613e-02 -3.32416451e-03 9.99905784e-01 1.16633274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51255784400007 meters Centerline goodness [0,1] 0.25818579234972683 Centerline is valid? [False, False] Translation: X:6.19, Y:0.32, Z:1.16 [[ 9.99874180e-01 3.14041303e-03 -1.55487169e-02 6.19090904e+00] [-3.11393561e-03 9.99993661e-01 1.72678584e-03 3.15932036e-01] [ 1.55540412e-02 -1.67815087e-03 9.99877620e-01 1.16351954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54255784400004 meters Centerline goodness [0,1] 0.25621657024342326 Centerline is valid? [False, False] Translation: X:6.19, Y:0.31, Z:1.16 [[ 9.99870635e-01 3.28514639e-03 -1.57455110e-02 6.19167249e+00] [-3.25237569e-03 9.99992492e-01 2.10642754e-03 3.14149494e-01] [ 1.57523128e-02 -2.05494472e-03 9.99873813e-01 1.16297050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5725578440001 meters Centerline goodness [0,1] 0.2567952028712741 Centerline is valid? [False, False] Translation: X:6.19, Y:0.31, Z:1.16 [[ 9.99868856e-01 3.40703340e-03 -1.58323358e-02 6.19200337e+00] [-3.36922173e-03 9.99991410e-01 2.41431537e-03 3.12708673e-01] [ 1.58404254e-02 -2.36065609e-03 9.99871746e-01 1.16271063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60255784400005 meters Centerline goodness [0,1] 0.2560872487586999 Centerline is valid? [False, False] Translation: X:6.21, Y:0.31, Z:1.16 [[ 9.99867855e-01 -4.77791447e-03 -1.55384491e-02 6.21214249e+00] [ 4.83675161e-03 9.99981267e-01 3.75117802e-03 3.13226975e-01] [ 1.55202352e-02 -3.82583794e-03 9.99872234e-01 1.16444657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6325578440001 meters Centerline goodness [0,1] 0.25324180015255526 Centerline is valid? [False, False] Translation: X:6.21, Y:0.31, Z:1.16 [[ 9.99869407e-01 -4.70235823e-03 -1.54614318e-02 6.21167710e+00] [ 4.76594632e-03 9.99980326e-01 4.07841930e-03 3.11363759e-01] [ 1.54419494e-02 -4.15157505e-03 9.99872147e-01 1.16483598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66255784400005 meters Centerline goodness [0,1] 0.25341857189294614 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99878471e-01 1.74256667e-03 -1.54921617e-02 6.22641198e+00] [-1.70822732e-03 9.99996056e-01 2.22951989e-03 3.01379106e-01] [ 1.54959857e-02 -2.20278481e-03 9.99877504e-01 1.16883640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6925578440001 meters Centerline goodness [0,1] 0.2570823693744816 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99879859e-01 1.90267179e-03 -1.53833202e-02 6.22612106e+00] [-1.86116814e-03 9.99994591e-01 2.71183059e-03 2.98940695e-01] [ 1.53883967e-02 -2.68287384e-03 9.99877992e-01 1.16880021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72255784400005 meters Centerline goodness [0,1] 0.2565172961102776 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99881388e-01 1.99614426e-03 -1.52717492e-02 6.22585315e+00] [-1.94943275e-03 9.99993378e-01 3.07296275e-03 2.96932311e-01] [ 1.52777821e-02 -3.04282701e-03 9.99878658e-01 1.16870346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7525578440001 meters Centerline goodness [0,1] 0.25558134993816584 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99883707e-01 2.08187131e-03 -1.51075393e-02 6.22535003e+00] [-2.03100547e-03 9.99992220e-01 3.38147995e-03 2.95119404e-01] [ 1.51144615e-02 -3.35040322e-03 9.99880157e-01 1.16878936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78255784400005 meters Centerline goodness [0,1] 0.2530318070001295 Centerline is valid? [False, False] Translation: X:6.22, Y:0.29, Z:1.17 [[ 9.99887223e-01 2.12437659e-03 -1.48669879e-02 6.22451523e+00] [-2.07208722e-03 9.99991617e-01 3.53166614e-03 2.94257007e-01] [ 1.48743658e-02 -3.50046215e-03 9.99883243e-01 1.16915604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8125578440001 meters Centerline goodness [0,1] 0.25473583594021554 Centerline is valid? [False, False] Translation: X:6.22, Y:0.29, Z:1.17 [[ 9.99892113e-01 2.32093408e-03 -1.45043384e-02 6.22314484e+00] [-2.26815730e-03 9.99990752e-01 3.65408002e-03 2.94273841e-01] [ 1.45126852e-02 -3.62078767e-03 9.99888130e-01 1.17001911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84255784400005 meters Centerline goodness [0,1] 0.25692531291351217 Centerline is valid? [False, False] Translation: X:6.22, Y:0.30, Z:1.17 [[ 9.99887896e-01 2.32036893e-03 -1.47922942e-02 6.22392313e+00] [-2.26866908e-03 9.99991263e-01 3.51087595e-03 2.95207353e-01] [ 1.48003115e-02 -3.47692354e-03 9.99884424e-01 1.17000708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.872557844 meters Centerline goodness [0,1] 0.24530900327078675 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99881581e-01 2.34111460e-03 -1.52099738e-02 6.22525527e+00] [-2.29019203e-03 9.99991717e-01 3.36452743e-03 2.96281385e-01] [ 1.52177245e-02 -3.32929524e-03 9.99878661e-01 1.16958077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90255784400006 meters Centerline goodness [0,1] 0.2569651362578569 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99878232e-01 2.34206738e-03 -1.54284305e-02 6.22614923e+00] [-2.29241983e-03 9.99992140e-01 3.23482618e-03 2.97183710e-01] [ 1.54358855e-02 -3.19906384e-03 9.99875742e-01 1.16906468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93255784400003 meters Centerline goodness [0,1] 0.2532319885662314 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99874870e-01 2.36774587e-03 -1.56408893e-02 6.22696381e+00] [-2.31846647e-03 9.99992294e-01 3.16805869e-03 2.97665242e-01] [ 1.56482700e-02 -3.13139940e-03 9.99872655e-01 1.16865058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96255784400006 meters Centerline goodness [0,1] 0.2524452523154159 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99874844e-01 2.38205866e-03 -1.56403701e-02 6.22690125e+00] [-2.33130676e-03 9.99991961e-01 3.26236025e-03 2.96969100e-01] [ 1.56480155e-02 -3.22548944e-03 9.99872360e-01 1.16872821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99255784400003 meters Centerline goodness [0,1] 0.25629305631492616 Centerline is valid? [False, False] Translation: X:6.23, Y:0.30, Z:1.17 [[ 9.99872896e-01 2.43676896e-03 -1.57560606e-02 6.22730195e+00] [-2.38281140e-03 9.99991236e-01 3.44242533e-03 2.95978706e-01] [ 1.57643109e-02 -3.40444407e-03 9.99869940e-01 1.16846229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02255784400006 meters Centerline goodness [0,1] 0.24515086206896552 Centerline is valid? [False, False] Translation: X:6.25, Y:0.30, Z:1.17 [[ 9.99856354e-01 -5.61932408e-03 -1.59904634e-02 6.24884719e+00] [ 5.69149581e-03 9.99973806e-01 4.47150038e-03 2.97728318e-01] [ 1.59649177e-02 -4.56186772e-03 9.99862146e-01 1.16934850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05255784400003 meters Centerline goodness [0,1] 0.24990801064912016 Centerline is valid? [False, False] Translation: X:6.25, Y:0.30, Z:1.17 [[ 9.99854672e-01 -5.55213190e-03 -1.61185933e-02 6.24947033e+00] [ 5.62742654e-03 9.99973449e-01 4.62969879e-03 2.97046331e-01] [ 1.60924606e-02 -4.71973216e-03 9.99859369e-01 1.16883697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08255784400006 meters Centerline goodness [0,1] 0.24239431479056184 Centerline is valid? [False, False] Translation: X:6.27, Y:0.29, Z:1.17 [[ 9.99866668e-01 2.30401468e-03 -1.61659390e-02 6.26936148e+00] [-2.25119646e-03 9.99992071e-01 3.28469086e-03 2.91441600e-01] [ 1.61733788e-02 -3.24786021e-03 9.99863927e-01 1.16978250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11255784400004 meters Centerline goodness [0,1] 0.2511101964776986 Centerline is valid? [False, False] Translation: X:6.27, Y:0.29, Z:1.17 [[ 9.99864479e-01 2.21340773e-03 -1.63133031e-02 6.26977576e+00] [-2.16466780e-03 9.99993143e-01 3.00479352e-03 2.92870501e-01] [ 1.63198421e-02 -2.96907343e-03 9.99862414e-01 1.16977761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14255784400007 meters Centerline goodness [0,1] 0.24998378413439715 Centerline is valid? [False, False] Translation: X:6.27, Y:0.29, Z:1.17 [[ 9.99860134e-01 2.17322970e-03 -1.65827888e-02 6.27057305e+00] [-2.12868564e-03 9.99994080e-01 2.70334093e-03 2.94694795e-01] [ 1.65885656e-02 -2.66766328e-03 9.99858842e-01 1.16967565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17255784400004 meters Centerline goodness [0,1] 0.2530651010188223 Centerline is valid? [False, False] Translation: X:6.27, Y:0.30, Z:1.17 [[ 9.99848590e-01 2.57621391e-03 -1.72093276e-02 6.27256786e+00] [-2.53488194e-03 9.99993851e-01 2.42310053e-03 2.98278571e-01] [ 1.72154643e-02 -2.37911004e-03 9.99848972e-01 1.16917766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20255784400007 meters Centerline goodness [0,1] 0.2517436933707059 Centerline is valid? [False, False] Translation: X:6.27, Y:0.30, Z:1.17 [[ 9.99847526e-01 2.46952028e-03 -1.72865861e-02 6.27290887e+00] [-2.43420040e-03 9.99994907e-01 2.06393906e-03 3.00039931e-01] [ 1.72915950e-02 -2.02154535e-03 9.99848446e-01 1.16900833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23255784400004 meters Centerline goodness [0,1] 0.25176552142454833 Centerline is valid? [False, False] Translation: X:6.27, Y:0.30, Z:1.17 [[ 9.99846023e-01 2.34177687e-03 -1.73909965e-02 6.27324400e+00] [-2.31183398e-03 9.99995811e-01 1.74165124e-03 3.01383398e-01] [ 1.73950022e-02 -1.70117796e-03 9.99847248e-01 1.16894187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26255784400007 meters Centerline goodness [0,1] 0.25176552142454833 Centerline is valid? [False, False] Translation: X:6.27, Y:0.30, Z:1.17 [[ 9.99846023e-01 2.34177687e-03 -1.73909965e-02 6.27324400e+00] [-2.31183398e-03 9.99995811e-01 1.74165124e-03 3.01383398e-01] [ 1.73950022e-02 -1.70117796e-03 9.99847248e-01 1.16894187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29255784400004 meters Centerline goodness [0,1] 0.25659081523983396 Centerline is valid? [False, False] Translation: X:6.27, Y:0.30, Z:1.17 [[ 9.99845940e-01 2.21810576e-03 -1.74119320e-02 6.27328698e+00] [-2.19343855e-03 9.99996564e-01 1.43565411e-03 3.02670082e-01] [ 1.74150566e-02 -1.39724093e-03 9.99847370e-01 1.16898056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3225578440001 meters Centerline goodness [0,1] 0.2479119456134672 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99849838e-01 2.08298271e-03 -1.72035458e-02 6.27253208e+00] [-2.06610875e-03 9.99997367e-01 9.98557325e-04 3.05052654e-01] [ 1.72055804e-02 -9.62862984e-04 9.99851509e-01 1.16941441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35255784400005 meters Centerline goodness [0,1] 0.25250270855904655 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99853026e-01 2.02340829e-03 -1.70244684e-02 6.27183983e+00] [-2.00916526e-03 9.99997617e-01 8.53683348e-04 3.05816993e-01] [ 1.70261552e-02 -8.19352908e-04 9.99854709e-01 1.16980471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3825578440001 meters Centerline goodness [0,1] 0.24777713190811423 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99856278e-01 1.95452748e-03 -1.68405212e-02 6.27112457e+00] [-1.94173522e-03 9.99997814e-01 7.75929744e-04 3.05967307e-01] [ 1.68420010e-02 -7.43118393e-04 9.99857887e-01 1.17019507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41255784400005 meters Centerline goodness [0,1] 0.2442874679645941 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99857832e-01 1.92165220e-03 -1.67517832e-02 6.27068441e+00] [-1.90824289e-03 9.99997846e-01 8.16418154e-04 3.05548961e-01] [ 1.67533160e-02 -7.84335614e-04 9.99859346e-01 1.17050347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4425578440001 meters Centerline goodness [0,1] 0.2642257917669246 Centerline is valid? [False, False] Translation: X:6.27, Y:0.30, Z:1.17 [[ 9.99858039e-01 1.94338461e-03 -1.67369574e-02 6.27050194e+00] [-1.92812032e-03 9.99997710e-01 9.28099360e-04 3.04974235e-01] [ 1.67387228e-02 -8.95696738e-04 9.99859497e-01 1.17069845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47255784400005 meters Centerline goodness [0,1] 0.2573922104988928 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99861985e-01 1.95167463e-03 -1.64985711e-02 6.26966440e+00] [-1.93636996e-03 9.99997680e-01 9.43559836e-04 3.05156738e-01] [ 1.65003744e-02 -9.11482273e-04 9.99863444e-01 1.17108399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5025578440001 meters Centerline goodness [0,1] 0.2547080370609782 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99867420e-01 1.90143065e-03 -1.61717864e-02 6.26854068e+00] [-1.88849632e-03 9.99997885e-01 8.15042261e-04 3.05767890e-01] [ 1.61733020e-02 -7.84393843e-04 9.99868896e-01 1.17163765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53255784400005 meters Centerline goodness [0,1] 0.25490956072351423 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99874374e-01 1.80678719e-03 -1.57471213e-02 6.26696635e+00] [-1.79752898e-03 9.99998203e-01 6.02064004e-04 3.06670788e-01] [ 1.57481808e-02 -5.73682462e-04 9.99875825e-01 1.17246957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5625578440001 meters Centerline goodness [0,1] 0.25717573494289814 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99878573e-01 1.72042397e-03 -1.54880314e-02 6.26600483e+00] [-1.71483818e-03 9.99998460e-01 3.73925122e-04 3.07731769e-01] [ 1.54886509e-02 -3.47320250e-04 9.99879983e-01 1.17303683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59255784400005 meters Centerline goodness [0,1] 0.25597424484680864 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99876969e-01 1.63367829e-03 -1.56006060e-02 6.26631730e+00] [-1.63197278e-03 9.99998661e-01 1.22053521e-04 3.09149208e-01] [ 1.56007845e-02 -9.65787403e-05 9.99878296e-01 1.17301600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.622557844 meters Centerline goodness [0,1] 0.2553324968632371 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99869597e-01 1.83702770e-03 -1.60441201e-02 6.26771504e+00] [-1.83960485e-03 9.99998297e-01 -1.45871841e-04 3.12246162e-01] [ 1.60438248e-02 1.75367660e-04 9.99871274e-01 1.17270629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65255784400006 meters Centerline goodness [0,1] 0.2554593170183813 Centerline is valid? [False, False] Translation: X:6.27, Y:0.31, Z:1.17 [[ 9.99867424e-01 1.72785629e-03 -1.61910277e-02 6.26816886e+00] [-1.73558802e-03 9.99998386e-01 -4.63492740e-04 3.13719409e-01] [ 1.61902007e-02 4.91532245e-04 9.99868809e-01 1.17262690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68255784400003 meters Centerline goodness [0,1] 0.25066752799310943 Centerline is valid? [False, False] Translation: X:6.27, Y:0.32, Z:1.17 [[ 9.99865147e-01 1.55417434e-03 -1.63484437e-02 6.26876792e+00] [-1.56814665e-03 9.99998416e-01 -8.41872346e-04 3.15187603e-01] [ 1.63471094e-02 8.67395575e-04 9.99866001e-01 1.17235139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71255784400006 meters Centerline goodness [0,1] 0.25504156988733806 Centerline is valid? [False, False] Translation: X:6.27, Y:0.32, Z:1.17 [[ 9.99863202e-01 1.36143620e-03 -1.64840306e-02 6.26931379e+00] [-1.38562247e-03 9.99997980e-01 -1.45592245e-03 3.18244517e-01] [ 1.64820152e-02 1.47856392e-03 9.99863069e-01 1.17205128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74255784400003 meters Centerline goodness [0,1] 0.25413034994145955 Centerline is valid? [False, False] Translation: X:6.27, Y:0.32, Z:1.17 [[ 9.99861445e-01 1.30621773e-03 -1.65947343e-02 6.26977447e+00] [-1.33533547e-03 9.99997588e-01 -1.74367750e-03 3.20136883e-01] [ 1.65924167e-02 1.76559545e-03 9.99860777e-01 1.17180381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77255784400006 meters Centerline goodness [0,1] 0.25530018047794034 Centerline is valid? [False, False] Translation: X:6.27, Y:0.32, Z:1.17 [[ 9.99860475e-01 1.27005412e-03 -1.66558304e-02 6.27016558e+00] [-1.30336308e-03 9.99997172e-01 -1.98913503e-03 3.21741957e-01] [ 1.66532570e-02 2.01056609e-03 9.99859303e-01 1.17149701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80255784400003 meters Centerline goodness [0,1] 0.25009692009476636 Centerline is valid? [False, False] Translation: X:6.27, Y:0.32, Z:1.17 [[ 9.99857953e-01 1.11841818e-03 -1.68173229e-02 6.27084606e+00] [-1.15874931e-03 9.99996476e-01 -2.38863683e-03 3.23621493e-01] [ 1.68145922e-02 2.40778459e-03 9.99855726e-01 1.17114379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83255784400006 meters Centerline goodness [0,1] 0.24914337435079625 Centerline is valid? [False, False] Translation: X:6.27, Y:0.33, Z:1.17 [[ 9.99849362e-01 9.47360945e-04 -1.73307697e-02 6.27257872e+00] [-9.98868201e-04 9.99995110e-01 -2.96359721e-03 3.26335339e-01] [ 1.73278774e-02 2.98046193e-03 9.99845419e-01 1.17049274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86255784400004 meters Centerline goodness [0,1] 0.249433008618269 Centerline is valid? [False, False] Translation: X:6.27, Y:0.33, Z:1.17 [[ 9.99847392e-01 9.04856339e-04 -1.74463321e-02 6.27314227e+00] [-9.61576239e-04 9.99994279e-01 -3.24299294e-03 3.28122582e-01] [ 1.74432978e-02 3.25927401e-03 9.99842542e-01 1.17009831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89255784400007 meters Centerline goodness [0,1] 0.25647346262079795 Centerline is valid? [False, False] Translation: X:6.27, Y:0.33, Z:1.17 [[ 9.99845026e-01 8.59658751e-04 -1.75836698e-02 6.27374285e+00] [-9.22008684e-04 9.99993316e-01 -3.53810054e-03 3.30004142e-01] [ 1.75805107e-02 3.55376452e-03 9.99839135e-01 1.16972988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92255784400004 meters Centerline goodness [0,1] 0.2531766131999913 Centerline is valid? [False, False] Translation: X:6.27, Y:0.33, Z:1.17 [[ 9.99840727e-01 8.37643017e-04 -1.78274629e-02 6.27463118e+00] [-9.04796128e-04 9.99992525e-01 -3.75910266e-03 3.31380411e-01] [ 1.78241808e-02 3.77463416e-03 9.99834012e-01 1.16932325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95255784400007 meters Centerline goodness [0,1] 0.2513443191673894 Centerline is valid? [False, False] Translation: X:6.28, Y:0.33, Z:1.17 [[ 9.99836292e-01 7.24987831e-04 -1.80793894e-02 6.27546791e+00] [-7.99384535e-04 9.99991242e-01 -4.10811371e-03 3.33044444e-01] [ 1.80762527e-02 4.12189356e-03 9.99828115e-01 1.16902978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98255784400004 meters Centerline goodness [0,1] 0.24676274467627446 Centerline is valid? [False, False] Translation: X:6.28, Y:0.34, Z:1.17 [[ 9.99818478e-01 1.00499905e-03 -1.90263382e-02 6.27795776e+00] [-1.09067470e-03 9.99989311e-01 -4.49316119e-03 3.36363684e-01] [ 1.90216192e-02 4.51309712e-03 9.99808887e-01 1.16888355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01255784400007 meters Centerline goodness [0,1] 0.24921067427879418 Centerline is valid? [False, False] Translation: X:6.28, Y:0.34, Z:1.17 [[ 9.99823106e-01 1.10500896e-03 -1.87759457e-02 6.27716414e+00] [-1.19480854e-03 9.99987899e-01 -4.77214825e-03 3.38535845e-01] [ 1.87704452e-02 4.79373774e-03 9.99812328e-01 1.16926269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04255784400004 meters Centerline goodness [0,1] 0.2477966175101236 Centerline is valid? [False, False] Translation: X:6.28, Y:0.34, Z:1.17 [[ 9.99827402e-01 1.18163883e-03 -1.85410393e-02 6.27635477e+00] [-1.27611697e-03 9.99986259e-01 -5.08461873e-03 3.40728132e-01] [ 1.85347763e-02 5.10740167e-03 9.99815171e-01 1.16973116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0725578440001 meters Centerline goodness [0,1] 0.2512419382952763 Centerline is valid? [False, False] Translation: X:6.28, Y:0.34, Z:1.17 [[ 9.99831437e-01 1.11691832e-03 -1.83262141e-02 6.27569555e+00] [-1.21809568e-03 9.99984074e-01 -5.51067544e-03 3.43002625e-01] [ 1.83197672e-02 5.53206963e-03 9.99816874e-01 1.17001832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10255784400005 meters Centerline goodness [0,1] 0.25083786724700763 Centerline is valid? [False, False] Translation: X:6.28, Y:0.35, Z:1.17 [[ 9.99833173e-01 1.52330205e-03 -1.82017887e-02 6.27530048e+00] [-1.62846436e-03 9.99982061e-01 -5.76415695e-03 3.45919992e-01] [ 1.81926816e-02 5.79283630e-03 9.99817718e-01 1.17023483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1325578440001 meters Centerline goodness [0,1] 0.2505095182342483 Centerline is valid? [False, False] Translation: X:6.28, Y:0.35, Z:1.17 [[ 9.99831446e-01 1.60740132e-03 -1.82892280e-02 6.27564878e+00] [-1.71658634e-03 9.99980791e-01 -5.95577673e-03 3.47568785e-01] [ 1.82793034e-02 5.98616790e-03 9.99814999e-01 1.17005530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16255784400005 meters Centerline goodness [0,1] 0.24969201841405697 Centerline is valid? [False, False] Translation: X:6.28, Y:0.35, Z:1.17 [[ 9.99833367e-01 1.59972933e-03 -1.81845860e-02 6.27534107e+00] [-1.71274501e-03 9.99979307e-01 -6.20104250e-03 3.49099874e-01] [ 1.81742897e-02 6.23115476e-03 9.99815417e-01 1.17018087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1925578440001 meters Centerline goodness [0,1] 0.2539024337291852 Centerline is valid? [False, False] Translation: X:6.27, Y:0.35, Z:1.17 [[ 9.99836910e-01 1.53841028e-03 -1.79940614e-02 6.27470586e+00] [-1.65452919e-03 9.99977894e-01 -6.44007391e-03 3.50220282e-01] [ 1.79837561e-02 6.46879530e-03 9.99817353e-01 1.17047524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22255784400005 meters Centerline goodness [0,1] 0.2563014178190093 Centerline is valid? [False, False] Translation: X:6.27, Y:0.35, Z:1.17 [[ 9.99842790e-01 1.60977341e-03 -1.76579801e-02 6.27350551e+00] [-1.72763759e-03 9.99976319e-01 -6.66161644e-03 3.51507883e-01] [ 1.76468383e-02 6.69107575e-03 9.99821893e-01 1.17110949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2525578440001 meters Centerline goodness [0,1] 0.2540707406682754 Centerline is valid? [False, False] Translation: X:6.27, Y:0.35, Z:1.17 [[ 9.99844043e-01 1.67771600e-03 -1.75805192e-02 6.27313466e+00] [-1.79578790e-03 9.99975926e-01 -6.70243154e-03 3.52214106e-01] [ 1.75688512e-02 6.73295713e-03 9.99822986e-01 1.17139167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28255784400005 meters Centerline goodness [0,1] 0.24866558616963808 Centerline is valid? [False, False] Translation: X:6.27, Y:0.35, Z:1.17 [[ 9.99846248e-01 1.77535265e-03 -1.74449962e-02 6.27260118e+00] [-1.89318573e-03 9.99975491e-01 -6.74035727e-03 3.53178738e-01] [ 1.74326022e-02 6.77234755e-03 9.99825105e-01 1.17171861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3125578440001 meters Centerline goodness [0,1] 0.2547647084478172 Centerline is valid? [False, False] Translation: X:6.27, Y:0.35, Z:1.17 [[ 9.99849618e-01 1.84012053e-03 -1.72439715e-02 6.27194117e+00] [-1.95650584e-03 9.99975406e-01 -6.73489547e-03 3.53455328e-01] [ 1.72311544e-02 6.76762060e-03 9.99828629e-01 1.17201370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34255784400005 meters Centerline goodness [0,1] 0.25345291869353714 Centerline is valid? [False, False] Translation: X:6.27, Y:0.35, Z:1.17 [[ 9.99856830e-01 1.85777967e-03 -1.68186688e-02 6.27069619e+00] [-1.97321776e-03 9.99974594e-01 -6.84969679e-03 3.53781555e-01] [ 1.68055163e-02 6.88190302e-03 9.99835093e-01 1.17237929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.372557844 meters Centerline goodness [0,1] 0.24581585434415953 Centerline is valid? [False, False] Translation: X:6.27, Y:0.35, Z:1.17 [[ 9.99859562e-01 1.86139816e-03 -1.66550850e-02 6.27019526e+00] [-1.97658653e-03 9.99974225e-01 -6.90232225e-03 3.54074096e-01] [ 1.66418078e-02 6.93427312e-03 9.99837470e-01 1.17251437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40255784400006 meters Centerline goodness [0,1] 0.2575001648387877 Centerline is valid? [False, False] Translation: X:6.22, Y:0.35, Z:1.17 [[ 9.99816784e-01 2.23591972e-03 -1.90105001e-02 6.22395909e+00] [-2.35954690e-03 9.99976200e-01 -6.48315875e-03 3.53546557e-01] [ 1.89955518e-02 6.52682710e-03 9.99798264e-01 1.17341224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43255784400003 meters Centerline goodness [0,1] 0.25013546023971045 Centerline is valid? [False, False] Translation: X:6.25, Y:0.35, Z:1.17 [[ 9.99831137e-01 -3.90118395e-03 -1.79576927e-02 6.24636922e+00] [ 3.83828514e-03 9.99986383e-01 -3.53574549e-03 3.54653134e-01] [ 1.79712418e-02 3.46622168e-03 9.99832496e-01 1.17312142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46255784400006 meters Centerline goodness [0,1] 0.25250125335135254 Centerline is valid? [False, False] Translation: X:6.25, Y:0.35, Z:1.17 [[ 9.99830128e-01 -3.80384127e-03 -1.80345569e-02 6.24653410e+00] [ 3.74440053e-03 9.99987450e-01 -3.32855768e-03 3.53771027e-01] [ 1.80469919e-02 3.26046365e-03 9.99831824e-01 1.17316443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49255784400003 meters Centerline goodness [0,1] 0.2585561379553363 Centerline is valid? [False, False] Translation: X:6.25, Y:0.35, Z:1.17 [[ 9.99830755e-01 -3.65303169e-03 -1.80309888e-02 6.24679931e+00] [ 3.60230619e-03 9.99989465e-01 -2.84491832e-03 3.50903753e-01] [ 1.80411914e-02 2.77948369e-03 9.99833381e-01 1.17275884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52255784400006 meters Centerline goodness [0,1] 0.2563895320896501 Centerline is valid? [False, False] Translation: X:6.25, Y:0.35, Z:1.17 [[ 9.99829157e-01 -3.54119748e-03 -1.81415940e-02 6.24722990e+00] [ 3.49537889e-03 9.99990623e-01 -2.55669616e-03 3.49338581e-01] [ 1.81504776e-02 2.49284762e-03 9.99832159e-01 1.17250472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55255784400003 meters Centerline goodness [0,1] 0.24895120095641776 Centerline is valid? [False, False] Translation: X:6.25, Y:0.35, Z:1.17 [[ 9.99829781e-01 -3.41451196e-03 -1.81314656e-02 6.24734008e+00] [ 3.37297069e-03 9.99991618e-01 -2.32120184e-03 3.48304107e-01] [ 1.81392394e-02 2.25964983e-03 9.99832917e-01 1.17225883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58255784400006 meters Centerline goodness [0,1] 0.26235708573775096 Centerline is valid? [False, False] Translation: X:6.25, Y:0.35, Z:1.17 [[ 9.99829425e-01 -3.25392538e-03 -1.81805498e-02 6.24747099e+00] [ 3.21466947e-03 9.99992439e-01 -2.18803338e-03 3.48245214e-01] [ 1.81875320e-02 2.12921569e-03 9.99832326e-01 1.17224912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61255784400004 meters Centerline goodness [0,1] 0.25591411955048315 Centerline is valid? [False, False] Translation: X:6.23, Y:0.34, Z:1.17 [[ 9.99818428e-01 5.67960080e-03 -1.81893812e-02 6.22656592e+00] [-5.72934793e-03 9.99979985e-01 -2.68401172e-03 3.42967886e-01] [ 1.81737731e-02 2.78773767e-03 9.99830957e-01 1.17029831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64255784400007 meters Centerline goodness [0,1] 0.2551221733191683 Centerline is valid? [False, False] Translation: X:6.25, Y:0.35, Z:1.17 [[ 9.99828285e-01 -1.97959992e-03 -1.84250079e-02 6.24625558e+00] [ 1.95215197e-03 9.99996958e-01 -1.50757829e-03 3.46234961e-01] [ 1.84279362e-02 1.47135100e-03 9.99829109e-01 1.17168040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67255784400004 meters Centerline goodness [0,1] 0.2482019036134201 Centerline is valid? [False, False] Translation: X:6.25, Y:0.35, Z:1.17 [[ 9.99823785e-01 -1.85729785e-03 -1.86802021e-02 6.24706164e+00] [ 1.83407061e-03 9.99997524e-01 -1.26046997e-03 3.45021301e-01] [ 1.86824969e-02 1.22598704e-03 9.99824715e-01 1.17140171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70255784400007 meters Centerline goodness [0,1] 0.2572526627868672 Centerline is valid? [False, False] Translation: X:6.20, Y:0.34, Z:1.17 [[ 9.99748814e-01 -1.26409927e-03 -2.23765875e-02 6.20481544e+00] [ 1.25727842e-03 9.99999159e-01 -3.18886938e-04 3.39976059e-01] [ 2.23769718e-02 2.90673237e-04 9.99749562e-01 1.17090236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73255784400004 meters Centerline goodness [0,1] 0.2490496338137067 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:1.17 [[ 9.99793232e-01 -9.51958593e-04 -2.03122394e-02 6.25009114e+00] [ 9.46541021e-04 9.99999514e-01 -2.76327179e-04 3.38810887e-01] [ 2.03124926e-02 2.57043676e-04 9.99793647e-01 1.17068155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76255784400007 meters Centerline goodness [0,1] 0.25438787984631506 Centerline is valid? [False, False] Translation: X:6.20, Y:0.34, Z:1.17 [[ 9.99733167e-01 -1.33305675e-03 -2.30611944e-02 6.20462258e+00] [ 1.32641100e-03 9.99999074e-01 -3.03472590e-04 3.35499079e-01] [ 2.30615776e-02 2.72802992e-04 9.99734009e-01 1.17119879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79255784400004 meters Centerline goodness [0,1] 0.2555067042894328 Centerline is valid? [False, False] Translation: X:6.20, Y:0.33, Z:1.17 [[ 9.99733568e-01 -1.14468192e-03 -2.30538959e-02 6.20467866e+00] [ 1.14777905e-03 9.99999334e-01 1.21111536e-04 3.33485724e-01] [ 2.30537419e-02 -1.47540047e-04 9.99734216e-01 1.17108435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8225578440001 meters Centerline goodness [0,1] 0.25569725655184505 Centerline is valid? [False, False] Translation: X:6.20, Y:0.33, Z:1.17 [[ 9.99736083e-01 -7.36812975e-04 -2.29613030e-02 6.20444858e+00] [ 7.62885388e-04 9.99999074e-01 1.12675473e-03 3.28476692e-01] [ 2.29604516e-02 -1.14397421e-03 9.99735720e-01 1.17115873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85255784400005 meters Centerline goodness [0,1] 0.2527765149055011 Centerline is valid? [False, False] Translation: X:6.23, Y:0.32, Z:1.17 [[ 9.99751260e-01 5.92980197e-03 -2.15001514e-02 6.22585348e+00] [-5.96136966e-03 9.99981245e-01 -1.40445847e-03 3.24149186e-01] [ 2.14914200e-02 1.53227948e-03 9.99767859e-01 1.17145208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8825578440001 meters Centerline goodness [0,1] 0.24965250629832336 Centerline is valid? [False, False] Translation: X:6.23, Y:0.32, Z:1.17 [[ 9.99752780e-01 6.12105531e-03 -2.13754885e-02 6.22521693e+00] [-6.14157360e-03 9.99980740e-01 -8.94382612e-04 3.21460669e-01] [ 2.13696023e-02 1.02544064e-03 9.99771118e-01 1.17197020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91255784400005 meters Centerline goodness [0,1] 0.25123794631222307 Centerline is valid? [False, False] Translation: X:6.23, Y:0.32, Z:1.17 [[ 9.99751448e-01 6.29014510e-03 -2.13886909e-02 6.22508946e+00] [-6.30208974e-03 9.99980021e-01 -4.91096732e-04 3.19420969e-01] [ 2.13851745e-02 6.25768119e-04 9.99771115e-01 1.17221056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9425578440001 meters Centerline goodness [0,1] 0.24678879310344826 Centerline is valid? [False, False] Translation: X:6.24, Y:0.32, Z:1.17 [[ 9.99771296e-01 -1.05987360e-03 -2.13595970e-02 6.24389125e+00] [ 1.08505209e-03 9.99998730e-01 1.16723543e-03 3.21947677e-01] [ 2.13583328e-02 -1.19014476e-03 9.99771176e-01 1.17410023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97255784400005 meters Centerline goodness [0,1] 0.24755503855930383 Centerline is valid? [False, False] Translation: X:6.24, Y:0.32, Z:1.17 [[ 9.99776042e-01 -7.53754788e-04 -2.11494291e-02 6.24318069e+00] [ 7.92428544e-04 9.99998029e-01 1.82027470e-03 3.18959165e-01] [ 2.11480154e-02 -1.83662644e-03 9.99774669e-01 1.17441740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0025578440001 meters Centerline goodness [0,1] 0.2525171251495053 Centerline is valid? [False, False] Translation: X:6.24, Y:0.32, Z:1.17 [[ 9.99783022e-01 -6.11292384e-04 -2.08215211e-02 6.24203562e+00] [ 6.57008939e-04 9.99997389e-01 2.18886961e-03 3.17048771e-01] [ 2.08201286e-02 -2.20207460e-03 9.99780813e-01 1.17495710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03255784400005 meters Centerline goodness [0,1] 0.24756687077022232 Centerline is valid? [False, False] Translation: X:6.26, Y:0.31, Z:1.18 [[ 9.99792735e-01 7.51813085e-03 -1.89199563e-02 6.26055199e+00] [-7.50159255e-03 9.99971416e-01 9.44939893e-04 3.12073821e-01] [ 1.89265197e-02 -8.02814236e-04 9.99820555e-01 1.17645405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0625578440001 meters Centerline goodness [0,1] 0.24873271640889583 Centerline is valid? [False, False] Translation: X:6.26, Y:0.31, Z:1.18 [[ 9.99792819e-01 7.61332918e-03 -1.88774021e-02 6.26026032e+00] [-7.59246704e-03 9.99970485e-01 1.17656291e-03 3.10993578e-01] [ 1.88858024e-02 -1.03299309e-03 9.99821114e-01 1.17674942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09255784400005 meters Centerline goodness [0,1] 0.2534488010792463 Centerline is valid? [False, False] Translation: X:6.24, Y:0.31, Z:1.18 [[ 9.99773506e-01 -7.47706009e-04 -2.12691768e-02 6.24179365e+00] [ 8.05591935e-04 9.99995995e-01 2.71314960e-03 3.13336859e-01] [ 2.12670630e-02 -2.72966937e-03 9.99770104e-01 1.17509094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.122557844 meters Centerline goodness [0,1] 0.2486096141409787 Centerline is valid? [False, False] Translation: X:6.24, Y:0.31, Z:1.17 [[ 9.99767740e-01 -7.71299116e-04 -2.15376712e-02 6.24262615e+00] [ 8.30423226e-04 9.99995911e-01 2.73633991e-03 3.13085304e-01] [ 2.15354726e-02 -2.75358975e-03 9.99764293e-01 1.17478851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15255784400006 meters Centerline goodness [0,1] 0.2486096141409787 Centerline is valid? [False, False] Translation: X:6.24, Y:0.31, Z:1.17 [[ 9.99767740e-01 -7.71299116e-04 -2.15376712e-02 6.24262615e+00] [ 8.30423226e-04 9.99995911e-01 2.73633991e-03 3.13085304e-01] [ 2.15354726e-02 -2.75358975e-03 9.99764293e-01 1.17478851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18255784400003 meters Centerline goodness [0,1] 0.25288681091660326 Centerline is valid? [False, False] Translation: X:6.24, Y:0.31, Z:1.17 [[ 9.99767368e-01 -7.74544596e-04 -2.15547950e-02 6.24258500e+00] [ 8.35062075e-04 9.99995735e-01 2.79875179e-03 3.12676312e-01] [ 2.15525353e-02 -2.81610030e-03 9.99763751e-01 1.17489095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21255784400006 meters Centerline goodness [0,1] 0.24732110131303764 Centerline is valid? [False, False] Translation: X:6.28, Y:0.31, Z:1.18 [[ 9.99844148e-01 -1.14377454e-03 -1.76173368e-02 6.28069708e+00] [ 1.18749011e-03 9.99996242e-01 2.47113396e-03 3.14831966e-01] [ 1.76144441e-02 -2.49166924e-03 9.99841749e-01 1.17725827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24255784400003 meters Centerline goodness [0,1] 0.2544897735972875 Centerline is valid? [False, False] Translation: X:6.23, Y:0.31, Z:1.18 [[ 9.99809804e-01 -1.97195107e-03 -1.94027840e-02 6.23312550e+00] [ 2.01865938e-03 9.99995111e-01 2.38800851e-03 3.14220899e-01] [ 1.93979801e-02 -2.42672193e-03 9.99808896e-01 1.17836103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27255784400006 meters Centerline goodness [0,1] 0.2537144351008671 Centerline is valid? [False, False] Translation: X:6.23, Y:0.31, Z:1.18 [[ 9.99809939e-01 -2.07433935e-03 -1.93851164e-02 6.23303441e+00] [ 2.11945365e-03 9.99995093e-01 2.30700968e-03 3.14303649e-01] [ 1.93802357e-02 -2.34765706e-03 9.99809429e-01 1.17844155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30255784400003 meters Centerline goodness [0,1] 0.25098848577014987 Centerline is valid? [False, False] Translation: X:6.23, Y:0.31, Z:1.18 [[ 9.99806371e-01 -2.21845528e-03 -1.95524652e-02 6.23351812e+00] [ 2.26130681e-03 9.99995089e-01 2.16978117e-03 3.14602250e-01] [ 1.95475556e-02 -2.21357516e-03 9.99806478e-01 1.17828983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33255784400006 meters Centerline goodness [0,1] 0.25467625899280577 Centerline is valid? [False, False] Translation: X:6.24, Y:0.32, Z:1.18 [[ 9.99786242e-01 -2.76993265e-03 -2.04889645e-02 6.23619468e+00] [ 2.80416770e-03 9.99994720e-01 1.64236040e-03 3.16062530e-01] [ 2.04843071e-02 -1.69946382e-03 9.99788730e-01 1.17760078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36255784400004 meters Centerline goodness [0,1] 0.2519895629484671 Centerline is valid? [False, False] Translation: X:6.24, Y:0.32, Z:1.18 [[ 9.99784394e-01 -2.85490772e-03 -2.05673068e-02 6.23650482e+00] [ 2.88849806e-03 9.99994542e-01 1.60366863e-03 3.16127125e-01] [ 2.05626163e-02 -1.66273149e-03 9.99787184e-01 1.17738142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39255784400007 meters Centerline goodness [0,1] 0.2521076135497222 Centerline is valid? [False, False] Translation: X:6.24, Y:0.32, Z:1.18 [[ 9.99784095e-01 -2.95335519e-03 -2.05679497e-02 6.23639362e+00] [ 2.98768331e-03 9.99994195e-01 1.63848161e-03 3.15729082e-01] [ 2.05629913e-02 -1.69957837e-03 9.99787115e-01 1.17754789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42255784400004 meters Centerline goodness [0,1] 0.25050165059227136 Centerline is valid? [False, False] Translation: X:6.26, Y:0.31, Z:1.18 [[ 9.99794603e-01 2.68093405e-03 -2.00888985e-02 6.25705992e+00] [-2.71131136e-03 9.99995222e-01 -1.48506032e-03 3.13523348e-01] [ 2.00848211e-02 1.53922255e-03 9.99797095e-01 1.17806564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45255784400007 meters Centerline goodness [0,1] 0.24815304287540352 Centerline is valid? [False, False] Translation: X:6.26, Y:0.31, Z:1.18 [[ 9.99776048e-01 1.90435524e-03 -2.10767083e-02 6.26032244e+00] [-1.94266677e-03 9.99996498e-01 -1.79739292e-03 3.12529088e-01] [ 2.10732116e-02 1.83793542e-03 9.99776246e-01 1.17675613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48255784400004 meters Centerline goodness [0,1] 0.2487232753397386 Centerline is valid? [False, False] Translation: X:6.26, Y:0.31, Z:1.18 [[ 9.99766620e-01 1.78265730e-03 -2.15297156e-02 6.26172123e+00] [-1.81860700e-03 9.99996985e-01 -1.65030720e-03 3.11107899e-01] [ 2.15267088e-02 1.68907615e-03 9.99766847e-01 1.17624679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51255784400007 meters Centerline goodness [0,1] 0.2532722513089005 Centerline is valid? [False, False] Translation: X:6.26, Y:0.31, Z:1.18 [[ 9.99764778e-01 1.78705933e-03 -2.16146792e-02 6.26192293e+00] [-1.81817560e-03 9.99997339e-01 -1.42002323e-03 3.09646562e-01] [ 2.16120840e-02 1.45898849e-03 9.99765367e-01 1.17622096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54255784400004 meters Centerline goodness [0,1] 0.2522557951541369 Centerline is valid? [False, False] Translation: X:6.26, Y:0.31, Z:1.18 [[ 9.99765971e-01 1.84514818e-03 -2.15545467e-02 6.26169342e+00] [-1.87067936e-03 9.99997572e-01 -1.16438841e-03 3.08402018e-01] [ 2.15523459e-02 1.20443755e-03 9.99766996e-01 1.17631156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5725578440001 meters Centerline goodness [0,1] 0.2455513717052179 Centerline is valid? [False, False] Translation: X:6.28, Y:0.31, Z:1.18 [[ 9.99764283e-01 -6.22457372e-03 -2.07998429e-02 6.28194885e+00] [ 6.22587570e-03 9.99980619e-01 -2.15960013e-06 3.11050355e-01] [ 2.07994532e-02 -1.27338145e-04 9.99783660e-01 1.17786515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60255784400005 meters Centerline goodness [0,1] 0.2531471582851532 Centerline is valid? [False, False] Translation: X:6.26, Y:0.31, Z:1.18 [[ 9.99768489e-01 1.91223308e-03 -2.14315407e-02 6.26239761e+00] [-1.92985345e-03 9.99997817e-01 -8.01517812e-04 3.05112029e-01] [ 2.14299612e-02 8.42691985e-04 9.99769997e-01 1.17560651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6325578440001 meters Centerline goodness [0,1] 0.25079647168461894 Centerline is valid? [False, False] Translation: X:6.26, Y:0.30, Z:1.18 [[ 9.99765191e-01 1.93825310e-03 -2.15825243e-02 6.26311699e+00] [-1.95402770e-03 9.99997839e-01 -7.09832059e-04 3.04573880e-01] [ 2.15811018e-02 7.51838235e-04 9.99766818e-01 1.17502485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66255784400005 meters Centerline goodness [0,1] 0.248467052422489 Centerline is valid? [False, False] Translation: X:6.26, Y:0.30, Z:1.17 [[ 9.99764982e-01 1.96285420e-03 -2.15900040e-02 6.26318128e+00] [-1.97780613e-03 9.99997819e-01 -6.71208592e-04 3.04354437e-01] [ 2.15886394e-02 7.13751688e-04 9.99766683e-01 1.17496246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6925578440001 meters Centerline goodness [0,1] 0.24942058180085347 Centerline is valid? [False, False] Translation: X:6.26, Y:0.30, Z:1.18 [[ 9.99767769e-01 2.01304377e-03 -2.14559175e-02 6.26251636e+00] [-2.02689450e-03 9.99997751e-01 -6.23816267e-04 3.04292997e-01] [ 2.14546134e-02 6.67160278e-04 9.99769601e-01 1.17547291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72255784400005 meters Centerline goodness [0,1] 0.2520648516365861 Centerline is valid? [False, False] Translation: X:6.26, Y:0.30, Z:1.18 [[ 9.99776673e-01 2.10945040e-03 -2.10274452e-02 6.26082493e+00] [-2.12092335e-03 9.99997614e-01 -5.23331449e-04 3.04079726e-01] [ 2.10262911e-02 5.67812175e-04 9.99778762e-01 1.17650871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7525578440001 meters Centerline goodness [0,1] 0.2525077076729342 Centerline is valid? [False, False] Translation: X:6.26, Y:0.30, Z:1.18 [[ 9.99776427e-01 2.09188183e-03 -2.10409122e-02 6.26079027e+00] [-2.10363068e-03 9.99997644e-01 -5.36263483e-04 3.03994876e-01] [ 2.10397408e-02 5.80405897e-04 9.99778472e-01 1.17661523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78255784400005 meters Centerline goodness [0,1] 0.2523252521292121 Centerline is valid? [False, False] Translation: X:6.26, Y:0.30, Z:1.18 [[ 9.99776618e-01 2.06515481e-03 -2.10344597e-02 6.26076785e+00] [-2.07687208e-03 9.99997700e-01 -5.35220961e-04 3.03788332e-01] [ 2.10333060e-02 5.78787284e-04 9.99778608e-01 1.17665021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8125578440001 meters Centerline goodness [0,1] 0.2528725550390316 Centerline is valid? [False, False] Translation: X:6.26, Y:0.30, Z:1.18 [[ 9.99775014e-01 2.06550425e-03 -2.11105422e-02 6.26084562e+00] [-2.07673683e-03 9.99997713e-01 -5.10175155e-04 3.03632931e-01] [ 2.11094401e-02 5.53901413e-04 9.99777018e-01 1.17678629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84255784400005 meters Centerline goodness [0,1] 0.24903462409664545 Centerline is valid? [False, False] Translation: X:6.30, Y:0.30, Z:1.18 [[ 9.99820450e-01 2.87692760e-03 -1.87293940e-02 6.30242816e+00] [-2.87537493e-03 9.99995860e-01 1.09828690e-04 3.03566361e-01] [ 1.87296325e-02 -5.59549402e-05 9.99824583e-01 1.17869224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.872557844 meters Centerline goodness [0,1] 0.25200763988366537 Centerline is valid? [False, False] Translation: X:6.30, Y:0.30, Z:1.18 [[ 9.99822754e-01 2.87641517e-03 -1.86060830e-02 6.30182397e+00] [-2.87535411e-03 9.99995863e-01 8.37794635e-05 3.03829665e-01] [ 1.86062470e-02 -3.02655368e-05 9.99826888e-01 1.17916098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90255784400006 meters Centerline goodness [0,1] 0.2434829289242001 Centerline is valid? [False, False] Translation: X:6.32, Y:0.31, Z:1.18 [[ 9.99816858e-01 -5.17148597e-03 -1.84256947e-02 6.32211368e+00] [ 5.18848544e-03 9.99986157e-01 8.74910482e-04 3.07670889e-01] [ 1.84209150e-02 -9.70351698e-04 9.99829850e-01 1.18058694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93255784400003 meters Centerline goodness [0,1] 0.2525768693221523 Centerline is valid? [False, False] Translation: X:6.28, Y:0.31, Z:1.18 [[ 9.99751883e-01 -6.14650615e-03 -2.14100980e-02 6.27732357e+00] [ 6.15275378e-03 9.99981046e-01 2.25946082e-04 3.08669277e-01] [ 2.14083034e-02 -3.57621082e-04 9.99770752e-01 1.18083067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96255784400006 meters Centerline goodness [0,1] 0.24978435262658505 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99783930e-01 6.07309922e-04 -2.07780028e-02 6.29941267e+00] [-6.50773970e-04 9.99997614e-01 -2.08513223e-03 3.05990755e-01] [ 2.07766869e-02 2.09820348e-03 9.99781940e-01 1.18064733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99255784400003 meters Centerline goodness [0,1] 0.2518847487001733 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99787307e-01 5.33397183e-04 -2.06169072e-02 6.29882244e+00] [-5.77550568e-04 9.99997553e-01 -2.13571556e-03 3.06208500e-01] [ 2.06157175e-02 2.14716861e-03 9.99785168e-01 1.18089110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02255784400006 meters Centerline goodness [0,1] 0.25171629717084265 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99789948e-01 4.67283353e-04 -2.04900374e-02 6.29837184e+00] [-5.13027982e-04 9.99997388e-01 -2.22733060e-03 3.06522308e-01] [ 2.04889431e-02 2.23737470e-03 9.99787576e-01 1.18110245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05255784400003 meters Centerline goodness [0,1] 0.25402777474983107 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99791209e-01 3.66777573e-04 -2.04304814e-02 6.29811497e+00] [-4.14084787e-04 9.99997243e-01 -2.31133899e-03 3.06566475e-01] [ 2.04295774e-02 2.31931635e-03 9.99788604e-01 1.18125225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08255784400006 meters Centerline goodness [0,1] 0.25352817100484915 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99793509e-01 2.77754997e-04 -2.03190075e-02 6.29778139e+00] [-3.25348192e-04 9.99997212e-01 -2.33903101e-03 3.06355202e-01] [ 2.03183012e-02 2.34515878e-03 9.99790812e-01 1.18129900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11255784400004 meters Centerline goodness [0,1] 0.2531725473977493 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99806897e-01 -7.58031787e-05 -1.96510349e-02 6.29607169e+00] [ 2.70020645e-05 9.99996915e-01 -2.48363991e-03 3.06260161e-01] [ 1.96511625e-02 2.48262970e-03 9.99803815e-01 1.18136144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14255784400007 meters Centerline goodness [0,1] 0.25177358818041784 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99811707e-01 -6.90333891e-05 -1.94048121e-02 6.29552107e+00] [ 2.22627887e-05 9.99997095e-01 -2.41046352e-03 3.06035476e-01] [ 1.94049221e-02 2.40957764e-03 9.99808803e-01 1.18123145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17255784400004 meters Centerline goodness [0,1] 0.25340788418611704 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99814133e-01 -6.62123731e-05 -1.92794196e-02 6.29529492e+00] [ 2.17911477e-05 9.99997345e-01 -2.30427579e-03 3.05452472e-01] [ 1.92795210e-02 2.30342738e-03 9.99811479e-01 1.18105019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20255784400007 meters Centerline goodness [0,1] 0.24757386241104162 Centerline is valid? [False, False] Translation: X:6.30, Y:0.30, Z:1.18 [[ 9.99804996e-01 -3.10826844e-04 -1.97451981e-02 6.29666914e+00] [ 2.64707735e-04 9.99997231e-01 -2.33828334e-03 3.04805036e-01] [ 1.97458702e-02 2.33260066e-03 9.99802310e-01 1.18061281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23255784400004 meters Centerline goodness [0,1] 0.25194461898468135 Centerline is valid? [False, False] Translation: X:6.30, Y:0.30, Z:1.18 [[ 9.99799268e-01 -3.29286074e-04 -2.00328703e-02 6.29774147e+00] [ 2.82523433e-04 9.99997229e-01 -2.33708098e-03 3.04807541e-01] [ 2.00335844e-02 2.33095209e-03 9.99796590e-01 1.18004139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26255784400007 meters Centerline goodness [0,1] 0.24685301142598925 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99795247e-01 -3.46865951e-04 -2.02322404e-02 6.29855847e+00] [ 2.98516985e-04 9.99997093e-01 -2.39267025e-03 3.05246012e-01] [ 2.02330115e-02 2.38614067e-03 9.99792444e-01 1.17951297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29255784400004 meters Centerline goodness [0,1] 0.2483831195518159 Centerline is valid? [False, False] Translation: X:6.30, Y:0.31, Z:1.18 [[ 9.99796898e-01 -3.99440375e-04 -2.01495072e-02 6.29844169e+00] [ 3.47982829e-04 9.99996670e-01 -2.55722836e-03 3.06210632e-01] [ 2.01504616e-02 2.54969730e-03 9.99793708e-01 1.17937800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3225578440001 meters Centerline goodness [0,1] 0.2545722001449052 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:1.18 [[ 9.99774464e-01 5.04087083e-04 -2.12312706e-02 6.24926484e+00] [-5.51850601e-04 9.99997330e-01 -2.24387896e-03 3.12413758e-01] [ 2.12300829e-02 2.25508937e-03 9.99772073e-01 1.18071250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35255784400005 meters Centerline goodness [0,1] 0.2486705002377967 Centerline is valid? [False, False] Translation: X:6.29, Y:0.31, Z:1.18 [[ 9.99806345e-01 1.41458334e-03 -1.96283290e-02 6.29363843e+00] [-1.45465064e-03 9.99996887e-01 -2.02717233e-03 3.13581161e-01] [ 1.96254003e-02 2.05533212e-03 9.99805291e-01 1.18137292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3825578440001 meters Centerline goodness [0,1] 0.25116570244365777 Centerline is valid? [False, False] Translation: X:6.29, Y:0.32, Z:1.18 [[ 9.99800585e-01 1.32962168e-03 -1.99254057e-02 6.29468802e+00] [-1.37983387e-03 9.99995907e-01 -2.50647207e-03 3.16511501e-01] [ 1.99219915e-02 2.53346600e-03 9.99798328e-01 1.18093413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41255784400005 meters Centerline goodness [0,1] 0.25287456636048267 Centerline is valid? [False, False] Translation: X:6.30, Y:0.32, Z:1.18 [[ 9.99792965e-01 1.25307949e-03 -2.03090135e-02 6.29593126e+00] [-1.31391984e-03 9.99994689e-01 -2.98266483e-03 3.19463440e-01] [ 2.03051681e-02 3.00873173e-03 9.99789302e-01 1.18050336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4425578440001 meters Centerline goodness [0,1] 0.25367246414716016 Centerline is valid? [False, False] Translation: X:6.30, Y:0.32, Z:1.18 [[ 9.99786419e-01 1.14348651e-03 -2.06351459e-02 6.29701642e+00] [-1.22133033e-03 9.99992185e-01 -3.76018186e-03 3.24139562e-01] [ 2.06306849e-02 3.78458108e-03 9.99780002e-01 1.18011687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47255784400005 meters Centerline goodness [0,1] 0.2512838216890346 Centerline is valid? [False, False] Translation: X:6.32, Y:0.33, Z:1.18 [[ 9.99776399e-01 -7.01807508e-03 -1.99474112e-02 6.31660677e+00] [ 6.95996862e-03 9.99971336e-01 -2.98091575e-03 3.29767538e-01] [ 1.99677597e-02 2.84141586e-03 9.99796587e-01 1.18190090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5025578440001 meters Centerline goodness [0,1] 0.25531259624268554 Centerline is valid? [False, False] Translation: X:6.27, Y:0.33, Z:1.18 [[ 9.99725573e-01 -7.07652088e-03 -2.23316342e-02 6.27030621e+00] [ 7.00843612e-03 9.99970556e-01 -3.12559760e-03 3.32778724e-01] [ 2.23530950e-02 2.96823002e-03 9.99745732e-01 1.18252664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53255784400005 meters Centerline goodness [0,1] 0.25416684894352337 Centerline is valid? [False, False] Translation: X:6.27, Y:0.33, Z:1.18 [[ 9.99713328e-01 -7.36759079e-03 -2.27811236e-02 6.27185609e+00] [ 7.28834421e-03 9.99967104e-01 -3.55968269e-03 3.34751546e-01] [ 2.28066005e-02 3.39262556e-03 9.99734139e-01 1.18168908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5625578440001 meters Centerline goodness [0,1] 0.25179559509601823 Centerline is valid? [False, False] Translation: X:6.27, Y:0.34, Z:1.18 [[ 9.99707534e-01 -7.49949452e-03 -2.29913982e-02 6.27283609e+00] [ 7.41532532e-03 9.99965497e-01 -3.74397304e-03 3.35495726e-01] [ 2.30186828e-02 3.57238936e-03 9.99728652e-01 1.18096066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59255784400005 meters Centerline goodness [0,1] 0.25190806497205853 Centerline is valid? [False, False] Translation: X:6.27, Y:0.34, Z:1.18 [[ 9.99706324e-01 -7.59674012e-03 -2.30120706e-02 6.27306551e+00] [ 7.50937964e-03 9.99964275e-01 -3.88032929e-03 3.36038105e-01] [ 2.30407264e-02 3.70638336e-03 9.99727657e-01 1.18061065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.622557844 meters Centerline goodness [0,1] 0.25060795553239534 Centerline is valid? [False, False] Translation: X:6.27, Y:0.34, Z:1.18 [[ 9.99709382e-01 -7.68969348e-03 -2.28477479e-02 6.27253800e+00] [ 7.59917835e-03 9.99962941e-01 -4.04585225e-03 3.36780810e-01] [ 2.28780125e-02 3.87105234e-03 9.99730770e-01 1.18078838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65255784400006 meters Centerline goodness [0,1] 0.2481681034482759 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99785009e-01 2.62969109e-04 -2.07332260e-02 6.29041229e+00] [-3.72669134e-04 9.99985952e-01 -5.28733924e-03 3.34198646e-01] [ 2.07315443e-02 5.29392914e-03 9.99771062e-01 1.18196469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68255784400003 meters Centerline goodness [0,1] 0.2537609558278463 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99787814e-01 2.15974044e-04 -2.05980786e-02 6.28996524e+00] [-3.27114745e-04 9.99985407e-01 -5.39246623e-03 3.34702270e-01] [ 2.05966134e-02 5.39805996e-03 9.99773295e-01 1.18215262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71255784400006 meters Centerline goodness [0,1] 0.2542173144490758 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99791199e-01 2.04238120e-04 -2.04332123e-02 6.28955870e+00] [-3.15037806e-04 9.99985265e-01 -5.41945699e-03 3.34822962e-01] [ 2.04318043e-02 5.42476264e-03 9.99776532e-01 1.18213288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74255784400003 meters Centerline goodness [0,1] 0.2512615051434759 Centerline is valid? [False, False] Translation: X:6.29, Y:0.34, Z:1.18 [[ 9.99790589e-01 1.42924330e-04 -2.04635812e-02 6.28972078e+00] [-2.55401158e-04 9.99984876e-01 -5.49393111e-03 3.35050046e-01] [ 2.04624865e-02 5.49800704e-03 9.99775504e-01 1.18199205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77255784400006 meters Centerline goodness [0,1] 0.25263868033339865 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99783100e-01 6.25863862e-05 -2.08266293e-02 6.29138721e+00] [-1.76625107e-04 9.99985003e-01 -5.47382624e-03 3.34471499e-01] [ 2.08259743e-02 5.47631747e-03 9.99768117e-01 1.18069287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80255784400003 meters Centerline goodness [0,1] 0.25275569803697684 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99779559e-01 1.15619043e-04 -2.09956955e-02 6.29210341e+00] [-2.27227301e-04 9.99985858e-01 -5.31346073e-03 3.33651859e-01] [ 2.09947843e-02 5.31706023e-03 9.99765446e-01 1.18013876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83255784400006 meters Centerline goodness [0,1] 0.25257765810730937 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99776351e-01 1.78633078e-04 -2.11474863e-02 6.29272457e+00] [-2.87807161e-04 9.99986648e-01 -5.15957776e-03 3.33046683e-01] [ 2.11462823e-02 5.16451022e-03 9.99763053e-01 1.17966572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86255784400004 meters Centerline goodness [0,1] 0.25206665506439263 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99776044e-01 2.71031059e-04 -2.11610016e-02 6.29278144e+00] [-3.76091203e-04 9.99987624e-01 -4.96097833e-03 3.32254692e-01] [ 2.11593952e-02 4.96782576e-03 9.99763772e-01 1.17960358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89255784400007 meters Centerline goodness [0,1] 0.24972421102723286 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99776615e-01 3.42213006e-04 -2.11329839e-02 6.29266681e+00] [-4.43496531e-04 9.99988438e-01 -4.78817434e-03 3.31434023e-01] [ 2.11311010e-02 4.79647714e-03 9.99765208e-01 1.17966174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92255784400004 meters Centerline goodness [0,1] 0.2522744090889305 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99781732e-01 3.66354263e-04 -2.08890884e-02 6.29191045e+00] [-4.64862516e-04 9.99988795e-01 -4.71111478e-03 3.30750786e-01] [ 2.08871284e-02 4.71979705e-03 9.99770699e-01 1.17991037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95255784400007 meters Centerline goodness [0,1] 0.2545923087088674 Centerline is valid? [False, False] Translation: X:6.29, Y:0.33, Z:1.18 [[ 9.99783356e-01 3.57922955e-04 -2.08113874e-02 6.29162605e+00] [-4.56365857e-04 9.99988730e-01 -4.72568527e-03 3.30691448e-01] [ 2.08094615e-02 4.73415908e-03 9.99772251e-01 1.18005417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98255784400004 meters Centerline goodness [0,1] 0.2504057651106927 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99814732e-01 7.10408580e-04 -1.92353108e-02 6.33563269e+00] [-7.93876954e-04 9.99990302e-01 -4.33204253e-03 3.28481740e-01] [ 1.92320467e-02 4.34651041e-03 9.99805599e-01 1.18071619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01255784400007 meters Centerline goodness [0,1] 0.2537652246038329 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99812656e-01 8.11844531e-04 -1.93389207e-02 6.33616137e+00] [-8.97922584e-04 9.99989728e-01 -4.44275938e-03 3.29984289e-01] [ 1.93351153e-02 4.45929191e-03 9.99803115e-01 1.18031368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04255784400004 meters Centerline goodness [0,1] 0.2526331891088677 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99814560e-01 7.93165343e-04 -1.92410167e-02 6.33588096e+00] [-8.80540709e-04 9.99989338e-01 -4.53305228e-03 3.30493724e-01] [ 1.92372161e-02 4.54915417e-03 9.99804598e-01 1.18038113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0725578440001 meters Centerline goodness [0,1] 0.2526331891088677 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99814560e-01 7.93165343e-04 -1.92410167e-02 6.33588096e+00] [-8.80540709e-04 9.99989338e-01 -4.53305228e-03 3.30493724e-01] [ 1.92372161e-02 4.54915417e-03 9.99804598e-01 1.18038113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10255784400005 meters Centerline goodness [0,1] 0.2529639062088347 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99817410e-01 7.60518623e-04 -1.90936754e-02 6.33547174e+00] [-8.48729177e-04 9.99989004e-01 -4.61220519e-03 3.30811659e-01] [ 1.90899577e-02 4.62756840e-03 9.99807061e-01 1.18044759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1325578440001 meters Centerline goodness [0,1] 0.25151983962695834 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99816406e-01 7.21919361e-04 -1.91476851e-02 6.33550222e+00] [-8.11615761e-04 9.99988733e-01 -4.67709411e-03 3.31058271e-01] [ 1.91440928e-02 4.69177599e-03 9.99805727e-01 1.18056755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16255784400005 meters Centerline goodness [0,1] 0.2523541721161392 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99810761e-01 7.85177780e-04 -1.94377204e-02 6.33644841e+00] [-8.72494106e-04 9.99989566e-01 -4.48403447e-03 3.30440479e-01] [ 1.94339968e-02 4.50014522e-03 9.99801014e-01 1.18009250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1925578440001 meters Centerline goodness [0,1] 0.2523276858332788 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99807179e-01 8.16430051e-04 -1.96198287e-02 6.33712871e+00] [-9.01518265e-04 9.99990226e-01 -4.32839473e-03 3.29690389e-01] [ 1.96161031e-02 4.34524776e-03 9.99798143e-01 1.17967763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22255784400005 meters Centerline goodness [0,1] 0.25252854104267053 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99806377e-01 8.07453005e-04 -1.96610230e-02 6.33735110e+00] [-8.90844846e-04 9.99990644e-01 -4.23309147e-03 3.29043020e-01] [ 1.96574210e-02 4.24978677e-03 9.99797742e-01 1.17941589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2525578440001 meters Centerline goodness [0,1] 0.25486415425065734 Centerline is valid? [False, False] Translation: X:6.34, Y:0.33, Z:1.18 [[ 9.99809752e-01 7.53303693e-04 -1.94908040e-02 6.33666678e+00] [-8.36623796e-04 9.99990546e-01 -4.26704095e-03 3.28945574e-01] [ 1.94874053e-02 4.28253562e-03 9.99800931e-01 1.17979767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28255784400005 meters Centerline goodness [0,1] 0.24990806636526852 Centerline is valid? [False, False] Translation: X:6.36, Y:0.33, Z:1.18 [[ 9.99878337e-01 -4.43661756e-03 -1.49542101e-02 6.35875070e+00] [ 4.40954287e-03 9.99988580e-01 -1.84299280e-03 3.30025238e-01] [ 1.49622160e-02 1.77682734e-03 9.99886481e-01 1.17923766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3125578440001 meters Centerline goodness [0,1] 0.2539175414574776 Centerline is valid? [False, False] Translation: X:6.36, Y:0.33, Z:1.18 [[ 9.99878273e-01 -4.60974337e-03 -1.49060284e-02 6.35854464e+00] [ 4.57428216e-03 9.99986629e-01 -2.41220417e-03 3.32994749e-01] [ 1.49169487e-02 2.34372616e-03 9.99885989e-01 1.17948919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34255784400005 meters Centerline goodness [0,1] 0.2526695025609862 Centerline is valid? [False, False] Translation: X:6.36, Y:0.34, Z:1.18 [[ 9.99876037e-01 -4.78108013e-03 -1.50017204e-02 6.35890907e+00] [ 4.73633542e-03 9.99984233e-01 -3.01675084e-03 3.36341226e-01] [ 1.50159071e-02 2.94532370e-03 9.99882917e-01 1.17932007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.372557844 meters Centerline goodness [0,1] 0.2520443671161374 Centerline is valid? [False, False] Translation: X:6.36, Y:0.34, Z:1.18 [[ 9.99874615e-01 -4.93192588e-03 -1.50476342e-02 6.35924401e+00] [ 4.87867815e-03 9.99981715e-01 -3.57327038e-03 3.39362395e-01] [ 1.50649822e-02 3.49940978e-03 9.99880393e-01 1.17901784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40255784400006 meters Centerline goodness [0,1] 0.253575020772292 Centerline is valid? [False, False] Translation: X:6.36, Y:0.34, Z:1.18 [[ 9.99875983e-01 -5.13264912e-03 -1.48887139e-02 6.35885859e+00] [ 5.07223044e-03 9.99978760e-01 -4.09294604e-03 3.41862269e-01] [ 1.49094053e-02 4.01691946e-03 9.99880780e-01 1.17904712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43255784400003 meters Centerline goodness [0,1] 0.24678458323459074 Centerline is valid? [False, False] Translation: X:6.38, Y:0.34, Z:1.18 [[ 9.99915177e-01 2.23580786e-03 -1.28312457e-02 6.37722031e+00] [-2.31304545e-03 9.99979278e-01 -6.00781280e-03 3.40683278e-01] [ 1.28175475e-02 6.03698245e-03 9.99899628e-01 1.18030731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46255784400006 meters Centerline goodness [0,1] 0.2506666666666667 Centerline is valid? [False, False] Translation: X:6.38, Y:0.34, Z:1.18 [[ 9.99915163e-01 2.16062373e-03 -1.28451947e-02 6.37728739e+00] [-2.23935539e-03 9.99978777e-01 -6.11804925e-03 3.41175778e-01] [ 1.28317033e-02 6.14629517e-03 9.99898780e-01 1.18022071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49255784400003 meters Centerline goodness [0,1] 0.25184158072623275 Centerline is valid? [False, False] Translation: X:6.38, Y:0.34, Z:1.18 [[ 9.99912211e-01 2.11155913e-03 -1.30809286e-02 6.37803292e+00] [-2.19193108e-03 9.99978791e-01 -6.13292090e-03 3.41091300e-01] [ 1.30677012e-02 6.16105499e-03 9.99895633e-01 1.17992174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52255784400006 meters Centerline goodness [0,1] 0.25435776305141833 Centerline is valid? [False, False] Translation: X:6.38, Y:0.34, Z:1.18 [[ 9.99907880e-01 2.03486381e-03 -1.34197623e-02 6.37921599e+00] [-2.11767715e-03 9.99978787e-01 -6.15967874e-03 3.40923588e-01] [ 1.34069435e-02 6.18753004e-03 9.99890978e-01 1.17928220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55255784400003 meters Centerline goodness [0,1] 0.2538933976749287 Centerline is valid? [False, False] Translation: X:6.38, Y:0.34, Z:1.18 [[ 9.99899267e-01 1.95050645e-03 -1.40588722e-02 6.38142603e+00] [-2.03890703e-03 9.99978225e-01 -6.27629764e-03 3.41571405e-01] [ 1.40463241e-02 6.30433014e-03 9.99881471e-01 1.17813114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58255784400006 meters Centerline goodness [0,1] 0.2551261312464478 Centerline is valid? [False, False] Translation: X:6.38, Y:0.34, Z:1.18 [[ 9.99897459e-01 1.87853626e-03 -1.41965967e-02 6.38174350e+00] [-1.97149079e-03 9.99976693e-01 -6.53650698e-03 3.43089814e-01] [ 1.41839868e-02 6.56382518e-03 9.99877858e-01 1.17824330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61255784400004 meters Centerline goodness [0,1] 0.24422634037149438 Centerline is valid? [False, False] Translation: X:6.40, Y:0.35, Z:1.18 [[ 9.99921235e-01 -3.63619434e-03 -1.20125336e-02 6.40430927e+00] [ 3.59572131e-03 9.99987792e-01 -3.38911526e-03 3.45023797e-01] [ 1.20247104e-02 3.34565460e-03 9.99922103e-01 1.17785825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64255784400007 meters Centerline goodness [0,1] 0.2531573781219326 Centerline is valid? [False, False] Translation: X:6.38, Y:0.35, Z:1.18 [[ 9.99910813e-01 6.73289273e-03 -1.15340848e-02 6.37809148e+00] [-6.77318031e-03 9.99971085e-01 -3.45742081e-03 3.50781808e-01] [ 1.15104728e-02 3.53523488e-03 9.99927503e-01 1.17973712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67255784400004 meters Centerline goodness [0,1] 0.25234152595779824 Centerline is valid? [False, False] Translation: X:6.38, Y:0.35, Z:1.18 [[ 9.99909000e-01 6.65423159e-03 -1.17351196e-02 6.37859244e+00] [-6.70302296e-03 9.99969033e-01 -4.12330250e-03 3.54871068e-01] [ 1.17073188e-02 4.20158806e-03 9.99922640e-01 1.17989837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70255784400007 meters Centerline goodness [0,1] 0.25228642018117986 Centerline is valid? [False, False] Translation: X:6.38, Y:0.36, Z:1.18 [[ 9.99908728e-01 6.51762677e-03 -1.18345426e-02 6.37899932e+00] [-6.57482952e-03 9.99966860e-01 -4.80108431e-03 3.58804694e-01] [ 1.18028587e-02 4.87845621e-03 9.99918443e-01 1.17977802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73255784400004 meters Centerline goodness [0,1] 0.2533339115727389 Centerline is valid? [False, False] Translation: X:6.38, Y:0.36, Z:1.18 [[ 9.99911585e-01 6.28475966e-03 -1.17185095e-02 6.37874374e+00] [-6.34880695e-03 9.99965069e-01 -5.43631356e-03 3.61847738e-01] [ 1.16839343e-02 5.51023147e-03 9.99916558e-01 1.17977775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76255784400007 meters Centerline goodness [0,1] 0.2550331169257001 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99940869e-01 -1.75521192e-03 -1.07320639e-02 6.35872459e+00] [ 1.70095675e-03 9.99985739e-01 -5.06246710e-03 3.71259943e-01] [ 1.07407965e-02 5.04391297e-03 9.99929595e-01 1.17801273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79255784400004 meters Centerline goodness [0,1] 0.24935876710852467 Centerline is valid? [False, False] Translation: X:6.38, Y:0.38, Z:1.18 [[ 9.99884849e-01 -1.01179019e-02 -1.13100618e-02 6.38000014e+00] [ 1.00734647e-02 9.99941344e-01 -3.97908602e-03 3.75369419e-01] [ 1.13496584e-02 3.86469632e-03 9.99928122e-01 1.17955838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8225578440001 meters Centerline goodness [0,1] 0.24942767051099302 Centerline is valid? [False, False] Translation: X:6.38, Y:0.38, Z:1.18 [[ 9.99879020e-01 -1.01525876e-02 -1.17843652e-02 6.38152781e+00] [ 1.01064359e-02 9.99941050e-01 -3.96931794e-03 3.75490011e-01] [ 1.18239693e-02 3.84973980e-03 9.99922684e-01 1.17896845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85255784400005 meters Centerline goodness [0,1] 0.2531184917242135 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99901968e-01 -1.59551386e-03 -1.39107256e-02 6.36210366e+00] [ 1.52721081e-03 9.99986734e-01 -4.91934079e-03 3.72845378e-01] [ 1.39183900e-02 4.89761393e-03 9.99891140e-01 1.17793433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8825578440001 meters Centerline goodness [0,1] 0.24988583233663153 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99897447e-01 -1.85902236e-03 -1.41999987e-02 6.36300933e+00] [ 1.78808335e-03 9.99985867e-01 -5.00676876e-03 3.72457385e-01] [ 1.42091058e-02 4.98086452e-03 9.99886640e-01 1.17749627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91255784400005 meters Centerline goodness [0,1] 0.25233420068659396 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99900863e-01 -1.89140642e-03 -1.39530167e-02 6.36223583e+00] [ 1.82210786e-03 9.99985952e-01 -4.97760605e-03 3.72096005e-01] [ 1.39622354e-02 4.95168868e-03 9.99890262e-01 1.17774202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9425578440001 meters Centerline goodness [0,1] 0.24416776166986187 Centerline is valid? [False, False] Translation: X:6.38, Y:0.37, Z:1.18 [[ 9.99874304e-01 -1.03420987e-02 -1.20173445e-02 6.38207081e+00] [ 1.02953572e-02 9.99939220e-01 -3.94487350e-03 3.74133503e-01] [ 1.20574123e-02 3.82065479e-03 9.99920008e-01 1.17879593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97255784400005 meters Centerline goodness [0,1] 0.24753328450170198 Centerline is valid? [False, False] Translation: X:6.38, Y:0.37, Z:1.18 [[ 9.99878129e-01 -1.03878561e-02 -1.16541370e-02 6.38058297e+00] [ 1.03426826e-02 9.99938791e-01 -3.92977749e-03 3.73654994e-01] [ 1.16942456e-02 3.80876352e-03 9.99924366e-01 1.17975287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0025578440001 meters Centerline goodness [0,1] 0.2496103558749675 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99934570e-01 -2.03147728e-03 -1.12574046e-02 6.36045175e+00] [ 1.97363032e-03 9.99984805e-01 -5.14729851e-03 3.70144807e-01] [ 1.12676901e-02 5.12474376e-03 9.99923385e-01 1.17782622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03255784400005 meters Centerline goodness [0,1] 0.2502114371218528 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99934711e-01 -2.02828903e-03 -1.12453893e-02 6.36046497e+00] [ 1.97048209e-03 9.99984801e-01 -5.14920048e-03 3.70065411e-01] [ 1.12556625e-02 5.12670546e-03 9.99923511e-01 1.17773494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0625578440001 meters Centerline goodness [0,1] 0.2513670688308307 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99934475e-01 -2.00857379e-03 -1.12698990e-02 6.36048867e+00] [ 1.95039513e-03 9.99984729e-01 -5.17092366e-03 3.70275744e-01] [ 1.12801131e-02 5.14860408e-03 9.99923123e-01 1.17780627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09255784400005 meters Centerline goodness [0,1] 0.2528587920106292 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99934658e-01 -1.98683546e-03 -1.12575516e-02 6.36047845e+00] [ 1.92842581e-03 9.99984636e-01 -5.19696732e-03 3.70627547e-01] [ 1.12677041e-02 5.17491839e-03 9.99923127e-01 1.17780317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.122557844 meters Centerline goodness [0,1] 0.24926629261976696 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99935517e-01 -1.81367524e-03 -1.12103973e-02 6.36016805e+00] [ 1.75368729e-03 9.99984105e-01 -5.35861472e-03 3.71980240e-01] [ 1.12199379e-02 5.33860965e-03 9.99922803e-01 1.17825817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15255784400006 meters Centerline goodness [0,1] 0.2512190911837052 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99935680e-01 -1.88171874e-03 -1.11846179e-02 6.35984331e+00] [ 1.81850619e-03 9.99982333e-01 -5.65922546e-03 3.73444124e-01] [ 1.11950694e-02 5.63852216e-03 9.99921436e-01 1.17875037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18255784400003 meters Centerline goodness [0,1] 0.25098141280065933 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:1.18 [[ 9.99935417e-01 -1.92533297e-03 -1.12007009e-02 6.35976534e+00] [ 1.85912898e-03 9.99980760e-01 -5.91811319e-03 3.74841477e-01] [ 1.12118797e-02 5.89690743e-03 9.99919757e-01 1.17897413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21255784400006 meters Centerline goodness [0,1] 0.24973487717779463 Centerline is valid? [False, False] Translation: X:6.36, Y:0.38, Z:1.18 [[ 9.99933458e-01 -1.96974483e-03 -1.13665846e-02 6.36024891e+00] [ 1.89899118e-03 9.99978777e-01 -6.23214592e-03 3.76658318e-01] [ 1.13786191e-02 6.21014617e-03 9.99915977e-01 1.17890789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24255784400003 meters Centerline goodness [0,1] 0.25279826464208244 Centerline is valid? [False, False] Translation: X:6.36, Y:0.38, Z:1.18 [[ 9.99931068e-01 -2.05696006e-03 -1.15597869e-02 6.36102004e+00] [ 1.98057207e-03 9.99976155e-01 -6.61564648e-03 3.78798691e-01] [ 1.15731194e-02 6.59229546e-03 9.99911298e-01 1.17846795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27255784400006 meters Centerline goodness [0,1] 0.24762358443583132 Centerline is valid? [False, False] Translation: X:6.37, Y:0.38, Z:1.18 [[ 9.99922848e-01 3.95245889e-04 -1.24153522e-02 6.36518232e+00] [-4.53556746e-04 9.99988879e-01 -4.69420913e-03 3.83879255e-01] [ 1.24133587e-02 4.69947803e-03 9.99911908e-01 1.17607997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30255784400003 meters Centerline goodness [0,1] 0.24724334394835468 Centerline is valid? [False, False] Translation: X:6.37, Y:0.39, Z:1.18 [[ 9.99921712e-01 2.29040132e-04 -1.25106810e-02 6.36553237e+00] [-2.94241303e-04 9.99986384e-01 -5.21004840e-03 3.86569522e-01] [ 1.25093173e-02 5.21332167e-03 9.99908165e-01 1.17594270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33255784400006 meters Centerline goodness [0,1] 0.2527796088771699 Centerline is valid? [False, False] Translation: X:6.32, Y:0.39, Z:1.18 [[ 9.99883930e-01 7.60669574e-04 -1.52166879e-02 6.32055642e+00] [-8.45373237e-04 9.99984181e-01 -5.56084042e-03 3.91841091e-01] [ 1.52122173e-02 5.57305876e-03 9.99868756e-01 1.17657491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36255784400004 meters Centerline goodness [0,1] 0.24716621960716445 Centerline is valid? [False, False] Translation: X:6.34, Y:0.40, Z:1.18 [[ 9.99859298e-01 -7.84779206e-03 -1.48255464e-02 6.34113688e+00] [ 7.77598249e-03 9.99957785e-01 -4.89508968e-03 3.98650798e-01] [ 1.48633362e-02 4.77911774e-03 9.99878113e-01 1.17775012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39255784400007 meters Centerline goodness [0,1] 0.253195984058192 Centerline is valid? [False, False] Translation: X:6.34, Y:0.40, Z:1.18 [[ 9.99860777e-01 -7.94658541e-03 -1.46723935e-02 6.34063278e+00] [ 7.87257793e-03 9.99956031e-01 -5.09488291e-03 3.99704189e-01] [ 1.47122353e-02 4.97866402e-03 9.99879374e-01 1.17791878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42255784400004 meters Centerline goodness [0,1] 0.2535273078357799 Centerline is valid? [False, False] Translation: X:6.34, Y:0.40, Z:1.18 [[ 9.99863388e-01 -8.03060208e-03 -1.44469814e-02 6.33994228e+00] [ 7.95546498e-03 9.99954568e-01 -5.25086009e-03 4.00538481e-01] [ 1.44884926e-02 5.13521030e-03 9.99881850e-01 1.17815282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45255784400007 meters Centerline goodness [0,1] 0.2524246509807333 Centerline is valid? [False, False] Translation: X:6.36, Y:0.40, Z:1.18 [[ 9.99906385e-01 -6.16184961e-04 -1.36689845e-02 6.35753267e+00] [ 5.25778410e-04 9.99977972e-01 -6.61659967e-03 3.96855339e-01] [ 1.36727605e-02 6.60879340e-03 9.99884683e-01 1.18005634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48255784400004 meters Centerline goodness [0,1] 0.253198155077887 Centerline is valid? [False, False] Translation: X:6.36, Y:0.40, Z:1.18 [[ 9.99904031e-01 -1.03260688e-03 -1.38153108e-02 6.35778154e+00] [ 9.36682876e-04 9.99975424e-01 -6.94798100e-03 3.97593177e-01] [ 1.38221458e-02 6.93437364e-03 9.99880424e-01 1.18018985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51255784400007 meters Centerline goodness [0,1] 0.25106134118870216 Centerline is valid? [False, False] Translation: X:6.36, Y:0.40, Z:1.18 [[ 9.99898810e-01 -1.08547110e-03 -1.41841913e-02 6.35902920e+00] [ 9.87981325e-04 9.99975856e-01 -6.87832926e-03 3.97051993e-01] [ 1.41913150e-02 6.86361953e-03 9.99875741e-01 1.17957480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54255784400004 meters Centerline goodness [0,1] 0.24931744312026005 Centerline is valid? [False, False] Translation: X:6.36, Y:0.40, Z:1.18 [[ 9.99893248e-01 -1.07109390e-03 -1.45720498e-02 6.36032663e+00] [ 9.73561833e-04 9.99977091e-01 -6.69854010e-03 3.96102408e-01] [ 1.45788907e-02 6.68363823e-03 9.99871384e-01 1.17896277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5725578440001 meters Centerline goodness [0,1] 0.2522013949433304 Centerline is valid? [False, False] Translation: X:6.36, Y:0.40, Z:1.18 [[ 9.99891833e-01 -1.04394006e-03 -1.46707746e-02 6.36077102e+00] [ 9.47331326e-04 9.99977834e-01 -6.59052219e-03 3.95545425e-01] [ 1.46773295e-02 6.57591123e-03 9.99870658e-01 1.17860087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60255784400005 meters Centerline goodness [0,1] 0.25337172298833155 Centerline is valid? [False, False] Translation: X:6.38, Y:0.40, Z:1.18 [[ 9.99913831e-01 -6.77238866e-03 -1.12456907e-02 6.38070952e+00] [ 6.73846378e-03 9.99972639e-01 -3.05185550e-03 3.95952038e-01] [ 1.12660514e-02 2.97581385e-03 9.99932108e-01 1.17870051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6325578440001 meters Centerline goodness [0,1] 0.24989771528241345 Centerline is valid? [False, False] Translation: X:6.38, Y:0.40, Z:1.18 [[ 9.99918255e-01 -6.75299703e-03 -1.08572727e-02 6.37925271e+00] [ 6.71717837e-03 9.99971888e-01 -3.33213630e-03 3.97738024e-01] [ 1.08794694e-02 3.25893368e-03 9.99935506e-01 1.17964881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66255784400005 meters Centerline goodness [0,1] 0.26425505824647455 Centerline is valid? [False, False] Translation: X:6.36, Y:0.40, Z:1.18 [[ 9.99935950e-01 2.75566978e-03 -1.09773743e-02 6.35553912e+00] [-2.79910527e-03 9.99988307e-01 -3.94342245e-03 3.97810910e-01] [ 1.09663791e-02 3.97389669e-03 9.99931971e-01 1.17981536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6925578440001 meters Centerline goodness [0,1] 0.25454188994902627 Centerline is valid? [False, False] Translation: X:6.36, Y:0.40, Z:1.18 [[ 9.99933531e-01 2.75198801e-03 -1.11964585e-02 6.35596529e+00] [-2.80134813e-03 9.99986417e-01 -4.39525544e-03 4.00459368e-01] [ 1.11842107e-02 4.42632847e-03 9.99927658e-01 1.18015023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72255784400005 meters Centerline goodness [0,1] 0.25257418429856193 Centerline is valid? [False, False] Translation: X:6.36, Y:0.40, Z:1.18 [[ 9.99929351e-01 2.74591209e-03 -1.15651787e-02 6.35699866e+00] [-2.80235065e-03 9.99984231e-01 -4.86666669e-03 4.03254994e-01] [ 1.15516329e-02 4.89873255e-03 9.99921278e-01 1.18003502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7525578440001 meters Centerline goodness [0,1] 0.2527365551853935 Centerline is valid? [False, False] Translation: X:6.36, Y:0.41, Z:1.18 [[ 9.99918030e-01 3.19187679e-03 -1.23994318e-02 6.35985707e+00] [-3.25728270e-03 9.99980870e-01 -5.25830278e-03 4.08550206e-01] [ 1.23824108e-02 5.29826021e-03 9.99909298e-01 1.17908696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78255784400005 meters Centerline goodness [0,1] 0.2546111800701204 Centerline is valid? [False, False] Translation: X:6.36, Y:0.41, Z:1.18 [[ 9.99919081e-01 2.96190065e-03 -1.23717177e-02 6.35982888e+00] [-3.03462588e-03 9.99978204e-01 -5.86371545e-03 4.11314917e-01] [ 1.23540803e-02 5.90078450e-03 9.99906274e-01 1.17905439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8125578440001 meters Centerline goodness [0,1] 0.253439268611232 Centerline is valid? [False, False] Translation: X:6.36, Y:0.41, Z:1.18 [[ 9.99920904e-01 2.77338579e-03 -1.22676409e-02 6.35947960e+00] [-2.85179841e-03 9.99975588e-01 -6.37895778e-03 4.13743246e-01] [ 1.22496501e-02 6.41343806e-03 9.99904402e-01 1.17928642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84255784400005 meters Centerline goodness [0,1] 0.25314888811674774 Centerline is valid? [False, False] Translation: X:6.36, Y:0.42, Z:1.18 [[ 9.99922525e-01 2.65313616e-03 -1.21616466e-02 6.35897994e+00] [-2.73601480e-03 9.99973115e-01 -6.80319044e-03 4.16087213e-01] [ 1.21432698e-02 6.83593781e-03 9.99902901e-01 1.17970925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.872557844 meters Centerline goodness [0,1] 0.24964305801929654 Centerline is valid? [False, False] Translation: X:6.36, Y:0.42, Z:1.18 [[ 9.99924259e-01 2.54522013e-03 -1.20415251e-02 6.35853808e+00] [-2.63278495e-03 9.99970168e-01 -7.26164938e-03 4.19319866e-01] [ 1.20226833e-02 7.29280212e-03 9.99901130e-01 1.18002025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90255784400006 meters Centerline goodness [0,1] 0.2513508235140941 Centerline is valid? [False, False] Translation: X:6.36, Y:0.42, Z:1.18 [[ 9.99924544e-01 2.49152320e-03 -1.20290438e-02 6.35880217e+00] [-2.57878597e-03 9.99970435e-01 -7.24428736e-03 4.19045077e-01] [ 1.20106388e-02 7.27476107e-03 9.99901406e-01 1.17950178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93255784400003 meters Centerline goodness [0,1] 0.2552215328148213 Centerline is valid? [False, False] Translation: X:6.36, Y:0.42, Z:1.18 [[ 9.99921373e-01 2.32268039e-03 -1.23228337e-02 6.35986140e+00] [-2.41066344e-03 9.99971677e-01 -7.12979557e-03 4.17670902e-01] [ 1.23059245e-02 7.15894118e-03 9.99898652e-01 1.17879063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96255784400006 meters Centerline goodness [0,1] 0.2552215328148213 Centerline is valid? [False, False] Translation: X:6.36, Y:0.42, Z:1.18 [[ 9.99921373e-01 2.32268039e-03 -1.23228337e-02 6.35986140e+00] [-2.41066344e-03 9.99971677e-01 -7.12979557e-03 4.17670902e-01] [ 1.23059245e-02 7.15894118e-03 9.99898652e-01 1.17879063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99255784400003 meters Centerline goodness [0,1] 0.2568779047996652 Centerline is valid? [False, False] Translation: X:6.36, Y:0.41, Z:1.18 [[ 9.99916316e-01 -9.03780201e-04 -1.29051899e-02 6.36336128e+00] [ 7.78763117e-04 9.99952756e-01 -9.68909073e-03 4.13573475e-01] [ 1.29133371e-02 9.67822982e-03 9.99869780e-01 1.17590596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02255784400006 meters Centerline goodness [0,1] 0.25065023058597247 Centerline is valid? [False, False] Translation: X:6.39, Y:0.41, Z:1.18 [[ 0.99986739 -0.00985273 -0.01296608 6.38521536] [ 0.00974481 0.99991756 -0.00836074 0.41309527] [ 0.01304739 0.00823328 0.99988098 1.17663542] [ 0. 0. 0. 1. ]] SLAMing on 418.05255784400003 meters Centerline goodness [0,1] 0.2500816477606741 Centerline is valid? [False, False] Translation: X:6.39, Y:0.41, Z:1.18 [[ 0.99986816 -0.00970217 -0.01302069 6.38540774] [ 0.0096011 0.99992347 -0.00780237 0.41038554] [ 0.01309539 0.00767633 0.99988479 1.17647831] [ 0. 0. 0. 1. ]] SLAMing on 418.08255784400006 meters Centerline goodness [0,1] 0.25263454616418757 Centerline is valid? [False, False] Translation: X:6.39, Y:0.41, Z:1.18 [[ 0.99986988 -0.00953441 -0.013012 6.38544019] [ 0.00943989 0.99992876 -0.00730568 0.40794563] [ 0.01308072 0.00718189 0.99988865 1.17632546] [ 0. 0. 0. 1. ]] SLAMing on 418.11255784400004 meters Centerline goodness [0,1] 0.25093999261046274 Centerline is valid? [False, False] Translation: X:6.39, Y:0.40, Z:1.18 [[ 0.99987324 -0.00929495 -0.01292692 6.3853488 ] [ 0.00920923 0.99993532 -0.0066748 0.40468238] [ 0.01298812 0.00655491 0.99989417 1.17608068] [ 0. 0. 0. 1. ]] SLAMing on 418.14255784400007 meters Centerline goodness [0,1] 0.24873975032993656 Centerline is valid? [False, False] Translation: X:6.39, Y:0.40, Z:1.18 [[ 0.99987449 -0.00919667 -0.01290041 6.38510192] [ 0.00911216 0.99993674 -0.00659456 0.40450885] [ 0.01296024 0.00647618 0.99989504 1.17642356] [ 0. 0. 0. 1. ]] SLAMing on 418.17255784400004 meters Centerline goodness [0,1] 0.25162699184882487 Centerline is valid? [False, False] Translation: X:6.38, Y:0.40, Z:1.18 [[ 9.99904680e-01 -5.47374080e-03 -1.26755343e-02 6.38436586e+00] [ 5.43914071e-03 9.99981392e-01 -2.76254184e-03 4.02750024e-01] [ 1.26904198e-02 2.69333450e-03 9.99915846e-01 1.17655411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20255784400007 meters Centerline goodness [0,1] 0.24971677559912853 Centerline is valid? [False, False] Translation: X:6.38, Y:0.40, Z:1.18 [[ 9.99902868e-01 -5.40587548e-03 -1.28464457e-02 6.38482435e+00] [ 5.36980753e-03 9.99981548e-01 -2.84045723e-03 4.03300949e-01] [ 1.28615638e-02 2.77119839e-03 9.99913447e-01 1.17654746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23255784400004 meters Centerline goodness [0,1] 0.25313628899835794 Centerline is valid? [False, False] Translation: X:6.39, Y:0.40, Z:1.18 [[ 9.99902307e-01 -5.13776539e-03 -1.29992212e-02 6.38519528e+00] [ 5.10004062e-03 9.99982692e-01 -2.93356706e-03 4.04188925e-01] [ 1.30140682e-02 2.86698391e-03 9.99911203e-01 1.17659433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26255784400007 meters Centerline goodness [0,1] 0.25373101426272515 Centerline is valid? [False, False] Translation: X:6.38, Y:0.41, Z:1.18 [[ 9.99903649e-01 -5.17696379e-03 -1.28799196e-02 6.38463041e+00] [ 5.13689233e-03 9.99981869e-01 -3.14229800e-03 4.05199891e-01] [ 1.28959537e-02 3.07583248e-03 9.99912113e-01 1.17708577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29255784400004 meters Centerline goodness [0,1] 0.24862393273523165 Centerline is valid? [False, False] Translation: X:6.43, Y:0.40, Z:1.18 [[ 9.99939642e-01 -4.15528135e-03 -1.01708437e-02 6.42629759e+00] [ 4.13965400e-03 9.99990219e-01 -1.55705560e-03 4.04421179e-01] [ 1.01772143e-02 1.51485785e-03 9.99947063e-01 1.17826071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3225578440001 meters Centerline goodness [0,1] 0.26413159674498765 Centerline is valid? [False, False] Translation: X:6.43, Y:0.41, Z:1.18 [[ 9.99938792e-01 -4.20082909e-03 -1.02354695e-02 6.42652353e+00] [ 4.18336902e-03 9.99989759e-01 -1.72665369e-03 4.05391003e-01] [ 1.02426180e-02 1.68372926e-03 9.99946125e-01 1.17813810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35255784400005 meters Centerline goodness [0,1] 0.2516599542832263 Centerline is valid? [False, False] Translation: X:6.43, Y:0.41, Z:1.18 [[ 9.99936868e-01 -4.27561742e-03 -1.03913279e-02 6.42704446e+00] [ 4.25546085e-03 9.99989023e-01 -1.96108668e-03 4.06570409e-01] [ 1.03995987e-02 1.91674298e-03 9.99944086e-01 1.17792823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3825578440001 meters Centerline goodness [0,1] 0.2466934647302904 Centerline is valid? [False, False] Translation: X:6.43, Y:0.41, Z:1.18 [[ 9.99934509e-01 -4.37855841e-03 -1.05738672e-02 6.42756523e+00] [ 4.35465419e-03 9.99987913e-01 -2.28265447e-03 4.08193921e-01] [ 1.05837341e-02 2.23645944e-03 9.99941490e-01 1.17785084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41255784400005 meters Centerline goodness [0,1] 0.2520694550617014 Centerline is valid? [False, False] Translation: X:6.41, Y:0.41, Z:1.18 [[ 9.99931244e-01 4.41738654e-03 -1.08624873e-02 6.40685416e+00] [-4.45600831e-03 9.99983828e-01 -3.53388901e-03 4.07039691e-01] [ 1.08467011e-02 3.58204936e-03 9.99934757e-01 1.17668844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4425578440001 meters Centerline goodness [0,1] 0.24903580066676834 Centerline is valid? [False, False] Translation: X:6.41, Y:0.41, Z:1.18 [[ 9.99935092e-01 4.23013343e-03 -1.05791441e-02 6.40579385e+00] [-4.27564005e-03 9.99981689e-01 -4.28262938e-03 4.11086463e-01] [ 1.05608343e-02 4.32758401e-03 9.99934868e-01 1.17743436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47255784400005 meters Centerline goodness [0,1] 0.24646849813675364 Centerline is valid? [False, False] Translation: X:6.42, Y:0.42, Z:1.18 [[ 9.99937442e-01 -4.00683662e-03 -1.04431000e-02 6.42486498e+00] [ 3.97546898e-03 9.99987529e-01 -3.02270039e-03 4.16161020e-01] [ 1.04550812e-02 2.98099508e-03 9.99940901e-01 1.17938954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5025578440001 meters Centerline goodness [0,1] 0.2465232789150903 Centerline is valid? [False, False] Translation: X:6.42, Y:0.42, Z:1.18 [[ 9.99937567e-01 -4.06032676e-03 -1.04103404e-02 6.42488683e+00] [ 4.02797432e-03 9.99986999e-01 -3.12680759e-03 4.16649663e-01] [ 1.04229009e-02 3.08467979e-03 9.99940922e-01 1.17921007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53255784400005 meters Centerline goodness [0,1] 0.25125649913344883 Centerline is valid? [False, False] Translation: X:6.42, Y:0.42, Z:1.18 [[ 9.99937595e-01 -4.10143006e-03 -1.03915872e-02 6.42497430e+00] [ 4.06918602e-03 9.99986847e-01 -3.12214420e-03 4.16446264e-01] [ 1.04042558e-02 3.07966406e-03 9.99941132e-01 1.17894256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5625578440001 meters Centerline goodness [0,1] 0.2525822619307039 Centerline is valid? [False, False] Translation: X:6.42, Y:0.41, Z:1.18 [[ 9.99942557e-01 -4.47787070e-03 -9.73815500e-03 6.42312095e+00] [ 4.44848900e-03 9.99985494e-01 -3.03674319e-03 4.14480320e-01] [ 9.75161188e-03 2.99324867e-03 9.99947972e-01 1.17925904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59255784400005 meters Centerline goodness [0,1] 0.2470671957215561 Centerline is valid? [False, False] Translation: X:6.44, Y:0.41, Z:1.18 [[ 9.99952232e-01 2.47524349e-03 -9.45550556e-03 6.44052575e+00] [-2.51436733e-03 9.99988319e-01 -4.12803429e-03 4.07372683e-01] [ 9.44517722e-03 4.15161171e-03 9.99946775e-01 1.18103782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.622557844 meters Centerline goodness [0,1] 0.25328754319994784 Centerline is valid? [False, False] Translation: X:6.44, Y:0.41, Z:1.18 [[ 9.99953277e-01 2.53767522e-03 -9.32761622e-03 6.44013880e+00] [-2.57342842e-03 9.99989381e-01 -3.82304670e-03 4.05819622e-01] [ 9.31781552e-03 3.84687203e-03 9.99949189e-01 1.18109556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65255784400006 meters Centerline goodness [0,1] 0.2552594365277929 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99952287e-01 2.62372581e-03 -9.40955690e-03 6.44050825e+00] [-2.65710415e-03 9.99990216e-01 -3.53653579e-03 4.04436217e-01] [ 9.40018594e-03 3.56136922e-03 9.99949475e-01 1.18079093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68255784400003 meters Centerline goodness [0,1] 0.2527756093329864 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99949850e-01 2.71907618e-03 -9.63864468e-03 6.44139139e+00] [-2.75085695e-03 9.99990819e-01 -3.28550070e-03 4.03305026e-01] [ 9.62962266e-03 3.31185046e-03 9.99948150e-01 1.18023360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71255784400006 meters Centerline goodness [0,1] 0.24741823512924999 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99944857e-01 2.89602883e-03 -1.00943826e-02 6.44304473e+00] [-2.92528577e-03 9.99991560e-01 -2.88478040e-03 4.01422667e-01] [ 1.00859430e-02 2.91415027e-03 9.99944889e-01 1.17932729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74255784400003 meters Centerline goodness [0,1] 0.2486370716510904 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99944356e-01 2.98954068e-03 -1.01166996e-02 6.44318576e+00] [-3.01730658e-03 9.99991720e-01 -2.73041269e-03 4.00870313e-01] [ 1.01084532e-02 2.76078594e-03 9.99945097e-01 1.17917384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77255784400006 meters Centerline goodness [0,1] 0.25196969696969695 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99945495e-01 3.01285242e-03 -9.99649260e-03 6.44277354e+00] [-3.04032301e-03 9.99991641e-01 -2.73396550e-03 4.00931995e-01] [ 9.98817200e-03 2.76420905e-03 9.99946296e-01 1.17937679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80255784400003 meters Centerline goodness [0,1] 0.25273960688815444 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99946986e-01 3.06129500e-03 -9.83128147e-03 6.44212298e+00] [-3.08975592e-03 9.99991076e-01 -2.88105209e-03 4.01652252e-01] [ 9.82237399e-03 2.91127562e-03 9.99947521e-01 1.17983719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83255784400006 meters Centerline goodness [0,1] 0.25200450743293024 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99944991e-01 3.10019587e-03 -1.00201890e-02 6.44252865e+00] [-3.13007684e-03 9.99990697e-01 -2.96777139e-03 4.02352849e-01] [ 1.00108951e-02 2.99897210e-03 9.99945393e-01 1.17997307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86255784400004 meters Centerline goodness [0,1] 0.24990818553003957 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99940477e-01 3.20533069e-03 -1.04291701e-02 6.44357709e+00] [-3.23678918e-03 9.99990259e-01 -3.00091505e-03 4.03057927e-01] [ 1.04194496e-02 3.03449346e-03 9.99941112e-01 1.17992293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89255784400007 meters Centerline goodness [0,1] 0.26153913271093276 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99938270e-01 3.23972210e-03 -1.06283068e-02 6.44422782e+00] [-3.27260320e-03 9.99989909e-01 -3.07779707e-03 4.03639399e-01] [ 1.06182283e-02 3.11238931e-03 9.99938781e-01 1.17970602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92255784400004 meters Centerline goodness [0,1] 0.2542428772423496 Centerline is valid? [False, False] Translation: X:6.44, Y:0.40, Z:1.18 [[ 9.99940714e-01 3.36787778e-03 -1.03549725e-02 6.44341915e+00] [-3.39973317e-03 9.99989538e-01 -3.06027608e-03 4.03413484e-01] [ 1.03445576e-02 3.09529879e-03 9.99941703e-01 1.17995526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95255784400007 meters Centerline goodness [0,1] 0.2604910665827237 Centerline is valid? [False, False] Translation: X:6.47, Y:0.40, Z:1.18 [[ 9.99971835e-01 -2.18983242e-03 -7.17868560e-03 6.46646961e+00] [ 2.18923564e-03 9.99997599e-01 -9.09884506e-05 4.01349087e-01] [ 7.17886762e-03 7.52700535e-05 9.99974229e-01 1.17816812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98255784400004 meters Centerline goodness [0,1] 0.2512283283911604 Centerline is valid? [False, False] Translation: X:6.47, Y:0.40, Z:1.18 [[ 9.99974386e-01 -2.08821916e-03 -6.84587354e-03 6.46527482e+00] [ 2.08792251e-03 9.99997819e-01 -5.04800641e-05 4.01332867e-01] [ 6.84596402e-03 3.61851177e-05 9.99976565e-01 1.17878104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01255784400007 meters Centerline goodness [0,1] 0.2506235225227179 Centerline is valid? [False, False] Translation: X:6.46, Y:0.40, Z:1.18 [[ 9.99976459e-01 -1.94402488e-03 -6.58039227e-03 6.46439353e+00] [ 1.94433112e-03 9.99998109e-01 4.01414349e-05 4.01346422e-01] [ 6.58030179e-03 -5.29349514e-05 9.99978348e-01 1.17916575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04255784400004 meters Centerline goodness [0,1] 0.25236902298224595 Centerline is valid? [False, False] Translation: X:6.46, Y:0.40, Z:1.18 [[ 9.99978158e-01 -1.52488688e-03 -6.43102057e-03 6.46382162e+00] [ 1.52686884e-03 9.99998788e-01 3.03289111e-04 4.00888263e-01] [ 6.43055030e-03 -3.13101811e-04 9.99979275e-01 1.17956929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0725578440001 meters Centerline goodness [0,1] 0.25051575495667655 Centerline is valid? [False, False] Translation: X:6.46, Y:0.40, Z:1.18 [[ 9.99978258e-01 -1.49784395e-03 -6.42187486e-03 6.46380486e+00] [ 1.49968707e-03 9.99998836e-01 2.82201855e-04 4.00807276e-01] [ 6.42144469e-03 -2.91826522e-04 9.99979340e-01 1.17955032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10255784400005 meters Centerline goodness [0,1] 0.24571625879407832 Centerline is valid? [False, False] Translation: X:6.46, Y:0.40, Z:1.18 [[ 9.99978315e-01 -1.43328250e-03 -6.42772967e-03 6.46370956e+00] [ 1.43521246e-03 9.99998926e-01 2.95652530e-04 4.00854507e-01] [ 6.42729901e-03 -3.04871277e-04 9.99979298e-01 1.17971007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1325578440001 meters Centerline goodness [0,1] 0.25258821734487047 Centerline is valid? [False, False] Translation: X:6.46, Y:0.40, Z:1.18 [[ 9.99979206e-01 -1.33784819e-03 -6.30859953e-03 6.46325921e+00] [ 1.34002850e-03 9.99999044e-01 3.41395414e-04 4.00995743e-01] [ 6.30813677e-03 -3.49842019e-04 9.99980042e-01 1.17994936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16255784400005 meters Centerline goodness [0,1] 0.25191570881226055 Centerline is valid? [False, False] Translation: X:6.46, Y:0.40, Z:1.18 [[ 9.99982485e-01 -1.04633072e-03 -5.82534180e-03 6.46195170e+00] [ 1.04963241e-03 9.99999290e-01 5.63752655e-04 4.00865019e-01] [ 5.82474779e-03 -5.69857248e-04 9.99982874e-01 1.18020452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1925578440001 meters Centerline goodness [0,1] 0.24987462660532456 Centerline is valid? [False, False] Translation: X:6.46, Y:0.40, Z:1.18 [[ 9.99983001e-01 -1.02904935e-03 -5.73916637e-03 6.46177344e+00] [ 1.03232538e-03 9.99999306e-01 5.67886629e-04 4.00802821e-01] [ 5.73857800e-03 -5.73801663e-04 9.99983370e-01 1.18012016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22255784400005 meters Centerline goodness [0,1] 0.24850286408609612 Centerline is valid? [False, False] Translation: X:6.46, Y:0.40, Z:1.18 [[ 9.99982776e-01 -1.01250053e-03 -5.78124543e-03 6.46198225e+00] [ 1.01553228e-03 9.99999348e-01 5.21501120e-04 4.00922692e-01] [ 5.78071365e-03 -5.27363179e-04 9.99983152e-01 1.17991733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2525578440001 meters Centerline goodness [0,1] 0.25243393602225317 Centerline is valid? [False, False] Translation: X:6.46, Y:0.40, Z:1.18 [[ 9.99981649e-01 -1.01856769e-03 -5.97195907e-03 6.46258000e+00] [ 1.02100302e-03 9.99999397e-01 4.04758548e-04 4.01525674e-01] [ 5.97154319e-03 -4.10848508e-04 9.99982086e-01 1.17967957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28255784400005 meters Centerline goodness [0,1] 0.24467373238068513 Centerline is valid? [False, False] Translation: X:6.47, Y:0.40, Z:1.18 [[ 9.99973153e-01 4.49793050e-04 -7.31379786e-03 6.46797403e+00] [-4.37036209e-04 9.99998381e-01 1.74572037e-03 4.00689114e-01] [ 7.31457123e-03 -1.74247711e-03 9.99971730e-01 1.17704015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3125578440001 meters Centerline goodness [0,1] 0.24795858693062445 Centerline is valid? [False, False] Translation: X:6.47, Y:0.40, Z:1.18 [[ 9.99972142e-01 4.39155598e-04 -7.45135846e-03 6.46842731e+00] [-4.27387118e-04 9.99998659e-01 1.58089255e-03 4.01654311e-01] [ 7.45204273e-03 -1.57766389e-03 9.99970989e-01 1.17685336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34255784400005 meters Centerline goodness [0,1] 0.24788927036773123 Centerline is valid? [False, False] Translation: X:6.47, Y:0.40, Z:1.18 [[ 9.99971147e-01 3.68594705e-04 -7.58750427e-03 6.46880410e+00] [-3.58715563e-04 9.99999086e-01 1.30334752e-03 4.02927685e-01] [ 7.58797775e-03 -1.30058816e-03 9.99970365e-01 1.17679884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3725578440001 meters Centerline goodness [0,1] 0.24684680786621382 Centerline is valid? [False, False] Translation: X:6.47, Y:0.40, Z:1.18 [[ 9.99970241e-01 3.41067450e-04 -7.70719142e-03 6.46917681e+00] [-3.32998318e-04 9.99999395e-01 1.04822042e-03 4.04289759e-01] [ 7.70754427e-03 -1.04562274e-03 9.99969750e-01 1.17659032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40255784400006 meters Centerline goodness [0,1] 0.24995107100141345 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99968378e-01 4.26734746e-04 -7.94113061e-03 6.46971423e+00] [-4.19431803e-04 9.99999488e-01 9.21277770e-04 4.05468747e-01] [ 7.94151969e-03 -9.17917875e-04 9.99968044e-01 1.17660161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43255784400003 meters Centerline goodness [0,1] 0.24436277159226027 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99968304e-01 9.80226655e-04 -7.90122777e-03 6.46972555e+00] [-9.71224388e-04 9.99998875e-01 1.14310682e-03 4.06208645e-01] [ 7.90233939e-03 -1.13539672e-03 9.99968131e-01 1.17640625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46255784400006 meters Centerline goodness [0,1] 0.24361893609177454 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99969779e-01 9.67561717e-04 -7.71396560e-03 6.46918081e+00] [-9.59252092e-04 9.99998956e-01 1.08084543e-03 4.06330136e-01] [ 7.71500333e-03 -1.07341313e-03 9.99969663e-01 1.17651177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49255784400003 meters Centerline goodness [0,1] 0.24590021691973973 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99971541e-01 9.71807808e-04 -7.48150155e-03 6.46845736e+00] [-9.63832730e-04 9.99998964e-01 1.06950457e-03 4.06178915e-01] [ 7.48253315e-03 -1.06226322e-03 9.99971441e-01 1.17674437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52255784400006 meters Centerline goodness [0,1] 0.24525525330563314 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99975101e-01 1.36042794e-03 -6.92429136e-03 6.46691346e+00] [-1.35285552e-03 9.99998482e-01 1.09816816e-03 4.07261999e-01] [ 6.92577483e-03 -1.08877325e-03 9.99975424e-01 1.17703922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55255784400003 meters Centerline goodness [0,1] 0.2469516833662979 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99974685e-01 1.41423896e-03 -6.97353331e-03 6.46720420e+00] [-1.40845119e-03 9.99998660e-01 8.34802813e-04 4.09078640e-01] [ 6.97470457e-03 -8.24959798e-04 9.99975336e-01 1.17673159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58255784400006 meters Centerline goodness [0,1] 0.24525073107332396 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99973497e-01 1.41474932e-03 -7.14171850e-03 6.46780003e+00] [-1.41171791e-03 9.99998911e-01 4.29488640e-04 4.11500592e-01] [ 7.14231835e-03 -4.19395165e-04 9.99974405e-01 1.17633626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61255784400004 meters Centerline goodness [0,1] 0.2448278098449964 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.18 [[ 9.99971820e-01 1.85275554e-03 -7.27501414e-03 6.46821032e+00] [-1.85287461e-03 9.99998283e-01 -9.62713231e-06 4.15662780e-01] [ 7.27498381e-03 2.31065500e-05 9.99973537e-01 1.17610588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64255784400007 meters Centerline goodness [0,1] 0.24461839530332685 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.18 [[ 9.99970516e-01 1.74626965e-03 -7.47779209e-03 6.46872386e+00] [-1.75008267e-03 9.99998342e-01 -5.03400189e-04 4.18283535e-01] [ 7.47690062e-03 5.16472102e-04 9.99971914e-01 1.17596544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67255784400004 meters Centerline goodness [0,1] 0.24393156454904685 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.18 [[ 9.99969431e-01 1.65175178e-03 -7.64252500e-03 6.46926405e+00] [-1.65854062e-03 9.99998236e-01 -8.82045322e-04 4.20355175e-01] [ 7.64105459e-03 8.94693797e-04 9.99970406e-01 1.17563902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70255784400007 meters Centerline goodness [0,1] 0.23915675675675674 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.18 [[ 9.99968530e-01 1.60879199e-03 -7.76854693e-03 6.46963570e+00] [-1.61731929e-03 9.99998096e-01 -1.09151166e-03 4.21717015e-01] [ 7.76677613e-03 1.10404153e-03 9.99969229e-01 1.17551000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73255784400004 meters Centerline goodness [0,1] 0.25267839537278447 Centerline is valid? [False, False] Translation: X:6.45, Y:0.43, Z:1.17 [[ 9.99941505e-01 -6.95132849e-03 -8.28649527e-03 6.44805829e+00] [ 6.94750471e-03 9.99975746e-01 -4.90143272e-04 4.25690481e-01] [ 8.28970144e-03 4.32544136e-04 9.99965546e-01 1.17453961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76255784400007 meters Centerline goodness [0,1] 0.24013943580143304 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.17 [[ 9.99973761e-01 -1.68006560e-03 -7.04663203e-03 6.47074586e+00] [ 1.65242059e-03 9.99990923e-01 -3.92714204e-03 4.24539833e-01] [ 7.05316593e-03 3.91539499e-03 9.99967461e-01 1.17407405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79255784400004 meters Centerline goodness [0,1] 0.24046409505768895 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.17 [[ 9.99973773e-01 -1.67235551e-03 -7.04668318e-03 6.47060624e+00] [ 1.64636809e-03 9.99991829e-01 -3.69208307e-03 4.22992077e-01] [ 7.05280008e-03 3.68038481e-03 9.99968356e-01 1.17432052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8225578440001 meters Centerline goodness [0,1] 0.2504185965598974 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.17 [[ 9.99973663e-01 -1.58538781e-03 -7.08239950e-03 6.47063067e+00] [ 1.56143360e-03 9.99993047e-01 -3.38646720e-03 4.21525522e-01] [ 7.08771912e-03 3.37531932e-03 9.99969185e-01 1.17443619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85255784400005 meters Centerline goodness [0,1] 0.25144735123841033 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.17 [[ 9.99974540e-01 -1.36166352e-03 -7.00466370e-03 6.47037522e+00] [ 1.34243030e-03 9.99995318e-01 -2.74974292e-03 4.18956764e-01] [ 7.00837513e-03 2.74026964e-03 9.99971686e-01 1.17466051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8825578440001 meters Centerline goodness [0,1] 0.25144735123841033 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.17 [[ 9.99974540e-01 -1.36166352e-03 -7.00466370e-03 6.47037522e+00] [ 1.34243030e-03 9.99995318e-01 -2.74974292e-03 4.18956764e-01] [ 7.00837513e-03 2.74026964e-03 9.99971686e-01 1.17466051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91255784400005 meters Centerline goodness [0,1] 0.2477500865351333 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.17 [[ 9.99975983e-01 -1.26149914e-03 -6.81477555e-03 6.46979563e+00] [ 1.24478024e-03 9.99996207e-01 -2.45701563e-03 4.17447324e-01] [ 6.81784922e-03 2.44847373e-03 9.99973761e-01 1.17486650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9425578440001 meters Centerline goodness [0,1] 0.25078534031413613 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:1.18 [[ 9.99977601e-01 -1.18674556e-03 -6.58705434e-03 6.46904775e+00] [ 1.17256069e-03 9.99996986e-01 -2.15689130e-03 4.15674182e-01] [ 6.58959417e-03 2.14911927e-03 9.99975979e-01 1.17520065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97255784400005 meters Centerline goodness [0,1] 0.24957146266843144 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99978543e-01 -9.26580473e-04 -6.48502282e-03 6.46865347e+00] [ 9.17227360e-04 9.99998535e-01 -1.44508919e-03 4.12014809e-01] [ 6.48635231e-03 1.43910994e-03 9.99977928e-01 1.17546334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0025578440001 meters Centerline goodness [0,1] 0.24879989620723952 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99978520e-01 -7.27879436e-04 -6.51379562e-03 6.46882031e+00] [ 7.21177156e-04 9.99999208e-01 -1.03122581e-03 4.10184846e-01] [ 6.51454107e-03 1.02650606e-03 9.99978253e-01 1.17531833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03255784400005 meters Centerline goodness [0,1] 0.2514351821535372 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.18 [[ 9.99978807e-01 -5.16180207e-04 -6.48990769e-03 6.46892287e+00] [ 5.12618704e-04 9.99999717e-01 -5.50427105e-04 4.07969175e-01] [ 6.49018997e-03 5.47088592e-04 9.99978789e-01 1.17505192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0625578440001 meters Centerline goodness [0,1] 0.2527108105159812 Centerline is valid? [False, False] Translation: X:6.47, Y:0.41, Z:1.17 [[ 9.99978290e-01 -3.20637306e-04 -6.58148180e-03 6.46927680e+00] [ 3.20390827e-04 9.99999948e-01 -3.85048221e-05 4.05367145e-01] [ 6.58149380e-03 3.63953397e-05 9.99978341e-01 1.17483690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09255784400005 meters Centerline goodness [0,1] 0.24429159749024343 Centerline is valid? [False, False] Translation: X:6.49, Y:0.40, Z:1.18 [[ 9.99959957e-01 6.14890835e-03 -6.50194136e-03 6.49117592e+00] [-6.16414819e-03 9.99978295e-01 -2.32645337e-03 3.98010497e-01] [ 6.48749509e-03 2.36643915e-03 9.99976156e-01 1.17509892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1225578440001 meters Centerline goodness [0,1] 0.25251319017738894 Centerline is valid? [False, False] Translation: X:6.49, Y:0.40, Z:1.18 [[ 9.99959181e-01 6.33697982e-03 -6.44047610e-03 6.49102615e+00] [-6.34968832e-03 9.99977930e-01 -1.95469628e-03 3.96323840e-01] [ 6.42794709e-03 1.99551151e-03 9.99977349e-01 1.17506199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15255784400006 meters Centerline goodness [0,1] 0.24541279458375553 Centerline is valid? [False, False] Translation: X:6.51, Y:0.40, Z:1.18 [[ 9.99983710e-01 -8.79603857e-04 -5.63972284e-03 6.50812070e+00] [ 8.81058492e-04 9.99999579e-01 2.55447317e-04 3.98626610e-01] [ 5.63949577e-03 -2.60412081e-04 9.99984064e-01 1.17689402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18255784400003 meters Centerline goodness [0,1] 0.24505084087131102 Centerline is valid? [False, False] Translation: X:6.51, Y:0.40, Z:1.18 [[ 9.99984569e-01 -6.93938553e-04 -5.51181017e-03 6.50778876e+00] [ 6.97341692e-04 9.99999567e-01 6.15528863e-04 3.97053870e-01] [ 5.51138064e-03 -6.19362979e-04 9.99984620e-01 1.17690228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21255784400006 meters Centerline goodness [0,1] 0.25206313070507624 Centerline is valid? [False, False] Translation: X:6.49, Y:0.39, Z:1.18 [[ 9.99955138e-01 7.48993874e-03 -5.79849414e-03 6.48795921e+00] [-7.49292973e-03 9.99971805e-01 -4.94270605e-04 3.89404359e-01] [ 5.79462860e-03 5.37696140e-04 9.99983066e-01 1.17522180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24255784400003 meters Centerline goodness [0,1] 0.2461811032128427 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.17 [[ 9.99982414e-01 -5.84204497e-04 -5.90175322e-03 6.50899112e+00] [ 5.86762091e-04 9.99999735e-01 4.31639569e-04 3.88827828e-01] [ 5.90149949e-03 -4.35094903e-04 9.99982491e-01 1.17484615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27255784400006 meters Centerline goodness [0,1] 0.25117691723614277 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.17 [[ 9.99981152e-01 -3.97475214e-04 -6.12674785e-03 6.50991201e+00] [ 4.02751657e-04 9.99999549e-01 8.60004696e-04 3.86799244e-01] [ 6.12640326e-03 -8.62456044e-04 9.99980861e-01 1.17421446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30255784400003 meters Centerline goodness [0,1] 0.24803387779794317 Centerline is valid? [False, False] Translation: X:6.51, Y:0.38, Z:1.17 [[ 9.99979640e-01 -1.94599472e-04 -6.37824129e-03 6.51095335e+00] [ 2.03339522e-04 9.99999041e-01 1.36967179e-03 3.84383330e-01] [ 6.37796864e-03 -1.37094085e-03 9.99978721e-01 1.17356451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33255784400006 meters Centerline goodness [0,1] 0.24778318699469704 Centerline is valid? [False, False] Translation: X:6.51, Y:0.38, Z:1.17 [[ 9.99978797e-01 1.14616343e-05 -6.51198838e-03 6.51146844e+00] [ 8.09422959e-07 9.99998225e-01 1.88437371e-03 3.81914136e-01] [ 6.51199842e-03 -1.88433903e-03 9.99977021e-01 1.17326205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36255784400004 meters Centerline goodness [0,1] 0.24995127866438582 Centerline is valid? [False, False] Translation: X:6.51, Y:0.38, Z:1.17 [[ 9.99980547e-01 1.53069890e-04 -6.23560172e-03 6.51033461e+00] [-1.35239968e-04 9.99995902e-01 2.85969614e-03 3.75867880e-01] [ 6.23601390e-03 -2.85879721e-03 9.99976469e-01 1.17408556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39255784400007 meters Centerline goodness [0,1] 0.2477870374368496 Centerline is valid? [False, False] Translation: X:6.51, Y:0.37, Z:1.17 [[ 9.99980686e-01 3.42227719e-04 -6.20575752e-03 6.51000796e+00] [-3.20190638e-04 9.99993641e-01 3.55171605e-03 3.72208520e-01] [ 6.20693355e-03 -3.54966043e-03 9.99974437e-01 1.17456734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42255784400004 meters Centerline goodness [0,1] 0.2502221740544055 Centerline is valid? [False, False] Translation: X:6.51, Y:0.37, Z:1.17 [[ 9.99980907e-01 5.43082853e-04 -6.15556576e-03 6.50986082e+00] [-5.16893082e-04 9.99990812e-01 4.25544164e-03 3.68509641e-01] [ 6.15782026e-03 -4.25217862e-03 9.99972000e-01 1.17468336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45255784400007 meters Centerline goodness [0,1] 0.24750016197654578 Centerline is valid? [False, False] Translation: X:6.51, Y:0.36, Z:1.17 [[ 9.99976847e-01 -7.47703095e-04 -6.76361628e-03 6.51219284e+00] [ 7.73940455e-04 9.99992183e-01 3.87740578e-03 3.59734328e-01] [ 6.76066426e-03 -3.88255064e-03 9.99969609e-01 1.17374235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48255784400004 meters Centerline goodness [0,1] 0.24471273040853725 Centerline is valid? [False, False] Translation: X:6.51, Y:0.36, Z:1.17 [[ 9.99976719e-01 -5.31476376e-04 -6.80293712e-03 6.51242938e+00] [ 5.62191893e-04 9.99989654e-01 4.51392194e-03 3.56420199e-01] [ 6.80046769e-03 -4.51764140e-03 9.99966672e-01 1.17359495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51255784400007 meters Centerline goodness [0,1] 0.24787334076844014 Centerline is valid? [False, False] Translation: X:6.49, Y:0.35, Z:1.17 [[ 9.99944907e-01 7.69344176e-03 -7.14105521e-03 6.49285669e+00] [-7.66631007e-03 9.99963321e-01 3.81902354e-03 3.48212558e-01] [ 7.17017472e-03 -3.76406759e-03 9.99967210e-01 1.17219362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54255784400004 meters Centerline goodness [0,1] 0.24783230729211825 Centerline is valid? [False, False] Translation: X:6.51, Y:0.35, Z:1.17 [[ 9.99975063e-01 -2.63272461e-04 -7.05725306e-03 6.51256694e+00] [ 2.99151556e-04 9.99987035e-01 5.08342940e-03 3.50398893e-01] [ 7.05582324e-03 -5.08541382e-03 9.99962176e-01 1.17304828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5725578440001 meters Centerline goodness [0,1] 0.2515584330365931 Centerline is valid? [False, False] Translation: X:6.51, Y:0.35, Z:1.17 [[ 9.99975602e-01 5.57815629e-05 -6.98516169e-03 6.51249616e+00] [-1.50949504e-05 9.99983037e-01 5.82463747e-03 3.46737679e-01] [ 6.98536811e-03 -5.82438992e-03 9.99958640e-01 1.17295349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60255784400005 meters Centerline goodness [0,1] 0.2485124864277959 Centerline is valid? [False, False] Translation: X:6.53, Y:0.34, Z:1.17 [[ 9.99942057e-01 8.11008385e-03 -7.07878169e-03 6.53237273e+00] [-8.07782462e-03 9.99956913e-01 4.57392946e-03 3.41184853e-01] [ 7.11557164e-03 -4.51648327e-03 9.99964484e-01 1.17476299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6325578440001 meters Centerline goodness [0,1] 0.24789897764685498 Centerline is valid? [False, False] Translation: X:6.53, Y:0.34, Z:1.17 [[ 9.99940798e-01 8.25182842e-03 -7.09281030e-03 6.53234007e+00] [-8.21786970e-03 9.99954695e-01 4.80365112e-03 3.40163807e-01] [ 7.13212787e-03 -4.74507894e-03 9.99963308e-01 1.17485822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66255784400005 meters Centerline goodness [0,1] 0.24784147815575897 Centerline is valid? [False, False] Translation: X:6.53, Y:0.34, Z:1.17 [[ 9.99939660e-01 8.92836135e-03 -6.40000902e-03 6.53058170e+00] [-8.89313480e-03 9.99945266e-01 5.51162736e-03 3.38358908e-01] [ 6.44886852e-03 -5.45437865e-03 9.99964330e-01 1.17490479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6925578440001 meters Centerline goodness [0,1] 0.2488005036799027 Centerline is valid? [False, False] Translation: X:6.53, Y:0.34, Z:1.18 [[ 9.99940457e-01 9.07357898e-03 -6.06232957e-03 6.52957523e+00] [-9.03878799e-03 9.99942664e-01 5.74184180e-03 3.37462931e-01] [ 6.11408104e-03 -5.68670380e-03 9.99965139e-01 1.17521129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72255784400005 meters Centerline goodness [0,1] 0.25061714909885313 Centerline is valid? [False, False] Translation: X:6.53, Y:0.34, Z:1.18 [[ 9.99941323e-01 9.13237906e-03 -5.82675984e-03 6.52896832e+00] [-9.09829879e-03 9.99941504e-01 5.84886539e-03 3.36772071e-01] [ 5.87983306e-03 -5.79550859e-03 9.99965919e-01 1.17524355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7525578440001 meters Centerline goodness [0,1] 0.24535603715170273 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99986532e-01 1.39459027e-03 -4.99905810e-03 6.54826580e+00] [-1.36090415e-03 9.99976390e-01 6.73557344e-03 3.40935570e-01] [ 5.00833344e-03 -6.72867949e-03 9.99964820e-01 1.17592542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78255784400005 meters Centerline goodness [0,1] 0.24822187527105555 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99986511e-01 1.85195101e-03 -4.85258341e-03 6.54789191e+00] [-1.81838075e-03 9.99974449e-01 6.91332256e-03 3.41281223e-01] [ 4.86526256e-03 -6.90440546e-03 9.99964329e-01 1.17579265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8125578440001 meters Centerline goodness [0,1] 0.24680933768112812 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99985585e-01 1.85236819e-03 -5.03966170e-03 6.54841269e+00] [-1.81876637e-03 9.99976142e-01 6.66390874e-03 3.42746237e-01] [ 5.05188548e-03 -6.65464672e-03 9.99965096e-01 1.17560113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84255784400005 meters Centerline goodness [0,1] 0.2519559768987687 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99984977e-01 1.81412605e-03 -5.17247991e-03 6.54895445e+00] [-1.78089696e-03 9.99977796e-01 6.42159349e-03 3.43995483e-01] [ 5.18401463e-03 -6.41228536e-03 9.99966004e-01 1.17511650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8725578440001 meters Centerline goodness [0,1] 0.24744093637973485 Centerline is valid? [False, False] Translation: X:6.55, Y:0.35, Z:1.17 [[ 9.99984464e-01 1.76537942e-03 -5.28736021e-03 6.54943796e+00] [-1.73260594e-03 9.99979300e-01 6.19663720e-03 3.45097258e-01] [ 5.29819017e-03 -6.18738002e-03 9.99966822e-01 1.17468587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90255784400006 meters Centerline goodness [0,1] 0.25095114898797743 Centerline is valid? [False, False] Translation: X:6.55, Y:0.35, Z:1.17 [[ 9.99985478e-01 1.75290778e-03 -5.09614429e-03 6.54883884e+00] [-1.72152180e-03 9.99979566e-01 6.15664646e-03 3.45254102e-01] [ 5.10683218e-03 -6.14778393e-03 9.99968062e-01 1.17481695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93255784400003 meters Centerline goodness [0,1] 0.2517543477313342 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99985627e-01 1.81452839e-03 -5.04504354e-03 6.54857502e+00] [-1.78236832e-03 9.99978111e-01 6.37179143e-03 3.44280575e-01] [ 5.05649491e-03 -6.36270773e-03 9.99966973e-01 1.17510110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96255784400006 meters Centerline goodness [0,1] 0.2508751969193068 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99985419e-01 1.86699581e-03 -5.06714580e-03 6.54847988e+00] [-1.83328931e-03 9.99976218e-01 6.64848287e-03 3.42837421e-01] [ 5.07943799e-03 -6.63909639e-03 9.99965060e-01 1.17539141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99255784400003 meters Centerline goodness [0,1] 0.2510389243053893 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99984776e-01 1.54327998e-03 -5.29767262e-03 6.54903067e+00] [-1.50654057e-03 9.99974838e-01 6.93200921e-03 3.39877980e-01] [ 5.30823735e-03 -6.92392253e-03 9.99961940e-01 1.17561060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02255784400006 meters Centerline goodness [0,1] 0.24957082944001385 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99983842e-01 1.57210286e-03 -5.46294473e-03 6.54965918e+00] [-1.53297888e-03 9.99973202e-01 7.15852442e-03 3.38550619e-01] [ 5.47405227e-03 -7.15003417e-03 9.99959455e-01 1.17529493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05255784400003 meters Centerline goodness [0,1] 0.24724644580529287 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99983305e-01 1.60042730e-03 -5.55227437e-03 6.54998242e+00] [-1.55950694e-03 9.99971651e-01 7.36653542e-03 3.37379490e-01] [ 5.56390657e-03 -7.35775363e-03 9.99957452e-01 1.17517349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08255784400006 meters Centerline goodness [0,1] 0.247487735828669 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.18 [[ 9.99982892e-01 1.64957504e-03 -5.61206184e-03 6.55021663e+00] [-1.60747222e-03 9.99970594e-01 7.49845742e-03 3.36844289e-01] [ 5.62426608e-03 -7.48930790e-03 9.99956138e-01 1.17504647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11255784400004 meters Centerline goodness [0,1] 0.24558265816238578 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99981654e-01 1.68397023e-03 -5.81862782e-03 6.55110541e+00] [-1.64050957e-03 9.99970784e-01 7.46594498e-03 3.37438749e-01] [ 5.83103025e-03 -7.45626249e-03 9.99955201e-01 1.17442293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14255784400007 meters Centerline goodness [0,1] 0.2516204811415148 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99980651e-01 1.59874290e-03 -6.01173128e-03 6.55193102e+00] [-1.55487564e-03 9.99972186e-01 7.29454996e-03 3.38002583e-01] [ 6.02322618e-03 -7.28506133e-03 9.99955323e-01 1.17381002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17255784400004 meters Centerline goodness [0,1] 0.24415450200232525 Centerline is valid? [False, False] Translation: X:6.57, Y:0.34, Z:1.17 [[ 9.99934790e-01 9.66794598e-03 -6.07839784e-03 6.57259819e+00] [-9.63186630e-03 9.99935986e-01 5.93723760e-03 3.35321285e-01] [ 6.13540963e-03 -5.87830411e-03 9.99963900e-01 1.17494650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20255784400007 meters Centerline goodness [0,1] 0.2508474576271187 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99981038e-01 9.53700690e-04 -6.08384602e-03 6.55158833e+00] [-9.13226896e-04 9.99977458e-01 6.65197847e-03 3.39611893e-01] [ 6.09005287e-03 -6.64629641e-03 9.99959368e-01 1.17393554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23255784400004 meters Centerline goodness [0,1] 0.2502972266055641 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99981958e-01 9.48971724e-04 -5.93149157e-03 6.55090608e+00] [-9.09990122e-04 9.99977995e-01 6.57122032e-03 3.40243176e-01] [ 5.93759695e-03 -6.56570417e-03 9.99960817e-01 1.17442246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26255784400007 meters Centerline goodness [0,1] 0.25172070473139696 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99981564e-01 8.71580341e-04 -6.00939730e-03 6.55128932e+00] [-8.32853711e-04 9.99978891e-01 6.44383862e-03 3.40551819e-01] [ 6.01488677e-03 -6.43871487e-03 9.99961181e-01 1.17410219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29255784400004 meters Centerline goodness [0,1] 0.2513266637668552 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99980736e-01 8.02055625e-04 -6.15504432e-03 6.55185736e+00] [-7.62843082e-04 9.99979417e-01 6.37050334e-03 3.40499714e-01] [ 6.16002713e-03 -6.36568528e-03 9.99960765e-01 1.17373184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3225578440001 meters Centerline goodness [0,1] 0.25230876459313467 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99979941e-01 7.33936734e-04 -6.29112219e-03 6.55238954e+00] [-6.94453855e-04 9.99980065e-01 6.27585623e-03 3.40720933e-01] [ 6.29560287e-03 -6.27136145e-03 9.99960517e-01 1.17337694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35255784400005 meters Centerline goodness [0,1] 0.2528526288071623 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99978469e-01 7.25590846e-04 -6.52189506e-03 6.55322999e+00] [-6.85034273e-04 9.99980430e-01 6.21861019e-03 3.41293202e-01] [ 6.52627959e-03 -6.21400858e-03 9.99959396e-01 1.17288603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3825578440001 meters Centerline goodness [0,1] 0.2452732786991031 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99990688e-01 6.99722992e-04 -4.25836554e-03 6.59746368e+00] [-6.74763076e-04 9.99982602e-01 5.86000102e-03 3.44307780e-01] [ 4.26239183e-03 -5.85707306e-03 9.99973763e-01 1.17214290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41255784400005 meters Centerline goodness [0,1] 0.2502269288956127 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99991531e-01 6.95592797e-04 -4.05627984e-03 6.59679209e+00] [-6.71423927e-04 9.99982033e-01 5.95670413e-03 3.43644904e-01] [ 4.06035040e-03 -5.95393020e-03 9.99974032e-01 1.17247243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4425578440001 meters Centerline goodness [0,1] 0.24795775406832632 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99991806e-01 6.71554295e-04 -3.99221668e-03 6.59636271e+00] [-6.47320177e-04 9.99981377e-01 6.06853742e-03 3.42681857e-01] [ 3.99621769e-03 -6.06590345e-03 9.99973617e-01 1.17295701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47255784400005 meters Centerline goodness [0,1] 0.25576321241239475 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99973355e-01 -8.93474879e-04 -7.24513559e-03 6.55236275e+00] [ 9.32863718e-04 9.99984795e-01 5.43503531e-03 3.38583040e-01] [ 7.24016936e-03 -5.44164922e-03 9.99958983e-01 1.17391974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5025578440001 meters Centerline goodness [0,1] 0.25058226856185106 Centerline is valid? [False, False] Translation: X:6.57, Y:0.33, Z:1.17 [[ 9.99948636e-01 7.32063581e-03 -7.00955178e-03 6.57285953e+00] [-7.28807356e-03 9.99962585e-01 4.65973977e-03 3.34356102e-01] [ 7.04340177e-03 -4.60841429e-03 9.99964576e-01 1.17483403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53255784400005 meters Centerline goodness [0,1] 0.2478614061927643 Centerline is valid? [False, False] Translation: X:6.59, Y:0.34, Z:1.18 [[ 9.99978157e-01 -8.11334005e-04 -6.55952224e-03 6.59256175e+00] [ 8.48787145e-04 9.99983343e-01 5.70896975e-03 3.38323045e-01] [ 6.55478110e-03 -5.71441269e-03 9.99962189e-01 1.17606704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5625578440001 meters Centerline goodness [0,1] 0.24948197264815586 Centerline is valid? [False, False] Translation: X:6.57, Y:0.33, Z:1.18 [[ 9.99964391e-01 6.74176867e-03 -5.07587804e-03 6.57185523e+00] [-6.71661038e-03 9.99965156e-01 4.95728063e-03 3.31176690e-01] [ 5.10912201e-03 -4.92301142e-03 9.99974830e-01 1.17501998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59255784400005 meters Centerline goodness [0,1] 0.24867587608361974 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.18 [[ 9.99998056e-01 -1.06527801e-03 -1.65920135e-03 6.58970925e+00] [ 1.07574624e-03 9.99979443e-01 6.32114023e-03 3.32079546e-01] [ 1.65243347e-03 -6.32291282e-03 9.99978645e-01 1.17669138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6225578440001 meters Centerline goodness [0,1] 0.24758821625121397 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.18 [[ 9.99998439e-01 -1.01470680e-03 -1.44625668e-03 6.58867554e+00] [ 1.02407405e-03 9.99978409e-01 6.49093438e-03 3.31267078e-01] [ 1.43963906e-03 -6.49240532e-03 9.99977888e-01 1.17759203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65255784400006 meters Centerline goodness [0,1] 0.24632700403814756 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.18 [[ 9.99998821e-01 -9.33747925e-04 -1.21869709e-03 6.58788679e+00] [ 9.41852855e-04 9.99977332e-01 6.66694505e-03 3.30490674e-01] [ 1.21244422e-03 -6.66808502e-03 9.99977033e-01 1.17799675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68255784400003 meters Centerline goodness [0,1] 0.24893841743366452 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.18 [[ 9.99999046e-01 -8.76467855e-04 -1.06781944e-03 6.58737758e+00] [ 8.83727284e-04 9.99976374e-01 6.81696993e-03 3.29703787e-01] [ 1.06181936e-03 -6.81790709e-03 9.99976194e-01 1.17820257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71255784400006 meters Centerline goodness [0,1] 0.2543729228616407 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99981198e-01 5.73241821e-03 -2.17779429e-03 6.56543549e+00] [-5.72295068e-03 9.99974254e-01 4.32894018e-03 3.24397356e-01] [ 2.20255352e-03 -4.31639538e-03 9.99988259e-01 1.17875068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74255784400003 meters Centerline goodness [0,1] 0.2522837242606375 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99980457e-01 5.79911269e-03 -2.33571388e-03 6.56591686e+00] [-5.78868041e-03 9.99973350e-01 4.44868773e-03 3.23932744e-01] [ 2.36145007e-03 -4.43508009e-03 9.99987377e-01 1.17857367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77255784400006 meters Centerline goodness [0,1] 0.2522837242606375 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99980457e-01 5.79911269e-03 -2.33571388e-03 6.56591686e+00] [-5.78868041e-03 9.99973350e-01 4.44868773e-03 3.23932744e-01] [ 2.36145007e-03 -4.43508009e-03 9.99987377e-01 1.17857367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80255784400003 meters Centerline goodness [0,1] 0.25279317512558463 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99979781e-01 5.88305004e-03 -2.41408664e-03 6.56620387e+00] [-5.87196923e-03 9.99972309e-01 4.57176576e-03 3.23504784e-01] [ 2.44091572e-03 -4.55749788e-03 9.99986635e-01 1.17839508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83255784400006 meters Centerline goodness [0,1] 0.25054338375934615 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99979372e-01 5.92449463e-03 -2.48091704e-03 6.56648176e+00] [-5.91272984e-03 9.99971367e-01 4.72289680e-03 3.22613994e-01] [ 2.50882678e-03 -4.70813039e-03 9.99985770e-01 1.17821938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86255784400004 meters Centerline goodness [0,1] 0.25071633237822355 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99994396e-01 2.62660817e-03 -2.07560730e-03 6.56527883e+00] [-2.62362409e-03 9.99995523e-01 1.43910539e-03 3.21046283e-01] [ 2.07937797e-03 -1.43365171e-03 9.99996810e-01 1.17841886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89255784400007 meters Centerline goodness [0,1] 0.2511738613004436 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99994109e-01 2.74544129e-03 -2.05999947e-03 6.56519069e+00] [-2.74176427e-03 9.99994647e-01 1.78566765e-03 3.19261629e-01] [ 2.06489089e-03 -1.78000910e-03 9.99996284e-01 1.17850843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92255784400004 meters Centerline goodness [0,1] 0.24916706330318894 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99993610e-01 2.88380803e-03 -2.11258823e-03 6.56545919e+00] [-2.87930343e-03 9.99993582e-01 2.13221226e-03 3.17609014e-01] [ 2.11872356e-03 -2.12611586e-03 9.99995495e-01 1.17830876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95255784400007 meters Centerline goodness [0,1] 0.2492298412288072 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99992636e-01 3.07056701e-03 -2.30224499e-03 6.56634394e+00] [-3.06472334e-03 9.99992084e-01 2.53749509e-03 3.15464090e-01] [ 2.31001831e-03 -2.53042066e-03 9.99994130e-01 1.17768424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98255784400004 meters Centerline goodness [0,1] 0.2516682554814109 Centerline is valid? [False, False] Translation: X:6.57, Y:0.31, Z:1.18 [[ 9.99992545e-01 3.14247306e-03 -2.24397885e-03 6.56614081e+00] [-3.13645830e-03 9.99991493e-01 2.67890547e-03 3.14758897e-01] [ 2.25237815e-03 -2.67184735e-03 9.99993894e-01 1.17773880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01255784400007 meters Centerline goodness [0,1] 0.2494893241877567 Centerline is valid? [False, False] Translation: X:6.57, Y:0.31, Z:1.18 [[ 9.99992606e-01 3.21173765e-03 -2.11465089e-03 6.56584444e+00] [-3.20603211e-03 9.99991226e-01 2.69598749e-03 3.14803901e-01] [ 2.12329114e-03 -2.68918792e-03 9.99994130e-01 1.17766051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04255784400004 meters Centerline goodness [0,1] 0.24114187961082 Centerline is valid? [False, False] Translation: X:6.57, Y:0.32, Z:1.18 [[ 9.99990369e-01 3.57059310e-03 -2.55205182e-03 6.56734962e+00] [-3.56334434e-03 9.99989620e-01 2.83929163e-03 3.15071768e-01] [ 2.56216328e-03 -2.83017045e-03 9.99992713e-01 1.17680222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0725578440001 meters Centerline goodness [0,1] 0.25261535790250467 Centerline is valid? [False, False] Translation: X:6.52, Y:0.31, Z:1.18 [[ 9.99975316e-01 3.40766825e-03 -6.14450762e-03 6.52393685e+00] [-3.38768037e-03 9.99988946e-01 3.26044595e-03 3.12054049e-01] [ 6.15555022e-03 -3.23954984e-03 9.99975807e-01 1.17712906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10255784400005 meters Centerline goodness [0,1] 0.2515028750653424 Centerline is valid? [False, False] Translation: X:6.52, Y:0.31, Z:1.18 [[ 9.99974536e-01 3.37466226e-03 -6.28804759e-03 6.52468384e+00] [-3.35476708e-03 9.99989342e-01 3.17183339e-03 3.12348760e-01] [ 6.29868445e-03 -3.15065769e-03 9.99975200e-01 1.17641154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1325578440001 meters Centerline goodness [0,1] 0.25218257836701974 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99973662e-01 3.34989609e-03 -6.43838358e-03 6.52541423e+00] [-3.32979483e-03 9.99989557e-01 3.13028628e-03 3.12429387e-01] [ 6.44880248e-03 -3.10876534e-03 9.99974374e-01 1.17577978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16255784400005 meters Centerline goodness [0,1] 0.25119871558438744 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99972734e-01 3.31048207e-03 -6.60090810e-03 6.52588177e+00] [-3.28975632e-03 9.99989633e-01 3.14822305e-03 3.11920310e-01] [ 6.61126180e-03 -3.12642183e-03 9.99973258e-01 1.17566461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1925578440001 meters Centerline goodness [0,1] 0.2531111304499173 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99972708e-01 3.30061499e-03 -6.60978179e-03 6.52583998e+00] [-3.27929765e-03 9.99989396e-01 3.23336641e-03 3.11381065e-01] [ 6.62038379e-03 -3.21160272e-03 9.99972928e-01 1.17576099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22255784400005 meters Centerline goodness [0,1] 0.2528149842099532 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99972524e-01 3.34085635e-03 -6.61744335e-03 6.52568449e+00] [-3.31826196e-03 9.99988638e-01 3.42241022e-03 3.10521178e-01] [ 6.62880195e-03 -3.40035777e-03 9.99972248e-01 1.17609022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2525578440001 meters Centerline goodness [0,1] 0.24970304299937374 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99972805e-01 3.35834596e-03 -6.56591001e-03 6.52556017e+00] [-3.33479956e-03 9.99987982e-01 3.59382485e-03 3.09734531e-01] [ 6.57790040e-03 -3.57183113e-03 9.99971986e-01 1.17613838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28255784400005 meters Centerline goodness [0,1] 0.2471648985388737 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99972394e-01 3.18913975e-03 -6.71124385e-03 6.52584849e+00] [-3.16416584e-03 9.99988043e-01 3.72853838e-03 3.08219254e-01] [ 6.72305443e-03 -3.70719996e-03 9.99970528e-01 1.17635251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3125578440001 meters Centerline goodness [0,1] 0.25011395454841445 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99970828e-01 3.21663813e-03 -6.92800105e-03 6.52638575e+00] [-3.18974687e-03 9.99987350e-01 3.88908994e-03 3.07267950e-01] [ 6.94042321e-03 -3.86687791e-03 9.99968438e-01 1.17635557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34255784400005 meters Centerline goodness [0,1] 0.252670125114434 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99968883e-01 3.23513119e-03 -7.19486698e-03 6.52714720e+00] [-3.20640560e-03 9.99986858e-01 4.00046983e-03 3.06633632e-01] [ 7.20771447e-03 -3.97727569e-03 9.99966114e-01 1.17619621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3725578440001 meters Centerline goodness [0,1] 0.2523928921835823 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99967671e-01 3.24742934e-03 -7.35606348e-03 6.52766893e+00] [-3.21746795e-03 9.99986496e-01 4.08119865e-03 3.06180476e-01] [ 7.36921754e-03 -4.05739881e-03 9.99964615e-01 1.17599484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40255784400006 meters Centerline goodness [0,1] 0.2505525460455038 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99967391e-01 3.18408694e-03 -7.42148754e-03 6.52780386e+00] [-3.15430357e-03 9.99986939e-01 4.02138203e-03 3.06147194e-01] [ 7.43419504e-03 -3.99784127e-03 9.99964374e-01 1.17603315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43255784400003 meters Centerline goodness [0,1] 0.24900997597974506 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.18 [[ 9.99967778e-01 3.16058964e-03 -7.37924792e-03 6.52762800e+00] [-3.13182612e-03 9.99987467e-01 3.90619962e-03 3.06743147e-01] [ 7.39150132e-03 -3.88296323e-03 9.99965144e-01 1.17610608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46255784400006 meters Centerline goodness [0,1] 0.2542002100105005 Centerline is valid? [False, False] Translation: X:6.51, Y:0.31, Z:1.18 [[ 9.99960631e-01 -5.00479084e-03 -7.32722526e-03 6.50637639e+00] [ 5.04286985e-03 9.99973828e-01 5.18770153e-03 3.11875373e-01] [ 7.30107013e-03 -5.22444754e-03 9.99959699e-01 1.17505177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49255784400003 meters Centerline goodness [0,1] 0.25127301214257736 Centerline is valid? [False, False] Translation: X:6.51, Y:0.31, Z:1.18 [[ 9.99962484e-01 -5.02215600e-03 -7.05749753e-03 6.50557703e+00] [ 5.05714082e-03 9.99974971e-01 4.94804320e-03 3.13471998e-01] [ 7.03247104e-03 -4.98354833e-03 9.99962854e-01 1.17520410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52255784400006 meters Centerline goodness [0,1] 0.24609189957366173 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.18 [[ 9.99984755e-01 3.40047415e-03 -4.35036641e-03 6.52517295e+00] [-3.38500907e-03 9.99987943e-01 3.55733048e-03 3.15258072e-01] [ 4.36241057e-03 -3.54255022e-03 9.99984210e-01 1.17598849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55255784400003 meters Centerline goodness [0,1] 0.2533669850525445 Centerline is valid? [False, False] Translation: X:6.50, Y:0.32, Z:1.17 [[ 9.99981697e-01 -4.92650055e-03 -3.51212801e-03 6.50476593e+00] [ 4.94226373e-03 9.99977690e-01 4.49375247e-03 3.20028671e-01] [ 3.48991118e-03 -4.51102809e-03 9.99983735e-01 1.17440536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58255784400006 meters Centerline goodness [0,1] 0.2510681185775947 Centerline is valid? [False, False] Translation: X:6.49, Y:0.32, Z:1.17 [[ 9.99998650e-01 9.44870280e-04 -1.34421010e-03 6.48900697e+00] [-9.41536687e-04 9.99996485e-01 2.47843891e-03 3.16445730e-01] [ 1.34654717e-03 -2.47716995e-03 9.99996025e-01 1.17033751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61255784400004 meters Centerline goodness [0,1] 0.2469648699845015 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.17 [[ 9.99998996e-01 1.30963275e-03 5.42053045e-04 6.53396655e+00] [-1.31074470e-03 9.99997027e-01 2.05612167e-03 3.19945630e-01] [-5.39358669e-04 -2.05683010e-03 9.99997739e-01 1.16917870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64255784400007 meters Centerline goodness [0,1] 0.25271253649396486 Centerline is valid? [False, False] Translation: X:6.51, Y:0.32, Z:1.17 [[ 9.99955667e-01 9.37160954e-03 -9.15033261e-04 6.51422406e+00] [-9.37083322e-03 9.99955732e-01 8.49031629e-04 3.16033982e-01] [ 9.22949547e-04 -8.40419365e-04 9.99999221e-01 1.16810256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67255784400004 meters Centerline goodness [0,1] 0.2486286073589038 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.17 [[ 9.99995622e-01 2.25413940e-03 -1.91693040e-03 6.53200188e+00] [-2.25037816e-03 9.99995543e-01 1.96201421e-03 3.22109301e-01] [ 1.92134451e-03 -1.95769180e-03 9.99996238e-01 1.17044966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70255784400007 meters Centerline goodness [0,1] 0.24884742754485834 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.17 [[ 9.99995794e-01 2.20004745e-03 -1.88996214e-03 6.53177462e+00] [-2.19677526e-03 9.99996088e-01 1.73168696e-03 3.23362114e-01] [ 1.89376454e-03 -1.72752785e-03 9.99996715e-01 1.17065685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73255784400004 meters Centerline goodness [0,1] 0.24747529355794395 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.17 [[ 9.99996004e-01 2.16976450e-03 -1.81237640e-03 6.53155770e+00] [-2.16698088e-03 9.99996472e-01 1.53644934e-03 3.24569692e-01] [ 1.81570374e-03 -1.53251582e-03 9.99997177e-01 1.17063809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76255784400007 meters Centerline goodness [0,1] 0.26045556793116253 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99996313e-01 2.16501342e-03 -1.63905150e-03 6.53109852e+00] [-2.16297549e-03 9.99996887e-01 1.24411154e-03 3.26356980e-01] [ 1.64173992e-03 -1.24056172e-03 9.99997883e-01 1.17060603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79255784400004 meters Centerline goodness [0,1] 0.24692790238033857 Centerline is valid? [False, False] Translation: X:6.57, Y:0.33, Z:1.17 [[ 9.99996470e-01 2.51307676e-03 8.62701870e-04 6.57480548e+00] [-2.51372464e-03 9.99996559e-01 7.50721935e-04 3.30015786e-01] [-8.60812279e-04 -7.52887880e-04 9.99999346e-01 1.16996576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8225578440001 meters Centerline goodness [0,1] 0.24908170140624664 Centerline is valid? [False, False] Translation: X:6.55, Y:0.33, Z:1.17 [[ 9.99980873e-01 -6.12219112e-03 8.78432000e-04 6.55357186e+00] [ 6.12064340e-03 9.99979731e-01 1.75390831e-03 3.32725409e-01] [-8.89151956e-04 -1.74849819e-03 9.99998076e-01 1.16920067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85255784400005 meters Centerline goodness [0,1] 0.24451437685907662 Centerline is valid? [False, False] Translation: X:6.57, Y:0.33, Z:1.17 [[ 9.99997355e-01 2.19561954e-03 6.85734130e-04 6.57328713e+00] [-2.19620940e-03 9.99997218e-01 8.60616537e-04 3.28687983e-01] [-6.83842636e-04 -8.62120276e-04 9.99999395e-01 1.17066973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8825578440001 meters Centerline goodness [0,1] 0.25372483148273384 Centerline is valid? [False, False] Translation: X:6.55, Y:0.33, Z:1.17 [[ 9.99979741e-01 -6.32583477e-03 -7.07635257e-04 6.55329781e+00] [ 6.32733966e-03 9.99977682e-01 2.14501099e-03 3.31084349e-01] [ 6.94050479e-04 -2.14944498e-03 9.99997449e-01 1.16968600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91255784400005 meters Centerline goodness [0,1] 0.2527532320550211 Centerline is valid? [False, False] Translation: X:6.55, Y:0.33, Z:1.17 [[ 9.99979751e-01 -6.31374693e-03 -7.96566405e-04 6.55361225e+00] [ 6.31546159e-03 9.99977706e-01 2.16872732e-03 3.30861058e-01] [ 7.82855850e-04 -2.17371409e-03 9.99997331e-01 1.16955768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9425578440001 meters Centerline goodness [0,1] 0.2458988122184138 Centerline is valid? [False, False] Translation: X:6.57, Y:0.33, Z:1.17 [[ 9.99998197e-01 1.87265347e-03 -3.14224079e-04 6.57339211e+00] [-1.87245171e-03 9.99998041e-01 6.41174151e-04 3.28285499e-01] [ 3.15424161e-04 -6.40584626e-04 9.99999745e-01 1.17103151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97255784400005 meters Centerline goodness [0,1] 0.25175327786731716 Centerline is valid? [False, False] Translation: X:6.57, Y:0.33, Z:1.17 [[ 9.99998304e-01 1.80778722e-03 -3.51089684e-04 6.57344957e+00] [-1.80762627e-03 9.99998261e-01 4.58221882e-04 3.29072062e-01] [ 3.51917442e-04 -4.57586466e-04 9.99999833e-01 1.17103907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0025578440001 meters Centerline goodness [0,1] 0.2518473573580081 Centerline is valid? [False, False] Translation: X:6.57, Y:0.33, Z:1.17 [[ 9.99997372e-01 2.17799717e-03 -7.15829999e-04 6.57455592e+00] [-2.17781396e-03 9.99997596e-01 2.56615756e-04 3.31586406e-01] [ 7.16387186e-04 -2.55056137e-04 9.99999711e-01 1.17044435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03255784400005 meters Centerline goodness [0,1] 0.2522747156605424 Centerline is valid? [False, False] Translation: X:6.57, Y:0.33, Z:1.17 [[ 9.99997510e-01 2.13105187e-03 -6.62834984e-04 6.57459262e+00] [-2.13110326e-03 9.99997726e-01 -7.68268378e-05 3.33473573e-01] [ 6.62669755e-04 7.82392162e-05 9.99999777e-01 1.17002447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0625578440001 meters Centerline goodness [0,1] 0.2507182201101631 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99995147e-01 -3.11517321e-03 4.89060316e-05 6.59640810e+00] [ 3.11502346e-03 9.99991199e-01 2.81056025e-03 3.39856825e-01] [-5.76609832e-05 -2.81039427e-03 9.99996049e-01 1.16956228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09255784400005 meters Centerline goodness [0,1] 0.24547992269701524 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99994996e-01 -3.16009958e-03 1.46355419e-04 6.59585998e+00] [ 3.15970197e-03 9.99991519e-01 2.64165390e-03 3.40809993e-01] [-1.54702067e-04 -2.64117824e-03 9.99996500e-01 1.17002570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1225578440001 meters Centerline goodness [0,1] 0.2515002609149417 Centerline is valid? [False, False] Translation: X:6.58, Y:0.34, Z:1.17 [[ 9.99989102e-01 4.66813394e-03 -7.19046296e-05 6.57589105e+00] [-4.66802160e-03 9.99987994e-01 1.49034347e-03 3.35232099e-01] [ 7.88608893e-05 -1.48999157e-03 9.99998887e-01 1.16929608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15255784400006 meters Centerline goodness [0,1] 0.24717575025870986 Centerline is valid? [False, False] Translation: X:6.59, Y:0.34, Z:1.17 [[ 9.99996135e-01 -2.70403242e-03 -6.46457772e-04 6.59397578e+00] [ 2.70579102e-03 9.99992599e-01 2.73514562e-03 3.40940689e-01] [ 6.39057065e-04 -2.73688423e-03 9.99996051e-01 1.17147500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18255784400003 meters Centerline goodness [0,1] 0.24922145328719725 Centerline is valid? [False, False] Translation: X:6.59, Y:0.34, Z:1.17 [[ 9.99996056e-01 -2.71442211e-03 -7.20346754e-04 6.59409502e+00] [ 2.71644402e-03 9.99992332e-01 2.82088332e-03 3.40414028e-01] [ 7.12684162e-04 -2.82282898e-03 9.99995762e-01 1.17163741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21255784400006 meters Centerline goodness [0,1] 0.2441486722609315 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99994705e-01 -2.94180312e-03 -1.39151941e-03 6.59592460e+00] [ 2.94579799e-03 9.99991521e-01 2.87758553e-03 3.39384673e-01] [ 1.38304232e-03 -2.88166942e-03 9.99994892e-01 1.17142747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24255784400003 meters Centerline goodness [0,1] 0.24915158371040724 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99994722e-01 -2.87669479e-03 -1.50993410e-03 6.59621056e+00] [ 2.88143301e-03 9.99990902e-01 3.14529397e-03 3.37994874e-01] [ 1.50087231e-03 -3.14962814e-03 9.99993914e-01 1.17149033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27255784400006 meters Centerline goodness [0,1] 0.253090194365582 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99995032e-01 -2.80686740e-03 -1.43404695e-03 6.59585510e+00] [ 2.81183720e-03 9.99990008e-01 3.47539107e-03 3.36281181e-01] [ 1.42427766e-03 -3.47940611e-03 9.99992933e-01 1.17191314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30255784400003 meters Centerline goodness [0,1] 0.2477084007333118 Centerline is valid? [False, False] Translation: X:6.62, Y:0.34, Z:1.17 [[ 9.99994226e-01 3.39252522e-03 1.98029462e-04 6.61770978e+00] [-3.39262256e-03 9.99994123e-01 4.93315275e-04 3.35018935e-01] [-1.96354714e-04 -4.93984266e-04 9.99999859e-01 1.17166540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33255784400006 meters Centerline goodness [0,1] 0.24830817282665274 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99993790e-01 3.52412849e-03 -3.64609417e-05 6.61826494e+00] [-3.52409080e-03 9.99993304e-01 9.86619417e-04 3.32416935e-01] [ 3.99376711e-05 -9.86484798e-04 9.99999513e-01 1.17176543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36255784400004 meters Centerline goodness [0,1] 0.2509128847157016 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99993595e-01 3.57641266e-03 -1.36277432e-04 6.61865153e+00] [-3.57625108e-03 9.99992923e-01 1.16805857e-03 3.31470496e-01] [ 1.40453927e-04 -1.16756373e-03 9.99999309e-01 1.17153845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39255784400007 meters Centerline goodness [0,1] 0.2508373569968245 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99993349e-01 3.64655463e-03 -7.21818160e-05 6.61865509e+00] [-3.64645265e-03 9.99992419e-01 1.36585974e-03 3.30471652e-01] [ 7.71619509e-05 -1.36558745e-03 9.99999065e-01 1.17129977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42255784400004 meters Centerline goodness [0,1] 0.2493039518269916 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99993091e-01 3.71697749e-03 4.91924051e-05 6.61832944e+00] [-3.71704954e-03 9.99991881e-01 1.55607483e-03 3.29476476e-01] [-4.34081106e-05 -1.55624692e-03 9.99998788e-01 1.17134392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45255784400007 meters Centerline goodness [0,1] 0.23975701176166475 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99992753e-01 3.80326579e-03 1.73474303e-04 6.61789400e+00] [-3.80357147e-03 9.99991151e-01 1.79717975e-03 3.28295332e-01] [-1.66637615e-04 -1.79782655e-03 9.99998370e-01 1.17159457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48255784400004 meters Centerline goodness [0,1] 0.24743337584023173 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99992289e-01 3.91949605e-03 2.43963358e-04 6.61765989e+00] [-3.91995427e-03 9.99990499e-01 1.90696970e-03 3.28037593e-01] [-2.36486680e-04 -1.90791132e-03 9.99998152e-01 1.17168357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51255784400007 meters Centerline goodness [0,1] 0.24856658848058377 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99992348e-01 3.91197721e-03 9.43034164e-06 6.61856261e+00] [-3.91198764e-03 9.99990873e-01 1.71765551e-03 3.29096526e-01] [-2.71082637e-06 -1.71767926e-03 9.99998525e-01 1.17103858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54255784400004 meters Centerline goodness [0,1] 0.2468744573710714 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99992516e-01 3.85831315e-03 -2.86635015e-04 6.61966182e+00] [-3.85790877e-03 9.99991581e-01 1.39818675e-03 3.30679694e-01] [ 2.92027244e-04 -1.39707048e-03 9.99998981e-01 1.17027924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5725578440001 meters Centerline goodness [0,1] 0.25433272715321753 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99994008e-01 -3.32364794e-03 -9.67679835e-04 6.60121668e+00] [ 3.32644474e-03 9.99990253e-01 2.90308833e-03 3.38568143e-01] [ 9.58021560e-04 -2.90628987e-03 9.99995318e-01 1.16797421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60255784400005 meters Centerline goodness [0,1] 0.2547541845587591 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99993867e-01 -3.39049825e-03 -8.78073343e-04 6.60107507e+00] [ 3.39271829e-03 9.99991021e-01 2.53928187e-03 3.40635209e-01] [ 8.69456028e-04 -2.54224535e-03 9.99996391e-01 1.16777165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6325578440001 meters Centerline goodness [0,1] 0.2501520152883947 Centerline is valid? [False, False] Translation: X:6.62, Y:0.34, Z:1.17 [[ 9.99987129e-01 5.07244011e-03 1.06407299e-04 6.62069779e+00] [-5.07256220e-03 9.99986438e-01 1.18032696e-03 3.40264265e-01] [-1.00418718e-04 -1.18085153e-03 9.99999298e-01 1.16867875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66255784400005 meters Centerline goodness [0,1] 0.2436005808786874 Centerline is valid? [False, False] Translation: X:6.62, Y:0.34, Z:1.17 [[ 9.99988531e-01 4.78493747e-03 2.06205464e-04 6.61987478e+00] [-4.78512178e-03 9.99988144e-01 9.02796545e-04 3.40773130e-01] [-2.01883195e-04 -9.03772909e-04 9.99999571e-01 1.16964828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6925578440001 meters Centerline goodness [0,1] 0.2436005808786874 Centerline is valid? [False, False] Translation: X:6.62, Y:0.34, Z:1.17 [[ 9.99988531e-01 4.78493747e-03 2.06205464e-04 6.61987478e+00] [-4.78512178e-03 9.99988144e-01 9.02796545e-04 3.40773130e-01] [-2.01883195e-04 -9.03772909e-04 9.99999571e-01 1.16964828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72255784400005 meters Centerline goodness [0,1] 0.24944678266151776 Centerline is valid? [False, False] Translation: X:6.62, Y:0.34, Z:1.17 [[ 9.99988982e-01 4.68747763e-03 2.52657945e-04 6.61928789e+00] [-4.68772531e-03 9.99988524e-01 9.88786236e-04 3.40017629e-01] [-2.48020132e-04 -9.89959732e-04 9.99999479e-01 1.17052225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7525578440001 meters Centerline goodness [0,1] 0.2507430306974726 Centerline is valid? [False, False] Translation: X:6.62, Y:0.34, Z:1.17 [[ 9.99989313e-01 4.61837647e-03 2.08603863e-04 6.61903172e+00] [-4.61862086e-03 9.99988630e-01 1.18667905e-03 3.38861182e-01] [-2.03120961e-04 -1.18762983e-03 9.99999274e-01 1.17121675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78255784400005 meters Centerline goodness [0,1] 0.2512266928361139 Centerline is valid? [False, False] Translation: X:6.62, Y:0.34, Z:1.17 [[ 9.99989539e-01 4.57198441e-03 1.37472539e-04 6.61910538e+00] [-4.57217861e-03 9.99988500e-01 1.44721364e-03 3.37484290e-01] [-1.30854320e-04 -1.44782705e-03 9.99998943e-01 1.17149258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8125578440001 meters Centerline goodness [0,1] 0.24977673223115293 Centerline is valid? [False, False] Translation: X:6.62, Y:0.34, Z:1.17 [[ 9.99992139e-01 3.95230834e-03 -3.17851043e-04 6.62033504e+00] [-3.95183481e-03 9.99991101e-01 1.47687238e-03 3.35377569e-01] [ 3.23685270e-04 -1.47560468e-03 9.99998859e-01 1.17150673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84255784400005 meters Centerline goodness [0,1] 0.24847646626615383 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99992218e-01 3.89231618e-03 -6.43864430e-04 6.62110654e+00] [-3.89120231e-03 9.99990946e-01 1.72227283e-03 3.33624038e-01] [ 6.50562231e-04 -1.71975402e-03 9.99998310e-01 1.17164895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8725578440001 meters Centerline goodness [0,1] 0.24891892479193378 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99991878e-01 3.95616690e-03 -7.70403110e-04 6.62113070e+00] [-3.95452513e-03 9.99989931e-01 2.12104436e-03 3.31346450e-01] [ 7.78786559e-04 -2.11798055e-03 9.99997454e-01 1.17220925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90255784400006 meters Centerline goodness [0,1] 0.24777930552827432 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99991468e-01 4.05494968e-03 -7.88430142e-04 6.62087679e+00] [-4.05295598e-03 9.99988626e-01 2.51406151e-03 3.29286875e-01] [ 7.98615567e-04 -2.51084459e-03 9.99996529e-01 1.17278923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93255784400003 meters Centerline goodness [0,1] 0.2500595225211576 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99990312e-01 4.34928975e-03 -6.78553660e-04 6.62022160e+00] [-4.34704002e-03 9.99985164e-01 3.28245566e-03 3.25698755e-01] [ 6.92819944e-04 -3.27947416e-03 9.99994383e-01 1.17352226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96255784400006 meters Centerline goodness [0,1] 0.2492605480643758 Centerline is valid? [False, False] Translation: X:6.62, Y:0.32, Z:1.17 [[ 9.99989921e-01 4.44199518e-03 -6.52780947e-04 6.62017007e+00] [-4.43969449e-03 9.99984073e-01 3.48461358e-03 3.24769309e-01] [ 6.68249187e-04 -3.48168031e-03 9.99993716e-01 1.17349601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99255784400003 meters Centerline goodness [0,1] 0.24901391357114988 Centerline is valid? [False, False] Translation: X:6.62, Y:0.32, Z:1.17 [[ 9.99989681e-01 4.48663341e-03 -7.12186733e-04 6.62038725e+00] [-4.48405594e-03 9.99983537e-01 3.58033625e-03 3.24171168e-01] [ 7.28238664e-04 -3.57710582e-03 9.99993337e-01 1.17335584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02255784400006 meters Centerline goodness [0,1] 0.24472218624530506 Centerline is valid? [False, False] Translation: X:6.62, Y:0.32, Z:1.17 [[ 9.99988986e-01 4.58860574e-03 -9.86191235e-04 6.62129710e+00] [-4.58489446e-03 9.99982521e-01 3.73311870e-03 3.23232935e-01] [ 1.00330381e-03 -3.72855600e-03 9.99992546e-01 1.17291289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05255784400003 meters Centerline goodness [0,1] 0.2519182424308668 Centerline is valid? [False, False] Translation: X:6.60, Y:0.33, Z:1.17 [[ 9.99990041e-01 -4.13428506e-03 -1.68093623e-03 6.60037657e+00] [ 4.14222879e-03 9.99980139e-01 4.75007996e-03 3.25923919e-01] [ 1.66126466e-03 -4.75699547e-03 9.99987306e-01 1.17211440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08255784400006 meters Centerline goodness [0,1] 0.24548931480801228 Centerline is valid? [False, False] Translation: X:6.62, Y:0.32, Z:1.17 [[ 9.99990209e-01 4.36806854e-03 -7.09017511e-04 6.62023347e+00] [-4.36539860e-03 9.99983535e-01 3.72453687e-03 3.22481431e-01] [ 7.25274870e-04 -3.72140525e-03 9.99992813e-01 1.17320824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11255784400004 meters Centerline goodness [0,1] 0.2501899654805584 Centerline is valid? [False, False] Translation: X:6.62, Y:0.32, Z:1.17 [[ 9.99989955e-01 4.45154614e-03 -5.22371326e-04 6.61952252e+00] [-4.44947437e-03 9.99982487e-01 3.90239475e-03 3.21675611e-01] [ 5.39733868e-04 -3.90003127e-03 9.99992249e-01 1.17360817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14255784400007 meters Centerline goodness [0,1] 0.2530332681017613 Centerline is valid? [False, False] Translation: X:6.62, Y:0.32, Z:1.17 [[ 9.99989153e-01 4.65410907e-03 -1.82394553e-04 6.61812068e+00] [-4.65328479e-03 9.99979991e-01 4.28537554e-03 3.20148869e-01] [ 2.02335509e-04 -4.28448032e-03 9.99990801e-01 1.17456442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17255784400004 meters Centerline goodness [0,1] 0.24923036898929019 Centerline is valid? [False, False] Translation: X:6.62, Y:0.32, Z:1.17 [[ 9.99989088e-01 4.66718044e-03 -2.02986759e-04 6.61819479e+00] [-4.66625676e-03 9.99979717e-01 4.33496487e-03 3.19818202e-01] [ 2.23214705e-04 -4.33397038e-03 9.99990583e-01 1.17453208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20255784400007 meters Centerline goodness [0,1] 0.2539578556610984 Centerline is valid? [False, False] Translation: X:6.62, Y:0.32, Z:1.17 [[ 9.99988981e-01 4.68556082e-03 -2.89958980e-04 6.61855606e+00] [-4.68423124e-03 9.99979226e-01 4.42774424e-03 3.19180370e-01] [ 3.10699422e-04 -4.42633722e-03 9.99990155e-01 1.17428316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23255784400004 meters Centerline goodness [0,1] 0.25344503259110196 Centerline is valid? [False, False] Translation: X:6.62, Y:0.32, Z:1.17 [[ 9.99988624e-01 4.75505445e-03 -3.75494684e-04 6.61905211e+00] [-4.75325976e-03 9.99977920e-01 4.64391216e-03 3.18049530e-01] [ 3.97568448e-04 -4.64207451e-03 9.99989146e-01 1.17379132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26255784400007 meters Centerline goodness [0,1] 0.2519443173648781 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99987560e-01 4.94482438e-03 -6.55330651e-04 6.62024614e+00] [-4.94125060e-03 9.99973495e-01 5.34720839e-03 3.14259962e-01] [ 6.81754288e-04 -5.34390372e-03 9.99985489e-01 1.17301180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29255784400004 meters Centerline goodness [0,1] 0.2519563850772799 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99986972e-01 5.01414205e-03 -9.55983614e-04 6.62132131e+00] [-5.00860318e-03 9.99971150e-01 5.71083319e-03 3.12002903e-01] [ 9.84590963e-04 -5.70597065e-03 9.99983236e-01 1.17250878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3225578440001 meters Centerline goodness [0,1] 0.24827392160682205 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99997067e-01 1.88260630e-03 -1.52373990e-03 6.62315165e+00] [-1.87854890e-03 9.99994698e-01 2.65985687e-03 3.10122991e-01] [ 1.52873928e-03 -2.65698665e-03 9.99995302e-01 1.17175884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35255784400005 meters Centerline goodness [0,1] 0.24840518074618212 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99996945e-01 1.94433529e-03 -1.52653654e-03 6.62320296e+00] [-1.94001925e-03 9.99994131e-01 2.82374956e-03 3.09267265e-01] [ 1.53201790e-03 -2.82077942e-03 9.99994848e-01 1.17170329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3825578440001 meters Centerline goodness [0,1] 0.24921586017434938 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99996930e-01 1.99075276e-03 -1.47553405e-03 6.62316040e+00] [-1.98640402e-03 9.99993697e-01 2.94285909e-03 3.08624987e-01] [ 1.48138326e-03 -2.93991905e-03 9.99994581e-01 1.17156656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41255784400005 meters Centerline goodness [0,1] 0.24649143544885987 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99996932e-01 2.03834340e-03 -1.40769631e-03 6.62314974e+00] [-2.03404431e-03 9.99993284e-01 3.04869991e-03 3.08071166e-01] [ 1.41390116e-03 -3.04582724e-03 9.99994362e-01 1.17128989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4425578440001 meters Centerline goodness [0,1] 0.25071753814281705 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99997122e-01 2.08544534e-03 -1.18653706e-03 6.62263618e+00] [-2.08173352e-03 9.99992963e-01 3.12096058e-03 3.07750601e-01] [ 1.19303731e-03 -3.11848154e-03 9.99994426e-01 1.17121061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47255784400005 meters Centerline goodness [0,1] 0.2505080641674233 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99997369e-01 2.18742129e-03 -6.91352354e-04 6.62097326e+00] [-2.18515781e-03 9.99992305e-01 3.25795970e-03 3.07286482e-01] [ 6.98473565e-04 -3.25644042e-03 9.99994454e-01 1.17194323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5025578440001 meters Centerline goodness [0,1] 0.24866616265255426 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99997342e-01 2.18352755e-03 -7.40626033e-04 6.62100133e+00] [-2.18108629e-03 9.99992238e-01 3.28115574e-03 3.07061141e-01] [ 7.47784779e-04 -3.27953165e-03 9.99994343e-01 1.17208049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53255784400005 meters Centerline goodness [0,1] 0.2514347590687601 Centerline is valid? [False, False] Translation: X:6.62, Y:0.31, Z:1.17 [[ 9.99997204e-01 2.17922138e-03 -9.17719210e-04 6.62158334e+00] [-2.17621173e-03 9.99992293e-01 3.26781611e-03 3.07036742e-01] [ 9.24833431e-04 -3.26580983e-03 9.99994240e-01 1.17184816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5625578440001 meters Centerline goodness [0,1] 0.26507189657446906 Centerline is valid? [False, False] Translation: X:6.58, Y:0.30, Z:1.17 [[ 9.99991719e-01 1.57801226e-03 -3.75118443e-03 6.57656843e+00] [-1.56427607e-03 9.99992072e-01 3.66194365e-03 3.03710870e-01] [ 3.75693328e-03 -3.65604544e-03 9.99986259e-01 1.17294447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59255784400005 meters Centerline goodness [0,1] 0.2515105411866986 Centerline is valid? [False, False] Translation: X:6.58, Y:0.30, Z:1.17 [[ 9.99992122e-01 1.58823375e-03 -3.63791155e-03 6.57627162e+00] [-1.57515602e-03 9.99992298e-01 3.59489303e-03 3.04288758e-01] [ 3.64359306e-03 -3.58913443e-03 9.99986921e-01 1.17296195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6225578440001 meters Centerline goodness [0,1] 0.2508318568774037 Centerline is valid? [False, False] Translation: X:6.57, Y:0.31, Z:1.17 [[ 9.99993760e-01 1.46013029e-03 -3.21684606e-03 6.57494629e+00] [-1.44995795e-03 9.99993949e-01 3.16227463e-03 3.06432217e-01] [ 3.22144393e-03 -3.15759060e-03 9.99989826e-01 1.17336761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65255784400006 meters Centerline goodness [0,1] 0.2513493674165551 Centerline is valid? [False, False] Translation: X:6.57, Y:0.31, Z:1.17 [[ 9.99993853e-01 1.32765721e-03 -3.24513482e-03 6.57495826e+00] [-1.31858683e-03 9.99995223e-01 2.79561409e-03 3.08141154e-01] [ 3.24883094e-03 -2.79131792e-03 9.99990827e-01 1.17341202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68255784400003 meters Centerline goodness [0,1] 0.2536582193414121 Centerline is valid? [False, False] Translation: X:6.58, Y:0.31, Z:1.17 [[ 9.99993345e-01 1.15457315e-03 -3.46076132e-03 6.57555878e+00] [-1.14647635e-03 9.99996603e-01 2.34067222e-03 3.10292036e-01] [ 3.46345205e-03 -2.33668896e-03 9.99991272e-01 1.17321603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71255784400006 meters Centerline goodness [0,1] 0.25274177467597203 Centerline is valid? [False, False] Translation: X:6.58, Y:0.31, Z:1.17 [[ 9.99991563e-01 1.08298512e-03 -3.96242936e-03 6.57704608e+00] [-1.07615605e-03 9.99997933e-01 1.72518086e-03 3.14199655e-01] [ 3.96428951e-03 -1.72090211e-03 9.99990661e-01 1.17253250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74255784400003 meters Centerline goodness [0,1] 0.2537303607478276 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.17 [[ 9.99979388e-01 7.37024041e-04 -6.37811841e-03 6.53083336e+00] [-7.23188432e-04 9.99997381e-01 2.17126494e-03 3.12238527e-01] [ 6.37970198e-03 -2.16660760e-03 9.99977302e-01 1.17402750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77255784400006 meters Centerline goodness [0,1] 0.24889303698558773 Centerline is valid? [False, False] Translation: X:6.53, Y:0.31, Z:1.17 [[ 9.99980913e-01 6.30852223e-04 -6.14621656e-03 6.53008845e+00] [-6.19492094e-04 9.99998097e-01 1.85004103e-03 3.13918264e-01] [ 6.14737196e-03 -1.84619818e-03 9.99979400e-01 1.17425673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80255784400003 meters Centerline goodness [0,1] 0.2519247869179553 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.17 [[ 9.99982314e-01 5.10076164e-04 -5.92544516e-03 6.52935673e+00] [-5.01157121e-04 9.99998740e-01 1.50659782e-03 3.15714820e-01] [ 5.92620617e-03 -1.50360159e-03 9.99981309e-01 1.17450927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83255784400006 meters Centerline goodness [0,1] 0.252822502004464 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.17 [[ 9.99984280e-01 2.62186508e-04 -5.60096542e-03 6.52822563e+00] [-2.57893650e-04 9.99999672e-01 7.67158201e-04 3.19645402e-01] [ 5.60116473e-03 -7.65701688e-04 9.99984020e-01 1.17493441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86255784400004 meters Centerline goodness [0,1] 0.2535925796899495 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.17 [[ 9.99984645e-01 1.25426435e-04 -5.54015318e-03 6.52810878e+00] [-1.23131563e-04 9.99999906e-01 4.14564655e-04 3.21374621e-01] [ 5.54020466e-03 -4.13876122e-04 9.99984567e-01 1.17479887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89255784400007 meters Centerline goodness [0,1] 0.2528650807431846 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.17 [[ 9.99983958e-01 -2.24228585e-05 -5.66412076e-03 6.52847108e+00] [ 2.28934602e-05 9.99999996e-01 8.30198523e-05 3.22814944e-01] [ 5.66411888e-03 -8.31481918e-05 9.99983955e-01 1.17468203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92255784400004 meters Centerline goodness [0,1] 0.2474084906877715 Centerline is valid? [False, False] Translation: X:6.53, Y:0.32, Z:1.17 [[ 9.99983730e-01 -1.07007276e-04 -5.70339286e-03 6.52859059e+00] [ 1.06217539e-04 9.99999985e-01 -1.38770663e-04 3.23918221e-01] [ 5.70340762e-03 1.38162605e-04 9.99983726e-01 1.17462126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95255784400007 meters Centerline goodness [0,1] 0.24928569894090102 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99983755e-01 -2.59698547e-04 -5.69405655e-03 6.52851344e+00] [ 2.56689436e-04 9.99999827e-01 -5.29189637e-04 3.25859460e-01] [ 5.69419300e-03 5.27719436e-04 9.99983649e-01 1.17464653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98255784400004 meters Centerline goodness [0,1] 0.26047208529673627 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99983600e-01 -3.71969997e-04 -5.71509491e-03 6.52856362e+00] [ 3.67439475e-04 9.99999617e-01 -7.93758704e-04 3.27048020e-01] [ 5.71538797e-03 7.91645735e-04 9.99983354e-01 1.17458965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01255784400007 meters Centerline goodness [0,1] 0.2465950590762621 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99982952e-01 -4.36869627e-04 -5.82276031e-03 6.52889935e+00] [ 4.31218398e-04 9.99999435e-01 -9.71761383e-04 3.27948631e-01] [ 5.82318155e-03 9.69233936e-04 9.99982575e-01 1.17443735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04255784400004 meters Centerline goodness [0,1] 0.2511792963171333 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99982691e-01 -5.30050229e-04 -5.85980311e-03 6.52931841e+00] [ 5.22399215e-04 9.99999009e-01 -1.30713124e-03 3.29889950e-01] [ 5.86049014e-03 1.30404745e-03 9.99981977e-01 1.17380367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0725578440001 meters Centerline goodness [0,1] 0.25086971647242995 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99982301e-01 -5.77862096e-04 -5.92142852e-03 6.52957590e+00] [ 5.69149365e-04 9.99998753e-01 -1.47296942e-03 3.30795331e-01] [ 5.92227231e-03 1.46957317e-03 9.99981383e-01 1.17359114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10255784400005 meters Centerline goodness [0,1] 0.2589239299948016 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99982557e-01 -6.45814549e-04 -5.87103492e-03 6.52958493e+00] [ 6.36132762e-04 9.99998435e-01 -1.65079462e-03 3.31590133e-01] [ 5.87209184e-03 1.64703106e-03 9.99981403e-01 1.17332134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1325578440001 meters Centerline goodness [0,1] 0.2500269774468544 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99982276e-01 -7.23491884e-04 -5.90966597e-03 6.52963612e+00] [ 7.12681070e-04 9.99998069e-01 -1.83124551e-03 3.32331546e-01] [ 5.91097945e-03 1.82700135e-03 9.99980861e-01 1.17339196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16255784400005 meters Centerline goodness [0,1] 0.24905840079657127 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99982375e-01 -7.94352618e-04 -5.88377294e-03 6.52928010e+00] [ 7.82472914e-04 9.99997651e-01 -2.02108922e-03 3.33222434e-01] [ 5.88536458e-03 2.01644970e-03 9.99980648e-01 1.17379633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1925578440001 meters Centerline goodness [0,1] 0.2490996528002415 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99982175e-01 -7.58185715e-04 -5.92245079e-03 6.52923050e+00] [ 7.46513027e-04 9.99997775e-01 -1.97288404e-03 3.33139438e-01] [ 5.92393342e-03 1.96842768e-03 9.99980516e-01 1.17401020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22255784400005 meters Centerline goodness [0,1] 0.2500271202620902 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99981603e-01 -7.23097249e-04 -6.02251871e-03 6.52954912e+00] [ 7.11879278e-04 9.99998008e-01 -1.86460643e-03 3.32645691e-01] [ 6.02385501e-03 1.86028482e-03 9.99980126e-01 1.17390389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2525578440001 meters Centerline goodness [0,1] 0.2500436376330948 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99979594e-01 -7.82773451e-04 -6.34029312e-03 6.53065065e+00] [ 7.71070391e-04 9.99997995e-01 -1.84805733e-03 3.32218119e-01] [ 6.34172702e-03 1.84313081e-03 9.99978192e-01 1.17337671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28255784400005 meters Centerline goodness [0,1] 0.2472681122009981 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99946292e-01 -8.46991760e-03 -5.97276148e-03 6.55001137e+00] [ 8.46536145e-03 9.99963858e-01 -7.87690052e-04 3.38304014e-01] [ 5.97921728e-03 7.37086162e-04 9.99981853e-01 1.17446895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3125578440001 meters Centerline goodness [0,1] 0.24884294303386822 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99946998e-01 -8.44510041e-03 -5.88909106e-03 6.54971243e+00] [ 8.44064322e-03 9.99964072e-01 -7.81299696e-04 3.38508561e-01] [ 5.89547763e-03 7.31550569e-04 9.99982354e-01 1.17459169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34255784400005 meters Centerline goodness [0,1] 0.25880124534628024 Centerline is valid? [False, False] Translation: X:6.53, Y:0.33, Z:1.17 [[ 9.99986522e-01 -5.78779395e-04 -5.15949318e-03 6.53009351e+00] [ 5.70181064e-04 9.99998447e-01 -1.66782220e-03 3.33082478e-01] [ 5.16045047e-03 1.66485788e-03 9.99985299e-01 1.17320743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3725578440001 meters Centerline goodness [0,1] 0.2561885713056756 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99981181e-01 -5.76041899e-03 -2.11063329e-03 6.55239711e+00] [ 5.76260028e-03 9.99982867e-01 1.02885838e-03 3.36798655e-01] [ 2.10467047e-03 -1.04100176e-03 9.99997243e-01 1.17229355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40255784400006 meters Centerline goodness [0,1] 0.25689558423619807 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99981692e-01 -5.80737197e-03 -1.70013376e-03 6.55105080e+00] [ 5.80869920e-03 9.99982828e-01 7.76770428e-04 3.38292784e-01] [ 1.69559357e-03 -7.86631772e-04 9.99998253e-01 1.17274563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43255784400003 meters Centerline goodness [0,1] 0.25756524755050725 Centerline is valid? [False, False] Translation: X:6.55, Y:0.34, Z:1.17 [[ 9.99982087e-01 -5.83227504e-03 -1.34542504e-03 6.54996270e+00] [ 5.83304801e-03 9.99982824e-01 5.71305596e-04 3.39643356e-01] [ 1.34206992e-03 -5.79143291e-04 9.99998932e-01 1.17302235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46255784400006 meters Centerline goodness [0,1] 0.2567404599879404 Centerline is valid? [False, False] Translation: X:6.57, Y:0.34, Z:1.17 [[ 9.99995244e-01 3.00961087e-03 -6.73567907e-04 6.57130507e+00] [-3.01007273e-03 9.99995235e-01 -6.85731823e-04 3.40431652e-01] [ 6.71500911e-04 6.87756051e-04 9.99999538e-01 1.17289109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49255784400003 meters Centerline goodness [0,1] 0.257676960444136 Centerline is valid? [False, False] Translation: X:6.57, Y:0.34, Z:1.17 [[ 9.99995465e-01 2.89077634e-03 -8.44346395e-04 6.57207813e+00] [-2.89159125e-03 9.99995353e-01 -9.65523621e-04 3.41555852e-01] [ 8.41551358e-04 9.67960747e-04 9.99999177e-01 1.17221484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52255784400006 meters Centerline goodness [0,1] 0.24983811785020504 Centerline is valid? [False, False] Translation: X:6.57, Y:0.34, Z:1.17 [[ 9.99995435e-01 2.81803943e-03 -1.08997916e-03 6.57286440e+00] [-2.81929693e-03 9.99995360e-01 -1.15388142e-03 3.42477384e-01] [ 1.08672242e-03 1.15694913e-03 9.99998740e-01 1.17185466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55255784400003 meters Centerline goodness [0,1] 0.24740737553251002 Centerline is valid? [False, False] Translation: X:6.57, Y:0.34, Z:1.17 [[ 9.99995312e-01 2.76549795e-03 -1.31472526e-03 6.57361278e+00] [-2.76718651e-03 9.99995347e-01 -1.28427055e-03 3.43124308e-01] [ 1.31116749e-03 1.28790262e-03 9.99998311e-01 1.17151255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58255784400006 meters Centerline goodness [0,1] 0.24740737553251002 Centerline is valid? [False, False] Translation: X:6.57, Y:0.34, Z:1.17 [[ 9.99995312e-01 2.76549795e-03 -1.31472526e-03 6.57361278e+00] [-2.76718651e-03 9.99995347e-01 -1.28427055e-03 3.43124308e-01] [ 1.31116749e-03 1.28790262e-03 9.99998311e-01 1.17151255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61255784400004 meters Centerline goodness [0,1] 0.24626513265218508 Centerline is valid? [False, False] Translation: X:6.57, Y:0.34, Z:1.17 [[ 9.99995101e-01 2.73123885e-03 -1.52930960e-03 6.57428209e+00] [-2.73335622e-03 9.99995306e-01 -1.38415264e-03 3.43715255e-01] [ 1.52552197e-03 1.38832600e-03 9.99997873e-01 1.17127792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64255784400007 meters Centerline goodness [0,1] 0.25752668304241033 Centerline is valid? [False, False] Translation: X:6.55, Y:0.35, Z:1.17 [[ 9.99979781e-01 -6.06946571e-03 -1.89711499e-03 6.55310444e+00] [ 6.06825018e-03 9.99981379e-01 -6.45825809e-04 3.47966184e-01] [ 1.90099948e-03 6.34300583e-04 9.99997992e-01 1.17041955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67255784400004 meters Centerline goodness [0,1] 0.24902740555027236 Centerline is valid? [False, False] Translation: X:6.55, Y:0.35, Z:1.17 [[ 9.99979444e-01 -6.14519487e-03 -1.82989124e-03 6.55284486e+00] [ 6.14358755e-03 9.99980738e-01 -8.82698090e-04 3.49202133e-01] [ 1.83528034e-03 8.71437848e-04 9.99997936e-01 1.17046873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70255784400007 meters Centerline goodness [0,1] 0.2498154981549815 Centerline is valid? [False, False] Translation: X:6.55, Y:0.35, Z:1.17 [[ 9.99979083e-01 -6.24359546e-03 -1.68852547e-03 6.55254955e+00] [ 6.24157104e-03 9.99979799e-01 -1.20155293e-03 3.50905223e-01] [ 1.69599337e-03 1.19098874e-03 9.99997853e-01 1.17031048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73255784400004 meters Centerline goodness [0,1] 0.24658800266511915 Centerline is valid? [False, False] Translation: X:6.57, Y:0.35, Z:1.17 [[ 9.99996996e-01 2.17598480e-03 -1.12802221e-03 6.57246429e+00] [-2.17875367e-03 9.99994603e-01 -2.45923676e-03 3.50760881e-01] [ 1.12266486e-03 2.46168705e-03 9.99996340e-01 1.17127110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76255784400007 meters Centerline goodness [0,1] 0.24860232693677553 Centerline is valid? [False, False] Translation: X:6.57, Y:0.35, Z:1.17 [[ 9.99997413e-01 2.03010112e-03 -1.02612745e-03 6.57223397e+00] [-2.03301794e-03 9.99993873e-01 -2.84955457e-03 3.52662933e-01] [ 1.02033628e-03 2.85163334e-03 9.99995414e-01 1.17116379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79255784400004 meters Centerline goodness [0,1] 0.2507163945814519 Centerline is valid? [False, False] Translation: X:6.57, Y:0.36, Z:1.17 [[ 9.99997819e-01 1.77349152e-03 -1.10348414e-03 6.57263329e+00] [-1.77755142e-03 9.99991615e-01 -3.68912343e-03 3.56923670e-01] [ 1.09693226e-03 3.69107689e-03 9.99992586e-01 1.17061376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8225578440001 meters Centerline goodness [0,1] 0.258601142458466 Centerline is valid? [False, False] Translation: X:6.57, Y:0.36, Z:1.17 [[ 9.99997857e-01 1.65957575e-03 -1.23769349e-03 6.57322060e+00] [-1.66461654e-03 9.99990280e-01 -4.08287682e-03 3.59006437e-01] [ 1.23090561e-03 4.08492835e-03 9.99990899e-01 1.17007854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85255784400005 meters Centerline goodness [0,1] 0.2472338227063331 Centerline is valid? [False, False] Translation: X:6.60, Y:0.36, Z:1.17 [[ 9.99990387e-01 -4.06946237e-03 -1.63272564e-03 6.59579942e+00] [ 4.06728947e-03 9.99990841e-01 -1.33196333e-03 3.64862046e-01] [ 1.63813106e-03 1.32530976e-03 9.99997780e-01 1.16964679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8825578440001 meters Centerline goodness [0,1] 0.24776858427259107 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99991670e-01 3.69281333e-03 -1.73843314e-03 6.57730592e+00] [-3.69747185e-03 9.99989562e-01 -2.68417917e-03 3.60425256e-01] [ 1.72850282e-03 2.69058462e-03 9.99994887e-01 1.16804742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91255784400005 meters Centerline goodness [0,1] 0.2474760493190703 Centerline is valid? [False, False] Translation: X:6.60, Y:0.37, Z:1.17 [[ 9.99987124e-01 -4.99399252e-03 -9.00915801e-04 6.59725936e+00] [ 4.99207523e-03 9.99985297e-01 -2.11799456e-03 3.66063921e-01] [ 9.11479803e-04 2.11346985e-03 9.99997351e-01 1.16949992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9425578440001 meters Centerline goodness [0,1] 0.24870331387399902 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99996648e-01 2.40004884e-03 9.71717390e-04 6.57685503e+00] [-2.39742303e-03 9.99993496e-01 -2.69444879e-03 3.59591620e-01] [-9.78177879e-04 2.69211014e-03 9.99995898e-01 1.16847351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97255784400005 meters Centerline goodness [0,1] 0.24356223175965663 Centerline is valid? [False, False] Translation: X:6.60, Y:0.36, Z:1.17 [[ 9.99977198e-01 -6.22228674e-03 2.62433569e-03 6.59685312e+00] [ 6.22727962e-03 9.99978808e-01 -1.89867083e-03 3.63292963e-01] [-2.61246600e-03 1.91497000e-03 9.99994754e-01 1.16916691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0025578440001 meters Centerline goodness [0,1] 0.2502177510669802 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997112e-01 1.64645649e-03 1.75067161e-03 6.57766046e+00] [-1.64085978e-03 9.99993554e-01 -3.19353805e-03 3.57201639e-01] [-1.75591834e-03 3.19065622e-03 9.99993368e-01 1.16796126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03255784400005 meters Centerline goodness [0,1] 0.24910592366213669 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997476e-01 1.62440815e-03 1.55227900e-03 6.57839811e+00] [-1.61939341e-03 9.99993484e-01 -3.22637611e-03 3.57229444e-01] [-1.55750983e-03 3.22385422e-03 9.99993590e-01 1.16750264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0625578440001 meters Centerline goodness [0,1] 0.24818715469613262 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997757e-01 1.61047878e-03 1.37552532e-03 6.57895447e+00] [-1.60597067e-03 9.99993357e-01 -3.27221654e-03 3.57487372e-01] [-1.38078602e-03 3.27000015e-03 9.99993700e-01 1.16728855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09255784400005 meters Centerline goodness [0,1] 0.25035694198070346 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997811e-01 1.57990891e-03 1.37164832e-03 6.57903846e+00] [-1.57521669e-03 9.99992927e-01 -3.41522993e-03 3.58370085e-01] [-1.37703437e-03 3.41306181e-03 9.99993227e-01 1.16711451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1225578440001 meters Centerline goodness [0,1] 0.24855105250684073 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997822e-01 1.54237324e-03 1.40587736e-03 6.57881939e+00] [-1.53698718e-03 9.99991507e-01 -3.82416113e-03 3.60757235e-01] [-1.41176370e-03 3.82199199e-03 9.99991700e-01 1.16722542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15255784400006 meters Centerline goodness [0,1] 0.249983700967076 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997952e-01 1.46533543e-03 1.39575537e-03 6.57890437e+00] [-1.45960103e-03 9.99990527e-01 -4.10065157e-03 3.62179911e-01] [-1.40175097e-03 4.09860593e-03 9.99990618e-01 1.16708438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18255784400003 meters Centerline goodness [0,1] 0.2504575562140492 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99998081e-01 1.43368419e-03 1.33546797e-03 6.57915396e+00] [-1.42788913e-03 9.99989605e-01 -4.33024108e-03 3.63574136e-01] [-1.34166229e-03 4.32832587e-03 9.99989733e-01 1.16680455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21255784400006 meters Centerline goodness [0,1] 0.2583563490855316 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99998142e-01 1.37722397e-03 1.34897257e-03 6.57908987e+00] [-1.37106499e-03 9.99988681e-01 -4.55601093e-03 3.64716158e-01] [-1.35523195e-03 4.55415294e-03 9.99988711e-01 1.16679783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24255784400003 meters Centerline goodness [0,1] 0.2498365799450909 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99998058e-01 1.37513075e-03 1.41163972e-03 6.57874360e+00] [-1.36883369e-03 9.99989152e-01 -4.45212771e-03 3.63887363e-01] [-1.41774666e-03 4.45018676e-03 9.99989093e-01 1.16713023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27255784400006 meters Centerline goodness [0,1] 0.2510602946963404 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997881e-01 1.42084113e-03 1.48999349e-03 6.57839099e+00] [-1.41459874e-03 9.99990254e-01 -4.18226231e-03 3.62387641e-01] [-1.49592130e-03 4.18014570e-03 9.99990144e-01 1.16746711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30255784400003 meters Centerline goodness [0,1] 0.25098805646036915 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997553e-01 1.52592785e-03 1.60147086e-03 6.57808922e+00] [-1.52033190e-03 9.99992755e-01 -3.48967179e-03 3.59110959e-01] [-1.60678424e-03 3.48722849e-03 9.99992629e-01 1.16763110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33255784400006 meters Centerline goodness [0,1] 0.24870432614116877 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997452e-01 1.65687268e-03 1.53335209e-03 6.57839762e+00] [-1.65208843e-03 9.99993780e-01 -3.11615376e-03 3.57444946e-01] [-1.53850562e-03 3.11361259e-03 9.99993969e-01 1.16745137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36255784400004 meters Centerline goodness [0,1] 0.2507223392930851 Centerline is valid? [False, False] Translation: X:6.58, Y:0.36, Z:1.17 [[ 9.99997278e-01 1.74907926e-03 1.54435894e-03 6.57834557e+00] [-1.74476583e-03 9.99994586e-01 -2.78996995e-03 3.55741522e-01] [-1.54923046e-03 2.78726781e-03 9.99994915e-01 1.16755596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39255784400007 meters Centerline goodness [0,1] 0.2513402780804602 Centerline is valid? [False, False] Translation: X:6.58, Y:0.35, Z:1.17 [[ 9.99997025e-01 1.81706463e-03 1.62749747e-03 6.57800408e+00] [-1.81301319e-03 9.99995263e-01 -2.48739350e-03 3.53950083e-01] [-1.63200952e-03 2.48443542e-03 9.99995582e-01 1.16786163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42255784400004 meters Centerline goodness [0,1] 0.24915000974511126 Centerline is valid? [False, False] Translation: X:6.58, Y:0.35, Z:1.17 [[ 9.99996586e-01 1.96636461e-03 1.72094985e-03 6.57756463e+00] [-1.96315085e-03 9.99996330e-01 -1.86713759e-03 3.50450088e-01] [-1.72461501e-03 1.86375273e-03 9.99996776e-01 1.16827002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45255784400007 meters Centerline goodness [0,1] 0.250806783478807 Centerline is valid? [False, False] Translation: X:6.58, Y:0.35, Z:1.17 [[ 9.99996455e-01 2.09854606e-03 1.63888213e-03 6.57793723e+00] [-2.09599062e-03 9.99996588e-01 -1.55941876e-03 3.49156298e-01] [-1.64214904e-03 1.55597815e-03 9.99997441e-01 1.16797321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48255784400004 meters Centerline goodness [0,1] 0.24939070419497467 Centerline is valid? [False, False] Translation: X:6.58, Y:0.35, Z:1.17 [[ 9.99996282e-01 2.21911145e-03 1.58463993e-03 6.57824597e+00] [-2.21696943e-03 9.99996628e-01 -1.35222334e-03 3.48383908e-01] [-1.58763532e-03 1.34870522e-03 9.99997830e-01 1.16767899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51255784400007 meters Centerline goodness [0,1] 0.2502763748292979 Centerline is valid? [False, False] Translation: X:6.58, Y:0.35, Z:1.17 [[ 9.99996051e-01 2.27529403e-03 1.64940719e-03 6.57814132e+00] [-2.27323855e-03 9.99996639e-01 -1.24699736e-03 3.47823656e-01] [-1.65223893e-03 1.24324294e-03 9.99997862e-01 1.16757303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54255784400004 meters Centerline goodness [0,1] 0.2588639377404839 Centerline is valid? [False, False] Translation: X:6.58, Y:0.35, Z:1.17 [[ 9.99995470e-01 2.34925764e-03 1.88172030e-03 6.57752907e+00] [-2.34706550e-03 9.99996565e-01 -1.16633241e-03 3.47080123e-01] [-1.88445386e-03 1.16191061e-03 9.99997549e-01 1.16758508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5725578440001 meters Centerline goodness [0,1] 0.2575372794165527 Centerline is valid? [False, False] Translation: X:6.58, Y:0.35, Z:1.17 [[ 9.99995097e-01 2.41020968e-03 1.99922755e-03 6.57723507e+00] [-2.40803478e-03 9.99996507e-01 -1.08956565e-03 3.46784691e-01] [-2.00184665e-03 1.08474609e-03 9.99997408e-01 1.16757264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60255784400005 meters Centerline goodness [0,1] 0.2592471856391533 Centerline is valid? [False, False] Translation: X:6.58, Y:0.35, Z:1.17 [[ 9.99994683e-01 2.49939595e-03 2.09436948e-03 6.57694565e+00] [-2.49738861e-03 9.99996420e-01 -9.60514212e-04 3.46363298e-01] [-2.09676269e-03 9.55278650e-04 9.99997346e-01 1.16759860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6325578440001 meters Centerline goodness [0,1] 0.2467811620058895 Centerline is valid? [False, False] Translation: X:6.60, Y:0.35, Z:1.17 [[ 9.99984777e-01 -4.96696064e-03 2.40305055e-03 6.59584158e+00] [ 4.96578020e-03 9.99987547e-01 4.96944515e-04 3.50957201e-01] [-2.40548893e-03 -4.85003930e-04 9.99996989e-01 1.16884051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66255784400005 meters Centerline goodness [0,1] 0.25940373970274155 Centerline is valid? [False, False] Translation: X:6.57, Y:0.34, Z:1.17 [[ 9.99998792e-01 9.81245239e-04 1.20578351e-03 6.57398357e+00] [-9.78284947e-04 9.99996512e-01 -2.45321982e-03 3.43949390e-01] [-1.20818651e-03 2.45203725e-03 9.99996264e-01 1.16941383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6925578440001 meters Centerline goodness [0,1] 0.2591042186313849 Centerline is valid? [False, False] Translation: X:6.57, Y:0.34, Z:1.17 [[ 9.99998980e-01 1.07020112e-03 9.46328525e-04 6.57472540e+00] [-1.06823202e-03 9.99997269e-01 -2.07883148e-03 3.41799464e-01] [-9.48550708e-04 2.07781846e-03 9.99997391e-01 1.16926847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72255784400005 meters Centerline goodness [0,1] 0.2610876106580612 Centerline is valid? [False, False] Translation: X:6.58, Y:0.34, Z:1.17 [[ 9.99999036e-01 1.20307904e-03 6.93808336e-04 6.57560395e+00] [-1.20193608e-03 9.99997924e-01 -1.64544564e-03 3.39591450e-01] [-6.95786496e-04 1.64461014e-03 9.99998406e-01 1.16885049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7525578440001 meters Centerline goodness [0,1] 0.25981348948167426 Centerline is valid? [False, False] Translation: X:6.58, Y:0.34, Z:1.17 [[ 9.99998944e-01 1.37966318e-03 4.55683293e-04 6.57621337e+00] [-1.37916916e-03 9.99998463e-01 -1.08267860e-03 3.36834531e-01] [-4.57176324e-04 1.08204899e-03 9.99999310e-01 1.16888139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78255784400005 meters Centerline goodness [0,1] 0.25836024360113563 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99998742e-01 1.54940173e-03 3.39024467e-04 6.57648400e+00] [-1.54923302e-03 9.99998676e-01 -4.97348314e-04 3.33816917e-01] [-3.39794610e-04 4.96822460e-04 9.99999819e-01 1.16901131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8125578440001 meters Centerline goodness [0,1] 0.2576068856642374 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99998445e-01 1.70891420e-03 4.35827168e-04 6.57609459e+00] [-1.70907763e-03 9.99998469e-01 3.74882565e-04 3.28663742e-01] [-4.35185859e-04 -3.75626844e-04 9.99999835e-01 1.16943633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84255784400005 meters Centerline goodness [0,1] 0.2568048869989423 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99998303e-01 1.82029518e-03 2.82829496e-04 6.57672106e+00] [-1.82049037e-03 9.99998104e-01 6.91384547e-04 3.27020308e-01] [-2.81570436e-04 -6.91898262e-04 9.99999721e-01 1.16906234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8725578440001 meters Centerline goodness [0,1] 0.26055170005674133 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99998237e-01 1.87560730e-03 9.32219619e-05 6.57741568e+00] [-1.87568693e-03 9.99997870e-01 8.61521457e-04 3.26019602e-01] [-9.16058874e-05 -8.61694793e-04 9.99999625e-01 1.16866749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90255784400006 meters Centerline goodness [0,1] 0.2596491228070176 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99998198e-01 1.89527011e-03 -1.09879337e-04 6.57824070e+00] [-1.89517288e-03 9.99997818e-01 8.78354311e-04 3.25840512e-01] [ 1.11543816e-04 -8.78144488e-04 9.99999608e-01 1.16806682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93255784400003 meters Centerline goodness [0,1] 0.25963615936392703 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99997904e-01 2.01020201e-03 -3.89858537e-04 6.57918646e+00] [-2.00986966e-03 9.99997618e-01 8.51000319e-04 3.26315339e-01] [ 3.91568291e-04 -8.50214970e-04 9.99999562e-01 1.16751364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96255784400006 meters Centerline goodness [0,1] 0.24833156951253754 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99997950e-01 2.00916184e-03 -2.52818532e-04 6.57878703e+00] [-2.00897356e-03 9.99997706e-01 7.42758904e-04 3.27121262e-01] [ 2.54310275e-04 -7.42249475e-04 9.99999692e-01 1.16755547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99255784400003 meters Centerline goodness [0,1] 0.2592874874787684 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99998028e-01 1.98522627e-03 -5.23329166e-05 6.57818774e+00] [-1.98519456e-03 9.99997850e-01 5.99187411e-04 3.28022685e-01] [ 5.35223267e-05 -5.99082338e-04 9.99999819e-01 1.16767289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02255784400006 meters Centerline goodness [0,1] 0.2579709517522024 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99998125e-01 1.89912486e-03 3.78188866e-04 6.57679976e+00] [-1.89925804e-03 9.99998134e-01 3.52112468e-04 3.29278481e-01] [-3.77519455e-04 -3.52830086e-04 9.99999866e-01 1.16819979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05255784400003 meters Centerline goodness [0,1] 0.2593984145944185 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99998203e-01 1.85320833e-03 4.00036312e-04 6.57657301e+00] [-1.85331035e-03 9.99998250e-01 2.54806662e-04 3.29703153e-01] [-3.99563403e-04 -2.55547596e-04 9.99999888e-01 1.16847358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08255784400006 meters Centerline goodness [0,1] 0.2450201768695801 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99983255e-01 -5.77991707e-03 2.87314221e-04 6.59577103e+00] [ 5.77956665e-03 9.99982571e-01 1.20588141e-03 3.36223750e-01] [-2.94279108e-04 -1.20420067e-03 9.99999232e-01 1.16991245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11255784400004 meters Centerline goodness [0,1] 0.26031939959856876 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99997938e-01 2.02785709e-03 1.04673621e-04 6.57602458e+00] [-2.02787252e-03 9.99997933e-01 1.47523789e-04 3.30646589e-01] [-1.04374247e-04 -1.47735750e-04 9.99999984e-01 1.16922092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14255784400007 meters Centerline goodness [0,1] 0.2458608027143685 Centerline is valid? [False, False] Translation: X:6.62, Y:0.33, Z:1.17 [[ 9.99991513e-01 2.45454483e-03 3.30900058e-03 6.61641348e+00] [-2.45609383e-03 9.99996876e-01 4.64133698e-04 3.34458130e-01] [-3.30785101e-03 -4.72256974e-04 9.99994418e-01 1.16998714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17255784400004 meters Centerline goodness [0,1] 0.2598368834323891 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99973671e-01 -6.18333036e-03 3.79781229e-03 6.59524369e+00] [ 6.17729975e-03 9.99979644e-01 1.59759990e-03 3.37300473e-01] [-3.80761347e-03 -1.57409761e-03 9.99991512e-01 1.16885355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20255784400007 meters Centerline goodness [0,1] 0.25742296918767504 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.17 [[ 9.99973631e-01 -6.19522557e-03 3.78892527e-03 6.59513549e+00] [ 6.18868940e-03 9.99979346e-01 1.73437186e-03 3.36369872e-01] [-3.79959183e-03 -1.71087764e-03 9.99991318e-01 1.16910671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23255784400004 meters Centerline goodness [0,1] 0.2603604189707891 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99989298e-01 2.18850956e-04 4.62119371e-03 6.57888888e+00] [-2.19192871e-04 9.99999973e-01 7.34820873e-05 3.29816081e-01] [-4.62117751e-03 -7.44942337e-05 9.99989320e-01 1.16650414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26255784400007 meters Centerline goodness [0,1] 0.2593828728924873 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99991117e-01 1.93967716e-04 4.21058100e-03 6.57997608e+00] [-1.95077118e-04 9.99999946e-01 2.63070354e-04 3.28523827e-01] [-4.21052974e-03 -2.63889405e-04 9.99991101e-01 1.16643876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29255784400004 meters Centerline goodness [0,1] 0.2603819339193695 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99993354e-01 9.76686859e-05 3.64454270e-03 6.58155352e+00] [-9.97731429e-05 9.99999828e-01 5.77249572e-04 3.26319134e-01] [-3.64448569e-03 -5.77609363e-04 9.99993192e-01 1.16619896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3225578440001 meters Centerline goodness [0,1] 0.26082584650359586 Centerline is valid? [False, False] Translation: X:6.58, Y:0.33, Z:1.17 [[ 9.99993520e-01 1.93655518e-04 3.59464700e-03 6.58174349e+00] [-1.96637730e-04 9.99999637e-01 8.29290828e-04 3.25153566e-01] [-3.59448510e-03 -8.29992298e-04 9.99993195e-01 1.16610521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35255784400005 meters Centerline goodness [0,1] 0.2575764126064589 Centerline is valid? [False, False] Translation: X:6.60, Y:0.33, Z:1.17 [[ 9.99966630e-01 -7.28172065e-03 3.70353730e-03 6.60127447e+00] [ 7.27385372e-03 9.99971270e-01 2.13322043e-03 3.30269301e-01] [-3.71896441e-03 -2.10621026e-03 9.99990867e-01 1.16714070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3825578440001 meters Centerline goodness [0,1] 0.25725371847380896 Centerline is valid? [False, False] Translation: X:6.60, Y:0.33, Z:1.17 [[ 9.99967303e-01 -7.25316542e-03 3.57566318e-03 6.60177527e+00] [ 7.24546746e-03 9.99971416e-01 2.16114948e-03 3.30178391e-01] [-3.59123615e-03 -2.13517146e-03 9.99991272e-01 1.16680884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41255784400005 meters Centerline goodness [0,1] 0.25934147243803185 Centerline is valid? [False, False] Translation: X:6.58, Y:0.32, Z:1.17 [[ 9.99997182e-01 5.78104257e-04 2.30247659e-03 6.58256133e+00] [-5.79850024e-04 9.99999545e-01 7.57617484e-04 3.24253663e-01] [-2.30203756e-03 -7.58950441e-04 9.99997062e-01 1.16545633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4425578440001 meters Centerline goodness [0,1] 0.2596991633794269 Centerline is valid? [False, False] Translation: X:6.58, Y:0.32, Z:1.17 [[ 9.99997208e-01 5.88062420e-04 2.28886932e-03 6.58247601e+00] [-5.89909546e-04 9.99999501e-01 8.06411995e-04 3.23881544e-01] [-2.28839395e-03 -8.07759969e-04 9.99997055e-01 1.16564547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47255784400005 meters Centerline goodness [0,1] 0.25891600441740115 Centerline is valid? [False, False] Translation: X:6.58, Y:0.32, Z:1.17 [[ 9.99997128e-01 6.65669734e-04 2.30230954e-03 6.58225126e+00] [-6.68022569e-04 9.99999255e-01 1.02132751e-03 3.22918108e-01] [-2.30162796e-03 -1.02286257e-03 9.99996828e-01 1.16597255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5025578440001 meters Centerline goodness [0,1] 0.25891600441740115 Centerline is valid? [False, False] Translation: X:6.58, Y:0.32, Z:1.17 [[ 9.99997128e-01 6.65669734e-04 2.30230954e-03 6.58225126e+00] [-6.68022569e-04 9.99999255e-01 1.02132751e-03 3.22918108e-01] [-2.30162796e-03 -1.02286257e-03 9.99996828e-01 1.16597255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53255784400005 meters Centerline goodness [0,1] 0.2572365299167422 Centerline is valid? [False, False] Translation: X:6.58, Y:0.32, Z:1.17 [[ 9.99996745e-01 7.59508555e-04 2.43584791e-03 6.58180245e+00] [-7.62660053e-04 9.99998873e-01 1.29313133e-03 3.21716299e-01] [-2.43486302e-03 -1.29498484e-03 9.99996197e-01 1.16620058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5625578440001 meters Centerline goodness [0,1] 0.26007492583208813 Centerline is valid? [False, False] Translation: X:6.58, Y:0.32, Z:1.17 [[ 9.99995516e-01 5.40613510e-04 2.94544983e-03 6.58030425e+00] [-5.45547809e-04 9.99998449e-01 1.67468189e-03 3.18185083e-01] [-2.94453990e-03 -1.67628126e-03 9.99994260e-01 1.16680469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59255784400005 meters Centerline goodness [0,1] 0.2571631388745482 Centerline is valid? [False, False] Translation: X:6.58, Y:0.32, Z:1.17 [[ 9.99995918e-01 5.50235341e-04 2.80393484e-03 6.58062552e+00] [-5.56018779e-04 9.99997719e-01 2.06225290e-03 3.15614046e-01] [-2.80279372e-03 -2.06380352e-03 9.99993943e-01 1.16689545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6225578440001 meters Centerline goodness [0,1] 0.25971224573437734 Centerline is valid? [False, False] Translation: X:6.58, Y:0.31, Z:1.17 [[ 9.99996480e-01 6.87836666e-04 2.56264634e-03 6.58131623e+00] [-6.94429737e-04 9.99996449e-01 2.57275763e-03 3.12977176e-01] [-2.56086761e-03 -2.57452815e-03 9.99993407e-01 1.16677300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65255784400006 meters Centerline goodness [0,1] 0.2588278435686706 Centerline is valid? [False, False] Translation: X:6.58, Y:0.31, Z:1.17 [[ 9.99996825e-01 1.00443144e-03 2.31111011e-03 6.58205426e+00] [-1.01276157e-03 9.99992985e-01 3.60604017e-03 3.08105030e-01] [-2.30747188e-03 -3.60836933e-03 9.99990828e-01 1.16668720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68255784400003 meters Centerline goodness [0,1] 0.26018578526679625 Centerline is valid? [False, False] Translation: X:6.58, Y:0.31, Z:1.17 [[ 9.99996441e-01 1.20522614e-03 2.38023636e-03 6.58187223e+00] [-1.21515118e-03 9.99990556e-01 4.17273427e-03 3.05275913e-01] [-2.37518479e-03 -4.17561177e-03 9.99988461e-01 1.16678768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71255784400006 meters Centerline goodness [0,1] 0.26166011339691087 Centerline is valid? [False, False] Translation: X:6.58, Y:0.30, Z:1.17 [[ 9.99996365e-01 1.35724994e-03 2.32958001e-03 6.58183747e+00] [-1.36809891e-03 9.99988198e-01 4.66179446e-03 3.02601364e-01] [-2.32322530e-03 -4.66496462e-03 9.99986420e-01 1.16712363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74255784400003 meters Centerline goodness [0,1] 0.26234132581100145 Centerline is valid? [False, False] Translation: X:6.58, Y:0.30, Z:1.17 [[ 9.99996315e-01 1.54309659e-03 2.23360361e-03 6.58204238e+00] [-1.55473522e-03 9.99985176e-01 5.21837358e-03 2.99714048e-01] [-2.22551804e-03 -5.22182701e-03 9.99983890e-01 1.16720462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77255784400006 meters Centerline goodness [0,1] 0.262587663113099 Centerline is valid? [False, False] Translation: X:6.58, Y:0.30, Z:1.17 [[ 9.99996128e-01 1.96640613e-03 1.96911063e-03 6.58267528e+00] [-1.97856023e-03 9.99978887e-01 6.18957507e-03 2.95306436e-01] [-1.95689784e-03 -6.19344710e-03 9.99978906e-01 1.16730682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80255784400003 meters Centerline goodness [0,1] 0.26460961026491514 Centerline is valid? [False, False] Translation: X:6.58, Y:0.29, Z:1.17 [[ 9.99995685e-01 2.15333048e-03 1.99841643e-03 6.58263618e+00] [-2.16632542e-03 9.99976376e-01 6.52339562e-03 2.93955264e-01] [-1.98432219e-03 -6.52769669e-03 9.99976726e-01 1.16727114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83255784400006 meters Centerline goodness [0,1] 0.25923366020130456 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.17 [[ 9.99935938e-01 1.09401132e-02 2.90413505e-03 6.60272581e+00] [-1.09558699e-02 9.99925041e-01 5.46632147e-03 2.89978065e-01] [-2.84411519e-03 -5.49778861e-03 9.99980842e-01 1.16806721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86255784400004 meters Centerline goodness [0,1] 0.2617847485127096 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.17 [[ 9.99933234e-01 1.11118143e-02 3.17108514e-03 6.60204974e+00] [-1.11296485e-02 9.99922028e-01 5.66290733e-03 2.89190208e-01] [-3.10791271e-03 -5.69782231e-03 9.99978938e-01 1.16807588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89255784400007 meters Centerline goodness [0,1] 0.2585214410452106 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.17 [[ 9.99923048e-01 1.18676729e-02 3.61343368e-03 6.60116705e+00] [-1.18896822e-02 9.99910515e-01 6.13165958e-03 2.88629308e-01] [-3.54034180e-03 -6.17415031e-03 9.99974673e-01 1.16760637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92255784400004 meters Centerline goodness [0,1] 0.2616019101367484 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.17 [[ 9.99923101e-01 1.19482007e-02 3.32166550e-03 6.60229018e+00] [-1.19677851e-02 9.99910740e-01 5.93997064e-03 2.89784494e-01] [-3.25039705e-03 -5.97926684e-03 9.99976841e-01 1.16678486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95255784400007 meters Centerline goodness [0,1] 0.25998618128427686 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.17 [[ 9.99916894e-01 1.26373490e-02 2.54992677e-03 6.60488766e+00] [-1.26522895e-02 9.99902369e-01 5.93068414e-03 2.92028978e-01] [-2.47472970e-03 -5.96245368e-03 9.99979162e-01 1.16525300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98255784400004 meters Centerline goodness [0,1] 0.258981291229588 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.16 [[ 9.99917224e-01 1.26013892e-02 2.59826463e-03 6.60494393e+00] [-1.26157159e-02 9.99904886e-01 5.57331799e-03 2.94024986e-01] [-2.52778595e-03 -5.60563562e-03 9.99981093e-01 1.16481321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01255784400007 meters Centerline goodness [0,1] 0.25922572857389203 Centerline is valid? [False, False] Translation: X:6.62, Y:0.30, Z:1.17 [[ 9.99974760e-01 7.05380566e-03 8.50417706e-04 6.62028194e+00] [-7.05932219e-03 9.99952848e-01 6.66843480e-03 3.01168721e-01] [-8.03339764e-04 -6.67426986e-03 9.99977404e-01 1.16721422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04255784400004 meters Centerline goodness [0,1] 0.2591250323582708 Centerline is valid? [False, False] Translation: X:6.62, Y:0.30, Z:1.17 [[ 9.99975109e-01 6.97994705e-03 1.03024079e-03 6.61981411e+00] [-6.98642699e-03 9.99954946e-01 6.42618368e-03 3.02469526e-01] [-9.85339953e-04 -6.43322143e-03 9.99978821e-01 1.16714467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0725578440001 meters Centerline goodness [0,1] 0.2611214387618348 Centerline is valid? [False, False] Translation: X:6.62, Y:0.30, Z:1.17 [[ 9.99975295e-01 6.93379789e-03 1.15382913e-03 6.61932077e+00] [-6.94098948e-03 9.99955748e-01 6.35011288e-03 3.02827561e-01] [-1.10974767e-03 -6.35796472e-03 9.99979172e-01 1.16742582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10255784400005 meters Centerline goodness [0,1] 0.2601884264661394 Centerline is valid? [False, False] Translation: X:6.62, Y:0.30, Z:1.17 [[ 9.99977967e-01 6.51766738e-03 1.25881198e-03 6.61865331e+00] [-6.52555234e-03 9.99958453e-01 6.36471256e-03 3.01872168e-01] [-1.21727660e-03 -6.37278677e-03 9.99978953e-01 1.16822977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1325578440001 meters Centerline goodness [0,1] 0.26068255992391987 Centerline is valid? [False, False] Translation: X:6.62, Y:0.30, Z:1.17 [[ 9.99994296e-01 2.97254095e-03 1.60355987e-03 6.61765104e+00] [-2.97723041e-03 9.99991276e-01 2.92998856e-03 3.02013274e-01] [-1.59483637e-03 -2.93474601e-03 9.99994422e-01 1.16844818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16255784400005 meters Centerline goodness [0,1] 0.26175049298979347 Centerline is valid? [False, False] Translation: X:6.62, Y:0.30, Z:1.17 [[ 9.99994806e-01 2.71691127e-03 1.73397604e-03 6.61727356e+00] [-2.72228862e-03 9.99991470e-01 3.10637807e-03 3.00145220e-01] [-1.72552149e-03 -3.11108232e-03 9.99993672e-01 1.16874441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1925578440001 meters Centerline goodness [0,1] 0.26229401982592926 Centerline is valid? [False, False] Translation: X:6.62, Y:0.30, Z:1.17 [[ 9.99995976e-01 2.45084664e-03 1.42871380e-03 6.61801428e+00] [-2.45548027e-03 9.99991702e-01 3.25053511e-03 2.98262446e-01] [-1.42073538e-03 -3.25403021e-03 9.99993696e-01 1.16889199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22255784400005 meters Centerline goodness [0,1] 0.2634352635003253 Centerline is valid? [False, False] Translation: X:6.62, Y:0.30, Z:1.17 [[ 9.99996629e-01 2.36412455e-03 1.07410598e-03 6.61904766e+00] [-2.36791552e-03 9.99990924e-01 3.54195726e-03 2.96118389e-01] [-1.06572261e-03 -3.54448871e-03 9.99993150e-01 1.16871680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2525578440001 meters Centerline goodness [0,1] 0.2629567709577263 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99997876e-01 2.05580897e-03 1.48207610e-04 6.62191698e+00] [-2.05635346e-03 9.99990770e-01 3.77237507e-03 2.93288175e-01] [-1.40450960e-04 -3.77267182e-03 9.99992874e-01 1.16778547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28255784400005 meters Centerline goodness [0,1] 0.2621068397403894 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99997778e-01 2.10785635e-03 -9.74226517e-06 6.62262720e+00] [-2.10780113e-03 9.99989915e-01 3.96585856e-03 2.92253798e-01] [ 1.81016271e-05 -3.96582922e-03 9.99992136e-01 1.16726682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3125578440001 meters Centerline goodness [0,1] 0.2661917952776679 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.17 [[ 9.99948929e-01 1.00943354e-02 -4.94055652e-04 6.60278798e+00] [-1.00927166e-02 9.99944023e-01 3.17611698e-03 2.85895557e-01] [ 5.26088786e-04 -3.17096840e-03 9.99994834e-01 1.16608144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34255784400005 meters Centerline goodness [0,1] 0.26372910787931414 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99996990e-01 2.44452681e-03 2.11800576e-04 6.62203503e+00] [-2.44536768e-03 9.99988747e-01 4.06523263e-03 2.90806660e-01] [-2.01860623e-04 -4.06573833e-03 9.99991714e-01 1.16698055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3725578440001 meters Centerline goodness [0,1] 0.2603583547668965 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99996073e-01 2.71702109e-03 6.86450003e-04 6.62064542e+00] [-2.71996309e-03 9.99986962e-01 4.32186999e-03 2.90314392e-01] [-6.74698440e-04 -4.32372014e-03 9.99990425e-01 1.16729395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40255784400006 meters Centerline goodness [0,1] 0.26332527391143346 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99996009e-01 2.73323863e-03 7.14877820e-04 6.62068634e+00] [-2.73630464e-03 9.99986909e-01 4.32363398e-03 2.90277490e-01] [-7.03050938e-04 -4.32557285e-03 9.99990398e-01 1.16710017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43255784400003 meters Centerline goodness [0,1] 0.2624771361379671 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99996043e-01 2.74782830e-03 6.02335381e-04 6.62125078e+00] [-2.75042731e-03 9.99986724e-01 4.35738638e-03 2.89908688e-01] [-5.90354034e-04 -4.35902582e-03 9.99990325e-01 1.16658813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46255784400006 meters Centerline goodness [0,1] 0.2637439413126065 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99996093e-01 2.75067011e-03 4.97078500e-04 6.62174502e+00] [-2.75284051e-03 9.99986444e-01 4.41968959e-03 2.89273057e-01] [-4.84914654e-04 -4.42104070e-03 9.99990110e-01 1.16618752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49255784400003 meters Centerline goodness [0,1] 0.2608141944396477 Centerline is valid? [False, False] Translation: X:6.64, Y:0.29, Z:1.17 [[ 9.99986084e-01 -5.12225301e-03 1.26300771e-03 6.64179370e+00] [ 5.11517797e-03 9.99971556e-01 5.54274486e-03 2.91401481e-01] [-1.29136313e-03 -5.53620721e-03 9.99983841e-01 1.16722883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52255784400006 meters Centerline goodness [0,1] 0.26240689416248053 Centerline is valid? [False, False] Translation: X:6.64, Y:0.29, Z:1.17 [[ 9.99986717e-01 -4.96886100e-03 1.36962446e-03 6.64124334e+00] [ 4.96058131e-03 9.99969793e-01 5.98374913e-03 2.89371575e-01] [-1.39931551e-03 -5.97687552e-03 9.99981159e-01 1.16776326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55255784400003 meters Centerline goodness [0,1] 0.2650421702460656 Centerline is valid? [False, False] Translation: X:6.64, Y:0.29, Z:1.17 [[ 9.99986694e-01 -4.93172144e-03 1.51347964e-03 6.64064839e+00] [ 4.92156225e-03 9.99965815e-01 6.64434689e-03 2.85553291e-01] [-1.54619597e-03 -6.63680979e-03 9.99976781e-01 1.16840297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58255784400006 meters Centerline goodness [0,1] 0.26456331877729256 Centerline is valid? [False, False] Translation: X:6.64, Y:0.28, Z:1.17 [[ 9.99987356e-01 -4.85216354e-03 1.32087738e-03 6.64119848e+00] [ 4.84279935e-03 9.99963755e-01 7.00258650e-03 2.83513782e-01] [-1.35480720e-03 -6.99610122e-03 9.99974609e-01 1.16833195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61255784400004 meters Centerline goodness [0,1] 0.252182745504841 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99997197e-01 2.02719399e-03 1.22362381e-03 6.66311108e+00] [-2.03260232e-03 9.99988100e-01 4.43498771e-03 2.80652787e-01] [-1.21461867e-03 -4.43746242e-03 9.99989417e-01 1.16833619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64255784400007 meters Centerline goodness [0,1] 0.2620211017901929 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99997320e-01 2.05758605e-03 1.06145646e-03 6.66371095e+00] [-2.06246580e-03 9.99987216e-01 4.61680262e-03 2.79570619e-01] [-1.05194342e-03 -4.61897947e-03 9.99988779e-01 1.16804631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67255784400004 meters Centerline goodness [0,1] 0.2645073052124265 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99997376e-01 2.12018780e-03 8.67625559e-04 6.66423723e+00] [-2.12447081e-03 9.99985414e-01 4.96569435e-03 2.77636965e-01] [-8.57084699e-04 -4.96752456e-03 9.99987294e-01 1.16801400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70255784400007 meters Centerline goodness [0,1] 0.26642797886739733 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99997330e-01 2.15955389e-03 8.22753086e-04 6.66424730e+00] [-2.16376747e-03 9.99984370e-01 5.15531693e-03 2.76587853e-01] [-8.11607042e-04 -5.15708341e-03 9.99986373e-01 1.16818656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73255784400004 meters Centerline goodness [0,1] 0.2671337858550471 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99997227e-01 2.20252287e-03 8.33366809e-04 6.66407696e+00] [-2.20694897e-03 9.99983264e-01 5.34799618e-03 2.75558567e-01] [-8.21573778e-04 -5.34982055e-03 9.99985352e-01 1.16846285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76255784400007 meters Centerline goodness [0,1] 0.2652523360414716 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99997126e-01 2.25103668e-03 8.24899966e-04 6.66400078e+00] [-2.25559845e-03 9.99981935e-01 5.57153081e-03 2.74453624e-01] [-8.12343344e-04 -5.57337544e-03 9.99984139e-01 1.16865365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79255784400004 meters Centerline goodness [0,1] 0.26554288331116294 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99997028e-01 2.30621158e-03 7.91376091e-04 6.66399632e+00] [-2.31075102e-03 9.99980603e-01 5.78399363e-03 2.73447693e-01] [-7.78021627e-04 -5.78580511e-03 9.99982959e-01 1.16883203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8225578440001 meters Centerline goodness [0,1] 0.2612742668763871 Centerline is valid? [False, False] Translation: X:6.68, Y:0.27, Z:1.17 [[ 9.99941572e-01 1.06801489e-02 1.66946172e-03 6.68362304e+00] [-1.06878242e-02 9.99932033e-01 4.65823978e-03 2.68545975e-01] [-1.61959756e-03 -4.67581052e-03 9.99987757e-01 1.16984313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85255784400005 meters Centerline goodness [0,1] 0.26513982747006803 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99996917e-01 1.67820431e-03 1.83015402e-03 6.66283642e+00] [-1.68831894e-03 9.99983233e-01 5.53918631e-03 2.71849898e-01] [-1.82082745e-03 -5.54225912e-03 9.99982984e-01 1.16886312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8825578440001 meters Centerline goodness [0,1] 0.2613961492954716 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99996701e-01 1.72618909e-03 1.90241776e-03 6.66253322e+00] [-1.73686624e-03 9.99982670e-01 5.62512680e-03 2.71504277e-01] [-1.89267475e-03 -5.62841249e-03 9.99982369e-01 1.16907466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91255784400005 meters Centerline goodness [0,1] 0.26315903058031376 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99996690e-01 1.74590354e-03 1.89005969e-03 6.66258371e+00] [-1.75659292e-03 9.99982390e-01 5.66876832e-03 2.71268527e-01] [-1.88012929e-03 -5.67206962e-03 9.99982146e-01 1.16904547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9425578440001 meters Centerline goodness [0,1] 0.263672925134955 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99996825e-01 1.77819499e-03 1.78550145e-03 6.66290884e+00] [-1.78848711e-03 9.99981700e-01 5.77931942e-03 2.70596157e-01] [-1.77519202e-03 -5.78249442e-03 9.99981706e-01 1.16892644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97255784400005 meters Centerline goodness [0,1] 0.2663070665767666 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.17 [[ 9.99954235e-01 9.55917388e-03 3.88012876e-04 6.64346071e+00] [-9.56091989e-03 9.99942870e-01 4.77965279e-03 2.64066902e-01] [-3.42301177e-04 -4.78314381e-03 9.99988502e-01 1.16805728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0025578440001 meters Centerline goodness [0,1] 0.26665065292396384 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.17 [[ 9.99954241e-01 9.55845508e-03 3.89532584e-04 6.64347891e+00] [-9.56018287e-03 9.99943229e-01 4.70557827e-03 2.64577653e-01] [-3.44532411e-04 -4.70908695e-03 9.99988853e-01 1.16799605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03255784400005 meters Centerline goodness [0,1] 0.26639131563013585 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99997468e-01 2.22270723e-03 3.52602541e-04 6.66237250e+00] [-2.22459672e-03 9.99982663e-01 5.45200925e-03 2.71134857e-01] [-3.40478208e-04 -5.45277984e-03 9.99985076e-01 1.16903794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0625578440001 meters Centerline goodness [0,1] 0.26401208589619074 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99997431e-01 2.14406840e-03 7.35525111e-04 6.66111678e+00] [-2.14771014e-03 9.99985260e-01 4.98668195e-03 2.73585533e-01] [-7.24822483e-04 -4.98824884e-03 9.99987296e-01 1.16948195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09255784400005 meters Centerline goodness [0,1] 0.2687752237234603 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.17 [[ 9.99996865e-01 1.53421240e-03 -1.97874457e-03 6.61500398e+00] [-1.52353116e-03 9.99984323e-01 5.38824607e-03 2.71551016e-01] [ 1.98698026e-03 -5.38521450e-03 9.99983526e-01 1.17118411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1225578440001 meters Centerline goodness [0,1] 0.26423493312012447 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995196e-01 3.03674536e-03 -6.21577300e-04 6.66052053e+00] [-3.03341861e-03 9.99981434e-01 5.28483966e-03 2.76193872e-01] [ 6.37614472e-04 -5.28292877e-03 9.99985842e-01 1.16998563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15255784400006 meters Centerline goodness [0,1] 0.2638131116307266 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995391e-01 2.95928506e-03 -6.78767863e-04 6.66079813e+00] [-2.95580239e-03 9.99982750e-01 5.07572720e-03 2.77242288e-01] [ 6.93776678e-04 -5.07369750e-03 9.99986888e-01 1.16969623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18255784400003 meters Centerline goodness [0,1] 0.25466756504162225 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995479e-01 2.94688407e-03 -5.98949158e-04 6.66045832e+00] [-2.94383145e-03 9.99982990e-01 5.03515524e-03 2.77568375e-01] [ 6.13776989e-04 -5.03336927e-03 9.99987144e-01 1.16992409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21255784400006 meters Centerline goodness [0,1] 0.25532100108813927 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995625e-01 2.92431921e-03 -4.45886639e-04 6.65950767e+00] [-2.92196914e-03 9.99982298e-01 5.18313516e-03 2.76524061e-01] [ 4.61035888e-04 -5.18180962e-03 9.99986468e-01 1.17093531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24255784400003 meters Centerline goodness [0,1] 0.2544312026002167 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995586e-01 2.91358040e-03 -5.82665598e-04 6.65963261e+00] [-2.91048976e-03 9.99982053e-01 5.23662149e-03 2.76166372e-01] [ 5.97912459e-04 -5.23490253e-03 9.99986119e-01 1.17126798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27255784400006 meters Centerline goodness [0,1] 0.26476416110273526 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995493e-01 2.92654445e-03 -6.70173192e-04 6.65965446e+00] [-2.92295386e-03 9.99981697e-01 5.29743077e-03 2.75884581e-01] [ 6.85664093e-04 -5.29544801e-03 9.99985744e-01 1.17162880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30255784400003 meters Centerline goodness [0,1] 0.2525030682772431 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995434e-01 2.95220911e-03 -6.45839659e-04 6.65947747e+00] [-2.94870554e-03 9.99981287e-01 5.36013740e-03 2.75579690e-01] [ 6.61651819e-04 -5.35820853e-03 9.99985426e-01 1.17181289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33255784400006 meters Centerline goodness [0,1] 0.2550753464640132 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99995304e-01 2.99010173e-03 -6.71907749e-04 6.65948241e+00] [-2.98635423e-03 9.99980356e-01 5.51084759e-03 2.74669899e-01] [ 6.88372545e-04 -5.50881516e-03 9.99984589e-01 1.17191847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36255784400004 meters Centerline goodness [0,1] 0.2553025204611076 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99995247e-01 3.00969357e-03 -6.69453084e-04 6.65950004e+00] [-3.00592139e-03 9.99979991e-01 5.56609594e-03 2.74335642e-01] [ 6.86191933e-04 -5.56405716e-03 9.99984285e-01 1.17188121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39255784400007 meters Centerline goodness [0,1] 0.2553025204611076 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99995247e-01 3.00969357e-03 -6.69453084e-04 6.65950004e+00] [-3.00592139e-03 9.99979991e-01 5.56609594e-03 2.74335642e-01] [ 6.86191933e-04 -5.56405716e-03 9.99984285e-01 1.17188121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42255784400004 meters Centerline goodness [0,1] 0.25367185130626924 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99995146e-01 3.02947882e-03 -7.28770841e-04 6.65967624e+00] [-3.02536350e-03 9.99979837e-01 5.58327147e-03 2.74389524e-01] [ 7.45670550e-04 -5.58103957e-03 9.99984148e-01 1.17180330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45255784400007 meters Centerline goodness [0,1] 0.25600538638634296 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:1.17 [[ 9.99995194e-01 3.00990089e-03 -7.43335373e-04 6.65993241e+00] [-3.00573938e-03 9.99980151e-01 5.53749111e-03 2.74590781e-01] [ 7.59987917e-04 -5.53523022e-03 9.99984392e-01 1.17139761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48255784400004 meters Centerline goodness [0,1] 0.25562879331723554 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995091e-01 2.97129353e-03 -9.94876893e-04 6.66100466e+00] [-2.96608463e-03 9.99982097e-01 5.19688691e-03 2.76476955e-01] [ 1.01030056e-03 -5.19391050e-03 9.99986001e-01 1.17054663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51255784400007 meters Centerline goodness [0,1] 0.26534417344173444 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995409e-01 2.86087932e-03 -9.98565486e-04 6.66126363e+00] [-2.85608096e-03 9.99984526e-01 4.77404860e-03 2.78665043e-01] [ 1.01220801e-03 -4.77117470e-03 9.99988106e-01 1.17005204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54255784400004 meters Centerline goodness [0,1] 0.25285597275509764 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99995611e-01 2.79793993e-03 -9.74096504e-04 6.66128391e+00] [-2.79363354e-03 9.99986442e-01 4.39455261e-03 2.80788824e-01] [ 9.86378991e-04 -4.39181206e-03 9.99989869e-01 1.16981743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5725578440001 meters Centerline goodness [0,1] 0.2664884716517809 Centerline is valid? [False, False] Translation: X:6.66, Y:0.28, Z:1.17 [[ 9.99996147e-01 2.65669391e-03 -8.05530566e-04 6.66088396e+00] [-2.65351682e-03 9.99988797e-01 3.91984284e-03 2.83186338e-01] [ 8.15935364e-04 -3.91769025e-03 9.99991993e-01 1.16969545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60255784400005 meters Centerline goodness [0,1] 0.25213086526043904 Centerline is valid? [False, False] Translation: X:6.66, Y:0.29, Z:1.17 [[ 9.99997059e-01 2.38141796e-03 -4.58179846e-04 6.66008737e+00] [-2.37998624e-03 9.99992362e-01 3.10037984e-03 2.87378715e-01] [ 4.65559646e-04 -3.09928026e-03 9.99995089e-01 1.16943060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6325578440001 meters Centerline goodness [0,1] 0.2675988533665945 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99994148e-01 1.26274684e-03 -3.17939251e-03 6.61477618e+00] [-1.25285558e-03 9.99994376e-01 3.11112308e-03 2.85797983e-01] [ 3.18330319e-03 -3.10712156e-03 9.99990106e-01 1.17051884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66255784400005 meters Centerline goodness [0,1] 0.26648018041460664 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99993915e-01 1.12240095e-03 -3.30293494e-03 6.61521694e+00] [-1.11301811e-03 9.99995344e-01 2.84122804e-03 2.87022053e-01] [ 3.30610856e-03 -2.83753453e-03 9.99990509e-01 1.17025336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6925578440001 meters Centerline goodness [0,1] 0.26668987727391413 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99993744e-01 1.02353520e-03 -3.38576313e-03 6.61542060e+00] [-1.01452555e-03 9.99995943e-01 2.66168887e-03 2.87816319e-01] [ 3.38847372e-03 -2.65823727e-03 9.99990726e-01 1.17025317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72255784400005 meters Centerline goodness [0,1] 0.2555094773867165 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99992790e-01 8.54895794e-04 -3.69982048e-03 6.61598112e+00] [-8.46028548e-04 9.99996768e-01 2.39757109e-03 2.89101155e-01] [ 3.70185819e-03 -2.39442365e-03 9.99990281e-01 1.17058239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7525578440001 meters Centerline goodness [0,1] 0.2573683292640391 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99992733e-01 8.07760020e-04 -3.72571998e-03 6.61590232e+00] [-7.99294796e-04 9.99997097e-01 2.27303374e-03 2.89889544e-01] [ 3.72754523e-03 -2.27003927e-03 9.99990476e-01 1.17082558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78255784400005 meters Centerline goodness [0,1] 0.25251196688084865 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99992597e-01 7.48504589e-04 -3.77436733e-03 6.61580106e+00] [-7.40447044e-04 9.99997445e-01 2.13575229e-03 2.90718150e-01] [ 3.77595631e-03 -2.13294176e-03 9.99990596e-01 1.17119462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8125578440001 meters Centerline goodness [0,1] 0.25639128826613866 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99993063e-01 6.50802190e-04 -3.66739169e-03 6.61532490e+00] [-6.43661193e-04 9.99997895e-01 1.94800352e-03 2.91542166e-01] [ 3.66865173e-03 -1.94562945e-03 9.99991378e-01 1.17150538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84255784400005 meters Centerline goodness [0,1] 0.26558212465699726 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.17 [[ 9.99993299e-01 6.41570811e-04 -3.60409116e-03 6.61510865e+00] [-6.34385306e-04 9.99997810e-01 1.99449750e-03 2.91162204e-01] [ 3.60536288e-03 -1.99219775e-03 9.99991516e-01 1.17162680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8725578440001 meters Centerline goodness [0,1] 0.2656962660672588 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99993365e-01 6.24341363e-04 -3.58899104e-03 6.61484408e+00] [-6.16812141e-04 9.99997608e-01 2.09859034e-03 2.90325296e-01] [ 3.59029269e-03 -2.09636269e-03 9.99991357e-01 1.17203245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90255784400006 meters Centerline goodness [0,1] 0.2529862836159412 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99993771e-01 5.82866024e-04 -3.48109580e-03 6.61409441e+00] [-5.74228437e-04 9.99996756e-01 2.48176801e-03 2.87774807e-01] [ 3.48253105e-03 -2.47975361e-03 9.99990861e-01 1.17289942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93255784400003 meters Centerline goodness [0,1] 0.2650432900432901 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99993602e-01 6.54856684e-04 -3.51674528e-03 6.61414355e+00] [-6.45104549e-04 9.99995946e-01 2.77347581e-03 2.86279049e-01] [ 3.51854725e-03 -2.77118939e-03 9.99989970e-01 1.17300122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96255784400006 meters Centerline goodness [0,1] 0.25564496887404287 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99993196e-01 7.14986822e-04 -3.61894210e-03 6.61445300e+00] [-7.04012613e-04 9.99995153e-01 3.03280167e-03 2.84804411e-01] [ 3.62109297e-03 -3.03023325e-03 9.99988853e-01 1.17296540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99255784400003 meters Centerline goodness [0,1] 0.2669310555216595 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99993044e-01 7.52714857e-04 -3.65300893e-03 6.61473362e+00] [-7.40955589e-04 9.99994543e-01 3.21935013e-03 2.83653167e-01] [ 3.65541225e-03 -3.21662102e-03 9.99988146e-01 1.17269646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02255784400006 meters Centerline goodness [0,1] 0.26432480370314293 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99993033e-01 7.96182938e-04 -3.64702249e-03 6.61479992e+00] [-7.83777447e-04 9.99993907e-01 3.40170670e-03 2.82420555e-01] [ 3.64970865e-03 -3.39882455e-03 9.99987564e-01 1.17261152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05255784400003 meters Centerline goodness [0,1] 0.25746839872282723 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99993821e-01 8.49979005e-04 -3.41110907e-03 6.61423527e+00] [-8.38265558e-04 9.99993753e-01 3.43387347e-03 2.82517892e-01] [ 3.41400648e-03 -3.43099284e-03 9.99988286e-01 1.17257520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08255784400006 meters Centerline goodness [0,1] 0.25438159405533045 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99994068e-01 8.81367013e-04 -3.32964471e-03 6.61413491e+00] [-8.70198827e-04 9.99993996e-01 3.35412855e-03 2.83211564e-01] [ 3.33258094e-03 -3.35121120e-03 9.99988832e-01 1.17239136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11255784400004 meters Centerline goodness [0,1] 0.2561918832015295 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99994244e-01 8.88245803e-04 -3.27466727e-03 6.61422825e+00] [-8.77712479e-04 9.99994441e-01 3.21664397e-03 2.84119192e-01] [ 3.27750624e-03 -3.21375124e-03 9.99989465e-01 1.17197082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14255784400007 meters Centerline goodness [0,1] 0.2543420029378727 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99993795e-01 8.80510293e-04 -3.41084335e-03 6.61486033e+00] [-8.70203346e-04 9.99995055e-01 3.02212406e-03 2.85271062e-01] [ 3.41348749e-03 -3.01913718e-03 9.99989616e-01 1.17141399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17255784400004 meters Centerline goodness [0,1] 0.25796213199080664 Centerline is valid? [False, False] Translation: X:6.59, Y:0.28, Z:1.17 [[ 9.99949347e-01 9.00648498e-03 -4.49301559e-03 6.59427435e+00] [-8.99710404e-03 9.99957312e-01 2.10375414e-03 2.80966755e-01] [ 4.51177123e-03 -2.06322345e-03 9.99987693e-01 1.17057987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20255784400007 meters Centerline goodness [0,1] 0.2542585658319084 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99984066e-01 1.89208197e-03 -5.31857778e-03 6.61361498e+00] [-1.87746200e-03 9.99994449e-01 2.75249963e-03 2.87786191e-01] [ 5.32375621e-03 -2.74247034e-03 9.99982068e-01 1.17187597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23255784400004 meters Centerline goodness [0,1] 0.2546454262925695 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99984624e-01 1.87594191e-03 -5.21842938e-03 6.61333453e+00] [-1.86197658e-03 9.99994676e-01 2.67972774e-03 2.88221495e-01] [ 5.22342861e-03 -2.66996994e-03 9.99982793e-01 1.17187225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26255784400007 meters Centerline goodness [0,1] 0.2557987443320544 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99985280e-01 1.88842165e-03 -5.08654506e-03 6.61290396e+00] [-1.87477363e-03 9.99994634e-01 2.68659383e-03 2.88282774e-01] [ 5.09159119e-03 -2.67701816e-03 9.99983454e-01 1.17202177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29255784400004 meters Centerline goodness [0,1] 0.249236723285315 Centerline is valid? [False, False] Translation: X:6.66, Y:0.29, Z:1.17 [[ 9.99993301e-01 2.47663721e-03 -2.69535869e-03 6.65739526e+00] [-2.47051578e-03 9.99994367e-01 2.27206639e-03 2.91227646e-01] [ 2.70097059e-03 -2.26539224e-03 9.99993786e-01 1.17112641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3225578440001 meters Centerline goodness [0,1] 0.25533584774030393 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99985489e-01 5.25599893e-04 -5.36156489e-03 6.61201884e+00] [-5.15208529e-04 9.99997987e-01 1.93931858e-03 2.85610754e-01] [ 5.36257340e-03 -1.93652811e-03 9.99983746e-01 1.17223481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35255784400005 meters Centerline goodness [0,1] 0.26683672357032284 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99984486e-01 5.85405066e-04 -5.53947215e-03 6.61243145e+00] [-5.73214693e-04 9.99997411e-01 2.20196977e-03 2.84331370e-01] [ 5.54074686e-03 -2.19876030e-03 9.99982233e-01 1.17231081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3825578440001 meters Centerline goodness [0,1] 0.25402012769180826 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99983541e-01 6.58499464e-04 -5.69948851e-03 6.61263358e+00] [-6.44313877e-04 9.99996691e-01 2.49040123e-03 2.82919352e-01] [ 5.70110958e-03 -2.48668799e-03 9.99980657e-01 1.17266950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41255784400005 meters Centerline goodness [0,1] 0.25499532537560066 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99982833e-01 7.43617360e-04 -5.81216823e-03 6.61270158e+00] [-7.27393856e-04 9.99995835e-01 2.79291543e-03 2.81366896e-01] [ 5.81422088e-03 -2.78863975e-03 9.99979209e-01 1.17309103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4425578440001 meters Centerline goodness [0,1] 0.2547967232350449 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99981771e-01 7.67420093e-04 -5.98907326e-03 6.61327831e+00] [-7.48952913e-04 9.99994961e-01 3.08511259e-03 2.79250837e-01] [ 5.99141066e-03 -3.08057082e-03 9.99977306e-01 1.17295127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47255784400005 meters Centerline goodness [0,1] 0.25800879053596026 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99981363e-01 7.65473284e-04 -6.05703416e-03 6.61360936e+00] [-7.46953409e-04 9.99995042e-01 3.05925302e-03 2.79306651e-01] [ 6.05934590e-03 -3.05467168e-03 9.99976976e-01 1.17267349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5025578440001 meters Centerline goodness [0,1] 0.252317109971117 Centerline is valid? [False, False] Translation: X:6.63, Y:0.28, Z:1.17 [[ 9.99942279e-01 9.46710564e-03 -5.08066976e-03 6.63423297e+00] [-9.45744897e-03 9.99953431e-01 1.92133999e-03 2.77434116e-01] [ 5.09862269e-03 -1.87317891e-03 9.99985248e-01 1.17325857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53255784400005 meters Centerline goodness [0,1] 0.26525760153557565 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99986699e-01 4.88934329e-04 -5.13450381e-03 6.61277929e+00] [-4.75957810e-04 9.99996691e-01 2.52823485e-03 2.82301156e-01] [ 5.13572296e-03 -2.52575742e-03 9.99983622e-01 1.17276481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5625578440001 meters Centerline goodness [0,1] 0.2646252881562351 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99987819e-01 5.03682894e-04 -4.90991263e-03 6.61194833e+00] [-4.92172352e-04 9.99997129e-01 2.34527410e-03 2.83437969e-01] [ 4.91107981e-03 -2.34282901e-03 9.99985196e-01 1.17316478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59255784400005 meters Centerline goodness [0,1] 0.2516242846693344 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99987677e-01 5.35942675e-04 -4.93546882e-03 6.61204930e+00] [-5.24157323e-04 9.99997009e-01 2.38887313e-03 2.83198687e-01] [ 4.93673436e-03 -2.38625673e-03 9.99984967e-01 1.17307946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6225578440001 meters Centerline goodness [0,1] 0.25287555132751016 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99987712e-01 5.73488506e-04 -4.92402577e-03 6.61214760e+00] [-5.61209318e-04 9.99996731e-01 2.49474902e-03 2.82565025e-01] [ 4.92544038e-03 -2.49195496e-03 9.99984765e-01 1.17287864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65255784400006 meters Centerline goodness [0,1] 0.26407838706874076 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99987680e-01 6.35456186e-04 -4.92293877e-03 6.61223408e+00] [-6.22215784e-04 9.99996187e-01 2.69059699e-03 2.81491286e-01] [ 4.92462975e-03 -2.68750072e-03 9.99984263e-01 1.17274264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68255784400003 meters Centerline goodness [0,1] 0.2523653173197391 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99987584e-01 6.76354607e-04 -4.93706835e-03 6.61224464e+00] [-6.62273790e-04 9.99995710e-01 2.85313827e-03 2.80534699e-01] [ 4.93897690e-03 -2.84983316e-03 9.99983742e-01 1.17281274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71255784400006 meters Centerline goodness [0,1] 0.26543465469522953 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.17 [[ 9.99987206e-01 7.43727431e-04 -5.00348499e-03 6.61224963e+00] [-7.28306245e-04 9.99994982e-01 3.08320545e-03 2.79197717e-01] [ 5.00575294e-03 -3.07952194e-03 9.99982729e-01 1.17312900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74255784400003 meters Centerline goodness [0,1] 0.2526129776092063 Centerline is valid? [False, False] Translation: X:6.63, Y:0.28, Z:1.17 [[ 9.99949292e-01 9.25040957e-03 -3.98027103e-03 6.63223459e+00] [-9.24381064e-03 9.99955875e-01 1.67312388e-03 2.76516995e-01] [ 3.99557248e-03 -1.63624617e-03 9.99990679e-01 1.17413296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77255784400006 meters Centerline goodness [0,1] 0.2630552968442028 Centerline is valid? [False, False] Translation: X:6.63, Y:0.28, Z:1.17 [[ 9.99949934e-01 9.21538798e-03 -3.89950007e-03 6.63203478e+00] [-9.20942347e-03 9.99956399e-01 1.54476023e-03 2.77109388e-01] [ 3.91356562e-03 -1.50877074e-03 9.99991204e-01 1.17409169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80255784400003 meters Centerline goodness [0,1] 0.2504206030801087 Centerline is valid? [False, False] Translation: X:6.63, Y:0.28, Z:1.17 [[ 9.99947634e-01 9.71007517e-03 -3.23158042e-03 6.63021873e+00] [-9.70485586e-03 9.99951583e-01 1.62687489e-03 2.78711310e-01] [ 3.24722103e-03 -1.59542768e-03 9.99993455e-01 1.17426022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83255784400006 meters Centerline goodness [0,1] 0.2518050541516246 Centerline is valid? [False, False] Translation: X:6.63, Y:0.28, Z:1.17 [[ 9.99948093e-01 9.73723278e-03 -2.99965746e-03 6.62961443e+00] [-9.73312459e-03 9.99951678e-01 1.38112074e-03 2.80589706e-01] [ 3.01296081e-03 -1.35185301e-03 9.99994547e-01 1.17423865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86255784400004 meters Centerline goodness [0,1] 0.2546056761847033 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99993786e-01 1.26806868e-03 -3.28930573e-03 6.60992263e+00] [-1.25953471e-03 9.99995839e-01 2.59523470e-03 2.85990879e-01] [ 3.29258298e-03 -2.59107558e-03 9.99991223e-01 1.17250367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89255784400007 meters Centerline goodness [0,1] 0.2516971616991013 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99991272e-01 1.10361951e-03 -4.02962365e-03 6.61236191e+00] [-1.09592784e-03 9.99997574e-01 1.91049004e-03 2.89251033e-01] [ 4.03172233e-03 -1.90605719e-03 9.99990056e-01 1.17127171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92255784400004 meters Centerline goodness [0,1] 0.25477500108276674 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99990290e-01 9.54903159e-04 -4.30201445e-03 6.61332364e+00] [-9.48089750e-04 9.99998294e-01 1.58553296e-03 2.90688760e-01] [ 4.30352114e-03 -1.58143887e-03 9.99989489e-01 1.17071903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95255784400007 meters Centerline goodness [0,1] 0.2514937884193784 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99989318e-01 8.53858948e-04 -4.54251728e-03 6.61407936e+00] [-8.47644631e-04 9.99998703e-01 1.36978304e-03 2.91774643e-01] [ 4.54368099e-03 -1.36591797e-03 9.99988745e-01 1.17043183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98255784400004 meters Centerline goodness [0,1] 0.26328701693443335 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99989056e-01 7.72867546e-04 -4.61414593e-03 6.61417543e+00] [-7.67245933e-04 9.99998961e-01 1.21998901e-03 2.92488628e-01] [ 4.61508403e-03 -1.21643548e-03 9.99988611e-01 1.17052108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01255784400007 meters Centerline goodness [0,1] 0.2514989431911314 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99989275e-01 7.07354696e-04 -4.57706503e-03 6.61396180e+00] [-7.01861871e-04 9.99999032e-01 1.20157077e-03 2.92422632e-01] [ 4.57791053e-03 -1.19834542e-03 9.99988803e-01 1.17077407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04255784400004 meters Centerline goodness [0,1] 0.2538171250108441 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99990060e-01 6.55453660e-04 -4.41023530e-03 6.61330343e+00] [-6.50178215e-04 9.99999072e-01 1.19750967e-03 2.92296937e-01] [ 4.41101612e-03 -1.19463033e-03 9.99989558e-01 1.17122915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0725578440001 meters Centerline goodness [0,1] 0.25477155051019307 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99991012e-01 4.98868434e-04 -4.21042228e-03 6.61273476e+00] [-4.94219266e-04 9.99999267e-01 1.10517270e-03 2.92617719e-01] [ 4.21097053e-03 -1.10308189e-03 9.99990525e-01 1.17143225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10255784400005 meters Centerline goodness [0,1] 0.26322330266428295 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99990412e-01 4.33501166e-04 -4.35755213e-03 6.61317092e+00] [-4.28943671e-04 9.99999360e-01 1.04676442e-03 2.92633806e-01] [ 4.35800312e-03 -1.04488524e-03 9.99989958e-01 1.17132767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1325578440001 meters Centerline goodness [0,1] 0.2635903232116852 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99989506e-01 3.35760040e-04 -4.56900383e-03 6.61375031e+00] [-3.31518897e-04 9.99999514e-01 9.28968276e-04 2.92869056e-01] [ 4.56931351e-03 -9.27443816e-04 9.99989131e-01 1.17123760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16255784400005 meters Centerline goodness [0,1] 0.2528767952933033 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99988554e-01 2.68379044e-04 -4.77702495e-03 6.61421776e+00] [-2.64325521e-04 9.99999605e-01 8.49156551e-04 2.93076859e-01] [ 4.77725096e-03 -8.47884142e-04 9.99988229e-01 1.17132326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1925578440001 meters Centerline goodness [0,1] 0.2638931131870519 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99987814e-01 2.10720335e-04 -4.93228530e-03 6.61478161e+00] [-2.07272201e-04 9.99999734e-01 6.99595322e-04 2.94008577e-01] [ 4.93243141e-03 -6.98564472e-04 9.99987591e-01 1.17097431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22255784400005 meters Centerline goodness [0,1] 0.2625822938322938 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99988245e-01 1.86147126e-04 -4.84516967e-03 6.61454632e+00] [-1.82991254e-04 9.99999771e-01 6.51779106e-04 2.94299711e-01] [ 4.84528989e-03 -6.50884821e-04 9.99988050e-01 1.17102565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2525578440001 meters Centerline goodness [0,1] 0.26252185314685317 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99989315e-01 2.08856029e-04 -4.61799958e-03 6.61381936e+00] [-2.05653692e-04 9.99999738e-01 6.93910719e-04 2.94158982e-01] [ 4.61814329e-03 -6.92953596e-04 9.99989096e-01 1.17130404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28255784400005 meters Centerline goodness [0,1] 0.26407315629043226 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99990194e-01 1.87467378e-04 -4.42460862e-03 6.61305581e+00] [-1.84411244e-04 9.99999744e-01 6.91110526e-04 2.94040280e-01] [ 4.42473704e-03 -6.90287801e-04 9.99989973e-01 1.17181161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3125578440001 meters Centerline goodness [0,1] 0.26407315629043226 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99990194e-01 1.87467378e-04 -4.42460862e-03 6.61305581e+00] [-1.84411244e-04 9.99999744e-01 6.91110526e-04 2.94040280e-01] [ 4.42473704e-03 -6.90287801e-04 9.99989973e-01 1.17181161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34255784400005 meters Centerline goodness [0,1] 0.2515743827765793 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99990013e-01 1.61526298e-04 -4.46629256e-03 6.61316725e+00] [-1.58728722e-04 9.99999791e-01 6.26722723e-04 2.94346856e-01] [ 4.46639286e-03 -6.26007535e-04 9.99989830e-01 1.17180087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3725578440001 meters Centerline goodness [0,1] 0.2507947492485024 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.17 [[ 9.99989836e-01 1.35328640e-04 -4.50652849e-03 6.61330026e+00] [-1.32763113e-04 9.99999829e-01 5.69585629e-04 2.94604031e-01] [ 4.50660480e-03 -5.68981539e-04 9.99989683e-01 1.17172426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40255784400006 meters Centerline goodness [0,1] 0.2640303050209113 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99973405e-01 -5.81681324e-04 -7.26983423e-03 6.56792378e+00] [ 5.87383511e-04 9.99999522e-01 7.82252103e-04 2.92599805e-01] [ 7.26937573e-03 -7.86501480e-04 9.99973268e-01 1.17269422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43255784400003 meters Centerline goodness [0,1] 0.26149149585695597 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99972683e-01 -6.46503906e-04 -7.36305984e-03 6.56823139e+00] [ 6.51020591e-04 9.99999601e-01 6.11044697e-04 2.93517621e-01] [ 7.36266186e-03 -6.15821509e-04 9.99972706e-01 1.17250866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46255784400006 meters Centerline goodness [0,1] 0.252382602668515 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99973133e-01 -7.65557983e-04 -7.29025889e-03 6.56782538e+00] [ 7.67262184e-04 9.99999679e-01 2.30970156e-04 2.95563397e-01] [ 7.29007973e-03 -2.36557490e-04 9.99973399e-01 1.17284170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49255784400003 meters Centerline goodness [0,1] 0.2640696428180844 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99974239e-01 -8.26858702e-04 -7.13005988e-03 6.56714321e+00] [ 8.27401867e-04 9.99999655e-01 7.32301196e-05 2.96357119e-01] [ 7.12999687e-03 -7.91276580e-05 9.99974578e-01 1.17329529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52255784400006 meters Centerline goodness [0,1] 0.2619533591001867 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99975715e-01 -8.54788893e-04 -6.91655737e-03 6.56625408e+00] [ 8.54698376e-04 9.99999635e-01 -1.60428414e-05 2.96889900e-01] [ 6.91656855e-03 1.01308814e-05 9.99976080e-01 1.17388952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55255784400003 meters Centerline goodness [0,1] 0.26204544467132984 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99977237e-01 -8.61691452e-04 -6.69197340e-03 6.56538564e+00] [ 8.61308637e-04 9.99999627e-01 -6.00868588e-05 2.97266621e-01] [ 6.69202269e-03 5.43216366e-05 9.99977607e-01 1.17437277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58255784400006 meters Centerline goodness [0,1] 0.25131388282111733 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99977389e-01 -8.45207170e-04 -6.67132948e-03 6.56543614e+00] [ 8.45296151e-04 9.99999643e-01 1.05180879e-05 2.97075793e-01] [ 6.67131821e-03 -1.61570992e-05 9.99977746e-01 1.17420401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61255784400004 meters Centerline goodness [0,1] 0.2523017073697861 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99976414e-01 -8.62502250e-04 -6.81373120e-03 6.56594904e+00] [ 8.62747900e-04 9.99999627e-01 3.31130201e-05 2.96807296e-01] [ 6.81370010e-03 -3.89907714e-05 9.99976786e-01 1.17397352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64255784400007 meters Centerline goodness [0,1] 0.24927592616608307 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99976108e-01 -8.59302779e-04 -6.85893817e-03 6.56605507e+00] [ 8.60023617e-04 9.99999625e-01 1.02145948e-04 2.96368306e-01] [ 6.85884782e-03 -1.08042356e-04 9.99976472e-01 1.17398253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67255784400004 meters Centerline goodness [0,1] 0.252719282979464 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99975676e-01 -8.21962188e-04 -6.92613172e-03 6.56614787e+00] [ 8.23743010e-04 9.99999628e-01 2.54267612e-04 2.95558456e-01] [ 6.92592015e-03 -2.59966780e-04 9.99975982e-01 1.17409682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70255784400007 meters Centerline goodness [0,1] 0.2537982673806103 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99973659e-01 -7.49854736e-04 -7.21938461e-03 6.56675541e+00] [ 7.54035571e-04 9.99999550e-01 5.76407838e-04 2.93757063e-01] [ 7.21894914e-03 -5.81836327e-04 9.99973774e-01 1.17433101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73255784400004 meters Centerline goodness [0,1] 0.26283817499403384 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99973119e-01 -7.09323618e-04 -7.29777703e-03 6.56686964e+00] [ 7.14815050e-04 9.99999463e-01 7.49899400e-04 2.92700869e-01] [ 7.29724119e-03 -7.55095803e-04 9.99973090e-01 1.17450432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76255784400007 meters Centerline goodness [0,1] 0.25023173597188986 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99973254e-01 -6.51574726e-04 -7.28465542e-03 6.56679897e+00] [ 6.58176931e-04 9.99999375e-01 9.03956124e-04 2.91910156e-01] [ 7.28406187e-03 -9.08726539e-04 9.99973058e-01 1.17456357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79255784400004 meters Centerline goodness [0,1] 0.2520339276441059 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99974586e-01 -5.85342662e-04 -7.10530830e-03 6.56628039e+00] [ 5.92707003e-04 9.99999289e-01 1.03439474e-03 2.91412953e-01] [ 7.10469778e-03 -1.03857981e-03 9.99974222e-01 1.17467151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8225578440001 meters Centerline goodness [0,1] 0.26408127594494213 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99975645e-01 -5.29572102e-04 -6.95916329e-03 6.56586617e+00] [ 5.37435361e-04 9.99999219e-01 1.12809291e-03 2.91113381e-01] [ 6.95856045e-03 -1.13180554e-03 9.99975148e-01 1.17478799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85255784400005 meters Centerline goodness [0,1] 0.263316626526937 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99976332e-01 -5.79239734e-04 -6.85560230e-03 6.56567106e+00] [ 5.85634966e-04 9.99999395e-01 9.30876855e-04 2.91969631e-01] [ 6.85505895e-03 -9.34869704e-04 9.99976067e-01 1.17464716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8825578440001 meters Centerline goodness [0,1] 0.25301388013988746 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99975747e-01 -5.94775635e-04 -6.93911460e-03 6.56597988e+00] [ 6.00897048e-04 9.99999432e-01 8.80109051e-04 2.92128772e-01] [ 6.93858720e-03 -8.84257399e-04 9.99975537e-01 1.17447045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91255784400005 meters Centerline goodness [0,1] 0.2530745038499078 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99976169e-01 -6.06922473e-04 -6.87699197e-03 6.56596572e+00] [ 6.12479196e-04 9.99999488e-01 8.05939298e-04 2.92532249e-01] [ 6.87649931e-03 -8.10132107e-04 9.99976028e-01 1.17423868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9425578440001 meters Centerline goodness [0,1] 0.25235445668882206 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99977562e-01 -5.86031661e-04 -6.67320479e-03 6.56549185e+00] [ 5.91182902e-04 9.99999529e-01 7.69982695e-04 2.92948169e-01] [ 6.67275041e-03 -7.73910503e-04 9.99977437e-01 1.17419747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97255784400005 meters Centerline goodness [0,1] 0.2509475407011801 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99978331e-01 -5.89885096e-04 -6.55670655e-03 6.56509122e+00] [ 5.94798004e-04 9.99999544e-01 7.47370339e-04 2.92946615e-01] [ 6.55626270e-03 -7.51254060e-04 9.99978225e-01 1.17434266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0025578440001 meters Centerline goodness [0,1] 0.24946204165949393 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99976885e-01 -6.44899108e-04 -6.76853938e-03 6.56576732e+00] [ 6.49688650e-04 9.99999540e-01 7.05443442e-04 2.92776054e-01] [ 6.76808133e-03 -7.09824579e-04 9.99976844e-01 1.17409755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03255784400005 meters Centerline goodness [0,1] 0.2510989367921873 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99975609e-01 -6.20178384e-04 -6.95673518e-03 6.56640440e+00] [ 6.25270384e-04 9.99999538e-01 7.29801620e-04 2.92767381e-01] [ 6.95627936e-03 -7.34133660e-04 9.99975535e-01 1.17379385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0625578440001 meters Centerline goodness [0,1] 0.25109530212987463 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99975207e-01 -5.01504789e-04 -7.02374925e-03 6.56651182e+00] [ 5.06894829e-04 9.99999578e-01 7.65642915e-04 2.93309661e-01] [ 7.02336231e-03 -7.69184235e-04 9.99975040e-01 1.17384058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09255784400005 meters Centerline goodness [0,1] 0.2501074344649764 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99975717e-01 -4.90930759e-04 -6.95159792e-03 6.56618052e+00] [ 4.96227801e-04 9.99999588e-01 7.60284771e-04 2.93253310e-01] [ 6.95122181e-03 -7.63715885e-04 9.99975548e-01 1.17409059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1225578440001 meters Centerline goodness [0,1] 0.25192145315984327 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99976551e-01 -5.04393243e-04 -6.82959755e-03 6.56577374e+00] [ 5.09245293e-04 9.99999619e-01 7.08724187e-04 2.93298858e-01] [ 6.82923747e-03 -7.12185508e-04 9.99976427e-01 1.17425297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15255784400006 meters Centerline goodness [0,1] 0.24774376978913137 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99976733e-01 -5.13449282e-04 -6.80212694e-03 6.56566852e+00] [ 5.17516746e-04 9.99999688e-01 5.96222783e-04 2.93873928e-01] [ 6.80181869e-03 -5.99729126e-04 9.99976688e-01 1.17426034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18255784400003 meters Centerline goodness [0,1] 0.2438185198640822 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99977245e-01 -4.63654003e-04 -6.73008782e-03 6.56575519e+00] [ 4.66861870e-04 9.99999778e-01 4.75082391e-04 2.94869820e-01] [ 6.72986605e-03 -4.78213602e-04 9.99977240e-01 1.17375544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21255784400006 meters Centerline goodness [0,1] 0.2504206030801087 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99976386e-01 -1.92308534e-04 -6.86951809e-03 6.56655402e+00] [ 1.94563373e-04 9.99999927e-01 3.27571557e-04 2.96737791e-01] [ 6.86945459e-03 -3.28900379e-04 9.99976351e-01 1.17283747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24255784400003 meters Centerline goodness [0,1] 0.24802224569420794 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99976513e-01 -2.29721346e-04 -6.84988702e-03 6.56668086e+00] [ 2.31201677e-04 9.99999950e-01 2.15319301e-04 2.97192515e-01] [ 6.84983722e-03 -2.16897949e-04 9.99976516e-01 1.17249006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27255784400006 meters Centerline goodness [0,1] 0.25215919447940627 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99976670e-01 -2.16337812e-04 -6.82740331e-03 6.56672244e+00] [ 2.18371709e-04 9.99999932e-01 2.97157915e-04 2.96631112e-01] [ 6.82733855e-03 -2.98641894e-04 9.99976649e-01 1.17230565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30255784400003 meters Centerline goodness [0,1] 0.25341185674547984 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.17 [[ 9.99975976e-01 -1.51809346e-04 -6.92990298e-03 6.56696769e+00] [ 1.55600814e-04 9.99999839e-01 5.46581200e-04 2.95281875e-01] [ 6.92981889e-03 -5.47646368e-04 9.99975839e-01 1.17235129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33255784400006 meters Centerline goodness [0,1] 0.2488318511659956 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.17 [[ 9.99973548e-01 -1.18198748e-04 -7.27248834e-03 6.56776597e+00] [ 1.24883408e-04 9.99999570e-01 9.18723819e-04 2.93129023e-01] [ 7.27237662e-03 -9.19607730e-04 9.99973133e-01 1.17246877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36255784400004 meters Centerline goodness [0,1] 0.25298152112183825 Centerline is valid? [False, False] Translation: X:6.52, Y:0.28, Z:1.17 [[ 9.99945487e-01 -3.53832763e-03 -9.82362698e-03 6.52288349e+00] [ 3.53895173e-03 9.99993737e-01 4.61485034e-05 2.82954830e-01] [ 9.82340217e-03 -8.09113294e-05 9.99951746e-01 1.17384963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39255784400007 meters Centerline goodness [0,1] 0.2525992284051527 Centerline is valid? [False, False] Translation: X:6.52, Y:0.28, Z:1.17 [[ 9.99946739e-01 -3.49809450e-03 -9.70993528e-03 6.52236021e+00] [ 3.50456926e-03 9.99993648e-01 6.49883613e-04 2.79461235e-01] [ 9.70760025e-03 -6.83878140e-04 9.99952646e-01 1.17439770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42255784400004 meters Centerline goodness [0,1] 0.2509278753282834 Centerline is valid? [False, False] Translation: X:6.52, Y:0.28, Z:1.18 [[ 9.99948707e-01 -3.43169259e-03 -9.52927707e-03 6.52162782e+00] [ 3.44388028e-03 9.99993272e-01 1.26285861e-03 2.76008572e-01] [ 9.52487922e-03 -1.29561152e-03 9.99953798e-01 1.17506119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45255784400007 meters Centerline goodness [0,1] 0.2650599757895895 Centerline is valid? [False, False] Translation: X:6.50, Y:0.27, Z:1.18 [[ 9.99967015e-01 1.94021291e-03 -7.88695613e-03 6.49772492e+00] [-1.94835318e-03 9.99997577e-01 -1.02456567e-03 2.68514989e-01] [ 7.88494915e-03 1.03989845e-03 9.99968373e-01 1.17517180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48255784400004 meters Centerline goodness [0,1] 0.24799758849366982 Centerline is valid? [False, False] Translation: X:6.54, Y:0.27, Z:1.18 [[ 9.99983667e-01 2.02071084e-03 -5.34633926e-03 6.54038779e+00] [-2.02762949e-03 9.99997114e-01 -1.28898669e-03 2.66663565e-01] [ 5.34371916e-03 1.29980603e-03 9.99984877e-01 1.17552926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51255784400007 meters Centerline goodness [0,1] 0.2523515418694485 Centerline is valid? [False, False] Translation: X:6.50, Y:0.26, Z:1.18 [[ 9.99966779e-01 1.20135334e-03 -8.06208478e-03 6.49511163e+00] [-1.20786474e-03 9.99998948e-01 -8.02836878e-04 2.62377196e-01] [ 8.06111181e-03 8.12548115e-04 9.99967179e-01 1.17639733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54255784400004 meters Centerline goodness [0,1] 0.2617978259454533 Centerline is valid? [False, False] Translation: X:6.50, Y:0.26, Z:1.18 [[ 9.99964896e-01 1.21208602e-03 -8.29084704e-03 6.49580541e+00] [-1.21836100e-03 9.99998975e-01 -7.51847613e-04 2.61916514e-01] [ 8.28992724e-03 7.61922465e-04 9.99965348e-01 1.17619257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5725578440001 meters Centerline goodness [0,1] 0.25115813741055704 Centerline is valid? [False, False] Translation: X:6.50, Y:0.26, Z:1.18 [[ 9.99962744e-01 1.19469530e-03 -8.54883097e-03 6.49639834e+00] [-1.20234904e-03 9.99998881e-01 -8.90212330e-04 2.62381525e-01] [ 8.54775787e-03 9.00457843e-04 9.99963062e-01 1.17620536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60255784400005 meters Centerline goodness [0,1] 0.2631245494068556 Centerline is valid? [False, False] Translation: X:6.50, Y:0.26, Z:1.18 [[ 9.99964870e-01 1.22533141e-03 -8.29201908e-03 6.49568922e+00] [-1.23367294e-03 9.99998738e-01 -1.00093008e-03 2.63330918e-01] [ 8.29078215e-03 1.01112456e-03 9.99965120e-01 1.17628787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6325578440001 meters Centerline goodness [0,1] 0.2612959795622334 Centerline is valid? [False, False] Translation: X:6.49, Y:0.26, Z:1.18 [[ 9.99967271e-01 1.26086619e-03 -7.99169001e-03 6.49480678e+00] [-1.27009605e-03 9.99998532e-01 -1.14996313e-03 2.64589549e-01] [ 7.99022833e-03 1.16007571e-03 9.99967405e-01 1.17648361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66255784400005 meters Centerline goodness [0,1] 0.24853237441240816 Centerline is valid? [False, False] Translation: X:6.49, Y:0.27, Z:1.18 [[ 9.99969137e-01 1.20412933e-03 -7.76368262e-03 6.49434811e+00] [-1.21489788e-03 9.99998306e-01 -1.38247378e-03 2.65829904e-01] [ 7.76200479e-03 1.39186319e-03 9.99968907e-01 1.17626886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6925578440001 meters Centerline goodness [0,1] 0.26230829557337054 Centerline is valid? [False, False] Translation: X:6.49, Y:0.27, Z:1.18 [[ 9.99969132e-01 1.05207840e-03 -7.78635459e-03 6.49450284e+00] [-1.06572847e-03 9.99997902e-01 -1.74913437e-03 2.67369047e-01] [ 7.78449803e-03 1.75737852e-03 9.99968156e-01 1.17603506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72255784400005 meters Centerline goodness [0,1] 0.2619951147169153 Centerline is valid? [False, False] Translation: X:6.50, Y:0.27, Z:1.18 [[ 9.99967139e-01 8.44968377e-04 -8.06265417e-03 6.49570485e+00] [-8.63809206e-04 9.99996904e-01 -2.33360610e-03 2.70299035e-01] [ 8.06065738e-03 2.34049401e-03 9.99964773e-01 1.17502867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7525578440001 meters Centerline goodness [0,1] 0.2622221252645127 Centerline is valid? [False, False] Translation: X:6.50, Y:0.27, Z:1.17 [[ 9.99967817e-01 7.87954117e-04 -7.98395834e-03 6.49553186e+00] [-8.08162335e-04 9.99996478e-01 -2.52819265e-03 2.71611641e-01] [ 7.98193811e-03 2.53456362e-03 9.99964932e-01 1.17493617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78255784400005 meters Centerline goodness [0,1] 0.26155707249632765 Centerline is valid? [False, False] Translation: X:6.51, Y:0.28, Z:1.18 [[ 9.99952780e-01 -6.93137338e-03 -6.81132062e-03 6.51473216e+00] [ 6.92177023e-03 9.99975018e-01 -1.43244507e-03 2.77777234e-01] [ 6.82107928e-03 1.38523103e-03 9.99975777e-01 1.17640750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8125578440001 meters Centerline goodness [0,1] 0.26057174960565266 Centerline is valid? [False, False] Translation: X:6.51, Y:0.28, Z:1.18 [[ 9.99954628e-01 -6.97945504e-03 -6.48302955e-03 6.51351097e+00] [ 6.97091998e-03 9.99974807e-01 -1.33818856e-03 2.77209877e-01] [ 6.49220606e-03 1.29293516e-03 9.99978090e-01 1.17710445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84255784400005 meters Centerline goodness [0,1] 0.25186195548627344 Centerline is valid? [False, False] Translation: X:6.51, Y:0.28, Z:1.18 [[ 9.99954744e-01 -7.11323242e-03 -6.31758927e-03 6.51279824e+00] [ 7.10567890e-03 9.99974013e-01 -1.21727588e-03 2.76163372e-01] [ 6.32608386e-03 1.17233003e-03 9.99979303e-01 1.17770698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8725578440001 meters Centerline goodness [0,1] 0.26204747581849264 Centerline is valid? [False, False] Translation: X:6.51, Y:0.27, Z:1.18 [[ 9.99947662e-01 -7.72867941e-03 -6.70378274e-03 6.51388209e+00] [ 7.72057593e-03 9.99969435e-01 -1.23383122e-03 2.74304929e-01] [ 6.71311373e-03 1.18200958e-03 9.99976768e-01 1.17762971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90255784400006 meters Centerline goodness [0,1] 0.24740088865881538 Centerline is valid? [False, False] Translation: X:6.51, Y:0.27, Z:1.18 [[ 9.99945887e-01 -7.72255125e-03 -6.97024343e-03 6.51467506e+00] [ 7.71560200e-03 9.99969711e-01 -1.02332869e-03 2.73138603e-01] [ 6.97793502e-03 9.69493689e-04 9.99975184e-01 1.17746040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93255784400003 meters Centerline goodness [0,1] 0.2619310673512272 Centerline is valid? [False, False] Translation: X:6.51, Y:0.27, Z:1.18 [[ 9.99945768e-01 -7.69008391e-03 -7.02301252e-03 6.51487139e+00] [ 7.68434840e-03 9.99970119e-01 -8.43294656e-04 2.72156127e-01] [ 7.02928767e-03 7.89281648e-04 9.99974983e-01 1.17743100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96255784400006 meters Centerline goodness [0,1] 0.24962788791336799 Centerline is valid? [False, False] Translation: X:6.51, Y:0.27, Z:1.18 [[ 9.99945642e-01 -7.70891598e-03 -7.02032528e-03 6.51491759e+00] [ 7.70404763e-03 9.99970064e-01 -7.20245357e-04 2.71133967e-01] [ 7.02566744e-03 6.66121286e-04 9.99975098e-01 1.17736062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99255784400003 meters Centerline goodness [0,1] 0.2627835951134381 Centerline is valid? [False, False] Translation: X:6.49, Y:0.27, Z:1.18 [[ 9.99975651e-01 3.29008913e-04 -6.97060360e-03 6.49463941e+00] [-3.38413047e-04 9.99999034e-01 -1.34797680e-03 2.65347456e-01] [ 6.97015337e-03 1.35030292e-03 9.99974797e-01 1.17617515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02255784400006 meters Centerline goodness [0,1] 0.26225633686766847 Centerline is valid? [False, False] Translation: X:6.49, Y:0.27, Z:1.18 [[ 9.99975150e-01 3.72082249e-04 -7.03999994e-03 6.49497942e+00] [-3.81203327e-04 9.99999090e-01 -1.29431008e-03 2.65183862e-01] [ 7.03951194e-03 1.29696158e-03 9.99974381e-01 1.17589898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05255784400003 meters Centerline goodness [0,1] 0.2644925943831583 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.18 [[ 9.99952904e-01 -2.67834768e-04 -9.70146283e-03 6.44962295e+00] [ 2.58164082e-04 9.99999469e-01 -9.98066240e-04 2.62796363e-01] [ 9.70172499e-03 9.95514665e-04 9.99952442e-01 1.17662696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08255784400006 meters Centerline goodness [0,1] 0.2617762459083913 Centerline is valid? [False, False] Translation: X:6.47, Y:0.27, Z:1.18 [[ 9.99921675e-01 -7.79783931e-03 -9.78963095e-03 6.46954234e+00] [ 7.79618808e-03 9.99969588e-01 -2.06821652e-04 2.68045106e-01] [ 9.79094599e-03 1.30483648e-04 9.99952059e-01 1.17766932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11255784400004 meters Centerline goodness [0,1] 0.2508360477741586 Centerline is valid? [False, False] Translation: X:6.47, Y:0.27, Z:1.18 [[ 9.99922936e-01 -7.76137244e-03 -9.68936083e-03 6.46958802e+00] [ 7.75720442e-03 9.99969803e-01 -4.67673918e-04 2.69449210e-01] [ 9.69269804e-03 3.92475524e-04 9.99952948e-01 1.17716520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14255784400007 meters Centerline goodness [0,1] 0.2451245704467354 Centerline is valid? [False, False] Translation: X:6.49, Y:0.27, Z:1.18 [[ 9.99956616e-01 1.14378683e-03 -9.24433045e-03 6.49091259e+00] [-1.15825569e-03 9.99998112e-01 -1.55995775e-03 2.68077243e-01] [ 9.24252874e-03 1.57059737e-03 9.99956053e-01 1.17757461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17255784400004 meters Centerline goodness [0,1] 0.2629797825422471 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99925263e-01 1.22746066e-03 -1.21639411e-02 6.44582547e+00] [-1.23788237e-03 9.99998873e-01 -8.49278931e-04 2.67411956e-01] [ 1.21628850e-02 8.64272987e-04 9.99925656e-01 1.17806860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20255784400007 meters Centerline goodness [0,1] 0.2629797825422471 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99925263e-01 1.22746066e-03 -1.21639411e-02 6.44582547e+00] [-1.23788237e-03 9.99998873e-01 -8.49278931e-04 2.67411956e-01] [ 1.21628850e-02 8.64272987e-04 9.99925656e-01 1.17806860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23255784400004 meters Centerline goodness [0,1] 0.24659900669401857 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99921734e-01 1.24964034e-03 -1.24484998e-02 6.44661839e+00] [-1.26431220e-03 9.99998515e-01 -1.17080497e-03 2.69543812e-01] [ 1.24470182e-02 1.18645212e-03 9.99921829e-01 1.17782761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26255784400007 meters Centerline goodness [0,1] 0.24885191924443284 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99920868e-01 1.21315463e-03 -1.25214072e-02 6.44684050e+00] [-1.23200330e-03 9.99998120e-01 -1.49771181e-03 2.71531415e-01] [ 1.25195667e-02 1.51301971e-03 9.99920482e-01 1.17766640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29255784400004 meters Centerline goodness [0,1] 0.26256399085066984 Centerline is valid? [False, False] Translation: X:6.45, Y:0.28, Z:1.18 [[ 9.99922524e-01 1.14244645e-03 -1.23951705e-02 6.44659352e+00] [-1.16853009e-03 9.99997118e-01 -2.09730102e-03 2.75154246e-01] [ 1.23927388e-02 2.11162266e-03 9.99920977e-01 1.17742535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3225578440001 meters Centerline goodness [0,1] 0.2623183655632033 Centerline is valid? [False, False] Translation: X:6.45, Y:0.28, Z:1.18 [[ 9.99924794e-01 1.06052197e-03 -1.22180844e-02 6.44612322e+00] [-1.08891737e-03 9.99996721e-01 -2.31762881e-03 2.76209918e-01] [ 1.22155864e-02 2.33075899e-03 9.99922671e-01 1.17746202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35255784400005 meters Centerline goodness [0,1] 0.24914859680131052 Centerline is valid? [False, False] Translation: X:6.47, Y:0.28, Z:1.18 [[ 9.99912037e-01 -6.66672396e-03 -1.14661609e-02 6.46554273e+00] [ 6.65089808e-03 9.99976877e-01 -1.41780289e-03 2.82016204e-01] [ 1.14753479e-02 1.34141791e-03 9.99933256e-01 1.17871706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3825578440001 meters Centerline goodness [0,1] 0.24492691315563198 Centerline is valid? [False, False] Translation: X:6.47, Y:0.28, Z:1.18 [[ 9.99910610e-01 -6.75956001e-03 -1.15360240e-02 6.46548678e+00] [ 6.74405582e-03 9.99976303e-01 -1.38235313e-03 2.81702860e-01] [ 1.15450947e-02 1.30442997e-03 9.99932502e-01 1.17907140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41255784400005 meters Centerline goodness [0,1] 0.25000541184110836 Centerline is valid? [False, False] Translation: X:6.47, Y:0.28, Z:1.18 [[ 9.99908843e-01 -6.70861239e-03 -1.17175368e-02 6.46610193e+00] [ 6.69535004e-03 9.99976901e-01 -1.17069933e-03 2.80632328e-01] [ 1.17251199e-02 1.09213960e-03 9.99930662e-01 1.17883631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4425578440001 meters Centerline goodness [0,1] 0.2616691785160431 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99937215e-01 3.92169834e-04 -1.11987542e-02 6.44834676e+00] [-4.17851717e-04 9.99997288e-01 -2.29103271e-03 2.73953053e-01] [ 1.11978253e-02 2.29556828e-03 9.99934667e-01 1.17641410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47255784400005 meters Centerline goodness [0,1] 0.2523582845663377 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99937069e-01 4.47585063e-04 -1.12097262e-02 6.44836293e+00] [-4.70119155e-04 9.99997874e-01 -2.00767246e-03 2.72415450e-01] [ 1.12088037e-02 2.01281603e-03 9.99935154e-01 1.17645056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5025578440001 meters Centerline goodness [0,1] 0.24602675570781207 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99938864e-01 4.96990274e-04 -1.10463336e-02 6.44772460e+00] [-5.14147058e-04 9.99998666e-01 -1.55037992e-03 2.69693933e-01] [ 1.10455483e-02 1.55596457e-03 9.99937785e-01 1.17695907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53255784400005 meters Centerline goodness [0,1] 0.24754318368760553 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99939312e-01 5.67101483e-04 -1.10023163e-02 6.44756113e+00] [-5.81276272e-04 9.99999005e-01 -1.28519088e-03 2.68184384e-01] [ 1.10015765e-02 1.29150827e-03 9.99938647e-01 1.17708039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5625578440001 meters Centerline goodness [0,1] 0.25004356159609686 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99939912e-01 6.31785812e-04 -1.09440594e-02 6.44724255e+00] [-6.43311446e-04 9.99999242e-01 -1.04965237e-03 2.66812615e-01] [ 1.09433880e-02 1.05662974e-03 9.99939561e-01 1.17740308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59255784400005 meters Centerline goodness [0,1] 0.25073132678931287 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.18 [[ 9.99940869e-01 8.45071167e-04 -1.08417917e-02 6.44691621e+00] [-8.50475600e-04 9.99999516e-01 -4.93880777e-04 2.64137005e-01] [ 1.08413691e-02 5.03072253e-04 9.99941104e-01 1.17752141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6225578440001 meters Centerline goodness [0,1] 0.24711166778240867 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.18 [[ 9.99941104e-01 9.61854276e-04 -1.08103386e-02 6.44690192e+00] [-9.64660580e-04 9.99999502e-01 -2.54383222e-04 2.63112504e-01] [ 1.08100886e-02 2.64796547e-04 9.99941534e-01 1.17744378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65255784400006 meters Centerline goodness [0,1] 0.24998907963132833 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.18 [[ 9.99942167e-01 1.07079875e-03 -1.07011793e-02 6.44678851e+00] [-1.07092672e-03 9.99999427e-01 -6.22879185e-06 2.61964304e-01] [ 1.07011665e-02 1.76886105e-05 9.99942741e-01 1.17721658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68255784400003 meters Centerline goodness [0,1] 0.25111202725280446 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.18 [[ 9.99942802e-01 1.12000500e-03 -1.06366218e-02 6.44669686e+00] [-1.11872997e-03 9.99999366e-01 1.25821077e-04 2.61220845e-01] [ 1.06367560e-02 -1.13914373e-04 9.99943422e-01 1.17717334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71255784400006 meters Centerline goodness [0,1] 0.2498375709273617 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.18 [[ 9.99943223e-01 1.08341603e-03 -1.06008426e-02 6.44660602e+00] [-1.08303890e-03 9.99999413e-01 4.13164757e-05 2.61265227e-01] [ 1.06008811e-02 -2.98330049e-05 9.99943809e-01 1.17720922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74255784400003 meters Centerline goodness [0,1] 0.25023354841512957 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.18 [[ 9.99943025e-01 1.03786169e-03 -1.06240455e-02 6.44666260e+00] [-1.04016297e-03 9.99999437e-01 -2.11087414e-04 2.62468302e-01] [ 1.06238204e-02 2.22126126e-04 9.99943541e-01 1.17718241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77255784400006 meters Centerline goodness [0,1] 0.2616229647551167 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99926002e-01 4.72665111e-03 -1.12093766e-02 6.44852668e+00] [-4.69581278e-03 9.99985122e-01 2.77584536e-03 2.66834910e-01] [ 1.12223303e-02 -2.72300282e-03 9.99933320e-01 1.17642751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80255784400003 meters Centerline goodness [0,1] 0.2504169644984513 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99925068e-01 4.78729985e-03 -1.12667625e-02 6.44879366e+00] [-4.76198710e-03 9.99986080e-01 2.27243031e-03 2.70200301e-01] [ 1.12774844e-02 -2.21860785e-03 9.99933946e-01 1.17605773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83255784400006 meters Centerline goodness [0,1] 0.25036333268258826 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.18 [[ 9.99926882e-01 4.68268538e-03 -1.11491330e-02 6.44852180e+00] [-4.66394519e-03 9.99987668e-01 1.70627249e-03 2.73280240e-01] [ 1.11569854e-02 -1.65414878e-03 9.99936391e-01 1.17590432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86255784400004 meters Centerline goodness [0,1] 0.24992947813822286 Centerline is valid? [False, False] Translation: X:6.45, Y:0.28, Z:1.18 [[ 9.99931679e-01 4.52681695e-03 -1.07771048e-02 6.44747623e+00] [-4.51458426e-03 9.99989137e-01 1.15912058e-03 2.76082371e-01] [ 1.07822349e-02 -1.11038724e-03 9.99941254e-01 1.17603844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89255784400007 meters Centerline goodness [0,1] 0.2532679380788684 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99970901e-01 -2.24392987e-03 -7.29122837e-03 6.42763587e+00] [ 2.25797994e-03 9.99995609e-01 1.91932140e-03 2.85246884e-01] [ 7.28688953e-03 -1.93572899e-03 9.99971577e-01 1.17314004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92255784400004 meters Centerline goodness [0,1] 0.2436770741560479 Centerline is valid? [False, False] Translation: X:6.47, Y:0.29, Z:1.17 [[ 9.99980269e-01 -1.56711045e-03 -6.08327476e-03 6.47338233e+00] [ 1.57563091e-03 9.99997784e-01 1.39609736e-03 2.91151410e-01] [ 6.08107344e-03 -1.40565480e-03 9.99980522e-01 1.17221938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95255784400007 meters Centerline goodness [0,1] 0.2601797063335525 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99955000e-01 -3.08673177e-03 -8.97045583e-03 6.42936507e+00] [ 3.09552335e-03 9.99994742e-01 9.66340726e-04 2.89431209e-01] [ 8.96742583e-03 -9.94065497e-04 9.99959298e-01 1.17229572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98255784400004 meters Centerline goodness [0,1] 0.2513528846993105 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99953696e-01 -3.22481472e-03 -9.06680163e-03 6.42963454e+00] [ 3.23207943e-03 9.99994467e-01 7.86703863e-04 2.89992838e-01] [ 9.06421450e-03 -8.15972058e-04 9.99958586e-01 1.17222574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01255784400007 meters Centerline goodness [0,1] 0.2515458979271904 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99955776e-01 -3.57248737e-03 -8.69963627e-03 6.42825248e+00] [ 3.57686281e-03 9.99993484e-01 4.87437949e-04 2.91207774e-01] [ 8.69783822e-03 -5.18533798e-04 9.99962039e-01 1.17305477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04255784400004 meters Centerline goodness [0,1] 0.2450798044898136 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99956041e-01 -3.66362789e-03 -8.63101440e-03 6.42779946e+00] [ 3.66705409e-03 9.99993204e-01 3.81171595e-04 2.91887144e-01] [ 8.62955927e-03 -4.12805235e-04 9.99962679e-01 1.17351951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0725578440001 meters Centerline goodness [0,1] 0.24966860073451114 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99955795e-01 -3.75018530e-03 -8.62232720e-03 6.42761040e+00] [ 3.75306787e-03 9.99992907e-01 3.18158111e-04 2.92078573e-01] [ 8.62107289e-03 -3.50504225e-04 9.99962776e-01 1.17381366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10255784400005 meters Centerline goodness [0,1] 0.24414218275096466 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99953562e-01 -3.85063840e-03 -8.83437862e-03 6.42816993e+00] [ 3.85351736e-03 9.99992527e-01 3.08882225e-04 2.91766663e-01] [ 8.83312321e-03 -3.42911313e-04 9.99960928e-01 1.17380477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1325578440001 meters Centerline goodness [0,1] 0.24878440566119653 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99950208e-01 -3.93594462e-03 -9.17006294e-03 6.42932303e+00] [ 3.93900792e-03 9.99992192e-01 3.16017961e-04 2.91275877e-01] [ 9.16874751e-03 -3.52123176e-04 9.99957904e-01 1.17328216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16255784400005 meters Centerline goodness [0,1] 0.2511274264177251 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99946755e-01 -3.94302246e-03 -9.53621001e-03 6.43098123e+00] [ 3.94654124e-03 9.99992151e-01 3.50202130e-04 2.91234206e-01] [ 9.53475430e-03 -3.87818530e-04 9.99954468e-01 1.17203601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1925578440001 meters Centerline goodness [0,1] 0.25146440781307844 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99947482e-01 -3.93030334e-03 -9.46500063e-03 6.43079370e+00] [ 3.93325001e-03 9.99992222e-01 2.92727796e-04 2.91824067e-01] [ 9.46377650e-03 -3.29940636e-04 9.99955163e-01 1.17205146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22255784400005 meters Centerline goodness [0,1] 0.24934022552291213 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99950049e-01 -3.92547914e-03 -9.19184383e-03 6.42993612e+00] [ 3.92748387e-03 9.99992267e-01 2.00057194e-04 2.92465497e-01] [ 9.19098744e-03 -2.36148020e-04 9.99957734e-01 1.17238753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2525578440001 meters Centerline goodness [0,1] 0.2498050766698432 Centerline is valid? [False, False] Translation: X:6.45, Y:0.29, Z:1.17 [[ 9.99957731e-01 4.32676930e-03 -8.11269091e-03 6.44895569e+00] [-4.33981096e-03 9.99989318e-01 -1.59064905e-03 2.90403240e-01] [ 8.10572188e-03 1.62578936e-03 9.99965826e-01 1.17439315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28255784400005 meters Centerline goodness [0,1] 0.24946091350656707 Centerline is valid? [False, False] Translation: X:6.45, Y:0.29, Z:1.17 [[ 9.99960599e-01 4.26541569e-03 -7.78506872e-03 6.44818971e+00] [-4.28083088e-03 9.99988908e-01 -1.96450839e-03 2.92132551e-01] [ 7.77660292e-03 1.99775755e-03 9.99967766e-01 1.17429562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3125578440001 meters Centerline goodness [0,1] 0.2491631526322654 Centerline is valid? [False, False] Translation: X:6.45, Y:0.29, Z:1.17 [[ 9.99961018e-01 4.24736518e-03 -7.74093334e-03 6.44840720e+00] [-4.26407962e-03 9.99988610e-01 -2.14400381e-03 2.93242984e-01] [ 7.73173881e-03 2.17692819e-03 9.99967740e-01 1.17368954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34255784400005 meters Centerline goodness [0,1] 0.2505320304017372 Centerline is valid? [False, False] Translation: X:6.45, Y:0.29, Z:1.17 [[ 9.99961336e-01 4.24987456e-03 -7.69836214e-03 6.44857315e+00] [-4.26754282e-03 9.99988295e-01 -2.28009535e-03 2.94288277e-01] [ 7.68858191e-03 2.31286029e-03 9.99967768e-01 1.17319528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3725578440001 meters Centerline goodness [0,1] 0.24825486571708166 Centerline is valid? [False, False] Translation: X:6.45, Y:0.30, Z:1.17 [[ 9.99962745e-01 4.14893358e-03 -7.56940092e-03 6.44829164e+00] [-4.16876700e-03 9.99987914e-01 -2.60631721e-03 2.95985360e-01] [ 7.55849600e-03 2.63777518e-03 9.99967955e-01 1.17308329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40255784400006 meters Centerline goodness [0,1] 0.25142844680943865 Centerline is valid? [False, False] Translation: X:6.45, Y:0.30, Z:1.17 [[ 9.99962685e-01 4.08532034e-03 -7.61177360e-03 6.44842675e+00] [-4.10620406e-03 9.99987843e-01 -2.73000264e-03 2.96519862e-01] [ 7.60052812e-03 2.76115626e-03 9.99967303e-01 1.17302787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.43255784400003 meters Centerline goodness [0,1] 0.2459305830677806 Centerline is valid? [False, False] Translation: X:6.47, Y:0.30, Z:1.17 [[ 9.99963498e-01 -3.61836591e-03 -7.74010845e-03 6.46832236e+00] [ 3.60363803e-03 9.99991672e-01 -1.91590176e-03 3.02591773e-01] [ 7.74697642e-03 1.88793928e-03 9.99968210e-01 1.17413950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46255784400006 meters Centerline goodness [0,1] 0.25114035662061596 Centerline is valid? [False, False] Translation: X:6.45, Y:0.30, Z:1.17 [[ 9.99957012e-01 4.20356177e-03 -8.26458698e-03 6.44851684e+00] [-4.22869533e-03 9.99986481e-01 -3.02599501e-03 2.97541482e-01] [ 8.25175530e-03 3.06081335e-03 9.99961269e-01 1.17274043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49255784400003 meters Centerline goodness [0,1] 0.25127556582791855 Centerline is valid? [False, False] Translation: X:6.45, Y:0.30, Z:1.17 [[ 9.99957832e-01 4.16711309e-03 -8.18349374e-03 6.44837915e+00] [-4.19244499e-03 9.99986466e-01 -3.08077529e-03 2.97812053e-01] [ 8.17054505e-03 3.11495423e-03 9.99961769e-01 1.17262873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52255784400006 meters Centerline goodness [0,1] 0.2545152403026195 Centerline is valid? [False, False] Translation: X:6.45, Y:0.30, Z:1.17 [[ 9.99960299e-01 3.98160796e-03 -7.97170455e-03 6.44753153e+00] [-4.00549551e-03 9.99987529e-01 -2.98282268e-03 2.96747152e-01] [ 7.95972870e-03 3.01463488e-03 9.99963777e-01 1.17320801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55255784400003 meters Centerline goodness [0,1] 0.24842291738679567 Centerline is valid? [False, False] Translation: X:6.47, Y:0.30, Z:1.17 [[ 9.99960071e-01 -4.41681949e-03 -7.76838931e-03 6.46889840e+00] [ 4.39961472e-03 9.99987834e-01 -2.23041201e-03 2.99407249e-01] [ 7.77814613e-03 2.19614503e-03 9.99967338e-01 1.17408211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58255784400006 meters Centerline goodness [0,1] 0.2497056129791967 Centerline is valid? [False, False] Translation: X:6.45, Y:0.29, Z:1.17 [[ 9.99981115e-01 1.21429498e-03 -6.02459717e-03 6.45167228e+00] [-1.23778758e-03 9.99991640e-01 -3.89725362e-03 2.91827196e-01] [ 6.01981439e-03 3.90463719e-03 9.99974257e-01 1.17097710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.61255784400004 meters Centerline goodness [0,1] 0.24728308120326903 Centerline is valid? [False, False] Translation: X:6.45, Y:0.29, Z:1.17 [[ 9.99981285e-01 9.77454739e-04 -6.03937742e-03 6.45159782e+00] [-9.99198171e-04 9.99993027e-01 -3.59830935e-03 2.89229657e-01] [ 6.03581812e-03 3.60427654e-03 9.99975289e-01 1.17120940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64255784400007 meters Centerline goodness [0,1] 0.2477818229382398 Centerline is valid? [False, False] Translation: X:6.45, Y:0.28, Z:1.17 [[ 9.99981203e-01 -2.70752026e-03 -5.50118561e-03 6.44977772e+00] [ 2.67322202e-03 9.99977005e-01 -6.23251647e-03 2.83173671e-01] [ 5.51793377e-03 6.21769342e-03 9.99965446e-01 1.17200046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.67255784400004 meters Centerline goodness [0,1] 0.2482045012988714 Centerline is valid? [False, False] Translation: X:6.45, Y:0.28, Z:1.17 [[ 9.99980629e-01 -2.91540350e-03 -5.49921275e-03 6.44967387e+00] [ 2.88356192e-03 9.99979084e-01 -5.78927573e-03 2.79655770e-01] [ 5.51597581e-03 5.77330627e-03 9.99968121e-01 1.17223442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70255784400007 meters Centerline goodness [0,1] 0.2554328853203002 Centerline is valid? [False, False] Translation: X:6.45, Y:0.28, Z:1.17 [[ 9.99979019e-01 -3.04164451e-03 -5.71926918e-03 6.45028351e+00] [ 3.01110644e-03 9.99981206e-01 -5.34055690e-03 2.76416073e-01] [ 5.73540577e-03 5.32322353e-03 9.99969384e-01 1.17208871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.73255784400004 meters Centerline goodness [0,1] 0.24940519066640476 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.17 [[ 9.99978124e-01 -3.04306087e-03 -5.87290605e-03 6.45073492e+00] [ 3.01466682e-03 9.99983755e-01 -4.83756477e-03 2.73268489e-01] [ 5.88753165e-03 4.81975409e-03 9.99971053e-01 1.17193918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76255784400007 meters Centerline goodness [0,1] 0.24412839248434237 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.17 [[ 9.99981518e-01 -3.02394792e-03 -5.27442563e-03 6.44924574e+00] [ 3.00201581e-03 9.99986836e-01 -4.16117212e-03 2.69059429e-01] [ 5.28693937e-03 4.14526131e-03 9.99977432e-01 1.17208952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.79255784400004 meters Centerline goodness [0,1] 0.2452686700128197 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.17 [[ 9.99982614e-01 -2.89351596e-03 -5.13803110e-03 6.44885930e+00] [ 2.87368088e-03 9.99988407e-01 -3.86364004e-03 2.67718150e-01] [ 5.14915103e-03 3.84880781e-03 9.99979336e-01 1.17215865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8225578440001 meters Centerline goodness [0,1] 0.24879579782480765 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.17 [[ 9.99983222e-01 -2.81703722e-03 -5.06158575e-03 6.44857208e+00] [ 2.79821338e-03 9.99989158e-01 -3.72220185e-03 2.67098007e-01] [ 5.07201645e-03 3.70797601e-03 9.99980263e-01 1.17236253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.85255784400005 meters Centerline goodness [0,1] 0.24894662154786595 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.17 [[ 9.99982459e-01 -2.78999048e-03 -5.22470804e-03 6.44912192e+00] [ 2.77072188e-03 9.99989348e-01 -3.69158940e-03 2.66681882e-01] [ 5.23495188e-03 3.67704844e-03 9.99979537e-01 1.17211505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8825578440001 meters Centerline goodness [0,1] 0.2520661157024794 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.17 [[ 9.99981843e-01 -2.76377967e-03 -5.35491656e-03 6.44957578e+00] [ 2.74421780e-03 9.99989548e-01 -3.65697838e-03 2.66430211e-01] [ 5.36496767e-03 3.64221693e-03 9.99978975e-01 1.17185265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.91255784400005 meters Centerline goodness [0,1] 0.25060014840033173 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.17 [[ 9.99981811e-01 -2.70823643e-03 -5.38918659e-03 6.44970819e+00] [ 2.68883802e-03 9.99989892e-01 -3.60350335e-03 2.66336277e-01] [ 5.39889126e-03 3.58894716e-03 9.99978985e-01 1.17175035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9425578440001 meters Centerline goodness [0,1] 0.2479074025634319 Centerline is valid? [False, False] Translation: X:6.45, Y:0.27, Z:1.17 [[ 9.99983513e-01 -2.59690478e-03 -5.12142991e-03 6.44877319e+00] [ 2.57935652e-03 9.99990791e-01 -3.43007206e-03 2.65811585e-01] [ 5.13029031e-03 3.41680551e-03 9.99981003e-01 1.17219526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97255784400005 meters Centerline goodness [0,1] 0.24500432525951554 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99985173e-01 -2.49069090e-03 -4.84250533e-03 6.44773745e+00] [ 2.47511389e-03 9.99991752e-01 -3.22006045e-03 2.64975600e-01] [ 4.85048557e-03 3.20802696e-03 9.99983091e-01 1.17276553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0025578440001 meters Centerline goodness [0,1] 0.24985804760864816 Centerline is valid? [False, False] Translation: X:6.43, Y:0.26, Z:1.17 [[ 9.99982930e-01 4.48326018e-03 -3.74699893e-03 6.42851209e+00] [-4.49957712e-03 9.99980382e-01 -4.35764211e-03 2.57239162e-01] [ 3.72738898e-03 4.37442764e-03 9.99983485e-01 1.17047683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03255784400005 meters Centerline goodness [0,1] 0.24707316011663838 Centerline is valid? [False, False] Translation: X:6.43, Y:0.26, Z:1.17 [[ 9.99981429e-01 4.45442216e-03 -4.15941027e-03 6.42982933e+00] [-4.47194147e-03 9.99981129e-01 -4.21221241e-03 2.56034113e-01] [ 4.14056880e-03 4.23073482e-03 9.99982478e-01 1.16990214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0625578440001 meters Centerline goodness [0,1] 0.24188688990272877 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99983434e-01 -3.12158751e-03 -4.83598620e-03 6.45075888e+00] [ 3.10675088e-03 9.99990454e-01 -3.07244482e-03 2.59426387e-01] [ 4.84553094e-03 3.05736972e-03 9.99983587e-01 1.17100496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09255784400005 meters Centerline goodness [0,1] 0.24360557035496933 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99983307e-01 -2.97969851e-03 -4.95054090e-03 6.45109678e+00] [ 2.96611346e-03 9.99991822e-01 -2.74923584e-03 2.58116241e-01] [ 4.95869231e-03 2.73450608e-03 9.99983967e-01 1.17088712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1225578440001 meters Centerline goodness [0,1] 0.24360557035496933 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99983307e-01 -2.97969851e-03 -4.95054090e-03 6.45109678e+00] [ 2.96611346e-03 9.99991822e-01 -2.74923584e-03 2.58116241e-01] [ 4.95869231e-03 2.73450608e-03 9.99983967e-01 1.17088712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15255784400006 meters Centerline goodness [0,1] 0.2501691807286778 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99983411e-01 -2.89737040e-03 -4.97827319e-03 6.45105679e+00] [ 2.88482892e-03 9.99992652e-01 -2.52458056e-03 2.57024400e-01] [ 4.98555125e-03 2.51017721e-03 9.99984422e-01 1.17107255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18255784400003 meters Centerline goodness [0,1] 0.24198866452600043 Centerline is valid? [False, False] Translation: X:6.47, Y:0.25, Z:1.17 [[ 9.99990868e-01 2.67531811e-03 -3.33251611e-03 6.47269614e+00] [-2.69548450e-03 9.99977995e-01 -6.06168085e-03 2.53501696e-01] [ 3.31622586e-03 6.07060824e-03 9.99976075e-01 1.17067755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21255784400006 meters Centerline goodness [0,1] 0.25246501099188123 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99973443e-01 -6.04237517e-03 -4.07472599e-03 6.45238836e+00] [ 6.02298412e-03 9.99970559e-01 -4.75445618e-03 2.56488002e-01] [ 4.10333424e-03 4.72978790e-03 9.99980396e-01 1.16972316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24255784400003 meters Centerline goodness [0,1] 0.2515344123364568 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99973203e-01 -5.98120213e-03 -4.22130719e-03 6.45278236e+00] [ 5.96188804e-03 9.99971770e-01 -4.57323032e-03 2.55735526e-01] [ 4.24854144e-03 4.54794081e-03 9.99980633e-01 1.16958930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27255784400006 meters Centerline goodness [0,1] 0.2480525961767961 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99971392e-01 -6.05017766e-03 -4.53998989e-03 6.45395278e+00] [ 6.02954663e-03 9.99971497e-01 -4.54430067e-03 2.55396305e-01] [ 4.56735431e-03 4.51679659e-03 9.99979369e-01 1.16889929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30255784400003 meters Centerline goodness [0,1] 0.2511959109674319 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99971186e-01 -6.09822392e-03 -4.52102968e-03 6.45397714e+00] [ 6.07748029e-03 9.99971007e-01 -4.58788161e-03 2.55377792e-01] [ 4.54887653e-03 4.56027295e-03 9.99979256e-01 1.16874550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33255784400006 meters Centerline goodness [0,1] 0.2474081158034298 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99971019e-01 -6.13560011e-03 -4.50717983e-03 6.45397567e+00] [ 6.11481895e-03 9.99970678e-01 -4.61008080e-03 2.55362809e-01] [ 4.53533328e-03 4.58238660e-03 9.99979216e-01 1.16867195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36255784400004 meters Centerline goodness [0,1] 0.24722252418741164 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:1.17 [[ 9.99971006e-01 -6.14335743e-03 -4.49955909e-03 6.45393422e+00] [ 6.12265109e-03 9.99970670e-01 -4.60126815e-03 2.55369248e-01] [ 4.52769435e-03 4.57358551e-03 9.99979291e-01 1.16868236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39255784400007 meters Centerline goodness [0,1] 0.2509716945914491 Centerline is valid? [False, False] Translation: X:6.43, Y:0.25, Z:1.17 [[ 9.99987802e-01 1.63890992e-03 -4.65936254e-03 6.43489568e+00] [-1.66480826e-03 9.99983158e-01 -5.55991019e-03 2.51531492e-01] [ 4.65017187e-03 5.56759932e-03 9.99973689e-01 1.16680294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42255784400004 meters Centerline goodness [0,1] 0.2457441502396287 Centerline is valid? [False, False] Translation: X:6.46, Y:0.26, Z:1.17 [[ 9.99969510e-01 -6.45578992e-03 -4.39328218e-03 6.45561626e+00] [ 6.43485702e-03 9.99967956e-01 -4.76232161e-03 2.55389127e-01] [ 4.42388595e-03 4.73390626e-03 9.99979009e-01 1.16790566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45255784400007 meters Centerline goodness [0,1] 0.24543092247726284 Centerline is valid? [False, False] Translation: X:6.46, Y:0.26, Z:1.17 [[ 9.99969812e-01 -6.45768063e-03 -4.32135503e-03 6.45534233e+00] [ 6.43731999e-03 9.99968192e-01 -4.70907165e-03 2.55135725e-01] [ 4.35162726e-03 4.68111155e-03 9.99979575e-01 1.16802826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48255784400004 meters Centerline goodness [0,1] 0.25057305651974593 Centerline is valid? [False, False] Translation: X:6.44, Y:0.25, Z:1.17 [[ 9.99991641e-01 1.33397912e-03 -3.86492492e-03 6.43548627e+00] [-1.35623293e-03 9.99982486e-01 -5.76100142e-03 2.51666863e-01] [ 3.85717217e-03 5.76619501e-03 9.99975936e-01 1.16615183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51255784400007 meters Centerline goodness [0,1] 0.2507398381060144 Centerline is valid? [False, False] Translation: X:6.44, Y:0.25, Z:1.17 [[ 9.99991773e-01 1.27942921e-03 -3.84938611e-03 6.43542953e+00] [-1.30230101e-03 9.99981480e-01 -5.94504701e-03 2.52824780e-01] [ 3.84170855e-03 5.95001116e-03 9.99974919e-01 1.16619097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54255784400004 meters Centerline goodness [0,1] 0.25344165111428263 Centerline is valid? [False, False] Translation: X:6.42, Y:0.26, Z:1.16 [[ 9.99968324e-01 -6.96142225e-03 -3.85862004e-03 6.41637302e+00] [ 6.94322161e-03 9.99964801e-01 -4.71037174e-03 2.59914616e-01] [ 3.89127511e-03 4.68343128e-03 9.99981462e-01 1.16426230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5725578440001 meters Centerline goodness [0,1] 0.244218996733652 Centerline is valid? [False, False] Translation: X:6.44, Y:0.26, Z:1.16 [[ 9.99995082e-01 1.38844386e-03 -2.81228675e-03 6.43734745e+00] [-1.40581765e-03 9.99979883e-01 -6.18529082e-03 2.60975598e-01] [ 2.80364224e-03 6.18921396e-03 9.99976916e-01 1.16401084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60255784400005 meters Centerline goodness [0,1] 0.24802722858133885 Centerline is valid? [False, False] Translation: X:6.44, Y:0.26, Z:1.16 [[ 9.99995024e-01 1.25279564e-03 -2.89529979e-03 6.43769859e+00] [-1.27175503e-03 9.99977702e-01 -6.55579699e-03 2.62985094e-01] [ 2.88702216e-03 6.55944648e-03 9.99974319e-01 1.16377477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6325578440001 meters Centerline goodness [0,1] 0.24792364221420182 Centerline is valid? [False, False] Translation: X:6.44, Y:0.26, Z:1.16 [[ 9.99995203e-01 1.15065537e-03 -2.87588977e-03 6.43775605e+00] [-1.17033891e-03 9.99975840e-01 -6.85204464e-03 2.64634485e-01] [ 2.86793594e-03 6.85537753e-03 9.99972389e-01 1.16358474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66255784400005 meters Centerline goodness [0,1] 0.24941011972384863 Centerline is valid? [False, False] Translation: X:6.44, Y:0.27, Z:1.16 [[ 9.99995331e-01 1.07637473e-03 -2.85979295e-03 6.43762475e+00] [-1.09653702e-03 9.99974490e-01 -7.05807171e-03 2.65797611e-01] [ 2.85212287e-03 7.06117463e-03 9.99971002e-01 1.16372032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6925578440001 meters Centerline goodness [0,1] 0.23897609169838763 Centerline is valid? [False, False] Translation: X:6.48, Y:0.27, Z:1.16 [[ 9.99999331e-01 8.63022581e-04 -7.69919586e-04 6.48159019e+00] [-8.68846497e-04 9.99970770e-01 -7.59632793e-03 2.67207394e-01] [ 7.63341279e-04 7.59699179e-03 9.99970851e-01 1.16356168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72255784400005 meters Centerline goodness [0,1] 0.25164895365399365 Centerline is valid? [False, False] Translation: X:6.44, Y:0.27, Z:1.17 [[ 9.99993244e-01 5.85401077e-04 -3.62902864e-03 6.43556355e+00] [-6.12171493e-04 9.99972580e-01 -7.38002755e-03 2.68152631e-01] [ 3.62460886e-03 7.38219927e-03 9.99966182e-01 1.16503963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7525578440001 meters Centerline goodness [0,1] 0.24545160246034314 Centerline is valid? [False, False] Translation: X:6.46, Y:0.27, Z:1.17 [[ 9.99965518e-01 -7.39929084e-03 -3.76999315e-03 6.45636648e+00] [ 7.37394976e-03 9.99950420e-01 -6.69192103e-03 2.72552668e-01] [ 3.81932170e-03 6.66389054e-03 9.99970502e-01 1.16610901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78255784400005 meters Centerline goodness [0,1] 0.2514759260069095 Centerline is valid? [False, False] Translation: X:6.44, Y:0.27, Z:1.17 [[ 9.99988569e-01 9.78286176e-04 -4.68015764e-03 6.43560176e+00] [-1.01334477e-03 9.99971403e-01 -7.49440370e-03 2.69326113e-01] [ 4.67269213e-03 7.49906065e-03 9.99960964e-01 1.16528914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8125578440001 meters Centerline goodness [0,1] 0.2473567419396946 Centerline is valid? [False, False] Translation: X:6.44, Y:0.27, Z:1.16 [[ 9.99987908e-01 9.67642729e-04 -4.82158469e-03 6.43615093e+00] [-1.00495183e-03 9.99969529e-01 -7.74152772e-03 2.71127037e-01] [ 4.81394673e-03 7.74627957e-03 9.99958410e-01 1.16495360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84255784400005 meters Centerline goodness [0,1] 0.2577630121816168 Centerline is valid? [False, False] Translation: X:6.39, Y:0.27, Z:1.17 [[ 9.99971577e-01 1.31253304e-03 -7.42445128e-03 6.39088618e+00] [-1.36568619e-03 9.99973444e-01 -7.15866924e-03 2.73529460e-01] [ 7.41485812e-03 7.16860524e-03 9.99946814e-01 1.16590881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8725578440001 meters Centerline goodness [0,1] 0.24838807391059758 Centerline is valid? [False, False] Translation: X:6.43, Y:0.27, Z:1.17 [[ 9.99981069e-01 2.38747585e-03 -5.67111950e-03 6.43412827e+00] [-2.42654269e-03 9.99973307e-01 -6.89187158e-03 2.74608550e-01] [ 5.65451394e-03 6.90550232e-03 9.99960169e-01 1.16629738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90255784400006 meters Centerline goodness [0,1] 0.2487519891875395 Centerline is valid? [False, False] Translation: X:6.43, Y:0.28, Z:1.17 [[ 9.99981963e-01 2.27920220e-03 -5.55679418e-03 6.43371440e+00] [-2.31959510e-03 9.99970857e-01 -7.27352700e-03 2.76652191e-01] [ 5.54005440e-03 7.28628532e-03 9.99958108e-01 1.16658203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.93255784400003 meters Centerline goodness [0,1] 0.2514464118070868 Centerline is valid? [False, False] Translation: X:6.43, Y:0.28, Z:1.17 [[ 9.99982396e-01 2.15087499e-03 -5.53004198e-03 6.43353420e+00] [-2.19336749e-03 9.99968031e-01 -7.68938995e-03 2.78714121e-01] [ 5.51332627e-03 7.70138400e-03 9.99955145e-01 1.16684840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96255784400006 meters Centerline goodness [0,1] 0.24862741693973656 Centerline is valid? [False, False] Translation: X:6.43, Y:0.28, Z:1.17 [[ 9.99981848e-01 1.96855647e-03 -5.69467021e-03 6.43407101e+00] [-2.01615137e-03 9.99962987e-01 -8.36416434e-03 2.82323403e-01] [ 5.67799411e-03 8.37549383e-03 9.99948804e-01 1.16667507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99255784400003 meters Centerline goodness [0,1] 0.2518809290153745 Centerline is valid? [False, False] Translation: X:6.43, Y:0.28, Z:1.17 [[ 9.99982242e-01 1.89838010e-03 -5.64907935e-03 6.43395307e+00] [-1.94733374e-03 9.99960493e-01 -8.67292719e-03 2.84182183e-01] [ 5.63239166e-03 8.68377382e-03 9.99946433e-01 1.16669805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02255784400006 meters Centerline goodness [0,1] 0.24983667958712596 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99982746e-01 1.80036433e-03 -5.59155230e-03 6.43376558e+00] [-1.85053008e-03 9.99957971e-01 -8.97952578e-03 2.85856188e-01] [ 5.57515088e-03 8.98971819e-03 9.99944050e-01 1.16684606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05255784400003 meters Centerline goodness [0,1] 0.24646587479099258 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99982808e-01 1.48784831e-03 -5.67190254e-03 6.43382189e+00] [-1.54247976e-03 9.99952347e-01 -9.63976942e-03 2.88704118e-01] [ 5.65728974e-03 9.64835248e-03 9.99937450e-01 1.16709658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08255784400006 meters Centerline goodness [0,1] 0.24909550586286566 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99982173e-01 1.34558253e-03 -5.81751475e-03 6.43427186e+00] [-1.40351903e-03 9.99949349e-01 -9.96639202e-03 2.90335738e-01] [ 5.80380948e-03 9.97437934e-03 9.99933412e-01 1.16693414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11255784400004 meters Centerline goodness [0,1] 0.24796818636185836 Centerline is valid? [False, False] Translation: X:6.43, Y:0.29, Z:1.17 [[ 9.99981110e-01 1.23025173e-03 -6.02211798e-03 6.43491513e+00] [-1.29200315e-03 9.99946520e-01 -1.02609752e-02 2.91923051e-01] [ 6.00917233e-03 1.02685620e-02 9.99929221e-01 1.16669319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14255784400007 meters Centerline goodness [0,1] 0.24641765483752087 Centerline is valid? [False, False] Translation: X:6.44, Y:0.29, Z:1.17 [[ 9.99980498e-01 1.09920512e-03 -6.14781973e-03 6.43529671e+00] [-1.16396225e-03 9.99943778e-01 -1.05397086e-02 2.93386210e-01] [ 6.13588879e-03 1.05466589e-02 9.99925557e-01 1.16654323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17255784400004 meters Centerline goodness [0,1] 0.24722216158396826 Centerline is valid? [False, False] Translation: X:6.43, Y:0.30, Z:1.17 [[ 9.99981737e-01 7.83093019e-04 -5.99278126e-03 6.43449109e+00] [-8.49078101e-04 9.99938960e-01 -1.10161496e-02 2.95198803e-01] [ 5.98378879e-03 1.10210367e-02 9.99921362e-01 1.16730688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20255784400007 meters Centerline goodness [0,1] 0.24821661591996524 Centerline is valid? [False, False] Translation: X:6.43, Y:0.30, Z:1.17 [[ 9.99982685e-01 6.32189914e-04 -5.85058192e-03 6.43387228e+00] [-6.97596892e-04 9.99937211e-01 -1.11842882e-02 2.95579345e-01] [ 5.84314397e-03 1.11881759e-02 9.99920338e-01 1.16773808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.23255784400004 meters Centerline goodness [0,1] 0.25145336225596526 Centerline is valid? [False, False] Translation: X:6.43, Y:0.30, Z:1.17 [[ 9.99983496e-01 5.46461277e-04 -5.71926298e-03 6.43328827e+00] [-6.11058587e-04 9.99935977e-01 -1.12990452e-02 2.96116765e-01] [ 5.71272232e-03 1.13023535e-02 9.99919808e-01 1.16811411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26255784400007 meters Centerline goodness [0,1] 0.25209550697043315 Centerline is valid? [False, False] Translation: X:6.41, Y:0.30, Z:1.17 [[ 9.99954097e-01 -7.63413801e-03 -5.79003092e-03 6.41319828e+00] [ 7.57583971e-03 9.99921053e-01 -1.00247063e-02 3.03012324e-01] [ 5.86610381e-03 9.98038180e-03 9.99932988e-01 1.16680099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.29255784400004 meters Centerline goodness [0,1] 0.2507529791784888 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.17 [[ 9.99971824e-01 -4.76660164e-03 -5.79925745e-03 6.41312098e+00] [ 4.72525816e-03 9.99963474e-01 -7.12203440e-03 3.05184971e-01] [ 5.83299352e-03 7.09443074e-03 9.99957822e-01 1.16687920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3225578440001 meters Centerline goodness [0,1] 0.24856166457585327 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.17 [[ 9.99970697e-01 -4.91528387e-03 -5.86894123e-03 6.41324541e+00] [ 4.87206988e-03 9.99961083e-01 -7.35489763e-03 3.06006018e-01] [ 5.90486424e-03 7.32608822e-03 9.99955730e-01 1.16697454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.35255784400005 meters Centerline goodness [0,1] 0.25059317790983693 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.17 [[ 9.99970397e-01 -5.01471900e-03 -5.83594929e-03 6.41314160e+00] [ 4.97085318e-03 9.99959468e-01 -7.50687148e-03 3.06515741e-01] [ 5.87335760e-03 7.47763961e-03 9.99954793e-01 1.16699016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3825578440001 meters Centerline goodness [0,1] 0.24854068653075445 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.17 [[ 9.99970791e-01 -5.06320270e-03 -5.72552217e-03 6.41279845e+00] [ 5.01948969e-03 9.99958342e-01 -7.62353272e-03 3.07155519e-01] [ 5.76388315e-03 7.59457084e-03 9.99954549e-01 1.16710615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.41255784400005 meters Centerline goodness [0,1] 0.2437827013758801 Centerline is valid? [False, False] Translation: X:6.43, Y:0.31, Z:1.17 [[ 9.99908533e-01 -1.27971685e-02 -4.37694214e-03 6.43191767e+00] [ 1.27701841e-02 9.99899616e-01 -6.13848101e-03 3.11607065e-01] [ 4.45505794e-03 6.08202519e-03 9.99971580e-01 1.16856358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4425578440001 meters Centerline goodness [0,1] 0.25036355349119876 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.17 [[ 9.99983845e-01 -4.44179598e-03 -3.54691350e-03 6.41012952e+00] [ 4.41610452e-03 9.99964194e-01 -7.21860374e-03 3.10434557e-01] [ 3.57885007e-03 7.20282358e-03 9.99967655e-01 1.16708260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.47255784400005 meters Centerline goodness [0,1] 0.24653697839246858 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.17 [[ 9.99982585e-01 -4.56320115e-03 -3.74244751e-03 6.41067589e+00] [ 4.53540042e-03 9.99962307e-01 -7.40363393e-03 3.10875731e-01] [ 3.77609072e-03 7.38653150e-03 9.99965590e-01 1.16692530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5025578440001 meters Centerline goodness [0,1] 0.2505589441924071 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.17 [[ 9.99981491e-01 -4.62580338e-03 -3.95228848e-03 6.41122755e+00] [ 4.59597281e-03 9.99961135e-01 -7.52370743e-03 3.11361377e-01] [ 3.98693807e-03 7.50540356e-03 9.99963886e-01 1.16685153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53255784400005 meters Centerline goodness [0,1] 0.24864607252718685 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.17 [[ 9.99979487e-01 -4.64562336e-03 -4.40959748e-03 6.41297247e+00] [ 4.61139194e-03 9.99959400e-01 -7.74161432e-03 3.13163345e-01] [ 4.44538307e-03 7.72112113e-03 9.99960311e-01 1.16586025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5625578440001 meters Centerline goodness [0,1] 0.24971712072417096 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.17 [[ 9.99978313e-01 -4.69816220e-03 -4.61530656e-03 6.41389755e+00] [ 4.66168564e-03 9.99958066e-01 -7.88260733e-03 3.13841997e-01] [ 4.65214679e-03 7.86092127e-03 9.99958281e-01 1.16517878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59255784400005 meters Centerline goodness [0,1] 0.2539945865712041 Centerline is valid? [False, False] Translation: X:6.41, Y:0.31, Z:1.16 [[ 9.99977623e-01 -4.76613206e-03 -4.69450303e-03 6.41428245e+00] [ 4.72828369e-03 9.99956495e-01 -8.04064375e-03 3.14476353e-01] [ 4.73262156e-03 8.01826688e-03 9.99956654e-01 1.16484228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6225578440001 meters Centerline goodness [0,1] 0.24514436833434494 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.16 [[ 9.99976846e-01 -4.84166995e-03 -4.78190175e-03 6.41447588e+00] [ 4.80236104e-03 9.99954865e-01 -8.19790480e-03 3.15105996e-01] [ 4.82137746e-03 8.17475056e-03 9.99954963e-01 1.16485880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65255784400006 meters Centerline goodness [0,1] 0.25053286354343385 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.16 [[ 9.99976085e-01 -4.88803170e-03 -4.89250023e-03 6.41482884e+00] [ 4.84701184e-03 9.99953297e-01 -8.36126333e-03 3.16154733e-01] [ 4.93314185e-03 8.33734937e-03 9.99953075e-01 1.16471120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68255784400003 meters Centerline goodness [0,1] 0.24845672350528814 Centerline is valid? [False, False] Translation: X:6.42, Y:0.32, Z:1.16 [[ 9.99974123e-01 -4.96312038e-03 -5.20769453e-03 6.41575173e+00] [ 4.91772223e-03 9.99950110e-01 -8.69440290e-03 3.18381372e-01] [ 5.25058609e-03 8.66856792e-03 9.99948642e-01 1.16450856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.71255784400006 meters Centerline goodness [0,1] 0.25124459227374507 Centerline is valid? [False, False] Translation: X:6.42, Y:0.32, Z:1.16 [[ 9.99973553e-01 -5.09599455e-03 -5.18893106e-03 6.41574150e+00] [ 5.04887126e-03 9.99946261e-01 -9.05445935e-03 3.20131951e-01] [ 5.23479369e-03 9.02802164e-03 9.99945544e-01 1.16449993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74255784400003 meters Centerline goodness [0,1] 0.24380424666132772 Centerline is valid? [False, False] Translation: X:6.42, Y:0.32, Z:1.16 [[ 9.99972811e-01 -5.23674692e-03 -5.19163448e-03 6.41581752e+00] [ 5.18784005e-03 9.99942461e-01 -9.38945219e-03 3.21745792e-01] [ 5.24050594e-03 9.36226353e-03 9.99942441e-01 1.16438937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77255784400006 meters Centerline goodness [0,1] 0.24557777245925894 Centerline is valid? [False, False] Translation: X:6.42, Y:0.32, Z:1.16 [[ 9.99971061e-01 -5.47988386e-03 -5.27706298e-03 6.41626859e+00] [ 5.42685256e-03 9.99935154e-01 -1.00118196e-02 3.24899752e-01] [ 5.33158440e-03 9.98289200e-03 9.99935956e-01 1.16402988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80255784400003 meters Centerline goodness [0,1] 0.25045372050816694 Centerline is valid? [False, False] Translation: X:6.42, Y:0.33, Z:1.16 [[ 9.99982683e-01 -2.53989934e-03 -5.30876967e-03 6.41632576e+00] [ 2.50310991e-03 9.99972888e-01 -6.92512960e-03 3.25592551e-01] [ 5.32621487e-03 6.91172125e-03 9.99961929e-01 1.16391427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83255784400006 meters Centerline goodness [0,1] 0.24635859198890242 Centerline is valid? [False, False] Translation: X:6.44, Y:0.33, Z:1.17 [[ 9.99929687e-01 -1.06666643e-02 -5.18109769e-03 6.43701707e+00] [ 1.06372872e-02 9.99927376e-01 -5.66488361e-03 3.29527919e-01] [ 5.24114683e-03 5.60937247e-03 9.99970532e-01 1.16535101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86255784400004 meters Centerline goodness [0,1] 0.2495273280452026 Centerline is valid? [False, False] Translation: X:6.44, Y:0.33, Z:1.17 [[ 9.99929132e-01 -1.07401261e-02 -5.13622182e-03 6.43688568e+00] [ 1.07108147e-02 9.99926388e-01 -5.70067599e-03 3.29529536e-01] [ 5.19706971e-03 5.64525888e-03 9.99970560e-01 1.16532765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.89255784400007 meters Centerline goodness [0,1] 0.24602047840302876 Centerline is valid? [False, False] Translation: X:6.46, Y:0.32, Z:1.17 [[ 9.99983293e-01 -3.45414549e-03 -4.63496672e-03 6.45568581e+00] [ 3.42097349e-03 9.99968616e-01 -7.14584536e-03 3.23707264e-01] [ 4.65950405e-03 7.12986987e-03 9.99963726e-01 1.16642632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92255784400004 meters Centerline goodness [0,1] 0.25104638995465645 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99963862e-01 -4.59949206e-03 -7.14981130e-03 6.40953793e+00] [ 4.54136161e-03 9.99956676e-01 -8.12542989e-03 3.25173593e-01] [ 7.18687439e-03 8.09266638e-03 9.99941427e-01 1.16755024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95255784400007 meters Centerline goodness [0,1] 0.2519758758083128 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.17 [[ 9.99961862e-01 -4.79288980e-03 -7.30086707e-03 6.41019633e+00] [ 4.73525048e-03 9.99957648e-01 -7.89179141e-03 3.23472082e-01] [ 7.33838235e-03 7.85691900e-03 9.99942207e-01 1.16686538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98255784400004 meters Centerline goodness [0,1] 0.25015781797601166 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.17 [[ 9.99962329e-01 -4.72081145e-03 -7.28379727e-03 6.41032523e+00] [ 4.66487900e-03 9.99959650e-01 -7.67699808e-03 3.22653298e-01] [ 7.31974504e-03 7.64273085e-03 9.99944003e-01 1.16655753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01255784400007 meters Centerline goodness [0,1] 0.25015781797601166 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.17 [[ 9.99962329e-01 -4.72081145e-03 -7.28379727e-03 6.41032523e+00] [ 4.66487900e-03 9.99959650e-01 -7.67699808e-03 3.22653298e-01] [ 7.31974504e-03 7.64273085e-03 9.99944003e-01 1.16655753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04255784400004 meters Centerline goodness [0,1] 0.2496578690127077 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.17 [[ 9.99963444e-01 -4.67215800e-03 -7.16110270e-03 6.40994587e+00] [ 4.61864217e-03 9.99961421e-01 -7.47153410e-03 3.21544643e-01] [ 7.19573462e-03 7.43818640e-03 9.99946446e-01 1.16661703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0725578440001 meters Centerline goodness [0,1] 0.25314615518139216 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.17 [[ 9.99964556e-01 -4.73257486e-03 -6.96343067e-03 6.40911158e+00] [ 4.68133936e-03 9.99961988e-01 -7.35578945e-03 3.20153593e-01] [ 6.99797780e-03 7.32293055e-03 9.99948700e-01 1.16714658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10255784400005 meters Centerline goodness [0,1] 0.2551798151474003 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.17 [[ 9.99964883e-01 -4.73765857e-03 -6.91288020e-03 6.40880125e+00] [ 4.68622070e-03 9.99961356e-01 -7.43819508e-03 3.20744776e-01] [ 6.94785269e-03 7.40553859e-03 9.99948441e-01 1.16747777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1325578440001 meters Centerline goodness [0,1] 0.2504602854853033 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.17 [[ 9.99965638e-01 -4.69518231e-03 -6.83210509e-03 6.40838164e+00] [ 4.64363195e-03 9.99960779e-01 -7.54171260e-03 3.21825380e-01] [ 6.86724684e-03 7.50972767e-03 9.99948221e-01 1.16785696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16255784400005 meters Centerline goodness [0,1] 0.2514937533948941 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.17 [[ 9.99966176e-01 -4.71796730e-03 -6.73707043e-03 6.40794706e+00] [ 4.66568752e-03 9.99959047e-01 -7.75476053e-03 3.23266138e-01] [ 6.77338123e-03 7.72306517e-03 9.99947236e-01 1.16827901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1925578440001 meters Centerline goodness [0,1] 0.24616480031069976 Centerline is valid? [False, False] Translation: X:6.41, Y:0.32, Z:1.17 [[ 9.99966486e-01 -4.75323572e-03 -6.66587851e-03 6.40765966e+00] [ 4.70013503e-03 9.99957279e-01 -7.95921311e-03 3.24475076e-01] [ 6.70342575e-03 7.92761583e-03 9.99946107e-01 1.16850532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22255784400005 meters Centerline goodness [0,1] 0.2525289881871777 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99968156e-01 -4.88844456e-03 -6.30788078e-03 6.40647585e+00] [ 4.83530012e-03 9.99952919e-01 -8.41301047e-03 3.26599169e-01] [ 6.34871034e-03 8.38224207e-03 9.99944714e-01 1.16911767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2525578440001 meters Centerline goodness [0,1] 0.25190076899682845 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99968253e-01 -4.97588644e-03 -6.22356034e-03 6.40598782e+00] [ 4.92190130e-03 9.99950390e-01 -8.65976153e-03 3.27795248e-01] [ 6.26634158e-03 8.62885486e-03 9.99943136e-01 1.16959157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28255784400005 meters Centerline goodness [0,1] 0.2514591967366069 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99967990e-01 -5.03668116e-03 -6.21691451e-03 6.40583096e+00] [ 4.98144800e-03 9.99948270e-01 -8.86807460e-03 3.29006778e-01] [ 6.26125857e-03 8.83682150e-03 9.99941352e-01 1.16983182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3125578440001 meters Centerline goodness [0,1] 0.25210011258335496 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99976913e-01 -2.15353971e-03 -6.44485840e-03 6.40637330e+00] [ 2.11585918e-03 9.99980663e-01 -5.84772200e-03 3.29362668e-01] [ 6.45732709e-03 5.83395058e-03 9.99962133e-01 1.16968854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34255784400005 meters Centerline goodness [0,1] 0.255598607736258 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99975171e-01 -2.20763697e-03 -6.69206669e-03 6.40724147e+00] [ 2.16739075e-03 9.99979559e-01 -6.01531846e-03 3.30390185e-01] [ 6.70520954e-03 6.00066478e-03 9.99959515e-01 1.16924855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3725578440001 meters Centerline goodness [0,1] 0.24997279355751445 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99972989e-01 -2.31902388e-03 -6.97450885e-03 6.40824446e+00] [ 2.27546378e-03 9.99977898e-01 -6.24708003e-03 3.31729992e-01] [ 6.98884183e-03 6.23104105e-03 9.99956164e-01 1.16869759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40255784400006 meters Centerline goodness [0,1] 0.24870128458712804 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99972331e-01 -2.36986459e-03 -7.05127967e-03 6.40860591e+00] [ 2.32529843e-03 9.99977314e-01 -6.32179391e-03 3.32076247e-01] [ 7.06610150e-03 6.30522267e-03 9.99955156e-01 1.16835845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.43255784400003 meters Centerline goodness [0,1] 0.24786214045089405 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99970622e-01 -2.41179107e-03 -7.27590093e-03 6.40940882e+00] [ 2.36598917e-03 9.99977374e-01 -6.29706775e-03 3.31818252e-01] [ 7.29092352e-03 6.27966806e-03 9.99953703e-01 1.16789511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46255784400006 meters Centerline goodness [0,1] 0.2505816608319381 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99965850e-01 -2.70863995e-03 -7.80782271e-03 6.41110583e+00] [ 2.65982047e-03 9.99976892e-01 -6.25625359e-03 3.30340571e-01] [ 7.82458823e-03 6.23527253e-03 9.99949947e-01 1.16704833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49255784400003 meters Centerline goodness [0,1] 0.25104939211379107 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99966631e-01 -2.69715664e-03 -7.71121062e-03 6.41085972e+00] [ 2.65040795e-03 9.99978088e-01 -6.06623803e-03 3.29105335e-01] [ 7.72740325e-03 6.04559775e-03 9.99951868e-01 1.16698802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52255784400006 meters Centerline goodness [0,1] 0.249603820688158 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99967083e-01 -2.63631676e-03 -7.67354672e-03 6.41057222e+00] [ 2.59132521e-03 9.99979430e-01 -5.86725056e-03 3.28088284e-01] [ 7.68885681e-03 5.84717277e-03 9.99953345e-01 1.16725781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55255784400003 meters Centerline goodness [0,1] 0.2477292387543253 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99968024e-01 -2.58638329e-03 -7.56716558e-03 6.41013815e+00] [ 2.54271248e-03 9.99980092e-01 -5.77503216e-03 3.27847246e-01] [ 7.58195138e-03 5.75560637e-03 9.99954692e-01 1.16751905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58255784400006 meters Centerline goodness [0,1] 0.25621945312843997 Centerline is valid? [False, False] Translation: X:6.36, Y:0.33, Z:1.17 [[ 9.99953284e-01 -1.69608211e-03 -9.51593433e-03 6.36274016e+00] [ 1.64597801e-03 9.99984755e-01 -5.27064837e-03 3.31747858e-01] [ 9.52472871e-03 5.25473913e-03 9.99940832e-01 1.16908381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61255784400004 meters Centerline goodness [0,1] 0.2453723726321253 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99971036e-01 -1.35856890e-03 -7.48873791e-03 6.40621510e+00] [ 1.32270157e-03 9.99987642e-01 -4.79237626e-03 3.28778219e-01] [ 7.49515614e-03 4.78233209e-03 9.99960475e-01 1.16942915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64255784400007 meters Centerline goodness [0,1] 0.25017444395987787 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99968874e-01 -1.28493224e-03 -7.78462636e-03 6.40697289e+00] [ 1.24449683e-03 9.99985722e-01 -5.19688435e-03 3.31625831e-01] [ 7.79119285e-03 5.18703465e-03 9.99956195e-01 1.16949587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67255784400004 meters Centerline goodness [0,1] 0.2454606444910944 Centerline is valid? [False, False] Translation: X:6.41, Y:0.33, Z:1.17 [[ 9.99966125e-01 -1.29255208e-03 -8.12889256e-03 6.40788646e+00] [ 1.24764963e-03 9.99983951e-01 -5.52645644e-03 3.33810815e-01] [ 8.13590533e-03 5.51612722e-03 9.99951689e-01 1.16944424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70255784400007 meters Centerline goodness [0,1] 0.2516449166065534 Centerline is valid? [False, False] Translation: X:6.41, Y:0.34, Z:1.17 [[ 9.99965178e-01 -1.35524558e-03 -8.23444243e-03 6.40813882e+00] [ 1.30663977e-03 9.99981710e-01 -5.90525974e-03 3.36105221e-01] [ 8.24229490e-03 5.89429466e-03 9.99948660e-01 1.16951965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73255784400004 meters Centerline goodness [0,1] 0.24813072971977201 Centerline is valid? [False, False] Translation: X:6.41, Y:0.34, Z:1.17 [[ 9.99968064e-01 -1.40240421e-03 -7.86798267e-03 6.40694593e+00] [ 1.35017797e-03 9.99977049e-01 -6.63920726e-03 3.40950065e-01] [ 7.87711294e-03 6.62837205e-03 9.99947006e-01 1.17015684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76255784400007 meters Centerline goodness [0,1] 0.24807955954997496 Centerline is valid? [False, False] Translation: X:6.41, Y:0.34, Z:1.17 [[ 9.99968256e-01 -1.54816037e-03 -7.81606702e-03 6.40654519e+00] [ 1.49274640e-03 9.99973747e-01 -7.09061326e-03 3.43290261e-01] [ 7.82683923e-03 7.07872076e-03 9.99944315e-01 1.17071020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79255784400004 meters Centerline goodness [0,1] 0.2497447372422933 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.17 [[ 9.99968716e-01 -1.67104286e-03 -7.73135605e-03 6.40631525e+00] [ 1.61323391e-03 9.99970742e-01 -7.47741190e-03 3.45345671e-01] [ 7.74362492e-03 7.46470549e-03 9.99942156e-01 1.17077253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8225578440001 meters Centerline goodness [0,1] 0.25120097825137566 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.17 [[ 9.99967673e-01 -1.77247719e-03 -7.84295907e-03 6.40680718e+00] [ 1.71133632e-03 9.99968150e-01 -7.79549323e-03 3.47083886e-01] [ 7.85652661e-03 7.78181928e-03 9.99938857e-01 1.17046075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85255784400005 meters Centerline goodness [0,1] 0.25135801391827917 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.17 [[ 9.99966323e-01 -1.81971255e-03 -8.00265379e-03 6.40739008e+00] [ 1.75599344e-03 9.99966760e-01 -7.96207971e-03 3.48095731e-01] [ 8.01687648e-03 7.94775896e-03 9.99936279e-01 1.17015152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8825578440001 meters Centerline goodness [0,1] 0.2502062795848352 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.17 [[ 9.99967677e-01 -1.92518564e-03 -7.80628969e-03 6.40658597e+00] [ 1.86111049e-03 9.99964589e-01 -8.20711714e-03 3.49427992e-01] [ 7.82181349e-03 8.19232350e-03 9.99935850e-01 1.17064925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91255784400005 meters Centerline goodness [0,1] 0.25005964645916934 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.17 [[ 9.99968410e-01 -1.98140691e-03 -7.69760769e-03 6.40591476e+00] [ 1.91691919e-03 9.99963083e-01 -8.37599531e-03 3.50351871e-01] [ 7.71391977e-03 8.36097502e-03 9.99935293e-01 1.17135797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9425578440001 meters Centerline goodness [0,1] 0.2518573389398462 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.17 [[ 9.99967858e-01 -2.04499524e-03 -7.75247850e-03 6.40583598e+00] [ 1.97833162e-03 9.99961089e-01 -8.59694511e-03 3.51495554e-01] [ 7.76975756e-03 8.58133182e-03 9.99932994e-01 1.17178642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97255784400005 meters Centerline goodness [0,1] 0.25187357445421965 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.17 [[ 9.99966698e-01 -2.13270663e-03 -7.87752050e-03 6.40619043e+00] [ 2.06268129e-03 9.99958385e-01 -8.88671538e-03 3.52907243e-01] [ 7.89614543e-03 8.87017061e-03 9.99929483e-01 1.17178932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0025578440001 meters Centerline goodness [0,1] 0.2455305216904321 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.17 [[ 9.99965132e-01 -2.26402048e-03 -8.03800659e-03 6.40669193e+00] [ 2.18963898e-03 9.99954816e-01 -9.25049583e-03 3.54478547e-01] [ 8.05858671e-03 9.23257295e-03 9.99924907e-01 1.17164310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03255784400005 meters Centerline goodness [0,1] 0.2540369967355821 Centerline is valid? [False, False] Translation: X:6.41, Y:0.36, Z:1.17 [[ 9.99965950e-01 -2.42864734e-03 -7.88671612e-03 6.40616938e+00] [ 2.35128849e-03 9.99949183e-01 -9.80325492e-03 3.57047334e-01] [ 7.91012398e-03 9.78437718e-03 9.99920845e-01 1.17200160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0625578440001 meters Centerline goodness [0,1] 0.25281216069489687 Centerline is valid? [False, False] Translation: X:6.40, Y:0.36, Z:1.17 [[ 9.99971653e-01 7.04755841e-04 -7.49638288e-03 6.40490777e+00] [-7.54573103e-04 9.99977639e-01 -6.64475556e-03 3.57172506e-01] [ 7.49153232e-03 6.65022377e-03 9.99949824e-01 1.17236068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09255784400005 meters Centerline goodness [0,1] 0.250542017171104 Centerline is valid? [False, False] Translation: X:6.41, Y:0.36, Z:1.17 [[ 9.99970864e-01 6.29035464e-04 -7.60760272e-03 6.40502209e+00] [-6.81834078e-04 9.99975688e-01 -6.93964227e-03 3.58882991e-01] [ 7.60305248e-03 6.94462720e-03 9.99946981e-01 1.17264120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1225578440001 meters Centerline goodness [0,1] 0.25324138531152107 Centerline is valid? [False, False] Translation: X:6.41, Y:0.36, Z:1.17 [[ 9.99969181e-01 5.22413328e-04 -7.83356621e-03 6.40553799e+00] [-5.79449409e-04 9.99973329e-01 -7.28048435e-03 3.60778896e-01] [ 7.82955385e-03 7.28479912e-03 9.99942813e-01 1.17276199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15255784400006 meters Centerline goodness [0,1] 0.2511279178745014 Centerline is valid? [False, False] Translation: X:6.41, Y:0.36, Z:1.17 [[ 9.99965053e-01 3.97672356e-04 -8.35075832e-03 6.40700769e+00] [-4.63065872e-04 9.99969235e-01 -7.83037474e-03 3.64097303e-01] [ 8.34738748e-03 7.83396804e-03 9.99934473e-01 1.17245596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18255784400003 meters Centerline goodness [0,1] 0.2544943452964633 Centerline is valid? [False, False] Translation: X:6.41, Y:0.37, Z:1.17 [[ 9.99964190e-01 2.92828531e-04 -8.45774328e-03 6.40734111e+00] [-3.61920518e-04 9.99966570e-01 -8.16870567e-03 3.65950090e-01] [ 8.45506850e-03 8.17147417e-03 9.99930867e-01 1.17235706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21255784400006 meters Centerline goodness [0,1] 0.25131209303338486 Centerline is valid? [False, False] Translation: X:6.41, Y:0.37, Z:1.17 [[ 9.99964283e-01 1.59903225e-04 -8.45033371e-03 6.40743620e+00] [-2.32182866e-04 9.99963394e-01 -8.55317709e-03 3.67957909e-01] [ 8.44865670e-03 8.55483361e-03 9.99927715e-01 1.17221883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24255784400003 meters Centerline goodness [0,1] 0.24892027295499697 Centerline is valid? [False, False] Translation: X:6.43, Y:0.37, Z:1.17 [[ 0.99993576 -0.00785647 -0.00817003 6.42719961] [ 0.00779505 0.99994132 -0.00752312 0.37410431] [ 0.00822865 0.00745895 0.99993832 1.17366695] [ 0. 0. 0. 1. ]] SLAMing on 438.27255784400006 meters Centerline goodness [0,1] 0.2534887790367033 Centerline is valid? [False, False] Translation: X:6.40, Y:0.37, Z:1.17 [[ 9.99962846e-01 1.25481712e-03 -8.52831447e-03 6.40479911e+00] [-1.32640948e-03 9.99963888e-01 -8.39420145e-03 3.74711847e-01] [ 8.51747331e-03 8.40520161e-03 9.99928400e-01 1.17310327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30255784400003 meters Centerline goodness [0,1] 0.25093470133031914 Centerline is valid? [False, False] Translation: X:6.42, Y:0.39, Z:1.18 [[ 9.99932447e-01 -5.25104699e-03 -1.03696062e-02 6.42326647e+00] [ 5.17574697e-03 9.99960141e-01 -7.27514227e-03 3.86231463e-01] [ 1.04073950e-02 7.22098035e-03 9.99919769e-01 1.17620318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33255784400006 meters Centerline goodness [0,1] 0.2566083415868824 Centerline is valid? [False, False] Translation: X:6.40, Y:0.39, Z:1.18 [[ 9.99926074e-01 3.90760887e-03 -1.15142253e-02 6.40127338e+00] [-4.00108668e-03 9.99959136e-01 -8.10664277e-03 3.87632567e-01] [ 1.14820772e-02 8.15211289e-03 9.99900848e-01 1.17591073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36255784400004 meters Centerline goodness [0,1] 0.2498484192291035 Centerline is valid? [False, False] Translation: X:6.42, Y:0.39, Z:1.18 [[ 9.99931342e-01 -2.66997365e-03 -1.14097590e-02 6.42435435e+00] [ 2.60669539e-03 9.99981161e-01 -5.55725429e-03 3.91535867e-01] [ 1.14243818e-02 5.52713098e-03 9.99919464e-01 1.17570577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.39255784400007 meters Centerline goodness [0,1] 0.2474950553152644 Centerline is valid? [False, False] Translation: X:6.42, Y:0.40, Z:1.18 [[ 9.99928867e-01 -2.94859916e-03 -1.15571455e-02 6.42481066e+00] [ 2.87675106e-03 9.99976465e-01 -6.22847014e-03 3.95095582e-01] [ 1.15752388e-02 6.19478006e-03 9.99913816e-01 1.17560975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42255784400004 meters Centerline goodness [0,1] 0.2470122965876429 Centerline is valid? [False, False] Translation: X:6.42, Y:0.40, Z:1.18 [[ 9.99930356e-01 -3.10675178e-03 -1.13855872e-02 6.42444351e+00] [ 3.03450618e-03 9.99975189e-01 -6.35714718e-03 3.95210638e-01] [ 1.14050548e-02 6.32215481e-03 9.99914974e-01 1.17547443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.45255784400007 meters Centerline goodness [0,1] 0.24978438982319962 Centerline is valid? [False, False] Translation: X:6.42, Y:0.39, Z:1.18 [[ 9.99933397e-01 -3.28877393e-03 -1.10628233e-02 6.42367544e+00] [ 3.21800073e-03 9.99974283e-01 -6.40911966e-03 3.94808799e-01] [ 1.10836170e-02 6.37309261e-03 9.99918265e-01 1.17534246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48255784400004 meters Centerline goodness [0,1] 0.24944960069069722 Centerline is valid? [False, False] Translation: X:6.42, Y:0.39, Z:1.18 [[ 9.99936245e-01 -3.36836855e-03 -1.07777607e-02 6.42294387e+00] [ 3.30041025e-03 9.99974601e-01 -6.31700453e-03 3.94023831e-01] [ 1.07987649e-02 6.28103075e-03 9.99921965e-01 1.17529865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.51255784400007 meters Centerline goodness [0,1] 0.25530469092503283 Centerline is valid? [False, False] Translation: X:6.38, Y:0.40, Z:1.18 [[ 9.99902953e-01 -3.35493583e-03 -1.35214478e-02 6.37756019e+00] [ 3.26417200e-03 9.99972032e-01 -6.72907085e-03 3.97274485e-01] [ 1.35436452e-02 6.68428148e-03 9.99885939e-01 1.17589186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54255784400004 meters Centerline goodness [0,1] 0.25579472000348225 Centerline is valid? [False, False] Translation: X:6.38, Y:0.40, Z:1.18 [[ 9.99894122e-01 -3.51727549e-03 -1.41199811e-02 6.37948294e+00] [ 3.42489992e-03 9.99972611e-01 -6.56104647e-03 3.95893671e-01] [ 1.41426714e-02 6.51199227e-03 9.99878782e-01 1.17501716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5725578440001 meters Centerline goodness [0,1] 0.24891765520824316 Centerline is valid? [False, False] Translation: X:6.38, Y:0.40, Z:1.17 [[ 9.99894282e-01 -3.49883038e-03 -1.41132536e-02 6.37953167e+00] [ 3.40824912e-03 9.99973473e-01 -6.43712369e-03 3.95046251e-01] [ 1.41354016e-02 6.38834169e-03 9.99879683e-01 1.17485399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60255784400005 meters Centerline goodness [0,1] 0.2483870271669939 Centerline is valid? [False, False] Translation: X:6.38, Y:0.39, Z:1.18 [[ 9.99895025e-01 -3.46449037e-03 -1.40689658e-02 6.37927123e+00] [ 3.37533213e-03 9.99974104e-01 -6.35603565e-03 3.94624646e-01] [ 1.40906219e-02 6.30788099e-03 9.99880825e-01 1.17508132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6325578440001 meters Centerline goodness [0,1] 0.25138508633884493 Centerline is valid? [False, False] Translation: X:6.38, Y:0.39, Z:1.18 [[ 9.99897250e-01 -3.30141054e-03 -1.39495505e-02 6.37878804e+00] [ 3.21455313e-03 9.99975337e-01 -6.24437924e-03 3.94857303e-01] [ 1.39698217e-02 6.19889606e-03 9.99883202e-01 1.17543384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66255784400005 meters Centerline goodness [0,1] 0.2514378378378378 Centerline is valid? [False, False] Translation: X:6.38, Y:0.39, Z:1.18 [[ 9.99898260e-01 -3.25387044e-03 -1.38882286e-02 6.37858183e+00] [ 3.16776101e-03 9.99975653e-01 -6.21767502e-03 3.94751895e-01] [ 1.39081220e-02 6.17304784e-03 9.99884222e-01 1.17558319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6925578440001 meters Centerline goodness [0,1] 0.26555280618389643 Centerline is valid? [False, False] Translation: X:6.36, Y:0.39, Z:1.17 [[ 9.99882923e-01 5.32458818e-03 -1.43453828e-02 6.35746456e+00] [-5.43245672e-03 9.99957186e-01 -7.49094641e-03 3.91135062e-01] [ 1.43048824e-02 7.56800006e-03 9.99869039e-01 1.17409671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72255784400005 meters Centerline goodness [0,1] 0.25508317929759705 Centerline is valid? [False, False] Translation: X:6.38, Y:0.39, Z:1.18 [[ 9.99890233e-01 -3.17834160e-03 -1.44713236e-02 6.37720330e+00] [ 3.07960161e-03 9.99971863e-01 -6.84032752e-03 3.92355873e-01] [ 1.44926573e-02 6.79501077e-03 9.99871887e-01 1.17546797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7525578440001 meters Centerline goodness [0,1] 0.24865202950437826 Centerline is valid? [False, False] Translation: X:6.38, Y:0.39, Z:1.18 [[ 9.99890508e-01 -3.06819600e-03 -1.44761564e-02 6.37714722e+00] [ 2.97367647e-03 9.99974151e-01 -6.54633836e-03 3.90711980e-01] [ 1.44958677e-02 6.50257418e-03 9.99873785e-01 1.17547945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78255784400005 meters Centerline goodness [0,1] 0.25376655987531394 Centerline is valid? [False, False] Translation: X:6.38, Y:0.39, Z:1.18 [[ 9.99892343e-01 -2.87127197e-03 -1.43895304e-02 6.37676013e+00] [ 2.78397802e-03 9.99977624e-01 -6.08285452e-03 3.88509904e-01] [ 1.44066739e-02 6.04213952e-03 9.99877963e-01 1.17568303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8125578440001 meters Centerline goodness [0,1] 0.25102916512382656 Centerline is valid? [False, False] Translation: X:6.38, Y:0.38, Z:1.18 [[ 9.99898491e-01 -2.52722972e-03 -1.40221660e-02 6.37573188e+00] [ 2.45898306e-03 9.99985059e-01 -4.88216383e-03 3.81824006e-01] [ 1.40342948e-02 4.84718798e-03 9.99889766e-01 1.17564382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84255784400005 meters Centerline goodness [0,1] 0.2548265066527524 Centerline is valid? [False, False] Translation: X:6.38, Y:0.38, Z:1.18 [[ 9.99899277e-01 -2.36148091e-03 -1.39949947e-02 6.37575059e+00] [ 2.30335214e-03 9.99988660e-01 -4.16820459e-03 3.77638765e-01] [ 1.40046792e-02 4.13554936e-03 9.99893377e-01 1.17534404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8725578440001 meters Centerline goodness [0,1] 0.2547507754139181 Centerline is valid? [False, False] Translation: X:6.38, Y:0.37, Z:1.18 [[ 9.99899927e-01 -2.17164317e-03 -1.39792924e-02 6.37569048e+00] [ 2.12435205e-03 9.99991974e-01 -3.39690157e-03 3.73284783e-01] [ 1.39865571e-02 3.36686470e-03 9.99896515e-01 1.17518068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90255784400006 meters Centerline goodness [0,1] 0.25074472218624533 Centerline is valid? [False, False] Translation: X:6.40, Y:0.37, Z:1.18 [[ 9.99851508e-01 -1.07604943e-02 -1.34600475e-02 6.39748847e+00] [ 1.07338487e-02 9.99940289e-01 -2.05028456e-03 3.70806720e-01] [ 1.34813059e-02 1.90550200e-03 9.99907307e-01 1.17585531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.93255784400003 meters Centerline goodness [0,1] 0.25074472218624533 Centerline is valid? [False, False] Translation: X:6.40, Y:0.37, Z:1.18 [[ 9.99851508e-01 -1.07604943e-02 -1.34600475e-02 6.39748847e+00] [ 1.07338487e-02 9.99940289e-01 -2.05028456e-03 3.70806720e-01] [ 1.34813059e-02 1.90550200e-03 9.99907307e-01 1.17585531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96255784400006 meters Centerline goodness [0,1] 0.25194144134345564 Centerline is valid? [False, False] Translation: X:6.38, Y:0.36, Z:1.17 [[ 9.99930982e-01 -2.41229083e-03 -1.14983138e-02 6.37721550e+00] [ 2.39522028e-03 9.99996009e-01 -1.49815330e-03 3.60192813e-01] [ 1.15018819e-02 1.47050891e-03 9.99932770e-01 1.17391711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99255784400003 meters Centerline goodness [0,1] 0.25476383206808284 Centerline is valid? [False, False] Translation: X:6.38, Y:0.36, Z:1.17 [[ 9.99932230e-01 -2.28383427e-03 -1.14157267e-02 6.37672965e+00] [ 2.27047957e-03 9.99996723e-01 -1.18267421e-03 3.58663516e-01] [ 1.14183903e-02 1.15667488e-03 9.99934139e-01 1.17437712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02255784400006 meters Centerline goodness [0,1] 0.2523858876365678 Centerline is valid? [False, False] Translation: X:6.40, Y:0.35, Z:1.18 [[ 9.99933229e-01 5.61096758e-03 -1.01022106e-02 6.39548431e+00] [-5.63275453e-03 9.99981869e-01 -2.12949184e-03 3.51713804e-01] [ 1.00900789e-02 2.18625292e-03 9.99946704e-01 1.17567213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05255784400003 meters Centerline goodness [0,1] 0.25293580375782876 Centerline is valid? [False, False] Translation: X:6.39, Y:0.35, Z:1.18 [[ 9.99937756e-01 5.78941533e-03 -9.53766714e-03 6.39372544e+00] [-5.80673591e-03 9.99981540e-01 -1.78932827e-03 3.50028984e-01] [ 9.52713191e-03 1.84459961e-03 9.99952914e-01 1.17624823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08255784400006 meters Centerline goodness [0,1] 0.2517896922378182 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.18 [[ 9.99952942e-01 -2.55097416e-03 -9.35982780e-03 6.41394770e+00] [ 2.54492799e-03 9.99996545e-01 -6.57823892e-04 3.51029791e-01] [ 9.36147356e-03 6.33972849e-04 9.99955979e-01 1.17736241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11255784400004 meters Centerline goodness [0,1] 0.24531673915852026 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.18 [[ 9.99952644e-01 -2.43178263e-03 -9.42319534e-03 6.41432743e+00] [ 2.42875133e-03 9.99996995e-01 -3.33115052e-04 3.49331700e-01] [ 9.42397708e-03 3.10212679e-04 9.99955545e-01 1.17693454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14255784400007 meters Centerline goodness [0,1] 0.25140174729430176 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.18 [[ 9.99950639e-01 -2.31252892e-03 -9.66288146e-03 6.41498685e+00] [ 2.31255234e-03 9.99997326e-01 -8.74966599e-06 3.47653428e-01] [ 9.66287586e-03 -1.35966850e-05 9.99953313e-01 1.17675948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17255784400004 meters Centerline goodness [0,1] 0.2531021698833279 Centerline is valid? [False, False] Translation: X:6.42, Y:0.35, Z:1.18 [[ 9.99948707e-01 -2.18353912e-03 -9.89016718e-03 6.41553311e+00] [ 2.18648570e-03 9.99997568e-01 2.87128281e-04 3.46342268e-01] [ 9.88951617e-03 -3.08738263e-04 9.99951050e-01 1.17670616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20255784400007 meters Centerline goodness [0,1] 0.24940401369684884 Centerline is valid? [False, False] Translation: X:6.42, Y:0.35, Z:1.18 [[ 9.99946605e-01 -2.05857854e-03 -1.01266922e-02 6.41602711e+00] [ 2.06380768e-03 9.99997742e-01 5.05949174e-04 3.45603494e-01] [ 1.01256278e-02 -5.26821704e-04 9.99948596e-01 1.17681706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23255784400004 meters Centerline goodness [0,1] 0.2488368048006262 Centerline is valid? [False, False] Translation: X:6.42, Y:0.35, Z:1.18 [[ 9.99946832e-01 -1.90476697e-03 -1.01343292e-02 6.41588496e+00] [ 1.91178062e-03 9.99997940e-01 6.82426151e-04 3.45159413e-01] [ 1.01330084e-02 -7.01764482e-04 9.99948414e-01 1.17711912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26255784400007 meters Centerline goodness [0,1] 0.25258356034072726 Centerline is valid? [False, False] Translation: X:6.42, Y:0.35, Z:1.18 [[ 9.99947915e-01 -1.90325285e-03 -1.00271641e-02 6.41543795e+00] [ 1.90903811e-03 9.99998017e-01 5.67419407e-04 3.45806193e-01] [ 1.00260643e-02 -5.86532092e-04 9.99949566e-01 1.17747009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29255784400004 meters Centerline goodness [0,1] 0.2537808926595352 Centerline is valid? [False, False] Translation: X:6.41, Y:0.35, Z:1.18 [[ 9.99949797e-01 -1.86904318e-03 -9.84425885e-03 6.41478730e+00] [ 1.87308716e-03 9.99998165e-01 4.01591301e-04 3.46996462e-01] [ 9.84349020e-03 -4.20010294e-04 9.99951463e-01 1.17786546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3225578440001 meters Centerline goodness [0,1] 0.25336196425472846 Centerline is valid? [False, False] Translation: X:6.42, Y:0.35, Z:1.18 [[ 9.99948476e-01 -1.35094726e-03 -1.00608774e-02 6.41548832e+00] [ 1.35378244e-03 9.99999046e-01 2.74996787e-04 3.49717722e-01] [ 1.00604963e-02 -2.88602857e-04 9.99949350e-01 1.17773259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35255784400005 meters Centerline goodness [0,1] 0.2540963986508541 Centerline is valid? [False, False] Translation: X:6.42, Y:0.35, Z:1.18 [[ 9.99947149e-01 -1.35579510e-03 -1.01911862e-02 6.41582406e+00] [ 1.35504103e-03 9.99999079e-01 -8.08975158e-05 3.51783230e-01] [ 1.01912865e-02 6.70837649e-05 9.99948065e-01 1.17782489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3825578440001 meters Centerline goodness [0,1] 0.25191086928358597 Centerline is valid? [False, False] Translation: X:6.42, Y:0.35, Z:1.18 [[ 9.99944276e-01 -1.34339376e-03 -1.04709432e-02 6.41643207e+00] [ 1.33864345e-03 9.99998998e-01 -4.60661313e-04 3.54123719e-01] [ 1.04715515e-02 4.46618783e-04 9.99945072e-01 1.17799503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41255784400005 meters Centerline goodness [0,1] 0.25521231306625913 Centerline is valid? [False, False] Translation: X:6.39, Y:0.35, Z:1.18 [[ 9.99910056e-01 7.80385707e-03 -1.09077694e-02 6.39476799e+00] [-7.82002999e-03 9.99968385e-01 -1.44083286e-03 3.54774277e-01] [ 1.08961805e-02 1.52600235e-03 9.99939470e-01 1.17720132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4425578440001 meters Centerline goodness [0,1] 0.2535633582478707 Centerline is valid? [False, False] Translation: X:6.39, Y:0.36, Z:1.18 [[ 9.99877139e-01 1.14607654e-02 -1.06937905e-02 6.39423876e+00] [-1.14467855e-02 9.99933548e-01 1.36759067e-03 3.60229425e-01] [ 1.07087535e-02 -1.24501312e-03 9.99941885e-01 1.17747477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47255784400005 meters Centerline goodness [0,1] 0.24830777881101185 Centerline is valid? [False, False] Translation: X:6.41, Y:0.37, Z:1.18 [[ 9.99916900e-01 4.61952707e-03 -1.20355229e-02 6.41270479e+00] [-4.59123482e-03 9.99986634e-01 2.37729983e-03 3.67893357e-01] [ 1.20463441e-02 -2.32184436e-03 9.99924744e-01 1.18003528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5025578440001 meters Centerline goodness [0,1] 0.25399500897508864 Centerline is valid? [False, False] Translation: X:6.39, Y:0.38, Z:1.18 [[ 9.99932602e-01 -2.23533834e-03 -1.13927801e-02 6.39287714e+00] [ 2.27571264e-03 9.99991173e-01 3.53211890e-03 3.77409075e-01] [ 1.13847841e-02 -3.55780753e-03 9.99928862e-01 1.17846536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53255784400005 meters Centerline goodness [0,1] 0.25256615704448004 Centerline is valid? [False, False] Translation: X:6.41, Y:0.38, Z:1.18 [[ 9.99921046e-01 6.22056257e-03 -1.09181892e-02 6.41412912e+00] [-6.19446621e-03 9.99977880e-01 2.42236504e-03 3.77020324e-01] [ 1.09330161e-02 -2.35454143e-03 9.99937461e-01 1.17934846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5625578440001 meters Centerline goodness [0,1] 0.2508421533045009 Centerline is valid? [False, False] Translation: X:6.41, Y:0.38, Z:1.18 [[ 9.99918340e-01 6.21673487e-03 -1.11653645e-02 6.41469405e+00] [-6.19567703e-03 9.99978964e-01 1.91959684e-03 3.80202383e-01] [ 1.11770632e-02 -1.85026309e-03 9.99935823e-01 1.17944900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.59255784400005 meters Centerline goodness [0,1] 0.2527187534052523 Centerline is valid? [False, False] Translation: X:6.41, Y:0.39, Z:1.18 [[ 9.99916270e-01 6.59511841e-03 -1.11335863e-02 6.41453871e+00] [-6.58052975e-03 9.99977442e-01 1.34645486e-03 3.85577223e-01] [ 1.11422152e-02 -1.27307722e-03 9.99937113e-01 1.17967590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6225578440001 meters Centerline goodness [0,1] 0.25310667716811064 Centerline is valid? [False, False] Translation: X:6.41, Y:0.39, Z:1.18 [[ 9.99918413e-01 6.44967854e-03 -1.10258174e-02 6.41406997e+00] [-6.44184222e-03 9.99978973e-01 7.46091519e-04 3.88627314e-01] [ 1.10303977e-02 -6.75004071e-04 9.99938935e-01 1.18005767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65255784400006 meters Centerline goodness [0,1] 0.2496789500032649 Centerline is valid? [False, False] Translation: X:6.41, Y:0.39, Z:1.18 [[ 9.99919301e-01 6.36437766e-03 -1.09948450e-02 6.41387893e+00] [-6.36223455e-03 9.99979734e-01 2.29885604e-04 3.91564707e-01] [ 1.09960853e-02 -1.59915269e-04 9.99939528e-01 1.18027343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68255784400003 meters Centerline goodness [0,1] 0.24732113865136918 Centerline is valid? [False, False] Translation: X:6.41, Y:0.39, Z:1.18 [[ 9.99919341e-01 6.31226419e-03 -1.10211975e-02 6.41387323e+00] [-6.31561508e-03 9.99980020e-01 -2.69262431e-04 3.94672763e-01] [ 1.10192776e-02 3.38846354e-04 9.99939229e-01 1.18039755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71255784400006 meters Centerline goodness [0,1] 0.2636014321893284 Centerline is valid? [False, False] Translation: X:6.42, Y:0.40, Z:1.18 [[ 9.99913109e-01 6.55478833e-03 -1.14372186e-02 6.41505386e+00] [-6.56420105e-03 9.99978147e-01 -7.85644580e-04 3.99469880e-01] [ 1.14318190e-02 8.60652517e-04 9.99934284e-01 1.18013019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74255784400003 meters Centerline goodness [0,1] 0.2531811622720713 Centerline is valid? [False, False] Translation: X:6.42, Y:0.40, Z:1.18 [[ 9.99912284e-01 6.42244908e-03 -1.15834754e-02 6.41545905e+00] [-6.43721923e-03 9.99978514e-01 -1.23827230e-03 4.01878375e-01] [ 1.15752738e-02 1.31272905e-03 9.99932143e-01 1.18003047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77255784400006 meters Centerline goodness [0,1] 0.25616594383843694 Centerline is valid? [False, False] Translation: X:6.42, Y:0.40, Z:1.18 [[ 9.99911562e-01 6.26729823e-03 -1.17298694e-02 6.41584220e+00] [-6.28764732e-03 9.99978790e-01 -1.69873591e-03 4.04135413e-01] [ 1.17189741e-02 1.77233896e-03 9.99929760e-01 1.17999390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80255784400003 meters Centerline goodness [0,1] 0.25271041058910615 Centerline is valid? [False, False] Translation: X:6.43, Y:0.41, Z:1.18 [[ 9.99921926e-01 -1.41922409e-03 -1.24148234e-02 6.43495170e+00] [ 1.41280612e-03 9.99998864e-01 -5.25715735e-04 4.10650619e-01] [ 1.24155554e-02 5.08134952e-04 9.99922795e-01 1.18211712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83255784400006 meters Centerline goodness [0,1] 0.24848065402167097 Centerline is valid? [False, False] Translation: X:6.44, Y:0.41, Z:1.18 [[ 9.99920294e-01 -1.48403420e-03 -1.25380914e-02 6.43524874e+00] [ 1.47305779e-03 9.99998524e-01 -8.84635259e-04 4.12849256e-01] [ 1.25393857e-02 8.66095415e-04 9.99921004e-01 1.18209946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86255784400004 meters Centerline goodness [0,1] 0.2553599860411351 Centerline is valid? [False, False] Translation: X:6.44, Y:0.42, Z:1.18 [[ 9.99918044e-01 -1.42229147e-03 -1.27233302e-02 6.43573417e+00] [ 1.40416405e-03 9.99997987e-01 -1.43355783e-03 4.17067693e-01] [ 1.27253436e-02 1.41557470e-03 9.99918028e-01 1.18202995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89255784400007 meters Centerline goodness [0,1] 0.2485048822390884 Centerline is valid? [False, False] Translation: X:6.44, Y:0.42, Z:1.18 [[ 9.99920024e-01 -1.51819141e-03 -1.25554818e-02 6.43524311e+00] [ 1.49594786e-03 9.99997295e-01 -1.78082195e-03 4.18873824e-01] [ 1.25581514e-02 1.76189718e-03 9.99919591e-01 1.18212276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92255784400004 meters Centerline goodness [0,1] 0.2549092337231629 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99921734e-01 -1.65273315e-03 -1.24013666e-02 6.43474739e+00] [ 1.62667026e-03 9.99996448e-01 -2.11140725e-03 4.20364461e-01] [ 1.24048122e-02 2.09106907e-03 9.99920871e-01 1.18231593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95255784400007 meters Centerline goodness [0,1] 0.2538199048012345 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99922808e-01 -1.72871555e-03 -1.23040462e-02 6.43429291e+00] [ 1.70012022e-03 9.99995831e-01 -2.33413984e-03 4.21457931e-01] [ 1.23080299e-02 2.31304131e-03 9.99921578e-01 1.18263163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98255784400004 meters Centerline goodness [0,1] 0.2553829978314678 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99923971e-01 -1.74506596e-03 -1.22068099e-02 6.43385310e+00] [ 1.71494774e-03 9.99995461e-01 -2.47736209e-03 4.22485212e-01] [ 1.22110777e-02 2.45623969e-03 9.99922425e-01 1.18292066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01255784400007 meters Centerline goodness [0,1] 0.24983710525172664 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99926424e-01 -1.77564352e-03 -1.19997731e-02 6.43300611e+00] [ 1.74284387e-03 9.99994718e-01 -2.74326036e-03 4.24219996e-01] [ 1.20045807e-02 2.72214479e-03 9.99924237e-01 1.18351964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04255784400004 meters Centerline goodness [0,1] 0.25101011204053547 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99926969e-01 -1.84504635e-03 -1.19437128e-02 6.43269538e+00] [ 1.81106174e-03 9.99994283e-01 -2.85558764e-03 4.24475708e-01] [ 1.19489132e-02 2.83374829e-03 9.99924594e-01 1.18379487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0725578440001 meters Centerline goodness [0,1] 0.25260733530332 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99926753e-01 -1.89459595e-03 -1.19540560e-02 6.43278750e+00] [ 1.85991754e-03 9.99994032e-01 -2.91142510e-03 4.24380545e-01] [ 1.19595006e-02 2.88897829e-03 9.99924309e-01 1.18365889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10255784400005 meters Centerline goodness [0,1] 0.2501467487010023 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99923640e-01 -1.82817187e-03 -1.22217610e-02 6.43368091e+00] [ 1.79354615e-03 9.99994349e-01 -2.84348067e-03 4.24200866e-01] [ 1.22268903e-02 2.82134325e-03 9.99921268e-01 1.18324727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1325578440001 meters Centerline goodness [0,1] 0.2545741048761271 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99923213e-01 -1.77447091e-03 -1.22645523e-02 6.43384131e+00] [ 1.74059977e-03 9.99994644e-01 -2.77183296e-03 4.24005135e-01] [ 1.22694052e-02 2.75027244e-03 9.99920946e-01 1.18311834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16255784400005 meters Centerline goodness [0,1] 0.2508198501465957 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99923556e-01 -1.74018312e-03 -1.22414730e-02 6.43368840e+00] [ 1.70674352e-03 9.99994785e-01 -2.74158219e-03 4.23858288e-01] [ 1.22461800e-02 2.72047956e-03 9.99921312e-01 1.18328053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1925578440001 meters Centerline goodness [0,1] 0.2536276223776224 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99926125e-01 -1.73564467e-03 -1.20304460e-02 6.43285406e+00] [ 1.70305645e-03 9.99994855e-01 -2.71852714e-03 4.23595998e-01] [ 1.20351025e-02 2.69783778e-03 9.99923936e-01 1.18379967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22255784400005 meters Centerline goodness [0,1] 0.2503103290576886 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99927515e-01 -1.72168335e-03 -1.19163614e-02 6.43226453e+00] [ 1.68909294e-03 9.99994807e-01 -2.74445408e-03 4.23679100e-01] [ 1.19210246e-02 2.72412731e-03 9.99925231e-01 1.18430842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2525578440001 meters Centerline goodness [0,1] 0.2518221970801332 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99928787e-01 -1.64644685e-03 -1.18198694e-02 6.43197699e+00] [ 1.61423533e-03 9.99994959e-01 -2.73422442e-03 4.23820615e-01] [ 1.18243116e-02 2.71494966e-03 9.99926405e-01 1.18437135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28255784400005 meters Centerline goodness [0,1] 0.24989667399012416 Centerline is valid? [False, False] Translation: X:6.43, Y:0.42, Z:1.18 [[ 9.99925455e-01 -1.05013884e-03 -1.21647979e-02 6.43313847e+00] [ 1.01945255e-03 9.99996284e-01 -2.52847494e-03 4.24650767e-01] [ 1.21674080e-02 2.51588502e-03 9.99922809e-01 1.18378512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3125578440001 meters Centerline goodness [0,1] 0.2493741700951262 Centerline is valid? [False, False] Translation: X:6.43, Y:0.43, Z:1.18 [[ 9.99920094e-01 -9.44608556e-04 -1.26060812e-02 6.43449014e+00] [ 9.10533584e-04 9.99995917e-01 -2.70852391e-03 4.26039532e-01] [ 1.26085883e-02 2.69682922e-03 9.99916872e-01 1.18324165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34255784400005 meters Centerline goodness [0,1] 0.25402366993830006 Centerline is valid? [False, False] Translation: X:6.44, Y:0.43, Z:1.18 [[ 9.99915458e-01 -8.71830300e-04 -1.29737003e-02 6.43549715e+00] [ 8.33828557e-04 9.99995347e-01 -2.93425772e-03 4.27626164e-01] [ 1.29761981e-02 2.92319181e-03 9.99911533e-01 1.18293276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3725578440001 meters Centerline goodness [0,1] 0.2526325007114867 Centerline is valid? [False, False] Translation: X:6.44, Y:0.43, Z:1.18 [[ 9.99913106e-01 -6.96327990e-04 -1.31641703e-02 6.43600335e+00] [ 6.55899825e-04 9.99995057e-01 -3.07514376e-03 4.29181694e-01] [ 1.31662465e-02 3.06624218e-03 9.99908620e-01 1.18273899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40255784400006 meters Centerline goodness [0,1] 0.2466172261254228 Centerline is valid? [False, False] Translation: X:6.44, Y:0.43, Z:1.18 [[ 9.99910121e-01 -5.67180505e-04 -1.33950529e-02 6.43663634e+00] [ 5.23862815e-04 9.99994623e-01 -3.23714470e-03 4.30752484e-01] [ 1.33968169e-02 3.22983658e-03 9.99905042e-01 1.18252442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.43255784400003 meters Centerline goodness [0,1] 0.2528352381161296 Centerline is valid? [False, False] Translation: X:6.42, Y:0.43, Z:1.18 [[ 9.99841056e-01 8.40594672e-03 -1.57226717e-02 6.41772986e+00] [-8.47417989e-03 9.99954942e-01 -4.27821743e-03 4.29413243e-01] [ 1.56860008e-02 4.41077418e-03 9.99867238e-01 1.18061685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46255784400006 meters Centerline goodness [0,1] 0.24961891903662736 Centerline is valid? [False, False] Translation: X:6.44, Y:0.44, Z:1.18 [[ 9.99860619e-01 1.02969565e-03 -1.66637778e-02 6.43748865e+00] [-1.07766434e-03 9.99995301e-01 -2.86989667e-03 4.35345659e-01] [ 1.66607443e-02 2.88745462e-03 9.99857031e-01 1.18215118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49255784400003 meters Centerline goodness [0,1] 0.24884501394700143 Centerline is valid? [False, False] Translation: X:6.44, Y:0.44, Z:1.18 [[ 9.99860467e-01 1.05005687e-03 -1.66716574e-02 6.43740436e+00] [-1.10079586e-03 9.99994790e-01 -3.03454304e-03 4.36693640e-01] [ 1.66683841e-02 3.05247171e-03 9.99856413e-01 1.18223468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52255784400006 meters Centerline goodness [0,1] 0.24940173171474567 Centerline is valid? [False, False] Translation: X:6.44, Y:0.44, Z:1.18 [[ 9.99866777e-01 1.11687378e-03 -1.62844045e-02 6.43613115e+00] [-1.16832167e-03 9.99994356e-01 -3.15016415e-03 4.37938456e-01] [ 1.62807942e-02 3.16876990e-03 9.99862438e-01 1.18274494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55255784400003 meters Centerline goodness [0,1] 0.246983768770072 Centerline is valid? [False, False] Translation: X:6.43, Y:0.44, Z:1.18 [[ 9.99881926e-01 1.07350806e-03 -1.53291226e-02 6.43274846e+00] [-1.12694582e-03 9.99993317e-01 -3.47781657e-03 4.39681400e-01] [ 1.53252867e-02 3.49468102e-03 9.99876454e-01 1.18445844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58255784400006 meters Centerline goodness [0,1] 0.2553088908855822 Centerline is valid? [False, False] Translation: X:6.43, Y:0.44, Z:1.18 [[ 9.99883372e-01 9.88171675e-04 -1.52402835e-02 6.43236723e+00] [-1.04416208e-03 9.99992734e-01 -3.66632311e-03 4.40448116e-01] [ 1.52365498e-02 3.68180884e-03 9.99877138e-01 1.18466327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61255784400004 meters Centerline goodness [0,1] 0.24105954578628774 Centerline is valid? [False, False] Translation: X:6.48, Y:0.44, Z:1.18 [[ 9.99909455e-01 1.48036690e-03 -1.33750243e-02 6.47720096e+00] [-1.51934293e-03 9.99994628e-01 -2.90439962e-03 4.42892695e-01] [ 1.33706529e-02 2.92445788e-03 9.99906332e-01 1.18439149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64255784400007 meters Centerline goodness [0,1] 0.25156164979867235 Centerline is valid? [False, False] Translation: X:6.46, Y:0.44, Z:1.18 [[ 9.99872752e-01 -4.64918434e-03 -1.52599302e-02 6.45535064e+00] [ 4.64895183e-03 9.99989192e-01 -5.07104445e-05 4.44817948e-01] [ 1.52600011e-02 -2.02386889e-05 9.99883559e-01 1.18429841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67255784400004 meters Centerline goodness [0,1] 0.24681391543959352 Centerline is valid? [False, False] Translation: X:6.48, Y:0.44, Z:1.19 [[ 9.99884426e-01 3.47652696e-03 -1.48002595e-02 6.47587630e+00] [-3.49219750e-03 9.99993369e-01 -1.03308932e-03 4.41836682e-01] [ 1.47965698e-02 1.08465536e-03 9.99889936e-01 1.18565451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70255784400007 meters Centerline goodness [0,1] 0.2469507571654499 Centerline is valid? [False, False] Translation: X:6.48, Y:0.44, Z:1.19 [[ 9.99886897e-01 3.45619408e-03 -1.46372074e-02 6.47517913e+00] [-3.47145091e-03 9.99993457e-01 -1.01705278e-03 4.41445806e-01] [ 1.46335965e-02 1.06775009e-03 9.99892353e-01 1.18608505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73255784400004 meters Centerline goodness [0,1] 0.24978842523273226 Centerline is valid? [False, False] Translation: X:6.47, Y:0.44, Z:1.19 [[ 9.99890486e-01 3.42611904e-03 -1.43971587e-02 6.47435166e+00] [-3.44111846e-03 9.99993562e-01 -1.01718860e-03 4.41134845e-01] [ 1.43935810e-02 1.06661954e-03 9.99895838e-01 1.18644772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76255784400007 meters Centerline goodness [0,1] 0.25195189317326727 Centerline is valid? [False, False] Translation: X:6.47, Y:0.44, Z:1.19 [[ 9.99892625e-01 3.40619557e-03 -1.42526089e-02 6.47375946e+00] [-3.42143222e-03 9.99993601e-01 -1.04479619e-03 4.41167171e-01] [ 1.42489589e-02 1.09344834e-03 9.99897881e-01 1.18679449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79255784400004 meters Centerline goodness [0,1] 0.24889949040442372 Centerline is valid? [False, False] Translation: X:6.47, Y:0.44, Z:1.19 [[ 9.99893722e-01 3.44820447e-03 -1.41652589e-02 6.47332833e+00] [-3.46261078e-03 9.99993512e-01 -9.92617360e-04 4.41043853e-01] [ 1.41617443e-02 1.04156064e-03 9.99899175e-01 1.18710249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8225578440001 meters Centerline goodness [0,1] 0.24889949040442372 Centerline is valid? [False, False] Translation: X:6.47, Y:0.44, Z:1.19 [[ 9.99893722e-01 3.44820447e-03 -1.41652589e-02 6.47332833e+00] [-3.46261078e-03 9.99993512e-01 -9.92617360e-04 4.41043853e-01] [ 1.41617443e-02 1.04156064e-03 9.99899175e-01 1.18710249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85255784400005 meters Centerline goodness [0,1] 0.2537679098764082 Centerline is valid? [False, False] Translation: X:6.47, Y:0.44, Z:1.19 [[ 9.99893383e-01 3.53268053e-03 -1.41683641e-02 6.47309424e+00] [-3.54427284e-03 9.99993404e-01 -7.93156347e-04 4.40088233e-01] [ 1.41654687e-02 8.43288331e-04 9.99899309e-01 1.18751214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8825578440001 meters Centerline goodness [0,1] 0.24466691013770436 Centerline is valid? [False, False] Translation: X:6.52, Y:0.44, Z:1.19 [[ 9.99918450e-01 2.99959375e-03 -1.24135298e-02 6.51777176e+00] [-3.01225207e-03 9.99994962e-01 -1.00114798e-03 4.40947842e-01] [ 1.24104642e-02 1.03845902e-03 9.99922448e-01 1.18762177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91255784400005 meters Centerline goodness [0,1] 0.2463128431478092 Centerline is valid? [False, False] Translation: X:6.52, Y:0.44, Z:1.19 [[ 9.99918049e-01 3.07299116e-03 -1.24278440e-02 6.51782549e+00] [-3.08261694e-03 9.99994963e-01 -7.55452335e-04 4.39518440e-01] [ 1.24254599e-02 7.93700708e-04 9.99922486e-01 1.18758582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9425578440001 meters Centerline goodness [0,1] 0.24693776505284915 Centerline is valid? [False, False] Translation: X:6.52, Y:0.44, Z:1.19 [[ 9.99918335e-01 3.21946389e-03 -1.23676538e-02 6.51761498e+00] [-3.22415693e-03 9.99994738e-01 -3.59541220e-04 4.37500204e-01] [ 1.23664312e-02 3.99387115e-04 9.99923453e-01 1.18768442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97255784400005 meters Centerline goodness [0,1] 0.24509761761417392 Centerline is valid? [False, False] Translation: X:6.52, Y:0.43, Z:1.19 [[ 9.99919249e-01 3.41710461e-03 -1.22400921e-02 6.51736727e+00] [-3.41093940e-03 9.99994045e-01 5.24530391e-04 4.32420265e-01] [ 1.22418116e-02 -4.82737822e-04 9.99924950e-01 1.18768488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0025578440001 meters Centerline goodness [0,1] 0.2445477835906047 Centerline is valid? [False, False] Translation: X:6.52, Y:0.43, Z:1.19 [[ 9.99917854e-01 3.51002043e-03 -1.23274367e-02 6.51763724e+00] [-3.49779481e-03 9.99993369e-01 1.01316074e-03 4.29351214e-01] [ 1.23309111e-02 -9.69958669e-04 9.99923501e-01 1.18765592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03255784400005 meters Centerline goodness [0,1] 0.24883169952398543 Centerline is valid? [False, False] Translation: X:6.52, Y:0.43, Z:1.19 [[ 9.99915425e-01 3.68685862e-03 -1.24719567e-02 6.51806717e+00] [-3.66692574e-03 9.99991963e-01 1.62070690e-03 4.25886251e-01] [ 1.24778318e-02 -1.57483609e-03 9.99920909e-01 1.18756198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0625578440001 meters Centerline goodness [0,1] 0.24978844359580787 Centerline is valid? [False, False] Translation: X:6.52, Y:0.42, Z:1.19 [[ 9.99913493e-01 3.90468458e-03 -1.25602748e-02 6.51825889e+00] [-3.87631902e-03 9.99989883e-01 2.28190767e-03 4.22410972e-01] [ 1.25690578e-02 -2.23302263e-03 9.99918513e-01 1.18767295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.09255784400005 meters Centerline goodness [0,1] 0.2496216216216216 Centerline is valid? [False, False] Translation: X:6.52, Y:0.42, Z:1.19 [[ 9.99912168e-01 4.12137557e-03 -1.25964596e-02 6.51847741e+00] [-4.08495634e-03 9.99987406e-01 2.91559050e-03 4.19147919e-01] [ 1.26083173e-02 -2.86387843e-03 9.99916411e-01 1.18754497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1225578440001 meters Centerline goodness [0,1] 0.2503573749187784 Centerline is valid? [False, False] Translation: X:6.52, Y:0.42, Z:1.19 [[ 9.99910799e-01 4.34156179e-03 -1.26310698e-02 6.51878414e+00] [-4.29774318e-03 9.99984660e-01 3.49419121e-03 4.16201283e-01] [ 1.26460463e-02 -3.43959443e-03 9.99914120e-01 1.18720446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15255784400006 meters Centerline goodness [0,1] 0.24985414550876206 Centerline is valid? [False, False] Translation: X:6.52, Y:0.41, Z:1.19 [[ 9.99907012e-01 4.70972487e-03 -1.27979211e-02 6.51969295e+00] [-4.65400519e-03 9.99979577e-01 4.38010673e-03 4.11463256e-01] [ 1.28182889e-02 -4.32013784e-03 9.99908510e-01 1.18648200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18255784400003 meters Centerline goodness [0,1] 0.24885390537150764 Centerline is valid? [False, False] Translation: X:6.52, Y:0.41, Z:1.19 [[ 9.99904654e-01 4.86843156e-03 -1.29221503e-02 6.52019479e+00] [-4.80826536e-03 9.99977475e-01 4.68304381e-03 4.10050542e-01] [ 1.29446583e-02 -4.62046417e-03 9.99905539e-01 1.18612673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.21255784400006 meters Centerline goodness [0,1] 0.24941426587990279 Centerline is valid? [False, False] Translation: X:6.52, Y:0.41, Z:1.19 [[ 9.99903798e-01 5.01803700e-03 -1.29310895e-02 6.52037903e+00] [-4.95417280e-03 9.99975397e-01 4.96611983e-03 4.08767409e-01] [ 1.29556915e-02 -4.90157923e-03 9.99904058e-01 1.18585115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24255784400003 meters Centerline goodness [0,1] 0.2513558842107556 Centerline is valid? [False, False] Translation: X:6.52, Y:0.41, Z:1.19 [[ 9.99903627e-01 5.32679482e-03 -1.28203822e-02 6.52058344e+00] [-5.25521570e-03 9.99970452e-01 5.61045529e-03 4.05471843e-01] [ 1.28498891e-02 -5.54254072e-03 9.99902076e-01 1.18509737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27255784400006 meters Centerline goodness [0,1] 0.24909067290205245 Centerline is valid? [False, False] Translation: X:6.52, Y:0.40, Z:1.18 [[ 9.99902523e-01 5.46378802e-03 -1.28487659e-02 6.52081363e+00] [-5.38705557e-03 9.99967495e-01 5.99901693e-03 4.03289451e-01] [ 1.28811257e-02 -5.92921515e-03 9.99899455e-01 1.18485236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30255784400003 meters Centerline goodness [0,1] 0.2500325959407188 Centerline is valid? [False, False] Translation: X:6.52, Y:0.40, Z:1.18 [[ 9.99917239e-01 2.42574382e-03 -1.26344812e-02 6.52010364e+00] [-2.38749576e-03 9.99992525e-01 3.04148000e-03 4.01439031e-01] [ 1.26417646e-02 -3.01106351e-03 9.99915556e-01 1.18499225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33255784400006 meters Centerline goodness [0,1] 0.24219391060246165 Centerline is valid? [False, False] Translation: X:6.52, Y:0.40, Z:1.19 [[ 9.99914154e-01 2.59998476e-03 -1.28423001e-02 6.52058771e+00] [-2.55342371e-03 9.99990113e-01 3.64066758e-03 3.98071247e-01] [ 1.28516388e-02 -3.60756321e-03 9.99910906e-01 1.18508674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36255784400004 meters Centerline goodness [0,1] 0.250441224534263 Centerline is valid? [False, False] Translation: X:6.52, Y:0.39, Z:1.19 [[ 9.99911756e-01 2.82053160e-03 -1.29817361e-02 6.52091003e+00] [-2.76522261e-03 9.99987032e-01 4.27650293e-03 3.94821187e-01] [ 1.29936298e-02 -4.24022816e-03 9.99906589e-01 1.18517209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39255784400007 meters Centerline goodness [0,1] 0.25231708646821505 Centerline is valid? [False, False] Translation: X:6.52, Y:0.39, Z:1.19 [[ 9.99910866e-01 3.17598512e-03 -1.29681394e-02 6.52094067e+00] [-3.10660255e-03 9.99980773e-01 5.36687678e-03 3.89240681e-01] [ 1.29849352e-02 -5.32611155e-03 9.99901507e-01 1.18522817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42255784400004 meters Centerline goodness [0,1] 0.24673976513332896 Centerline is valid? [False, False] Translation: X:6.52, Y:0.39, Z:1.19 [[ 9.99911645e-01 3.32895187e-03 -1.28693211e-02 6.52080035e+00] [-3.25418289e-03 9.99977731e-01 5.82644334e-03 3.86767153e-01] [ 1.28884305e-02 -5.78404942e-03 9.99900212e-01 1.18512080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45255784400007 meters Centerline goodness [0,1] 0.2524695261562616 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.19 [[ 9.99912293e-01 3.46348688e-03 -1.27831888e-02 6.52056943e+00] [-3.38439641e-03 9.99975031e-01 6.20352418e-03 3.84679480e-01] [ 1.28043555e-02 -6.15971671e-03 9.99899048e-01 1.18519921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48255784400004 meters Centerline goodness [0,1] 0.24762605178343533 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.19 [[ 9.99913582e-01 3.56312322e-03 -1.26543561e-02 6.52005310e+00] [-3.48126536e-03 9.99972913e-01 6.48489644e-03 3.83144723e-01] [ 1.26771199e-02 -6.44028285e-03 9.99898902e-01 1.18554473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51255784400007 meters Centerline goodness [0,1] 0.2521079994757307 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.19 [[ 9.99912989e-01 3.64765574e-03 -1.26771038e-02 6.52006421e+00] [-3.56307379e-03 9.99971286e-01 6.68821827e-03 3.82117521e-01] [ 1.27011361e-02 -6.64246686e-03 9.99897274e-01 1.18561101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54255784400004 meters Centerline goodness [0,1] 0.2477437506763337 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.19 [[ 9.99908556e-01 3.73551069e-03 -1.29971128e-02 6.52098902e+00] [-3.64734805e-03 9.99970226e-01 6.80035210e-03 3.81699642e-01] [ 1.30221286e-02 -6.75232526e-03 9.99892409e-01 1.18534231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5725578440001 meters Centerline goodness [0,1] 0.252083650686571 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.18 [[ 9.99897049e-01 3.89533881e-03 -1.38100551e-02 6.52392446e+00] [-3.80033309e-03 9.99968980e-01 6.89904064e-03 3.81426027e-01] [ 1.38365008e-02 -6.84584757e-03 9.99880836e-01 1.18367592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60255784400005 meters Centerline goodness [0,1] 0.2488014512158252 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.18 [[ 9.99896982e-01 3.91046102e-03 -1.38106702e-02 6.52415623e+00] [-3.81571947e-03 9.99969054e-01 6.87972637e-03 3.81561039e-01] [ 1.38371458e-02 -6.82631999e-03 9.99880960e-01 1.18324825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6325578440001 meters Centerline goodness [0,1] 0.2500597345613311 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.18 [[ 9.99905378e-01 3.96414950e-03 -1.31727364e-02 6.52192848e+00] [-3.87355821e-03 9.99968723e-01 6.89559309e-03 3.81908468e-01] [ 1.31996596e-02 -6.84391525e-03 9.99889459e-01 1.18427680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66255784400005 meters Centerline goodness [0,1] 0.25058380902957966 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.19 [[ 9.99908343e-01 3.98340428e-03 -1.29398153e-02 6.52086501e+00] [-3.89359713e-03 9.99968211e-01 6.95816784e-03 3.81731777e-01] [ 1.29671211e-02 -6.90714765e-03 9.99892067e-01 1.18506402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6925578440001 meters Centerline goodness [0,1] 0.2531678641410843 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.19 [[ 9.99910804e-01 3.99843700e-03 -1.27435294e-02 6.51992257e+00] [-3.90888059e-03 9.99967545e-01 7.04477503e-03 3.81374240e-01] [ 1.27712839e-02 -6.99433372e-03 9.99893981e-01 1.18583394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72255784400005 meters Centerline goodness [0,1] 0.2562867137482674 Centerline is valid? [False, False] Translation: X:6.52, Y:0.38, Z:1.19 [[ 9.99913935e-01 4.01879736e-03 -1.24888392e-02 6.51884510e+00] [-3.92882516e-03 9.99966214e-01 7.22041096e-03 3.80358960e-01] [ 1.25174347e-02 -7.17072307e-03 9.99895942e-01 1.18663050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7525578440001 meters Centerline goodness [0,1] 0.25149583766909467 Centerline is valid? [False, False] Translation: X:6.54, Y:0.38, Z:1.19 [[ 9.99899047e-01 9.96485004e-03 -1.01290507e-02 6.54075099e+00] [-9.92205718e-03 9.99941674e-01 4.26627399e-03 3.79654044e-01] [ 1.01709727e-02 -4.16534228e-03 9.99939599e-01 1.18606562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78255784400005 meters Centerline goodness [0,1] 0.2488704412305165 Centerline is valid? [False, False] Translation: X:6.54, Y:0.38, Z:1.19 [[ 9.99927734e-01 6.90443837e-03 -9.84156118e-03 6.54010997e+00] [-6.89401692e-03 9.99975639e-01 1.09245373e-03 3.79898337e-01] [ 9.84886421e-03 -1.02452689e-03 9.99950974e-01 1.18590104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8125578440001 meters Centerline goodness [0,1] 0.2450542848560271 Centerline is valid? [False, False] Translation: X:6.56, Y:0.39, Z:1.19 [[ 9.99939312e-01 -7.46477134e-04 -1.09916289e-02 6.56022156e+00] [ 7.65766845e-04 9.99998174e-01 1.75084151e-03 3.85321558e-01] [ 1.09903019e-02 -1.75915228e-03 9.99938057e-01 1.18665059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84255784400005 meters Centerline goodness [0,1] 0.2519946231896627 Centerline is valid? [False, False] Translation: X:6.54, Y:0.38, Z:1.19 [[ 9.99901099e-01 7.56608866e-03 -1.18552621e-02 6.54055505e+00] [-7.55779572e-03 9.99971163e-01 7.44162027e-04 3.80576146e-01] [ 1.18605507e-02 -6.54488779e-04 9.99929447e-01 1.18534295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8725578440001 meters Centerline goodness [0,1] 0.25313517031894117 Centerline is valid? [False, False] Translation: X:6.54, Y:0.38, Z:1.19 [[ 9.99897073e-01 7.57420074e-03 -1.21850619e-02 6.54146217e+00] [-7.56761046e-03 9.99971193e-01 5.86867033e-04 3.81682309e-01] [ 1.21891559e-02 -4.94594826e-04 9.99925587e-01 1.18514250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90255784400006 meters Centerline goodness [0,1] 0.24706413730803978 Centerline is valid? [False, False] Translation: X:6.56, Y:0.39, Z:1.19 [[ 9.99915797e-01 2.46976301e-04 -1.29745085e-02 6.56106345e+00] [-2.27203099e-04 9.99998811e-01 1.52545579e-03 3.88137735e-01] [ 1.29748698e-02 -1.52237950e-03 9.99914664e-01 1.18648571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.93255784400003 meters Centerline goodness [0,1] 0.2514817218256543 Centerline is valid? [False, False] Translation: X:6.56, Y:0.39, Z:1.19 [[ 9.99918577e-01 2.35300248e-04 -1.27586562e-02 6.56051847e+00] [-2.20182216e-04 9.99999272e-01 1.18631523e-03 3.89622264e-01] [ 1.27589261e-02 -1.18340941e-03 9.99917901e-01 1.18632522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96255784400006 meters Centerline goodness [0,1] 0.25160481552726566 Centerline is valid? [False, False] Translation: X:6.56, Y:0.39, Z:1.19 [[ 9.99923855e-01 2.95376260e-04 -1.23367797e-02 6.55933200e+00] [-2.81846794e-04 9.99999357e-01 1.09840150e-03 3.90504900e-01] [ 1.23370963e-02 -1.09484078e-03 9.99923296e-01 1.18650924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99255784400003 meters Centerline goodness [0,1] 0.2467970765262253 Centerline is valid? [False, False] Translation: X:6.56, Y:0.39, Z:1.19 [[ 9.99929849e-01 4.66384553e-04 -1.18355327e-02 6.55803552e+00] [-4.53390313e-04 9.99999292e-01 1.10056011e-03 3.91520084e-01] [ 1.18360376e-02 -1.09511679e-03 9.99929352e-01 1.18650194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02255784400006 meters Centerline goodness [0,1] 0.254688418897432 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.19 [[ 9.99905689e-01 1.33078290e-03 -1.36690151e-02 6.51032444e+00] [-1.30417187e-03 9.99997237e-01 1.95554345e-03 3.89369531e-01] [ 1.36715797e-02 -1.93753227e-03 9.99904662e-01 1.18772183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05255784400003 meters Centerline goodness [0,1] 0.24924770011177022 Centerline is valid? [False, False] Translation: X:6.53, Y:0.39, Z:1.19 [[ 9.99871057e-01 9.75105255e-03 -1.27587904e-02 6.53141128e+00] [-9.74557642e-03 9.99952390e-01 4.91309335e-04 3.88679067e-01] [ 1.27629737e-02 -3.66904217e-04 9.99918483e-01 1.18883748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08255784400006 meters Centerline goodness [0,1] 0.25093730359967925 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.19 [[ 9.99907119e-01 1.36043451e-03 -1.35610591e-02 6.51211139e+00] [-1.34094628e-03 9.99998055e-01 1.44606172e-03 3.92273623e-01] [ 1.35630000e-02 -1.42774275e-03 9.99906999e-01 1.18713035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11255784400004 meters Centerline goodness [0,1] 0.24834123222748816 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.19 [[ 9.99906831e-01 1.32915706e-03 -1.35853916e-02 6.51225705e+00] [-1.31149091e-03 9.99998283e-01 1.30920528e-03 3.93071712e-01] [ 1.35871084e-02 -1.29126619e-03 9.99906857e-01 1.18691731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14255784400007 meters Centerline goodness [0,1] 0.2529085454035269 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.19 [[ 9.99909224e-01 1.33736255e-03 -1.34072972e-02 6.51172301e+00] [-1.32043367e-03 9.99998320e-01 1.27143426e-03 3.93526728e-01] [ 1.34089751e-02 -1.25361540e-03 9.99909310e-01 1.18701641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17255784400004 meters Centerline goodness [0,1] 0.2530083975413384 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.19 [[ 9.99912388e-01 1.32613115e-03 -1.31703296e-02 6.51101349e+00] [-1.30950662e-03 9.99998335e-01 1.27081477e-03 3.93454954e-01] [ 1.31719929e-02 -1.25345679e-03 9.99912460e-01 1.18721079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20255784400007 meters Centerline goodness [0,1] 0.24214118148859032 Centerline is valid? [False, False] Translation: X:6.56, Y:0.40, Z:1.19 [[ 9.99939299e-01 1.79144495e-04 -1.10166276e-02 6.55528157e+00] [-1.79733510e-04 9.99999982e-01 -5.24759559e-05 3.96373729e-01] [ 1.10166180e-02 5.44528277e-05 9.99939314e-01 1.18740524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23255784400004 meters Centerline goodness [0,1] 0.2519882977570701 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.19 [[ 9.99896240e-01 -2.39138440e-04 -1.44032221e-02 6.51113462e+00] [ 2.40360175e-04 9.99999968e-01 8.30926810e-05 3.92241921e-01] [ 1.44032017e-02 -8.65460202e-05 9.99896265e-01 1.18776175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26255784400007 meters Centerline goodness [0,1] 0.2459997426107846 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.19 [[ 9.99890681e-01 -2.03699556e-04 -1.47846148e-02 6.51245990e+00] [ 2.06506542e-04 9.99999961e-01 1.88332247e-04 3.91845878e-01] [ 1.47845759e-02 -1.91364778e-04 9.99890684e-01 1.18716946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29255784400004 meters Centerline goodness [0,1] 0.2532894736842105 Centerline is valid? [False, False] Translation: X:6.47, Y:0.39, Z:1.19 [[ 9.99835884e-01 -7.53312520e-04 -1.81007703e-02 6.46897449e+00] [ 7.57298740e-04 9.99999690e-01 2.13370388e-04 3.87484791e-01] [ 1.81006040e-02 -2.27043061e-04 9.99836145e-01 1.18681654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3225578440001 meters Centerline goodness [0,1] 0.2459594222833562 Centerline is valid? [False, False] Translation: X:6.49, Y:0.38, Z:1.19 [[ 9.99836731e-01 4.56726735e-03 -1.74829060e-02 6.49179735e+00] [-4.62489482e-03 9.99984000e-01 -3.25720721e-03 3.84088381e-01] [ 1.74677497e-02 3.33753200e-03 9.99841857e-01 1.18662054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35255784400005 meters Centerline goodness [0,1] 0.24956143200571768 Centerline is valid? [False, False] Translation: X:6.49, Y:0.38, Z:1.19 [[ 9.99837965e-01 4.64103476e-03 -1.73926591e-02 6.49119676e+00] [-4.69270959e-03 9.99984692e-01 -2.93143691e-03 3.82202448e-01] [ 1.73787879e-02 3.01258061e-03 9.99844439e-01 1.18726906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3825578440001 meters Centerline goodness [0,1] 0.24551167928615858 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:1.19 [[ 9.99854501e-01 -3.03196949e-03 -1.67864294e-02 6.51043838e+00] [ 3.00958557e-03 9.99994548e-01 -1.35855478e-03 3.85915443e-01] [ 1.67904570e-02 1.30783692e-03 9.99858175e-01 1.18903858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41255784400005 meters Centerline goodness [0,1] 0.2530895032904025 Centerline is valid? [False, False] Translation: X:6.49, Y:0.38, Z:1.19 [[ 9.99834473e-01 4.82758058e-03 -1.75419554e-02 6.49188502e+00] [-4.86914035e-03 9.99985438e-01 -2.32722618e-03 3.78141965e-01] [ 1.75304651e-02 2.41225521e-03 9.99843420e-01 1.18739363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4425578440001 meters Centerline goodness [0,1] 0.2536192445847393 Centerline is valid? [False, False] Translation: X:6.49, Y:0.37, Z:1.19 [[ 9.99821001e-01 4.85654211e-03 -1.82860755e-02 6.49426796e+00] [-4.89028899e-03 9.99986420e-01 -1.80123220e-03 3.74351616e-01] [ 1.82770794e-02 1.89033398e-03 9.99831173e-01 1.18657246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47255784400005 meters Centerline goodness [0,1] 0.2502430698096493 Centerline is valid? [False, False] Translation: X:6.51, Y:0.38, Z:1.19 [[ 9.99843844e-01 -3.05171911e-03 -1.74061381e-02 6.51356774e+00] [ 3.04341132e-03 9.99995242e-01 -5.03759687e-04 3.77054356e-01] [ 1.74075926e-02 4.50706985e-04 9.99848375e-01 1.18787364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5025578440001 meters Centerline goodness [0,1] 0.2527531967372726 Centerline is valid? [False, False] Translation: X:6.51, Y:0.38, Z:1.19 [[ 9.99849093e-01 -2.87011700e-03 -1.71333841e-02 6.51254645e+00] [ 2.86939138e-03 9.99995881e-01 -6.69341187e-05 3.75025464e-01] [ 1.71335057e-02 1.77616331e-05 9.99853211e-01 1.18843792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53255784400005 meters Centerline goodness [0,1] 0.2511311727392782 Centerline is valid? [False, False] Translation: X:6.51, Y:0.37, Z:1.19 [[ 9.99853229e-01 -2.64795838e-03 -1.69265632e-02 6.51179999e+00] [ 2.65600618e-03 9.99996370e-01 4.52990945e-04 3.72709407e-01] [ 1.69253022e-02 -4.97881515e-04 9.99856633e-01 1.18885956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5625578440001 meters Centerline goodness [0,1] 0.25637005096040766 Centerline is valid? [False, False] Translation: X:6.51, Y:0.37, Z:1.19 [[ 9.99847048e-01 -2.53126316e-03 -1.73052913e-02 6.51351373e+00] [ 2.55035268e-03 9.99996163e-01 1.08112317e-03 3.68097024e-01] [ 1.73024883e-02 -1.12509241e-03 9.99849668e-01 1.18788177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59255784400005 meters Centerline goodness [0,1] 0.25088041482121637 Centerline is valid? [False, False] Translation: X:6.53, Y:0.36, Z:1.19 [[ 9.99801464e-01 4.79067484e-03 -1.93412176e-02 6.53462078e+00] [-4.79474251e-03 9.99988492e-01 -1.63943323e-04 3.61769145e-01] [ 1.93402096e-02 2.56646932e-04 9.99812928e-01 1.19001033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6225578440001 meters Centerline goodness [0,1] 0.2521115779442976 Centerline is valid? [False, False] Translation: X:6.53, Y:0.36, Z:1.19 [[ 9.99798586e-01 4.95309244e-03 -1.94487600e-02 6.53495910e+00] [-4.94957783e-03 9.99987725e-01 2.28843880e-04 3.59792712e-01] [ 1.94496547e-02 -1.32534636e-04 9.99810829e-01 1.18987131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65255784400006 meters Centerline goodness [0,1] 0.254544267148486 Centerline is valid? [False, False] Translation: X:6.53, Y:0.36, Z:1.19 [[ 9.99797965e-01 5.14062558e-03 -1.94320024e-02 6.53481649e+00] [-5.13056234e-03 9.99986677e-01 5.67687651e-04 3.58512038e-01] [ 1.94346618e-02 -4.67875859e-04 9.99811020e-01 1.19003734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68255784400003 meters Centerline goodness [0,1] 0.2512902459565095 Centerline is valid? [False, False] Translation: X:6.55, Y:0.36, Z:1.19 [[ 9.99825768e-01 -1.82695063e-03 -1.85767809e-02 6.55247414e+00] [ 1.87485599e-03 9.99994961e-01 2.56168738e-03 3.62562881e-01] [ 1.85720072e-02 -2.59606984e-03 9.99824155e-01 1.19195588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71255784400006 meters Centerline goodness [0,1] 0.25313635577089466 Centerline is valid? [False, False] Translation: X:6.55, Y:0.36, Z:1.19 [[ 9.99834355e-01 -1.62499281e-03 -1.81279449e-02 6.55163760e+00] [ 1.67551782e-03 9.99994753e-01 2.77229435e-03 3.61669675e-01] [ 1.81233448e-02 -2.80220882e-03 9.99831832e-01 1.19152178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74255784400003 meters Centerline goodness [0,1] 0.25313635577089466 Centerline is valid? [False, False] Translation: X:6.55, Y:0.36, Z:1.19 [[ 9.99834355e-01 -1.62499281e-03 -1.81279449e-02 6.55163760e+00] [ 1.67551782e-03 9.99994753e-01 2.77229435e-03 3.61669675e-01] [ 1.81233448e-02 -2.80220882e-03 9.99831832e-01 1.19152178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77255784400006 meters Centerline goodness [0,1] 0.2538647185441263 Centerline is valid? [False, False] Translation: X:6.55, Y:0.36, Z:1.19 [[ 9.99836185e-01 -1.58268411e-03 -1.80305058e-02 6.55152268e+00] [ 1.63259337e-03 9.99994876e-01 2.75366253e-03 3.61890522e-01] [ 1.80260553e-02 -2.78264793e-03 9.99833645e-01 1.19128021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80255784400003 meters Centerline goodness [0,1] 0.2541960170449604 Centerline is valid? [False, False] Translation: X:6.55, Y:0.36, Z:1.19 [[ 9.99838108e-01 -1.52339512e-03 -1.79286904e-02 6.55144979e+00] [ 1.57238783e-03 9.99995068e-01 2.71886379e-03 3.62508194e-01] [ 1.79244600e-02 -2.74661448e-03 9.99835571e-01 1.19090205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83255784400006 meters Centerline goodness [0,1] 0.25361040318891725 Centerline is valid? [False, False] Translation: X:6.55, Y:0.36, Z:1.19 [[ 9.99838699e-01 -1.47609508e-03 -1.78996298e-02 6.55147603e+00] [ 1.52352079e-03 9.99995365e-01 2.63618876e-03 3.63366338e-01] [ 1.78956556e-02 -2.66303400e-03 9.99836313e-01 1.19066095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86255784400004 meters Centerline goodness [0,1] 0.2495709259418175 Centerline is valid? [False, False] Translation: X:6.57, Y:0.36, Z:1.19 [[ 9.99834332e-01 7.12708133e-03 -1.67485008e-02 6.57206379e+00] [-7.10264595e-03 9.99973624e-01 1.51799073e-03 3.62705957e-01] [ 1.67588779e-02 -1.39878058e-03 9.99858582e-01 1.19177814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89255784400007 meters Centerline goodness [0,1] 0.25493438948490854 Centerline is valid? [False, False] Translation: X:6.55, Y:0.37, Z:1.19 [[ 9.99868071e-01 -1.68576647e-03 -1.61554638e-02 6.54955622e+00] [ 1.71517971e-03 9.99996897e-01 1.80695509e-03 3.67387690e-01] [ 1.61523676e-02 -1.83442622e-03 9.99867859e-01 1.19110436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92255784400004 meters Centerline goodness [0,1] 0.25298581468546544 Centerline is valid? [False, False] Translation: X:6.57, Y:0.37, Z:1.19 [[ 9.99876693e-01 6.67032831e-03 -1.42164085e-02 6.56938854e+00] [-6.66854050e-03 9.99977750e-01 1.73157052e-04 3.69608569e-01] [ 1.42172472e-02 -7.83330050e-05 9.99898927e-01 1.19230083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95255784400007 meters Centerline goodness [0,1] 0.2554909280319472 Centerline is valid? [False, False] Translation: X:6.57, Y:0.37, Z:1.19 [[ 9.99879937e-01 6.56063151e-03 -1.40381477e-02 6.56888762e+00] [-6.56393761e-03 9.99978439e-01 -1.89445731e-04 3.71686222e-01] [ 1.40366022e-02 2.81568512e-04 9.99901442e-01 1.19232357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98255784400004 meters Centerline goodness [0,1] 0.2550318140501233 Centerline is valid? [False, False] Translation: X:6.57, Y:0.37, Z:1.19 [[ 9.99881893e-01 6.45110160e-03 -1.39493415e-02 6.56859701e+00] [-6.45927198e-03 9.99978992e-01 -5.40743123e-04 3.73674939e-01] [ 1.39455601e-02 6.30781848e-04 9.99902557e-01 1.19235590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01255784400007 meters Centerline goodness [0,1] 0.25276999353308904 Centerline is valid? [False, False] Translation: X:6.57, Y:0.38, Z:1.19 [[ 9.99882495e-01 6.17588846e-03 -1.40304714e-02 6.56884565e+00] [-6.19343602e-03 9.99980091e-01 -1.20756854e-03 3.77052739e-01] [ 1.40227342e-02 1.29432347e-03 9.99900839e-01 1.19219455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04255784400004 meters Centerline goodness [0,1] 0.2488762715874142 Centerline is valid? [False, False] Translation: X:6.57, Y:0.38, Z:1.19 [[ 9.99882544e-01 6.09604443e-03 -1.40619037e-02 6.56867430e+00] [-6.11565939e-03 9.99980385e-01 -1.35232195e-03 3.77793292e-01] [ 1.40533841e-02 1.43816093e-03 9.99900212e-01 1.19259897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0725578440001 meters Centerline goodness [0,1] 0.25243032354018924 Centerline is valid? [False, False] Translation: X:6.57, Y:0.38, Z:1.19 [[ 9.99882391e-01 6.03333617e-03 -1.40997171e-02 6.56855183e+00] [-6.05398691e-03 9.99980663e-01 -1.42239820e-03 3.78065076e-01] [ 1.40908627e-02 1.50759042e-03 9.99899582e-01 1.19298037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10255784400005 meters Centerline goodness [0,1] 0.2549547983310153 Centerline is valid? [False, False] Translation: X:6.57, Y:0.38, Z:1.19 [[ 9.99894846e-01 1.88553699e-03 -1.43785052e-02 6.56925908e+00] [-1.96695153e-03 9.99982103e-01 -5.65020159e-03 3.79593601e-01] [ 1.43675942e-02 5.67788927e-03 9.99880660e-01 1.19284075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1325578440001 meters Centerline goodness [0,1] 0.24843374527978035 Centerline is valid? [False, False] Translation: X:6.59, Y:0.38, Z:1.19 [[ 9.99870662e-01 -6.27159602e-03 -1.48096718e-02 6.58984501e+00] [ 6.19685632e-03 9.99967859e-01 -5.08718949e-03 3.84655771e-01] [ 1.48411006e-02 4.99475812e-03 9.99877390e-01 1.19389146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16255784400005 meters Centerline goodness [0,1] 0.25521413439909146 Centerline is valid? [False, False] Translation: X:6.55, Y:0.38, Z:1.19 [[ 9.99818139e-01 -7.04000150e-03 -1.77236444e-02 6.54509432e+00] [ 6.95080418e-03 9.99962892e-01 -5.08925630e-03 3.80011400e-01] [ 1.77588151e-02 4.96513718e-03 9.99829971e-01 1.19429519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1925578440001 meters Centerline goodness [0,1] 0.2516158319102484 Centerline is valid? [False, False] Translation: X:6.57, Y:0.38, Z:1.20 [[ 9.99845576e-01 1.31876905e-03 -1.75238168e-02 6.56562915e+00] [-1.42086030e-03 9.99982085e-01 -5.81468419e-03 3.77266974e-01] [ 1.75158347e-02 5.83868516e-03 9.99829538e-01 1.19528317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22255784400005 meters Centerline goodness [0,1] 0.25234495158460235 Centerline is valid? [False, False] Translation: X:6.57, Y:0.38, Z:1.20 [[ 9.99846309e-01 1.36891048e-03 -1.74780853e-02 6.56548707e+00] [-1.46808187e-03 9.99982890e-01 -5.66247260e-03 3.76573575e-01] [ 1.74700349e-02 5.68726159e-03 9.99831212e-01 1.19535852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2525578440001 meters Centerline goodness [0,1] 0.2538339387874965 Centerline is valid? [False, False] Translation: X:6.56, Y:0.38, Z:1.20 [[ 9.99851248e-01 1.41200381e-03 -1.71897454e-02 6.56445071e+00] [-1.50551391e-03 9.99984134e-01 -5.42815219e-03 3.75222929e-01] [ 1.71818081e-02 5.45322414e-03 9.99837511e-01 1.19594787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28255784400005 meters Centerline goodness [0,1] 0.2538990875164484 Centerline is valid? [False, False] Translation: X:6.58, Y:0.38, Z:1.20 [[ 9.99860108e-01 -7.56291384e-03 -1.49186800e-02 6.58390139e+00] [ 7.49110619e-03 9.99960115e-01 -4.86329543e-03 3.75639826e-01] [ 1.49548657e-02 4.75085767e-03 9.99876883e-01 1.19728087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3125578440001 meters Centerline goodness [0,1] 0.25503472222222223 Centerline is valid? [False, False] Translation: X:6.58, Y:0.37, Z:1.20 [[ 9.99860329e-01 -7.43126581e-03 -1.49699504e-02 6.58393033e+00] [ 7.36752488e-03 9.99963577e-01 -4.30858441e-03 3.72741864e-01] [ 1.50014234e-02 4.19769114e-03 9.99878661e-01 1.19755003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34255784400005 meters Centerline goodness [0,1] 0.2507928289431105 Centerline is valid? [False, False] Translation: X:6.59, Y:0.37, Z:1.20 [[ 9.99854849e-01 -7.30268117e-03 -1.53932084e-02 6.58505739e+00] [ 7.24654918e-03 9.99966901e-01 -3.69917206e-03 3.69513010e-01] [ 1.54197128e-02 3.58708748e-03 9.99874675e-01 1.19749619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3725578440001 meters Centerline goodness [0,1] 0.2537294043778553 Centerline is valid? [False, False] Translation: X:6.59, Y:0.37, Z:1.20 [[ 9.99850019e-01 -7.15247444e-03 -1.57728156e-02 6.58629902e+00] [ 7.10525498e-03 9.99970113e-01 -3.04773422e-03 3.65923600e-01] [ 1.57941431e-02 2.93520724e-03 9.99870956e-01 1.19714404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40255784400006 meters Centerline goodness [0,1] 0.2527634487840825 Centerline is valid? [False, False] Translation: X:6.59, Y:0.36, Z:1.20 [[ 9.99817980e-01 -1.07114325e-02 -1.57883748e-02 6.58652569e+00] [ 1.06212598e-02 9.99926863e-01 -5.78416569e-03 3.60255716e-01] [ 1.58491768e-02 5.61542043e-03 9.99858625e-01 1.19718998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.43255784400003 meters Centerline goodness [0,1] 0.2529471787412344 Centerline is valid? [False, False] Translation: X:6.59, Y:0.36, Z:1.20 [[ 9.99822414e-01 -1.04689856e-02 -1.56697214e-02 6.58594901e+00] [ 1.03910239e-02 9.99933267e-01 -5.04848627e-03 3.56478706e-01] [ 1.57215282e-02 4.88476528e-03 9.99864477e-01 1.19775212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46255784400006 meters Centerline goodness [0,1] 0.2533637596607178 Centerline is valid? [False, False] Translation: X:6.61, Y:0.35, Z:1.20 [[ 9.99887873e-01 -2.03450033e-03 -1.48358329e-02 6.60519517e+00] [ 1.95253278e-03 9.99982762e-01 -5.53736492e-03 3.48915459e-01] [ 1.48468429e-02 5.50777658e-03 9.99874610e-01 1.19942814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49255784400003 meters Centerline goodness [0,1] 0.251330331559558 Centerline is valid? [False, False] Translation: X:6.60, Y:0.35, Z:1.20 [[ 9.99890425e-01 -1.80569798e-03 -1.46927731e-02 6.60477455e+00] [ 1.73362084e-03 9.99986409e-01 -4.91687696e-03 3.45675318e-01] [ 1.47014518e-02 4.89086649e-03 9.99879966e-01 1.19960205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52255784400006 meters Centerline goodness [0,1] 0.25167295813315027 Centerline is valid? [False, False] Translation: X:6.60, Y:0.34, Z:1.20 [[ 9.99891324e-01 -1.35456060e-03 -1.46801024e-02 6.60486787e+00] [ 1.29825306e-03 9.99991767e-01 -3.84448759e-03 3.40077097e-01] [ 1.46851892e-02 3.82501130e-03 9.99884851e-01 1.19948898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55255784400003 meters Centerline goodness [0,1] 0.2533621621621621 Centerline is valid? [False, False] Translation: X:6.61, Y:0.34, Z:1.20 [[ 9.99889356e-01 -1.14592918e-03 -1.48311617e-02 6.60542508e+00] [ 1.09594721e-03 9.99993695e-01 -3.37775307e-03 3.37869990e-01] [ 1.48349388e-02 3.36112517e-03 9.99884307e-01 1.19920819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58255784400006 meters Centerline goodness [0,1] 0.24546096105729132 Centerline is valid? [False, False] Translation: X:6.61, Y:0.34, Z:1.20 [[ 9.99884385e-01 -8.97576387e-04 -1.51793158e-02 6.60673975e+00] [ 8.54103126e-04 9.99995516e-01 -2.87022054e-03 3.35530935e-01] [ 1.51818240e-02 2.85692400e-03 9.99880668e-01 1.19850433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61255784400004 meters Centerline goodness [0,1] 0.25479392624728847 Centerline is valid? [False, False] Translation: X:6.56, Y:0.33, Z:1.20 [[ 9.99822941e-01 -1.22163499e-03 -1.87774753e-02 6.56369329e+00] [ 1.17770725e-03 9.99996545e-01 -2.35026508e-03 3.28904905e-01] [ 1.87802816e-02 2.32773458e-03 9.99820925e-01 1.19841534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64255784400007 meters Centerline goodness [0,1] 0.2546268137978973 Centerline is valid? [False, False] Translation: X:6.56, Y:0.33, Z:1.20 [[ 9.99820754e-01 -1.02068597e-03 -1.89055167e-02 6.56416440e+00] [ 9.86782798e-04 9.99997889e-01 -1.80253729e-03 3.26007499e-01] [ 1.89073166e-02 1.78355855e-03 9.99819650e-01 1.19820930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67255784400004 meters Centerline goodness [0,1] 0.2524908345913306 Centerline is valid? [False, False] Translation: X:6.56, Y:0.32, Z:1.20 [[ 9.99825213e-01 -7.71296950e-04 -1.86801861e-02 6.56321374e+00] [ 7.54779558e-04 9.99999318e-01 -8.91254080e-04 3.18166283e-01] [ 1.86808608e-02 8.76998877e-04 9.99825113e-01 1.19890996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70255784400007 meters Centerline goodness [0,1] 0.25599721363577 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:1.20 [[ 9.99827207e-01 -5.54324233e-04 -1.85808774e-02 6.56295024e+00] [ 5.49312251e-04 9.99999811e-01 -2.74841413e-04 3.14935297e-01] [ 1.85810263e-02 2.64587218e-04 9.99827323e-01 1.19899197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73255784400004 meters Centerline goodness [0,1] 0.2554415051756689 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:1.20 [[ 9.99828301e-01 -3.72028867e-04 -1.85264624e-02 6.56302115e+00] [ 3.76904695e-04 9.99999895e-01 2.59690841e-04 3.12105598e-01] [ 1.85263639e-02 -2.66628963e-04 9.99828337e-01 1.19873037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76255784400007 meters Centerline goodness [0,1] 0.25672531152817346 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:1.20 [[ 9.99829453e-01 -2.10295683e-04 -1.84667652e-02 6.56297050e+00] [ 2.22425010e-04 9.99999761e-01 6.54767816e-04 3.10194827e-01] [ 1.84666231e-02 -6.58763618e-04 9.99829260e-01 1.19859802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79255784400004 meters Centerline goodness [0,1] 0.26627154468001657 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:1.20 [[ 9.99832774e-01 8.01225633e-05 -1.82870945e-02 6.56239448e+00] [-5.70164743e-05 9.99999199e-01 1.26403675e-03 3.07622274e-01] [ 1.82871811e-02 -1.26278271e-03 9.99831978e-01 1.19885422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8225578440001 meters Centerline goodness [0,1] 0.25666919492902807 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:1.20 [[ 9.99831227e-01 1.54308154e-04 -1.83710129e-02 6.56261484e+00] [-1.28213754e-04 9.99998981e-01 1.42158095e-03 3.06867403e-01] [ 1.83712135e-02 -1.41898561e-03 9.99830228e-01 1.19883514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85255784400005 meters Centerline goodness [0,1] 0.26589482372873996 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:1.20 [[ 9.99828469e-01 1.93988992e-04 -1.85201070e-02 6.56328130e+00] [-1.65304359e-04 9.99998785e-01 1.55035563e-03 3.06031860e-01] [ 1.85203852e-02 -1.54702824e-03 9.99827286e-01 1.19834481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8825578440001 meters Centerline goodness [0,1] 0.25181112548512286 Centerline is valid? [False, False] Translation: X:6.56, Y:0.30, Z:1.20 [[ 9.99823806e-01 2.25950635e-04 -1.87698230e-02 6.56427844e+00] [-1.93805188e-04 9.99998512e-01 1.71441457e-03 3.04890704e-01] [ 1.87701824e-02 -1.71047481e-03 9.99822361e-01 1.19776036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91255784400005 meters Centerline goodness [0,1] 0.25483521248915875 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.20 [[ 9.99818111e-01 3.81222076e-04 -1.90682943e-02 6.56537962e+00] [-3.38167859e-04 9.99997387e-01 2.26106903e-03 3.01939306e-01] [ 1.90691064e-02 -2.25420948e-03 9.99815627e-01 1.19723392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9425578440001 meters Centerline goodness [0,1] 0.25518289373711056 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.20 [[ 9.99819075e-01 4.98541190e-04 -1.90149799e-02 6.56523512e+00] [-4.48164687e-04 9.99996379e-01 2.65347544e-03 2.99818764e-01] [ 1.90162339e-02 -2.64447351e-03 9.99815678e-01 1.19732234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97255784400005 meters Centerline goodness [0,1] 0.2551461797630692 Centerline is valid? [False, False] Translation: X:6.56, Y:0.30, Z:1.20 [[ 9.99820886e-01 5.66553964e-04 -1.89175918e-02 6.56474904e+00] [-5.09479186e-04 9.99995305e-01 3.02170453e-03 2.97631541e-01] [ 1.89192149e-02 -3.01152518e-03 9.99816480e-01 1.19780427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0025578440001 meters Centerline goodness [0,1] 0.2531569193638754 Centerline is valid? [False, False] Translation: X:6.56, Y:0.30, Z:1.20 [[ 9.99821691e-01 6.08987718e-04 -1.88736619e-02 6.56437779e+00] [-5.46453468e-04 9.99994345e-01 3.31828793e-03 2.95675447e-01] [ 1.88755760e-02 -3.30738267e-03 9.99816370e-01 1.19826254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03255784400005 meters Centerline goodness [0,1] 0.2689883182719859 Centerline is valid? [False, False] Translation: X:6.52, Y:0.29, Z:1.20 [[ 9.99775082e-01 -7.69119436e-04 -2.11942013e-02 6.51860533e+00] [ 8.40657249e-04 9.99993979e-01 3.36664559e-03 2.90558798e-01] [ 2.11914844e-02 -3.38370543e-03 9.99769709e-01 1.19891253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0625578440001 meters Centerline goodness [0,1] 0.26523095588872514 Centerline is valid? [False, False] Translation: X:6.56, Y:0.29, Z:1.20 [[ 9.99797171e-01 2.09130483e-04 -2.01388549e-02 6.56491298e+00] [-1.35875853e-04 9.99993370e-01 3.63877705e-03 2.90896162e-01] [ 2.01394823e-02 -3.63530262e-03 9.99790571e-01 1.19848248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09255784400005 meters Centerline goodness [0,1] 0.2653030204329794 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.20 [[ 9.99793359e-01 2.17715184e-04 -2.03271343e-02 6.56569024e+00] [-1.42946426e-04 9.99993220e-01 3.67965400e-03 2.90605963e-01] [ 2.03277976e-02 -3.67598794e-03 9.99786611e-01 1.19803396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1225578440001 meters Centerline goodness [0,1] 0.25510735198438517 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.20 [[ 9.99791889e-01 2.44825468e-04 -2.03989812e-02 6.56594382e+00] [-1.69122641e-04 9.99993093e-01 3.71275074e-03 2.90401379e-01] [ 2.03997493e-02 -3.70852815e-03 9.99785025e-01 1.19789844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15255784400006 meters Centerline goodness [0,1] 0.2551527459707039 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.20 [[ 9.99793139e-01 2.89584560e-04 -2.03370205e-02 6.56573216e+00] [-2.13158907e-04 9.99992908e-01 3.76002442e-03 2.90211245e-01] [ 2.03379651e-02 -3.75491160e-03 9.99786111e-01 1.19799867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18255784400003 meters Centerline goodness [0,1] 0.2555206414562792 Centerline is valid? [False, False] Translation: X:6.56, Y:0.29, Z:1.20 [[ 9.99799271e-01 4.39927229e-04 -2.00305635e-02 6.56467468e+00] [-3.61408376e-04 9.99992238e-01 3.92340352e-03 2.89877192e-01] [ 2.00321340e-02 -3.91537676e-03 9.99791670e-01 1.19846238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21255784400006 meters Centerline goodness [0,1] 0.24888488591525137 Centerline is valid? [False, False] Translation: X:6.58, Y:0.29, Z:1.20 [[ 9.99786471e-01 8.83112603e-03 -1.86821755e-02 6.58401161e+00] [-8.78303788e-03 9.99957905e-01 2.65450023e-03 2.86168786e-01] [ 1.87048313e-02 -2.48984717e-03 9.99821949e-01 1.19975645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24255784400003 meters Centerline goodness [0,1] 0.2678237943535098 Centerline is valid? [False, False] Translation: X:6.54, Y:0.28, Z:1.20 [[ 9.99752510e-01 7.25999451e-03 -2.10287989e-02 6.53719327e+00] [-7.21266385e-03 9.99971284e-01 2.32572667e-03 2.81965827e-01] [ 2.10450798e-02 -2.17347742e-03 9.99776165e-01 1.20066282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27255784400006 meters Centerline goodness [0,1] 0.25578979264966883 Centerline is valid? [False, False] Translation: X:6.56, Y:0.28, Z:1.20 [[ 9.99801824e-01 -5.80288460e-04 -1.98991364e-02 6.55710315e+00] [ 6.44241001e-04 9.99994648e-01 3.20757502e-03 2.84915782e-01] [ 1.98971686e-02 -3.21975920e-03 9.99796847e-01 1.20144579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30255784400003 meters Centerline goodness [0,1] 0.26528843236683575 Centerline is valid? [False, False] Translation: X:6.56, Y:0.28, Z:1.20 [[ 9.99801591e-01 -4.79904692e-04 -1.99135061e-02 6.55734045e+00] [ 5.46866689e-04 9.99994215e-01 3.35733296e-03 2.84599643e-01] [ 1.99117797e-02 -3.36755687e-03 9.99796070e-01 1.20109861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33255784400006 meters Centerline goodness [0,1] 0.25689348213122587 Centerline is valid? [False, False] Translation: X:6.56, Y:0.28, Z:1.20 [[ 9.99800759e-01 -3.88429592e-04 -1.99572331e-02 6.55772860e+00] [ 4.57845988e-04 9.99993862e-01 3.47380613e-03 2.84413538e-01] [ 1.99557613e-02 -3.48225135e-03 9.99794800e-01 1.20064393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36255784400004 meters Centerline goodness [0,1] 0.25335855383358774 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:1.20 [[ 9.99778926e-01 8.09446810e-03 -1.94056571e-02 6.57797678e+00] [-8.05144856e-03 9.99964955e-01 2.29396174e-03 2.81257069e-01] [ 1.94235454e-02 -2.13721096e-03 9.99809061e-01 1.20184268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39255784400007 meters Centerline goodness [0,1] 0.2662094491617679 Centerline is valid? [False, False] Translation: X:6.56, Y:0.28, Z:1.20 [[ 9.99807309e-01 -1.07992970e-03 -1.96004719e-02 6.55655284e+00] [ 1.13729030e-03 9.99995103e-01 2.91558011e-03 2.84097512e-01] [ 1.95972273e-02 -2.93730973e-03 9.99803641e-01 1.20090768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42255784400004 meters Centerline goodness [0,1] 0.25122994652406416 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.20 [[ 9.99855788e-01 1.63880481e-04 -1.69816347e-02 6.59808575e+00] [-1.19645037e-04 9.99996598e-01 2.60588228e-03 2.87358016e-01] [ 1.69820040e-02 -2.60347471e-03 9.99852406e-01 1.20238493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45255784400007 meters Centerline goodness [0,1] 0.26477909820984047 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:1.20 [[ 9.99838787e-01 7.74413398e-03 -1.61996519e-02 6.57869082e+00] [-7.71643769e-03 9.99968659e-01 1.77149271e-03 2.82200923e-01] [ 1.62128628e-02 -1.64620351e-03 9.99867208e-01 1.20016455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48255784400004 meters Centerline goodness [0,1] 0.2646366483101177 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:1.20 [[ 9.99838420e-01 7.75039702e-03 -1.62192942e-02 6.57891171e+00] [-7.72276978e-03 9.99968621e-01 1.76529790e-03 2.82347708e-01] [ 1.62324671e-02 -1.63975479e-03 9.99866900e-01 1.19987292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51255784400007 meters Centerline goodness [0,1] 0.2537380768239237 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:1.20 [[ 9.99836504e-01 7.71844524e-03 -1.63520940e-02 6.57950230e+00] [-7.68993998e-03 9.99968802e-01 1.80537971e-03 2.81767811e-01] [ 1.63655186e-02 -1.67933792e-03 9.99864666e-01 1.19947959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54255784400004 meters Centerline goodness [0,1] 0.2654861488321565 Centerline is valid? [False, False] Translation: X:6.56, Y:0.28, Z:1.20 [[ 9.99853145e-01 -1.60979115e-03 -1.70615820e-02 6.55864505e+00] [ 1.65390401e-03 9.99995325e-01 2.57171347e-03 2.83212133e-01] [ 1.70573624e-02 -2.59955402e-03 9.99851133e-01 1.19851859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5725578440001 meters Centerline goodness [0,1] 0.255639583737315 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:1.20 [[ 9.99842940e-01 4.01267432e-03 -1.72625138e-02 6.57959786e+00] [-4.02631207e-03 9.99991609e-01 -7.55338533e-04 2.77600266e-01] [ 1.72593380e-02 8.24724167e-04 9.99850706e-01 1.19993216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60255784400005 meters Centerline goodness [0,1] 0.26858461002785516 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:1.20 [[ 9.99839958e-01 4.15788745e-03 -1.74002822e-02 6.57996928e+00] [-4.16463606e-03 9.99991266e-01 -3.51626902e-04 2.75613955e-01] [ 1.73986682e-02 4.24036469e-04 9.99848542e-01 1.19990058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6325578440001 meters Centerline goodness [0,1] 0.26858461002785516 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:1.20 [[ 9.99839958e-01 4.15788745e-03 -1.74002822e-02 6.57996928e+00] [-4.16463606e-03 9.99991266e-01 -3.51626902e-04 2.75613955e-01] [ 1.73986682e-02 4.24036469e-04 9.99848542e-01 1.19990058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66255784400005 meters Centerline goodness [0,1] 0.2631023415117506 Centerline is valid? [False, False] Translation: X:6.60, Y:0.28, Z:1.20 [[ 9.99836067e-01 -3.29516635e-03 -1.78039735e-02 6.60015272e+00] [ 3.30631078e-03 9.99994356e-01 5.96552760e-04 2.79422193e-01] [ 1.78019072e-02 -6.55320434e-04 9.99841319e-01 1.20104833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6925578440001 meters Centerline goodness [0,1] 0.2661214902455469 Centerline is valid? [False, False] Translation: X:6.58, Y:0.27, Z:1.20 [[ 9.99824434e-01 3.94908536e-03 -1.83167962e-02 6.58173627e+00] [-3.96885880e-03 9.99991580e-01 -1.04329893e-03 2.72637986e-01] [ 1.83125219e-02 1.11581254e-03 9.99831689e-01 1.19857812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72255784400005 meters Centerline goodness [0,1] 0.25626777225466146 Centerline is valid? [False, False] Translation: X:6.58, Y:0.27, Z:1.20 [[ 9.99825099e-01 3.94767559e-03 -1.82807629e-02 6.58175127e+00] [-3.97026579e-03 9.99991399e-01 -1.19960804e-03 2.73624337e-01] [ 1.82758700e-02 1.27197772e-03 9.99832173e-01 1.19832894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7525578440001 meters Centerline goodness [0,1] 0.26311590296495957 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:1.20 [[ 9.99826926e-01 4.03295432e-03 -1.81618663e-02 6.58157175e+00] [-4.05828612e-03 9.99990843e-01 -1.35813979e-03 2.75265180e-01] [ 1.81562226e-02 1.43161078e-03 9.99834137e-01 1.19807438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78255784400005 meters Centerline goodness [0,1] 0.2651301212147543 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:1.20 [[ 9.99831091e-01 4.10871927e-03 -1.79138782e-02 6.58100687e+00] [-4.13709578e-03 9.99990245e-01 -1.54728098e-03 2.77038317e-01] [ 1.79073461e-02 1.62113106e-03 9.99838336e-01 1.19793245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8125578440001 meters Centerline goodness [0,1] 0.25642408681956463 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.20 [[ 9.99845020e-01 -2.07395510e-03 -1.74824021e-02 6.59737084e+00] [ 2.07516730e-03 9.99997846e-01 5.11977210e-05 2.85435437e-01] [ 1.74822582e-02 -8.74686956e-05 9.99847170e-01 1.20064931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84255784400005 meters Centerline goodness [0,1] 0.2567924773584088 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.20 [[ 9.99845955e-01 -2.14770085e-03 -1.74199216e-02 6.59716673e+00] [ 2.14537630e-03 9.99997687e-01 -1.52128308e-04 2.86420105e-01] [ 1.74202081e-02 1.14732587e-04 9.99848250e-01 1.20067710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8725578440001 meters Centerline goodness [0,1] 0.2671999300638168 Centerline is valid? [False, False] Translation: X:6.60, Y:0.29, Z:1.20 [[ 9.99843379e-01 -2.23032184e-03 -1.75568803e-02 6.59767868e+00] [ 2.22423242e-03 9.99997459e-01 -3.66358154e-04 2.87374070e-01] [ 1.75576528e-02 3.27250192e-04 9.99845799e-01 1.20032261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90255784400006 meters Centerline goodness [0,1] 0.2549057787585729 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99831432e-01 5.91715418e-03 -1.73808627e-02 6.61730563e+00] [-5.95199676e-03 9.99980378e-01 -1.95360670e-03 2.85310825e-01] [ 1.73689619e-02 2.05672822e-03 9.99847033e-01 1.20160928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.93255784400003 meters Centerline goodness [0,1] 0.2640484827421422 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99832367e-01 5.85681280e-03 -1.73474875e-02 6.61714068e+00] [-5.89272217e-03 9.99980598e-01 -2.01961175e-03 2.85413232e-01] [ 1.73353225e-02 2.12149712e-03 9.99847481e-01 1.20172559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96255784400006 meters Centerline goodness [0,1] 0.264395134282566 Centerline is valid? [False, False] Translation: X:6.64, Y:0.29, Z:1.20 [[ 9.99866989e-01 -2.03209990e-03 -1.61825314e-02 6.63589155e+00] [ 2.01532923e-03 9.99997415e-01 -1.05258413e-03 2.90832351e-01] [ 1.61846285e-02 1.01983099e-03 9.99868500e-01 1.20369361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99255784400003 meters Centerline goodness [0,1] 0.2630682308289485 Centerline is valid? [False, False] Translation: X:6.64, Y:0.29, Z:1.20 [[ 9.99867423e-01 -2.07654036e-03 -1.61500306e-02 6.63569008e+00] [ 2.05816046e-03 9.99997215e-01 -1.15461005e-03 2.91465072e-01] [ 1.61523832e-02 1.12121763e-03 9.99868913e-01 1.20389007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02255784400006 meters Centerline goodness [0,1] 0.2651293075369683 Centerline is valid? [False, False] Translation: X:6.64, Y:0.29, Z:1.20 [[ 9.99866570e-01 -2.16427066e-03 -1.61912914e-02 6.63594651e+00] [ 2.14198840e-03 9.99996735e-01 -1.39340345e-03 2.92706809e-01] [ 1.61942542e-02 1.35853597e-03 9.99867942e-01 1.20358760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05255784400003 meters Centerline goodness [0,1] 0.2661498708010336 Centerline is valid? [False, False] Translation: X:6.64, Y:0.29, Z:1.20 [[ 9.99865426e-01 -2.27683867e-03 -1.62464207e-02 6.63635838e+00] [ 2.24928541e-03 9.99996001e-01 -1.71402977e-03 2.94363209e-01] [ 1.62502583e-02 1.67725627e-03 9.99866549e-01 1.20307935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08255784400006 meters Centerline goodness [0,1] 0.2623716555093958 Centerline is valid? [False, False] Translation: X:6.64, Y:0.30, Z:1.20 [[ 9.99868553e-01 -2.44098352e-03 -1.60286864e-02 6.63601900e+00] [ 2.40521589e-03 9.99994575e-01 -2.25037458e-03 2.97700453e-01] [ 1.60340926e-02 2.21152633e-03 9.99869000e-01 1.20267272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11255784400004 meters Centerline goodness [0,1] 0.263520072480963 Centerline is valid? [False, False] Translation: X:6.64, Y:0.30, Z:1.20 [[ 9.99868487e-01 -2.54273145e-03 -1.60169420e-02 6.63600436e+00] [ 2.50331059e-03 9.99993790e-01 -2.48076650e-03 2.98919348e-01] [ 1.60231504e-02 2.44034487e-03 9.99868643e-01 1.20259781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14255784400007 meters Centerline goodness [0,1] 0.25585636438635717 Centerline is valid? [False, False] Translation: X:6.64, Y:0.30, Z:1.20 [[ 9.99866073e-01 -2.66794477e-03 -1.61467917e-02 6.63625728e+00] [ 2.62442737e-03 9.99992869e-01 -2.71570065e-03 2.99950068e-01] [ 1.61539219e-02 2.67296086e-03 9.99865944e-01 1.20269509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17255784400004 meters Centerline goodness [0,1] 0.26613254376034134 Centerline is valid? [False, False] Translation: X:6.64, Y:0.30, Z:1.20 [[ 9.99865418e-01 -3.05440127e-03 -1.61188464e-02 6.63580868e+00] [ 3.00676284e-03 9.99991043e-01 -2.97885659e-03 3.00179243e-01] [ 1.61278007e-02 2.92999014e-03 9.99865646e-01 1.20332172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20255784400007 meters Centerline goodness [0,1] 0.26380659948968554 Centerline is valid? [False, False] Translation: X:6.64, Y:0.30, Z:1.20 [[ 9.99865209e-01 -3.04614539e-03 -1.61333309e-02 6.63560430e+00] [ 3.00001113e-03 9.99991344e-01 -2.88299182e-03 2.99874311e-01] [ 1.61419733e-02 2.83420305e-03 9.99865693e-01 1.20371526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23255784400004 meters Centerline goodness [0,1] 0.25502498972284127 Centerline is valid? [False, False] Translation: X:6.64, Y:0.30, Z:1.20 [[ 9.99865248e-01 -3.01531074e-03 -1.61367255e-02 6.63554580e+00] [ 2.97137457e-03 9.99991815e-01 -2.74602714e-03 2.99420755e-01] [ 1.61448735e-02 2.69770885e-03 9.99866024e-01 1.20380901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26255784400007 meters Centerline goodness [0,1] 0.2676765465610087 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99879618e-01 3.82271613e-03 -1.50378595e-02 6.61715128e+00] [-3.88113888e-03 9.99985027e-01 -3.85778080e-03 2.92946557e-01] [ 1.50228871e-02 3.91568041e-03 9.99879483e-01 1.20164130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29255784400004 meters Centerline goodness [0,1] 0.2676397434219139 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.20 [[ 9.99892670e-01 3.24496488e-03 -1.42870445e-02 6.61497271e+00] [-3.30208272e-03 9.99986643e-01 -3.97610318e-03 2.91396333e-01] [ 1.42739514e-02 4.02285342e-03 9.99890029e-01 1.20242813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3225578440001 meters Centerline goodness [0,1] 0.2654928812085643 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.20 [[ 9.99894088e-01 3.27467861e-03 -1.41806100e-02 6.61459052e+00] [-3.32931317e-03 9.99987120e-01 -3.83087312e-03 2.90661743e-01] [ 1.41678825e-02 3.87767907e-03 9.99892112e-01 1.20263288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35255784400005 meters Centerline goodness [0,1] 0.26652771445320134 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.20 [[ 9.99894760e-01 3.33067509e-03 -1.41200587e-02 6.61439259e+00] [-3.38331346e-03 9.99987411e-01 -3.70566751e-03 2.90268151e-01] [ 1.41075386e-02 3.75305011e-03 9.99893440e-01 1.20270055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3825578440001 meters Centerline goodness [0,1] 0.2629864526706359 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.20 [[ 9.99895539e-01 3.35096751e-03 -1.40599683e-02 6.61434725e+00] [-3.40239858e-03 9.99987603e-01 -3.63565445e-03 2.89973470e-01] [ 1.40476111e-02 3.68311228e-03 9.99894544e-01 1.20254175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41255784400005 meters Centerline goodness [0,1] 0.2662065672678343 Centerline is valid? [False, False] Translation: X:6.61, Y:0.29, Z:1.20 [[ 9.99895782e-01 3.33968662e-03 -1.40453484e-02 6.61441434e+00] [-3.39074559e-03 9.99987724e-01 -3.61305330e-03 2.89687491e-01] [ 1.40331095e-02 3.66030096e-03 9.99894831e-01 1.20240468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4425578440001 meters Centerline goodness [0,1] 0.26544414098062163 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99892337e-01 3.25126382e-03 -1.43088538e-02 6.61511474e+00] [-3.30428595e-03 9.99987757e-01 -3.68346735e-03 2.89440293e-01] [ 1.42967027e-02 3.73035132e-03 9.99890838e-01 1.20228915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47255784400005 meters Centerline goodness [0,1] 0.2623852024317682 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99890587e-01 3.25965816e-03 -1.44287602e-02 6.61533055e+00] [-3.31303945e-03 9.99987751e-01 -3.67728966e-03 2.89516675e-01] [ 1.44165968e-02 3.72469036e-03 9.99889138e-01 1.20241138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5025578440001 meters Centerline goodness [0,1] 0.2635941500672655 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99890038e-01 3.30455373e-03 -1.44565561e-02 6.61533214e+00] [-3.35718550e-03 9.99987820e-01 -3.61793337e-03 2.89388057e-01] [ 1.44444243e-02 3.66606888e-03 9.99888953e-01 1.20252286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53255784400005 meters Centerline goodness [0,1] 0.26440988106129915 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99890205e-01 3.34447922e-03 -1.44358233e-02 6.61536966e+00] [-3.39605436e-03 9.99987933e-01 -3.54968465e-03 2.89036753e-01] [ 1.44237773e-02 3.59831975e-03 9.99889497e-01 1.20236449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5625578440001 meters Centerline goodness [0,1] 0.2539308346129723 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99890089e-01 3.34446803e-03 -1.44438494e-02 6.61583924e+00] [-3.39378266e-03 9.99988491e-01 -3.39107046e-03 2.87471677e-01] [ 1.44323418e-02 3.43971703e-03 9.99889932e-01 1.20168499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59255784400005 meters Centerline goodness [0,1] 0.2655443224714713 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99890116e-01 3.39318162e-03 -1.44305783e-02 6.61588340e+00] [-3.44004126e-03 9.99988887e-01 -3.22366404e-03 2.86474051e-01] [ 1.44194794e-02 3.27295159e-03 9.99890677e-01 1.20157501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6225578440001 meters Centerline goodness [0,1] 0.26694961604935574 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99890330e-01 3.44376540e-03 -1.44037757e-02 6.61577571e+00] [-3.48872975e-03 9.99989116e-01 -3.09774529e-03 2.85785095e-01] [ 1.43929510e-02 3.14765644e-03 9.99891462e-01 1.20162207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65255784400006 meters Centerline goodness [0,1] 0.2644441550549117 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99888694e-01 -3.74623164e-03 -1.44418235e-02 6.63414062e+00] [ 3.72081125e-03 9.99991482e-01 -1.78666014e-03 2.90026391e-01] [ 1.44483937e-02 1.73272598e-03 9.99894115e-01 1.20355923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68255784400003 meters Centerline goodness [0,1] 0.2642855598555769 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99887932e-01 -3.61360872e-03 -1.45281099e-02 6.63457750e+00] [ 3.58957711e-03 9.99992146e-01 -1.67988191e-03 2.89870165e-01] [ 1.45340662e-02 1.62754387e-03 9.99893050e-01 1.20314944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71255784400006 meters Centerline goodness [0,1] 0.26349453303945725 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99887894e-01 -3.56637920e-03 -1.45423432e-02 6.63478612e+00] [ 3.54169478e-03 9.99992244e-01 -1.72281766e-03 2.90462778e-01] [ 1.45483747e-02 1.67111998e-03 9.99892770e-01 1.20280316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74255784400003 meters Centerline goodness [0,1] 0.2643842749284041 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99888956e-01 -3.53393631e-03 -1.44771271e-02 6.63466533e+00] [ 3.50833406e-03 9.99992237e-01 -1.79347749e-03 2.91151100e-01] [ 1.44833528e-02 1.74248773e-03 9.99893592e-01 1.20271765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77255784400006 meters Centerline goodness [0,1] 0.26464071596142147 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99889334e-01 -3.55369593e-03 -1.44461438e-02 6.63457240e+00] [ 3.52656872e-03 9.99991971e-01 -1.90285709e-03 2.91710600e-01] [ 1.44527900e-02 1.85170119e-03 9.99893838e-01 1.20268727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80255784400003 meters Centerline goodness [0,1] 0.26521956630489163 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99888907e-01 -3.61827240e-03 -1.44596544e-02 6.63453221e+00] [ 3.58891596e-03 9.99991447e-01 -2.05566477e-03 2.92289227e-01] [ 1.44669687e-02 2.00354192e-03 9.99893341e-01 1.20269502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83255784400006 meters Centerline goodness [0,1] 0.2635132220352875 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99891929e-01 -3.56816413e-03 -1.42617629e-02 6.63389928e+00] [ 3.54075619e-03 9.99991837e-01 -1.94656614e-03 2.91957546e-01] [ 1.42685922e-02 1.89585834e-03 9.99896401e-01 1.20291565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86255784400004 meters Centerline goodness [0,1] 0.2629701686121919 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99895957e-01 -3.48108447e-03 -1.39984563e-02 6.63293612e+00] [ 3.45731661e-03 9.99992541e-01 -1.72173313e-03 2.90968634e-01] [ 1.40043454e-02 1.67315690e-03 9.99900534e-01 1.20343342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89255784400007 meters Centerline goodness [0,1] 0.2619412488398697 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99897393e-01 -3.42072350e-03 -1.39104736e-02 6.63239900e+00] [ 3.40114312e-03 9.99993192e-01 -1.43101340e-03 2.89354967e-01] [ 1.39152740e-02 1.38355506e-03 9.99902221e-01 1.20395490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92255784400004 meters Centerline goodness [0,1] 0.26299905147883074 Centerline is valid? [False, False] Translation: X:6.63, Y:0.29, Z:1.20 [[ 9.99895149e-01 -3.43814433e-03 -1.40666608e-02 6.63263993e+00] [ 3.42283877e-03 9.99993524e-01 -1.11200421e-03 2.87224360e-01] [ 1.40703929e-02 1.06373970e-03 9.99900441e-01 1.20424569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95255784400007 meters Centerline goodness [0,1] 0.2635695867911855 Centerline is valid? [False, False] Translation: X:6.63, Y:0.28, Z:1.20 [[ 9.99886437e-01 -3.93039418e-03 -1.45487369e-02 6.63405165e+00] [ 3.91949685e-03 9.99992017e-01 -7.77460406e-04 2.82630264e-01] [ 1.45516765e-02 7.20348386e-04 9.99893859e-01 1.20409954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98255784400004 meters Centerline goodness [0,1] 0.25302375809935207 Centerline is valid? [False, False] Translation: X:6.63, Y:0.28, Z:1.20 [[ 9.99884776e-01 -3.75415448e-03 -1.47085680e-02 6.63441443e+00] [ 3.75224056e-03 9.99992948e-01 -1.57717681e-04 2.79376273e-01] [ 1.47090564e-02 1.02509422e-04 9.99891811e-01 1.20423446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01255784400007 meters Centerline goodness [0,1] 0.26565592847975983 Centerline is valid? [False, False] Translation: X:6.63, Y:0.28, Z:1.20 [[ 9.99884738e-01 -3.54495633e-03 -1.47629334e-02 6.63461749e+00] [ 3.55201785e-03 9.99993589e-01 4.52134665e-04 2.76291060e-01] [ 1.47612360e-02 -5.04520754e-04 9.99890920e-01 1.20418434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04255784400004 meters Centerline goodness [0,1] 0.26446388359605055 Centerline is valid? [False, False] Translation: X:6.64, Y:0.27, Z:1.20 [[ 9.99883120e-01 -3.33530929e-03 -1.49205420e-02 6.63506081e+00] [ 3.35037526e-03 9.99993902e-01 9.84864559e-04 2.73593566e-01] [ 1.49171661e-02 -1.03473886e-03 9.99888197e-01 1.20414143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0725578440001 meters Centerline goodness [0,1] 0.2661281613788039 Centerline is valid? [False, False] Translation: X:6.64, Y:0.27, Z:1.20 [[ 9.99880503e-01 -2.99626816e-03 -1.51658493e-02 6.63576623e+00] [ 3.02181139e-03 9.99994054e-01 1.66162417e-03 2.70419702e-01] [ 1.51607804e-02 -1.70725394e-03 9.99883611e-01 1.20408129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10255784400005 meters Centerline goodness [0,1] 0.2632804917502426 Centerline is valid? [False, False] Translation: X:6.64, Y:0.27, Z:1.20 [[ 9.99882785e-01 -2.83044138e-03 -1.50467399e-02 6.63551281e+00] [ 2.85869442e-03 9.99994191e-01 1.85650874e-03 2.69682672e-01] [ 1.50413977e-02 -1.89930516e-03 9.99885068e-01 1.20402451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1325578440001 meters Centerline goodness [0,1] 0.26766431796863066 Centerline is valid? [False, False] Translation: X:6.62, Y:0.26, Z:1.20 [[ 9.99885537e-01 4.96864120e-03 -1.42907550e-02 6.61500725e+00] [-4.95461080e-03 9.99987209e-01 1.01701871e-03 2.63557096e-01] [ 1.42956254e-02 -9.46097174e-04 9.99897365e-01 1.20200990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16255784400005 meters Centerline goodness [0,1] 0.26468678297761805 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99887257e-01 5.04635712e-03 -1.41424383e-02 6.61488300e+00] [-5.03332704e-03 9.99986875e-01 9.56788494e-04 2.63967097e-01] [ 1.41470809e-02 -8.85497106e-04 9.99899533e-01 1.20160192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1925578440001 meters Centerline goodness [0,1] 0.2664677180447852 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99887974e-01 5.76212240e-03 -1.38143918e-02 6.61420699e+00] [-5.74493187e-03 9.99982674e-01 1.28375354e-03 2.64425245e-01] [ 1.38215495e-02 -1.20424698e-03 9.99903753e-01 1.20120076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22255784400005 meters Centerline goodness [0,1] 0.26615664687269736 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99888463e-01 5.80167435e-03 -1.37623467e-02 6.61421887e+00] [-5.78828825e-03 9.99982735e-01 1.01229430e-03 2.66232497e-01] [ 1.37679821e-02 -9.32520958e-04 9.99904782e-01 1.20084567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2525578440001 meters Centerline goodness [0,1] 0.2555844602584224 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99887752e-01 5.85422999e-03 -1.37917230e-02 6.61449754e+00] [-5.84449525e-03 9.99982642e-01 7.46039224e-04 2.68160201e-01] [ 1.37958511e-02 -6.65349823e-04 9.99904611e-01 1.20041099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28255784400005 meters Centerline goodness [0,1] 0.2656967177621893 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99887995e-01 6.17545811e-03 -1.36331161e-02 6.61439728e+00] [-6.16950572e-03 9.99980854e-01 4.78626585e-04 2.71207473e-01] [ 1.36358108e-02 -3.94463388e-04 9.99906950e-01 1.19974015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3125578440001 meters Centerline goodness [0,1] 0.26325557305941005 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99888537e-01 6.04947360e-03 -1.36497857e-02 6.61469715e+00] [-6.04817276e-03 9.99981700e-01 1.36579740e-04 2.72795657e-01] [ 1.36503622e-02 -5.40082539e-05 9.99906828e-01 1.19925342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34255784400005 meters Centerline goodness [0,1] 0.2661784519101221 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99887697e-01 5.90328150e-03 -1.37747773e-02 6.61521010e+00] [-5.90578108e-03 9.99982551e-01 -1.40790383e-04 2.73860983e-01] [ 1.37737058e-02 2.22125391e-04 9.99905113e-01 1.19889459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3725578440001 meters Centerline goodness [0,1] 0.25801837725381416 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99887033e-01 5.78588340e-03 -1.38724144e-02 6.61554142e+00] [-5.79089318e-03 9.99983181e-01 -3.20990579e-04 2.74426802e-01] [ 1.38703238e-02 4.01287988e-04 9.99903722e-01 1.19870909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40255784400006 meters Centerline goodness [0,1] 0.25630523819788753 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99883865e-01 5.53108287e-03 -1.42008191e-02 6.61606222e+00] [-5.53668178e-03 9.99984609e-01 -3.54982229e-04 2.74018546e-01] [ 1.41986371e-02 4.33566420e-04 9.99899100e-01 1.19918213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.43255784400003 meters Centerline goodness [0,1] 0.2655243466001518 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99882098e-01 5.51603543e-03 -1.43304979e-02 6.61623214e+00] [-5.51924268e-03 9.99984752e-01 -1.84266546e-04 2.73054715e-01] [ 1.43292630e-02 2.63338316e-04 9.99897296e-01 1.19944524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46255784400006 meters Centerline goodness [0,1] 0.2662737280055474 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99880757e-01 5.46139678e-03 -1.44445595e-02 6.61657723e+00] [-5.46237547e-03 9.99985081e-01 -2.83027891e-05 2.71891815e-01] [ 1.44441894e-02 1.07201022e-04 9.99895672e-01 1.19935174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49255784400003 meters Centerline goodness [0,1] 0.2669728564898457 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99879506e-01 5.39102619e-03 -1.45571396e-02 6.61697553e+00] [-5.39053747e-03 9.99985468e-01 7.28102018e-05 2.70875669e-01] [ 1.45573205e-02 5.66937769e-06 9.99894037e-01 1.19924372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52255784400006 meters Centerline goodness [0,1] 0.26680991448539304 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99879061e-01 5.34312645e-03 -1.46053122e-02 6.61701559e+00] [-5.34173731e-03 9.99985724e-01 1.34121473e-04 2.70186021e-01] [ 1.46058203e-02 -5.60875109e-05 9.99893328e-01 1.19936655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55255784400003 meters Centerline goodness [0,1] 0.26680991448539304 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99879061e-01 5.34312645e-03 -1.46053122e-02 6.61701559e+00] [-5.34173731e-03 9.99985724e-01 1.34121473e-04 2.70186021e-01] [ 1.46058203e-02 -5.60875109e-05 9.99893328e-01 1.19936655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58255784400006 meters Centerline goodness [0,1] 0.26480821177741765 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99880601e-01 5.36185665e-03 -1.44925753e-02 6.61613823e+00] [-5.35910164e-03 9.99985614e-01 2.28927565e-04 2.69870150e-01] [ 1.44935943e-02 -1.51233047e-04 9.99894951e-01 1.20037056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61255784400004 meters Centerline goodness [0,1] 0.26778206217458556 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99881253e-01 5.33446802e-03 -1.44576126e-02 6.61590731e+00] [-5.33299263e-03 9.99985770e-01 1.40601155e-04 2.70429413e-01] [ 1.44581569e-02 -6.34821175e-05 9.99895473e-01 1.20060355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64255784400007 meters Centerline goodness [0,1] 0.26750483979727235 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99881739e-01 5.27155159e-03 -1.44470978e-02 6.61593935e+00] [-5.27194167e-03 9.99986103e-01 1.10837677e-05 2.70997950e-01] [ 1.44469554e-02 6.50817998e-05 9.99895635e-01 1.20049431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67255784400004 meters Centerline goodness [0,1] 0.26861632474901787 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99882562e-01 5.25700255e-03 -1.43953423e-02 6.61593608e+00] [-5.25789779e-03 9.99986177e-01 -2.43431251e-05 2.71194965e-01] [ 1.43950153e-02 1.00029505e-04 9.99896381e-01 1.20027648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70255784400007 meters Centerline goodness [0,1] 0.26744414168937325 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99882026e-01 5.26151988e-03 -1.44309172e-02 6.61601412e+00] [-5.26171781e-03 9.99986157e-01 2.42523164e-05 2.70848222e-01] [ 1.44308450e-02 5.16819587e-05 9.99895869e-01 1.20026155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73255784400004 meters Centerline goodness [0,1] 0.2679802740682552 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99882433e-01 5.26955726e-03 -1.43996980e-02 6.61586840e+00] [-5.26888517e-03 9.99986116e-01 8.46105062e-05 2.70429084e-01] [ 1.43999439e-02 -8.73020377e-06 9.99896315e-01 1.20036704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76255784400007 meters Centerline goodness [0,1] 0.26746062906251367 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99882657e-01 5.27203839e-03 -1.43832570e-02 6.61580638e+00] [-5.27079137e-03 9.99986102e-01 1.24605945e-04 2.70145411e-01] [ 1.43837141e-02 -4.87801763e-05 9.99896548e-01 1.20039972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79255784400004 meters Centerline goodness [0,1] 0.2672679230450069 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99882434e-01 5.20584644e-03 -1.44228184e-02 6.61599682e+00] [-5.20611315e-03 9.99986448e-01 1.90530750e-05 2.70491739e-01] [ 1.44227221e-02 5.60359895e-05 9.99895986e-01 1.20022031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8225578440001 meters Centerline goodness [0,1] 0.2666985147224876 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99879571e-01 5.16046590e-03 -1.46359988e-02 6.61710123e+00] [-5.16201289e-03 9.99986674e-01 -6.79214089e-05 2.70935099e-01] [ 1.46354533e-02 1.43464444e-04 9.99892886e-01 1.19924412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85255784400005 meters Centerline goodness [0,1] 0.26750382179515175 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99879104e-01 5.17748773e-03 -1.46618736e-02 6.61735345e+00] [-5.17764390e-03 9.99986596e-01 2.73078015e-05 2.70349428e-01] [ 1.46618185e-02 4.86094606e-05 9.99892509e-01 1.19894716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8825578440001 meters Centerline goodness [0,1] 0.2687497276332418 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:1.20 [[ 9.99878052e-01 5.15535256e-03 -1.47412205e-02 6.61766111e+00] [-5.15373169e-03 9.99986708e-01 1.47941278e-04 2.69245732e-01] [ 1.47417872e-02 -7.19509414e-05 9.99891331e-01 1.19879634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91255784400005 meters Centerline goodness [0,1] 0.2675347672108491 Centerline is valid? [False, False] Translation: X:6.64, Y:0.27, Z:1.20 [[ 9.99895810e-01 -3.49933192e-03 -1.40044516e-02 6.63855792e+00] [ 3.50813940e-03 9.99993664e-01 6.04388678e-04 2.70056502e-01] [ 1.40022479e-02 -6.53455275e-04 9.99901750e-01 1.19963650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9425578440001 meters Centerline goodness [0,1] 0.2676845557413722 Centerline is valid? [False, False] Translation: X:6.64, Y:0.27, Z:1.20 [[ 9.99898236e-01 -3.40395456e-03 -1.38538754e-02 6.63796493e+00] [ 3.41776689e-03 9.99993686e-01 9.73447658e-04 2.68275898e-01] [ 1.38504743e-02 -1.02069791e-03 9.99903557e-01 1.20003574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97255784400005 meters Centerline goodness [0,1] 0.269178828142017 Centerline is valid? [False, False] Translation: X:6.64, Y:0.27, Z:1.20 [[ 9.99902196e-01 -3.27119169e-03 -1.35977355e-02 6.63709199e+00] [ 3.29032388e-03 9.99993628e-01 1.38487972e-03 2.66480290e-01] [ 1.35931187e-02 -1.42948523e-03 9.99906587e-01 1.20046625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0025578440001 meters Centerline goodness [0,1] 0.26653380412884775 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99904693e-01 -3.19474757e-03 -1.34312601e-02 6.63646402e+00] [ 3.21815074e-03 9.99993340e-01 1.72118815e-03 2.64756443e-01] [ 1.34256719e-02 -1.76424793e-03 9.99908315e-01 1.20086318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03255784400005 meters Centerline goodness [0,1] 0.2697949131486608 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99904783e-01 -3.18389027e-03 -1.34271280e-02 6.63636057e+00] [ 3.21034453e-03 9.99992947e-01 1.94911685e-03 2.63248608e-01] [ 1.34208275e-02 -1.99203697e-03 9.99907952e-01 1.20106527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0625578440001 meters Centerline goodness [0,1] 0.26848341745553794 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99898009e-01 -3.18278451e-03 -1.39227011e-02 6.63776364e+00] [ 3.21532368e-03 9.99992150e-01 2.31537130e-03 2.60871798e-01] [ 1.39152224e-02 -2.35990114e-03 9.99900394e-01 1.20072045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09255784400005 meters Centerline goodness [0,1] 0.2671141229281768 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99898657e-01 -3.08840457e-03 -1.38973814e-02 6.63762984e+00] [ 3.12400205e-03 9.99991893e-01 2.54047285e-03 2.59972075e-01] [ 1.38894227e-02 -2.58363084e-03 9.99900199e-01 1.20082992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1225578440001 meters Centerline goodness [0,1] 0.26860057930915227 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99901802e-01 -3.00619241e-03 -1.36875626e-02 6.63694626e+00] [ 3.04422538e-03 9.99991561e-01 2.75866570e-03 2.59076483e-01] [ 1.36791540e-02 -2.80006283e-03 9.99902515e-01 1.20111548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15255784400006 meters Centerline goodness [0,1] 0.2684331298437026 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99903685e-01 -2.97825997e-03 -1.35554670e-02 6.63633401e+00] [ 3.01792230e-03 9.99991222e-01 2.90641393e-03 2.58234251e-01] [ 1.35466919e-02 -2.94704334e-03 9.99903896e-01 1.20158170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18255784400003 meters Centerline goodness [0,1] 0.2688602662625825 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99904044e-01 -2.99290305e-03 -1.35256976e-02 6.63600313e+00] [ 3.03380138e-03 9.99990885e-01 3.00424453e-03 2.57434416e-01] [ 1.35165829e-02 -3.04499054e-03 9.99904010e-01 1.20198776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21255784400006 meters Centerline goodness [0,1] 0.26590762620837805 Centerline is valid? [False, False] Translation: X:6.66, Y:0.25, Z:1.20 [[ 9.99896466e-01 5.04880563e-03 -1.34746860e-02 6.65553340e+00] [-5.03139676e-03 9.99986464e-01 1.32555627e-03 2.53911560e-01] [ 1.34811961e-02 -1.25762253e-03 9.99908334e-01 1.20350541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24255784400003 meters Centerline goodness [0,1] 0.2700821989301092 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99895016e-01 -3.64222977e-03 -1.40246737e-02 6.63573189e+00] [ 3.67803934e-03 9.99990040e-01 2.52838030e-03 2.58796246e-01] [ 1.40153251e-02 -2.57969816e-03 9.99898453e-01 1.20189671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27255784400006 meters Centerline goodness [0,1] 0.26768146338299204 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99895304e-01 -3.71106837e-03 -1.39860435e-02 6.63573640e+00] [ 3.74360962e-03 9.99990345e-01 2.30123295e-03 2.59990740e-01] [ 1.39773684e-02 -2.35335031e-03 9.99899542e-01 1.20170529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30255784400003 meters Centerline goodness [0,1] 0.2684209392038964 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99897168e-01 -3.91297349e-03 -1.37964400e-02 6.63540771e+00] [ 3.93758049e-03 9.99990704e-01 1.75686388e-03 2.62704110e-01] [ 1.37894371e-02 -1.81100781e-03 9.99903281e-01 1.20141214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33255784400006 meters Centerline goodness [0,1] 0.2696967726553525 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99897090e-01 -4.00636661e-03 -1.37752551e-02 6.63541577e+00] [ 4.02790657e-03 9.99990708e-01 1.53628176e-03 2.63843349e-01] [ 1.37689722e-02 -1.59160910e-03 9.99903936e-01 1.20126569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36255784400004 meters Centerline goodness [0,1] 0.2702066439968611 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99896978e-01 -4.07046770e-03 -1.37645851e-02 6.63552250e+00] [ 4.08976434e-03 9.99990693e-01 1.37404694e-03 2.64771646e-01] [ 1.37588640e-02 -1.43019929e-03 9.99904320e-01 1.20098250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39255784400007 meters Centerline goodness [0,1] 0.27023853530192 Centerline is valid? [False, False] Translation: X:6.64, Y:0.27, Z:1.20 [[ 9.99895820e-01 -4.12414219e-03 -1.38326248e-02 6.63566220e+00] [ 4.14287135e-03 9.99990540e-01 1.32560296e-03 2.65087115e-01] [ 1.38270270e-02 -1.38277164e-03 9.99903446e-01 1.20095600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42255784400004 meters Centerline goodness [0,1] 0.2700021753317381 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99893400e-01 -4.18744987e-03 -1.39876606e-02 6.63596854e+00] [ 4.20690445e-03 9.99990224e-01 1.36170387e-03 2.64773294e-01] [ 1.39818218e-02 -1.42040346e-03 9.99901241e-01 1.20104527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45255784400007 meters Centerline goodness [0,1] 0.267243611878453 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99886787e-01 -4.37797441e-03 -1.43960419e-02 6.63699420e+00] [ 4.39832853e-03 9.99989372e-01 1.38251202e-03 2.63979684e-01] [ 1.43898363e-02 -1.44567403e-03 9.99895416e-01 1.20096480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48255784400004 meters Centerline goodness [0,1] 0.26909947281998103 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99873771e-01 -5.43970094e-03 -1.49282326e-02 6.63887574e+00] [ 5.45491539e-03 9.99984643e-01 9.78643763e-04 2.62141032e-01] [ 1.49226798e-02 -1.05995248e-03 9.99888089e-01 1.20018326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51255784400007 meters Centerline goodness [0,1] 0.2682291105701915 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99865431e-01 -5.63602555e-03 -1.54063325e-02 6.64024646e+00] [ 5.65521556e-03 9.99983286e-01 1.20231052e-03 2.60243804e-01] [ 1.53992987e-02 -1.28927486e-03 9.99880593e-01 1.19983973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54255784400004 meters Centerline goodness [0,1] 0.2683291122800182 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99862131e-01 -5.73207782e-03 -1.55840687e-02 6.64088475e+00] [ 5.75563316e-03 9.99982360e-01 1.46707046e-03 2.58450083e-01] [ 1.55753844e-02 -1.55656438e-03 9.99877485e-01 1.19952514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5725578440001 meters Centerline goodness [0,1] 0.26877641703695676 Centerline is valid? [False, False] Translation: X:6.64, Y:0.26, Z:1.20 [[ 9.99860680e-01 -6.52166550e-03 -1.53651901e-02 6.64036784e+00] [ 6.54244011e-03 9.99977750e-01 1.30217874e-03 2.56223181e-01] [ 1.53563558e-02 -1.40252315e-03 9.99881101e-01 1.19964245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60255784400005 meters Centerline goodness [0,1] 0.2641128599342939 Centerline is valid? [False, False] Translation: X:6.66, Y:0.25, Z:1.20 [[ 9.99895902e-01 9.08651341e-04 -1.43999492e-02 6.65891244e+00] [-9.18609337e-04 9.99999344e-01 -6.84930706e-04 2.50964565e-01] [ 1.43993174e-02 6.98087334e-04 9.99896081e-01 1.20119572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6325578440001 meters Centerline goodness [0,1] 0.27103619929260736 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99855286e-01 -3.68607232e-05 -1.70119042e-02 6.61338570e+00] [ 3.02607826e-05 9.99999924e-01 -3.88217384e-04 2.49951609e-01] [ 1.70119173e-02 3.87646410e-04 9.99855212e-01 1.20177916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66255784400005 meters Centerline goodness [0,1] 0.27167403471329954 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99854172e-01 2.74488581e-05 -1.70772896e-02 6.61379445e+00] [-3.21312028e-05 9.99999962e-01 -2.73911149e-04 2.49622336e-01] [ 1.70772814e-02 2.74419919e-04 9.99854135e-01 1.20137689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6925578440001 meters Centerline goodness [0,1] 0.2663760170936481 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99853323e-01 8.22880077e-05 -1.71267254e-02 6.61422895e+00] [-8.51180285e-05 9.99999983e-01 -1.64511151e-04 2.49212251e-01] [ 1.71267116e-02 1.65944814e-04 9.99853313e-01 1.20087481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72255784400005 meters Centerline goodness [0,1] 0.2673563961633797 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99856245e-01 4.31945232e-05 -1.69554438e-02 6.61416284e+00] [-4.63222186e-05 9.99999982e-01 -1.84072864e-04 2.48771738e-01] [ 1.69554356e-02 1.84831817e-04 9.99856229e-01 1.20036415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7525578440001 meters Centerline goodness [0,1] 0.2718156649881194 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99858891e-01 6.39104574e-05 -1.67986071e-02 6.61367143e+00] [-6.69340158e-05 9.99999982e-01 -1.79426461e-04 2.48753111e-01] [ 1.67985954e-02 1.80525540e-04 9.99858877e-01 1.20050989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78255784400005 meters Centerline goodness [0,1] 0.2738170761052655 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99865028e-01 1.62268545e-04 -1.64286233e-02 6.61280786e+00] [-1.68354574e-04 9.99999918e-01 -3.69070432e-04 2.50355004e-01] [ 1.64285620e-02 3.71786452e-04 9.99864973e-01 1.20045982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8125578440001 meters Centerline goodness [0,1] 0.27014465053646675 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99864429e-01 8.92963744e-05 -1.64656151e-02 6.61315826e+00] [-1.00527569e-04 9.99999763e-01 -6.81273513e-04 2.52076274e-01] [ 1.64655504e-02 6.82836400e-04 9.99864200e-01 1.20004471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84255784400005 meters Centerline goodness [0,1] 0.2704620927658281 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99865658e-01 -7.32493998e-06 -1.63910068e-02 6.61323222e+00] [-9.19693916e-06 9.99999492e-01 -1.00790879e-03 2.53797586e-01] [ 1.63910059e-02 1.00792414e-03 9.99865150e-01 1.19960637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8725578440001 meters Centerline goodness [0,1] 0.2707136819748164 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99868190e-01 -1.01674981e-04 -1.62355507e-02 6.61292611e+00] [ 8.08252237e-05 9.99999171e-01 -1.28485487e-03 2.55192684e-01] [ 1.62356679e-02 1.28337327e-03 9.99867369e-01 1.19946104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90255784400006 meters Centerline goodness [0,1] 0.2703210345646495 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99870715e-01 -1.75684524e-04 -1.60786234e-02 6.61253638e+00] [ 1.52318402e-04 9.99998931e-01 -1.45445449e-03 2.56033439e-01] [ 1.60788618e-02 1.45181738e-03 9.99869673e-01 1.19946331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.93255784400003 meters Centerline goodness [0,1] 0.2703650325883542 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99872138e-01 -3.72916955e-04 -1.59864861e-02 6.61219462e+00] [ 3.46941839e-04 9.99998615e-01 -1.62755968e-03 2.56509526e-01] [ 1.59870709e-02 1.62180520e-03 9.99870883e-01 1.19955901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96255784400006 meters Centerline goodness [0,1] 0.271722577557325 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99871167e-01 -4.49766123e-04 -1.60451405e-02 6.61230043e+00] [ 4.23172360e-04 9.99998531e-01 -1.66079074e-03 2.56455643e-01] [ 1.60458639e-02 1.65378692e-03 9.99869889e-01 1.19956204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99255784400003 meters Centerline goodness [0,1] 0.2735495740160757 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99871124e-01 -5.45474230e-04 -1.60448637e-02 6.61231575e+00] [ 5.17738672e-04 9.99998365e-01 -1.73272834e-03 2.56529667e-01] [ 1.60457826e-02 1.72419799e-03 9.99869772e-01 1.19948589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02255784400006 meters Centerline goodness [0,1] 0.2719395400351814 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99866558e-01 -7.18343069e-04 -1.63202089e-02 6.61294916e+00] [ 6.87510121e-04 9.99997969e-01 -1.89478156e-03 2.56938291e-01] [ 1.63215369e-02 1.88330841e-03 9.99865021e-01 1.19946850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05255784400003 meters Centerline goodness [0,1] 0.27228316576887013 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99862064e-01 -8.38832740e-04 -1.65876305e-02 6.61388747e+00] [ 8.04590759e-04 9.99997532e-01 -2.07087399e-03 2.57771440e-01] [ 1.65893267e-02 2.05724209e-03 9.99860271e-01 1.19893398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08255784400006 meters Centerline goodness [0,1] 0.27136581037505136 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99857698e-01 -1.08455816e-03 -1.68347236e-02 6.61494873e+00] [ 1.04288825e-03 9.99996372e-01 -2.48381772e-03 2.60061116e-01] [ 1.68373564e-02 2.46590753e-03 9.99855201e-01 1.19820917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.11255784400004 meters Centerline goodness [0,1] 0.27051012216026216 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99861953e-01 -1.19827636e-03 -1.65722411e-02 6.61411157e+00] [ 1.15370475e-03 9.99995693e-01 -2.69883289e-03 2.61006653e-01] [ 1.65754037e-02 2.67934085e-03 9.99859029e-01 1.19849906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14255784400007 meters Centerline goodness [0,1] 0.2721903807178504 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99866091e-01 -1.37046264e-03 -1.63071424e-02 6.61319371e+00] [ 1.32196979e-03 9.99994674e-01 -2.98412653e-03 2.62002009e-01] [ 1.63111452e-02 2.96216937e-03 9.99862577e-01 1.19891243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17255784400004 meters Centerline goodness [0,1] 0.2720522785002497 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99869056e-01 -1.48936946e-03 -1.61137153e-02 6.61254342e+00] [ 1.43773667e-03 9.99993797e-01 -3.21538560e-03 2.63053453e-01] [ 1.61184043e-02 3.19179729e-03 9.99864996e-01 1.19915481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20255784400007 meters Centerline goodness [0,1] 0.27280514859314253 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99870389e-01 -1.59725558e-03 -1.60204005e-02 6.61247365e+00] [ 1.54109539e-03 9.99992627e-01 -3.51727542e-03 2.64928562e-01] [ 1.60259004e-02 3.49213058e-03 9.99865479e-01 1.19886402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23255784400004 meters Centerline goodness [0,1] 0.27194088241686587 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99868714e-01 -1.68483750e-03 -1.61157255e-02 6.61291258e+00] [ 1.62617197e-03 9.99992007e-01 -3.65267811e-03 2.65491080e-01] [ 1.61217508e-02 3.62599162e-03 9.99863461e-01 1.19852713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26255784400007 meters Centerline goodness [0,1] 0.2708057837802684 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99868704e-01 -1.75205595e-03 -1.61091829e-02 6.61301969e+00] [ 1.69234808e-03 9.99991651e-01 -3.71933477e-03 2.65567127e-01] [ 1.61155649e-02 3.69158410e-03 9.99863321e-01 1.19828055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29255784400004 meters Centerline goodness [0,1] 0.2713926266272837 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99875159e-01 -1.84510190e-03 -1.56927343e-02 6.61162449e+00] [ 1.78412393e-03 9.99990808e-01 -3.89885806e-03 2.66297961e-01] [ 1.56997838e-02 3.87037354e-03 9.99869260e-01 1.19890323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3225578440001 meters Centerline goodness [0,1] 0.27340840284886636 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99878139e-01 -1.88190267e-03 -1.54972712e-02 6.61114013e+00] [ 1.81895865e-03 9.99990044e-01 -4.07471346e-03 2.67377431e-01] [ 1.55047852e-02 4.04602801e-03 9.99871607e-01 1.19895087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35255784400005 meters Centerline goodness [0,1] 0.27084551261232004 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99878203e-01 -1.96023729e-03 -1.54834427e-02 6.61142318e+00] [ 1.89318346e-03 9.99988772e-01 -4.34415021e-03 2.68841119e-01] [ 1.54917844e-02 4.31430811e-03 9.99870687e-01 1.19848984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3825578440001 meters Centerline goodness [0,1] 0.2705665291947037 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99875674e-01 -2.05932948e-03 -1.56331514e-02 6.61211779e+00] [ 1.98622679e-03 9.99987028e-01 -4.69021985e-03 2.70620274e-01] [ 1.56426073e-02 4.65858575e-03 9.99866794e-01 1.19797327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41255784400005 meters Centerline goodness [0,1] 0.27101178312100527 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99871720e-01 -2.16284220e-03 -1.58702609e-02 6.61308759e+00] [ 2.08193339e-03 9.99984762e-01 -5.11289176e-03 2.72882685e-01] [ 1.58810775e-02 5.07919506e-03 9.99860987e-01 1.19735251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4425578440001 meters Centerline goodness [0,1] 0.27101178312100527 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:1.20 [[ 9.99871720e-01 -2.16284220e-03 -1.58702609e-02 6.61308759e+00] [ 2.08193339e-03 9.99984762e-01 -5.11289176e-03 2.72882685e-01] [ 1.58810775e-02 5.07919506e-03 9.99860987e-01 1.19735251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47255784400005 meters Centerline goodness [0,1] 0.2555466913905 Centerline is valid? [False, False] Translation: X:6.61, Y:0.28, Z:1.20 [[ 9.99866420e-01 -2.17677751e-03 -1.61988901e-02 6.61417139e+00] [ 2.08714697e-03 9.99982432e-01 -5.54797884e-03 2.75680300e-01] [ 1.62106822e-02 5.51342827e-03 9.99853397e-01 1.19691418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5025578440001 meters Centerline goodness [0,1] 0.2706778370144707 Centerline is valid? [False, False] Translation: X:6.62, Y:0.28, Z:1.20 [[ 9.99861600e-01 1.40451497e-03 -1.65773252e-02 6.61556562e+00] [-1.45142593e-03 9.99994976e-01 -2.81813486e-03 2.81291618e-01] [ 1.65732838e-02 2.84180559e-03 9.99858615e-01 1.19628653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53255784400005 meters Centerline goodness [0,1] 0.2712056490279836 Centerline is valid? [False, False] Translation: X:6.62, Y:0.29, Z:1.20 [[ 9.99859390e-01 1.31712169e-03 -1.67171958e-02 6.61599908e+00] [-1.37684442e-03 9.99992710e-01 -3.56152621e-03 2.85435417e-01] [ 1.67123829e-02 3.58404241e-03 9.99853915e-01 1.19613998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5625578440001 meters Centerline goodness [0,1] 0.2741304203613205 Centerline is valid? [False, False] Translation: X:6.57, Y:0.29, Z:1.20 [[ 9.99813261e-01 1.84123217e-03 -1.92367761e-02 6.57053301e+00] [-1.90404176e-03 9.99992915e-01 -3.24727393e-03 2.90662915e-01] [ 1.92306608e-02 3.28329517e-03 9.99809683e-01 1.19651610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59255784400005 meters Centerline goodness [0,1] 0.27133050016345206 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.20 [[ 9.99798324e-01 5.29964105e-03 -1.93707056e-02 6.57121222e+00] [-5.31313720e-03 9.99985677e-01 -6.45331392e-04 2.96198997e-01] [ 1.93670082e-02 7.48120461e-04 9.99812162e-01 1.19605309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6225578440001 meters Centerline goodness [0,1] 0.2738017215012889 Centerline is valid? [False, False] Translation: X:6.57, Y:0.30, Z:1.20 [[ 9.99800814e-01 5.06906569e-03 -1.93038310e-02 6.57117529e+00] [-5.09480552e-03 9.99986196e-01 -1.28445945e-03 2.99296410e-01] [ 1.92970535e-02 1.38255286e-03 9.99812839e-01 1.19584622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65255784400006 meters Centerline goodness [0,1] 0.2710154673839946 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.20 [[ 9.99767830e-01 -1.25873299e-03 -2.15105012e-02 6.58844927e+00] [ 1.24534250e-03 9.99999022e-01 -6.35893745e-04 3.06874542e-01] [ 2.15112806e-02 6.08958168e-04 9.99768420e-01 1.19862906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6825578440001 meters Centerline goodness [0,1] 0.27042473048447846 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.20 [[ 9.99765668e-01 -1.43095518e-03 -2.16000322e-02 6.58885800e+00] [ 1.40819572e-03 9.99998437e-01 -1.06885071e-03 3.09005563e-01] [ 2.16015279e-02 1.03818317e-03 9.99766121e-01 1.19828894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71255784400006 meters Centerline goodness [0,1] 0.2681642304385211 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.20 [[ 9.99764872e-01 -1.69022592e-03 -2.16181151e-02 6.58881919e+00] [ 1.65078476e-03 9.99996941e-01 -1.84216530e-03 3.13751141e-01] [ 2.16211627e-02 1.80604530e-03 9.99764604e-01 1.19837679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74255784400003 meters Centerline goodness [0,1] 0.27056291174743985 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99769338e-01 -1.81660021e-03 -2.14002610e-02 6.58813062e+00] [ 1.76957053e-03 9.99995978e-01 -2.21635364e-03 3.15916716e-01] [ 2.14042011e-02 2.17797314e-03 9.99768532e-01 1.19859690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.77255784400006 meters Centerline goodness [0,1] 0.27134893607791255 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99773378e-01 -1.94956395e-03 -2.11988786e-02 6.58752645e+00] [ 1.89593623e-03 9.99994953e-01 -2.54954737e-03 3.17614465e-01] [ 2.12037421e-02 2.50877787e-03 9.99772028e-01 1.19876372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80255784400003 meters Centerline goodness [0,1] 0.27152806404721097 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99777406e-01 -2.09282087e-03 -2.09942705e-02 6.58684210e+00] [ 2.03365313e-03 9.99993901e-01 -2.83923434e-03 3.18852209e-01] [ 2.10000845e-02 2.79590728e-03 9.99775564e-01 1.19904705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83255784400006 meters Centerline goodness [0,1] 0.27199305254016504 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99783554e-01 -2.30001036e-03 -2.06774284e-02 6.58570402e+00] [ 2.23558595e-03 9.99992577e-01 -3.13826328e-03 3.19940465e-01] [ 2.06844929e-02 3.09135784e-03 9.99781274e-01 1.19961773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86255784400004 meters Centerline goodness [0,1] 0.27262982893643084 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99784806e-01 -2.32166981e-03 -2.06143710e-02 6.58570363e+00] [ 2.25577083e-03 9.99992273e-01 -3.21942745e-03 3.20434719e-01] [ 2.06216862e-02 3.17223335e-03 9.99782318e-01 1.19935302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89255784400007 meters Centerline goodness [0,1] 0.2697576624615251 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99782846e-01 -2.32939219e-03 -2.07083133e-02 6.58608573e+00] [ 2.26140903e-03 9.99991979e-01 -3.30570374e-03 3.21080273e-01] [ 2.07158475e-02 3.25815593e-03 9.99780095e-01 1.19910329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92255784400004 meters Centerline goodness [0,1] 0.27320804195804194 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99783731e-01 -2.31313324e-03 -2.06673796e-02 6.58611781e+00] [ 2.24413777e-03 9.99991834e-01 -3.36094499e-03 3.21622181e-01] [ 2.06749851e-02 3.31383768e-03 9.99780758e-01 1.19889097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95255784400007 meters Centerline goodness [0,1] 0.2704647219927836 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99785309e-01 -2.31333082e-03 -2.05908878e-02 6.58593751e+00] [ 2.24245223e-03 9.99991484e-01 -3.46465512e-03 3.22219066e-01] [ 2.05987273e-02 3.41773720e-03 9.99781982e-01 1.19889400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98255784400004 meters Centerline goodness [0,1] 0.268656073720019 Centerline is valid? [False, False] Translation: X:6.61, Y:0.32, Z:1.20 [[ 9.99783104e-01 6.21114121e-03 -1.98787804e-02 6.60637778e+00] [-6.30638282e-03 9.99968918e-01 -4.73202231e-03 3.18692340e-01] [ 1.98487713e-02 4.85635915e-03 9.99791199e-01 1.20039926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01255784400007 meters Centerline goodness [0,1] 0.27350297120219413 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99791735e-01 -1.85855124e-03 -2.03232040e-02 6.58790448e+00] [ 1.79170637e-03 9.99992927e-01 -3.30680508e-03 3.23283178e-01] [ 2.03292061e-02 3.26970317e-03 9.99787994e-01 1.19828235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04255784400004 meters Centerline goodness [0,1] 0.2726226160997437 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99791007e-01 -1.81627420e-03 -2.03628188e-02 6.58824129e+00] [ 1.74818548e-03 9.99992823e-01 -3.36107911e-03 3.23677367e-01] [ 2.03687773e-02 3.32477868e-03 9.99787007e-01 1.19789090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0725578440001 meters Centerline goodness [0,1] 0.2708085805016094 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99789593e-01 -1.37260517e-03 -2.04666889e-02 6.58885443e+00] [ 1.30605269e-03 9.99993818e-01 -3.26475849e-03 3.24431511e-01] [ 2.04710436e-02 3.23734099e-03 9.99785205e-01 1.19730296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10255784400005 meters Centerline goodness [0,1] 0.2707417881226887 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.20 [[ 9.99792526e-01 -1.29809391e-03 -2.03278161e-02 6.58851490e+00] [ 1.22928360e-03 9.99993474e-01 -3.39716200e-03 3.25500795e-01] [ 2.03320933e-02 3.37146853e-03 9.99787597e-01 1.19727909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1325578440001 meters Centerline goodness [0,1] 0.27053391428757234 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.20 [[ 9.99797999e-01 -1.16958962e-03 -2.00647507e-02 6.58772565e+00] [ 1.09937773e-03 9.99993236e-01 -3.50993912e-03 3.26667691e-01] [ 2.00687202e-02 3.48717137e-03 9.99792522e-01 1.19747717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16255784400005 meters Centerline goodness [0,1] 0.270165040773507 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.20 [[ 9.99800344e-01 -1.11748636e-03 -1.99505014e-02 6.58737295e+00] [ 1.04409479e-03 9.99992652e-01 -3.68872045e-03 3.27953837e-01] [ 1.99544768e-02 3.66715376e-03 9.99794164e-01 1.19758930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1925578440001 meters Centerline goodness [0,1] 0.2550923936398797 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.20 [[ 9.99797882e-01 -1.09940518e-03 -2.00745206e-02 6.58787328e+00] [ 1.02197578e-03 9.99992001e-01 -3.86695016e-03 3.29092090e-01] [ 2.00786114e-02 3.84565290e-03 9.99791008e-01 1.19724184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22255784400005 meters Centerline goodness [0,1] 0.2707467982000692 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.20 [[ 9.99790374e-01 -9.61612903e-04 -2.04519645e-02 6.58941547e+00] [ 8.82014717e-04 9.99992004e-01 -3.90062231e-03 3.29627584e-01] [ 2.04555519e-02 3.88176571e-03 9.99783228e-01 1.19616587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2525578440001 meters Centerline goodness [0,1] 0.27055851810272247 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.20 [[ 9.99793530e-01 -8.38169932e-04 -2.03026054e-02 6.58902571e+00] [ 7.63475085e-04 9.99992913e-01 -3.68654860e-03 3.28790683e-01] [ 2.03055515e-02 3.67028691e-03 9.99787084e-01 1.19618339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28255784400005 meters Centerline goodness [0,1] 0.27137353361326344 Centerline is valid? [False, False] Translation: X:6.59, Y:0.33, Z:1.20 [[ 9.99798596e-01 -7.00183055e-04 -2.00568662e-02 6.58811049e+00] [ 6.32329271e-04 9.99994057e-01 -3.38921228e-03 3.27465631e-01] [ 2.00591200e-02 3.37584713e-03 9.99793096e-01 1.19664678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3125578440001 meters Centerline goodness [0,1] 0.27252330748453424 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99804427e-01 -5.90006625e-04 -1.97676203e-02 6.58695213e+00] [ 5.36422336e-04 9.99996168e-01 -2.71590293e-03 3.23139737e-01] [ 1.97691469e-02 2.70476798e-03 9.99800913e-01 1.19740046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34255784400005 meters Centerline goodness [0,1] 0.25848316302332597 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99799272e-01 -4.66767275e-04 -2.00299177e-02 6.58785837e+00] [ 4.21788967e-04 9.99997380e-01 -2.24972219e-03 3.20472590e-01] [ 2.00309153e-02 2.24082221e-03 9.99796850e-01 1.19700585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3725578440001 meters Centerline goodness [0,1] 0.2681695104654661 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99794740e-01 -3.28514913e-04 -2.02575801e-02 6.58887439e+00] [ 2.91970954e-04 9.99998325e-01 -1.80689593e-03 3.18017856e-01] [ 2.02581397e-02 1.80061042e-03 9.99793161e-01 1.19631003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40255784400006 meters Centerline goodness [0,1] 0.2559629070519732 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.20 [[ 9.99793070e-01 -1.67302896e-04 -2.03418182e-02 6.58928321e+00] [ 1.39043401e-04 9.99999023e-01 -1.39063790e-03 3.15841183e-01] [ 2.03420310e-02 1.38752174e-03 9.99792117e-01 1.19600993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4325578440001 meters Centerline goodness [0,1] 0.27143198453552264 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.20 [[ 9.99793903e-01 -2.86645191e-05 -2.03015012e-02 6.58915540e+00] [ 6.96752640e-06 9.99999429e-01 -1.06880827e-03 3.14208164e-01] [ 2.03015202e-02 1.06844654e-03 9.99793332e-01 1.19603333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46255784400006 meters Centerline goodness [0,1] 0.25608706874300957 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.20 [[ 9.99800015e-01 4.30824289e-04 -1.99936112e-02 6.58831966e+00] [-4.42267038e-04 9.99999741e-01 -5.67902136e-04 3.12808553e-01] [ 1.99933614e-02 5.76631080e-04 9.99799946e-01 1.19618790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49255784400003 meters Centerline goodness [0,1] 0.2601031533590129 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.20 [[ 9.99799660e-01 5.50275567e-04 -2.00084337e-02 6.58838637e+00] [-5.61990094e-04 9.99999674e-01 -5.79861349e-04 3.13264839e-01] [ 2.00081081e-02 5.90989721e-04 9.99799643e-01 1.19611317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52255784400006 meters Centerline goodness [0,1] 0.27135123430056296 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.20 [[ 9.99796502e-01 6.43083258e-04 -2.01628663e-02 6.58912410e+00] [-6.57402385e-04 9.99999536e-01 -7.03553004e-04 3.14114504e-01] [ 2.01624045e-02 7.16664949e-04 9.99796461e-01 1.19551759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55255784400003 meters Centerline goodness [0,1] 0.2729969032145505 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.20 [[ 9.99793585e-01 7.01426377e-04 -2.03050818e-02 6.58971882e+00] [-7.17897906e-04 9.99999419e-01 -8.03924426e-04 3.14792196e-01] [ 2.03045061e-02 8.18335460e-04 9.99793507e-01 1.19506694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58255784400006 meters Centerline goodness [0,1] 0.25330495905075123 Centerline is valid? [False, False] Translation: X:6.61, Y:0.31, Z:1.20 [[ 9.99744693e-01 1.01906662e-02 -2.01667753e-02 6.61190428e+00] [-1.02193474e-02 9.99946910e-01 -1.31965272e-03 3.12989125e-01] [ 2.01522565e-02 1.52540709e-03 9.99795759e-01 1.19543945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61255784400004 meters Centerline goodness [0,1] 0.25521931901338724 Centerline is valid? [False, False] Translation: X:6.61, Y:0.31, Z:1.20 [[ 9.99745036e-01 1.01745193e-02 -2.01579230e-02 6.61204504e+00] [-1.02046169e-02 9.99946964e-01 -1.39078610e-03 3.13446914e-01] [ 2.01427034e-02 1.59613538e-03 9.99795841e-01 1.19512994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64255784400007 meters Centerline goodness [0,1] 0.2595230387396137 Centerline is valid? [False, False] Translation: X:6.61, Y:0.31, Z:1.19 [[ 9.99744496e-01 1.01663688e-02 -2.01888100e-02 6.61220396e+00] [-1.01963179e-02 9.99947062e-01 -1.38106707e-03 3.13231005e-01] [ 2.01737008e-02 1.58656573e-03 9.99795231e-01 1.19499584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67255784400004 meters Centerline goodness [0,1] 0.2630096302928395 Centerline is valid? [False, False] Translation: X:6.59, Y:0.32, Z:1.19 [[ 9.99779159e-01 1.08467745e-03 -2.09870785e-02 6.59163602e+00] [-1.09567354e-03 9.99999268e-01 -5.12454435e-04 3.15810989e-01] [ 2.09865073e-02 5.35336250e-04 9.99779616e-01 1.19385461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70255784400007 meters Centerline goodness [0,1] 0.25886432596445597 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.19 [[ 9.99775828e-01 1.19179302e-03 -2.11393780e-02 6.59186994e+00] [-1.19122574e-03 9.99999290e-01 3.94276780e-05 3.12814701e-01] [ 2.11394099e-02 -1.42370684e-05 9.99776538e-01 1.19408548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73255784400004 meters Centerline goodness [0,1] 0.2538719669592153 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.19 [[ 9.99777855e-01 1.28713400e-03 -2.10376910e-02 6.59149088e+00] [-1.27878848e-03 9.99999098e-01 4.10141614e-04 3.10803050e-01] [ 2.10381999e-02 -3.83147746e-04 9.99778599e-01 1.19432425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76255784400007 meters Centerline goodness [0,1] 0.25387136156268075 Centerline is valid? [False, False] Translation: X:6.59, Y:0.31, Z:1.19 [[ 9.99780516e-01 1.39541377e-03 -2.09038980e-02 6.59099765e+00] [-1.37830772e-03 9.99998703e-01 8.32703918e-04 3.08439258e-01] [ 2.09050329e-02 -8.03709149e-04 9.99781143e-01 1.19459070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79255784400004 meters Centerline goodness [0,1] 0.2619596918121273 Centerline is valid? [False, False] Translation: X:6.54, Y:0.30, Z:1.20 [[ 9.99728265e-01 1.63235155e-04 -2.33102830e-02 6.54427541e+00] [-1.35131861e-04 9.99999262e-01 1.20718800e-03 3.01445963e-01] [ 2.33104629e-02 -1.20371001e-03 9.99727550e-01 1.19547476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8225578440001 meters Centerline goodness [0,1] 0.256905301803261 Centerline is valid? [False, False] Translation: X:6.54, Y:0.30, Z:1.20 [[ 9.99727320e-01 3.03897366e-04 -2.33493663e-02 6.54443140e+00] [-2.68816615e-04 9.99998831e-01 1.50555251e-03 3.00082257e-01] [ 2.33497965e-02 -1.49886528e-03 9.99726233e-01 1.19537467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85255784400005 meters Centerline goodness [0,1] 0.25495665608102314 Centerline is valid? [False, False] Translation: X:6.54, Y:0.30, Z:1.20 [[ 9.99726157e-01 4.28057207e-04 -2.33971722e-02 6.54472607e+00] [-3.86764409e-04 9.99998360e-01 1.76935948e-03 2.98771190e-01] [ 2.33978912e-02 -1.75982576e-03 9.99724683e-01 1.19515927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8825578440001 meters Centerline goodness [0,1] 0.25498848397442797 Centerline is valid? [False, False] Translation: X:6.55, Y:0.30, Z:1.19 [[ 9.99724073e-01 4.92445291e-04 -2.34847858e-02 6.54509975e+00] [-4.47300071e-04 9.99998042e-01 1.92753211e-03 2.97703132e-01] [ 2.34856890e-02 -1.91649550e-03 9.99722336e-01 1.19496942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91255784400005 meters Centerline goodness [0,1] 0.26098584505664146 Centerline is valid? [False, False] Translation: X:6.55, Y:0.30, Z:1.19 [[ 9.99721489e-01 5.50476854e-04 -2.35932622e-02 6.54550163e+00] [-5.01720585e-04 9.99997727e-01 2.07240319e-03 2.96709793e-01] [ 2.35943494e-02 -2.05998878e-03 9.99719492e-01 1.19477991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9425578440001 meters Centerline goodness [0,1] 0.2617429193899782 Centerline is valid? [False, False] Translation: X:6.55, Y:0.29, Z:1.19 [[ 9.99712329e-01 8.11917875e-04 -2.39707966e-02 6.54670299e+00] [-7.53490576e-04 9.99996724e-01 2.44636828e-03 2.94970745e-01] [ 2.39727043e-02 -2.42760276e-03 9.99709666e-01 1.19431072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97255784400005 meters Centerline goodness [0,1] 0.25364802241620865 Centerline is valid? [False, False] Translation: X:6.55, Y:0.29, Z:1.19 [[ 9.99711824e-01 9.70069432e-04 -2.39859986e-02 6.54693180e+00] [-9.06442486e-04 9.99996042e-01 2.66340055e-03 2.94167658e-01] [ 2.39884874e-02 -2.64089109e-03 9.99708747e-01 1.19398907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0025578440001 meters Centerline goodness [0,1] 0.2592400017331773 Centerline is valid? [False, False] Translation: X:6.55, Y:0.29, Z:1.19 [[ 9.99716233e-01 1.11369329e-03 -2.37952332e-02 6.54638895e+00] [-1.04442734e-03 9.99995182e-01 2.92314677e-03 2.93028084e-01] [ 2.37983740e-02 -2.89746489e-03 9.99712580e-01 1.19411167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03255784400005 meters Centerline goodness [0,1] 0.26293441337862555 Centerline is valid? [False, False] Translation: X:6.55, Y:0.29, Z:1.19 [[ 9.99719070e-01 1.23112057e-03 -2.36699416e-02 6.54606495e+00] [-1.15599719e-03 9.99994253e-01 3.18720955e-03 2.91705267e-01] [ 2.36737294e-02 -3.15895178e-03 9.99714747e-01 1.19416004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0625578440001 meters Centerline goodness [0,1] 0.25796089084362805 Centerline is valid? [False, False] Translation: X:6.55, Y:0.29, Z:1.19 [[ 9.99716026e-01 1.51701433e-03 -2.37816493e-02 6.54622455e+00] [-1.42450605e-03 9.99991356e-01 3.90636027e-03 2.87964957e-01] [ 2.37873697e-02 -3.87137386e-03 9.99709545e-01 1.19437145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09255784400005 meters Centerline goodness [0,1] 0.26124428852941817 Centerline is valid? [False, False] Translation: X:6.55, Y:0.29, Z:1.19 [[ 9.99714148e-01 1.69410490e-03 -2.38485124e-02 6.54634322e+00] [-1.58969971e-03 9.99989073e-01 4.39612727e-03 2.85346088e-01] [ 2.38556993e-02 -4.35695865e-03 9.99705918e-01 1.19452191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1225578440001 meters Centerline goodness [0,1] 0.25495512944670407 Centerline is valid? [False, False] Translation: X:6.55, Y:0.28, Z:1.19 [[ 9.99713866e-01 1.84591515e-03 -2.38490957e-02 6.54622072e+00] [-1.72975482e-03 9.99986546e-01 4.89035031e-03 2.82458793e-01] [ 2.38578020e-02 -4.84769792e-03 9.99703609e-01 1.19477453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15255784400006 meters Centerline goodness [0,1] 0.25337613697164263 Centerline is valid? [False, False] Translation: X:6.55, Y:0.28, Z:1.20 [[ 9.99715959e-01 2.04477409e-03 -2.37448778e-02 6.54575263e+00] [-1.91652920e-03 9.99983462e-01 5.42245147e-03 2.79635952e-01] [ 2.37555728e-02 -5.37540352e-03 9.99703345e-01 1.19515967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1825578440001 meters Centerline goodness [0,1] 0.2559746802738664 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.20 [[ 9.99713082e-01 2.47183033e-03 -2.38252811e-02 6.54600947e+00] [-2.31931187e-03 9.99976657e-01 6.42704744e-03 2.74752916e-01] [ 2.38406115e-02 -6.36994515e-03 9.99695478e-01 1.19517871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21255784400006 meters Centerline goodness [0,1] 0.26449630646531996 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99709056e-01 2.61472651e-03 -2.39784709e-02 6.54654972e+00] [-2.45218563e-03 9.99973836e-01 6.80551813e-03 2.72753945e-01] [ 2.39956381e-02 -6.74473845e-03 9.99689311e-01 1.19498641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24255784400003 meters Centerline goodness [0,1] 0.2601231249458077 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.20 [[ 9.99703063e-01 2.68571953e-03 -2.42192747e-02 6.54717314e+00] [-2.51540877e-03 9.99971916e-01 7.05975947e-03 2.71204546e-01] [ 2.42375551e-02 -6.99674179e-03 9.99681743e-01 1.19501257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27255784400006 meters Centerline goodness [0,1] 0.2613909391978181 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.20 [[ 9.99700090e-01 2.74582071e-03 -2.43349759e-02 6.54728188e+00] [-2.57045658e-03 9.99970526e-01 7.23461197e-03 2.70089981e-01] [ 2.43541236e-02 -7.16989024e-03 9.99677683e-01 1.19528098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30255784400003 meters Centerline goodness [0,1] 0.262010347376201 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.20 [[ 9.99701640e-01 2.98185124e-03 -2.42433214e-02 6.54678146e+00] [-2.79715941e-03 9.99966837e-01 7.64860146e-03 2.68694689e-01] [ 2.42653244e-02 -7.57850699e-03 9.99676828e-01 1.19568806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33255784400006 meters Centerline goodness [0,1] 0.2619480126292115 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.20 [[ 9.99701172e-01 3.05552714e-03 -2.42534816e-02 6.54683301e+00] [-2.86688601e-03 9.99965401e-01 7.80886296e-03 2.68057209e-01] [ 2.42765026e-02 -7.73699748e-03 9.99675342e-01 1.19564605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36255784400004 meters Centerline goodness [0,1] 0.2619480126292115 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.20 [[ 9.99701172e-01 3.05552714e-03 -2.42534816e-02 6.54683301e+00] [-2.86688601e-03 9.99965401e-01 7.80886296e-03 2.68057209e-01] [ 2.42765026e-02 -7.73699748e-03 9.99675342e-01 1.19564605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.39255784400007 meters Centerline goodness [0,1] 0.261460248783126 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.20 [[ 9.99697691e-01 3.05994355e-03 -2.43959775e-02 6.54735473e+00] [-2.86717672e-03 9.99964426e-01 7.93264992e-03 2.67087605e-01] [ 2.44193830e-02 -7.86030423e-03 9.99670901e-01 1.19545089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42255784400004 meters Centerline goodness [0,1] 0.25086824164987354 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.20 [[ 9.99693491e-01 2.93943594e-03 -2.45821928e-02 6.54767170e+00] [-2.74174165e-03 9.99963662e-01 8.07201583e-03 2.65056775e-01] [ 2.46050267e-02 -8.00214366e-03 9.99665223e-01 1.19570469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45255784400007 meters Centerline goodness [0,1] 0.2625056868649668 Centerline is valid? [False, False] Translation: X:6.55, Y:0.26, Z:1.20 [[ 9.99695482e-01 2.97663739e-03 -2.44966051e-02 6.54730573e+00] [-2.77687129e-03 9.99962648e-01 8.18482913e-03 2.64423936e-01] [ 2.45200534e-02 -8.11431278e-03 9.99666407e-01 1.19595954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48255784400004 meters Centerline goodness [0,1] 0.26103140080936615 Centerline is valid? [False, False] Translation: X:6.55, Y:0.26, Z:1.20 [[ 9.99697176e-01 3.01740623e-03 -2.44223407e-02 6.54702461e+00] [-2.81676575e-03 9.99962037e-01 8.24568455e-03 2.64343183e-01] [ 2.44462941e-02 -8.17439555e-03 9.99667724e-01 1.19609172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51255784400007 meters Centerline goodness [0,1] 0.2546362798276268 Centerline is valid? [False, False] Translation: X:6.55, Y:0.26, Z:1.20 [[ 9.99698899e-01 3.03585987e-03 -2.43494357e-02 6.54682311e+00] [-2.83597912e-03 9.99962036e-01 8.23918135e-03 2.64617972e-01] [ 2.43735243e-02 -8.16764603e-03 9.99669556e-01 1.19614217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54255784400004 meters Centerline goodness [0,1] 0.2585252364231706 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.20 [[ 9.99700775e-01 2.91485346e-03 -2.42871087e-02 6.54701238e+00] [-2.72227473e-03 9.99964625e-01 7.95855086e-03 2.65705951e-01] [ 2.43094475e-02 -7.89005328e-03 9.99673346e-01 1.19560863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5725578440001 meters Centerline goodness [0,1] 0.2568131017881705 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99699385e-01 2.81645579e-03 -2.43558438e-02 6.54760366e+00] [-2.62881082e-03 9.99966645e-01 7.73289930e-03 2.66659369e-01] [ 2.43768108e-02 -7.66654777e-03 9.99673444e-01 1.19496051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60255784400005 meters Centerline goodness [0,1] 0.25386232941378417 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99697177e-01 2.78113614e-03 -2.44503652e-02 6.54825110e+00] [-2.59686019e-03 9.99968011e-01 7.56526009e-03 2.67658494e-01] [ 2.44706231e-02 -7.49947497e-03 9.99672420e-01 1.19428865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6325578440001 meters Centerline goodness [0,1] 0.2603307578782881 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99698604e-01 2.72457172e-03 -2.43983088e-02 6.54836603e+00] [-2.54543709e-03 9.99969600e-01 7.37014160e-03 2.68819988e-01] [ 2.44176476e-02 -7.30581591e-03 9.99675149e-01 1.19385542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66255784400005 meters Centerline goodness [0,1] 0.2537307014148712 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99695623e-01 2.55605556e-03 -2.45382922e-02 6.54896073e+00] [-2.38655897e-03 9.99973110e-01 6.93423463e-03 2.70798493e-01] [ 2.45553566e-02 -6.87356193e-03 9.99674841e-01 1.19342564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6925578440001 meters Centerline goodness [0,1] 0.2625804912950155 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99694536e-01 2.45597575e-03 -2.45927500e-02 6.54930156e+00] [-2.29131609e-03 9.99974786e-01 6.72139728e-03 2.71658878e-01] [ 2.46086375e-02 -6.66299437e-03 9.99674957e-01 1.19308753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72255784400005 meters Centerline goodness [0,1] 0.26053888204662823 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99694399e-01 2.40189565e-03 -2.46036575e-02 6.54940983e+00] [-2.24060490e-03 9.99975835e-01 6.58103135e-03 2.72431030e-01] [ 2.46188699e-02 -6.52389310e-03 9.99675622e-01 1.19291159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7525578440001 meters Centerline goodness [0,1] 0.2635802200669769 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99705869e-01 2.39692104e-03 -2.41335841e-02 6.54833527e+00] [-2.24297160e-03 9.99976978e-01 6.40410425e-03 2.73886457e-01] [ 2.41483786e-02 -6.34808966e-03 9.99688230e-01 1.19274927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78255784400005 meters Centerline goodness [0,1] 0.25658789252185177 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99706063e-01 2.29572611e-03 -2.41354060e-02 6.54859272e+00] [-2.14591606e-03 9.99978284e-01 6.23113438e-03 2.74546410e-01] [ 2.41491868e-02 -6.17751027e-03 9.99689279e-01 1.19234583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8125578440001 meters Centerline goodness [0,1] 0.2614520311149524 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99702347e-01 2.21414523e-03 -2.42963907e-02 6.54934299e+00] [-2.06666594e-03 9.99979299e-01 6.09344023e-03 2.74932802e-01] [ 2.43093795e-02 -6.04141398e-03 9.99686228e-01 1.19179800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84255784400005 meters Centerline goodness [0,1] 0.26248994936653847 Centerline is valid? [False, False] Translation: X:6.55, Y:0.28, Z:1.19 [[ 9.99697108e-01 2.14654388e-03 -2.45170258e-02 6.55012887e+00] [-2.00052395e-03 9.99980126e-01 5.97883341e-03 2.75239876e-01] [ 2.45293724e-02 -5.92797557e-03 9.99681534e-01 1.19141022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8725578440001 meters Centerline goodness [0,1] 0.25378730740221955 Centerline is valid? [False, False] Translation: X:6.55, Y:0.28, Z:1.19 [[ 9.99691648e-01 2.11598808e-03 -2.47413112e-02 6.55087214e+00] [-1.97062237e-03 9.99980663e-01 5.89833109e-03 2.75640981e-01] [ 2.47533135e-02 -5.84775655e-03 9.99676486e-01 1.19112070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90255784400006 meters Centerline goodness [0,1] 0.2570526133610246 Centerline is valid? [False, False] Translation: X:6.55, Y:0.28, Z:1.19 [[ 9.99687693e-01 2.07900859e-03 -2.49036960e-02 6.55139788e+00] [-1.93401306e-03 9.99981048e-01 5.84492091e-03 2.75809652e-01] [ 2.49153757e-02 -5.79493143e-03 9.99672768e-01 1.19090651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.9325578440001 meters Centerline goodness [0,1] 0.2611215197594876 Centerline is valid? [False, False] Translation: X:6.55, Y:0.28, Z:1.19 [[ 9.99679740e-01 2.02707305e-03 -2.52251366e-02 6.55233506e+00] [-1.87917100e-03 9.99980914e-01 5.88560466e-03 2.75006847e-01] [ 2.52365857e-02 -5.83631739e-03 9.99664470e-01 1.19074042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96255784400006 meters Centerline goodness [0,1] 0.2626928195841425 Centerline is valid? [False, False] Translation: X:6.55, Y:0.27, Z:1.19 [[ 9.99679889e-01 2.03934153e-03 -2.52182431e-02 6.55199982e+00] [-1.88806484e-03 9.99980091e-01 6.02105717e-03 2.74037645e-01] [ 2.52300200e-02 -5.97151609e-03 9.99663837e-01 1.19125303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99255784400003 meters Centerline goodness [0,1] 0.2591816905969988 Centerline is valid? [False, False] Translation: X:6.57, Y:0.27, Z:1.19 [[ 9.99711581e-01 8.74120124e-03 -2.23684038e-02 6.57329225e+00] [-8.66687599e-03 9.99956602e-01 3.41757003e-03 2.73393790e-01] [ 2.23973067e-02 -3.22272016e-03 9.99743955e-01 1.19094593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02255784400006 meters Centerline goodness [0,1] 0.25248491874369383 Centerline is valid? [False, False] Translation: X:6.59, Y:0.28, Z:1.19 [[ 9.99782586e-01 1.17243238e-03 -2.08183966e-02 6.59193072e+00] [-1.07226395e-03 9.99987799e-01 4.82204484e-03 2.76637877e-01] [ 2.08237961e-02 -4.79867365e-03 9.99771645e-01 1.19300411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05255784400003 meters Centerline goodness [0,1] 0.2585781662411839 Centerline is valid? [False, False] Translation: X:6.59, Y:0.27, Z:1.19 [[ 9.99790415e-01 1.28809810e-03 -2.04319929e-02 6.59036357e+00] [-1.17394901e-03 9.99983643e-01 5.59779271e-03 2.72569460e-01] [ 2.04388692e-02 -5.57263338e-03 9.99775574e-01 1.19416930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08255784400006 meters Centerline goodness [0,1] 0.25965177895533686 Centerline is valid? [False, False] Translation: X:6.59, Y:0.27, Z:1.19 [[ 9.99783749e-01 1.29985420e-03 -2.07548699e-02 6.59124368e+00] [-1.17666337e-03 9.99981626e-01 5.94662362e-03 2.70159888e-01] [ 2.07622183e-02 -5.92091617e-03 9.99766909e-01 1.19412387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11255784400004 meters Centerline goodness [0,1] 0.2519816974930721 Centerline is valid? [False, False] Translation: X:6.59, Y:0.27, Z:1.19 [[ 9.99777125e-01 1.31325462e-03 -2.10707295e-02 6.59210003e+00] [-1.18090336e-03 9.99979505e-01 6.29249893e-03 2.67703050e-01] [ 2.10785613e-02 -6.26621400e-03 9.99758185e-01 1.19410342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14255784400007 meters Centerline goodness [0,1] 0.2567039889543288 Centerline is valid? [False, False] Translation: X:6.59, Y:0.26, Z:1.19 [[ 9.99788232e-01 1.42583177e-03 -2.05294435e-02 6.59043955e+00] [-1.27955602e-03 9.99973716e-01 7.13654262e-03 2.62798047e-01] [ 2.05390794e-02 -7.10876276e-03 9.99763778e-01 1.19479243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.17255784400004 meters Centerline goodness [0,1] 0.2579915073394693 Centerline is valid? [False, False] Translation: X:6.59, Y:0.26, Z:1.20 [[ 9.99791749e-01 1.59202031e-03 -2.03451359e-02 6.58971340e+00] [-1.43665289e-03 9.99969715e-01 7.64892373e-03 2.60264425e-01] [ 2.03566970e-02 -7.61810193e-03 9.99763757e-01 1.19527771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20255784400007 meters Centerline goodness [0,1] 0.26049946934089974 Centerline is valid? [False, False] Translation: X:6.59, Y:0.26, Z:1.20 [[ 9.99793619e-01 1.75914228e-03 -2.02391916e-02 6.58920707e+00] [-1.59478551e-03 9.99965647e-01 8.13399447e-03 2.57848011e-01] [ 2.02528052e-02 -8.10003860e-03 9.99762078e-01 1.19572127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23255784400004 meters Centerline goodness [0,1] 0.24939053077284978 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99788345e-01 8.53717070e-03 -1.87184902e-02 6.61073553e+00] [-8.43836962e-03 9.99950080e-01 5.35090850e-03 2.55010751e-01] [ 1.87632374e-02 -5.19182242e-03 9.99810475e-01 1.19566163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26255784400007 meters Centerline goodness [0,1] 0.2512370140302024 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99785408e-01 8.56728796e-03 -1.88610462e-02 6.61130950e+00] [-8.46624414e-03 9.99949414e-01 5.43062241e-03 2.54255098e-01] [ 1.89066178e-02 -5.26977482e-03 9.99807366e-01 1.19532744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29255784400004 meters Centerline goodness [0,1] 0.26346808696411417 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:1.20 [[ 9.99724792e-01 8.09220782e-03 -2.20194464e-02 6.56711378e+00] [-7.95837773e-03 9.99949366e-01 6.15867236e-03 2.52808363e-01] [ 2.20681687e-02 -5.98173838e-03 9.99738573e-01 1.19526487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3225578440001 meters Centerline goodness [0,1] 0.2608818112880511 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:1.19 [[ 9.99723003e-01 8.10593253e-03 -2.20955054e-02 6.56763476e+00] [-7.97656450e-03 9.99950563e-01 5.93680845e-03 2.54312451e-01] [ 2.21425364e-02 -5.75891775e-03 9.99738237e-01 1.19467936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35255784400005 meters Centerline goodness [0,1] 0.2569724988658213 Centerline is valid? [False, False] Translation: X:6.57, Y:0.26, Z:1.19 [[ 9.99723143e-01 8.17020129e-03 -2.20654870e-02 6.56750131e+00] [-8.04790906e-03 9.99951792e-01 5.62536768e-03 2.56386139e-01] [ 2.21103837e-02 -5.44622922e-03 9.99740701e-01 1.19469296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3825578440001 meters Centerline goodness [0,1] 0.2525159324507006 Centerline is valid? [False, False] Translation: X:6.57, Y:0.26, Z:1.19 [[ 9.99722562e-01 8.09454202e-03 -2.21196164e-02 6.56752098e+00] [-7.97482223e-03 9.99953101e-01 5.49524380e-03 2.56727890e-01] [ 2.21630605e-02 -5.31731920e-03 9.99740229e-01 1.19488832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41255784400005 meters Centerline goodness [0,1] 0.25736514299260793 Centerline is valid? [False, False] Translation: X:6.57, Y:0.26, Z:1.20 [[ 9.99718687e-01 8.07194517e-03 -2.23022555e-02 6.56778974e+00] [-7.95020387e-03 9.99953039e-01 5.54198341e-03 2.56154074e-01] [ 2.23459428e-02 -5.36311690e-03 9.99735913e-01 1.19516610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4425578440001 meters Centerline goodness [0,1] 0.25903366353803137 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:1.20 [[ 9.99752889e-01 5.08761676e-03 -2.16397248e-02 6.56510491e+00] [-5.02803875e-03 9.99983421e-01 2.80669670e-03 2.54446747e-01] [ 2.16536454e-02 -2.69719776e-03 9.99761894e-01 1.19625373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47255784400005 meters Centerline goodness [0,1] 0.2567733857213791 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:1.20 [[ 9.99754319e-01 5.14477124e-03 -2.15599780e-02 6.56482013e+00] [-5.08037608e-03 9.99982472e-01 3.04050109e-03 2.53126252e-01] [ 2.15752428e-02 -2.93022130e-03 9.99762933e-01 1.19642235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5025578440001 meters Centerline goodness [0,1] 0.25739043996888233 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:1.20 [[ 9.99753344e-01 5.22061858e-03 -2.15869668e-02 6.56477726e+00] [-5.15110075e-03 9.99981371e-01 3.27471323e-03 2.51915804e-01] [ 2.16036607e-02 -3.16270886e-03 9.99761611e-01 1.19660109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53255784400005 meters Centerline goodness [0,1] 0.2605299799843356 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:1.20 [[ 9.99751757e-01 5.26869236e-03 -2.16486682e-02 6.56493217e+00] [-5.19578490e-03 9.99980645e-01 3.42262605e-03 2.51129543e-01] [ 2.16662820e-02 -3.30929458e-03 9.99759782e-01 1.19660766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5625578440001 meters Centerline goodness [0,1] 0.2575050753747138 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:1.20 [[ 9.99743398e-01 5.35737146e-03 -2.20099109e-02 6.56603796e+00] [-5.27989776e-03 9.99979665e-01 3.57655194e-03 2.50524277e-01] [ 2.20286243e-02 -3.45942411e-03 9.99751355e-01 1.19629708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59255784400005 meters Centerline goodness [0,1] 0.2551725618131868 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:1.20 [[ 9.99738685e-01 5.33549269e-03 -2.22282089e-02 6.56684119e+00] [-5.25981132e-03 9.99980175e-01 3.46182036e-03 2.51094473e-01] [ 2.22462387e-02 -3.34399956e-03 9.99746929e-01 1.19590692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6225578440001 meters Centerline goodness [0,1] 0.25569990536006193 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:1.20 [[ 9.99736883e-01 5.24764611e-03 -2.23299582e-02 6.56738380e+00] [-5.17729404e-03 9.99981455e-01 3.20721503e-03 2.52221820e-01] [ 2.23463745e-02 -3.09076240e-03 9.99745511e-01 1.19544341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65255784400006 meters Centerline goodness [0,1] 0.2576189858643496 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:1.20 [[ 9.99738941e-01 5.15415180e-03 -2.22594697e-02 6.56726114e+00] [-5.09052568e-03 9.99982797e-01 2.91410302e-03 2.53566357e-01] [ 2.22741065e-02 -2.80002986e-03 9.99747980e-01 1.19537619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6825578440001 meters Centerline goodness [0,1] 0.2594415297229329 Centerline is valid? [False, False] Translation: X:6.56, Y:0.26, Z:1.20 [[ 9.99770233e-01 5.69438607e-03 -2.06652933e-02 6.56261286e+00] [-5.63394060e-03 9.99979683e-01 2.98201719e-03 2.55678326e-01] [ 2.06818542e-02 -2.86490499e-03 9.99782003e-01 1.19636071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71255784400006 meters Centerline goodness [0,1] 0.2586251565266203 Centerline is valid? [False, False] Translation: X:6.56, Y:0.26, Z:1.20 [[ 9.99776866e-01 5.66397025e-03 -2.03503932e-02 6.56170169e+00] [-5.60937298e-03 9.99980516e-01 2.73894272e-03 2.57358050e-01] [ 2.03655100e-02 -2.62417863e-03 9.99789158e-01 1.19654437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74255784400003 meters Centerline goodness [0,1] 0.25461444465882055 Centerline is valid? [False, False] Translation: X:6.56, Y:0.26, Z:1.20 [[ 9.99778220e-01 5.64729136e-03 -2.02883769e-02 6.56153766e+00] [-5.59594686e-03 9.99980997e-01 2.58661644e-03 2.58454599e-01] [ 2.03025987e-02 -2.47251010e-03 9.99790824e-01 1.19653331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.77255784400006 meters Centerline goodness [0,1] 0.25178833060415406 Centerline is valid? [False, False] Translation: X:6.56, Y:0.26, Z:1.20 [[ 9.99777704e-01 5.61546405e-03 -2.03226140e-02 6.56168074e+00] [-5.56460487e-03 9.99981245e-01 2.55827578e-03 2.58452436e-01] [ 2.03365988e-02 -2.44461977e-03 9.99790201e-01 1.19641962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80255784400003 meters Centerline goodness [0,1] 0.2568700562536371 Centerline is valid? [False, False] Translation: X:6.56, Y:0.26, Z:1.20 [[ 9.99770044e-01 5.59970754e-03 -2.07002796e-02 6.56266267e+00] [-5.54102928e-03 9.99980470e-01 2.89093094e-03 2.56128845e-01] [ 2.07160637e-02 -2.77556530e-03 9.99781547e-01 1.19640470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83255784400006 meters Centerline goodness [0,1] 0.25805056337723564 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:1.20 [[ 9.99768224e-01 5.68759517e-03 -2.07641371e-02 6.56277202e+00] [-5.62221430e-03 9.99979057e-01 3.20576035e-03 2.54489644e-01] [ 2.07819353e-02 -3.08827690e-03 9.99779262e-01 1.19651679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86255784400004 meters Centerline goodness [0,1] 0.25470684319119674 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:1.20 [[ 9.99765357e-01 5.75187131e-03 -2.08841412e-02 6.56296772e+00] [-5.67966320e-03 9.99977692e-01 3.51522688e-03 2.52720760e-01] [ 2.09038945e-02 -3.39578716e-03 9.99775723e-01 1.19670584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89255784400007 meters Centerline goodness [0,1] 0.2572354211663067 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:1.20 [[ 9.99763071e-01 5.82305671e-03 -2.09736248e-02 6.56315370e+00] [-5.74632027e-03 9.99976581e-01 3.71712290e-03 2.51629589e-01] [ 2.09947787e-02 -3.59572104e-03 9.99773119e-01 1.19681160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92255784400004 meters Centerline goodness [0,1] 0.2577039274924471 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:1.20 [[ 9.99761062e-01 5.79019066e-03 -2.10782391e-02 6.56347562e+00] [-5.71503802e-03 9.99977103e-01 3.62390815e-03 2.51909779e-01] [ 2.10987396e-02 -3.50257932e-03 9.99771261e-01 1.19674371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95255784400007 meters Centerline goodness [0,1] 0.25672350528815024 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:1.20 [[ 9.99760362e-01 5.78103400e-03 -2.11139548e-02 6.56367981e+00] [-5.71022664e-03 9.99977874e-01 3.41233316e-03 2.53270852e-01] [ 2.11332145e-02 -3.29094997e-03 9.99771252e-01 1.19651862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98255784400004 meters Centerline goodness [0,1] 0.25293953866912255 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:1.20 [[ 9.99760767e-01 5.82867904e-03 -2.10816512e-02 6.56373721e+00] [-5.76224952e-03 9.99978245e-01 3.21043329e-03 2.54923343e-01] [ 2.10999051e-02 -3.08818751e-03 9.99772603e-01 1.19621671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01255784400007 meters Centerline goodness [0,1] 0.2567074618489499 Centerline is valid? [False, False] Translation: X:6.56, Y:0.26, Z:1.20 [[ 9.99765970e-01 5.86723893e-03 -2.08225818e-02 6.56307319e+00] [-5.80413001e-03 9.99978382e-01 3.08993453e-03 2.56113213e-01] [ 2.08402610e-02 -2.96835442e-03 9.99778412e-01 1.19620207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04255784400004 meters Centerline goodness [0,1] 0.25859183096754557 Centerline is valid? [False, False] Translation: X:6.56, Y:0.26, Z:1.20 [[ 9.99773737e-01 5.83976460e-03 -2.04541617e-02 6.56180732e+00] [-5.78045936e-03 9.99978920e-01 2.95734618e-03 2.56756511e-01] [ 2.04710007e-02 -2.83844259e-03 9.99786418e-01 1.19673430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0725578440001 meters Centerline goodness [0,1] 0.2557183741096981 Centerline is valid? [False, False] Translation: X:6.58, Y:0.26, Z:1.20 [[ 9.99782646e-01 -1.92652559e-03 -2.07593298e-02 6.58201422e+00] [ 1.99336183e-03 9.99992895e-01 3.19936470e-03 2.61888419e-01] [ 2.07530187e-02 -3.24005016e-03 9.99779383e-01 1.19792960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10255784400005 meters Centerline goodness [0,1] 0.25277580911882824 Centerline is valid? [False, False] Translation: X:6.58, Y:0.26, Z:1.20 [[ 9.99775342e-01 -2.05668864e-03 -2.10958590e-02 6.58307265e+00] [ 2.12163217e-03 9.99993078e-01 3.05657732e-03 2.61988467e-01] [ 2.10894265e-02 -3.10064829e-03 9.99772785e-01 1.19755408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1325578440001 meters Centerline goodness [0,1] 0.2571310996079791 Centerline is valid? [False, False] Translation: X:6.58, Y:0.26, Z:1.20 [[ 9.99770804e-01 -2.08931826e-03 -2.13066756e-02 6.58394126e+00] [ 2.15436014e-03 9.99993088e-01 3.03015584e-03 2.61988835e-01] [ 2.13001974e-02 -3.07536359e-03 9.99768395e-01 1.19699543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16255784400005 meters Centerline goodness [0,1] 0.25175965665236055 Centerline is valid? [False, False] Translation: X:6.58, Y:0.26, Z:1.20 [[ 9.99771002e-01 -2.04682246e-03 -2.13015242e-02 6.58427413e+00] [ 2.11380361e-03 9.99992891e-01 3.12238882e-03 2.62193789e-01] [ 2.12949818e-02 -3.16670104e-03 9.99768221e-01 1.19647518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1925578440001 meters Centerline goodness [0,1] 0.2571105505784118 Centerline is valid? [False, False] Translation: X:6.57, Y:0.26, Z:1.19 [[ 9.99794722e-01 4.71618603e-03 -1.97046194e-02 6.56517422e+00] [-4.67381190e-03 9.99986667e-01 2.19596636e-03 2.55935888e-01] [ 1.97147133e-02 -2.10341990e-03 9.99803434e-01 1.19421126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22255784400005 meters Centerline goodness [0,1] 0.256116504854369 Centerline is valid? [False, False] Translation: X:6.58, Y:0.26, Z:1.20 [[ 9.99820679e-01 -2.81869415e-03 -1.87260454e-02 6.58398673e+00] [ 2.87854017e-03 9.99990834e-01 3.16968570e-03 2.60780507e-01] [ 1.87169394e-02 -3.22302099e-03 9.99819628e-01 1.19593884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2525578440001 meters Centerline goodness [0,1] 0.256116504854369 Centerline is valid? [False, False] Translation: X:6.58, Y:0.26, Z:1.20 [[ 9.99820679e-01 -2.81869415e-03 -1.87260454e-02 6.58398673e+00] [ 2.87854017e-03 9.99990834e-01 3.16968570e-03 2.60780507e-01] [ 1.87169394e-02 -3.22302099e-03 9.99819628e-01 1.19593884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28255784400005 meters Centerline goodness [0,1] 0.2574683325407462 Centerline is valid? [False, False] Translation: X:6.58, Y:0.26, Z:1.20 [[ 9.99821477e-01 -2.87214780e-03 -1.86752664e-02 6.58380533e+00] [ 2.93152125e-03 9.99990733e-01 3.15265755e-03 2.60603743e-01] [ 1.86660385e-02 -3.20684167e-03 9.99820632e-01 1.19604360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3125578440001 meters Centerline goodness [0,1] 0.2483571994263576 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99794998e-01 3.90677457e-03 -1.98670354e-02 6.60794549e+00] [-3.90018722e-03 9.99992326e-01 3.70307459e-04 2.60517227e-01] [ 1.98683297e-02 -2.92746388e-04 9.99802562e-01 1.19547615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34255784400005 meters Centerline goodness [0,1] 0.2537846020761245 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.19 [[ 9.99790482e-01 3.83998263e-03 -2.01058868e-02 6.60897690e+00] [-3.83600781e-03 9.99992615e-01 2.36257700e-04 2.61091755e-01] [ 2.01066455e-02 -1.59081861e-04 9.99797828e-01 1.19480295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3725578440001 meters Centerline goodness [0,1] 0.2554217388484076 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.19 [[ 9.99789283e-01 3.81118726e-03 -2.01708789e-02 6.60928195e+00] [-3.80832807e-03 9.99992732e-01 1.80159265e-04 2.61415013e-01] [ 2.01714189e-02 -1.03303979e-04 9.99796531e-01 1.19457991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40255784400006 meters Centerline goodness [0,1] 0.25640024299227626 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.19 [[ 9.99793924e-01 3.83057146e-03 -1.99357800e-02 6.60843955e+00] [-3.82760943e-03 9.99992657e-01 1.86733434e-04 2.61559158e-01] [ 1.99363489e-02 -1.10388574e-04 9.99801245e-01 1.19499194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.4325578440001 meters Centerline goodness [0,1] 0.2572569097930316 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:1.20 [[ 9.99799798e-01 3.87262885e-03 -1.96307748e-02 6.60724164e+00] [-3.86906887e-03 9.99992491e-01 2.19323430e-04 2.61625913e-01] [ 1.96314768e-02 -1.43326701e-04 9.99807274e-01 1.19568954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46255784400006 meters Centerline goodness [0,1] 0.252994461855493 Centerline is valid? [False, False] Translation: X:6.63, Y:0.27, Z:1.20 [[ 9.99819331e-01 -3.41863711e-03 -1.86980600e-02 6.62610150e+00] [ 3.44422474e-03 9.99993176e-01 1.33643262e-03 2.67189615e-01] [ 1.86933636e-02 -1.40059149e-03 9.99824283e-01 1.19707678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49255784400003 meters Centerline goodness [0,1] 0.2542709232096635 Centerline is valid? [False, False] Translation: X:6.63, Y:0.27, Z:1.20 [[ 9.99817431e-01 -3.48215701e-03 -1.87877174e-02 6.62665551e+00] [ 3.50450850e-03 9.99993190e-01 1.15689374e-03 2.68095731e-01] [ 1.87835610e-02 -1.22252424e-03 9.99822826e-01 1.19655151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52255784400006 meters Centerline goodness [0,1] 0.2554826454843723 Centerline is valid? [False, False] Translation: X:6.63, Y:0.27, Z:1.20 [[ 9.99815309e-01 -3.53868472e-03 -1.88898475e-02 6.62713830e+00] [ 3.55776942e-03 9.99993194e-01 9.76804833e-04 2.69060481e-01] [ 1.88862624e-02 -1.04383015e-03 9.99821094e-01 1.19614653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55255784400003 meters Centerline goodness [0,1] 0.2557134833887761 Centerline is valid? [False, False] Translation: X:6.63, Y:0.27, Z:1.20 [[ 9.99814186e-01 -3.58399055e-03 -1.89406718e-02 6.62745734e+00] [ 3.59954476e-03 9.99993212e-01 7.87178626e-04 2.70173943e-01] [ 1.89377220e-02 -8.55210153e-04 9.99820300e-01 1.19580753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58255784400006 meters Centerline goodness [0,1] 0.25743133210292046 Centerline is valid? [False, False] Translation: X:6.63, Y:0.27, Z:1.20 [[ 9.99816030e-01 -3.56823537e-03 -1.88460560e-02 6.62737042e+00] [ 3.57545900e-03 9.99993547e-01 3.49615380e-04 2.73160336e-01] [ 1.88446869e-02 -4.16934362e-04 9.99822336e-01 1.19544047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61255784400004 meters Centerline goodness [0,1] 0.2575516693163752 Centerline is valid? [False, False] Translation: X:6.63, Y:0.28, Z:1.20 [[ 9.99818473e-01 -3.62586921e-03 -1.87049213e-02 6.62708392e+00] [ 3.62647820e-03 9.99993424e-01 -1.36176915e-06 2.75337985e-01] [ 1.87048032e-02 -6.64714673e-05 9.99825048e-01 1.19526472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64255784400007 meters Centerline goodness [0,1] 0.2530805687203791 Centerline is valid? [False, False] Translation: X:6.65, Y:0.28, Z:1.20 [[ 9.99834523e-01 5.09062567e-03 -1.74645981e-02 6.64753284e+00] [-5.11772320e-03 9.99985768e-01 -1.50722704e-03 2.75812693e-01] [ 1.74566768e-02 1.59635661e-03 9.99846346e-01 1.19606486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67255784400004 meters Centerline goodness [0,1] 0.25587636898835553 Centerline is valid? [False, False] Translation: X:6.65, Y:0.28, Z:1.20 [[ 9.99839134e-01 4.96597119e-03 -1.72349720e-02 6.64683734e+00] [-4.99890025e-03 9.99985761e-01 -1.86804019e-03 2.77635659e-01] [ 1.72254499e-02 1.95389560e-03 9.99849722e-01 1.19623917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70255784400007 meters Centerline goodness [0,1] 0.2566960428546743 Centerline is valid? [False, False] Translation: X:6.65, Y:0.28, Z:1.20 [[ 9.99843178e-01 4.84743318e-03 -1.70329854e-02 6.64611912e+00] [-4.88511820e-03 9.99985710e-01 -2.17156283e-03 2.79095469e-01] [ 1.70222155e-02 2.25443043e-03 9.99852570e-01 1.19651442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73255784400004 meters Centerline goodness [0,1] 0.2580197074271824 Centerline is valid? [False, False] Translation: X:6.65, Y:0.28, Z:1.20 [[ 9.99844962e-01 4.74472293e-03 -1.69569745e-02 6.64581335e+00] [-4.78590697e-03 9.99985694e-01 -2.38898305e-03 2.80097935e-01] [ 1.69453969e-02 2.46976717e-03 9.99853366e-01 1.19669311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76255784400007 meters Centerline goodness [0,1] 0.25708913287801505 Centerline is valid? [False, False] Translation: X:6.65, Y:0.28, Z:1.20 [[ 9.99844340e-01 4.66791688e-03 -1.70148938e-02 6.64595194e+00] [-4.71115734e-03 9.99985772e-01 -2.50213363e-03 2.80861983e-01] [ 1.70029720e-02 2.58190399e-03 9.99852105e-01 1.19666548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79255784400004 meters Centerline goodness [0,1] 0.2579042163053621 Centerline is valid? [False, False] Translation: X:6.65, Y:0.28, Z:1.20 [[ 9.99843698e-01 4.62516901e-03 -1.70642083e-02 6.64599970e+00] [-4.66802166e-03 9.99986049e-01 -2.47228308e-03 2.80522170e-01] [ 1.70525355e-02 2.55155275e-03 9.99851339e-01 1.19679206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8225578440001 meters Centerline goodness [0,1] 0.2493025451736126 Centerline is valid? [False, False] Translation: X:6.67, Y:0.29, Z:1.20 [[ 9.99853542e-01 -3.27363460e-03 -1.67981322e-02 6.66654428e+00] [ 3.24356228e-03 9.99993089e-01 -1.81715060e-03 2.85016426e-01] [ 1.68039647e-02 1.76239867e-03 9.99857250e-01 1.19785770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85255784400005 meters Centerline goodness [0,1] 0.2586030293124114 Centerline is valid? [False, False] Translation: X:6.62, Y:0.28, Z:1.20 [[ 9.99777196e-01 -6.44152559e-03 -2.01013550e-02 6.62434148e+00] [ 6.38103572e-03 9.99974922e-01 -3.07193518e-03 2.80891983e-01] [ 2.01206389e-02 2.94298328e-03 9.99793228e-01 1.19695537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8825578440001 meters Centerline goodness [0,1] 0.2665260961241658 Centerline is valid? [False, False] Translation: X:6.62, Y:0.28, Z:1.20 [[ 9.99773662e-01 -6.40402634e-03 -2.02882308e-02 6.62495532e+00] [ 6.34564292e-03 9.99975542e-01 -2.94077139e-03 2.80343337e-01] [ 2.03065673e-02 2.81136391e-03 9.99789848e-01 1.19668452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91255784400005 meters Centerline goodness [0,1] 0.25094648081225257 Centerline is valid? [False, False] Translation: X:6.64, Y:0.28, Z:1.20 [[ 9.99809694e-01 1.83707121e-03 -1.94216625e-02 6.64489366e+00] [-1.91973489e-03 9.99989175e-01 -4.23847473e-03 2.77688765e-01] [ 1.94136658e-02 4.27495256e-03 9.99802398e-01 1.19757714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9425578440001 meters Centerline goodness [0,1] 0.25013953887767804 Centerline is valid? [False, False] Translation: X:6.65, Y:0.28, Z:1.20 [[ 9.99808331e-01 1.78015181e-03 -1.94969571e-02 6.64504476e+00] [-1.86427517e-03 9.99989028e-01 -4.29736649e-03 2.77773714e-01] [ 1.94890932e-02 4.33289051e-03 9.99800681e-01 1.19765192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97255784400005 meters Centerline goodness [0,1] 0.25346048694379264 Centerline is valid? [False, False] Translation: X:6.64, Y:0.28, Z:1.20 [[ 9.99808384e-01 1.72823252e-03 -1.94989581e-02 6.64497187e+00] [-1.81427970e-03 9.99988691e-01 -4.39608501e-03 2.78138390e-01] [ 1.94911402e-02 4.43061921e-03 9.99800213e-01 1.19775568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0025578440001 meters Centerline goodness [0,1] 0.2677471989557272 Centerline is valid? [False, False] Translation: X:6.64, Y:0.28, Z:1.20 [[ 9.99816261e-01 1.64956360e-03 -1.90977320e-02 6.64389125e+00] [-1.74071377e-03 9.99987169e-01 -4.75718789e-03 2.80363363e-01] [ 1.90896397e-02 4.78955750e-03 9.99806304e-01 1.19785899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03255784400005 meters Centerline goodness [0,1] 0.268005751383382 Centerline is valid? [False, False] Translation: X:6.64, Y:0.28, Z:1.20 [[ 9.99821048e-01 1.60553890e-03 -1.88492311e-02 6.64322301e+00] [-1.70028573e-03 9.99985996e-01 -5.01161291e-03 2.82017538e-01] [ 1.88409208e-02 5.04276516e-03 9.99809777e-01 1.19793374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0625578440001 meters Centerline goodness [0,1] 0.26725298588490776 Centerline is valid? [False, False] Translation: X:6.64, Y:0.28, Z:1.20 [[ 9.99823253e-01 1.51498557e-03 -1.87394677e-02 6.64298975e+00] [-1.61521632e-03 9.99984466e-01 -5.33466567e-03 2.83818705e-01] [ 1.87310946e-02 5.36399108e-03 9.99810169e-01 1.19783314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09255784400005 meters Centerline goodness [0,1] 0.25695180801107964 Centerline is valid? [False, False] Translation: X:6.64, Y:0.29, Z:1.20 [[ 9.99822262e-01 1.41102217e-03 -1.88003753e-02 6.64323686e+00] [-1.51650432e-03 9.99983184e-01 -5.59756586e-03 2.85109174e-01] [ 1.87921609e-02 5.62508181e-03 9.99807588e-01 1.19764720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1225578440001 meters Centerline goodness [0,1] 0.26586516511946434 Centerline is valid? [False, False] Translation: X:6.64, Y:0.29, Z:1.20 [[ 9.99819747e-01 1.34462141e-03 -1.89384635e-02 6.64359979e+00] [-1.45311782e-03 9.99982606e-01 -5.71629634e-03 2.85546838e-01] [ 1.89304478e-02 5.74278578e-03 9.99804310e-01 1.19758154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15255784400006 meters Centerline goodness [0,1] 0.2522912095004518 Centerline is valid? [False, False] Translation: X:6.67, Y:0.29, Z:1.20 [[ 9.99782394e-01 -6.70232891e-03 -1.97545548e-02 6.66561676e+00] [ 6.60516134e-03 9.99965786e-01 -4.97989355e-03 2.89088127e-01] [ 1.97872558e-02 4.84832788e-03 9.99792458e-01 1.19883042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1825578440001 meters Centerline goodness [0,1] 0.25318997344387595 Centerline is valid? [False, False] Translation: X:6.67, Y:0.29, Z:1.20 [[ 9.99772397e-01 -6.69546320e-03 -2.02564885e-02 6.66697155e+00] [ 6.60229647e-03 9.99967334e-01 -4.66273923e-03 2.87115923e-01] [ 2.02870460e-02 4.52793863e-03 9.99783943e-01 1.19872130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.21255784400006 meters Centerline goodness [0,1] 0.25102172510217247 Centerline is valid? [False, False] Translation: X:6.67, Y:0.28, Z:1.20 [[ 9.99761409e-01 -6.79535071e-03 -2.07592890e-02 6.66837996e+00] [ 6.70501959e-03 9.99967762e-01 -4.41786847e-03 2.84989937e-01] [ 2.07886408e-02 4.27762297e-03 9.99774742e-01 1.19853373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24255784400003 meters Centerline goodness [0,1] 0.24870210666323422 Centerline is valid? [False, False] Translation: X:6.67, Y:0.28, Z:1.20 [[ 9.99765673e-01 -7.26966590e-03 -2.03899579e-02 6.66694576e+00] [ 7.18649291e-03 9.99965568e-01 -4.14942811e-03 2.81176545e-01] [ 2.04194208e-02 4.00192350e-03 9.99783492e-01 1.19951788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.27255784400006 meters Centerline goodness [0,1] 0.2556080154913949 Centerline is valid? [False, False] Translation: X:6.65, Y:0.27, Z:1.20 [[ 9.99810768e-01 5.09061868e-04 -1.94465806e-02 6.64646448e+00] [-5.90796257e-04 9.99991016e-01 -4.19750733e-03 2.73431146e-01] [ 1.94442691e-02 4.20820199e-03 9.99802086e-01 1.19835434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30255784400003 meters Centerline goodness [0,1] 0.25175489751398517 Centerline is valid? [False, False] Translation: X:6.65, Y:0.27, Z:1.20 [[ 9.99811705e-01 6.72606418e-04 -1.93933492e-02 6.64627518e+00] [-7.47007679e-04 9.99992389e-01 -3.82944289e-03 2.71901023e-01] [ 1.93906259e-02 3.84320880e-03 9.99804598e-01 1.19846016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33255784400006 meters Centerline goodness [0,1] 0.2523225486603582 Centerline is valid? [False, False] Translation: X:6.65, Y:0.27, Z:1.20 [[ 9.99812505e-01 8.06515505e-04 -1.93469218e-02 6.64623093e+00] [-8.74409051e-04 9.99993489e-01 -3.50106602e-03 2.70195288e-01] [ 1.93439722e-02 3.51732672e-03 9.99806701e-01 1.19837850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36255784400004 meters Centerline goodness [0,1] 0.25360655027509427 Centerline is valid? [False, False] Translation: X:6.65, Y:0.27, Z:1.20 [[ 9.99809398e-01 8.28243517e-04 -1.95059552e-02 6.64647620e+00] [-8.85699622e-04 9.99995294e-01 -2.93711256e-03 2.65413083e-01] [ 1.95034308e-02 2.95382916e-03 9.99805427e-01 1.19866996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39255784400007 meters Centerline goodness [0,1] 0.2674938180556158 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:1.20 [[ 9.99808967e-01 9.85095287e-04 -1.95207444e-02 6.64622678e+00] [-1.03349627e-03 9.99996417e-01 -2.46953083e-03 2.62862783e-01] [ 1.95182417e-02 2.48923368e-03 9.99806402e-01 1.19915265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42255784400004 meters Centerline goodness [0,1] 0.26704049572351196 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:1.20 [[ 9.99809882e-01 1.19658471e-03 -1.94619459e-02 6.64591421e+00] [-1.23461329e-03 9.99997352e-01 -1.94209912e-03 2.60358318e-01] [ 1.94595705e-02 1.96575787e-03 9.99808712e-01 1.19941323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45255784400007 meters Centerline goodness [0,1] 0.26725844701172685 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:1.20 [[ 9.99811681e-01 1.39572941e-03 -1.93560101e-02 6.64551910e+00] [-1.42350231e-03 9.99997977e-01 -1.42114259e-03 2.57793660e-01] [ 1.93539874e-02 1.44842829e-03 9.99811645e-01 1.19964638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48255784400004 meters Centerline goodness [0,1] 0.2530775899436498 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:1.20 [[ 9.99811999e-01 1.54412136e-03 -1.93282779e-02 6.64544275e+00] [-1.56223929e-03 9.99998354e-01 -9.22315464e-04 2.55071742e-01] [ 1.93268219e-02 9.52337463e-04 9.99812766e-01 1.19968703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51255784400007 meters Centerline goodness [0,1] 0.2516920564663415 Centerline is valid? [False, False] Translation: X:6.65, Y:0.25, Z:1.20 [[ 9.99806528e-01 1.73999189e-03 -1.95928474e-02 6.64627657e+00] [-1.74194943e-03 9.99998479e-01 -8.28446528e-05 2.50049826e-01] [ 1.95926735e-02 1.16958374e-04 9.99808038e-01 1.19948580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54255784400004 meters Centerline goodness [0,1] 0.2679149531892554 Centerline is valid? [False, False] Translation: X:6.60, Y:0.25, Z:1.20 [[ 9.99746597e-01 5.63057716e-04 -2.25038755e-02 6.60147440e+00] [-5.52869268e-04 9.99999742e-01 4.58961007e-04 2.45290955e-01] [ 2.25041282e-02 -4.46403004e-04 9.99746650e-01 1.19989778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5725578440001 meters Centerline goodness [0,1] 0.2678442760758969 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99745835e-01 6.89520622e-04 -2.25341954e-02 6.60157933e+00] [-6.72175594e-04 9.99999472e-01 7.77285676e-04 2.43793300e-01] [ 2.25347195e-02 -7.61941181e-04 9.99745771e-01 1.19987121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60255784400005 meters Centerline goodness [0,1] 0.2679139953770334 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99744154e-01 8.14768021e-04 -2.26044698e-02 6.60166854e+00] [-7.90199659e-04 9.99999087e-01 1.09579156e-03 2.42222732e-01] [ 2.26053420e-02 -1.07764916e-03 9.99743886e-01 1.20001419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6325578440001 meters Centerline goodness [0,1] 0.25457653524905877 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99740983e-01 8.75202127e-04 -2.27420386e-02 6.60212594e+00] [-8.45382911e-04 9.99998770e-01 1.32077466e-03 2.40832670e-01] [ 2.27431666e-02 -1.30120683e-03 9.99740494e-01 1.19986927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66255784400005 meters Centerline goodness [0,1] 0.25443799839210834 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99741730e-01 9.43839265e-04 -2.27064292e-02 6.60217252e+00] [-9.08921435e-04 9.99998389e-01 1.54806621e-03 2.39352852e-01] [ 2.27078537e-02 -1.52702803e-03 9.99740977e-01 1.19968064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6925578440001 meters Centerline goodness [0,1] 0.25521557719054244 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99744483e-01 9.43073767e-04 -2.25849513e-02 6.60187496e+00] [-9.09405890e-04 9.99998460e-01 1.50094607e-03 2.39667455e-01] [ 2.25863321e-02 -1.48002366e-03 9.99743801e-01 1.19967927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72255784400005 meters Centerline goodness [0,1] 0.2541583643766785 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99736468e-01 9.35701757e-04 -2.29372677e-02 6.60320340e+00] [-9.08695595e-04 9.99998882e-01 1.18778691e-03 2.41590513e-01] [ 2.29383535e-02 -1.16663089e-03 9.99736201e-01 1.19889757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7525578440001 meters Centerline goodness [0,1] 0.2675737455099597 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99728117e-01 8.08755744e-04 -2.33031637e-02 6.60454419e+00] [-7.87999878e-04 9.99999285e-01 8.99857698e-04 2.42790214e-01] [ 2.33038748e-02 -8.81250152e-04 9.99728039e-01 1.19819063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78255784400005 meters Centerline goodness [0,1] 0.26078545173147616 Centerline is valid? [False, False] Translation: X:6.63, Y:0.24, Z:1.20 [[ 9.99694692e-01 7.96651202e-03 -2.33892422e-02 6.62763643e+00] [-8.01671838e-03 9.99965757e-01 -2.05357639e-03 2.43211338e-01] [ 2.33720815e-02 2.24045438e-03 9.99724325e-01 1.19780666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8125578440001 meters Centerline goodness [0,1] 0.26407582117972905 Centerline is valid? [False, False] Translation: X:6.63, Y:0.24, Z:1.20 [[ 9.99690291e-01 7.81386750e-03 -2.36276529e-02 6.62847798e+00] [-7.87234886e-03 9.99966173e-01 -2.38312038e-03 2.44544183e-01] [ 2.36082323e-02 2.56838744e-03 9.99717988e-01 1.19739856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84255784400005 meters Centerline goodness [0,1] 0.26641977998039434 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:1.20 [[ 9.99690513e-01 7.73812039e-03 -2.36431918e-02 6.62860713e+00] [-7.80142792e-03 9.99966223e-01 -2.58655705e-03 2.45613715e-01] [ 2.36223781e-02 2.77020720e-03 9.99717115e-01 1.19722566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8725578440001 meters Centerline goodness [0,1] 0.2544238145048815 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:1.20 [[ 9.99693585e-01 7.74470712e-03 -2.35107386e-02 6.62807793e+00] [-7.80888328e-03 9.99966028e-01 -2.63907079e-03 2.46233416e-01] [ 2.34895011e-02 2.82185476e-03 9.99720101e-01 1.19752437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90255784400006 meters Centerline goodness [0,1] 0.25454980322236964 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:1.20 [[ 9.99701804e-01 7.76714599e-03 -2.31511449e-02 6.62659715e+00] [-7.82726575e-03 9.99966223e-01 -2.50735132e-03 2.45687914e-01] [ 2.31308880e-02 2.68781380e-03 9.99728832e-01 1.19847631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.9325578440001 meters Centerline goodness [0,1] 0.26753432991482706 Centerline is valid? [False, False] Translation: X:6.63, Y:0.24, Z:1.20 [[ 9.99705014e-01 7.72752882e-03 -2.30254436e-02 6.62594115e+00] [-7.78575030e-03 9.99966714e-01 -2.43999700e-03 2.44959174e-01] [ 2.30058220e-02 2.61854758e-03 9.99731902e-01 1.19904602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96255784400006 meters Centerline goodness [0,1] 0.267306106505794 Centerline is valid? [False, False] Translation: X:6.63, Y:0.24, Z:1.20 [[ 9.99708144e-01 7.69485834e-03 -2.29001248e-02 6.62532227e+00] [-7.75096923e-03 9.99967170e-01 -2.36249120e-03 2.44205612e-01] [ 2.28811940e-02 2.53929986e-03 9.99734966e-01 1.19956528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99255784400003 meters Centerline goodness [0,1] 0.2663848238482385 Centerline is valid? [False, False] Translation: X:6.63, Y:0.24, Z:1.20 [[ 9.99709112e-01 7.70681391e-03 -2.28537929e-02 6.62505083e+00] [-7.76186010e-03 9.99967183e-01 -2.32089614e-03 2.44039741e-01] [ 2.28351562e-02 2.49760896e-03 9.99736124e-01 1.19977053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02255784400006 meters Centerline goodness [0,1] 0.2677225062830402 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:1.20 [[ 9.99711428e-01 7.76389986e-03 -2.27328337e-02 6.62472804e+00] [-7.81645122e-03 9.99966978e-01 -2.22374961e-03 2.43923207e-01] [ 2.27148181e-02 2.40079798e-03 9.99739103e-01 1.19980116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05255784400003 meters Centerline goodness [0,1] 0.26717855283706404 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:1.20 [[ 9.99711457e-01 7.79697137e-03 -2.27202489e-02 6.62462054e+00] [-7.84739820e-03 9.99966938e-01 -2.13115220e-03 2.43420952e-01] [ 2.27028812e-02 2.30883211e-03 9.99739590e-01 1.19990675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08255784400006 meters Centerline goodness [0,1] 0.2691499606057953 Centerline is valid? [False, False] Translation: X:6.60, Y:0.25, Z:1.20 [[ 9.99729469e-01 -1.22801988e-03 -2.32267188e-02 6.60466709e+00] [ 1.20632563e-03 9.99998823e-01 -9.48009728e-04 2.45842819e-01] [ 2.32278556e-02 9.19734276e-04 9.99729774e-01 1.19858419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11255784400004 meters Centerline goodness [0,1] 0.26657380403081876 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99726802e-01 -1.20240454e-03 -2.33425712e-02 6.60478673e+00] [ 1.18404682e-03 9.99998979e-01 -8.00253260e-04 2.44871721e-01] [ 2.33435095e-02 7.72395936e-04 9.99727205e-01 1.19884310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14255784400007 meters Centerline goodness [0,1] 0.27050610820244325 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99726674e-01 -1.14455017e-03 -2.33509520e-02 6.60478327e+00] [ 1.12997165e-03 9.99999158e-01 -6.37507881e-04 2.44036378e-01] [ 2.33516620e-02 6.10947720e-04 9.99727126e-01 1.19887458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17255784400004 meters Centerline goodness [0,1] 0.27050610820244325 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99726674e-01 -1.14455017e-03 -2.33509520e-02 6.60478327e+00] [ 1.12997165e-03 9.99999158e-01 -6.37507881e-04 2.44036378e-01] [ 2.33516620e-02 6.10947720e-04 9.99727126e-01 1.19887458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20255784400007 meters Centerline goodness [0,1] 0.26852715869881294 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99725218e-01 -1.05394547e-03 -2.34174694e-02 6.60479418e+00] [ 1.04417018e-03 9.99999363e-01 -4.29659362e-04 2.43097188e-01] [ 2.34179073e-02 4.05089476e-04 9.99725681e-01 1.19911451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23255784400004 meters Centerline goodness [0,1] 0.26958101659296874 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99722525e-01 -8.76739090e-04 -2.35394168e-02 6.60482116e+00] [ 8.78654118e-04 9.99999611e-01 7.10112582e-05 2.40470760e-01] [ 2.35393454e-02 -9.16745598e-05 9.99722907e-01 1.19958208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26255784400007 meters Centerline goodness [0,1] 0.26972461010127524 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99721738e-01 -8.37238926e-04 -2.35742553e-02 6.60484645e+00] [ 8.42651032e-04 9.99999621e-01 2.19644086e-04 2.39480781e-01] [ 2.35740624e-02 -2.39447838e-04 9.99722064e-01 1.19967402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29255784400004 meters Centerline goodness [0,1] 0.26848376396648044 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99721137e-01 -8.09815765e-04 -2.36006880e-02 6.60486591e+00] [ 8.16460699e-04 9.99999630e-01 2.71922308e-04 2.39191517e-01] [ 2.36004591e-02 -2.91115513e-04 9.99721428e-01 1.19975674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3225578440001 meters Centerline goodness [0,1] 0.26810684445214084 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99722957e-01 -7.48169678e-04 -2.35255271e-02 6.60468196e+00] [ 7.54594899e-04 9.99999680e-01 2.64240826e-04 2.39589781e-01] [ 2.35253218e-02 -2.81919862e-04 9.99723202e-01 1.19975954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35255784400005 meters Centerline goodness [0,1] 0.26804503937691193 Centerline is valid? [False, False] Translation: X:6.60, Y:0.24, Z:1.20 [[ 9.99725530e-01 -3.51196635e-04 -2.34252489e-02 6.60467764e+00] [ 3.58187682e-04 9.99999893e-01 2.94245454e-04 2.40921674e-01] [ 2.34251430e-02 -3.02555328e-04 9.99725548e-01 1.19932154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3825578440001 meters Centerline goodness [0,1] 0.2534097519984486 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:1.20 [[ 9.99718364e-01 -3.50849821e-04 -2.37290916e-02 6.60573364e+00] [ 3.51833632e-04 9.99999937e-01 3.72852270e-05 2.42424349e-01] [ 2.37290771e-02 -4.56234186e-05 9.99718425e-01 1.19878578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41255784400005 meters Centerline goodness [0,1] 0.2697952330069564 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:1.20 [[ 9.99712094e-01 -4.58287759e-04 -2.39899713e-02 6.60678838e+00] [ 4.50763423e-04 9.99999848e-01 -3.19051810e-04 2.44060771e-01] [ 2.39901139e-02 3.08146152e-04 9.99712148e-01 1.19810162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4425578440001 meters Centerline goodness [0,1] 0.27062250843299607 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99706267e-01 -5.07634739e-04 -2.42305901e-02 6.60776600e+00] [ 4.94623645e-04 9.99999730e-01 -5.42960135e-04 2.45179724e-01] [ 2.42308592e-02 5.30815627e-04 9.99706249e-01 1.19742462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47255784400005 meters Centerline goodness [0,1] 0.2654318309981347 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99705359e-01 -4.99408171e-04 -2.42682232e-02 6.60796777e+00] [ 4.84178630e-04 9.99999682e-01 -6.33422582e-04 2.45822987e-01] [ 2.42685318e-02 6.21485794e-04 9.99705283e-01 1.19722409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5025578440001 meters Centerline goodness [0,1] 0.26849368827261433 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99711434e-01 -4.90147351e-04 -2.40168568e-02 6.60719218e+00] [ 4.73755060e-04 9.99999651e-01 -6.88217872e-04 2.46318267e-01] [ 2.40171857e-02 6.76641168e-04 9.99711317e-01 1.19744248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53255784400005 meters Centerline goodness [0,1] 0.2687726454188454 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99709418e-01 -5.64780631e-04 -2.40989797e-02 6.60741196e+00] [ 5.45820242e-04 9.99999536e-01 -7.93342015e-04 2.46592366e-01] [ 2.40994166e-02 7.79957773e-04 9.99709263e-01 1.19740925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5625578440001 meters Centerline goodness [0,1] 0.268159688412853 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99705373e-01 -6.24611196e-04 -2.42647132e-02 6.60794961e+00] [ 6.02773187e-04 9.99999407e-01 -9.07294094e-04 2.47059081e-01] [ 2.42652655e-02 8.92400662e-04 9.99705157e-01 1.19716910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59255784400005 meters Centerline goodness [0,1] 0.2585191325974082 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99703857e-01 -6.48369643e-04 -2.43265046e-02 6.60821673e+00] [ 6.24441700e-04 9.99999314e-01 -9.91199627e-04 2.47586625e-01] [ 2.43271306e-02 9.75715606e-04 9.99703575e-01 1.19695680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6225578440001 meters Centerline goodness [0,1] 0.26954012939325056 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99707971e-01 -6.99710528e-04 -2.41553996e-02 6.60755747e+00] [ 6.70314000e-04 9.99999025e-01 -1.22505103e-03 2.49014022e-01] [ 2.41562332e-02 1.20850158e-03 9.99707465e-01 1.19730574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65255784400006 meters Centerline goodness [0,1] 0.25467750677506773 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99708553e-01 -8.02302554e-04 -2.41281044e-02 6.60733618e+00] [ 7.67753732e-04 9.99998667e-01 -1.44112076e-03 2.49849738e-01] [ 2.41292285e-02 1.42217630e-03 9.99707836e-01 1.19755531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6825578440001 meters Centerline goodness [0,1] 0.2668953389922497 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99709872e-01 -8.66710764e-04 -2.40711616e-02 6.60714162e+00] [ 8.28703160e-04 9.99998394e-01 -1.58889889e-03 2.50462267e-01] [ 2.40725001e-02 1.56849006e-03 9.99708985e-01 1.19759602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71255784400006 meters Centerline goodness [0,1] 0.25358417126175803 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99714548e-01 -7.90174892e-04 -2.38788133e-02 6.60664764e+00] [ 7.53814103e-04 9.99998543e-01 -1.53168481e-03 2.50725993e-01] [ 2.38799888e-02 1.51324740e-03 9.99713687e-01 1.19758659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74255784400003 meters Centerline goodness [0,1] 0.26873390651595164 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99717291e-01 -6.89476042e-04 -2.37668242e-02 6.60627044e+00] [ 6.58930057e-04 9.99998947e-01 -1.29304375e-03 2.49695896e-01] [ 2.37676907e-02 1.27701753e-03 9.99716693e-01 1.19772332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77255784400006 meters Centerline goodness [0,1] 0.2703831842809583 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99715889e-01 -5.73521646e-04 -2.38287950e-02 6.60648258e+00] [ 5.52290670e-04 9.99999445e-01 -8.97551406e-04 2.47571968e-01] [ 2.38292966e-02 8.84135981e-04 9.99715651e-01 1.19769103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80255784400003 meters Centerline goodness [0,1] 0.26547259387138544 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:1.20 [[ 9.99711476e-01 -4.89908482e-04 -2.40150902e-02 6.60692862e+00] [ 4.79456791e-04 9.99999788e-01 -4.40969484e-04 2.44878333e-01] [ 2.40153011e-02 4.29328055e-04 9.99711499e-01 1.19776113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83255784400006 meters Centerline goodness [0,1] 0.2704427254053582 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:1.20 [[ 9.99717571e-01 -1.41147817e-04 -2.37646433e-02 6.60602794e+00] [ 1.57278307e-04 9.99999759e-01 6.76892303e-04 2.38763133e-01] [ 2.37645420e-02 -6.80438792e-04 9.99717352e-01 1.19837923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86255784400004 meters Centerline goodness [0,1] 0.2694563942119671 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:1.20 [[ 9.99720407e-01 3.04497432e-05 -2.36454545e-02 6.60543833e+00] [-4.92622033e-06 9.99999417e-01 1.07948369e-03 2.36828320e-01] [ 2.36454736e-02 -1.07906539e-03 9.99719824e-01 1.19892871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89255784400007 meters Centerline goodness [0,1] 0.2705225106802498 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:1.20 [[ 9.99722911e-01 1.52550320e-04 -2.35388685e-02 6.60506385e+00] [-1.22477831e-04 9.99999175e-01 1.27900372e-03 2.35946259e-01] [ 2.35390442e-02 -1.27576633e-03 9.99722104e-01 1.19913784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92255784400004 meters Centerline goodness [0,1] 0.26655571885536444 Centerline is valid? [False, False] Translation: X:6.63, Y:0.23, Z:1.20 [[ 9.99689985e-01 9.15670706e-03 -2.31535863e-02 6.62583041e+00] [-9.15863135e-03 9.99958059e-01 2.29331314e-05 2.33655566e-01] [ 2.31528252e-02 1.89129140e-04 9.99731920e-01 1.20034441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95255784400007 meters Centerline goodness [0,1] 0.2696263621077457 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:1.20 [[ 9.99705624e-01 8.54629115e-04 -2.42473577e-02 6.60743943e+00] [-8.16314023e-04 9.99998403e-01 1.59003015e-03 2.38693994e-01] [ 2.42486779e-02 -1.56976863e-03 9.99704725e-01 1.19827568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98255784400004 meters Centerline goodness [0,1] 0.2672352060412734 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:1.20 [[ 9.99697798e-01 1.18292078e-03 -2.45542802e-02 6.60849830e+00] [-1.14683199e-03 9.99998242e-01 1.48378566e-03 2.40632998e-01] [ 2.45559922e-02 -1.45517762e-03 9.99697397e-01 1.19762585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01255784400007 meters Centerline goodness [0,1] 0.2690386202702115 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:1.20 [[ 9.99708773e-01 1.97646186e-03 -2.40512560e-02 6.60741197e+00] [-1.94280121e-03 9.99997101e-01 1.42282473e-03 2.44412670e-01] [ 2.40539984e-02 -1.37568356e-03 9.99709714e-01 1.19709768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04255784400004 meters Centerline goodness [0,1] 0.2681520485650254 Centerline is valid? [False, False] Translation: X:6.61, Y:0.25, Z:1.20 [[ 9.99720248e-01 1.90908291e-03 -2.35750085e-02 6.60620980e+00] [-1.88735828e-03 9.99997774e-01 9.43726892e-04 2.47041709e-01] [ 2.35767577e-02 -8.98968395e-04 9.99721625e-01 1.19704863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0725578440001 meters Centerline goodness [0,1] 0.26370650562015086 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:1.20 [[ 9.99709224e-01 1.01862393e-02 -2.18565223e-02 6.62637157e+00] [-1.02139119e-02 9.99947170e-01 -1.15484122e-03 2.48606248e-01] [ 2.18436042e-02 1.37774601e-03 9.99760451e-01 1.19766532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10255784400005 meters Centerline goodness [0,1] 0.25631683339082445 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:1.20 [[ 9.99706974e-01 9.85583787e-03 -2.21094864e-02 6.62753574e+00] [-9.89932759e-03 9.99949273e-01 -1.85842895e-03 2.51843836e-01] [ 2.20900485e-02 2.07675343e-03 9.99753828e-01 1.19672200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1325578440001 meters Centerline goodness [0,1] 0.2665973756008835 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:1.20 [[ 9.99700415e-01 9.70520441e-03 -2.24697310e-02 6.62881692e+00] [-9.75306207e-03 9.99950395e-01 -2.02126221e-03 2.52348666e-01] [ 2.24489996e-02 2.23980535e-03 9.99745480e-01 1.19609419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16255784400005 meters Centerline goodness [0,1] 0.2644893008749891 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:1.20 [[ 9.99694547e-01 9.52196141e-03 -2.28066787e-02 6.62983663e+00] [-9.57313429e-03 9.99951896e-01 -2.13563682e-03 2.52361790e-01] [ 2.27852461e-02 2.35331588e-03 9.99737613e-01 1.19582111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1925578440001 meters Centerline goodness [0,1] 0.26883945883531946 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:1.20 [[ 9.99700725e-01 8.82098762e-03 -2.28177650e-02 6.62965028e+00] [-8.88348612e-03 9.99957058e-01 -2.63911388e-03 2.52912916e-01] [ 2.27935055e-02 2.84102536e-03 9.99736158e-01 1.19627322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22255784400005 meters Centerline goodness [0,1] 0.268171459576777 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:1.20 [[ 9.99725423e-01 1.67030159e-03 -2.33728054e-02 6.64853985e+00] [-1.70764558e-03 9.99997297e-01 -1.57788615e-03 2.58696038e-01] [ 2.33701067e-02 1.61736537e-03 9.99725573e-01 1.19869364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2525578440001 meters Centerline goodness [0,1] 0.26873289605143125 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:1.20 [[ 9.99726382e-01 1.62264620e-03 -2.33351438e-02 6.64842846e+00] [-1.66210355e-03 9.99997222e-01 -1.67160206e-03 2.59373905e-01] [ 2.33323666e-02 1.70993011e-03 9.99726301e-01 1.19871087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28255784400005 meters Centerline goodness [0,1] 0.26811847450963255 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:1.20 [[ 9.99722574e-01 1.57558882e-03 -2.35008860e-02 6.64887308e+00] [-1.61679688e-03 9.99997189e-01 -1.73457076e-03 2.59687008e-01] [ 2.34980870e-02 1.77208571e-03 9.99722311e-01 1.19862452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3125578440001 meters Centerline goodness [0,1] 0.2668949672720967 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:1.20 [[ 9.99716305e-01 1.46665398e-03 -2.37730738e-02 6.64968328e+00] [-1.51057515e-03 9.99997185e-01 -1.82966469e-03 2.59819269e-01] [ 2.37703234e-02 1.86505664e-03 9.99715706e-01 1.19840436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34255784400005 meters Centerline goodness [0,1] 0.2695272409651709 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:1.20 [[ 9.99712698e-01 1.47486458e-03 -2.39237594e-02 6.65001678e+00] [-1.51458174e-03 9.99997505e-01 -1.64212038e-03 2.58740273e-01] [ 2.39212778e-02 1.67788309e-03 9.99712437e-01 1.19848519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3725578440001 meters Centerline goodness [0,1] 0.2539843648771217 Centerline is valid? [False, False] Translation: X:6.67, Y:0.26, Z:1.20 [[ 9.99701713e-01 -5.99798602e-03 -2.36750937e-02 6.66987731e+00] [ 5.98500226e-03 9.99981898e-01 -6.19234712e-04 2.63040841e-01] [ 2.36783793e-02 4.77354513e-04 9.99719514e-01 1.20006621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40255784400006 meters Centerline goodness [0,1] 0.26842059639389737 Centerline is valid? [False, False] Translation: X:6.67, Y:0.26, Z:1.20 [[ 9.99700211e-01 -5.92666014e-03 -2.37563364e-02 6.66990713e+00] [ 5.91856096e-03 9.99982401e-01 -4.11224686e-04 2.61889162e-01] [ 2.37583555e-02 2.70498081e-04 9.99717694e-01 1.20040162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.4325578440001 meters Centerline goodness [0,1] 0.26739791485664643 Centerline is valid? [False, False] Translation: X:6.67, Y:0.26, Z:1.20 [[ 9.99698066e-01 -5.93447204e-03 -2.38444769e-02 6.66984541e+00] [ 5.92853985e-03 9.99982375e-01 -3.19471119e-04 2.60997086e-01] [ 2.38459526e-02 1.78011728e-04 9.99715629e-01 1.20086115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46255784400006 meters Centerline goodness [0,1] 0.2693054616072792 Centerline is valid? [False, False] Translation: X:6.67, Y:0.26, Z:1.20 [[ 9.99698092e-01 -5.91649885e-03 -2.38478677e-02 6.66953291e+00] [ 5.91248399e-03 9.99982493e-01 -2.38860352e-04 2.60383201e-01] [ 2.38488634e-02 9.77881022e-05 9.99715571e-01 1.20135819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49255784400003 meters Centerline goodness [0,1] 0.26813606386671296 Centerline is valid? [False, False] Translation: X:6.69, Y:0.26, Z:1.20 [[ 9.99737538e-01 2.77891442e-03 -2.27405591e-02 6.68835925e+00] [-2.81627914e-03 9.99994736e-01 -1.61122580e-03 2.57552344e-01] [ 2.27359619e-02 1.67484668e-03 9.99740102e-01 1.20295861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52255784400006 meters Centerline goodness [0,1] 0.2656496126707377 Centerline is valid? [False, False] Translation: X:6.69, Y:0.26, Z:1.20 [[ 9.99759589e-01 3.37591145e-03 -2.16649095e-02 6.68525268e+00] [-3.40786533e-03 9.99993159e-01 -1.43816391e-03 2.59557628e-01] [ 2.16599062e-02 1.51164925e-03 9.99764254e-01 1.20356758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55255784400003 meters Centerline goodness [0,1] 0.2664607275555172 Centerline is valid? [False, False] Translation: X:6.68, Y:0.26, Z:1.20 [[ 9.99769321e-01 3.49446336e-03 -2.11918397e-02 6.68394505e+00] [-3.53032048e-03 9.99992399e-01 -1.65484964e-03 2.61402078e-01] [ 2.11858958e-02 1.72928188e-03 9.99774058e-01 1.20371613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58255784400006 meters Centerline goodness [0,1] 0.2696169174815428 Centerline is valid? [False, False] Translation: X:6.68, Y:0.27, Z:1.20 [[ 9.99764824e-01 3.94749582e-03 -2.13240098e-02 6.68420095e+00] [-3.99207595e-03 9.99989934e-01 -2.04844313e-03 2.65444040e-01] [ 2.13157089e-02 2.13308845e-03 9.99770519e-01 1.20354310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61255784400004 meters Centerline goodness [0,1] 0.2643468168335984 Centerline is valid? [False, False] Translation: X:6.70, Y:0.27, Z:1.21 [[ 9.99737962e-01 -1.62318484e-04 -2.28906162e-02 6.70486890e+00] [ 1.83044252e-04 9.99999575e-01 9.03334013e-04 2.72022592e-01] [ 2.28904599e-02 -9.07287301e-04 9.99737567e-01 1.20502286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64255784400007 meters Centerline goodness [0,1] 0.26403887688984884 Centerline is valid? [False, False] Translation: X:6.70, Y:0.27, Z:1.20 [[ 9.99742043e-01 -1.79871424e-04 -2.27115722e-02 6.70450819e+00] [ 1.90988853e-04 9.99999863e-01 4.87336912e-04 2.74653405e-01] [ 2.27114814e-02 -4.91548857e-04 9.99741940e-01 1.20478365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67255784400004 meters Centerline goodness [0,1] 0.26917463567647637 Centerline is valid? [False, False] Translation: X:6.70, Y:0.28, Z:1.20 [[ 9.99750264e-01 -2.25942976e-04 -2.23463509e-02 6.70347673e+00] [ 2.29514239e-04 9.99999961e-01 1.57249513e-04 2.76675751e-01] [ 2.23463145e-02 -1.62339048e-04 9.99750277e-01 1.20488454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70255784400007 meters Centerline goodness [0,1] 0.2674458874458875 Centerline is valid? [False, False] Translation: X:6.70, Y:0.28, Z:1.21 [[ 9.99768768e-01 -2.40879623e-04 -2.15023742e-02 6.70076531e+00] [ 2.33300161e-04 9.99999910e-01 -3.55002034e-04 2.80451264e-01] [ 2.15024578e-02 3.49903438e-04 9.99768734e-01 1.20571658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73255784400004 meters Centerline goodness [0,1] 0.26787687108723435 Centerline is valid? [False, False] Translation: X:6.70, Y:0.28, Z:1.21 [[ 9.99772933e-01 -3.48198632e-04 -2.13063800e-02 6.70011174e+00] [ 3.33561121e-04 9.99999706e-01 -6.90551313e-04 2.82307572e-01] [ 2.13066142e-02 6.83287531e-04 9.99772755e-01 1.20595071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76255784400007 meters Centerline goodness [0,1] 0.26630646207045605 Centerline is valid? [False, False] Translation: X:6.70, Y:0.28, Z:1.21 [[ 9.99771997e-01 -5.55766023e-04 -2.13458321e-02 6.70040218e+00] [ 5.30168766e-04 9.99999134e-01 -1.20480924e-03 2.84756572e-01] [ 2.13464832e-02 1.19321765e-03 9.99771426e-01 1.20558844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79255784400004 meters Centerline goodness [0,1] 0.26755226480836236 Centerline is valid? [False, False] Translation: X:6.70, Y:0.29, Z:1.21 [[ 9.99768179e-01 -7.77218834e-04 -2.15170461e-02 6.70105422e+00] [ 7.38933187e-04 9.99998130e-01 -1.78721063e-03 2.87526788e-01] [ 2.15183949e-02 1.77089666e-03 9.99766884e-01 1.20514112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8225578440001 meters Centerline goodness [0,1] 0.2596624107336074 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99737722e-01 1.41849578e-03 -2.28577307e-02 6.70638487e+00] [-1.42997015e-03 9.99998860e-01 -4.85653500e-04 2.95160250e-01] [ 2.28570157e-02 5.18211996e-04 9.99738610e-01 1.20255531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85255784400005 meters Centerline goodness [0,1] 0.25910640978301 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99735814e-01 1.19663003e-03 -2.29536751e-02 6.70710450e+00] [-1.22372408e-03 9.99998571e-01 -1.16636956e-03 2.98938024e-01] [ 2.29522466e-02 1.19415039e-03 9.99735849e-01 1.20168386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8825578440001 meters Centerline goodness [0,1] 0.2685574764012121 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99736500e-01 9.64497682e-04 -2.29346983e-02 6.70734213e+00] [-1.00628602e-03 9.99997855e-01 -1.81058627e-03 3.02302342e-01] [ 2.29329028e-02 1.83318805e-03 9.99735326e-01 1.20113645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91255784400005 meters Centerline goodness [0,1] 0.25884007790521535 Centerline is valid? [False, False] Translation: X:6.71, Y:0.31, Z:1.20 [[ 9.99737293e-01 7.29903828e-04 -2.29087886e-02 6.70719417e+00] [-7.84319290e-04 9.99996892e-01 -2.36641427e-03 3.05005348e-01] [ 2.29069902e-02 2.38376040e-03 9.99734759e-01 1.20119985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9425578440001 meters Centerline goodness [0,1] 0.2524434876210979 Centerline is valid? [False, False] Translation: X:6.71, Y:0.31, Z:1.20 [[ 9.99746003e-01 1.33134234e-04 -2.25369066e-02 6.70533197e+00] [-2.02450078e-04 9.99995257e-01 -3.07340553e-03 3.07364253e-01] [ 2.25363905e-02 3.07718749e-03 9.99741288e-01 1.20266784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97255784400005 meters Centerline goodness [0,1] 0.2571669295080905 Centerline is valid? [False, False] Translation: X:6.70, Y:0.31, Z:1.20 [[ 9.99749282e-01 1.40243479e-05 -2.23913485e-02 6.70463679e+00] [-8.34622488e-05 9.99995191e-01 -3.10017250e-03 3.07250111e-01] [ 2.23911974e-02 3.10126406e-03 9.99744476e-01 1.20320952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0025578440001 meters Centerline goodness [0,1] 0.2687461986271613 Centerline is valid? [False, False] Translation: X:6.70, Y:0.31, Z:1.20 [[ 9.99748065e-01 -4.51989513e-05 -2.24455973e-02 6.70464864e+00] [-2.24592060e-05 9.99995457e-01 -3.01405629e-03 3.06701581e-01] [ 2.24456316e-02 3.01380105e-03 9.99743522e-01 1.20340457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03255784400005 meters Centerline goodness [0,1] 0.2669952450224722 Centerline is valid? [False, False] Translation: X:6.71, Y:0.31, Z:1.20 [[ 9.99745164e-01 -1.05515823e-04 -2.25742390e-02 6.70509773e+00] [ 3.99799609e-05 9.99995784e-01 -2.90355772e-03 3.05940709e-01] [ 2.25744502e-02 2.90191527e-03 9.99740953e-01 1.20324741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0625578440001 meters Centerline goodness [0,1] 0.2669952450224722 Centerline is valid? [False, False] Translation: X:6.71, Y:0.31, Z:1.20 [[ 9.99745164e-01 -1.05515823e-04 -2.25742390e-02 6.70509773e+00] [ 3.99799609e-05 9.99995784e-01 -2.90355772e-03 3.05940709e-01] [ 2.25744502e-02 2.90191527e-03 9.99740953e-01 1.20324741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09255784400005 meters Centerline goodness [0,1] 0.2540785498489426 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99734292e-01 -5.29403796e-04 -2.30448699e-02 6.70639446e+00] [ 4.61735344e-04 9.99995567e-01 -2.94160011e-03 3.04614398e-01] [ 2.30463250e-02 2.93017787e-03 9.99730104e-01 1.20317674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1225578440001 meters Centerline goodness [0,1] 0.25766563440485013 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99731579e-01 -5.27238058e-04 -2.31623169e-02 6.70653491e+00] [ 4.62907298e-04 9.99996021e-01 -2.78266279e-03 3.03506173e-01] [ 2.31636918e-02 2.77119386e-03 9.99727845e-01 1.20346324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15255784400006 meters Centerline goodness [0,1] 0.2569542158242234 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99727465e-01 -4.68449180e-04 -2.33404502e-02 6.70668102e+00] [ 4.08605607e-04 9.99996618e-01 -2.56864572e-03 3.02306990e-01] [ 2.33415745e-02 2.55840864e-03 9.99724275e-01 1.20394344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1825578440001 meters Centerline goodness [0,1] 0.2582027236758695 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99723521e-01 -3.81499867e-04 -2.35103412e-02 6.70687971e+00] [ 3.26774826e-04 9.99997229e-01 -2.33149868e-03 3.01191564e-01] [ 2.35111655e-02 2.32317148e-03 9.99720875e-01 1.20433172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21255784400006 meters Centerline goodness [0,1] 0.25862782241383064 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99721716e-01 -2.49886837e-04 -2.35887266e-02 6.70703744e+00] [ 2.02370320e-04 9.99997946e-01 -2.01673963e-03 2.99490979e-01] [ 2.35891821e-02 2.01140474e-03 9.99719713e-01 1.20444686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24255784400003 meters Centerline goodness [0,1] 0.2561494078348011 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99726282e-01 -2.21602061e-04 -2.33946797e-02 6.70642903e+00] [ 1.74999087e-04 9.99997997e-01 -1.99406151e-03 2.99198209e-01] [ 2.33950747e-02 1.98942165e-03 9.99724318e-01 1.20467481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27255784400006 meters Centerline goodness [0,1] 0.250635638870933 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99730398e-01 -1.28714472e-04 -2.32188283e-02 6.70584175e+00] [ 8.42140434e-05 9.99998158e-01 -1.91753412e-03 2.98980566e-01] [ 2.32190324e-02 1.91506180e-03 9.99728568e-01 1.20489274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30255784400003 meters Centerline goodness [0,1] 0.26741807737499457 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99733060e-01 -3.76104769e-05 -2.31042714e-02 6.70553116e+00] [-5.95299831e-06 9.99998223e-01 -1.88544441e-03 2.99115542e-01] [ 2.31043012e-02 1.88507865e-03 9.99731283e-01 1.20490151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33255784400006 meters Centerline goodness [0,1] 0.26709383145091226 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99721237e-01 6.13198840e-04 -2.36023936e-02 6.70715477e+00] [-6.49874643e-04 9.99998593e-01 -1.54626283e-03 2.99327625e-01] [ 2.36014122e-02 1.56117039e-03 9.99720229e-01 1.20411377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36255784400004 meters Centerline goodness [0,1] 0.267839239789024 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99721393e-01 6.34642014e-04 -2.35951843e-02 6.70735576e+00] [-6.73987260e-04 9.99998396e-01 -1.65959659e-03 2.99996398e-01] [ 2.35940932e-02 1.67503707e-03 9.99720217e-01 1.20371651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39255784400007 meters Centerline goodness [0,1] 0.2576887130778761 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99724879e-01 6.79874709e-04 -2.34457754e-02 6.70691669e+00] [-7.21393847e-04 9.99998187e-01 -1.76244548e-03 3.00761206e-01] [ 2.34445346e-02 1.77887423e-03 9.99723556e-01 1.20375648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42255784400004 meters Centerline goodness [0,1] 0.2659983074018618 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99729011e-01 7.28172697e-04 -2.32674673e-02 6.70641044e+00] [-7.72019841e-04 9.99997943e-01 -1.87555576e-03 3.01738762e-01] [ 2.32660537e-02 1.89301045e-03 9.99727517e-01 1.20378279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45255784400007 meters Centerline goodness [0,1] 0.268471615720524 Centerline is valid? [False, False] Translation: X:6.71, Y:0.30, Z:1.20 [[ 9.99724965e-01 8.78876711e-04 -2.34355038e-02 6.70705736e+00] [-9.28890519e-04 9.99997314e-01 -2.12330364e-03 3.03999276e-01] [ 2.34335747e-02 2.14448867e-03 9.99723096e-01 1.20320383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48255784400004 meters Centerline goodness [0,1] 0.26330665170769596 Centerline is valid? [False, False] Translation: X:6.71, Y:0.31, Z:1.20 [[ 9.99720946e-01 7.79200653e-04 -2.36097858e-02 6.70781650e+00] [-8.35956814e-04 9.99996785e-01 -2.39415090e-03 3.05321016e-01] [ 2.36078443e-02 2.41321957e-03 9.99718383e-01 1.20262510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51255784400007 meters Centerline goodness [0,1] 0.2665840453982128 Centerline is valid? [False, False] Translation: X:6.71, Y:0.31, Z:1.20 [[ 9.99722656e-01 7.03678785e-04 -2.35396537e-02 6.70780209e+00] [-7.64399804e-04 9.99996404e-01 -2.57062186e-03 3.06185717e-01] [ 2.35377601e-02 2.58790262e-03 9.99719599e-01 1.20233087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54255784400004 meters Centerline goodness [0,1] 0.2558280482261521 Centerline is valid? [False, False] Translation: X:6.71, Y:0.31, Z:1.20 [[ 9.99731690e-01 6.55107671e-04 -2.31542234e-02 6.70618480e+00] [-7.15399821e-04 9.99996375e-01 -2.59575002e-03 3.06636924e-01] [ 2.31524389e-02 2.61161808e-03 9.99728535e-01 1.20334112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5725578440001 meters Centerline goodness [0,1] 0.267807444773004 Centerline is valid? [False, False] Translation: X:6.71, Y:0.31, Z:1.20 [[ 9.99736144e-01 6.81270229e-04 -2.29603566e-02 6.70517187e+00] [-7.36251402e-04 9.99996882e-01 -2.38624486e-03 3.05660508e-01] [ 2.29586593e-02 2.40251983e-03 9.99733528e-01 1.20419363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60255784400005 meters Centerline goodness [0,1] 0.2675116162387382 Centerline is valid? [False, False] Translation: X:6.70, Y:0.30, Z:1.20 [[ 9.99736602e-01 5.39382981e-04 -2.29441868e-02 6.70493701e+00] [-5.91443124e-04 9.99997266e-01 -2.26226512e-03 3.04401052e-01] [ 2.29429038e-02 2.27523942e-03 9.99734188e-01 1.20459846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6325578440001 meters Centerline goodness [0,1] 0.2565413404085507 Centerline is valid? [False, False] Translation: X:6.73, Y:0.31, Z:1.21 [[ 9.99713051e-01 -7.89481049e-03 -2.26160854e-02 6.72643579e+00] [ 7.85549876e-03 9.99967477e-01 -1.82653624e-03 3.07754483e-01] [ 2.26297700e-02 1.64835148e-03 9.99742555e-01 1.20528745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66255784400005 meters Centerline goodness [0,1] 0.27096096621739896 Centerline is valid? [False, False] Translation: X:6.73, Y:0.31, Z:1.21 [[ 9.99675596e-01 -1.16862165e-02 -2.26304047e-02 6.72677699e+00] [ 1.15736477e-02 9.99920023e-01 -5.09883716e-03 3.05398706e-01] [ 2.26881809e-02 4.83526674e-03 9.99730897e-01 1.20503764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6925578440001 meters Centerline goodness [0,1] 0.26781177390284683 Centerline is valid? [False, False] Translation: X:6.75, Y:0.30, Z:1.21 [[ 9.99734330e-01 -3.81317443e-03 -2.27316636e-02 6.74547408e+00] [ 3.67434485e-03 9.99974363e-01 -6.14596411e-03 3.00395528e-01] [ 2.27545164e-02 6.06080734e-03 9.99722711e-01 1.20711482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72255784400005 meters Centerline goodness [0,1] 0.2675793538868759 Centerline is valid? [False, False] Translation: X:6.75, Y:0.30, Z:1.21 [[ 9.99730790e-01 -3.77998772e-03 -2.28923334e-02 6.74563061e+00] [ 3.64728584e-03 9.99976320e-01 -5.83576365e-03 2.98797696e-01] [ 2.29138505e-02 5.75069772e-03 9.99720904e-01 1.20751246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7525578440001 meters Centerline goodness [0,1] 0.2640879934564553 Centerline is valid? [False, False] Translation: X:6.75, Y:0.30, Z:1.21 [[ 9.99730617e-01 -3.80105103e-03 -2.28964043e-02 6.74533895e+00] [ 3.67371210e-03 9.99977566e-01 -5.60102325e-03 2.97385089e-01] [ 2.29171804e-02 5.51539963e-03 9.99722153e-01 1.20802419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78255784400005 meters Centerline goodness [0,1] 0.2685834654389889 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99736752e-01 -4.01062699e-03 -2.25907549e-02 6.74433755e+00] [ 3.88727428e-03 9.99977311e-01 -5.50158820e-03 2.96032706e-01] [ 2.26123072e-02 5.41232346e-03 9.99729659e-01 1.20853022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8125578440001 meters Centerline goodness [0,1] 0.2668414552230721 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99734752e-01 -3.99673549e-03 -2.26815286e-02 6.74469247e+00] [ 3.87475876e-03 9.99977809e-01 -5.41920324e-03 2.95588834e-01] [ 2.27026844e-02 5.32988035e-03 9.99728053e-01 1.20829896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84255784400005 meters Centerline goodness [0,1] 0.2670102420249201 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99733857e-01 -3.96900877e-03 -2.27258010e-02 6.74489806e+00] [ 3.84814463e-03 9.99978233e-01 -5.35963063e-03 2.95444068e-01] [ 2.27465787e-02 5.27075203e-03 9.99727369e-01 1.20809577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8725578440001 meters Centerline goodness [0,1] 0.26682199641878623 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99735034e-01 -3.94995811e-03 -2.26773110e-02 6.74462302e+00] [ 3.82947876e-03 9.99978336e-01 -5.35374120e-03 2.95679869e-01] [ 2.26979668e-02 5.26548036e-03 9.99728502e-01 1.20828887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90255784400006 meters Centerline goodness [0,1] 0.2685187194791101 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99744016e-01 -4.07438303e-03 -2.22553592e-02 6.74285615e+00] [ 3.95423429e-03 9.99977385e-01 -5.43998505e-03 2.95985632e-01] [ 2.22770204e-02 5.35058960e-03 9.99737518e-01 1.20941114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.9325578440001 meters Centerline goodness [0,1] 0.2683966595251629 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99743752e-01 -4.14472615e-03 -2.22542689e-02 6.74257750e+00] [ 4.02398655e-03 9.99976957e-01 -5.46750078e-03 2.95893963e-01] [ 2.22764174e-02 5.37654886e-03 9.99737392e-01 1.20983106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96255784400006 meters Centerline goodness [0,1] 0.2686449923630809 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99741540e-01 -4.19490851e-03 -2.23440298e-02 6.74268273e+00] [ 4.07355900e-03 9.99976722e-01 -5.47370868e-03 2.95800937e-01] [ 2.23664714e-02 5.38127422e-03 9.99735356e-01 1.20997090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99255784400003 meters Centerline goodness [0,1] 0.26810320508647445 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99739957e-01 -4.24857425e-03 -2.24046420e-02 6.74282962e+00] [ 4.12674209e-03 9.99976463e-01 -5.48124278e-03 2.95784495e-01] [ 2.24274021e-02 5.38735924e-03 9.99733959e-01 1.20996376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02255784400006 meters Centerline goodness [0,1] 0.26694263236600857 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99739635e-01 -4.24141561e-03 -2.24203768e-02 6.74266895e+00] [ 4.12132467e-03 9.99976928e-01 -5.39982590e-03 2.95523990e-01] [ 2.24427624e-02 5.30601832e-03 9.99734049e-01 1.21023747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05255784400003 meters Centerline goodness [0,1] 0.267185670295355 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99737432e-01 -4.38931289e-03 -2.24900230e-02 6.74280547e+00] [ 4.26838383e-03 9.99976190e-01 -5.42219531e-03 2.95330670e-01] [ 2.25132872e-02 5.32477557e-03 9.99732364e-01 1.21032221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08255784400006 meters Centerline goodness [0,1] 0.26895527603074776 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99734454e-01 -4.45008285e-03 -2.26101480e-02 6.74330683e+00] [ 4.32734467e-03 9.99975652e-01 -5.47448602e-03 2.95391232e-01] [ 2.26339594e-02 5.37519039e-03 9.99729369e-01 1.20998888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11255784400004 meters Centerline goodness [0,1] 0.2670460716380303 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99733343e-01 -4.48178154e-03 -2.26529543e-02 6.74365391e+00] [ 4.35800030e-03 9.99975320e-01 -5.51065937e-03 2.95518386e-01] [ 2.26770928e-02 5.41046834e-03 9.99728201e-01 1.20958460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14255784400007 meters Centerline goodness [0,1] 0.26786642411642414 Centerline is valid? [False, False] Translation: X:6.74, Y:0.30, Z:1.21 [[ 9.99736865e-01 -4.47416276e-03 -2.24985138e-02 6.74325598e+00] [ 4.35279991e-03 9.99975728e-01 -5.44034290e-03 2.95188528e-01] [ 2.25223086e-02 5.34097983e-03 9.99732074e-01 1.20954123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17255784400004 meters Centerline goodness [0,1] 0.2682288257625344 Centerline is valid? [False, False] Translation: X:6.74, Y:0.29, Z:1.21 [[ 9.99734301e-01 -4.47472418e-03 -2.26120259e-02 6.74353606e+00] [ 4.35369849e-03 9.99975950e-01 -5.39866917e-03 2.94905835e-01] [ 2.26356396e-02 5.29878881e-03 9.99729739e-01 1.20951468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20255784400007 meters Centerline goodness [0,1] 0.26751661763103407 Centerline is valid? [False, False] Translation: X:6.74, Y:0.29, Z:1.21 [[ 9.99729902e-01 -4.48160846e-03 -2.28043285e-02 6.74423364e+00] [ 4.36029485e-03 9.99976093e-01 -5.36670790e-03 2.94662274e-01] [ 2.28278348e-02 5.26582477e-03 9.99725543e-01 1.20913808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23255784400004 meters Centerline goodness [0,1] 0.2685393503855311 Centerline is valid? [False, False] Translation: X:6.74, Y:0.29, Z:1.21 [[ 9.99724774e-01 -4.51206581e-03 -2.30220964e-02 6.74495043e+00] [ 4.38953612e-03 9.99975947e-01 -5.37002711e-03 2.94577246e-01] [ 2.30457726e-02 5.26749282e-03 9.99720534e-01 1.20880698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26255784400007 meters Centerline goodness [0,1] 0.2537639053893509 Centerline is valid? [False, False] Translation: X:6.77, Y:0.29, Z:1.21 [[ 9.99715635e-01 3.63407536e-03 -2.35678253e-02 6.76546559e+00] [-3.78669777e-03 9.99972129e-01 -6.43448798e-03 2.89978344e-01] [ 2.35437850e-02 6.52190247e-03 9.99701533e-01 1.21010123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29255784400004 meters Centerline goodness [0,1] 0.2685729207468338 Centerline is valid? [False, False] Translation: X:6.77, Y:0.29, Z:1.21 [[ 9.99707789e-01 3.65142534e-03 -2.38956722e-02 6.76659568e+00] [-3.79794745e-03 9.99974248e-01 -6.08923412e-03 2.88114999e-01] [ 2.38728225e-02 6.17820929e-03 9.99695913e-01 1.20949244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3225578440001 meters Centerline goodness [0,1] 0.2678150379879487 Centerline is valid? [False, False] Translation: X:6.77, Y:0.29, Z:1.21 [[ 9.99710947e-01 3.72358021e-03 -2.37519875e-02 6.76619189e+00] [-3.86264033e-03 9.99975653e-01 -5.81148310e-03 2.86659973e-01] [ 2.37297697e-02 5.90154866e-03 9.99700990e-01 1.20955075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35255784400005 meters Centerline goodness [0,1] 0.26890977773873315 Centerline is valid? [False, False] Translation: X:6.77, Y:0.29, Z:1.21 [[ 9.99716280e-01 3.74014225e-03 -2.35238212e-02 6.76546838e+00] [-3.87334785e-03 9.99976709e-01 -5.61957026e-03 2.85417697e-01] [ 2.35022553e-02 5.70909182e-03 9.99707482e-01 1.20980666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3825578440001 meters Centerline goodness [0,1] 0.26794645002074735 Centerline is valid? [False, False] Translation: X:6.79, Y:0.29, Z:1.21 [[ 9.99730329e-01 -4.17024253e-03 -2.28446782e-02 6.78504193e+00] [ 4.06837680e-03 9.99981582e-01 -4.50372085e-03 2.87897460e-01] [ 2.28630390e-02 4.40956557e-03 9.99728882e-01 1.21150054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41255784400005 meters Centerline goodness [0,1] 0.26710523449582857 Centerline is valid? [False, False] Translation: X:6.78, Y:0.29, Z:1.21 [[ 9.99731154e-01 -4.07928650e-03 -2.28249567e-02 6.78467257e+00] [ 3.98272892e-03 9.99982934e-01 -4.27421193e-03 2.86933583e-01] [ 2.28420029e-02 4.18215721e-03 9.99730340e-01 1.21197543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4425578440001 meters Centerline goodness [0,1] 0.2668472443696892 Centerline is valid? [False, False] Translation: X:6.78, Y:0.29, Z:1.21 [[ 9.99730142e-01 -4.02938897e-03 -2.28781002e-02 6.78476274e+00] [ 3.93368101e-03 9.99983330e-01 -4.22685131e-03 2.86998217e-01] [ 2.28947505e-02 4.13571552e-03 9.99729326e-01 1.21199494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47255784400005 meters Centerline goodness [0,1] 0.2692080054363314 Centerline is valid? [False, False] Translation: X:6.79, Y:0.29, Z:1.21 [[ 9.99728729e-01 -4.03261478e-03 -2.29391777e-02 6.78506160e+00] [ 3.93500912e-03 9.99983019e-01 -4.29852517e-03 2.87505582e-01] [ 2.29561225e-02 4.20709323e-03 9.99727621e-01 1.21171547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5025578440001 meters Centerline goodness [0,1] 0.2520028504178453 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99773375e-01 -2.99767583e-03 -2.10763294e-02 6.82973342e+00] [ 2.90737733e-03 9.99986470e-01 -4.31369360e-03 2.88963577e-01] [ 2.10889753e-02 4.25143917e-03 9.99768563e-01 1.21173389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53255784400005 meters Centerline goodness [0,1] 0.26849506507118526 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99779178e-01 -3.07456539e-03 -2.07880132e-02 6.82896965e+00] [ 2.98062507e-03 9.99985214e-01 -4.54844074e-03 2.90138662e-01] [ 2.08016903e-02 4.48547507e-03 9.99773559e-01 1.21181081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5625578440001 meters Centerline goodness [0,1] 0.26517779705117084 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99782749e-01 -3.10171580e-03 -2.06114948e-02 6.82832665e+00] [ 3.00805437e-03 9.99985017e-01 -4.57358696e-03 2.90170098e-01] [ 2.06253719e-02 4.51059285e-03 9.99777099e-01 1.21212203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59255784400005 meters Centerline goodness [0,1] 0.2653352353780314 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99786184e-01 -3.09499925e-03 -2.04452164e-02 6.82776752e+00] [ 3.00385620e-03 9.99985421e-01 -4.48712328e-03 2.89684846e-01] [ 2.04588059e-02 4.42474938e-03 9.99780905e-01 1.21232170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6225578440001 meters Centerline goodness [0,1] 0.26570536963305713 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99786122e-01 -3.15555134e-03 -2.04389807e-02 6.82752216e+00] [ 3.06539100e-03 9.99985440e-01 -4.44102435e-03 2.89170516e-01] [ 2.04526970e-02 4.37742104e-03 9.99781239e-01 1.21262342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65255784400006 meters Centerline goodness [0,1] 0.25432623498286855 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99795558e-01 -3.70288471e-03 -1.98778915e-02 6.82571994e+00] [ 3.61378628e-03 9.99983271e-01 -4.51633888e-03 2.87640330e-01] [ 1.98942824e-02 4.44358110e-03 9.99792214e-01 1.21332833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6825578440001 meters Centerline goodness [0,1] 0.2575760881422494 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99797204e-01 -3.72882840e-03 -1.97900720e-02 6.82534962e+00] [ 3.64284939e-03 9.99983778e-01 -4.37882585e-03 2.86684810e-01] [ 1.98060788e-02 4.30584559e-03 9.99794568e-01 1.21353532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71255784400006 meters Centerline goodness [0,1] 0.2525864298646435 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99796768e-01 -3.75392655e-03 -1.98073393e-02 6.82549160e+00] [ 3.67002632e-03 9.99984147e-01 -4.27046682e-03 2.85980477e-01] [ 1.98230563e-02 4.19690547e-03 9.99794695e-01 1.21333314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74255784400003 meters Centerline goodness [0,1] 0.2526799387442573 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99792682e-01 -3.75982584e-03 -2.00114393e-02 6.82626390e+00] [ 3.67538775e-03 9.99984195e-01 -4.25459891e-03 2.85926600e-01] [ 2.00271195e-02 4.18016706e-03 9.99790698e-01 1.21291379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77255784400006 meters Centerline goodness [0,1] 0.2669200695047784 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99785984e-01 -3.86008885e-03 -2.03245375e-02 6.82738121e+00] [ 3.76775567e-03 9.99982417e-01 -4.57927593e-03 2.87753057e-01] [ 2.03418566e-02 4.50171800e-03 9.99782948e-01 1.21233899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80255784400003 meters Centerline goodness [0,1] 0.2675658514155591 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99785202e-01 -3.94101230e-03 -2.03474616e-02 6.82737264e+00] [ 3.84304892e-03 9.99980847e-01 -4.85138545e-03 2.89227980e-01] [ 2.03661913e-02 4.77214709e-03 9.99781198e-01 1.21241866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83255784400006 meters Centerline goodness [0,1] 0.2667131678182968 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99783599e-01 -4.04151752e-03 -2.04064059e-02 6.82747177e+00] [ 3.93716612e-03 9.99978981e-01 -5.15124822e-03 2.90769508e-01] [ 2.04267958e-02 5.06979007e-03 9.99778497e-01 1.21250746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86255784400004 meters Centerline goodness [0,1] 0.2686262147531361 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99782448e-01 -4.11793901e-03 -2.04474788e-02 6.82785205e+00] [ 4.00700703e-03 9.99977048e-01 -5.46322625e-03 2.92783254e-01] [ 2.04695067e-02 5.38010452e-03 9.99776002e-01 1.21197449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89255784400007 meters Centerline goodness [0,1] 0.2686160354113517 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99781564e-01 -4.15339058e-03 -2.04835010e-02 6.82828568e+00] [ 4.04111999e-03 9.99976603e-01 -5.51937577e-03 2.93133163e-01] [ 2.05059459e-02 5.43539386e-03 9.99774956e-01 1.21139933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92255784400004 meters Centerline goodness [0,1] 0.2667757417102967 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99779380e-01 -4.21006863e-03 -2.05783261e-02 6.82873048e+00] [ 4.09770817e-03 9.99976483e-01 -5.49925646e-03 2.92750118e-01] [ 2.06009944e-02 5.41371924e-03 9.99773120e-01 1.21100794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95255784400007 meters Centerline goodness [0,1] 0.2662575084878558 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99774636e-01 -4.26930328e-03 -2.07954385e-02 6.82930764e+00] [ 4.15851334e-03 9.99976946e-01 -5.36794150e-03 2.91718750e-01] [ 2.08178764e-02 5.28025365e-03 9.99769341e-01 1.21082422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98255784400004 meters Centerline goodness [0,1] 0.2662575084878558 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99774636e-01 -4.26930328e-03 -2.07954385e-02 6.82930764e+00] [ 4.15851334e-03 9.99976946e-01 -5.36794150e-03 2.91718750e-01] [ 2.08178764e-02 5.28025365e-03 9.99769341e-01 1.21082422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01255784400007 meters Centerline goodness [0,1] 0.25530852403491255 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99768950e-01 -4.28013145e-03 -2.10648261e-02 6.82992849e+00] [ 4.17226929e-03 9.99977974e-01 -5.16177478e-03 2.90466261e-01] [ 2.10864552e-02 5.07269402e-03 9.99764787e-01 1.21081375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04255784400004 meters Centerline goodness [0,1] 0.2457596147644947 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99756461e-01 -4.47394866e-03 -2.16102485e-02 6.83121333e+00] [ 4.37107510e-03 9.99978901e-01 -4.80529856e-03 2.88048781e-01] [ 2.16312912e-02 4.70966826e-03 9.99754923e-01 1.21073242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0725578440001 meters Centerline goodness [0,1] 0.25256997235659984 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99757941e-01 -4.33307453e-03 -2.15704442e-02 6.83109674e+00] [ 4.23967470e-03 9.99981447e-01 -4.37384049e-03 2.86023393e-01] [ 2.15889962e-02 4.28133010e-03 9.99757763e-01 1.21069821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10255784400005 meters Centerline goodness [0,1] 0.25190806591500436 Centerline is valid? [False, False] Translation: X:6.83, Y:0.28, Z:1.21 [[ 9.99761172e-01 -4.26314681e-03 -2.14342085e-02 6.83073919e+00] [ 4.17749281e-03 9.99983116e-01 -4.03932446e-03 2.84221505e-01] [ 2.14510669e-02 3.94881850e-03 9.99762101e-01 1.21065605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1325578440001 meters Centerline goodness [0,1] 0.24909365558912389 Centerline is valid? [False, False] Translation: X:6.83, Y:0.28, Z:1.21 [[ 9.99760836e-01 -4.19201678e-03 -2.14638556e-02 6.83069497e+00] [ 4.11280833e-03 9.99984574e-01 -3.73313256e-03 2.82493446e-01] [ 2.14791739e-02 3.64396301e-03 9.99762655e-01 1.21081112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16255784400005 meters Centerline goodness [0,1] 0.2521491218524886 Centerline is valid? [False, False] Translation: X:6.83, Y:0.28, Z:1.21 [[ 9.99759179e-01 -4.07462406e-03 -2.15634166e-02 6.83084555e+00] [ 4.00152565e-03 9.99986105e-01 -3.43199062e-03 2.81093385e-01] [ 2.15771010e-02 3.34487756e-03 9.99761592e-01 1.21090247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1925578440001 meters Centerline goodness [0,1] 0.25401453501022675 Centerline is valid? [False, False] Translation: X:6.83, Y:0.28, Z:1.21 [[ 9.99758047e-01 -4.03375643e-03 -2.16235173e-02 6.83091097e+00] [ 3.96042282e-03 9.99986264e-01 -3.43313450e-03 2.81366894e-01] [ 2.16370687e-02 3.34666558e-03 9.99760290e-01 1.21103054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22255784400005 meters Centerline goodness [0,1] 0.2537655321447866 Centerline is valid? [False, False] Translation: X:6.83, Y:0.28, Z:1.21 [[ 9.99759066e-01 -4.04580090e-03 -2.15740868e-02 6.83085258e+00] [ 3.97088293e-03 9.99985941e-01 -3.51429982e-03 2.81861944e-01] [ 2.15880017e-02 3.42778493e-03 9.99761076e-01 1.21094614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2525578440001 meters Centerline goodness [0,1] 0.2664748326902535 Centerline is valid? [False, False] Translation: X:6.83, Y:0.28, Z:1.21 [[ 9.99763815e-01 -4.09448917e-03 -2.13436091e-02 6.83005935e+00] [ 4.01743332e-03 9.99985262e-01 -3.65188316e-03 2.82394896e-01] [ 2.13582471e-02 3.56527411e-03 9.99765530e-01 1.21131567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28255784400005 meters Centerline goodness [0,1] 0.2542913997069821 Centerline is valid? [False, False] Translation: X:6.83, Y:0.28, Z:1.21 [[ 9.99778191e-01 -4.14687072e-03 -2.06488078e-02 6.82769145e+00] [ 4.06608385e-03 9.99983921e-01 -3.95287195e-03 2.83945788e-01] [ 2.06648678e-02 3.86803539e-03 9.99778976e-01 1.21248027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3125578440001 meters Centerline goodness [0,1] 0.2543386542560132 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99781332e-01 -4.21920833e-03 -2.04813562e-02 6.82707602e+00] [ 4.13375258e-03 9.99982582e-01 -4.21291308e-03 2.85454213e-01] [ 2.04987746e-02 4.12732700e-03 9.99781359e-01 1.21281423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34255784400005 meters Centerline goodness [0,1] 0.25612972124752087 Centerline is valid? [False, False] Translation: X:6.83, Y:0.29, Z:1.21 [[ 9.99784221e-01 -4.31141489e-03 -2.03205033e-02 6.82652727e+00] [ 4.22027455e-03 9.99980853e-01 -4.52589353e-03 2.87179623e-01] [ 2.03396272e-02 4.43915884e-03 9.99783273e-01 1.21303224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3725578440001 meters Centerline goodness [0,1] 0.25258423078586567 Centerline is valid? [False, False] Translation: X:6.85, Y:0.28, Z:1.21 [[ 9.99812774e-01 4.04760548e-03 -1.89217568e-02 6.84556237e+00] [-4.15926263e-03 9.99974149e-01 -5.86536754e-03 2.84865591e-01] [ 1.88975270e-02 5.94296995e-03 9.99803763e-01 1.21407171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40255784400006 meters Centerline goodness [0,1] 0.2673792144595064 Centerline is valid? [False, False] Translation: X:6.84, Y:0.29, Z:1.21 [[ 9.99816362e-01 3.92895229e-03 -1.87564626e-02 6.84492245e+00] [-4.04557604e-03 9.99972696e-01 -6.18390109e-03 2.86536651e-01] [ 1.87316542e-02 6.25864619e-03 9.99804958e-01 1.21444503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.4325578440001 meters Centerline goodness [0,1] 0.268434909375748 Centerline is valid? [False, False] Translation: X:6.84, Y:0.29, Z:1.21 [[ 9.99818722e-01 3.75762217e-03 -1.86655847e-02 6.84450590e+00] [-3.88173857e-03 9.99970569e-01 -6.61770425e-03 2.88653593e-01] [ 1.86401685e-02 6.68895952e-03 9.99803882e-01 1.21476719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46255784400006 meters Centerline goodness [0,1] 0.2562191757012189 Centerline is valid? [False, False] Translation: X:6.84, Y:0.29, Z:1.21 [[ 9.99820683e-01 3.32810309e-03 -1.86420427e-02 6.84444570e+00] [-3.47049033e-03 9.99965015e-01 -7.61082660e-03 2.93411555e-01] [ 1.86160609e-02 7.67415888e-03 9.99797254e-01 1.21478106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49255784400003 meters Centerline goodness [0,1] 0.25471718597329285 Centerline is valid? [False, False] Translation: X:6.84, Y:0.30, Z:1.21 [[ 9.99818849e-01 3.12116628e-03 -1.87757350e-02 6.84498276e+00] [-3.27346777e-03 9.99961947e-01 -8.08635568e-03 2.95813222e-01] [ 1.87497816e-02 8.14635259e-03 9.99791019e-01 1.21443663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52255784400006 meters Centerline goodness [0,1] 0.2687272886476074 Centerline is valid? [False, False] Translation: X:6.85, Y:0.30, Z:1.21 [[ 9.99817205e-01 2.97572873e-03 -1.88865621e-02 6.84543714e+00] [-3.13552377e-03 9.99959494e-01 -8.43681409e-03 2.97688166e-01] [ 1.88606914e-02 8.49449115e-03 9.99786036e-01 1.21409271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55255784400003 meters Centerline goodness [0,1] 0.2533416830421732 Centerline is valid? [False, False] Translation: X:6.87, Y:0.31, Z:1.22 [[ 9.99817162e-01 -4.99227317e-03 -1.84585966e-02 6.86541135e+00] [ 4.85267589e-03 9.99959346e-01 -7.59979646e-03 3.05599982e-01] [ 1.84957864e-02 7.50883335e-03 9.99800742e-01 1.21604398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58255784400006 meters Centerline goodness [0,1] 0.2699041449643279 Centerline is valid? [False, False] Translation: X:6.84, Y:0.30, Z:1.22 [[ 9.99820724e-01 3.29536743e-03 -1.86456328e-02 6.84400987e+00] [-3.45276027e-03 9.99958629e-01 -8.41538486e-03 3.03936841e-01] [ 1.86171296e-02 8.47825509e-03 9.99790739e-01 1.21502177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61255784400004 meters Centerline goodness [0,1] 0.2564096964402708 Centerline is valid? [False, False] Translation: X:6.84, Y:0.31, Z:1.21 [[ 9.99820927e-01 3.15300023e-03 -1.86593798e-02 6.84424032e+00] [-3.31661646e-03 9.99956269e-01 -8.74413835e-03 3.05538715e-01] [ 1.86309935e-02 8.80445851e-03 9.99787661e-01 1.21472313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64255784400007 meters Centerline goodness [0,1] 0.25440817039106145 Centerline is valid? [False, False] Translation: X:6.85, Y:0.31, Z:1.21 [[ 9.99815783e-01 2.86888341e-03 -1.89781462e-02 6.84576391e+00] [-3.04898852e-03 9.99950529e-01 -9.46801466e-03 3.09369684e-01] [ 1.89500447e-02 9.52413463e-03 9.99775068e-01 1.21361253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67255784400004 meters Centerline goodness [0,1] 0.2534856447899926 Centerline is valid? [False, False] Translation: X:6.85, Y:0.31, Z:1.21 [[ 9.99813630e-01 2.69192996e-03 -1.91169580e-02 6.84649156e+00] [-2.88322170e-03 9.99945983e-01 -9.98588777e-03 3.12162473e-01] [ 1.90890441e-02 1.00391451e-02 9.99767385e-01 1.21311313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70255784400007 meters Centerline goodness [0,1] 0.2532061679534592 Centerline is valid? [False, False] Translation: X:6.85, Y:0.32, Z:1.21 [[ 9.99810297e-01 2.54568869e-03 -1.93103536e-02 6.84719463e+00] [-2.75000546e-03 9.99940444e-01 -1.05615207e-02 3.15481879e-01] [ 1.92823172e-02 1.06126207e-02 9.99757753e-01 1.21288245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73255784400004 meters Centerline goodness [0,1] 0.25673765035999396 Centerline is valid? [False, False] Translation: X:6.85, Y:0.32, Z:1.21 [[ 9.99806278e-01 2.40261211e-03 -1.95354636e-02 6.84799800e+00] [-2.62280575e-03 9.99933236e-01 -1.12536850e-02 3.19637792e-01] [ 1.95071211e-02 1.13027426e-02 9.99745828e-01 1.21263260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76255784400007 meters Centerline goodness [0,1] 0.26609768280235413 Centerline is valid? [False, False] Translation: X:6.85, Y:0.33, Z:1.21 [[ 9.99789351e-01 5.92881810e-03 -1.96494750e-02 6.84851897e+00] [-6.10264846e-03 9.99942671e-01 -8.79844049e-03 3.26966044e-01] [ 1.95961842e-02 8.91650095e-03 9.99768216e-01 1.21257315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79255784400004 meters Centerline goodness [0,1] 0.24836685854731255 Centerline is valid? [False, False] Translation: X:6.87, Y:0.34, Z:1.22 [[ 9.99786922e-01 -3.69667733e-04 -2.06391454e-02 6.86637494e+00] [ 2.13594992e-04 9.99971372e-01 -7.56366930e-03 3.36425592e-01] [ 2.06413506e-02 7.55764923e-03 9.99758379e-01 1.21569424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8225578440001 meters Centerline goodness [0,1] 0.26592526496768154 Centerline is valid? [False, False] Translation: X:6.86, Y:0.34, Z:1.22 [[ 9.99807029e-01 1.28018401e-03 -1.96027035e-02 6.86289504e+00] [-1.40925797e-03 9.99977410e-01 -6.57210045e-03 3.42422954e-01] [ 1.95938472e-02 6.59845749e-03 9.99786248e-01 1.21677602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85255784400005 meters Centerline goodness [0,1] 0.2678408150825097 Centerline is valid? [False, False] Translation: X:6.86, Y:0.35, Z:1.22 [[ 9.99805350e-01 1.02246132e-03 -1.97032298e-02 6.86328394e+00] [-1.17023029e-03 9.99971267e-01 -7.48966362e-03 3.47415483e-01] [ 1.96950058e-02 7.51126307e-03 9.99777819e-01 1.21661039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8825578440001 meters Centerline goodness [0,1] 0.2543889993946208 Centerline is valid? [False, False] Translation: X:6.88, Y:0.36, Z:1.22 [[ 9.99734476e-01 -3.03389101e-03 -2.28423489e-02 6.88431006e+00] [ 2.91858290e-03 9.99982839e-01 -5.07964389e-03 3.59852022e-01] [ 2.28573680e-02 5.01162783e-03 9.99726175e-01 1.21813053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91255784400005 meters Centerline goodness [0,1] 0.25096725386361185 Centerline is valid? [False, False] Translation: X:6.88, Y:0.36, Z:1.22 [[ 9.99731200e-01 -3.34948034e-03 -2.29414102e-02 6.88469325e+00] [ 3.21587443e-03 9.99977670e-01 -5.85820724e-03 3.63848444e-01] [ 2.29605198e-02 5.78285586e-03 9.99719647e-01 1.21795008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9425578440001 meters Centerline goodness [0,1] 0.254108750764927 Centerline is valid? [False, False] Translation: X:6.88, Y:0.37, Z:1.22 [[ 9.99728530e-01 -3.66758644e-03 -2.30090414e-02 6.88488578e+00] [ 3.51666802e-03 9.99972062e-01 -6.59612999e-03 3.67373800e-01] [ 2.30325904e-02 6.51342418e-03 9.99713497e-01 1.21793867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97255784400005 meters Centerline goodness [0,1] 0.25178749404168654 Centerline is valid? [False, False] Translation: X:6.88, Y:0.37, Z:1.22 [[ 9.99726191e-01 -4.03043616e-03 -2.30499298e-02 6.88498155e+00] [ 3.86065705e-03 9.99965127e-01 -7.40547307e-03 3.71121771e-01] [ 2.30789732e-02 7.31445750e-03 9.99706887e-01 1.21797924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0025578440001 meters Centerline goodness [0,1] 0.25014005602240896 Centerline is valid? [False, False] Translation: X:6.89, Y:0.37, Z:1.22 [[ 9.99723921e-01 -4.35780630e-03 -2.30887661e-02 6.88504926e+00] [ 4.17094450e-03 9.99958210e-01 -8.13517690e-03 3.74698038e-01] [ 2.31232527e-02 8.03662899e-03 9.99700319e-01 1.21803449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03255784400005 meters Centerline goodness [0,1] 0.2503551594989022 Centerline is valid? [False, False] Translation: X:6.88, Y:0.38, Z:1.22 [[ 9.99722911e-01 -4.70938487e-03 -2.30634613e-02 6.88496839e+00] [ 4.50422352e-03 9.99949898e-01 -8.93939879e-03 3.78820665e-01] [ 2.31044048e-02 8.83303880e-03 9.99694035e-01 1.21806953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0625578440001 meters Centerline goodness [0,1] 0.25376278696001564 Centerline is valid? [False, False] Translation: X:6.88, Y:0.39, Z:1.22 [[ 9.99755768e-01 -2.78916140e-03 -2.19231422e-02 6.88091631e+00] [ 2.61598681e-03 9.99965184e-01 -7.92388174e-03 3.88283076e-01] [ 2.19444799e-02 7.86459582e-03 9.99728257e-01 1.21965390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09255784400005 meters Centerline goodness [0,1] 0.2558600126232399 Centerline is valid? [False, False] Translation: X:6.88, Y:0.39, Z:1.22 [[ 9.99754832e-01 -3.20153714e-03 -2.19094789e-02 6.88077473e+00] [ 3.00713974e-03 9.99955873e-01 -8.89995486e-03 3.93026355e-01] [ 2.19370056e-02 8.83188801e-03 9.99720344e-01 1.21989588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1225578440001 meters Centerline goodness [0,1] 0.25327661779629906 Centerline is valid? [False, False] Translation: X:6.88, Y:0.40, Z:1.22 [[ 9.99751549e-01 -3.85877063e-03 -2.19533462e-02 6.88121127e+00] [ 3.63356223e-03 9.99940463e-01 -1.02891571e-02 4.02215012e-01] [ 2.19917426e-02 1.02068319e-02 9.99706049e-01 1.21952569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.15255784400006 meters Centerline goodness [0,1] 0.25704056237174167 Centerline is valid? [False, False] Translation: X:6.88, Y:0.41, Z:1.22 [[ 9.99751577e-01 -4.10008741e-03 -2.19083047e-02 6.88130141e+00] [ 3.86211000e-03 9.99933203e-01 -1.08937220e-02 4.05526354e-01] [ 2.19515065e-02 1.08064034e-02 9.99700632e-01 1.21926003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1825578440001 meters Centerline goodness [0,1] 0.25435957799285025 Centerline is valid? [False, False] Translation: X:6.88, Y:0.41, Z:1.22 [[ 9.99753213e-01 -4.33030449e-03 -2.17890256e-02 6.88096845e+00] [ 4.08252605e-03 9.99926645e-01 -1.14033693e-02 4.08144212e-01] [ 2.18368073e-02 1.13116008e-02 9.99697555e-01 1.21937485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21255784400006 meters Centerline goodness [0,1] 0.25772833980561227 Centerline is valid? [False, False] Translation: X:6.88, Y:0.41, Z:1.22 [[ 9.99757439e-01 -4.57722903e-03 -2.15432562e-02 6.88020332e+00] [ 4.32110374e-03 9.99919612e-01 -1.19204572e-02 4.10599325e-01] [ 2.15960870e-02 1.18244752e-02 9.99696849e-01 1.21971318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24255784400003 meters Centerline goodness [0,1] 0.2548252477829943 Centerline is valid? [False, False] Translation: X:6.90, Y:0.41, Z:1.22 [[ 9.99797562e-01 2.92427137e-03 -1.99068919e-02 6.89782547e+00] [-3.19728279e-03 9.99901088e-01 -1.36964330e-02 4.08699051e-01] [ 1.98648708e-02 1.37573083e-02 9.99708019e-01 1.22137640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.27255784400006 meters Centerline goodness [0,1] 0.2554250924113938 Centerline is valid? [False, False] Translation: X:6.89, Y:0.42, Z:1.22 [[ 9.99808431e-01 4.64634317e-03 -1.90134677e-02 6.89439832e+00] [-4.88698853e-03 9.99908299e-01 -1.26297447e-02 4.15694626e-01] [ 1.89530420e-02 1.27202439e-02 9.99739455e-01 1.22293943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30255784400003 meters Centerline goodness [0,1] 0.26437154218533887 Centerline is valid? [False, False] Translation: X:6.92, Y:0.42, Z:1.22 [[ 9.99799109e-01 -9.45372356e-04 -2.00211894e-02 6.91588014e+00] [ 7.56887994e-04 9.99955347e-01 -9.41973008e-03 4.20822014e-01] [ 2.00292005e-02 9.40268394e-03 9.99755180e-01 1.22429038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33255784400006 meters Centerline goodness [0,1] 0.2530624634130477 Centerline is valid? [False, False] Translation: X:6.92, Y:0.42, Z:1.22 [[ 9.99793259e-01 2.59452493e-03 -2.01669713e-02 6.91661440e+00] [-2.72167932e-03 9.99976576e-01 -6.28019325e-03 4.23521091e-01] [ 2.01502048e-02 6.33378291e-03 9.99776901e-01 1.22383886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36255784400004 meters Centerline goodness [0,1] 0.25559758271379507 Centerline is valid? [False, False] Translation: X:6.92, Y:0.43, Z:1.22 [[ 9.99779342e-01 5.49162645e-03 -2.02758416e-02 6.91765838e+00] [-5.58808418e-03 9.99973324e-01 -4.70368483e-03 4.33569152e-01] [ 2.02494699e-02 4.81595004e-03 9.99783359e-01 1.22322989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39255784400007 meters Centerline goodness [0,1] 0.27006352625678676 Centerline is valid? [False, False] Translation: X:6.92, Y:0.44, Z:1.22 [[ 9.99779026e-01 5.40695341e-03 -2.03141321e-02 6.91766604e+00] [-5.52018750e-03 9.99969516e-01 -5.52221959e-03 4.39294057e-01] [ 2.02836545e-02 5.63313714e-03 9.99778396e-01 1.22352064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42255784400004 meters Centerline goodness [0,1] 0.25330510671390305 Centerline is valid? [False, False] Translation: X:6.94, Y:0.45, Z:1.22 [[ 9.99812169e-01 -1.38484690e-04 -1.93805717e-02 6.93956309e+00] [ 8.93183191e-05 9.99996776e-01 -2.53773220e-03 4.46088447e-01] [ 1.93808607e-02 2.53552449e-03 9.99808958e-01 1.22400626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45255784400007 meters Centerline goodness [0,1] 0.2569004426699071 Centerline is valid? [False, False] Translation: X:6.94, Y:0.45, Z:1.23 [[ 9.99829128e-01 2.30403339e-03 -1.83414052e-02 6.93558698e+00] [-2.31876116e-03 9.99997006e-01 -7.81753056e-04 4.51979501e-01] [ 1.83395491e-02 8.24148814e-04 9.99831477e-01 1.22570216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48255784400004 meters Centerline goodness [0,1] 0.2676368375325804 Centerline is valid? [False, False] Translation: X:6.93, Y:0.46, Z:1.23 [[ 9.99836715e-01 1.95757287e-03 -1.79641580e-02 6.93431022e+00] [-1.99878144e-03 9.99995412e-01 -2.27626495e-03 4.63332740e-01] [ 1.79596197e-02 2.31179970e-03 9.99836040e-01 1.22638266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51255784400007 meters Centerline goodness [0,1] 0.2697697807123024 Centerline is valid? [False, False] Translation: X:6.94, Y:0.47, Z:1.23 [[ 9.99831707e-01 1.63658552e-03 -1.82723891e-02 6.93525666e+00] [-1.69398030e-03 9.99993679e-01 -3.12603030e-03 4.67587187e-01] [ 1.82671576e-02 3.15645727e-03 9.99828159e-01 1.22608711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54255784400004 meters Centerline goodness [0,1] 0.25599775421624305 Centerline is valid? [False, False] Translation: X:6.96, Y:0.47, Z:1.23 [[ 9.99801944e-01 -4.61990481e-03 -1.93579142e-02 6.95879755e+00] [ 4.61260884e-03 9.99989273e-01 -4.21531097e-04 4.72838500e-01] [ 1.93596540e-02 3.32157125e-04 9.99812529e-01 1.22624609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5725578440001 meters Centerline goodness [0,1] 0.25615377924675997 Centerline is valid? [False, False] Translation: X:6.96, Y:0.48, Z:1.23 [[ 9.99796904e-01 -4.77729685e-03 -1.95787606e-02 6.95978803e+00] [ 4.76094244e-03 9.99988278e-01 -8.81840366e-04 4.75600718e-01] [ 1.95827440e-02 7.88447915e-04 9.99807929e-01 1.22555639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60255784400005 meters Centerline goodness [0,1] 0.2541847088476701 Centerline is valid? [False, False] Translation: X:6.98, Y:0.47, Z:1.23 [[ 9.99795983e-01 2.20373619e-03 -2.00782573e-02 6.97939546e+00] [-2.24697543e-03 9.99995204e-01 -2.13122985e-03 4.72645155e-01] [ 2.00734643e-02 2.17591039e-03 9.99796140e-01 1.22646973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6325578440001 meters Centerline goodness [0,1] 0.25456752129342664 Centerline is valid? [False, False] Translation: X:6.98, Y:0.47, Z:1.23 [[ 9.99795891e-01 1.54649404e-03 -2.01440872e-02 6.97984553e+00] [-1.60522202e-03 9.99994508e-01 -2.89955262e-03 4.74999532e-01] [ 2.01394924e-02 2.93129653e-03 9.99792883e-01 1.22598797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66255784400005 meters Centerline goodness [0,1] 0.26744236156000867 Centerline is valid? [False, False] Translation: X:6.98, Y:0.48, Z:1.23 [[ 9.99799569e-01 1.41457374e-03 -1.99704948e-02 6.97927785e+00] [-1.47610148e-03 9.99994209e-01 -3.06652781e-03 4.75700694e-01] [ 1.99660413e-02 3.09539166e-03 9.99795867e-01 1.22617755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6925578440001 meters Centerline goodness [0,1] 0.2671271314483057 Centerline is valid? [False, False] Translation: X:6.98, Y:0.48, Z:1.23 [[ 9.99801212e-01 1.31877980e-03 -1.98946797e-02 6.97904437e+00] [-1.38359713e-03 9.99993779e-01 -3.24461030e-03 4.76636049e-01] [ 1.98902770e-02 3.27149153e-03 9.99796816e-01 1.22626123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72255784400005 meters Centerline goodness [0,1] 0.2664027516386528 Centerline is valid? [False, False] Translation: X:6.98, Y:0.48, Z:1.23 [[ 9.99798891e-01 1.22766324e-03 -2.00167282e-02 6.97964471e+00] [-1.29564202e-03 9.99993437e-01 -3.38348351e-03 4.77380832e-01] [ 2.00124431e-02 3.40873757e-03 9.99793920e-01 1.22581700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7525578440001 meters Centerline goodness [0,1] 0.2689046245301163 Centerline is valid? [False, False] Translation: X:6.98, Y:0.48, Z:1.23 [[ 9.99795244e-01 1.11526527e-03 -2.02046244e-02 6.98058809e+00] [-1.18830589e-03 9.99992802e-01 -3.60339941e-03 4.78377073e-01] [ 2.02004602e-02 3.62667087e-03 9.99789372e-01 1.22503630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78255784400005 meters Centerline goodness [0,1] 0.2653691623104506 Centerline is valid? [False, False] Translation: X:7.01, Y:0.48, Z:1.23 [[ 9.99708080e-01 -7.74145875e-03 -2.28872001e-02 7.00503755e+00] [ 7.65640089e-03 9.99963463e-01 -3.80169119e-03 4.84302325e-01] [ 2.29157945e-02 3.62534782e-03 9.99730825e-01 1.22513056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8125578440001 meters Centerline goodness [0,1] 0.2554681421284689 Centerline is valid? [False, False] Translation: X:7.01, Y:0.48, Z:1.22 [[ 9.99705902e-01 -7.80909950e-03 -2.29592587e-02 7.00551595e+00] [ 7.72044374e-03 9.99962405e-01 -3.94754659e-03 4.84997035e-01] [ 2.29892223e-02 3.76912996e-03 9.99728608e-01 1.22465973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84255784400005 meters Centerline goodness [0,1] 0.2673335931748301 Centerline is valid? [False, False] Translation: X:7.00, Y:0.49, Z:1.23 [[ 9.99717497e-01 -7.92910855e-03 -2.24065835e-02 7.00368194e+00] [ 7.84021802e-03 9.99961054e-01 -4.05222905e-03 4.85136458e-01] [ 2.24378414e-02 3.87541178e-03 9.99740729e-01 1.22535428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8725578440001 meters Centerline goodness [0,1] 0.2673335931748301 Centerline is valid? [False, False] Translation: X:7.00, Y:0.49, Z:1.23 [[ 9.99717497e-01 -7.92910855e-03 -2.24065835e-02 7.00368194e+00] [ 7.84021802e-03 9.99961054e-01 -4.05222905e-03 4.85136458e-01] [ 2.24378414e-02 3.87541178e-03 9.99740729e-01 1.22535428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90255784400006 meters Centerline goodness [0,1] 0.2524810837459541 Centerline is valid? [False, False] Translation: X:7.02, Y:0.48, Z:1.23 [[ 9.99793400e-01 -6.25274154e-04 -2.03166685e-02 7.02149539e+00] [ 5.18338762e-04 9.99985988e-01 -5.26827118e-03 4.79545984e-01] [ 2.03196780e-02 5.25665184e-03 9.99779715e-01 1.22682278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.9325578440001 meters Centerline goodness [0,1] 0.26581538794502757 Centerline is valid? [False, False] Translation: X:7.02, Y:0.48, Z:1.23 [[ 9.99801886e-01 -6.65858137e-04 -1.98933373e-02 7.02007410e+00] [ 5.63058019e-04 9.99986463e-01 -5.17271951e-03 4.78611236e-01] [ 1.98965123e-02 5.16049362e-03 9.99788727e-01 1.22736396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96255784400006 meters Centerline goodness [0,1] 0.26825407151996183 Centerline is valid? [False, False] Translation: X:7.02, Y:0.48, Z:1.23 [[ 9.99803310e-01 -6.18556384e-04 -1.98231618e-02 7.02000277e+00] [ 5.20149707e-04 9.99987519e-01 -4.96899869e-03 4.77499203e-01] [ 1.98259880e-02 4.95771032e-03 9.99791154e-01 1.22712866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99255784400003 meters Centerline goodness [0,1] 0.25580893150211625 Centerline is valid? [False, False] Translation: X:7.02, Y:0.48, Z:1.23 [[ 9.99801019e-01 -5.35041874e-04 -1.99408228e-02 7.02068244e+00] [ 4.40430433e-04 9.99988628e-01 -4.74870044e-03 4.76568552e-01] [ 1.99431368e-02 4.73897300e-03 9.99789885e-01 1.22646289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02255784400006 meters Centerline goodness [0,1] 0.25577022821576767 Centerline is valid? [False, False] Translation: X:7.02, Y:0.47, Z:1.23 [[ 9.99796786e-01 -3.72842838e-04 -2.01556055e-02 7.02173714e+00] [ 2.84991568e-04 9.99990449e-01 -4.36134864e-03 4.74899653e-01] [ 2.01570391e-02 4.35471818e-03 9.99787342e-01 1.22559780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05255784400003 meters Centerline goodness [0,1] 0.25899640796778056 Centerline is valid? [False, False] Translation: X:7.02, Y:0.47, Z:1.23 [[ 9.99797362e-01 -3.57360224e-04 -2.01272752e-02 7.02161823e+00] [ 2.69971407e-04 9.99990527e-01 -4.34436042e-03 4.74850693e-01] [ 2.01286370e-02 4.33804630e-03 9.99787987e-01 1.22566552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08255784400006 meters Centerline goodness [0,1] 0.2687924611001534 Centerline is valid? [False, False] Translation: X:7.02, Y:0.48, Z:1.23 [[ 9.99797203e-01 -3.45208026e-04 -2.01353871e-02 7.02143765e+00] [ 2.56397278e-04 9.99990229e-01 -4.41309478e-03 4.75327616e-01] [ 2.01367138e-02 4.40703716e-03 9.99787523e-01 1.22598476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11255784400004 meters Centerline goodness [0,1] 0.25889444602179656 Centerline is valid? [False, False] Translation: X:7.02, Y:0.48, Z:1.23 [[ 9.99798385e-01 -2.84826854e-04 -2.00775490e-02 7.02091314e+00] [ 1.94769661e-04 9.99989913e-01 -4.48728026e-03 4.76109026e-01] [ 2.00786246e-02 4.48246506e-03 9.99788356e-01 1.22665733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14255784400007 meters Centerline goodness [0,1] 0.2665859092777261 Centerline is valid? [False, False] Translation: X:7.04, Y:0.48, Z:1.23 [[ 9.99827246e-01 -5.48527386e-03 -1.77592015e-02 7.04216028e+00] [ 5.47277857e-03 9.99984741e-01 -7.52119611e-04 4.77810583e-01] [ 1.77630561e-02 6.54797502e-04 9.99842010e-01 1.22610738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17255784400004 meters Centerline goodness [0,1] 0.2676623376623377 Centerline is valid? [False, False] Translation: X:7.04, Y:0.48, Z:1.23 [[ 9.99826674e-01 -5.50840861e-03 -1.77842349e-02 7.04222631e+00] [ 5.49325490e-03 9.99984506e-01 -9.00824805e-04 4.78651200e-01] [ 1.77889215e-02 8.02975333e-04 9.99841442e-01 1.22610737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20255784400007 meters Centerline goodness [0,1] 0.2677471989557272 Centerline is valid? [False, False] Translation: X:7.04, Y:0.48, Z:1.23 [[ 9.99826346e-01 -5.51459243e-03 -1.78007787e-02 7.04237560e+00] [ 5.49800021e-03 9.99984405e-01 -9.80910157e-04 4.79171850e-01] [ 1.78059104e-02 8.82871133e-04 9.99841072e-01 1.22592634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23255784400004 meters Centerline goodness [0,1] 0.2663170668284649 Centerline is valid? [False, False] Translation: X:7.04, Y:0.48, Z:1.23 [[ 9.99825255e-01 -5.48090086e-03 -1.78723166e-02 7.04265082e+00] [ 5.46506636e-03 9.99984630e-01 -9.34700128e-04 4.78991585e-01] [ 1.78771649e-02 8.36863397e-04 9.99839840e-01 1.22574527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26255784400007 meters Centerline goodness [0,1] 0.2684631174389658 Centerline is valid? [False, False] Translation: X:7.04, Y:0.48, Z:1.23 [[ 9.99828553e-01 -5.45574546e-03 -1.76946336e-02 7.04230418e+00] [ 5.44395125e-03 9.99984926e-01 -7.14641195e-04 4.77624003e-01] [ 1.76982658e-02 6.18189949e-04 9.99843182e-01 1.22554120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29255784400004 meters Centerline goodness [0,1] 0.2652545666537116 Centerline is valid? [False, False] Translation: X:7.06, Y:0.47, Z:1.23 [[ 9.99855508e-01 1.63266684e-03 -1.69203230e-02 7.06075977e+00] [-1.66589917e-03 9.99996711e-01 -1.95013985e-03 4.70912791e-01] [ 1.69170834e-02 1.97804562e-03 9.99854939e-01 1.22717345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3225578440001 meters Centerline goodness [0,1] 0.26743553476226745 Centerline is valid? [False, False] Translation: X:7.06, Y:0.47, Z:1.23 [[ 9.99858547e-01 1.63875469e-03 -1.67392128e-02 7.06006783e+00] [-1.66940896e-03 9.99996955e-01 -1.81747596e-03 4.69987291e-01] [ 1.67361834e-02 1.84516346e-03 9.99858238e-01 1.22750879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35255784400005 meters Centerline goodness [0,1] 0.2685050483118011 Centerline is valid? [False, False] Translation: X:7.06, Y:0.47, Z:1.23 [[ 9.99860454e-01 1.67065933e-03 -1.66217426e-02 7.05957364e+00] [-1.69857518e-03 9.99997170e-01 -1.66550167e-03 4.69148919e-01] [ 1.66189130e-02 1.69350253e-03 9.99860462e-01 1.22776769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3825578440001 meters Centerline goodness [0,1] 0.2582836063795161 Centerline is valid? [False, False] Translation: X:7.06, Y:0.47, Z:1.23 [[ 9.99853536e-01 1.73280722e-03 -1.70265741e-02 7.06088871e+00] [-1.75844190e-03 9.99997343e-01 -1.49071263e-03 4.68379796e-01] [ 1.70239457e-02 1.52043453e-03 9.99853926e-01 1.22722535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41255784400005 meters Centerline goodness [0,1] 0.2542471416575157 Centerline is valid? [False, False] Translation: X:7.06, Y:0.47, Z:1.23 [[ 9.99849912e-01 1.74804591e-03 -1.72365067e-02 7.06184396e+00] [-1.77293613e-03 9.99997408e-01 -1.42886585e-03 4.68097907e-01] [ 1.72339643e-02 1.45921062e-03 9.99850419e-01 1.22648775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4425578440001 meters Centerline goodness [0,1] 0.26691461067744937 Centerline is valid? [False, False] Translation: X:7.06, Y:0.47, Z:1.23 [[ 9.99848000e-01 1.76793375e-03 -1.73450784e-02 7.06231719e+00] [-1.79278405e-03 9.99997389e-01 -1.41725543e-03 4.68118275e-01] [ 1.73425275e-02 1.44813599e-03 9.99848558e-01 1.22615834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47255784400005 meters Centerline goodness [0,1] 0.2583703897462726 Centerline is valid? [False, False] Translation: X:7.06, Y:0.47, Z:1.23 [[ 9.99847110e-01 1.83604997e-03 -1.73892264e-02 7.06202798e+00] [-1.86101194e-03 9.99997261e-01 -1.41941151e-03 4.68500570e-01] [ 1.73865726e-02 1.45155605e-03 9.99847788e-01 1.22682949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5025578440001 meters Centerline goodness [0,1] 0.26002491204300604 Centerline is valid? [False, False] Translation: X:7.06, Y:0.47, Z:1.23 [[ 9.99845583e-01 1.81921100e-03 -1.74785632e-02 7.06210215e+00] [-1.84677321e-03 9.99997076e-01 -1.56090381e-03 4.69320262e-01] [ 1.74756724e-02 1.59294172e-03 9.99846020e-01 1.22704166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53255784400005 meters Centerline goodness [0,1] 0.2558886971527179 Centerline is valid? [False, False] Translation: X:7.09, Y:0.47, Z:1.23 [[ 9.99849261e-01 -4.45686695e-03 -1.67807008e-02 7.08500068e+00] [ 4.48032324e-03 9.99989038e-01 1.36047854e-03 4.70528295e-01] [ 1.67744534e-02 -1.43545643e-03 9.99858269e-01 1.22690107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5625578440001 meters Centerline goodness [0,1] 0.2682910924662001 Centerline is valid? [False, False] Translation: X:7.09, Y:0.47, Z:1.23 [[ 9.99845195e-01 -4.49679120e-03 -1.70107306e-02 7.08557990e+00] [ 4.51466719e-03 9.99989296e-01 1.01260975e-03 4.72508176e-01] [ 1.70059950e-02 -1.08925078e-03 9.99854794e-01 1.22693119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59255784400005 meters Centerline goodness [0,1] 0.26868633994198343 Centerline is valid? [False, False] Translation: X:7.09, Y:0.48, Z:1.23 [[ 9.99858974e-01 -8.32700792e-04 -1.67731292e-02 7.08528309e+00] [ 9.01180719e-04 9.99991289e-01 4.07557173e-03 4.76172569e-01] [ 1.67695893e-02 -4.09011259e-03 9.99851015e-01 1.22656340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6225578440001 meters Centerline goodness [0,1] 0.267547409173429 Centerline is valid? [False, False] Translation: X:7.08, Y:0.48, Z:1.23 [[ 9.99860513e-01 -7.89011108e-04 -1.66832685e-02 7.08494482e+00] [ 8.49511589e-04 9.99993088e-01 3.61964078e-03 4.79314994e-01] [ 1.66802972e-02 -3.63330852e-03 9.99854273e-01 1.22683656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65255784400006 meters Centerline goodness [0,1] 0.2690222715694599 Centerline is valid? [False, False] Translation: X:7.08, Y:0.48, Z:1.23 [[ 9.99862735e-01 -7.04750041e-04 -1.65534119e-02 7.08446858e+00] [ 7.57116126e-04 9.99994729e-01 3.15740791e-03 4.82651269e-01] [ 1.65510994e-02 -3.16950736e-03 9.99857998e-01 1.22723564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6825578440001 meters Centerline goodness [0,1] 0.2680117149365441 Centerline is valid? [False, False] Translation: X:7.08, Y:0.49, Z:1.23 [[ 9.99864842e-01 -7.08667923e-04 -1.64254372e-02 7.08386754e+00] [ 7.51632387e-04 9.99996312e-01 2.60970156e-03 4.86046815e-01] [ 1.64235272e-02 -2.62169473e-03 9.99861688e-01 1.22776081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71255784400006 meters Centerline goodness [0,1] 0.2691989551589029 Centerline is valid? [False, False] Translation: X:7.08, Y:0.49, Z:1.23 [[ 9.99866590e-01 -5.70534355e-04 -1.63240894e-02 7.08340286e+00] [ 6.00383608e-04 9.99998157e-01 1.82369792e-03 4.91291497e-01] [ 1.63230189e-02 -1.83325534e-03 9.99865090e-01 1.22826035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74255784400003 meters Centerline goodness [0,1] 0.26848333988383777 Centerline is valid? [False, False] Translation: X:7.08, Y:0.49, Z:1.23 [[ 9.99866867e-01 -7.21859113e-04 -1.63011713e-02 7.08325818e+00] [ 7.42725633e-04 9.99998913e-01 1.27404486e-03 4.94052919e-01] [ 1.63002339e-02 -1.28598254e-03 9.99866315e-01 1.22842130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77255784400006 meters Centerline goodness [0,1] 0.2552153359066661 Centerline is valid? [False, False] Translation: X:7.08, Y:0.50, Z:1.23 [[ 9.99864971e-01 -7.69387356e-04 -1.64148643e-02 7.08338407e+00] [ 7.83663146e-04 9.99999320e-01 8.63272187e-04 4.96613915e-01] [ 1.64141890e-02 -8.76019344e-04 9.99864894e-01 1.22866163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80255784400003 meters Centerline goodness [0,1] 0.26909692013224296 Centerline is valid? [False, False] Translation: X:7.08, Y:0.50, Z:1.23 [[ 9.99864580e-01 -8.04839418e-04 -1.64369666e-02 7.08348664e+00] [ 8.13752598e-04 9.99999525e-01 5.35583214e-04 4.98828889e-01] [ 1.64365278e-02 -5.48886310e-04 9.99864760e-01 1.22858133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83255784400006 meters Centerline goodness [0,1] 0.2685939667128987 Centerline is valid? [False, False] Translation: X:7.08, Y:0.50, Z:1.23 [[ 9.99863483e-01 -8.23297860e-04 -1.65026444e-02 7.08347495e+00] [ 8.23443656e-04 9.99999661e-01 2.03979152e-06 5.02432845e-01] [ 1.65026371e-02 -1.56285109e-05 9.99863822e-01 1.22894831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86255784400004 meters Centerline goodness [0,1] 0.2535302500323876 Centerline is valid? [False, False] Translation: X:7.08, Y:0.50, Z:1.23 [[ 9.99861661e-01 -9.92899548e-04 -1.66034281e-02 7.08372717e+00] [ 9.85499590e-04 9.99999411e-01 -4.53864535e-04 5.04473423e-01] [ 1.66038690e-02 4.37439076e-04 9.99862051e-01 1.22897260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89255784400007 meters Centerline goodness [0,1] 0.2683815555459159 Centerline is valid? [False, False] Translation: X:7.08, Y:0.51, Z:1.23 [[ 9.99862548e-01 -1.15243044e-03 -1.65395829e-02 7.08356920e+00] [ 1.13796713e-03 9.99998962e-01 -8.83851221e-04 5.06381755e-01] [ 1.65405843e-02 8.64908232e-04 9.99862821e-01 1.22896164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92255784400004 meters Centerline goodness [0,1] 0.26918415927288464 Centerline is valid? [False, False] Translation: X:7.08, Y:0.51, Z:1.23 [[ 9.99866965e-01 -1.28005739e-03 -1.62608038e-02 7.08265001e+00] [ 1.25771175e-03 9.99998251e-01 -1.38435461e-03 5.08896515e-01] [ 1.62625474e-02 1.36371904e-03 9.99866826e-01 1.22935191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95255784400007 meters Centerline goodness [0,1] 0.2710363925775714 Centerline is valid? [False, False] Translation: X:7.08, Y:0.51, Z:1.23 [[ 9.99881292e-01 1.55642576e-03 -1.53290295e-02 7.07860821e+00] [-1.54490475e-03 9.99998515e-01 7.63394614e-04 5.14171039e-01] [ 1.53301949e-02 -7.39622103e-04 9.99882212e-01 1.23152104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98255784400004 meters Centerline goodness [0,1] 0.27294691295657714 Centerline is valid? [False, False] Translation: X:7.08, Y:0.52, Z:1.23 [[ 9.99879077e-01 1.44076405e-03 -1.54840408e-02 7.07907840e+00] [-1.43559742e-03 9.99998910e-01 3.44784031e-04 5.16416307e-01] [ 1.54845206e-02 -3.22513490e-04 9.99880056e-01 1.23135595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01255784400007 meters Centerline goodness [0,1] 0.2754882139921353 Centerline is valid? [False, False] Translation: X:7.08, Y:0.52, Z:1.23 [[ 9.99873829e-01 1.35959413e-03 -1.58264866e-02 7.08024576e+00] [-1.35926000e-03 9.99999076e-01 3.18693928e-05 5.18080172e-01] [ 1.58265154e-02 -1.03530616e-05 9.99874753e-01 1.23072852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04255784400004 meters Centerline goodness [0,1] 0.26702451012093387 Centerline is valid? [False, False] Translation: X:7.13, Y:0.52, Z:1.23 [[ 9.99892232e-01 4.51822247e-04 -1.46738203e-02 7.12858087e+00] [-4.48883115e-04 9.99999879e-01 2.03590657e-04 5.18129251e-01] [ 1.46739105e-02 -1.96981886e-04 9.99892313e-01 1.22896714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0725578440001 meters Centerline goodness [0,1] 0.270151366655777 Centerline is valid? [False, False] Translation: X:7.13, Y:0.52, Z:1.23 [[ 9.99889822e-01 3.59026819e-04 -1.48396126e-02 7.12909468e+00] [-3.60089679e-04 9.99999933e-01 -6.89513013e-05 5.19559158e-01] [ 1.48395868e-02 7.42872958e-05 9.99889885e-01 1.22876639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10255784400005 meters Centerline goodness [0,1] 0.24964557288310352 Centerline is valid? [False, False] Translation: X:7.15, Y:0.52, Z:1.23 [[ 9.99881646e-01 -5.84699605e-03 -1.42305118e-02 7.15094601e+00] [ 5.89102786e-03 9.99977983e-01 3.05423369e-03 5.24382858e-01] [ 1.42123404e-02 -3.13770455e-03 9.99894076e-01 1.22899618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1325578440001 meters Centerline goodness [0,1] 0.26874891247607446 Centerline is valid? [False, False] Translation: X:7.13, Y:0.52, Z:1.23 [[ 9.99885232e-01 3.04872362e-03 -1.48401183e-02 7.13074271e+00] [-3.02443632e-03 9.99994051e-01 1.65876525e-03 5.22746434e-01] [ 1.48450872e-02 -1.61369188e-03 9.99888503e-01 1.22763042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16255784400005 meters Centerline goodness [0,1] 0.2694575471698113 Centerline is valid? [False, False] Translation: X:7.13, Y:0.52, Z:1.23 [[ 9.99883116e-01 2.93569423e-03 -1.50045583e-02 7.13141317e+00] [-2.91654763e-03 9.99994905e-01 1.29777523e-03 5.24581849e-01] [ 1.50082917e-02 -1.25386203e-03 9.99886583e-01 1.22716479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1925578440001 meters Centerline goodness [0,1] 0.2687666100291901 Centerline is valid? [False, False] Translation: X:7.13, Y:0.53, Z:1.23 [[ 9.99874413e-01 2.93282081e-03 -1.55742401e-02 7.13326644e+00] [-2.92067534e-03 9.99995413e-01 8.02531157e-04 5.27918303e-01] [ 1.55765223e-02 -7.56943070e-04 9.99878392e-01 1.22632752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22255784400005 meters Centerline goodness [0,1] 0.2681145284695581 Centerline is valid? [False, False] Translation: X:7.13, Y:0.53, Z:1.23 [[ 9.99871607e-01 2.90829719e-03 -1.57579128e-02 7.13359544e+00] [-2.90034000e-03 9.99995655e-01 5.27793925e-04 5.29791268e-01] [ 1.57593793e-02 -4.82022855e-04 9.99875697e-01 1.22652034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2525578440001 meters Centerline goodness [0,1] 0.2691048034934498 Centerline is valid? [False, False] Translation: X:7.13, Y:0.53, Z:1.23 [[ 9.99870794e-01 2.81407084e-03 -1.58264653e-02 7.13352266e+00] [-2.81176124e-03 9.99996033e-01 1.68182480e-04 5.31696407e-01] [ 1.58268758e-02 -1.23660508e-04 9.99874740e-01 1.22691651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28255784400005 meters Centerline goodness [0,1] 0.25177121133575253 Centerline is valid? [False, False] Translation: X:7.16, Y:0.54, Z:1.23 [[ 9.99875739e-01 -4.17760893e-03 -1.52004857e-02 7.15515955e+00] [ 4.21655833e-03 9.99987907e-01 2.53123245e-03 5.35224673e-01] [ 1.51897274e-02 -2.59501165e-03 9.99881262e-01 1.22685175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3125578440001 meters Centerline goodness [0,1] 0.2692969652077297 Centerline is valid? [False, False] Translation: X:7.16, Y:0.54, Z:1.23 [[ 9.99874665e-01 -4.26269826e-03 -1.52474003e-02 7.15518876e+00] [ 4.29667767e-03 9.99988357e-01 2.19647442e-03 5.36912701e-01] [ 1.52378598e-02 -2.26171229e-03 9.99881339e-01 1.22694693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34255784400005 meters Centerline goodness [0,1] 0.26770763108105167 Centerline is valid? [False, False] Translation: X:7.15, Y:0.54, Z:1.23 [[ 9.99884063e-01 -3.83921142e-03 -1.47350486e-02 7.15388012e+00] [ 3.87048209e-03 9.99990317e-01 2.09426552e-03 5.39341300e-01] [ 1.47268655e-02 -2.15105446e-03 9.99889240e-01 1.22710387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3725578440001 meters Centerline goodness [0,1] 0.2681836916202087 Centerline is valid? [False, False] Translation: X:7.15, Y:0.54, Z:1.23 [[ 9.99888705e-01 -3.85377537e-03 -1.44127332e-02 7.15275879e+00] [ 3.88057459e-03 9.99990793e-01 1.83190847e-03 5.40860541e-01] [ 1.44055407e-02 -1.88763427e-03 9.99894453e-01 1.22761622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40255784400006 meters Centerline goodness [0,1] 0.2651106605116701 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99910768e-01 3.75416966e-03 -1.28204184e-02 7.17162468e+00] [-3.74923110e-03 9.99992888e-01 4.09223108e-04 5.38380416e-01] [ 1.28218635e-02 -3.61119881e-04 9.99917731e-01 1.22945570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.4325578440001 meters Centerline goodness [0,1] 0.269451377030518 Centerline is valid? [False, False] Translation: X:7.15, Y:0.54, Z:1.23 [[ 9.99918276e-01 -3.73673551e-03 -1.22261039e-02 7.15044846e+00] [ 3.74872554e-03 9.99992515e-01 9.57920206e-04 5.44689473e-01] [ 1.22224329e-02 -1.00367423e-03 9.99924800e-01 1.22876773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46255784400006 meters Centerline goodness [0,1] 0.2682423478808681 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99920289e-01 3.99027397e-03 -1.19788675e-02 7.17052663e+00] [-3.99352077e-03 9.99991995e-01 -2.47136678e-04 5.42260831e-01] [ 1.19777855e-02 2.94954835e-04 9.99928220e-01 1.23048667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49255784400003 meters Centerline goodness [0,1] 0.2683531638135427 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99914099e-01 4.13715348e-03 -1.24370164e-02 7.17187640e+00] [-4.14208336e-03 9.99991353e-01 -3.70655146e-04 5.43459718e-01] [ 1.24353754e-02 4.22138465e-04 9.99922589e-01 1.22999920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52255784400006 meters Centerline goodness [0,1] 0.25361599240101895 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99912251e-01 4.21062242e-03 -1.25602604e-02 7.17241627e+00] [-4.21404180e-03 9.99991091e-01 -2.45784522e-04 5.42938854e-01] [ 1.25591136e-02 2.98692417e-04 9.99921087e-01 1.22958044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55255784400003 meters Centerline goodness [0,1] 0.252844773605683 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99912377e-01 4.27961076e-03 -1.25269340e-02 7.17240951e+00] [-4.28087423e-03 9.99990834e-01 -7.40476056e-05 5.42073329e-01] [ 1.25265023e-02 1.27667346e-04 9.99921532e-01 1.22943199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58255784400006 meters Centerline goodness [0,1] 0.25382045479038684 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99912502e-01 4.36514788e-03 -1.24873170e-02 7.17229492e+00] [-4.36374844e-03 9.99990469e-01 1.39313035e-04 5.41046980e-01] [ 1.24878061e-02 -8.48093356e-05 9.99922021e-01 1.22943824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61255784400004 meters Centerline goodness [0,1] 0.25695620089421367 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99911704e-01 4.50001042e-03 -1.25033253e-02 7.17257177e+00] [-4.49602892e-03 9.99989833e-01 3.46525394e-04 5.40040185e-01] [ 1.25047576e-02 -2.90279485e-04 9.99921770e-01 1.22907074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64255784400007 meters Centerline goodness [0,1] 0.25341963322545846 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99912425e-01 4.52130025e-03 -1.24378820e-02 7.17245706e+00] [-4.51817388e-03 9.99989754e-01 2.79446279e-04 5.40378013e-01] [ 1.24390180e-02 -2.23225292e-04 9.99922608e-01 1.22895161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67255784400004 meters Centerline goodness [0,1] 0.2642923478974536 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99919249e-01 4.98131119e-03 -1.16911454e-02 7.17030835e+00] [-4.97775549e-03 9.99987555e-01 3.33215501e-04 5.41543964e-01] [ 1.16926597e-02 -2.74992931e-04 9.99931601e-01 1.22944071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70255784400007 meters Centerline goodness [0,1] 0.25165048543689317 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99920883e-01 4.99267896e-03 -1.15456285e-02 7.16977497e+00] [-4.99165808e-03 9.99987535e-01 1.17236777e-04 5.42927525e-01] [ 1.15460699e-02 -5.95956720e-05 9.99933340e-01 1.22965280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.73255784400004 meters Centerline goodness [0,1] 0.2539095451301019 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99920088e-01 4.98278215e-03 -1.16184936e-02 7.17002302e+00] [-4.98392866e-03 9.99987578e-01 -6.97279082e-05 5.43968823e-01] [ 1.16180018e-02 1.27628079e-04 9.99932501e-01 1.22947809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76255784400007 meters Centerline goodness [0,1] 0.2637893323516036 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99918853e-01 4.95372346e-03 -1.17365829e-02 7.17046810e+00] [-4.95672993e-03 9.99987690e-01 -2.27087519e-04 5.44706108e-01] [ 1.17353134e-02 2.85244163e-04 9.99931098e-01 1.22914472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79255784400004 meters Centerline goodness [0,1] 0.2637893323516036 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99918853e-01 4.95372346e-03 -1.17365829e-02 7.17046810e+00] [-4.95672993e-03 9.99987690e-01 -2.27087519e-04 5.44706108e-01] [ 1.17353134e-02 2.85244163e-04 9.99931098e-01 1.22914472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8225578440001 meters Centerline goodness [0,1] 0.2634004522450738 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99915782e-01 5.04567049e-03 -1.19570015e-02 7.17122735e+00] [-5.04851890e-03 9.99987235e-01 -2.08049038e-04 5.44884658e-01] [ 1.19557991e-02 2.68396664e-04 9.99928491e-01 1.22868733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85255784400005 meters Centerline goodness [0,1] 0.2641525809881311 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99915326e-01 5.08978928e-03 -1.19764698e-02 7.17114831e+00] [-5.09148022e-03 9.99987032e-01 -1.10702533e-04 5.44442181e-01] [ 1.19757511e-02 1.71671119e-04 9.99928273e-01 1.22887517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8825578440001 meters Centerline goodness [0,1] 0.2656684027777778 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99916006e-01 5.10326654e-03 -1.19137552e-02 7.17085059e+00] [-5.10435316e-03 9.99986971e-01 -6.08014001e-05 5.44161504e-01] [ 1.19132897e-02 1.21608307e-04 9.99929027e-01 1.22910431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91255784400005 meters Centerline goodness [0,1] 0.2537123370456704 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99916380e-01 5.10466171e-03 -1.18817257e-02 7.17070470e+00] [-5.10533975e-03 9.99986967e-01 -2.67349223e-05 5.43887006e-01] [ 1.18814344e-02 8.73929333e-05 9.99929409e-01 1.22920361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9425578440001 meters Centerline goodness [0,1] 0.2563111460517121 Centerline is valid? [False, False] Translation: X:7.15, Y:0.55, Z:1.23 [[ 9.99912163e-01 -3.00103661e-03 -1.29096537e-02 7.15000424e+00] [ 3.01182081e-03 9.99995132e-01 8.15998990e-04 5.46157238e-01] [ 1.29071420e-02 -8.54808879e-04 9.99916334e-01 1.22822884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97255784400005 meters Centerline goodness [0,1] 0.25451240098688477 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99891452e-01 4.12752223e-03 -1.41438424e-02 7.17019286e+00] [-4.12836327e-03 9.99991478e-01 -3.02669867e-05 5.41342317e-01] [ 1.41435969e-02 8.86546207e-05 9.99899970e-01 1.22979331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0025578440001 meters Centerline goodness [0,1] 0.2521696061330405 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99889539e-01 4.19528659e-03 -1.42586460e-02 7.17064011e+00] [-4.19407093e-03 9.99991198e-01 1.15158930e-04 5.40696020e-01] [ 1.42590036e-02 -5.53444366e-05 9.99898334e-01 1.22950610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03255784400005 meters Centerline goodness [0,1] 0.25230862173125057 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99889621e-01 4.22676997e-03 -1.42436374e-02 7.17053865e+00] [-4.22509283e-03 9.99991063e-01 1.47835952e-04 5.40541978e-01] [ 1.42441350e-02 -8.76389435e-05 9.99898543e-01 1.22958925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0625578440001 meters Centerline goodness [0,1] 0.2537044279320384 Centerline is valid? [False, False] Translation: X:7.17, Y:0.54, Z:1.23 [[ 9.99892179e-01 4.18291023e-03 -1.40759878e-02 7.16986733e+00] [-4.18278490e-03 9.99991251e-01 3.83443749e-05 5.40933106e-01] [ 1.40760250e-02 2.05365886e-05 9.99900928e-01 1.22997399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.09255784400005 meters Centerline goodness [0,1] 0.2510437739422373 Centerline is valid? [False, False] Translation: X:7.19, Y:0.55, Z:1.23 [[ 9.99907455e-01 -3.89814737e-03 -1.30340321e-02 7.18842680e+00] [ 3.91652395e-03 9.99991372e-01 1.38466444e-03 5.46114429e-01] [ 1.30285220e-02 -1.43558440e-03 9.99914095e-01 1.23123519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1225578440001 meters Centerline goodness [0,1] 0.25087461668034383 Centerline is valid? [False, False] Translation: X:7.19, Y:0.55, Z:1.23 [[ 9.99907798e-01 -3.68376261e-03 -1.30700531e-02 7.18847007e+00] [ 3.69839483e-03 9.99992561e-01 1.09552891e-03 5.48505692e-01] [ 1.30659202e-02 -1.14376612e-03 9.99913983e-01 1.23117238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15255784400006 meters Centerline goodness [0,1] 0.2477268828272431 Centerline is valid? [False, False] Translation: X:7.19, Y:0.55, Z:1.23 [[ 9.99905581e-01 -3.67709328e-03 -1.32404199e-02 7.18887302e+00] [ 3.68856195e-03 9.99992843e-01 8.41870232e-04 5.50189601e-01] [ 1.32372295e-02 -8.90628852e-04 9.99911987e-01 1.23112226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1825578440001 meters Centerline goodness [0,1] 0.2501131099859959 Centerline is valid? [False, False] Translation: X:7.19, Y:0.55, Z:1.23 [[ 9.99904477e-01 -3.67898686e-03 -1.33230047e-02 7.18915475e+00] [ 3.68684306e-03 9.99993044e-01 5.65158786e-04 5.52033328e-01] [ 1.33208328e-02 -6.14224628e-04 9.99911085e-01 1.23089861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21255784400006 meters Centerline goodness [0,1] 0.24729587338451287 Centerline is valid? [False, False] Translation: X:7.19, Y:0.55, Z:1.23 [[ 9.99903806e-01 -3.55061023e-03 -1.34078726e-02 7.18916875e+00] [ 3.55363167e-03 9.99993666e-01 2.01530646e-04 5.54960248e-01] [ 1.34070721e-02 -2.49157900e-04 9.99910090e-01 1.23105733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24255784400003 meters Centerline goodness [0,1] 0.2456750375617085 Centerline is valid? [False, False] Translation: X:7.19, Y:0.56, Z:1.23 [[ 9.99903734e-01 -3.64905051e-03 -1.33868418e-02 7.18901645e+00] [ 3.64788939e-03 9.99993340e-01 -1.11152855e-04 5.56563540e-01] [ 1.33871582e-02 6.23084365e-05 9.99910386e-01 1.23115875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27255784400006 meters Centerline goodness [0,1] 0.2533659196543523 Centerline is valid? [False, False] Translation: X:7.14, Y:0.56, Z:1.23 [[ 9.99866055e-01 -2.97177222e-03 -1.60947353e-02 7.14394366e+00] [ 2.95761846e-03 9.99995218e-01 -9.03134573e-04 5.56705672e-01] [ 1.60973423e-02 8.55411517e-04 9.99870063e-01 1.23202422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30255784400003 meters Centerline goodness [0,1] 0.24943271454195748 Centerline is valid? [False, False] Translation: X:7.16, Y:0.56, Z:1.23 [[ 9.99866470e-01 4.66146880e-03 -1.56624716e-02 7.16436216e+00] [-4.69569044e-03 9.99986666e-01 -2.14888061e-03 5.56331438e-01] [ 1.56522459e-02 2.22213978e-03 9.99875027e-01 1.23337764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33255784400006 meters Centerline goodness [0,1] 0.24874463912415679 Centerline is valid? [False, False] Translation: X:7.16, Y:0.56, Z:1.23 [[ 9.99864697e-01 4.62129510e-03 -1.57870587e-02 7.16464804e+00] [-4.65721498e-03 9.99986648e-01 -2.23926795e-03 5.56850721e-01] [ 1.57764996e-02 2.31248870e-03 9.99872869e-01 1.23339513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36255784400004 meters Centerline goodness [0,1] 0.24919530230535014 Centerline is valid? [False, False] Translation: X:7.17, Y:0.56, Z:1.23 [[ 9.99861446e-01 4.64463264e-03 -1.59848442e-02 7.16526407e+00] [-4.67961868e-03 9.99986735e-01 -2.15199297e-03 5.56363699e-01] [ 1.59746370e-02 2.22649778e-03 9.99869918e-01 1.23321562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39255784400007 meters Centerline goodness [0,1] 0.24658126120676616 Centerline is valid? [False, False] Translation: X:7.19, Y:0.56, Z:1.23 [[ 9.99861507e-01 -4.03126669e-03 -1.61467126e-02 7.18502517e+00] [ 4.01670959e-03 9.99991497e-01 -9.33881261e-04 5.59987583e-01] [ 1.61503401e-02 8.68895269e-04 9.99869197e-01 1.23457456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42255784400004 meters Centerline goodness [0,1] 0.24969765031098823 Centerline is valid? [False, False] Translation: X:7.19, Y:0.56, Z:1.23 [[ 9.99861360e-01 -3.94730545e-03 -1.61765384e-02 7.18514479e+00] [ 3.93824725e-03 9.99992070e-01 -5.91777070e-04 5.58113809e-01] [ 1.61787460e-02 5.27987818e-04 9.99868976e-01 1.23456868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45255784400007 meters Centerline goodness [0,1] 0.24907628776352964 Centerline is valid? [False, False] Translation: X:7.18, Y:0.56, Z:1.23 [[ 9.99862723e-01 -3.87223476e-03 -1.61103038e-02 7.18495347e+00] [ 3.86983509e-03 9.99992496e-01 -1.80123710e-04 5.55647890e-01] [ 1.61108804e-02 1.17754764e-04 9.99870204e-01 1.23471243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48255784400004 meters Centerline goodness [0,1] 0.24582055380362 Centerline is valid? [False, False] Translation: X:7.18, Y:0.55, Z:1.23 [[ 9.99864401e-01 -4.02609913e-03 -1.59677927e-02 7.18463788e+00] [ 4.03273017e-03 9.99991795e-01 3.83098838e-04 5.50336159e-01] [ 1.59661193e-02 -4.47440690e-04 9.99872433e-01 1.23478145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51255784400007 meters Centerline goodness [0,1] 0.2491649246815939 Centerline is valid? [False, False] Translation: X:7.18, Y:0.55, Z:1.23 [[ 9.99865331e-01 -3.81938974e-03 -1.59603080e-02 7.18459356e+00] [ 3.83520210e-03 9.99992185e-01 9.60239946e-04 5.47461161e-01] [ 1.59565157e-02 -1.02132164e-03 9.99872165e-01 1.23491684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54255784400004 meters Centerline goodness [0,1] 0.24955003794860675 Centerline is valid? [False, False] Translation: X:7.18, Y:0.55, Z:1.24 [[ 9.99866699e-01 -3.64105870e-03 -1.59162228e-02 7.18433830e+00] [ 3.66480136e-03 9.99992215e-01 1.46281522e-03 5.45008225e-01] [ 1.59107727e-02 -1.52095003e-03 9.99872259e-01 1.23523731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5725578440001 meters Centerline goodness [0,1] 0.2549062316220514 Centerline is valid? [False, False] Translation: X:7.18, Y:0.54, Z:1.24 [[ 9.99868933e-01 -3.45102804e-03 -1.58179552e-02 7.18404324e+00] [ 3.48187799e-03 9.99992089e-01 1.92318697e-03 5.42867013e-01] [ 1.58111931e-02 -1.97801109e-03 9.99873039e-01 1.23537349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60255784400005 meters Centerline goodness [0,1] 0.24810821239469227 Centerline is valid? [False, False] Translation: X:7.20, Y:0.54, Z:1.24 [[ 9.99874150e-01 4.47271712e-03 -1.52209921e-02 7.20416012e+00] [-4.45000720e-03 9.99988935e-01 1.52555538e-03 5.35372730e-01] [ 1.52276471e-02 -1.45762986e-03 9.99882990e-01 1.23677559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6325578440001 meters Centerline goodness [0,1] 0.24971856598545206 Centerline is valid? [False, False] Translation: X:7.20, Y:0.53, Z:1.24 [[ 9.99872872e-01 4.57856938e-03 -1.52733934e-02 7.20435082e+00] [-4.55300780e-03 9.99988176e-01 1.70795434e-03 5.34524038e-01] [ 1.52810328e-02 -1.63819733e-03 9.99881896e-01 1.23661246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66255784400005 meters Centerline goodness [0,1] 0.25132686084142397 Centerline is valid? [False, False] Translation: X:7.20, Y:0.53, Z:1.24 [[ 9.99871142e-01 4.65329641e-03 -1.53638112e-02 7.20477412e+00] [-4.62606751e-03 9.99987666e-01 1.80733915e-03 5.34040426e-01] [ 1.53720318e-02 -1.73603223e-03 9.99880336e-01 1.23623140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6925578440001 meters Centerline goodness [0,1] 0.2516405197514232 Centerline is valid? [False, False] Translation: X:7.20, Y:0.53, Z:1.24 [[ 9.99870786e-01 4.71528637e-03 -1.53680885e-02 7.20483908e+00] [-4.68699928e-03 9.99987256e-01 1.87613599e-03 5.33716221e-01] [ 1.53767392e-02 -1.80386335e-03 9.99880144e-01 1.23607690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72255784400005 meters Centerline goodness [0,1] 0.2517544427889702 Centerline is valid? [False, False] Translation: X:7.20, Y:0.53, Z:1.24 [[ 9.99874236e-01 4.74175730e-03 -1.51336499e-02 7.20403087e+00] [-4.71410033e-03 9.99987154e-01 1.86266538e-03 5.33397683e-01] [ 1.51422878e-02 -1.79108959e-03 9.99883745e-01 1.23633630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7525578440001 meters Centerline goodness [0,1] 0.2497516305991102 Centerline is valid? [False, False] Translation: X:7.20, Y:0.53, Z:1.24 [[ 9.99877512e-01 4.74151078e-03 -1.49157504e-02 7.20341540e+00] [-4.71362030e-03 9.99987077e-01 1.90446791e-03 5.33010470e-01] [ 1.49245877e-02 -1.83392745e-03 9.99886940e-01 1.23638905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78255784400005 meters Centerline goodness [0,1] 0.25049513476276586 Centerline is valid? [False, False] Translation: X:7.20, Y:0.53, Z:1.24 [[ 9.99875525e-01 4.90990719e-03 -1.49942355e-02 7.20394343e+00] [-4.87404774e-03 9.99985176e-01 2.42715695e-03 5.30330233e-01] [ 1.50059303e-02 -2.35377221e-03 9.99884634e-01 1.23588992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8125578440001 meters Centerline goodness [0,1] 0.24889051660993577 Centerline is valid? [False, False] Translation: X:7.20, Y:0.53, Z:1.24 [[ 9.99872824e-01 5.01076266e-03 -1.51402941e-02 7.20467728e+00] [-4.97010808e-03 9.99983945e-01 2.72162556e-03 5.28771779e-01] [ 1.51536884e-02 -2.64603054e-03 9.99881675e-01 1.23533656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84255784400005 meters Centerline goodness [0,1] 0.25285399340798465 Centerline is valid? [False, False] Translation: X:7.18, Y:0.53, Z:1.23 [[ 9.99859538e-01 -3.47788431e-03 -1.63953962e-02 7.18313114e+00] [ 3.53324781e-03 9.99988150e-01 3.34901511e-03 5.29963312e-01] [ 1.63835545e-02 -3.40647370e-03 9.99859978e-01 1.23476621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8725578440001 meters Centerline goodness [0,1] 0.25341321004536477 Centerline is valid? [False, False] Translation: X:7.18, Y:0.53, Z:1.23 [[ 9.99855939e-01 -3.34089651e-03 -1.66415321e-02 7.18386665e+00] [ 3.40281423e-03 9.99987388e-01 3.69374853e-03 5.28226416e-01] [ 1.66289818e-02 -3.74984444e-03 9.99854697e-01 1.23457034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90255784400006 meters Centerline goodness [0,1] 0.24967037717497031 Centerline is valid? [False, False] Translation: X:7.18, Y:0.53, Z:1.23 [[ 9.99852995e-01 -3.16205868e-03 -1.68519760e-02 7.18454672e+00] [ 3.23121307e-03 9.99986465e-01 4.07798974e-03 5.26494191e-01] [ 1.68388531e-02 -4.13184258e-03 9.99849679e-01 1.23436198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.9325578440001 meters Centerline goodness [0,1] 0.25437471469252004 Centerline is valid? [False, False] Translation: X:7.18, Y:0.52, Z:1.23 [[ 9.99854683e-01 -2.94609341e-03 -1.67908640e-02 7.18443654e+00] [ 3.02253090e-03 9.99985177e-01 4.52876858e-03 5.24430692e-01] [ 1.67772729e-02 -4.57886138e-03 9.99848767e-01 1.23433734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96255784400006 meters Centerline goodness [0,1] 0.2528491571694761 Centerline is valid? [False, False] Translation: X:7.18, Y:0.52, Z:1.23 [[ 9.99859674e-01 -2.90482425e-03 -1.64982876e-02 7.18348750e+00] [ 2.98174978e-03 9.99984790e-01 4.63995433e-03 5.23638725e-01] [ 1.64845584e-02 -4.68849700e-03 9.99853128e-01 1.23467257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99255784400003 meters Centerline goodness [0,1] 0.25179513798771525 Centerline is valid? [False, False] Translation: X:7.18, Y:0.52, Z:1.24 [[ 9.99864060e-01 -2.88677453e-03 -1.62335397e-02 7.18259291e+00] [ 2.96296789e-03 9.99984699e-01 4.67148577e-03 5.23311137e-01] [ 1.62198058e-02 -4.71895018e-03 9.99857315e-01 1.23503946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02255784400006 meters Centerline goodness [0,1] 0.25109448122668165 Centerline is valid? [False, False] Translation: X:7.18, Y:0.52, Z:1.24 [[ 9.99867078e-01 -2.83952551e-03 -1.60549960e-02 7.18205417e+00] [ 2.91563536e-03 9.99984614e-01 4.71915297e-03 5.23188907e-01] [ 1.60413489e-02 -4.76533621e-03 9.99859974e-01 1.23510956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05255784400003 meters Centerline goodness [0,1] 0.2534450854468271 Centerline is valid? [False, False] Translation: X:7.18, Y:0.52, Z:1.23 [[ 9.99860997e-01 -2.51710908e-03 -1.64818131e-02 7.18337947e+00] [ 2.59939764e-03 9.99984255e-01 4.97317064e-03 5.22968301e-01] [ 1.64690356e-02 -5.01532214e-03 9.99851798e-01 1.23454322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08255784400006 meters Centerline goodness [0,1] 0.2541239022902094 Centerline is valid? [False, False] Translation: X:7.18, Y:0.52, Z:1.23 [[ 9.99860118e-01 -2.49398513e-03 -1.65385586e-02 7.18383467e+00] [ 2.57695045e-03 9.99984194e-01 4.99706626e-03 5.22782566e-01] [ 1.65258346e-02 -5.03898631e-03 9.99850742e-01 1.23398789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11255784400004 meters Centerline goodness [0,1] 0.251123207188526 Centerline is valid? [False, False] Translation: X:7.20, Y:0.52, Z:1.24 [[ 9.99846555e-01 5.03209591e-03 -1.67792678e-02 7.20390022e+00] [-4.96787538e-03 9.99980184e-01 3.86686160e-03 5.18971560e-01] [ 1.67983937e-02 -3.78291093e-03 9.99851741e-01 1.23572543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14255784400007 meters Centerline goodness [0,1] 0.25310629470363244 Centerline is valid? [False, False] Translation: X:7.20, Y:0.52, Z:1.24 [[ 9.99847464e-01 5.06500176e-03 -1.67150930e-02 7.20368714e+00] [-4.99870128e-03 9.99979483e-01 4.00590307e-03 5.18130929e-01] [ 1.67350400e-02 -3.92173826e-03 9.99852268e-01 1.23578797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17255784400004 meters Centerline goodness [0,1] 0.2534198832447504 Centerline is valid? [False, False] Translation: X:7.20, Y:0.52, Z:1.24 [[ 9.99873935e-01 3.25424232e-03 -1.55410153e-02 7.19843282e+00] [-3.21495213e-03 9.99991574e-01 2.55247558e-03 5.15121226e-01] [ 1.55491908e-02 -2.50219018e-03 9.99875973e-01 1.23848853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20255784400007 meters Centerline goodness [0,1] 0.25160401326271364 Centerline is valid? [False, False] Translation: X:7.22, Y:0.52, Z:1.24 [[ 9.99884703e-01 -5.51076791e-03 -1.41496173e-02 7.21837805e+00] [ 5.56020176e-03 9.99978567e-01 3.45669325e-03 5.17647278e-01] [ 1.41302650e-02 -3.53496943e-03 9.99893914e-01 1.23917968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.23255784400004 meters Centerline goodness [0,1] 0.2519190960841815 Centerline is valid? [False, False] Translation: X:7.22, Y:0.52, Z:1.24 [[ 9.99888049e-01 -5.44067991e-03 -1.39387420e-02 7.21782630e+00] [ 5.49426388e-03 9.99977653e-01 3.80884225e-03 5.15582341e-01] [ 1.39177078e-02 -3.88499897e-03 9.99895597e-01 1.23932955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26255784400007 meters Centerline goodness [0,1] 0.25025837567823617 Centerline is valid? [False, False] Translation: X:7.22, Y:0.51, Z:1.24 [[ 9.99890319e-01 -5.30574621e-03 -1.38274937e-02 7.21751175e+00] [ 5.36412367e-03 9.99976842e-01 4.18817646e-03 5.13753818e-01] [ 1.38049521e-02 -4.26188948e-03 9.99895624e-01 1.23942824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29255784400004 meters Centerline goodness [0,1] 0.2519807430754949 Centerline is valid? [False, False] Translation: X:7.22, Y:0.51, Z:1.24 [[ 9.99889866e-01 -5.19885414e-03 -1.39006524e-02 7.21790796e+00] [ 5.26086365e-03 9.99976357e-01 4.42806748e-03 5.12711645e-01] [ 1.38773028e-02 -4.50070923e-03 9.99893576e-01 1.23912450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3225578440001 meters Centerline goodness [0,1] 0.2512318464730291 Centerline is valid? [False, False] Translation: X:7.22, Y:0.51, Z:1.24 [[ 9.99886680e-01 -5.03076076e-03 -1.41886731e-02 7.21921565e+00] [ 5.09678047e-03 9.99976336e-01 4.62067089e-03 5.12132953e-01] [ 1.41650918e-02 -4.69246383e-03 9.99888659e-01 1.23815588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35255784400005 meters Centerline goodness [0,1] 0.25230722787648785 Centerline is valid? [False, False] Translation: X:7.22, Y:0.51, Z:1.24 [[ 9.99886468e-01 -5.04168866e-03 -1.41997475e-02 7.21931065e+00] [ 5.10577238e-03 9.99976928e-01 4.48038765e-03 5.12825725e-01] [ 1.41768312e-02 -4.55237967e-03 9.99889141e-01 1.23795066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3825578440001 meters Centerline goodness [0,1] 0.2527458272074721 Centerline is valid? [False, False] Translation: X:7.22, Y:0.51, Z:1.24 [[ 9.99887843e-01 -5.08134407e-03 -1.40883360e-02 7.21890334e+00] [ 5.14209366e-03 9.99977623e-01 4.27918368e-03 5.13789562e-01] [ 1.40662767e-02 -4.35114729e-03 9.99891598e-01 1.23808354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41255784400005 meters Centerline goodness [0,1] 0.253895708191869 Centerline is valid? [False, False] Translation: X:7.22, Y:0.52, Z:1.24 [[ 9.99896503e-01 -4.69698686e-03 -1.35985910e-02 7.21753985e+00] [ 4.75406764e-03 9.99980012e-01 4.16827196e-03 5.15962439e-01] [ 1.35787409e-02 -4.23248918e-03 9.99898847e-01 1.23817488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4425578440001 meters Centerline goodness [0,1] 0.2529717601881216 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99903172e-01 3.51197354e-03 -1.34652581e-02 7.23878006e+00] [-3.46911555e-03 9.99988847e-01 3.20489428e-03 5.15483034e-01] [ 1.34763634e-02 -3.15787142e-03 9.99904203e-01 1.23900282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47255784400005 meters Centerline goodness [0,1] 0.25293263080292283 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99902360e-01 3.41259006e-03 -1.35508183e-02 7.23928413e+00] [-3.37438992e-03 9.99990271e-01 2.84089201e-03 5.17370623e-01] [ 1.35603813e-02 -2.79488888e-03 9.99904148e-01 1.23840806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5025578440001 meters Centerline goodness [0,1] 0.25257351344307866 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99901798e-01 3.30122967e-03 -1.36197016e-02 7.23956600e+00] [-3.26779429e-03 9.99991594e-01 2.47645177e-03 5.19224932e-01] [ 1.36277625e-02 -2.43170220e-03 9.99904181e-01 1.23809897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53255784400005 meters Centerline goodness [0,1] 0.25442096770676614 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99899706e-01 3.11733018e-03 -1.38152435e-02 7.23996289e+00] [-3.09197651e-03 9.99993497e-01 1.85617511e-03 5.22550028e-01] [ 1.38209400e-02 -1.81327254e-03 9.99902842e-01 1.23809660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5625578440001 meters Centerline goodness [0,1] 0.2511715291424622 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99898840e-01 3.02276934e-03 -1.38986637e-02 7.24004380e+00] [-2.99991327e-03 9.99994114e-01 1.66503398e-03 5.23451327e-01] [ 1.39036150e-02 -1.62317076e-03 9.99902023e-01 1.23826783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59255784400005 meters Centerline goodness [0,1] 0.24983337275053208 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99899149e-01 2.93764265e-03 -1.38946551e-02 7.23978882e+00] [-2.91583152e-03 9.99994485e-01 1.58974760e-03 5.23666146e-01] [ 1.38992486e-02 -1.54907279e-03 9.99902201e-01 1.23866993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6225578440001 meters Centerline goodness [0,1] 0.25003224558235526 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99899811e-01 2.88836379e-03 -1.38573479e-02 7.23951799e+00] [-2.86643635e-03 9.99994609e-01 1.60197001e-03 5.23457323e-01] [ 1.38619003e-02 -1.56208830e-03 9.99902699e-01 1.23900030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65255784400006 meters Centerline goodness [0,1] 0.25301885153331594 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99898771e-01 2.85169743e-03 -1.39397019e-02 7.23969596e+00] [-2.82918476e-03 9.99994662e-01 1.63445699e-03 5.23142560e-01] [ 1.39442885e-02 -1.59485355e-03 9.99901502e-01 1.23911099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6825578440001 meters Centerline goodness [0,1] 0.25301885153331594 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99898771e-01 2.85169743e-03 -1.39397019e-02 7.23969596e+00] [-2.82918476e-03 9.99994662e-01 1.63445699e-03 5.23142560e-01] [ 1.39442885e-02 -1.59485355e-03 9.99901502e-01 1.23911099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71255784400006 meters Centerline goodness [0,1] 0.2494937745034682 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99888902e-01 2.19512793e-03 -1.47432905e-02 7.24218894e+00] [-2.17581234e-03 9.99996754e-01 1.32603995e-03 5.22275331e-01] [ 1.47461535e-02 -1.29381399e-03 9.99890432e-01 1.23835559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74255784400003 meters Centerline goodness [0,1] 0.2526213171577123 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99887082e-01 2.17469635e-03 -1.48692418e-02 7.24264515e+00] [-2.15205367e-03 9.99996501e-01 1.53861716e-03 5.20851121e-01] [ 1.48725358e-02 -1.50644402e-03 9.99888263e-01 1.23819735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77255784400006 meters Centerline goodness [0,1] 0.2482904415730095 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99885506e-01 2.20080715e-03 -1.49710094e-02 7.24272899e+00] [-2.17452103e-03 9.99996066e-01 1.77185323e-03 5.19600611e-01] [ 1.49748501e-02 -1.73909559e-03 9.99886358e-01 1.23853518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80255784400003 meters Centerline goodness [0,1] 0.2534376430081283 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99884678e-01 2.26448892e-03 -1.50167216e-02 7.24261570e+00] [-2.23539880e-03 9.99995593e-01 1.95368460e-03 5.18838494e-01] [ 1.50210795e-02 -1.91989094e-03 9.99885334e-01 1.23894520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83255784400006 meters Centerline goodness [0,1] 0.25133631976454807 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99883660e-01 2.36123322e-03 -1.50695141e-02 7.24254144e+00] [-2.32680647e-03 9.99994644e-01 2.30165376e-03 5.17151017e-01] [ 1.50748681e-02 -2.26632214e-03 9.99883799e-01 1.23938799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86255784400004 meters Centerline goodness [0,1] 0.2514394976424831 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99882757e-01 2.40719065e-03 -1.51220765e-02 7.24271969e+00] [-2.37035296e-03 9.99994181e-01 2.45347222e-03 5.16294578e-01] [ 1.51278944e-02 -2.41733991e-03 9.99882645e-01 1.23928964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89255784400007 meters Centerline goodness [0,1] 0.24920245665053498 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99882851e-01 2.42340424e-03 -1.51133157e-02 7.24277885e+00] [-2.38558492e-03 9.99993980e-01 2.51991031e-03 5.15873712e-01] [ 1.51193315e-02 -2.48356101e-03 9.99882612e-01 1.23912737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92255784400004 meters Centerline goodness [0,1] 0.2473995908258857 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99881707e-01 2.55010073e-03 -1.51680193e-02 7.24295213e+00] [-2.51178913e-03 9.99993609e-01 2.54432911e-03 5.16117269e-01] [ 1.51744106e-02 -2.50592927e-03 9.99881722e-01 1.23902996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95255784400007 meters Centerline goodness [0,1] 0.2539467354703284 Centerline is valid? [False, False] Translation: X:7.20, Y:0.51, Z:1.24 [[ 9.99844606e-01 3.39294419e-03 -1.72989136e-02 7.19692503e+00] [-3.35496649e-03 9.99991899e-01 2.22392876e-03 5.14580428e-01] [ 1.73063191e-02 -2.16554590e-03 9.99847889e-01 1.23956677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98255784400004 meters Centerline goodness [0,1] 0.2481482276660154 Centerline is valid? [False, False] Translation: X:7.24, Y:0.52, Z:1.24 [[ 9.99878671e-01 3.64475130e-03 -1.51446256e-02 7.23982366e+00] [-3.60774490e-03 9.99990441e-01 2.47013590e-03 5.18560657e-01] [ 1.51534839e-02 -2.41519825e-03 9.99882262e-01 1.24018432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01255784400007 meters Centerline goodness [0,1] 0.2529338762002221 Centerline is valid? [False, False] Translation: X:7.19, Y:0.52, Z:1.24 [[ 9.99841342e-01 4.74070070e-03 -1.71702332e-02 7.19285215e+00] [-4.70338827e-03 9.99986491e-01 2.21281864e-03 5.17843500e-01] [ 1.71804915e-02 -2.13170928e-03 9.99850132e-01 1.24122056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04255784400004 meters Centerline goodness [0,1] 0.24716607042799876 Centerline is valid? [False, False] Translation: X:7.21, Y:0.53, Z:1.24 [[ 9.99834539e-01 -2.07965168e-03 -1.80712274e-02 7.21036701e+00] [ 2.14714473e-03 9.99990790e-01 3.71623544e-03 5.25646178e-01] [ 1.80633325e-02 -3.75442209e-03 9.99829796e-01 1.24331959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0725578440001 meters Centerline goodness [0,1] 0.2519305856832972 Centerline is valid? [False, False] Translation: X:7.21, Y:0.53, Z:1.24 [[ 9.99836008e-01 -1.60534947e-03 -1.80382887e-02 7.21007861e+00] [ 1.67013093e-03 9.99992208e-01 3.57684040e-03 5.28510859e-01] [ 1.80324060e-02 -3.60638013e-03 9.99830899e-01 1.24341946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10255784400005 meters Centerline goodness [0,1] 0.2503993437810301 Centerline is valid? [False, False] Translation: X:7.21, Y:0.53, Z:1.24 [[ 9.99838542e-01 -1.69666734e-03 -1.78888678e-02 7.20956011e+00] [ 1.75435756e-03 9.99993310e-01 3.20972294e-03 5.30310191e-01] [ 1.78833023e-02 -3.24058818e-03 9.99834829e-01 1.24352924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1325578440001 meters Centerline goodness [0,1] 0.2554843211653365 Centerline is valid? [False, False] Translation: X:7.21, Y:0.53, Z:1.24 [[ 9.99842629e-01 -1.80335577e-03 -1.76483812e-02 7.20888489e+00] [ 1.85546447e-03 9.99993967e-01 2.93667661e-03 5.31469021e-01] [ 1.76429789e-02 -2.96896041e-03 9.99839942e-01 1.24355536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16255784400005 meters Centerline goodness [0,1] 0.25389231973558324 Centerline is valid? [False, False] Translation: X:7.21, Y:0.53, Z:1.24 [[ 9.99847129e-01 -1.93148859e-03 -1.73777758e-02 7.20799614e+00] [ 1.97668975e-03 9.99994707e-01 2.58428929e-03 5.33159665e-01] [ 1.73726923e-02 -2.61824470e-03 9.99845655e-01 1.24379571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1925578440001 meters Centerline goodness [0,1] 0.2526055237102658 Centerline is valid? [False, False] Translation: X:7.21, Y:0.53, Z:1.24 [[ 9.99847922e-01 -1.93672100e-03 -1.73315127e-02 7.20778113e+00] [ 1.98044766e-03 9.99994899e-01 2.50614930e-03 5.33784210e-01] [ 1.73265706e-02 -2.54009233e-03 9.99846657e-01 1.24390248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22255784400005 meters Centerline goodness [0,1] 0.24859363593421224 Centerline is valid? [False, False] Translation: X:7.23, Y:0.53, Z:1.25 [[ 9.99849967e-01 5.95226677e-03 -1.62669384e-02 7.22793085e+00] [-5.92640561e-03 9.99981098e-01 1.63754283e-03 5.31936307e-01] [ 1.62763780e-02 -1.54089267e-03 9.99866344e-01 1.24517895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2525578440001 meters Centerline goodness [0,1] 0.25058633674018294 Centerline is valid? [False, False] Translation: X:7.23, Y:0.53, Z:1.25 [[ 9.99851137e-01 5.92449871e-03 -1.62050627e-02 7.22753279e+00] [-5.89895897e-03 9.99981283e-01 1.62338094e-03 5.31867742e-01] [ 1.62143772e-02 -1.52754628e-03 9.99867371e-01 1.24554098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28255784400005 meters Centerline goodness [0,1] 0.25221449250313266 Centerline is valid? [False, False] Translation: X:7.23, Y:0.53, Z:1.25 [[ 9.99853145e-01 5.93465069e-03 -1.60769615e-02 7.22714312e+00] [-5.90483867e-03 9.99980759e-01 1.90116678e-03 5.30229265e-01] [ 1.60879349e-02 -1.80595572e-03 9.99868950e-01 1.24578506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3125578440001 meters Centerline goodness [0,1] 0.2637724812292649 Centerline is valid? [False, False] Translation: X:7.21, Y:0.53, Z:1.24 [[ 9.99866549e-01 -2.22240061e-03 -1.61846901e-02 7.20651726e+00] [ 2.27206867e-03 9.99992764e-01 3.05108925e-03 5.31107846e-01] [ 1.61777923e-02 -3.08745480e-03 9.99864364e-01 1.24382626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34255784400005 meters Centerline goodness [0,1] 0.2524875081468607 Centerline is valid? [False, False] Translation: X:7.21, Y:0.53, Z:1.24 [[ 9.99864300e-01 -2.18216179e-03 -1.63284964e-02 7.20708060e+00] [ 2.23733891e-03 9.99991847e-01 3.36168752e-03 5.29168987e-01] [ 1.63210276e-02 -3.39776372e-03 9.99861030e-01 1.24357722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3725578440001 meters Centerline goodness [0,1] 0.2533602150537635 Centerline is valid? [False, False] Translation: X:7.21, Y:0.53, Z:1.24 [[ 9.99863420e-01 -2.08707125e-03 -1.63946594e-02 7.20733021e+00] [ 2.15007398e-03 9.99990369e-01 3.82619547e-03 5.26501889e-01] [ 1.63865160e-02 -3.86092262e-03 9.99858278e-01 1.24357165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40255784400006 meters Centerline goodness [0,1] 0.2521692091312344 Centerline is valid? [False, False] Translation: X:7.21, Y:0.52, Z:1.24 [[ 9.99869471e-01 -2.16424457e-03 -1.60111708e-02 7.20650203e+00] [ 2.23752032e-03 9.99987100e-01 4.56004195e-03 5.21130144e-01] [ 1.60010952e-02 -4.59527205e-03 9.99861415e-01 1.24363441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.4325578440001 meters Centerline goodness [0,1] 0.25345281336320336 Centerline is valid? [False, False] Translation: X:7.21, Y:0.52, Z:1.24 [[ 9.99870915e-01 -1.99465397e-03 -1.59428662e-02 7.20655392e+00] [ 2.07685232e-03 9.99984629e-01 5.14091531e-03 5.18079088e-01] [ 1.59323668e-02 -5.17336267e-03 9.99859688e-01 1.24341278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46255784400006 meters Centerline goodness [0,1] 0.24854648044453032 Centerline is valid? [False, False] Translation: X:7.23, Y:0.51, Z:1.24 [[ 9.99863065e-01 3.58896116e-03 -1.61545900e-02 7.22998794e+00] [-3.54906973e-03 9.99990584e-01 2.49734707e-03 5.14561498e-01] [ 1.61634008e-02 -2.43967133e-03 9.99866387e-01 1.24345546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49255784400003 meters Centerline goodness [0,1] 0.25038332793434837 Centerline is valid? [False, False] Translation: X:7.23, Y:0.51, Z:1.24 [[ 9.99860456e-01 3.72735554e-03 -1.62841903e-02 7.23071027e+00] [-3.67994635e-03 9.99988906e-01 2.94035794e-03 5.12035193e-01] [ 1.62949694e-02 -2.88002268e-03 9.99863080e-01 1.24286296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52255784400006 meters Centerline goodness [0,1] 0.24953705697429052 Centerline is valid? [False, False] Translation: X:7.23, Y:0.51, Z:1.24 [[ 9.99857347e-01 4.07458663e-03 -1.63915594e-02 7.23109593e+00] [-4.01382687e-03 9.99984958e-01 3.73796371e-03 5.08354859e-01] [ 1.64065435e-02 -3.67163759e-03 9.99858662e-01 1.24270652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55255784400003 meters Centerline goodness [0,1] 0.2526202052944354 Centerline is valid? [False, False] Translation: X:7.23, Y:0.51, Z:1.24 [[ 9.99856879e-01 4.22359602e-03 -1.63823792e-02 7.23110611e+00] [-4.15778678e-03 9.99983159e-01 4.04905633e-03 5.07070827e-01] [ 1.63992048e-02 -3.98036238e-03 9.99857601e-01 1.24266833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58255784400006 meters Centerline goodness [0,1] 0.26133768352365416 Centerline is valid? [False, False] Translation: X:7.23, Y:0.51, Z:1.24 [[ 9.99854728e-01 4.30960273e-03 -1.64909053e-02 7.23161231e+00] [-4.23953274e-03 9.99981847e-01 4.28161102e-03 5.05788655e-01] [ 1.65090580e-02 -4.21107529e-03 9.99854848e-01 1.24230542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.61255784400004 meters Centerline goodness [0,1] 0.25382349732736986 Centerline is valid? [False, False] Translation: X:7.23, Y:0.50, Z:1.24 [[ 9.99853112e-01 4.36497019e-03 -1.65741132e-02 7.23203625e+00] [-4.29047304e-03 9.99980546e-01 4.52769022e-03 5.04175566e-01] [ 1.65935540e-02 -4.45591437e-03 9.99852389e-01 1.24196461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64255784400007 meters Centerline goodness [0,1] 0.24884435939885186 Centerline is valid? [False, False] Translation: X:7.25, Y:0.50, Z:1.24 [[ 9.99852660e-01 -4.62449128e-03 -1.65309761e-02 7.25426370e+00] [ 4.71690052e-03 9.99973444e-01 5.55545316e-03 5.03124684e-01] [ 1.65048459e-02 -5.63260958e-03 9.99847920e-01 1.24216810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67255784400004 meters Centerline goodness [0,1] 0.2605760673742702 Centerline is valid? [False, False] Translation: X:7.25, Y:0.50, Z:1.24 [[ 9.99856673e-01 -4.54382095e-03 -1.63091357e-02 7.25366941e+00] [ 4.64558632e-03 9.99969943e-01 6.20732473e-03 4.99547735e-01] [ 1.62804405e-02 -6.28220055e-03 9.99847729e-01 1.24245240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70255784400007 meters Centerline goodness [0,1] 0.25232857173729817 Centerline is valid? [False, False] Translation: X:7.25, Y:0.50, Z:1.24 [[ 9.99863124e-01 -4.58827470e-03 -1.58959563e-02 7.25237956e+00] [ 4.69790549e-03 9.99965391e-01 6.86630957e-03 4.95239717e-01] [ 1.58639016e-02 -6.94004744e-03 9.99850075e-01 1.24319512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.73255784400004 meters Centerline goodness [0,1] 0.2517918825561313 Centerline is valid? [False, False] Translation: X:7.25, Y:0.49, Z:1.25 [[ 9.99856764e-01 -8.03582236e-03 -1.48955662e-02 7.24869420e+00] [ 8.10618092e-03 9.99956244e-01 4.66911249e-03 4.86635614e-01] [ 1.48573943e-02 -4.78918986e-03 9.99878153e-01 1.24525190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76255784400007 meters Centerline goodness [0,1] 0.2494951231040261 Centerline is valid? [False, False] Translation: X:7.26, Y:0.48, Z:1.25 [[ 9.99872545e-01 -2.42649868e-03 -1.57799464e-02 7.26443769e+00] [ 2.47164610e-03 9.99992906e-01 2.84219011e-03 4.77960311e-01] [ 1.57729379e-02 -2.88083030e-03 9.99871449e-01 1.24905613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.79255784400004 meters Centerline goodness [0,1] 0.24991403026134795 Centerline is valid? [False, False] Translation: X:7.26, Y:0.47, Z:1.25 [[ 9.99873226e-01 -2.25727200e-03 -1.57618564e-02 7.26454681e+00] [ 2.31428644e-03 9.99990842e-01 3.59993874e-03 4.73569222e-01] [ 1.57535861e-02 -3.63595982e-03 9.99869294e-01 1.24895941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8225578440001 meters Centerline goodness [0,1] 0.25387057493259113 Centerline is valid? [False, False] Translation: X:7.25, Y:0.46, Z:1.25 [[ 9.99843122e-01 5.63199108e-03 -1.67932060e-02 7.24683395e+00] [-5.59182012e-03 9.99981393e-01 2.43809347e-03 4.63559938e-01] [ 1.68066249e-02 -2.34380640e-03 9.99856012e-01 1.24683944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85255784400005 meters Centerline goodness [0,1] 0.25379595388296716 Centerline is valid? [False, False] Translation: X:7.25, Y:0.46, Z:1.25 [[ 9.99829360e-01 6.19960994e-03 -1.74015815e-02 7.24893165e+00] [-6.13509634e-03 9.99974118e-01 3.75828071e-03 4.56259823e-01] [ 1.74244310e-02 -3.65087902e-03 9.99841518e-01 1.24600478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8825578440001 meters Centerline goodness [0,1] 0.25219852639312024 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.25 [[ 9.99826220e-01 6.42750527e-03 -1.74990546e-02 7.24946893e+00] [-6.35357957e-03 9.99970670e-01 4.27687724e-03 4.53599640e-01] [ 1.75260310e-02 -4.16495237e-03 9.99837733e-01 1.24556127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91255784400005 meters Centerline goodness [0,1] 0.25173659951093896 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.25 [[ 9.99825045e-01 6.59633057e-03 -1.75033795e-02 7.24964268e+00] [-6.51608503e-03 9.99968016e-01 4.63765247e-03 4.51629095e-01] [ 1.75334111e-02 -4.52278758e-03 9.99836049e-01 1.24530162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9425578440001 meters Centerline goodness [0,1] 0.2511971010741556 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.25 [[ 9.99827370e-01 6.74400274e-03 -1.73132699e-02 7.24925900e+00] [-6.66116601e-03 9.99966112e-01 4.83779809e-03 4.50609758e-01] [ 1.73453093e-02 -4.72163637e-03 9.99838410e-01 1.24512864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97255784400005 meters Centerline goodness [0,1] 0.25274107393871237 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.25 [[ 9.99831301e-01 6.96596115e-03 -1.69954474e-02 7.24842831e+00] [-6.88225972e-03 9.99963924e-01 4.97845965e-03 4.50339661e-01] [ 1.70295140e-02 -4.86065270e-03 9.99843173e-01 1.24512910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0025578440001 meters Centerline goodness [0,1] 0.25341245000869417 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.25 [[ 9.99829061e-01 7.94035262e-03 -1.66972820e-02 7.24762976e+00] [-7.84660048e-03 9.99953124e-01 5.67285258e-03 4.49540463e-01] [ 1.67415437e-02 -5.54086597e-03 9.99844498e-01 1.24508318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03255784400005 meters Centerline goodness [0,1] 0.25349063751488254 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.24 [[ 9.99827341e-01 8.08965057e-03 -1.67286101e-02 7.24785815e+00] [-7.99590712e-03 9.99951996e-01 5.66309320e-03 4.49966976e-01] [ 1.67736195e-02 -5.52835500e-03 9.99844029e-01 1.24471515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0625578440001 meters Centerline goodness [0,1] 0.25175066255844525 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.24 [[ 9.99826127e-01 8.22143441e-03 -1.67368909e-02 7.24792245e+00] [-8.12789310e-03 9.99951010e-01 5.64930317e-03 4.50366789e-01] [ 1.67825163e-02 -5.51228525e-03 9.99843969e-01 1.24450825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09255784400005 meters Centerline goodness [0,1] 0.2526521314676212 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.24 [[ 9.99826792e-01 8.29378944e-03 -1.66612907e-02 7.24784613e+00] [-8.20152234e-03 9.99950695e-01 5.59852996e-03 4.50858847e-01] [ 1.67069022e-02 -5.46091231e-03 9.99845517e-01 1.24422508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1225578440001 meters Centerline goodness [0,1] 0.25244647987729796 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.24 [[ 9.99825681e-01 8.42252499e-03 -1.66633832e-02 7.24800420e+00] [-8.32921809e-03 9.99949287e-01 5.66101785e-03 4.50967660e-01] [ 1.67102183e-02 -5.52123807e-03 9.99845130e-01 1.24384667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15255784400006 meters Centerline goodness [0,1] 0.2512159795931602 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.24 [[ 9.99826172e-01 8.64305964e-03 -1.65203841e-02 7.24783486e+00] [-8.54302207e-03 9.99944802e-01 6.11641363e-03 4.48785278e-01] [ 1.65723367e-02 -5.97421642e-03 9.99844821e-01 1.24355155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1825578440001 meters Centerline goodness [0,1] 0.2498008053922519 Centerline is valid? [False, False] Translation: X:7.25, Y:0.45, Z:1.24 [[ 9.99851266e-01 5.47499023e-03 -1.63545068e-02 7.24720889e+00] [-5.42742442e-03 9.99980916e-01 2.95139266e-03 4.48408773e-01] [ 1.63703536e-02 -2.86219083e-03 9.99861900e-01 1.24362211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21255784400006 meters Centerline goodness [0,1] 0.24654447115384615 Centerline is valid? [False, False] Translation: X:7.25, Y:0.44, Z:1.24 [[ 9.99848071e-01 5.64300846e-03 -1.64921553e-02 7.24776303e+00] [-5.58283524e-03 9.99977599e-01 3.69236128e-03 4.44463470e-01] [ 1.65126219e-02 -3.59972731e-03 9.99857177e-01 1.24340648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24255784400003 meters Centerline goodness [0,1] 0.24957305605395708 Centerline is valid? [False, False] Translation: X:7.25, Y:0.44, Z:1.24 [[ 9.99846501e-01 5.78160630e-03 -1.65392487e-02 7.24788481e+00] [-5.71419388e-03 9.99975185e-01 4.12026402e-03 4.42362258e-01] [ 1.65626600e-02 -4.02512309e-03 9.99854728e-01 1.24346272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27255784400006 meters Centerline goodness [0,1] 0.2628399450417639 Centerline is valid? [False, False] Translation: X:7.25, Y:0.44, Z:1.24 [[ 9.99846227e-01 5.91178245e-03 -1.65097896e-02 7.24777835e+00] [-5.83671537e-03 9.99972426e-01 4.59131266e-03 4.39948454e-01] [ 1.65364772e-02 -4.49424370e-03 9.99853163e-01 1.24360546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30255784400003 meters Centerline goodness [0,1] 0.25046079986283165 Centerline is valid? [False, False] Translation: X:7.29, Y:0.44, Z:1.24 [[ 9.99882192e-01 5.13541327e-03 -1.44647944e-02 7.29182709e+00] [-5.07479175e-03 9.99978200e-01 4.22456178e-03 4.40878776e-01] [ 1.44861740e-02 -4.15065827e-03 9.99886455e-01 1.24388622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33255784400006 meters Centerline goodness [0,1] 0.2508540122462133 Centerline is valid? [False, False] Translation: X:7.29, Y:0.44, Z:1.24 [[ 9.99881549e-01 5.24047333e-03 -1.44715194e-02 7.29192337e+00] [-5.17416487e-03 9.99975962e-01 4.61564346e-03 4.38703549e-01] [ 1.44953597e-02 -4.54021870e-03 9.99884629e-01 1.24386205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36255784400004 meters Centerline goodness [0,1] 0.25070076329294066 Centerline is valid? [False, False] Translation: X:7.29, Y:0.44, Z:1.24 [[ 9.99897936e-01 1.62033841e-03 -1.41947897e-02 7.29102993e+00] [-1.60376306e-03 9.99998019e-01 1.17901164e-03 4.37248540e-01] [ 1.41966720e-02 -1.15612622e-03 9.99898554e-01 1.24403880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39255784400007 meters Centerline goodness [0,1] 0.24418976205185017 Centerline is valid? [False, False] Translation: X:7.29, Y:0.44, Z:1.24 [[ 9.99898100e-01 1.63543375e-03 -1.41814678e-02 7.29084794e+00] [-1.61710085e-03 9.99997842e-01 1.30410718e-03 4.36397794e-01] [ 1.41835700e-02 -1.28104143e-03 9.99898587e-01 1.24427321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42255784400004 meters Centerline goodness [0,1] 0.25192802056555275 Centerline is valid? [False, False] Translation: X:7.24, Y:0.43, Z:1.25 [[ 9.99861109e-01 1.50878351e-03 -1.65977586e-02 7.24411818e+00] [-1.48576467e-03 9.99997917e-01 1.39910818e-03 4.32289956e-01] [ 1.65998349e-02 -1.37425349e-03 9.99861269e-01 1.24529024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45255784400007 meters Centerline goodness [0,1] 0.2549186592422753 Centerline is valid? [False, False] Translation: X:7.24, Y:0.43, Z:1.24 [[ 9.99859267e-01 1.57906125e-03 -1.67018993e-02 7.24455980e+00] [-1.55382338e-03 9.99997632e-01 1.52394671e-03 4.31977489e-01] [ 1.67042661e-02 -1.49778044e-03 9.99859352e-01 1.24496845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48255784400004 meters Centerline goodness [0,1] 0.2502051038473164 Centerline is valid? [False, False] Translation: X:7.25, Y:0.43, Z:1.24 [[ 9.99856630e-01 1.54217048e-03 -1.68624068e-02 7.24522686e+00] [-1.51677815e-03 9.99997697e-01 1.51854033e-03 4.31793913e-01] [ 1.68647099e-02 -1.49274609e-03 9.99856666e-01 1.24454360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51255784400007 meters Centerline goodness [0,1] 0.24482596425211667 Centerline is valid? [False, False] Translation: X:7.25, Y:0.43, Z:1.24 [[ 9.99852684e-01 1.50085398e-03 -1.70984470e-02 7.24607312e+00] [-1.47481142e-03 9.99997733e-01 1.53560294e-03 4.31361195e-01] [ 1.71007130e-02 -1.51015974e-03 9.99852632e-01 1.24416286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54255784400004 meters Centerline goodness [0,1] 0.24826846788892465 Centerline is valid? [False, False] Translation: X:7.25, Y:0.43, Z:1.24 [[ 9.99849623e-01 1.47110196e-03 -1.72790739e-02 7.24665767e+00] [-1.44394941e-03 9.99997703e-01 1.58378297e-03 4.30757396e-01] [ 1.72813641e-02 -1.55859470e-03 9.99849451e-01 1.24395858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5725578440001 meters Centerline goodness [0,1] 0.2510116172823391 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.25 [[ 9.99807056e-01 1.80122569e-04 -1.96422535e-02 7.19937333e+00] [-1.66018601e-04 9.99999727e-01 7.19670524e-04 4.25835984e-01] [ 1.96423777e-02 -7.16270688e-04 9.99806813e-01 1.24538666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60255784400005 meters Centerline goodness [0,1] 0.2510116172823391 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.25 [[ 9.99807056e-01 1.80122569e-04 -1.96422535e-02 7.19937333e+00] [-1.66018601e-04 9.99999727e-01 7.19670524e-04 4.25835984e-01] [ 1.96423777e-02 -7.16270688e-04 9.99806813e-01 1.24538666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6325578440001 meters Centerline goodness [0,1] 0.2619279454722493 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.25 [[ 9.99810914e-01 2.12660518e-04 -1.94445472e-02 7.19861003e+00] [-1.96090277e-04 9.99999616e-01 8.54081946e-04 4.25090511e-01] [ 1.94447214e-02 -8.50107565e-04 9.99810572e-01 1.24585543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66255784400005 meters Centerline goodness [0,1] 0.24945700092471135 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.25 [[ 9.99813994e-01 2.22497778e-04 -1.92854547e-02 7.19800757e+00] [-2.05295621e-04 9.99999579e-01 8.93950881e-04 4.25041750e-01] [ 1.92856454e-02 -8.89825381e-04 9.99813619e-01 1.24618833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6925578440001 meters Centerline goodness [0,1] 0.25267471958584986 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.25 [[ 9.99815885e-01 2.20977678e-04 -1.91871900e-02 7.19778305e+00] [-2.04664276e-04 9.99999616e-01 8.52183058e-04 4.25430949e-01] [ 1.91873709e-02 -8.48099226e-04 9.99815546e-01 1.24614659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72255784400005 meters Centerline goodness [0,1] 0.25235640489183186 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.25 [[ 9.99816820e-01 1.80745589e-04 -1.91388188e-02 7.19789625e+00] [-1.67745457e-04 9.99999754e-01 6.80857881e-04 4.26484007e-01] [ 1.91389371e-02 -6.77522711e-04 9.99816604e-01 1.24571967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7525578440001 meters Centerline goodness [0,1] 0.25349912115096673 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.24 [[ 9.99806993e-01 2.82525284e-04 -1.96442819e-02 7.19967919e+00] [-2.80187700e-04 9.99999953e-01 1.21747888e-04 4.30039726e-01] [ 1.96443154e-02 -1.16220303e-04 9.99807025e-01 1.24462233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78255784400005 meters Centerline goodness [0,1] 0.2550749836991958 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.24 [[ 9.99806132e-01 2.86424772e-04 -1.96879854e-02 7.19976110e+00] [-2.92705413e-04 9.99999907e-01 -3.16127879e-04 4.32793751e-01] [ 1.96878930e-02 3.21829372e-04 9.99806123e-01 1.24447492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8125578440001 meters Centerline goodness [0,1] 0.2544810654615769 Centerline is valid? [False, False] Translation: X:7.20, Y:0.44, Z:1.24 [[ 9.99809916e-01 3.15057066e-04 -1.94944055e-02 7.19896815e+00] [-3.28629139e-04 9.99999706e-01 -6.93003862e-04 4.35437538e-01] [ 1.94941814e-02 6.99278563e-04 9.99809726e-01 1.24479628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84255784400005 meters Centerline goodness [0,1] 0.2526256401354049 Centerline is valid? [False, False] Translation: X:7.20, Y:0.44, Z:1.25 [[ 9.99814947e-01 2.90257924e-04 -1.92350505e-02 7.19807263e+00] [-3.09954148e-04 9.99999431e-01 -1.02100234e-03 4.37698998e-01] [ 1.92347432e-02 1.02677539e-03 9.99814468e-01 1.24506077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8725578440001 meters Centerline goodness [0,1] 0.2514375551870437 Centerline is valid? [False, False] Translation: X:7.20, Y:0.44, Z:1.25 [[ 9.99817848e-01 1.99595188e-04 -1.90848324e-02 7.19768775e+00] [-2.24640775e-04 9.99999116e-01 -1.31019462e-03 4.39233730e-01] [ 1.90845540e-02 1.31424320e-03 9.99817010e-01 1.24503252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90255784400006 meters Centerline goodness [0,1] 0.2551091098025632 Centerline is valid? [False, False] Translation: X:7.20, Y:0.44, Z:1.25 [[ 9.99823555e-01 -9.93508032e-05 -1.87842588e-02 7.19661806e+00] [ 7.03477430e-05 9.99998805e-01 -1.54466323e-03 4.39452485e-01] [ 1.87843898e-02 1.54306925e-03 9.99822367e-01 1.24557158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.9325578440001 meters Centerline goodness [0,1] 0.2560027788632713 Centerline is valid? [False, False] Translation: X:7.20, Y:0.44, Z:1.25 [[ 9.99824229e-01 -1.63779291e-04 -1.87479061e-02 7.19625390e+00] [ 1.36955210e-04 9.99998965e-01 -1.43205241e-03 4.38582277e-01] [ 1.87481212e-02 1.42923308e-03 9.99823217e-01 1.24608378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96255784400006 meters Centerline goodness [0,1] 0.25161262578481125 Centerline is valid? [False, False] Translation: X:7.20, Y:0.44, Z:1.25 [[ 9.99807738e-01 -8.29740850e-04 -1.95907594e-02 7.19871150e+00] [ 7.99707536e-04 9.99998493e-01 -1.54081914e-03 4.36735092e-01] [ 1.95920084e-02 1.52485602e-03 9.99806895e-01 1.24567052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99255784400003 meters Centerline goodness [0,1] 0.2629882072920048 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.25 [[ 9.99800666e-01 -7.90453856e-04 -1.99500086e-02 7.19994101e+00] [ 7.67391076e-04 9.99999029e-01 -1.16365759e-03 4.34475113e-01] [ 1.99509090e-02 1.14811618e-03 9.99800302e-01 1.24524760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02255784400006 meters Centerline goodness [0,1] 0.25006488450558007 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.24 [[ 9.99796576e-01 -7.12070282e-04 -2.01568559e-02 7.20066142e+00] [ 6.96970331e-04 9.99999471e-01 -7.56137476e-04 4.32234842e-01] [ 2.01573837e-02 7.41934929e-04 9.99796544e-01 1.24499377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05255784400003 meters Centerline goodness [0,1] 0.251505926549647 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.24 [[ 9.99794473e-01 -5.54131801e-04 -2.02658438e-02 7.20107387e+00] [ 5.48947968e-04 9.99999815e-01 -2.61353763e-04 4.29769109e-01] [ 2.02659849e-02 2.50175154e-04 9.99794593e-01 1.24486285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08255784400006 meters Centerline goodness [0,1] 0.2539326332302061 Centerline is valid? [False, False] Translation: X:7.20, Y:0.43, Z:1.24 [[ 9.99783923e-01 -3.28623040e-04 -2.07846047e-02 7.20266458e+00] [ 3.40416537e-04 9.99999783e-01 5.63879479e-04 4.25196018e-01] [ 2.07844149e-02 -5.70833060e-04 9.99783818e-01 1.24447596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11255784400004 meters Centerline goodness [0,1] 0.2533634723641027 Centerline is valid? [False, False] Translation: X:7.20, Y:0.42, Z:1.24 [[ 9.99780319e-01 -1.87638118e-04 -2.09589815e-02 7.20326420e+00] [ 2.07996425e-04 9.99999509e-01 9.69164755e-04 4.23019558e-01] [ 2.09587893e-02 -9.73311241e-04 9.99779867e-01 1.24426181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14255784400007 meters Centerline goodness [0,1] 0.2664928463442957 Centerline is valid? [False, False] Translation: X:7.20, Y:0.42, Z:1.24 [[ 9.99780556e-01 -4.37672666e-05 -2.09484652e-02 7.20340659e+00] [ 7.18217905e-05 9.99999102e-01 1.33846571e-03 4.21163867e-01] [ 2.09483878e-02 -1.33967655e-03 9.99779661e-01 1.24400579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17255784400004 meters Centerline goodness [0,1] 0.25251652481963105 Centerline is valid? [False, False] Translation: X:7.22, Y:0.42, Z:1.25 [[ 9.99762199e-01 8.26053035e-03 -2.01819039e-02 7.22377071e+00] [-8.25051110e-03 9.99965796e-01 5.79662276e-04 4.16709413e-01] [ 2.01860020e-02 -4.13013410e-04 9.99796157e-01 1.24523877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20255784400007 meters Centerline goodness [0,1] 0.25423544507513973 Centerline is valid? [False, False] Translation: X:7.22, Y:0.42, Z:1.25 [[ 9.99766344e-01 8.40604949e-03 -1.99147145e-02 7.22308787e+00] [-8.39114364e-03 9.99964448e-01 8.31929806e-04 4.15694451e-01] [ 1.99209997e-02 -6.64628191e-04 9.99801336e-01 1.24526841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23255784400004 meters Centerline goodness [0,1] 0.25130788606859134 Centerline is valid? [False, False] Translation: X:7.24, Y:0.42, Z:1.25 [[ 9.99841963e-01 1.43812686e-03 -1.77194948e-02 7.24096195e+00] [-1.39033491e-03 9.99995364e-01 2.70916353e-03 4.19264619e-01] [ 1.77233088e-02 -2.68409935e-03 9.99839327e-01 1.24602146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26255784400007 meters Centerline goodness [0,1] 0.26217796059753196 Centerline is valid? [False, False] Translation: X:7.24, Y:0.42, Z:1.25 [[ 9.99841372e-01 1.46129937e-03 -1.77509315e-02 7.24109661e+00] [-1.41341552e-03 9.99995330e-01 2.70978611e-03 4.19144822e-01] [ 1.77548084e-02 -2.68426682e-03 9.99838768e-01 1.24585749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29255784400004 meters Centerline goodness [0,1] 0.25697442528105896 Centerline is valid? [False, False] Translation: X:7.22, Y:0.41, Z:1.24 [[ 9.99787797e-01 9.50327094e-03 -1.82769903e-02 7.22179314e+00] [-9.47947321e-03 9.99954105e-01 1.38825665e-03 4.13132633e-01] [ 1.82893444e-02 -1.21470582e-03 9.99831998e-01 1.24390447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3225578440001 meters Centerline goodness [0,1] 0.2556247423575101 Centerline is valid? [False, False] Translation: X:7.24, Y:0.42, Z:1.24 [[ 9.99835685e-01 1.52454333e-03 -1.80632092e-02 7.24123059e+00] [-1.48675339e-03 9.99996679e-01 2.10533830e-03 4.18476763e-01] [ 1.80663588e-02 -2.07813682e-03 9.99834630e-01 1.24487231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35255784400005 meters Centerline goodness [0,1] 0.2532940998290746 Centerline is valid? [False, False] Translation: X:7.24, Y:0.42, Z:1.24 [[ 9.99837356e-01 1.50894680e-03 -1.79718007e-02 7.24098495e+00] [-1.47274816e-03 9.99996861e-01 2.02725615e-03 4.18810441e-01] [ 1.79748033e-02 -2.00045849e-03 9.99836439e-01 1.24486390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3825578440001 meters Centerline goodness [0,1] 0.25422523066310254 Centerline is valid? [False, False] Translation: X:7.24, Y:0.42, Z:1.25 [[ 9.99845044e-01 1.62715081e-03 -1.75282561e-02 7.23942308e+00] [-1.59009008e-03 9.99996471e-01 2.12807153e-03 4.18935890e-01] [ 1.75316569e-02 -2.09987027e-03 9.99844104e-01 1.24551117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41255784400005 meters Centerline goodness [0,1] 0.2563340563991323 Centerline is valid? [False, False] Translation: X:7.24, Y:0.42, Z:1.25 [[ 9.99846833e-01 1.68335668e-03 -1.74205825e-02 7.23887618e+00] [-1.64356699e-03 9.99996009e-01 2.29812709e-03 4.18070989e-01] [ 1.74243815e-02 -2.26914320e-03 9.99845609e-01 1.24600404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4425578440001 meters Centerline goodness [0,1] 0.25432604245232193 Centerline is valid? [False, False] Translation: X:7.24, Y:0.42, Z:1.25 [[ 9.99848430e-01 1.68065585e-03 -1.73289245e-02 7.23838301e+00] [-1.63796185e-03 9.99995589e-01 2.47764108e-03 4.16735149e-01] [ 1.73330121e-02 -2.44888143e-03 9.99846773e-01 1.24645526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47255784400005 meters Centerline goodness [0,1] 0.25982849604221636 Centerline is valid? [False, False] Translation: X:7.19, Y:0.41, Z:1.25 [[ 9.99806204e-01 -4.92975852e-05 -1.96863384e-02 7.19278494e+00] [ 8.63730928e-05 9.99998224e-01 1.88246568e-03 4.08039221e-01] [ 1.96862107e-02 -1.88380123e-03 9.99804433e-01 1.24735588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5025578440001 meters Centerline goodness [0,1] 0.2519828901833502 Centerline is valid? [False, False] Translation: X:7.24, Y:0.41, Z:1.25 [[ 9.99837241e-01 -4.52741236e-04 -1.80357009e-02 7.23877156e+00] [ 4.85034404e-04 9.99998287e-01 1.78617955e-03 4.09093816e-01] [ 1.80348613e-02 -1.79463677e-03 9.99835748e-01 1.24712130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53255784400005 meters Centerline goodness [0,1] 0.2502525741063176 Centerline is valid? [False, False] Translation: X:7.24, Y:0.41, Z:1.25 [[ 9.99831754e-01 -2.96671487e-04 -1.83405554e-02 7.23968064e+00] [ 3.39425246e-04 9.99997233e-01 2.32803603e-03 4.06284342e-01] [ 1.83398140e-02 -2.33386959e-03 9.99829088e-01 1.24699844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5625578440001 meters Centerline goodness [0,1] 0.25696809318265623 Centerline is valid? [False, False] Translation: X:7.24, Y:0.40, Z:1.25 [[ 9.99817659e-01 -4.10199715e-03 -1.86499936e-02 7.24068210e+00] [ 4.08255300e-03 9.99991083e-01 -1.08053598e-03 4.03700591e-01] [ 1.86542596e-02 1.00419937e-03 9.99825490e-01 1.24667054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59255784400005 meters Centerline goodness [0,1] 0.2518605307123175 Centerline is valid? [False, False] Translation: X:7.24, Y:0.40, Z:1.25 [[ 9.99814027e-01 -4.02110872e-03 -1.88611395e-02 7.24127670e+00] [ 4.00840540e-03 9.99991713e-01 -7.11275046e-04 4.01377708e-01] [ 1.88638434e-02 6.35539674e-04 9.99821860e-01 1.24661435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6225578440001 meters Centerline goodness [0,1] 0.2691707510055166 Centerline is valid? [False, False] Translation: X:7.22, Y:0.39, Z:1.24 [[ 9.99813377e-01 3.51975803e-03 -1.89953222e-02 7.22207538e+00] [-3.55744586e-03 9.99991770e-01 -1.95063261e-03 3.92956855e-01] [ 1.89883002e-02 2.01784341e-03 9.99817670e-01 1.24497668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65255784400006 meters Centerline goodness [0,1] 0.26579170378740136 Centerline is valid? [False, False] Translation: X:7.24, Y:0.40, Z:1.25 [[ 9.99827208e-01 -4.26677913e-03 -1.80927590e-02 7.24154345e+00] [ 4.25687410e-03 9.99990768e-01 -5.85935063e-04 3.96467902e-01] [ 1.80950920e-02 5.08815221e-04 9.99836141e-01 1.24612806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6825578440001 meters Centerline goodness [0,1] 0.2535034872924359 Centerline is valid? [False, False] Translation: X:7.24, Y:0.40, Z:1.25 [[ 9.99839802e-01 -3.82464596e-03 -1.74854680e-02 7.24001967e+00] [ 3.82503656e-03 9.99992684e-01 -1.11052366e-05 3.95010509e-01] [ 1.74853826e-02 -5.57790969e-05 9.99847117e-01 1.24625492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71255784400006 meters Centerline goodness [0,1] 0.2680920693792953 Centerline is valid? [False, False] Translation: X:7.22, Y:0.39, Z:1.24 [[ 9.99849077e-01 4.15343406e-03 -1.68692781e-02 7.22021944e+00] [-4.17067000e-03 9.99990816e-01 -9.86683309e-04 3.88559095e-01] [ 1.68650251e-02 1.05689059e-03 9.99857217e-01 1.24415042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74255784400003 meters Centerline goodness [0,1] 0.26283014816405414 Centerline is valid? [False, False] Translation: X:7.24, Y:0.39, Z:1.25 [[ 9.99849066e-01 -3.21086566e-03 -1.70744138e-02 7.23934903e+00] [ 3.21203450e-03 9.99994841e-01 4.10323413e-05 3.94115406e-01] [ 1.70741939e-02 -9.58697543e-05 9.99854221e-01 1.24539863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77255784400006 meters Centerline goodness [0,1] 0.2549996777866088 Centerline is valid? [False, False] Translation: X:7.24, Y:0.39, Z:1.25 [[ 9.99847381e-01 -3.22529336e-03 -1.71700688e-02 7.23976016e+00] [ 3.22393656e-03 9.99994797e-01 -1.06700233e-04 3.94906768e-01] [ 1.71703236e-02 5.13287359e-05 9.99852578e-01 1.24503994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80255784400003 meters Centerline goodness [0,1] 0.2589794941007445 Centerline is valid? [False, False] Translation: X:7.22, Y:0.39, Z:1.24 [[ 9.99817517e-01 6.14734490e-03 -1.80870690e-02 7.21828337e+00] [-6.15274367e-03 9.99981042e-01 -2.42855219e-04 3.92538779e-01] [ 1.80852332e-02 3.54096001e-04 9.99836386e-01 1.24442134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83255784400006 meters Centerline goodness [0,1] 0.25737317702125817 Centerline is valid? [False, False] Translation: X:7.22, Y:0.39, Z:1.24 [[ 9.99821989e-01 6.11449701e-03 -1.78494441e-02 7.21758829e+00] [-6.12368897e-03 9.99981144e-01 -4.60360403e-04 3.93933239e-01] [ 1.78462926e-02 5.69582898e-04 9.99840580e-01 1.24450387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86255784400004 meters Centerline goodness [0,1] 0.25516201959306706 Centerline is valid? [False, False] Translation: X:7.24, Y:0.40, Z:1.25 [[ 9.99846711e-01 -1.46929834e-03 -1.74469587e-02 7.23521028e+00] [ 1.48208647e-03 9.99998642e-01 7.20064417e-04 3.99991740e-01] [ 1.74458771e-02 -7.45811940e-04 9.99847531e-01 1.24660917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89255784400007 meters Centerline goodness [0,1] 0.25755567626290055 Centerline is valid? [False, False] Translation: X:7.23, Y:0.40, Z:1.25 [[ 9.99850202e-01 -1.51396361e-03 -1.72418345e-02 7.23452880e+00] [ 1.52555667e-03 9.99998619e-01 6.59247020e-04 4.00103100e-01] [ 1.72408127e-02 -6.85451662e-04 9.99851131e-01 1.24687093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92255784400004 meters Centerline goodness [0,1] 0.25496311272664707 Centerline is valid? [False, False] Translation: X:7.25, Y:0.40, Z:1.25 [[ 9.99844424e-01 6.49373446e-03 -1.63999796e-02 7.25431066e+00] [-6.50685011e-03 9.99978552e-01 -7.46501710e-04 3.98150608e-01] [ 1.63947803e-02 8.53097782e-04 9.99865233e-01 1.24837919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95255784400007 meters Centerline goodness [0,1] 0.2521085953428479 Centerline is valid? [False, False] Translation: X:7.26, Y:0.40, Z:1.25 [[ 9.99840627e-01 6.56124137e-03 -1.66033253e-02 7.25503012e+00] [-6.57080654e-03 9.99978276e-01 -5.21612460e-04 3.97193431e-01] [ 1.65995422e-02 6.30626568e-04 9.99862019e-01 1.24806212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98255784400004 meters Centerline goodness [0,1] 0.2623892282543233 Centerline is valid? [False, False] Translation: X:7.26, Y:0.40, Z:1.25 [[ 9.99838588e-01 6.57951940e-03 -1.67184718e-02 7.25540632e+00] [-6.58577707e-03 9.99978263e-01 -3.19267817e-04 3.95856397e-01] [ 1.67160078e-02 4.29320412e-04 9.99860186e-01 1.24795261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01255784400007 meters Centerline goodness [0,1] 0.25554764831467947 Centerline is valid? [False, False] Translation: X:7.26, Y:0.39, Z:1.25 [[ 9.99835472e-01 6.63833873e-03 -1.68807933e-02 7.25588286e+00] [-6.63956111e-03 9.99977958e-01 -1.63683292e-05 3.94035120e-01] [ 1.68803125e-02 1.28446695e-04 9.99857509e-01 1.24790255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04255784400004 meters Centerline goodness [0,1] 0.2679984349187027 Centerline is valid? [False, False] Translation: X:7.26, Y:0.39, Z:1.25 [[ 9.99851116e-01 2.97899669e-03 -1.69961967e-02 7.25623803e+00] [-3.03584367e-03 9.99989881e-01 -3.31986853e-03 3.91952463e-01] [ 1.69861348e-02 3.37097205e-03 9.99850043e-01 1.24773256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0725578440001 meters Centerline goodness [0,1] 0.26569377886679535 Centerline is valid? [False, False] Translation: X:7.26, Y:0.39, Z:1.25 [[ 9.99849057e-01 3.09918784e-03 -1.70955861e-02 7.25645280e+00] [-3.14952171e-03 9.99990782e-01 -2.91812362e-03 3.89746638e-01] [ 1.70863847e-02 2.97152607e-03 9.99849601e-01 1.24781201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10255784400005 meters Centerline goodness [0,1] 0.2548703393110566 Centerline is valid? [False, False] Translation: X:7.28, Y:0.39, Z:1.25 [[ 9.99846888e-01 -4.61448818e-03 -1.68792058e-02 7.27601055e+00] [ 4.58930430e-03 9.99988298e-01 -1.53043695e-03 3.93071051e-01] [ 1.68860704e-02 1.45273881e-03 9.99856365e-01 1.24932156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1325578440001 meters Centerline goodness [0,1] 0.2680918897672184 Centerline is valid? [False, False] Translation: X:7.26, Y:0.38, Z:1.25 [[ 9.99849597e-01 3.21115768e-03 -1.70432165e-02 7.25669789e+00] [-3.25302354e-03 9.99991758e-01 -2.42929847e-03 3.84663541e-01] [ 1.70352751e-02 2.48437508e-03 9.99851803e-01 1.24762675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16255784400005 meters Centerline goodness [0,1] 0.25863686955762644 Centerline is valid? [False, False] Translation: X:7.26, Y:0.38, Z:1.25 [[ 9.99848818e-01 3.36419368e-03 -1.70594354e-02 7.25685854e+00] [-3.39862403e-03 9.99992245e-01 -1.98966912e-03 3.82313463e-01] [ 1.70526095e-02 2.04734693e-03 9.99852498e-01 1.24749381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1925578440001 meters Centerline goodness [0,1] 0.2645235163220775 Centerline is valid? [False, False] Translation: X:7.28, Y:0.38, Z:1.25 [[ 9.99853457e-01 -4.82612984e-03 -1.64247445e-02 7.27733338e+00] [ 4.80776035e-03 9.99987773e-01 -1.15770578e-03 3.82179372e-01] [ 1.64301310e-02 1.07856989e-03 9.99864435e-01 1.24808095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22255784400005 meters Centerline goodness [0,1] 0.26461000410181124 Centerline is valid? [False, False] Translation: X:7.28, Y:0.38, Z:1.25 [[ 9.99851383e-01 -4.69521975e-03 -1.65881698e-02 7.27775111e+00] [ 4.68137276e-03 9.99988661e-01 -8.73483281e-04 3.80745324e-01] [ 1.65920829e-02 7.95698060e-04 9.99862025e-01 1.24805436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2525578440001 meters Centerline goodness [0,1] 0.2681132528542426 Centerline is valid? [False, False] Translation: X:7.26, Y:0.37, Z:1.25 [[ 9.99853043e-01 3.55408048e-03 -1.67708419e-02 7.25839365e+00] [-3.57892330e-03 9.99992542e-01 -1.45153008e-03 3.73614489e-01] [ 1.67655580e-02 1.51133832e-03 9.99858306e-01 1.24651319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28255784400005 meters Centerline goodness [0,1] 0.26577292215282156 Centerline is valid? [False, False] Translation: X:7.26, Y:0.37, Z:1.25 [[ 9.99851528e-01 3.76547334e-03 -1.68149607e-02 7.25888674e+00] [-3.78559472e-03 9.99992156e-01 -1.16496639e-03 3.72699109e-01] [ 1.68104422e-02 1.22844805e-03 9.99857940e-01 1.24588000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3125578440001 meters Centerline goodness [0,1] 0.2650171314568244 Centerline is valid? [False, False] Translation: X:7.26, Y:0.37, Z:1.25 [[ 9.99853354e-01 3.75841737e-03 -1.67076002e-02 7.25862576e+00] [-3.77796667e-03 9.99992215e-01 -1.13867569e-03 3.72328778e-01] [ 1.67031905e-02 1.20162946e-03 9.99859770e-01 1.24587521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34255784400005 meters Centerline goodness [0,1] 0.25606498039384673 Centerline is valid? [False, False] Translation: X:7.26, Y:0.37, Z:1.25 [[ 9.99854749e-01 3.77645980e-03 -1.66198372e-02 7.25838838e+00] [-3.79517106e-03 9.99992199e-01 -1.09444341e-03 3.71992569e-01] [ 1.66155744e-02 1.15735956e-03 9.99861282e-01 1.24585761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3725578440001 meters Centerline goodness [0,1] 0.2577608087294184 Centerline is valid? [False, False] Translation: X:7.26, Y:0.37, Z:1.25 [[ 9.99854417e-01 3.83693087e-03 -1.66259727e-02 7.25847047e+00] [-3.85353344e-03 9.99992108e-01 -9.66671132e-04 3.71423233e-01] [ 1.66221325e-02 1.03059914e-03 9.99861312e-01 1.24575510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40255784400006 meters Centerline goodness [0,1] 0.264072616205287 Centerline is valid? [False, False] Translation: X:7.28, Y:0.38, Z:1.25 [[ 9.99843733e-01 -3.97504343e-03 -1.72252127e-02 7.27926101e+00] [ 3.97587033e-03 9.99992096e-01 1.37603313e-05 3.75522393e-01] [ 1.72250219e-02 -8.22433933e-05 9.99851635e-01 1.24651972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.4325578440001 meters Centerline goodness [0,1] 0.2688813797340589 Centerline is valid? [False, False] Translation: X:7.23, Y:0.37, Z:1.25 [[ 9.99790149e-01 -5.42065790e-03 -1.97553869e-02 7.23351115e+00] [ 5.41136601e-03 9.99985221e-01 -5.23774189e-04 3.69687100e-01] [ 1.97579341e-02 4.16760646e-04 9.99804706e-01 1.24703087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46255784400006 meters Centerline goodness [0,1] 0.26688704275586095 Centerline is valid? [False, False] Translation: X:7.25, Y:0.37, Z:1.25 [[ 9.99828730e-01 2.12407117e-03 -1.83847759e-02 7.25250194e+00] [-2.16791759e-03 9.99994853e-01 -2.36532942e-03 3.65966783e-01] [ 1.83796571e-02 2.40478099e-03 9.99828188e-01 1.24858822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49255784400003 meters Centerline goodness [0,1] 0.26688704275586095 Centerline is valid? [False, False] Translation: X:7.25, Y:0.37, Z:1.25 [[ 9.99828730e-01 2.12407117e-03 -1.83847759e-02 7.25250194e+00] [-2.16791759e-03 9.99994853e-01 -2.36532942e-03 3.65966783e-01] [ 1.83796571e-02 2.40478099e-03 9.99828188e-01 1.24858822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52255784400006 meters Centerline goodness [0,1] 0.2679509250582929 Centerline is valid? [False, False] Translation: X:7.25, Y:0.36, Z:1.25 [[ 9.99832130e-01 2.15877006e-03 -1.81948477e-02 7.25175245e+00] [-2.19708351e-03 9.99995411e-01 -2.08600441e-03 3.64312278e-01] [ 1.81902610e-02 2.12562983e-03 9.99832284e-01 1.24912283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55255784400003 meters Centerline goodness [0,1] 0.2668635070884262 Centerline is valid? [False, False] Translation: X:7.25, Y:0.36, Z:1.25 [[ 9.99834186e-01 2.23650324e-03 -1.80720302e-02 7.25119675e+00] [-2.26905306e-03 9.99995840e-01 -1.78081213e-03 3.62813321e-01] [ 1.80679722e-02 1.82152325e-03 9.99835102e-01 1.24957370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58255784400006 meters Centerline goodness [0,1] 0.2638381144896994 Centerline is valid? [False, False] Translation: X:7.27, Y:0.37, Z:1.25 [[ 9.99829436e-01 -5.39340470e-03 -1.76638309e-02 7.27055933e+00] [ 5.38731306e-03 9.99985411e-01 -3.92431809e-04 3.67270080e-01] [ 1.76656898e-02 2.97204287e-04 9.99843905e-01 1.25126300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61255784400004 meters Centerline goodness [0,1] 0.26700606585788567 Centerline is valid? [False, False] Translation: X:7.27, Y:0.36, Z:1.25 [[ 9.99823606e-01 -5.26325422e-03 -1.80292804e-02 7.27153764e+00] [ 5.26492340e-03 9.99986139e-01 4.51174487e-05 3.64903154e-01] [ 1.80287930e-02 -1.40032270e-04 9.99837458e-01 1.25126464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64255784400007 meters Centerline goodness [0,1] 0.2690741841068639 Centerline is valid? [False, False] Translation: X:7.25, Y:0.36, Z:1.25 [[ 9.99822251e-01 2.49350627e-03 -1.86881771e-02 7.25228891e+00] [-2.51469217e-03 9.99996222e-01 -1.11023869e-03 3.58080874e-01] [ 1.86853381e-02 1.15703636e-03 9.99824744e-01 1.24992750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67255784400004 meters Centerline goodness [0,1] 0.2537265207651215 Centerline is valid? [False, False] Translation: X:7.30, Y:0.36, Z:1.25 [[ 9.99861088e-01 2.62745160e-03 -1.64590700e-02 7.29556233e+00] [-2.65627620e-03 9.99994976e-01 -1.72967323e-03 3.60914941e-01] [ 1.64544427e-02 1.77315280e-03 9.99863044e-01 1.25049530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70255784400007 meters Centerline goodness [0,1] 0.2697266180751636 Centerline is valid? [False, False] Translation: X:7.25, Y:0.36, Z:1.25 [[ 9.99820813e-01 2.35562115e-03 -1.87828003e-02 7.24824734e+00] [-2.38084281e-03 9.99996294e-01 -1.32055816e-03 3.55957287e-01] [ 1.87796199e-02 1.36504043e-03 9.99822716e-01 1.25215828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73255784400004 meters Centerline goodness [0,1] 0.26624121146565716 Centerline is valid? [False, False] Translation: X:7.27, Y:0.36, Z:1.25 [[ 9.99827765e-01 -3.53691953e-03 -1.82189882e-02 7.26965922e+00] [ 3.56428752e-03 9.99992568e-01 1.46991625e-03 3.59995348e-01] [ 1.82136538e-02 -1.53460079e-03 9.99832940e-01 1.25222576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76255784400007 meters Centerline goodness [0,1] 0.25603127886743005 Centerline is valid? [False, False] Translation: X:7.29, Y:0.36, Z:1.25 [[ 9.99823704e-01 4.99356993e-03 -1.81004269e-02 7.28988303e+00] [-4.98619979e-03 9.99987467e-01 4.52288041e-04 3.58256402e-01] [ 1.81024586e-02 -3.61955960e-04 9.99836072e-01 1.25348344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79255784400004 meters Centerline goodness [0,1] 0.26622436410001515 Centerline is valid? [False, False] Translation: X:7.29, Y:0.36, Z:1.25 [[ 9.99833033e-01 5.03512728e-03 -1.75657135e-02 7.28830404e+00] [-5.03329450e-03 9.99987322e-01 1.48547014e-04 3.60445050e-01] [ 1.75662388e-02 -6.01088018e-05 9.99845700e-01 1.25382872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8225578440001 meters Centerline goodness [0,1] 0.2658427500378109 Centerline is valid? [False, False] Translation: X:7.29, Y:0.36, Z:1.25 [[ 9.99835817e-01 4.96953347e-03 -1.74253666e-02 7.28773405e+00] [-4.97222980e-03 9.99987632e-01 -1.11414150e-04 3.61901389e-01] [ 1.74245974e-02 1.98038785e-04 9.99848161e-01 1.25410936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85255784400005 meters Centerline goodness [0,1] 0.26693752296155426 Centerline is valid? [False, False] Translation: X:7.29, Y:0.36, Z:1.25 [[ 9.99835533e-01 4.86042545e-03 -1.74723278e-02 7.28792164e+00] [-4.86939967e-03 9.99988033e-01 -4.71118034e-04 3.63795354e-01] [ 1.74698289e-02 5.56120298e-04 9.99847236e-01 1.25393918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8825578440001 meters Centerline goodness [0,1] 0.25689217668057285 Centerline is valid? [False, False] Translation: X:7.29, Y:0.37, Z:1.25 [[ 9.99834456e-01 4.73553279e-03 -1.75680068e-02 7.28837554e+00] [-4.75100719e-03 9.99988362e-01 -8.39196487e-04 3.65653371e-01] [ 1.75638283e-02 9.22523290e-04 9.99845318e-01 1.25356056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91255784400005 meters Centerline goodness [0,1] 0.2594386757613938 Centerline is valid? [False, False] Translation: X:7.29, Y:0.37, Z:1.25 [[ 9.99832156e-01 4.51569011e-03 -1.77558054e-02 7.28928746e+00] [-4.54203107e-03 9.99988643e-01 -1.44346570e-03 3.68457584e-01] [ 1.77490855e-02 1.52387084e-03 9.99841311e-01 1.25270673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9425578440001 meters Centerline goodness [0,1] 0.2550877570797889 Centerline is valid? [False, False] Translation: X:7.31, Y:0.38, Z:1.25 [[ 9.99837821e-01 -2.88920756e-03 -1.77759510e-02 7.30788852e+00] [ 2.88254255e-03 9.99995765e-01 -4.00556132e-04 3.75807555e-01] [ 1.77770330e-02 3.49251235e-04 9.99841915e-01 1.25452295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97255784400005 meters Centerline goodness [0,1] 0.2659025664270759 Centerline is valid? [False, False] Translation: X:7.31, Y:0.38, Z:1.26 [[ 9.99840953e-01 -2.91445775e-03 -1.75947158e-02 7.30707661e+00] [ 2.90562988e-03 9.99995640e-01 -5.27277610e-04 3.76697143e-01] [ 1.75961758e-02 4.76070016e-04 9.99845062e-01 1.25505957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0025578440001 meters Centerline goodness [0,1] 0.25673207109239005 Centerline is valid? [False, False] Translation: X:7.31, Y:0.38, Z:1.26 [[ 9.99844739e-01 -2.91590393e-03 -1.73780021e-02 7.30624990e+00] [ 2.90585381e-03 9.99995596e-01 -6.03547058e-04 3.77279247e-01] [ 1.73796854e-02 5.52955417e-04 9.99848809e-01 1.25546781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03255784400005 meters Centerline goodness [0,1] 0.267875344277938 Centerline is valid? [False, False] Translation: X:7.31, Y:0.38, Z:1.26 [[ 9.99846883e-01 -2.98713147e-03 -1.72420447e-02 7.30570042e+00] [ 2.97463080e-03 9.99995294e-01 -7.50611493e-04 3.77925319e-01] [ 1.72442058e-02 6.99207844e-04 9.99851063e-01 1.25580101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0625578440001 meters Centerline goodness [0,1] 0.27061591755811676 Centerline is valid? [False, False] Translation: X:7.31, Y:0.38, Z:1.26 [[ 9.99847193e-01 -3.08122677e-03 -1.72074650e-02 7.30575476e+00] [ 3.06296627e-03 9.99994718e-01 -1.08745014e-03 3.79936808e-01] [ 1.72107248e-02 1.03457808e-03 9.99851349e-01 1.25551312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09255784400005 meters Centerline goodness [0,1] 0.2560458255270581 Centerline is valid? [False, False] Translation: X:7.33, Y:0.38, Z:1.26 [[ 9.99838827e-01 5.41554319e-03 -1.71170184e-02 7.32710839e+00] [-5.44978823e-03 9.99983239e-01 -1.95463050e-03 3.78728290e-01] [ 1.71061461e-02 2.04759960e-03 9.99851583e-01 1.25603540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1225578440001 meters Centerline goodness [0,1] 0.2571163833042429 Centerline is valid? [False, False] Translation: X:7.33, Y:0.38, Z:1.26 [[ 9.99837094e-01 5.35308703e-03 -1.72374672e-02 7.32750210e+00] [-5.39035094e-03 9.99983233e-01 -2.11606150e-03 3.79599881e-01] [ 1.72258507e-02 2.20863278e-03 9.99849185e-01 1.25586115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15255784400006 meters Centerline goodness [0,1] 0.25772194521789804 Centerline is valid? [False, False] Translation: X:7.33, Y:0.38, Z:1.26 [[ 9.99836609e-01 5.28824763e-03 -1.72855187e-02 7.32765429e+00] [-5.32769451e-03 9.99983306e-01 -2.23682447e-03 3.80135608e-01] [ 1.72734013e-02 2.32855096e-03 9.99848092e-01 1.25581089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1825578440001 meters Centerline goodness [0,1] 0.25629300489635687 Centerline is valid? [False, False] Translation: X:7.33, Y:0.38, Z:1.26 [[ 9.99836334e-01 5.24689285e-03 -1.73140210e-02 7.32755551e+00] [-5.28765682e-03 9.99983353e-01 -2.30945227e-03 3.80397005e-01] [ 1.73016153e-02 2.40062489e-03 9.99847434e-01 1.25608752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21255784400006 meters Centerline goodness [0,1] 0.27066881898695516 Centerline is valid? [False, False] Translation: X:7.31, Y:0.38, Z:1.25 [[ 9.99845576e-01 -3.67300010e-03 -1.71852822e-02 7.30594948e+00] [ 3.64507248e-03 9.99991985e-01 -1.65613070e-03 3.83853019e-01] [ 1.71912274e-02 1.59323335e-03 9.99850951e-01 1.25498941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24255784400003 meters Centerline goodness [0,1] 0.26614578824344215 Centerline is valid? [False, False] Translation: X:7.31, Y:0.38, Z:1.26 [[ 9.99844281e-01 -3.69863138e-03 -1.72549664e-02 7.30605790e+00] [ 3.66930796e-03 9.99991770e-01 -1.73076912e-03 3.84380417e-01] [ 1.72612259e-02 1.66718582e-03 9.99849624e-01 1.25510002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27255784400006 meters Centerline goodness [0,1] 0.25871183514942275 Centerline is valid? [False, False] Translation: X:7.31, Y:0.39, Z:1.25 [[ 9.99842600e-01 -3.73994301e-03 -1.73432346e-02 7.30637746e+00] [ 3.70802962e-03 9.99991373e-01 -1.87189814e-03 3.85234429e-01] [ 1.73500857e-02 1.80729428e-03 9.99847843e-01 1.25494025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30255784400003 meters Centerline goodness [0,1] 0.26518493018051936 Centerline is valid? [False, False] Translation: X:7.31, Y:0.39, Z:1.25 [[ 9.99840222e-01 -3.82499026e-03 -1.74613584e-02 7.30688079e+00] [ 3.78869892e-03 9.99990595e-01 -2.11098751e-03 3.86427044e-01] [ 1.74692687e-02 2.04449439e-03 9.99845310e-01 1.25457556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33255784400006 meters Centerline goodness [0,1] 0.25888027113341594 Centerline is valid? [False, False] Translation: X:7.31, Y:0.39, Z:1.25 [[ 9.99841065e-01 -4.00972868e-03 -1.73714644e-02 7.30663194e+00] [ 3.96368307e-03 9.99988542e-01 -2.68426596e-03 3.89248291e-01] [ 1.73820286e-02 2.61498435e-03 9.99845502e-01 1.25449553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36255784400004 meters Centerline goodness [0,1] 0.2695743333260533 Centerline is valid? [False, False] Translation: X:7.31, Y:0.39, Z:1.25 [[ 9.99842350e-01 -4.11455200e-03 -1.72726730e-02 7.30619966e+00] [ 4.06392670e-03 9.99987346e-01 -2.96502551e-03 3.90578390e-01] [ 1.72846542e-02 2.89436320e-03 9.99846420e-01 1.25472713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39255784400007 meters Centerline goodness [0,1] 0.2689007926138838 Centerline is valid? [False, False] Translation: X:7.31, Y:0.39, Z:1.25 [[ 9.99840463e-01 -4.32053103e-03 -1.73315130e-02 7.30626246e+00] [ 4.25936146e-03 9.99984575e-01 -3.56474620e-03 3.93653686e-01] [ 1.73466473e-02 3.49035631e-03 9.99843443e-01 1.25473867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42255784400004 meters Centerline goodness [0,1] 0.26806804637555537 Centerline is valid? [False, False] Translation: X:7.31, Y:0.40, Z:1.25 [[ 9.99838009e-01 -4.43775912e-03 -1.74431308e-02 7.30658438e+00] [ 4.37061599e-03 9.99982900e-01 -3.88549809e-03 3.95323618e-01] [ 1.74600755e-02 3.80863145e-03 9.99840307e-01 1.25463576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45255784400007 meters Centerline goodness [0,1] 0.25684169600622075 Centerline is valid? [False, False] Translation: X:7.31, Y:0.40, Z:1.25 [[ 9.99836007e-01 -4.59133249e-03 -1.75179513e-02 7.30691211e+00] [ 4.51721263e-03 9.99980688e-01 -4.26830617e-03 3.97199579e-01] [ 1.75372102e-02 4.18847389e-03 9.99837438e-01 1.25435253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48255784400004 meters Centerline goodness [0,1] 0.25964667088856375 Centerline is valid? [False, False] Translation: X:7.29, Y:0.39, Z:1.25 [[ 9.99833557e-01 3.39720155e-03 -1.79253529e-02 7.28781260e+00] [-3.49840521e-03 9.99978102e-01 -5.61750572e-03 3.93492407e-01] [ 1.79058766e-02 5.67928087e-03 9.99823547e-01 1.25258367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51255784400007 meters Centerline goodness [0,1] 0.2545741597819975 Centerline is valid? [False, False] Translation: X:7.31, Y:0.40, Z:1.25 [[ 9.99827424e-01 -2.13028959e-03 -1.84549211e-02 7.30941953e+00] [ 2.07898884e-03 9.99993923e-01 -2.79852695e-03 4.02151172e-01] [ 1.84607706e-02 2.75967641e-03 9.99825777e-01 1.25333036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54255784400004 meters Centerline goodness [0,1] 0.25620779669061333 Centerline is valid? [False, False] Translation: X:7.31, Y:0.40, Z:1.25 [[ 9.99829333e-01 -2.25235566e-03 -1.83366125e-02 7.30891285e+00] [ 2.19449923e-03 9.99992553e-01 -3.17475111e-03 4.04442598e-01] [ 1.83436266e-02 3.13396961e-03 9.99826830e-01 1.25360488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5725578440001 meters Centerline goodness [0,1] 0.2553540233355619 Centerline is valid? [False, False] Translation: X:7.31, Y:0.41, Z:1.25 [[ 9.99833840e-01 -2.35045993e-03 -1.80767192e-02 7.30790788e+00] [ 2.28797323e-03 9.99991339e-01 -3.47665457e-03 4.06257373e-01] [ 1.80847343e-02 3.43471784e-03 9.99830558e-01 1.25412649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60255784400005 meters Centerline goodness [0,1] 0.25930825111135203 Centerline is valid? [False, False] Translation: X:7.31, Y:0.41, Z:1.25 [[ 9.99838190e-01 -2.48428410e-03 -1.78163537e-02 7.30689211e+00] [ 2.41720639e-03 9.99989914e-01 -3.78549819e-03 4.07830853e-01] [ 1.78255782e-02 3.74181986e-03 9.99834110e-01 1.25472665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6325578440001 meters Centerline goodness [0,1] 0.25581345460786 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99888360e-01 3.24924015e-03 -1.45845855e-02 7.32834355e+00] [-3.35000209e-03 9.99970654e-01 -6.88969150e-03 4.12104166e-01] [ 1.45617712e-02 6.93778073e-03 9.99869903e-01 1.25391599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66255784400005 meters Centerline goodness [0,1] 0.2587352069405682 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99886422e-01 3.14689785e-03 -1.47390759e-02 7.32883172e+00] [-3.25180323e-03 9.99969515e-01 -7.09895133e-03 4.13091872e-01] [ 1.47162869e-02 7.14607362e-03 9.99866173e-01 1.25376776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6925578440001 meters Centerline goodness [0,1] 0.25755832881172 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99882565e-01 3.07398294e-03 -1.50135261e-02 7.32983346e+00] [-3.18313189e-03 9.99968641e-01 -7.25156373e-03 4.13793185e-01] [ 1.49907641e-02 7.29850218e-03 9.99860995e-01 1.25325150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72255784400005 meters Centerline goodness [0,1] 0.2590030694738662 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99877381e-01 2.99502271e-03 -1.53705189e-02 7.33109957e+00] [-3.10903880e-03 9.99967791e-01 -7.39931621e-03 4.14434370e-01] [ 1.53478627e-02 7.44619646e-03 9.99854488e-01 1.25263355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7525578440001 meters Centerline goodness [0,1] 0.25770308123249297 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99874382e-01 2.99543193e-03 -1.55642988e-02 7.33158889e+00] [-3.11018006e-03 9.99968126e-01 -7.35355356e-03 4.14133364e-01] [ 1.55417756e-02 7.40103759e-03 9.99851828e-01 1.25263695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78255784400005 meters Centerline goodness [0,1] 0.2547055514689974 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99874442e-01 3.02583678e-03 -1.55545913e-02 7.33139406e+00] [-3.13869053e-03 9.99968894e-01 -7.23604859e-03 4.13538477e-01] [ 1.55322124e-02 7.28396110e-03 9.99852836e-01 1.25295216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8125578440001 meters Centerline goodness [0,1] 0.2559169042066166 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99873832e-01 3.05813760e-03 -1.55874184e-02 7.33139011e+00] [-3.16913242e-03 9.99969765e-01 -7.10107604e-03 4.12754030e-01] [ 1.55652310e-02 7.14957871e-03 9.99853293e-01 1.25309231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84255784400005 meters Centerline goodness [0,1] 0.2582472221021229 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99873748e-01 3.10890548e-03 -1.55827591e-02 7.33127029e+00] [-3.21675723e-03 9.99971014e-01 -6.90094408e-03 4.11613456e-01] [ 1.55608530e-02 6.95019877e-03 9.99854767e-01 1.25327011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8725578440001 meters Centerline goodness [0,1] 0.2587930959523499 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99872900e-01 3.17690926e-03 -1.56234110e-02 7.33135184e+00] [-3.28123692e-03 9.99972461e-01 -6.65655581e-03 4.10276444e-01] [ 1.56018335e-02 6.70697388e-03 9.99855789e-01 1.25336367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90255784400006 meters Centerline goodness [0,1] 0.2531806615776081 Centerline is valid? [False, False] Translation: X:7.35, Y:0.41, Z:1.25 [[ 9.99875462e-01 -5.12431058e-03 -1.49265610e-02 7.35169277e+00] [ 5.04124367e-03 9.99971627e-01 -5.59736062e-03 4.12433051e-01] [ 1.49548201e-02 5.52141510e-03 9.99872926e-01 1.25407732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.9325578440001 meters Centerline goodness [0,1] 0.2603756338549261 Centerline is valid? [False, False] Translation: X:7.33, Y:0.41, Z:1.25 [[ 9.99894371e-01 2.61007863e-03 -1.42980781e-02 7.33279519e+00] [-2.70576683e-03 9.99974047e-01 -6.67713053e-03 4.05198481e-01] [ 1.42802792e-02 6.71511249e-03 9.99875483e-01 1.25171855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96255784400006 meters Centerline goodness [0,1] 0.25498495917490327 Centerline is valid? [False, False] Translation: X:7.35, Y:0.41, Z:1.25 [[ 9.99891722e-01 -5.10697688e-03 -1.38008341e-02 7.35214764e+00] [ 5.03210479e-03 9.99972463e-01 -5.45447661e-03 4.09569687e-01] [ 1.38283099e-02 5.38443877e-03 9.99889887e-01 1.25299164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99255784400003 meters Centerline goodness [0,1] 0.25634918916578253 Centerline is valid? [False, False] Translation: X:7.35, Y:0.41, Z:1.25 [[ 9.99891250e-01 -5.03372510e-03 -1.38618083e-02 7.35246196e+00] [ 4.96066492e-03 9.99973651e-01 -5.29995911e-03 4.08736089e-01] [ 1.38881216e-02 5.23061895e-03 9.99889874e-01 1.25273424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02255784400006 meters Centerline goodness [0,1] 0.2550404962950198 Centerline is valid? [False, False] Translation: X:7.35, Y:0.41, Z:1.25 [[ 9.99887759e-01 -4.92013059e-03 -1.41513766e-02 7.35332214e+00] [ 4.84817468e-03 9.99975168e-01 -5.11454819e-03 4.07716114e-01] [ 1.41761895e-02 5.04536579e-03 9.99886784e-01 1.25247073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05255784400003 meters Centerline goodness [0,1] 0.2523344331586552 Centerline is valid? [False, False] Translation: X:7.35, Y:0.41, Z:1.25 [[ 9.99885775e-01 -4.85125159e-03 -1.43144242e-02 7.35384472e+00] [ 4.78012471e-03 9.99976080e-01 -4.99893287e-03 4.07190847e-01] [ 1.43383329e-02 4.92993714e-03 9.99885047e-01 1.25227174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08255784400006 meters Centerline goodness [0,1] 0.2607640862001136 Centerline is valid? [False, False] Translation: X:7.33, Y:0.40, Z:1.25 [[ 9.99881054e-01 3.47637107e-03 -1.50264090e-02 7.33394323e+00] [-3.56240683e-03 9.99977394e-01 -5.70266695e-03 4.00228339e-01] [ 1.50062447e-02 5.75551882e-03 9.99870835e-01 1.25098648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11255784400004 meters Centerline goodness [0,1] 0.2594766127629977 Centerline is valid? [False, False] Translation: X:7.35, Y:0.40, Z:1.25 [[ 9.99898431e-01 -4.09489884e-03 -1.36513423e-02 7.35188499e+00] [ 4.04187668e-03 9.99984190e-01 -3.90935552e-03 4.03131465e-01] [ 1.36671348e-02 3.85378140e-03 9.99899174e-01 1.25286081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14255784400007 meters Centerline goodness [0,1] 0.25699816830082967 Centerline is valid? [False, False] Translation: X:7.35, Y:0.40, Z:1.25 [[ 9.99902674e-01 -3.96979858e-03 -1.33747548e-02 7.35080865e+00] [ 3.92141586e-03 9.99985680e-01 -3.64175140e-03 4.01974678e-01] [ 1.33890203e-02 3.58894899e-03 9.99903922e-01 1.25350028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17255784400004 meters Centerline goodness [0,1] 0.2573967703478921 Centerline is valid? [False, False] Translation: X:7.35, Y:0.40, Z:1.25 [[ 9.99904890e-01 -3.88846409e-03 -1.32321913e-02 7.35019881e+00] [ 3.84318348e-03 9.99986678e-01 -3.44571351e-03 4.00979906e-01] [ 1.32454135e-02 3.39453205e-03 9.99906514e-01 1.25393194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20255784400007 meters Centerline goodness [0,1] 0.2599338468903686 Centerline is valid? [False, False] Translation: X:7.35, Y:0.40, Z:1.25 [[ 9.99905579e-01 -3.84240418e-03 -1.31935028e-02 7.34993405e+00] [ 3.79897343e-03 9.99987288e-01 -3.31531436e-03 4.00179568e-01] [ 1.32060739e-02 3.26487956e-03 9.99907466e-01 1.25419647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23255784400004 meters Centerline goodness [0,1] 0.2526632949531906 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:1.26 [[ 9.99908513e-01 4.41558891e-03 -1.27854675e-02 7.37043436e+00] [-4.47194324e-03 9.99980398e-01 -4.38245689e-03 3.96423961e-01] [ 1.27658658e-02 4.43923183e-03 9.99908659e-01 1.25580000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26255784400007 meters Centerline goodness [0,1] 0.253449167888247 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:1.26 [[ 9.99908283e-01 4.46862196e-03 -1.27850224e-02 7.37050404e+00] [-4.52413301e-03 9.99980451e-01 -4.31625868e-03 3.96297896e-01] [ 1.27654847e-02 4.37370394e-03 9.99908952e-01 1.25565340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29255784400004 meters Centerline goodness [0,1] 0.25684319341847395 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:1.26 [[ 9.99908337e-01 4.52198860e-03 -1.27620575e-02 7.37051295e+00] [-4.57664345e-03 9.99980467e-01 -4.25665348e-03 3.96226655e-01] [ 1.27425597e-02 4.31467069e-03 9.99909501e-01 1.25554843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3225578440001 meters Centerline goodness [0,1] 0.26685185988975213 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:1.26 [[ 9.99908512e-01 4.44859303e-03 -1.27741272e-02 7.37070765e+00] [-4.50506380e-03 9.99980192e-01 -4.39534739e-03 3.96563125e-01] [ 1.27543211e-02 4.45249352e-03 9.99908747e-01 1.25524800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35255784400005 meters Centerline goodness [0,1] 0.26410063434039355 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:1.26 [[ 9.99898728e-01 -2.79972758e-03 -1.39533594e-02 7.39012542e+00] [ 2.75278585e-03 9.99990491e-01 -3.38226024e-03 4.02701894e-01] [ 1.39626961e-02 3.34350710e-03 9.99896927e-01 1.25700273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3825578440001 meters Centerline goodness [0,1] 0.2535474314664148 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:1.26 [[ 9.99895752e-01 -2.76447630e-03 -1.41718942e-02 7.39080505e+00] [ 2.71551885e-03 9.99990283e-01 -3.47262517e-03 4.03569915e-01] [ 1.41813565e-02 3.43377911e-03 9.99893543e-01 1.25671970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41255784400005 meters Centerline goodness [0,1] 0.2535474314664148 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:1.26 [[ 9.99895752e-01 -2.76447630e-03 -1.41718942e-02 7.39080505e+00] [ 2.71551885e-03 9.99990283e-01 -3.47262517e-03 4.03569915e-01] [ 1.41813565e-02 3.43377911e-03 9.99893543e-01 1.25671970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4425578440001 meters Centerline goodness [0,1] 0.2656446779867112 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:1.26 [[ 9.99883469e-01 5.61693910e-03 -1.41949967e-02 7.37068062e+00] [-5.67830496e-03 9.99974691e-01 -4.28646205e-03 3.99515467e-01] [ 1.41705606e-02 4.36656607e-03 9.99890058e-01 1.25556401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47255784400005 meters Centerline goodness [0,1] 0.2668419680111266 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:1.26 [[ 9.99898256e-01 6.02331271e-03 -1.29304474e-02 7.36708597e+00] [-6.08135359e-03 9.99971589e-01 -4.45408156e-03 4.02619777e-01] [ 1.29032517e-02 4.53226301e-03 9.99906478e-01 1.25629899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5025578440001 meters Centerline goodness [0,1] 0.26306721512717246 Centerline is valid? [False, False] Translation: X:7.38, Y:0.41, Z:1.26 [[ 9.99918469e-01 -9.33746954e-04 -1.27351146e-02 7.38456693e+00] [ 8.90966212e-04 9.99993943e-01 -3.36453413e-03 4.11870444e-01] [ 1.27381791e-02 3.35291326e-03 9.99913245e-01 1.25807457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53255784400005 meters Centerline goodness [0,1] 0.2641574585635359 Centerline is valid? [False, False] Translation: X:7.38, Y:0.42, Z:1.26 [[ 9.99919661e-01 -1.01365269e-03 -1.26350429e-02 7.38425303e+00] [ 9.64314493e-04 9.99991890e-01 -3.91035069e-03 4.15064892e-01] [ 1.26389042e-02 3.89785238e-03 9.99912529e-01 1.25800672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5625578440001 meters Centerline goodness [0,1] 0.2666564991938647 Centerline is valid? [False, False] Translation: X:7.38, Y:0.42, Z:1.26 [[ 9.99918444e-01 -1.11111658e-03 -1.27228495e-02 7.38450950e+00] [ 1.05360236e-03 9.99989201e-01 -4.52635628e-03 4.18685196e-01] [ 1.27277414e-02 4.51258230e-03 9.99908816e-01 1.25773032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59255784400005 meters Centerline goodness [0,1] 0.2540367843882221 Centerline is valid? [False, False] Translation: X:7.39, Y:0.43, Z:1.26 [[ 9.99904585e-01 9.95290384e-04 -1.37778566e-02 7.38857398e+00] [-1.04023508e-03 9.99994160e-01 -3.25531414e-03 4.25518559e-01] [ 1.37745362e-02 3.26933575e-03 9.99899782e-01 1.25591113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6225578440001 meters Centerline goodness [0,1] 0.25440649219605405 Centerline is valid? [False, False] Translation: X:7.39, Y:0.43, Z:1.26 [[ 9.99904938e-01 8.45716491e-04 -1.37622493e-02 7.38833453e+00] [-8.96627880e-04 9.99992777e-01 -3.69360135e-03 4.27930437e-01] [ 1.37590261e-02 3.70558985e-03 9.99898474e-01 1.25611979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65255784400006 meters Centerline goodness [0,1] 0.257514813373124 Centerline is valid? [False, False] Translation: X:7.39, Y:0.43, Z:1.26 [[ 9.99906533e-01 7.25369965e-04 -1.36527736e-02 7.38769886e+00] [-7.80140902e-04 9.99991668e-01 -4.00680954e-03 4.29634340e-01] [ 1.36497534e-02 4.01708613e-03 9.99898769e-01 1.25664131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6825578440001 meters Centerline goodness [0,1] 0.24734846871406058 Centerline is valid? [False, False] Translation: X:7.41, Y:0.44, Z:1.26 [[ 9.99896673e-01 -7.36627910e-03 -1.23442621e-02 7.40640675e+00] [ 7.32747793e-03 9.99968080e-01 -3.18554132e-03 4.38352898e-01] [ 1.23673337e-02 3.09475986e-03 9.99918732e-01 1.25837862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.71255784400006 meters Centerline goodness [0,1] 0.2634319526627219 Centerline is valid? [False, False] Translation: X:7.39, Y:0.43, Z:1.26 [[ 9.99923531e-01 3.40097374e-04 -1.23618783e-02 7.38746319e+00] [-3.96317640e-04 9.99989590e-01 -4.54570891e-03 4.32630810e-01] [ 1.23602036e-02 4.55026053e-03 9.99913256e-01 1.25672887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74255784400003 meters Centerline goodness [0,1] 0.25554022592049663 Centerline is valid? [False, False] Translation: X:7.39, Y:0.43, Z:1.26 [[ 9.99922729e-01 2.33100477e-04 -1.24290712e-02 7.38784175e+00] [-2.91997903e-04 9.99988737e-01 -4.73707867e-03 4.33324720e-01] [ 1.24278270e-02 4.74034190e-03 9.99911535e-01 1.25638675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77255784400006 meters Centerline goodness [0,1] 0.2649676287811532 Centerline is valid? [False, False] Translation: X:7.39, Y:0.43, Z:1.26 [[ 9.99921106e-01 1.56344602e-04 -1.25601101e-02 7.38826191e+00] [-2.18174419e-04 9.99987866e-01 -4.92149360e-03 4.34292105e-01] [ 1.25591882e-02 4.92384562e-03 9.99909007e-01 1.25623773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80255784400003 meters Centerline goodness [0,1] 0.26698375466944657 Centerline is valid? [False, False] Translation: X:7.39, Y:0.44, Z:1.26 [[ 9.99919692e-01 7.63108270e-05 -1.26729802e-02 7.38850507e+00] [-1.42784184e-04 9.99986238e-01 -5.24446021e-03 4.36299835e-01] [ 1.26724056e-02 5.24584854e-03 9.99905941e-01 1.25621946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83255784400006 meters Centerline goodness [0,1] 0.25693528508724517 Centerline is valid? [False, False] Translation: X:7.39, Y:0.44, Z:1.26 [[ 9.99918622e-01 1.76398611e-05 -1.27572990e-02 7.38871963e+00] [-8.66943451e-05 9.99985349e-01 -5.41240646e-03 4.37071982e-01] [ 1.27570166e-02 5.41307199e-03 9.99903974e-01 1.25619634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86255784400004 meters Centerline goodness [0,1] 0.25053464499572287 Centerline is valid? [False, False] Translation: X:7.41, Y:0.44, Z:1.26 [[ 9.99885433e-01 -7.79878064e-03 -1.29730182e-02 7.40779546e+00] [ 7.73929110e-03 9.99959335e-01 -4.62953631e-03 4.43906025e-01] [ 1.30085953e-02 4.52860396e-03 9.99905130e-01 1.25762691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89255784400007 meters Centerline goodness [0,1] 0.2584784402275392 Centerline is valid? [False, False] Translation: X:7.39, Y:0.44, Z:1.26 [[ 9.99908905e-01 4.47244217e-04 -1.34900612e-02 7.38780469e+00] [-5.23907565e-04 9.99983732e-01 -5.67995186e-03 4.38730322e-01] [ 1.34873014e-02 5.68650199e-03 9.99892872e-01 1.25654529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92255784400004 meters Centerline goodness [0,1] 0.2562890684555572 Centerline is valid? [False, False] Translation: X:7.39, Y:0.44, Z:1.26 [[ 9.99909783e-01 3.99535053e-04 -1.34263332e-02 7.38770471e+00] [-4.77677173e-04 9.99982965e-01 -5.81736138e-03 4.39488985e-01] [ 1.34237802e-02 5.82325001e-03 9.99892940e-01 1.25644442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95255784400007 meters Centerline goodness [0,1] 0.2555836084676636 Centerline is valid? [False, False] Translation: X:7.41, Y:0.45, Z:1.26 [[ 9.99884715e-01 -7.83965592e-03 -1.30036950e-02 7.40767360e+00] [ 7.77631661e-03 9.99957688e-01 -4.91430231e-03 4.45856744e-01] [ 1.30416713e-02 4.81261491e-03 9.99903372e-01 1.25748140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98255784400004 meters Centerline goodness [0,1] 0.25526521060842433 Centerline is valid? [False, False] Translation: X:7.41, Y:0.45, Z:1.26 [[ 9.99883868e-01 -7.81745043e-03 -1.30819644e-02 7.40789084e+00] [ 7.75573702e-03 9.99958587e-01 -4.76154455e-03 4.45068721e-01] [ 1.31186457e-02 4.65953130e-03 9.99903090e-01 1.25753750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01255784400007 meters Centerline goodness [0,1] 0.25725645259407315 Centerline is valid? [False, False] Translation: X:7.41, Y:0.44, Z:1.26 [[ 9.99881493e-01 -7.80103324e-03 -1.32719395e-02 7.40833492e+00] [ 7.74080794e-03 9.99959537e-01 -4.58312739e-03 4.44007388e-01] [ 1.33071556e-02 4.47984872e-03 9.99901420e-01 1.25761294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04255784400004 meters Centerline goodness [0,1] 0.25613480323146565 Centerline is valid? [False, False] Translation: X:7.41, Y:0.44, Z:1.26 [[ 9.99877717e-01 -7.78752383e-03 -1.35611646e-02 7.40916965e+00] [ 7.72902435e-03 9.99960622e-01 -4.36083129e-03 4.42648279e-01] [ 1.35945907e-02 4.25548347e-03 9.99898534e-01 1.25747163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0725578440001 meters Centerline goodness [0,1] 0.2555404207476595 Centerline is valid? [False, False] Translation: X:7.41, Y:0.44, Z:1.26 [[ 9.99874790e-01 -8.03192857e-03 -1.36342668e-02 7.40925671e+00] [ 7.97816038e-03 9.99960200e-01 -3.99342808e-03 4.39689489e-01] [ 1.36657991e-02 3.88415169e-03 9.99899075e-01 1.25782087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10255784400005 meters Centerline goodness [0,1] 0.25739330425915075 Centerline is valid? [False, False] Translation: X:7.41, Y:0.44, Z:1.26 [[ 9.99875893e-01 -7.92078535e-03 -1.36183430e-02 7.40893533e+00] [ 7.87274885e-03 9.99962611e-01 -3.57733746e-03 4.37652791e-01] [ 1.36461691e-02 3.46967970e-03 9.99900867e-01 1.25840100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1325578440001 meters Centerline goodness [0,1] 0.25674767489756545 Centerline is valid? [False, False] Translation: X:7.41, Y:0.44, Z:1.26 [[ 9.99877041e-01 -7.77179922e-03 -1.36199406e-02 7.40871872e+00] [ 7.72984437e-03 9.99965225e-01 -3.13033997e-03 4.35576729e-01] [ 1.36437954e-02 3.02467505e-03 9.99902344e-01 1.25883784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16255784400005 meters Centerline goodness [0,1] 0.2649795068635743 Centerline is valid? [False, False] Translation: X:7.41, Y:0.43, Z:1.26 [[ 9.99869188e-01 -7.89567013e-03 -1.41161317e-02 7.41020715e+00] [ 7.85900079e-03 9.99965603e-01 -2.65127928e-03 4.31813584e-01] [ 1.41365798e-02 2.53999377e-03 9.99896847e-01 1.25858075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1925578440001 meters Centerline goodness [0,1] 0.25498396463552053 Centerline is valid? [False, False] Translation: X:7.41, Y:0.43, Z:1.26 [[ 9.99866544e-01 -7.79967224e-03 -1.43547799e-02 7.41098493e+00] [ 7.76862817e-03 9.99967366e-01 -2.21712268e-03 4.29363833e-01] [ 1.43716043e-02 2.10530984e-03 9.99894507e-01 1.25833718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22255784400005 meters Centerline goodness [0,1] 0.2528829604130809 Centerline is valid? [False, False] Translation: X:7.43, Y:0.42, Z:1.26 [[ 9.99889915e-01 -2.23079886e-04 -1.48360093e-02 7.42954149e+00] [ 1.80046703e-04 9.99995773e-01 -2.90186260e-03 4.22675008e-01] [ 1.48365940e-02 2.89887197e-03 9.99885729e-01 1.26068743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2525578440001 meters Centerline goodness [0,1] 0.26668274818534676 Centerline is valid? [False, False] Translation: X:7.38, Y:0.42, Z:1.26 [[ 9.99862890e-01 -7.97707776e-04 -1.65397886e-02 7.38195450e+00] [ 7.55785924e-04 9.99996487e-01 -2.54070206e-03 4.16110832e-01] [ 1.65417573e-02 2.52785317e-03 9.99859980e-01 1.26218651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28255784400005 meters Centerline goodness [0,1] 0.25365727355111556 Centerline is valid? [False, False] Translation: X:7.42, Y:0.41, Z:1.26 [[ 9.99901549e-01 -1.30486698e-03 -1.39710520e-02 7.42446163e+00] [ 1.26802760e-03 9.99995697e-01 -2.64537032e-03 4.14520257e-01] [ 1.39744437e-02 2.62739420e-03 9.99898901e-01 1.26308518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3125578440001 meters Centerline goodness [0,1] 0.2653008354741909 Centerline is valid? [False, False] Translation: X:7.42, Y:0.41, Z:1.26 [[ 9.99891346e-01 -5.06334665e-03 -1.38440893e-02 7.42412726e+00] [ 4.98387120e-03 9.99970938e-01 -5.76923640e-03 4.09843386e-01] [ 1.38728986e-02 5.69961239e-03 9.99887522e-01 1.26320914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34255784400005 meters Centerline goodness [0,1] 0.2669550473871837 Centerline is valid? [False, False] Translation: X:7.42, Y:0.41, Z:1.26 [[ 9.99889098e-01 -4.85836177e-03 -1.40779498e-02 7.42483136e+00] [ 4.78451708e-03 9.99974644e-01 -5.27435590e-03 4.07389744e-01] [ 1.41032176e-02 5.20641477e-03 9.99886990e-01 1.26304301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3725578440001 meters Centerline goodness [0,1] 0.2646892778043167 Centerline is valid? [False, False] Translation: X:7.43, Y:0.40, Z:1.26 [[ 9.99888163e-01 -4.36235335e-03 -1.43049514e-02 7.42584750e+00] [ 4.29785249e-03 9.99980474e-01 -4.53663493e-03 4.04695256e-01] [ 1.43244625e-02 4.47464699e-03 9.99887387e-01 1.26226553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40255784400006 meters Centerline goodness [0,1] 0.2650317656497322 Centerline is valid? [False, False] Translation: X:7.43, Y:0.40, Z:1.26 [[ 9.99890840e-01 -4.19221688e-03 -1.41680210e-02 7.42547467e+00] [ 4.13197666e-03 9.99982311e-01 -4.27844596e-03 4.03634785e-01] [ 1.41857065e-02 4.21943700e-03 9.99890475e-01 1.26232466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.4325578440001 meters Centerline goodness [0,1] 0.26602598867605265 Centerline is valid? [False, False] Translation: X:7.42, Y:0.40, Z:1.26 [[ 9.99894718e-01 -4.07307747e-03 -1.39270764e-02 7.42477203e+00] [ 4.01695952e-03 9.99983710e-01 -4.05501582e-03 4.02530363e-01] [ 1.39433660e-02 3.99864440e-03 9.99894791e-01 1.26251229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46255784400006 meters Centerline goodness [0,1] 0.2649700274838235 Centerline is valid? [False, False] Translation: X:7.42, Y:0.40, Z:1.26 [[ 9.99897518e-01 -3.95128277e-03 -1.37601091e-02 7.42416058e+00] [ 3.89956040e-03 9.99985239e-01 -3.78366716e-03 4.01129747e-01] [ 1.37748563e-02 3.72962103e-03 9.99898166e-01 1.26282846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49255784400003 meters Centerline goodness [0,1] 0.2640836700736867 Centerline is valid? [False, False] Translation: X:7.42, Y:0.40, Z:1.26 [[ 9.99902955e-01 -3.68915036e-03 -1.34339481e-02 7.42307578e+00] [ 3.64719339e-03 9.99988399e-01 -3.14636515e-03 3.97865442e-01] [ 1.34453997e-02 3.09706360e-03 9.99904810e-01 1.26329996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52255784400006 meters Centerline goodness [0,1] 0.26710989440750876 Centerline is valid? [False, False] Translation: X:7.42, Y:0.40, Z:1.26 [[ 9.99904942e-01 -3.51833495e-03 -1.33315039e-02 7.42259226e+00] [ 3.48244209e-03 9.99990252e-01 -2.71459276e-03 3.95620898e-01] [ 1.33409248e-02 2.66790853e-03 9.99907447e-01 1.26371586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55255784400003 meters Centerline goodness [0,1] 0.2586755602057721 Centerline is valid? [False, False] Translation: X:7.42, Y:0.39, Z:1.26 [[ 9.99905327e-01 -3.38099343e-03 -1.33381318e-02 7.42259805e+00] [ 3.35016048e-03 9.99991666e-01 -2.33330562e-03 3.93543711e-01] [ 1.33459095e-02 2.28839984e-03 9.99908321e-01 1.26375568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58255784400006 meters Centerline goodness [0,1] 0.254858495641881 Centerline is valid? [False, False] Translation: X:7.44, Y:0.39, Z:1.27 [[ 9.99902949e-01 4.73804377e-03 -1.31012675e-02 7.44286527e+00] [-4.78133873e-03 9.99983205e-01 -3.27529367e-03 3.87831261e-01] [ 1.30855290e-02 3.33761739e-03 9.99908810e-01 1.26515347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61255784400004 meters Centerline goodness [0,1] 0.2658523908523909 Centerline is valid? [False, False] Translation: X:7.44, Y:0.39, Z:1.26 [[ 9.99902401e-01 4.90009365e-03 -1.30834660e-02 7.44295680e+00] [-4.93820862e-03 9.99983653e-01 -2.88250193e-03 3.85822051e-01] [ 1.30691276e-02 2.94682949e-03 9.99910253e-01 1.26494301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64255784400007 meters Centerline goodness [0,1] 0.2654045867589788 Centerline is valid? [False, False] Translation: X:7.44, Y:0.38, Z:1.26 [[ 9.99901929e-01 5.18132320e-03 -1.30109945e-02 7.44306879e+00] [-5.20991724e-03 9.99984085e-01 -2.16474994e-03 3.82015087e-01] [ 1.29995711e-02 2.23232385e-03 9.99913010e-01 1.26455282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67255784400004 meters Centerline goodness [0,1] 0.2663059943735122 Centerline is valid? [False, False] Translation: X:7.44, Y:0.38, Z:1.26 [[ 9.99900592e-01 5.28571912e-03 -1.30716570e-02 7.44333350e+00] [-5.31087008e-03 9.99984111e-01 -1.89011993e-03 3.80471394e-01] [ 1.30614587e-02 1.95935390e-03 9.99912776e-01 1.26437615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70255784400007 meters Centerline goodness [0,1] 0.2616623711340206 Centerline is valid? [False, False] Translation: X:7.46, Y:0.38, Z:1.27 [[ 9.99904794e-01 -1.83827104e-03 -1.36756607e-02 7.46223893e+00] [ 1.83218168e-03 9.99998217e-01 -4.57784841e-04 3.84431982e-01] [ 1.36764778e-02 4.32684963e-04 9.99906379e-01 1.26592793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73255784400004 meters Centerline goodness [0,1] 0.2635398496888257 Centerline is valid? [False, False] Translation: X:7.46, Y:0.38, Z:1.27 [[ 9.99902593e-01 -1.70221368e-03 -1.38530783e-02 7.46300916e+00] [ 1.69919425e-03 9.99998530e-01 -2.29728186e-04 3.83474285e-01] [ 1.38534490e-02 2.06166738e-04 9.99904015e-01 1.26538078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76255784400007 meters Centerline goodness [0,1] 0.26391355190783494 Centerline is valid? [False, False] Translation: X:7.46, Y:0.38, Z:1.26 [[ 9.99899544e-01 -1.56716330e-03 -1.40870626e-02 7.46385888e+00] [ 1.56776839e-03 9.99998771e-01 3.19107977e-05 3.82295637e-01] [ 1.40869953e-02 -5.39928437e-05 9.99900772e-01 1.26494353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79255784400004 meters Centerline goodness [0,1] 0.2528123658222413 Centerline is valid? [False, False] Translation: X:7.46, Y:0.38, Z:1.26 [[ 9.99896332e-01 -1.36325850e-03 -1.43341160e-02 7.46474071e+00] [ 1.36942177e-03 9.99998974e-01 4.20165920e-04 3.80399109e-01] [ 1.43335285e-02 -4.39751812e-04 9.99897173e-01 1.26454629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8225578440001 meters Centerline goodness [0,1] 0.26307795786413246 Centerline is valid? [False, False] Translation: X:7.46, Y:0.38, Z:1.26 [[ 9.99896910e-01 -1.29509140e-03 -1.43000716e-02 7.46457979e+00] [ 1.30379662e-03 9.99998970e-01 5.99447577e-04 3.79448942e-01] [ 1.42992805e-02 -6.18030165e-04 9.99897569e-01 1.26467215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85255784400005 meters Centerline goodness [0,1] 0.2632317692025308 Centerline is valid? [False, False] Translation: X:7.46, Y:0.38, Z:1.26 [[ 9.99898193e-01 -1.22104631e-03 -1.42166286e-02 7.46430719e+00] [ 1.23253088e-03 9.99998921e-01 7.99092892e-04 3.78382093e-01] [ 1.42156375e-02 -8.16533973e-04 9.99898619e-01 1.26479204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8825578440001 meters Centerline goodness [0,1] 0.26538645556957075 Centerline is valid? [False, False] Translation: X:7.46, Y:0.37, Z:1.27 [[ 9.99904289e-01 -1.03842459e-03 -1.37961770e-02 7.46315301e+00] [ 1.05889057e-03 9.99998350e-01 1.47623091e-03 3.74979920e-01] [ 1.37946213e-02 -1.49069826e-03 9.99903738e-01 1.26514819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.91255784400005 meters Centerline goodness [0,1] 0.26405039804966457 Centerline is valid? [False, False] Translation: X:7.46, Y:0.37, Z:1.27 [[ 9.99906090e-01 -9.23898117e-04 -1.36732266e-02 7.46263806e+00] [ 9.51095320e-04 9.99997582e-01 1.98271561e-03 3.72348587e-01] [ 1.36713617e-02 -1.99553395e-03 9.99904551e-01 1.26559493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9425578440001 meters Centerline goodness [0,1] 0.26740309824171515 Centerline is valid? [False, False] Translation: X:7.46, Y:0.37, Z:1.27 [[ 9.99908093e-01 -7.94779254e-04 -1.35341574e-02 7.46217156e+00] [ 8.29470594e-04 9.99996385e-01 2.55782305e-03 3.69304086e-01] [ 1.35320756e-02 -2.56881415e-03 9.99905138e-01 1.26592033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97255784400005 meters Centerline goodness [0,1] 0.25514287568409444 Centerline is valid? [False, False] Translation: X:7.46, Y:0.36, Z:1.27 [[ 9.99897380e-01 -4.39587590e-03 -1.36346949e-02 7.46283408e+00] [ 4.39245640e-03 9.99990314e-01 -2.80730499e-04 3.64169408e-01] [ 1.36357969e-02 2.20811887e-04 9.99907004e-01 1.26553700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0025578440001 meters Centerline goodness [0,1] 0.25535191410909874 Centerline is valid? [False, False] Translation: X:7.46, Y:0.36, Z:1.27 [[ 9.99892692e-01 -4.30984039e-03 -1.40010969e-02 7.46395333e+00] [ 4.31451593e-03 9.99990646e-01 3.03752560e-04 3.60518849e-01] [ 1.39996568e-02 -3.64127921e-04 9.99901934e-01 1.26531215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03255784400005 meters Centerline goodness [0,1] 0.25655503634475596 Centerline is valid? [False, False] Translation: X:7.46, Y:0.36, Z:1.27 [[ 9.99889083e-01 -4.14048858e-03 -1.43065543e-02 7.46477627e+00] [ 4.15429521e-03 9.99990933e-01 9.35472309e-04 3.56974450e-01] [ 1.43025513e-02 -9.94802200e-04 9.99897218e-01 1.26530435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0625578440001 meters Centerline goodness [0,1] 0.26577333537024506 Centerline is valid? [False, False] Translation: X:7.46, Y:0.35, Z:1.27 [[ 9.99889565e-01 -3.92303563e-03 -1.43341274e-02 7.46483029e+00] [ 3.94460117e-03 9.99991130e-01 1.47652642e-03 3.54416949e-01] [ 1.43282078e-02 -1.53290577e-03 9.99896171e-01 1.26540326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.09255784400005 meters Centerline goodness [0,1] 0.2676228524024712 Centerline is valid? [False, False] Translation: X:7.46, Y:0.35, Z:1.27 [[ 9.99897319e-01 -3.59343266e-03 -1.38722542e-02 7.46357184e+00] [ 3.62093309e-03 9.99991528e-01 1.95779799e-03 3.52643670e-01] [ 1.38651014e-02 -2.00782746e-03 9.99901859e-01 1.26566671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1225578440001 meters Centerline goodness [0,1] 0.2515505955574633 Centerline is valid? [False, False] Translation: X:7.48, Y:0.35, Z:1.27 [[ 9.99903472e-01 4.89918794e-03 -1.30017044e-02 7.48392896e+00] [-4.89106978e-03 9.99987823e-01 6.56115794e-04 3.50619520e-01] [ 1.30047605e-02 -5.92460217e-04 9.99915259e-01 1.26679489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15255784400006 meters Centerline goodness [0,1] 0.2638684869955932 Centerline is valid? [False, False] Translation: X:7.48, Y:0.35, Z:1.27 [[ 9.99902864e-01 4.88967336e-03 -1.30519943e-02 7.48428852e+00] [-4.88447900e-03 9.99987978e-01 4.29822291e-04 3.51803183e-01] [ 1.30539391e-02 -3.66028348e-04 9.99914727e-01 1.26632359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1825578440001 meters Centerline goodness [0,1] 0.2529777930945355 Centerline is valid? [False, False] Translation: X:7.49, Y:0.35, Z:1.27 [[ 9.99900731e-01 4.93796520e-03 -1.31963703e-02 7.48501806e+00] [-4.93585658e-03 9.99987800e-01 1.92352598e-04 3.53283565e-01] [ 1.31971592e-02 -1.27198112e-04 9.99912906e-01 1.26560326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21255784400006 meters Centerline goodness [0,1] 0.2646433530024297 Centerline is valid? [False, False] Translation: X:7.49, Y:0.36, Z:1.26 [[ 9.99898776e-01 5.23694581e-03 -1.32291988e-02 7.48567369e+00] [-5.23899376e-03 9.99986269e-01 -1.20154774e-04 3.55991177e-01] [ 1.32283879e-02 1.89450301e-04 9.99912483e-01 1.26445308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24255784400003 meters Centerline goodness [0,1] 0.26491750538008396 Centerline is valid? [False, False] Translation: X:7.49, Y:0.36, Z:1.26 [[ 9.99899798e-01 5.09952049e-03 -1.32056049e-02 7.48578031e+00] [-5.10646538e-03 9.99986841e-01 -4.92239707e-04 3.57671566e-01] [ 1.32029209e-02 5.59624348e-04 9.99912681e-01 1.26410553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27255784400006 meters Centerline goodness [0,1] 0.26369810661483695 Centerline is valid? [False, False] Translation: X:7.49, Y:0.36, Z:1.26 [[ 9.99900255e-01 4.99548254e-03 -1.32108344e-02 7.48578458e+00] [-5.00605819e-03 9.99987175e-01 -7.67580695e-04 3.58952556e-01] [ 1.32068305e-02 8.33638338e-04 9.99912439e-01 1.26402474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30255784400003 meters Centerline goodness [0,1] 0.26369810661483695 Centerline is valid? [False, False] Translation: X:7.49, Y:0.36, Z:1.26 [[ 9.99900255e-01 4.99548254e-03 -1.32108344e-02 7.48578458e+00] [-5.00605819e-03 9.99987175e-01 -7.67580695e-04 3.58952556e-01] [ 1.32068305e-02 8.33638338e-04 9.99912439e-01 1.26402474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33255784400006 meters Centerline goodness [0,1] 0.2616348384020116 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99903960e-01 -1.97574822e-03 -1.37173723e-02 7.50332530e+00] [ 1.98279193e-03 9.99997909e-01 4.99906861e-04 3.66194518e-01] [ 1.37163559e-02 -5.27057545e-04 9.99905787e-01 1.26647674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36255784400004 meters Centerline goodness [0,1] 0.26355666197640437 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99907081e-01 -1.98100011e-03 -1.34871839e-02 7.50271213e+00] [ 1.98635966e-03 9.99997953e-01 3.83996321e-04 3.67231885e-01] [ 1.34863956e-02 -4.10751038e-04 9.99908970e-01 1.26652225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39255784400007 meters Centerline goodness [0,1] 0.26120206807410595 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99911674e-01 -2.08050111e-03 -1.31269392e-02 7.50181165e+00] [ 2.08403824e-03 9.99997796e-01 2.55782521e-04 3.68071858e-01] [ 1.31263781e-02 -2.83116972e-04 9.99913805e-01 1.26655090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42255784400004 meters Centerline goodness [0,1] 0.2589830944269461 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99911092e-01 -2.17276558e-03 -1.31562424e-02 7.50192778e+00] [ 2.17568711e-03 9.99997612e-01 2.07755698e-04 3.67940421e-01] [ 1.31557596e-02 -2.36361094e-04 9.99913431e-01 1.26654237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45255784400007 meters Centerline goodness [0,1] 0.2539634606673713 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99909986e-01 -2.25863686e-03 -1.32256811e-02 7.50210938e+00] [ 2.26076652e-03 9.99997434e-01 1.46076402e-04 3.67865710e-01] [ 1.32253172e-02 -1.75963430e-04 9.99912526e-01 1.26653739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48255784400004 meters Centerline goodness [0,1] 0.26406842048284074 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99911983e-01 -2.36344866e-03 -1.30552875e-02 7.50172734e+00] [ 2.36486223e-03 9.99997199e-01 9.28390142e-05 3.68087678e-01] [ 1.30550315e-02 -1.23704799e-04 9.99914772e-01 1.26650515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51255784400007 meters Centerline goodness [0,1] 0.2500753952867175 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99911212e-01 -2.33844890e-03 -1.31186539e-02 7.50170511e+00] [ 2.34057027e-03 9.99997250e-01 1.46355470e-04 3.68106255e-01] [ 1.31182756e-02 -1.77047607e-04 9.99913936e-01 1.26679432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54255784400004 meters Centerline goodness [0,1] 0.24914793563139048 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99909983e-01 -2.30221068e-03 -1.32183893e-02 7.50198231e+00] [ 2.30574929e-03 9.99997310e-01 2.52469530e-04 3.67732788e-01] [ 1.32177725e-02 -2.82925095e-04 9.99912601e-01 1.26674631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5725578440001 meters Centerline goodness [0,1] 0.25412999176169626 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99907712e-01 -2.26280200e-03 -1.33958141e-02 7.50246760e+00] [ 2.26856557e-03 9.99997341e-01 4.15072406e-04 3.66965900e-01] [ 1.33948392e-02 -4.45423382e-04 9.99910186e-01 1.26668550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60255784400005 meters Centerline goodness [0,1] 0.24953236868697726 Centerline is valid? [False, False] Translation: X:7.50, Y:0.37, Z:1.27 [[ 9.99906444e-01 -2.21682848e-03 -1.34977475e-02 7.50272922e+00] [ 2.22607414e-03 9.99997298e-01 6.69992291e-04 3.65503283e-01] [ 1.34962257e-02 -6.99976596e-04 9.99908677e-01 1.26672146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6325578440001 meters Centerline goodness [0,1] 0.25504229017566693 Centerline is valid? [False, False] Translation: X:7.50, Y:0.36, Z:1.27 [[ 9.99909383e-01 -2.52836158e-03 -1.32224304e-02 7.50197297e+00] [ 2.54237551e-03 9.99996224e-01 1.04315937e-03 3.61573390e-01] [ 1.32197429e-02 -1.07668122e-03 9.99912036e-01 1.26704360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66255784400005 meters Centerline goodness [0,1] 0.266390041493776 Centerline is valid? [False, False] Translation: X:7.50, Y:0.36, Z:1.27 [[ 9.99907051e-01 -2.43513809e-03 -1.34149275e-02 7.50240360e+00] [ 2.45578177e-03 9.99995825e-01 1.52260114e-03 3.58852618e-01] [ 1.34111637e-02 -1.55540375e-03 9.99908857e-01 1.26714521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6925578440001 meters Centerline goodness [0,1] 0.2643031731954749 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:1.27 [[ 9.99902752e-01 3.51208945e-03 -1.34963473e-02 7.52470737e+00] [-3.53207495e-03 9.99992700e-01 -1.45725764e-03 3.54994379e-01] [ 1.34911308e-02 1.50478604e-03 9.99907858e-01 1.26742169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72255784400005 meters Centerline goodness [0,1] 0.26506364922206505 Centerline is valid? [False, False] Translation: X:7.53, Y:0.35, Z:1.27 [[ 9.99893470e-01 3.48673647e-03 -1.41735802e-02 7.52694033e+00] [-3.49885238e-03 9.99993534e-01 -8.30116362e-04 3.49776760e-01] [ 1.41705942e-02 8.79619195e-04 9.99899205e-01 1.26664292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7525578440001 meters Centerline goodness [0,1] 0.2651308082780164 Centerline is valid? [False, False] Translation: X:7.53, Y:0.35, Z:1.27 [[ 9.99890522e-01 3.60272032e-03 -1.43514595e-02 7.52758518e+00] [-3.60896465e-03 9.99993404e-01 -4.09225706e-04 3.47387758e-01] [ 1.43498905e-02 4.60974814e-04 9.99896929e-01 1.26633926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78255784400005 meters Centerline goodness [0,1] 0.2626803767389614 Centerline is valid? [False, False] Translation: X:7.53, Y:0.35, Z:1.27 [[ 9.99889970e-01 3.74641822e-03 -1.43531521e-02 7.52771997e+00] [-3.74732020e-03 9.99992978e-01 -3.59482765e-05 3.45587190e-01] [ 1.43529166e-02 8.97301779e-05 9.99896988e-01 1.26614148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8125578440001 meters Centerline goodness [0,1] 0.26636755673650736 Centerline is valid? [False, False] Translation: X:7.53, Y:0.34, Z:1.27 [[ 9.99895598e-01 4.14865195e-03 -1.38412784e-02 7.52619643e+00] [-4.13934333e-03 9.99991187e-01 7.01106842e-04 3.42642253e-01] [ 1.38440651e-02 -6.43739842e-04 9.99903959e-01 1.26661113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84255784400005 meters Centerline goodness [0,1] 0.26489287580560883 Centerline is valid? [False, False] Translation: X:7.53, Y:0.34, Z:1.27 [[ 9.99896928e-01 4.20931015e-03 -1.37264472e-02 7.52565044e+00] [-4.19748952e-03 9.99990795e-01 8.89853689e-04 3.41407467e-01] [ 1.37300666e-02 -8.32145352e-04 9.99905392e-01 1.26704219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8725578440001 meters Centerline goodness [0,1] 0.26635350666375357 Centerline is valid? [False, False] Translation: X:7.53, Y:0.34, Z:1.27 [[ 9.99897405e-01 4.16378103e-03 -1.37055318e-02 7.52554844e+00] [-4.15229438e-03 9.99991004e-01 8.66452873e-04 3.40984227e-01] [ 1.37090163e-02 -8.09454576e-04 9.99905699e-01 1.26711070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90255784400006 meters Centerline goodness [0,1] 0.2642584320580048 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.27 [[ 9.99897846e-01 -3.33405418e-03 -1.38989617e-02 7.54499473e+00] [ 3.35645822e-03 9.99993105e-01 1.58890687e-03 3.46055427e-01] [ 1.38935683e-02 -1.63539584e-03 9.99902142e-01 1.26822983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.9325578440001 meters Centerline goodness [0,1] 0.26804732433791856 Centerline is valid? [False, False] Translation: X:7.52, Y:0.34, Z:1.27 [[ 9.99885439e-01 4.63260839e-03 -1.44099682e-02 7.52443366e+00] [-4.62504623e-03 9.99989149e-01 5.58067354e-04 3.41218738e-01] [ 1.44123972e-02 -4.91356653e-04 9.99896015e-01 1.26686322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96255784400006 meters Centerline goodness [0,1] 0.26430830553268925 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.27 [[ 9.99927655e-01 -2.25862526e-03 -1.18145599e-02 7.54167119e+00] [ 2.28393246e-03 9.99995126e-01 2.12898194e-03 3.48174841e-01] [ 1.18096937e-02 -2.15581157e-03 9.99927939e-01 1.26800769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99255784400003 meters Centerline goodness [0,1] 0.26477071357565807 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.27 [[ 9.99930663e-01 -2.32014198e-03 -1.15449485e-02 7.54089681e+00] [ 2.34343434e-03 9.99995245e-01 2.00441818e-03 3.48643154e-01] [ 1.15402431e-02 -2.03133402e-03 9.99931346e-01 1.26813701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02255784400006 meters Centerline goodness [0,1] 0.2638669294578848 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.27 [[ 9.99932127e-01 -2.39167186e-03 -1.14026796e-02 7.54050866e+00] [ 2.41326304e-03 9.99995321e-01 1.88013557e-03 3.49038020e-01] [ 1.13981295e-02 -1.90752562e-03 9.99933220e-01 1.26815345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05255784400003 meters Centerline goodness [0,1] 0.2648558710402351 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.27 [[ 9.99931503e-01 -2.45406391e-03 -1.14440350e-02 7.54076969e+00] [ 2.47407056e-03 9.99995435e-01 1.73438721e-03 3.49694487e-01] [ 1.14397264e-02 -1.76258176e-03 9.99933011e-01 1.26785874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08255784400006 meters Centerline goodness [0,1] 0.2542647376376592 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.27 [[ 9.99929289e-01 -2.48935332e-03 -1.16284387e-02 7.54145667e+00] [ 2.50803963e-03 9.99995587e-01 1.59264351e-03 3.50589303e-01] [ 1.16244227e-02 -1.62169548e-03 9.99931119e-01 1.26743607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11255784400004 meters Centerline goodness [0,1] 0.2512201939409576 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.27 [[ 9.99924464e-01 -2.54353318e-03 -1.20248598e-02 7.54294073e+00] [ 2.56027286e-03 9.99995775e-01 1.37690093e-03 3.51864097e-01] [ 1.20213068e-02 -1.40758384e-03 9.99926751e-01 1.26657775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14255784400007 meters Centerline goodness [0,1] 0.2647359603124524 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:1.26 [[ 9.99912469e-01 4.57793614e-03 -1.24135461e-02 7.52491647e+00] [-4.58015964e-03 9.99989500e-01 -1.50695060e-04 3.45082680e-01] [ 1.24127259e-02 2.07537892e-04 9.99922938e-01 1.26461126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17255784400004 meters Centerline goodness [0,1] 0.25258553822287344 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:1.27 [[ 9.99920046e-01 -3.39701476e-03 -1.21804066e-02 7.54512775e+00] [ 3.40796143e-03 9.99993807e-01 8.78067950e-04 3.48363533e-01] [ 1.21773483e-02 -9.19508101e-04 9.99925431e-01 1.26604670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20255784400007 meters Centerline goodness [0,1] 0.26499575745708503 Centerline is valid? [False, False] Translation: X:7.55, Y:0.34, Z:1.27 [[ 9.99916473e-01 -3.79920845e-03 -1.23537024e-02 7.54575412e+00] [ 3.81620797e-03 9.99991803e-01 1.35278485e-03 3.43946141e-01] [ 1.23484616e-02 -1.39981615e-03 9.99922775e-01 1.26596965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23255784400004 meters Centerline goodness [0,1] 0.26409386546813884 Centerline is valid? [False, False] Translation: X:7.55, Y:0.34, Z:1.27 [[ 9.99914422e-01 -3.70813325e-03 -1.25458482e-02 7.54645669e+00] [ 3.73106504e-03 9.99991411e-01 1.80492708e-03 3.41498861e-01] [ 1.25390475e-02 -1.85158199e-03 9.99919669e-01 1.26567521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26255784400007 meters Centerline goodness [0,1] 0.26552852221764844 Centerline is valid? [False, False] Translation: X:7.55, Y:0.34, Z:1.27 [[ 9.99914298e-01 -3.61322900e-03 -1.25833436e-02 7.54675186e+00] [ 3.64067504e-03 9.99991042e-01 2.15891666e-03 3.39550265e-01] [ 1.25754302e-02 -2.20454350e-03 9.99918496e-01 1.26545200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29255784400004 meters Centerline goodness [0,1] 0.2649437373978275 Centerline is valid? [False, False] Translation: X:7.55, Y:0.34, Z:1.27 [[ 9.99915308e-01 -3.51009761e-03 -1.25322339e-02 7.54668975e+00] [ 3.54028248e-03 9.99990884e-01 2.38720713e-03 3.38385350e-01] [ 1.25237404e-02 -2.43137260e-03 9.99918619e-01 1.26535342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3225578440001 meters Centerline goodness [0,1] 0.2644638921018747 Centerline is valid? [False, False] Translation: X:7.55, Y:0.34, Z:1.27 [[ 9.99920075e-01 -2.99403750e-03 -1.22832574e-02 7.54600722e+00] [ 3.02679849e-03 9.99991910e-01 2.64940322e-03 3.38647057e-01] [ 1.22752256e-02 -2.68637041e-03 9.99921048e-01 1.26539825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.35255784400005 meters Centerline goodness [0,1] 0.2621853818589993 Centerline is valid? [False, False] Translation: X:7.57, Y:0.34, Z:1.27 [[ 9.99909473e-01 6.41432372e-03 -1.18280419e-02 7.56767533e+00] [-6.39145205e-03 9.99977633e-01 1.97046951e-03 3.38008481e-01] [ 1.18404165e-02 -1.89469277e-03 9.99928105e-01 1.26580203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3825578440001 meters Centerline goodness [0,1] 0.25082692555522146 Centerline is valid? [False, False] Translation: X:7.57, Y:0.34, Z:1.27 [[ 9.99904977e-01 6.59378936e-03 -1.21061531e-02 7.56843346e+00] [-6.57362332e-03 9.99976940e-01 1.70480490e-03 3.40140342e-01] [ 1.21171150e-02 -1.62506162e-03 9.99925265e-01 1.26551934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.41255784400005 meters Centerline goodness [0,1] 0.2653653850352612 Centerline is valid? [False, False] Translation: X:7.55, Y:0.34, Z:1.27 [[ 9.99908056e-01 1.15506150e-04 -1.35597308e-02 7.54553609e+00] [-5.54851954e-05 9.99990201e-01 4.42670475e-03 3.42758832e-01] [ 1.35601092e-02 -4.42554538e-03 9.99898264e-01 1.26584859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4425578440001 meters Centerline goodness [0,1] 0.26653280370160204 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:1.27 [[ 9.99910445e-01 3.85873769e-04 -1.33773465e-02 7.54521843e+00] [-3.30938317e-04 9.99991505e-01 4.10857352e-03 3.45625952e-01] [ 1.33788182e-02 -4.10377850e-03 9.99902078e-01 1.26536745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.47255784400005 meters Centerline goodness [0,1] 0.26382868042309693 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.27 [[ 9.99912766e-01 3.02968602e-04 -1.32048559e-02 7.54469200e+00] [-2.51252593e-04 9.99992293e-01 3.91792173e-03 3.46423669e-01] [ 1.32059412e-02 -3.91426220e-03 9.99905136e-01 1.26546817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5025578440001 meters Centerline goodness [0,1] 0.26617743702081054 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.27 [[ 9.99914350e-01 2.23814168e-04 -1.30859571e-02 7.54417335e+00] [-1.74046757e-04 9.99992749e-01 3.80413104e-03 3.46679271e-01] [ 1.30867136e-02 -3.80152765e-03 9.99907139e-01 1.26585459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.53255784400005 meters Centerline goodness [0,1] 0.2637978408082906 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.26 [[ 9.99964598e-01 2.75231423e-03 -7.95163428e-03 7.56656580e+00] [-2.75834452e-03 9.99995916e-01 -7.47504674e-04 3.51115590e-01] [ 7.94954444e-03 7.69411558e-04 9.99968106e-01 1.26376109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5625578440001 meters Centerline goodness [0,1] 0.2656321116625848 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.26 [[ 9.99965141e-01 2.71037415e-03 -7.89753436e-03 7.56617802e+00] [-2.71547338e-03 9.99996111e-01 -6.35022341e-04 3.50540766e-01] [ 7.89578250e-03 6.56445748e-04 9.99968612e-01 1.26420605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.59255784400005 meters Centerline goodness [0,1] 0.26501666702978277 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.26 [[ 9.99963821e-01 2.64436683e-03 -8.08482537e-03 7.56660439e+00] [-2.64846665e-03 9.99996370e-01 -4.96437050e-04 3.49600444e-01] [ 8.08348325e-03 5.17831479e-04 9.99967194e-01 1.26430044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6225578440001 meters Centerline goodness [0,1] 0.2635630339563728 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.26 [[ 9.99959879e-01 2.52142367e-03 -8.59553795e-03 7.56799016e+00] [-2.52435309e-03 9.99996759e-01 -3.29973859e-04 3.48239034e-01] [ 8.59467809e-03 3.51658792e-04 9.99963003e-01 1.26414137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.65255784400006 meters Centerline goodness [0,1] 0.2620896423795349 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.26 [[ 9.99958949e-01 1.95062920e-03 -8.84848212e-03 7.56855099e+00] [-1.95263458e-03 9.99998070e-01 -2.18002418e-04 3.45398183e-01] [ 8.84803980e-03 2.35271321e-04 9.99960828e-01 1.26447012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6825578440001 meters Centerline goodness [0,1] 0.267928069486273 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:1.26 [[ 9.99931415e-01 -7.40035297e-03 -9.07740382e-03 7.54628373e+00] [ 7.40461406e-03 9.99972490e-01 4.35898564e-04 3.46617889e-01] [ 9.07392830e-03 -5.03083340e-04 9.99958705e-01 1.26453903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.71255784400006 meters Centerline goodness [0,1] 0.26553684575991665 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:1.27 [[ 9.99967088e-01 5.44733214e-04 -8.09479986e-03 7.56438254e+00] [-5.55553595e-04 9.99998955e-01 -1.33451912e-03 3.42226996e-01] [ 8.09406444e-03 1.33897229e-03 9.99966346e-01 1.26692030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74255784400003 meters Centerline goodness [0,1] 0.2646988863660936 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:1.27 [[ 9.99967339e-01 5.60326049e-04 -8.06267312e-03 7.56407198e+00] [-5.70941772e-04 9.99998973e-01 -1.31440913e-03 3.42141518e-01] [ 8.06192834e-03 1.31896952e-03 9.99966632e-01 1.26728256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.77255784400006 meters Centerline goodness [0,1] 0.2652698247440569 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:1.27 [[ 9.99968186e-01 7.84558303e-04 -7.93803625e-03 7.56398462e+00] [-7.95694671e-04 9.99998704e-01 -1.39985130e-03 3.43712544e-01] [ 7.93692770e-03 1.40612302e-03 9.99967513e-01 1.26687706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80255784400003 meters Centerline goodness [0,1] 0.26613779613127586 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:1.27 [[ 9.99968243e-01 7.84169137e-04 -7.93085058e-03 7.56421759e+00] [-7.97567912e-04 9.99998260e-01 -1.68642828e-03 3.45355384e-01] [ 7.92951433e-03 1.69270011e-03 9.99967128e-01 1.26637672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.83255784400006 meters Centerline goodness [0,1] 0.2646020746352171 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.27 [[ 9.99965336e-01 8.08595877e-04 -8.28695963e-03 7.56518056e+00] [-8.25935946e-04 9.99997476e-01 -2.08924368e-03 3.47612417e-01] [ 8.28524937e-03 2.09601576e-03 9.99963480e-01 1.26609473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86255784400004 meters Centerline goodness [0,1] 0.2663910347078664 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.27 [[ 9.99963934e-01 7.99572655e-04 -8.45527277e-03 7.56573612e+00] [-8.20359943e-04 9.99996649e-01 -2.45531765e-03 3.49609320e-01] [ 8.45328124e-03 2.46216546e-03 9.99961239e-01 1.26570663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.89255784400007 meters Centerline goodness [0,1] 0.26435533942643774 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.27 [[ 9.99963444e-01 8.42543077e-04 -8.50884552e-03 7.56589119e+00] [-8.65313970e-04 9.99996054e-01 -2.67281678e-03 3.51083289e-01] [ 8.50655998e-03 2.68008189e-03 9.99960227e-01 1.26557376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92255784400004 meters Centerline goodness [0,1] 0.2642861768960083 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.27 [[ 9.99964422e-01 9.63522773e-04 -8.38013900e-03 7.56520437e+00] [-9.86656936e-04 9.99995713e-01 -2.75689822e-03 3.52180351e-01] [ 8.37744674e-03 2.76506846e-03 9.99961086e-01 1.26606574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.95255784400007 meters Centerline goodness [0,1] 0.26460154019209137 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:1.27 [[ 9.99965477e-01 1.01847184e-03 -8.24668746e-03 7.56462844e+00] [-1.03988324e-03 9.99996099e-01 -2.59249253e-03 3.51305628e-01] [ 8.24401491e-03 2.60097862e-03 9.99962635e-01 1.26646944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98255784400004 meters Centerline goodness [0,1] 0.2684499224196333 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:1.27 [[ 9.99965900e-01 1.08357313e-03 -8.18682694e-03 7.56438311e+00] [-1.10290804e-03 9.99996613e-01 -2.35756414e-03 3.49968409e-01] [ 8.18424461e-03 2.36651307e-03 9.99963708e-01 1.26664603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.01255784400007 meters Centerline goodness [0,1] 0.26607461581994685 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:1.27 [[ 9.99964852e-01 1.16270920e-03 -8.30320263e-03 7.56462911e+00] [-1.17995711e-03 9.99997156e-01 -2.07266329e-03 3.48461245e-01] [ 8.30076911e-03 2.08238786e-03 9.99963380e-01 1.26674346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04255784400004 meters Centerline goodness [0,1] 0.26522614588520577 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.27 [[ 9.99961940e-01 1.36532207e-03 -8.61713187e-03 7.56572458e+00] [-1.37905736e-03 9.99997788e-01 -1.58821128e-03 3.46451403e-01] [ 8.61494439e-03 1.60003435e-03 9.99961611e-01 1.26622199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0725578440001 meters Centerline goodness [0,1] 0.26427628589357977 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.27 [[ 9.99960774e-01 1.46275649e-03 -8.73564591e-03 7.56613586e+00] [-1.47493418e-03 9.99997949e-01 -1.38774351e-03 3.45650707e-01] [ 8.73359806e-03 1.40057358e-03 9.99960881e-01 1.26601036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10255784400005 meters Centerline goodness [0,1] 0.26449870354364735 Centerline is valid? [False, False] Translation: X:7.57, Y:0.34, Z:1.27 [[ 9.99956689e-01 1.54459738e-03 -9.17797096e-03 7.56763077e+00] [-1.55526750e-03 9.99998123e-01 -1.15555568e-03 3.44436365e-01] [ 9.17616887e-03 1.16977983e-03 9.99957214e-01 1.26538046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1325578440001 meters Centerline goodness [0,1] 0.26352363786401445 Centerline is valid? [False, False] Translation: X:7.57, Y:0.34, Z:1.27 [[ 9.99956119e-01 1.57158882e-03 -9.23529350e-03 7.56776375e+00] [-1.58104163e-03 9.99998234e-01 -1.01634115e-03 3.43524263e-01] [ 9.23367992e-03 1.03089794e-03 9.99956837e-01 1.26540587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16255784400005 meters Centerline goodness [0,1] 0.2643757406010988 Centerline is valid? [False, False] Translation: X:7.57, Y:0.34, Z:1.27 [[ 9.99955574e-01 1.60446437e-03 -9.28848999e-03 7.56761963e+00] [-1.61224825e-03 9.99998355e-01 -8.30586124e-04 3.42329290e-01] [ 9.28714207e-03 8.45524576e-04 9.99956516e-01 1.26587451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1925578440001 meters Centerline goodness [0,1] 0.26308397078525436 Centerline is valid? [False, False] Translation: X:7.57, Y:0.34, Z:1.27 [[ 9.99957067e-01 1.66620458e-03 -9.11524527e-03 7.56682109e+00] [-1.67224390e-03 9.99998387e-01 -6.54970562e-04 3.41501373e-01] [ 9.11413926e-03 6.70185355e-04 9.99958241e-01 1.26648019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22255784400005 meters Centerline goodness [0,1] 0.26308397078525436 Centerline is valid? [False, False] Translation: X:7.57, Y:0.34, Z:1.27 [[ 9.99957067e-01 1.66620458e-03 -9.11524527e-03 7.56682109e+00] [-1.67224390e-03 9.99998387e-01 -6.54970562e-04 3.41501373e-01] [ 9.11413926e-03 6.70185355e-04 9.99958241e-01 1.26648019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2525578440001 meters Centerline goodness [0,1] 0.2654239274321304 Centerline is valid? [False, False] Translation: X:7.57, Y:0.34, Z:1.27 [[ 9.99959099e-01 1.74794693e-03 -8.87388828e-03 7.56590100e+00] [-1.75236939e-03 9.99998344e-01 -4.90616804e-04 3.40975545e-01] [ 8.87301602e-03 5.06147068e-04 9.99960506e-01 1.26701631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28255784400005 meters Centerline goodness [0,1] 0.26387747155280583 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:1.27 [[ 9.99961963e-01 1.77957412e-03 -8.53851612e-03 7.56452147e+00] [-1.78337627e-03 9.99998314e-01 -4.37700918e-04 3.40828445e-01] [ 8.53772280e-03 4.52911656e-04 9.99963450e-01 1.26795921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3125578440001 meters Centerline goodness [0,1] 0.26688165526794216 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:1.27 [[ 9.99962837e-01 1.71580014e-03 -8.44866864e-03 7.56426364e+00] [-1.72057638e-03 9.99998364e-01 -5.58088956e-04 3.41181699e-01] [ 8.44769725e-03 5.72604795e-04 9.99964154e-01 1.26801279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34255784400005 meters Centerline goodness [0,1] 0.26752867933564073 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:1.27 [[ 9.99963515e-01 1.66996488e-03 -8.37738858e-03 7.56403977e+00] [-1.67576423e-03 9.99998361e-01 -6.85290260e-04 3.41673620e-01] [ 8.37623044e-03 6.99303785e-04 9.99964674e-01 1.26803438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3725578440001 meters Centerline goodness [0,1] 0.26762960377029155 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:1.27 [[ 9.99964679e-01 1.62619371e-03 -8.24597479e-03 7.56374788e+00] [-1.63321714e-03 9.99998309e-01 -8.45078173e-04 3.42501149e-01] [ 8.24458658e-03 8.58515792e-04 9.99965644e-01 1.26798516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40255784400006 meters Centerline goodness [0,1] 0.26696832579185525 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:1.27 [[ 9.99967260e-01 1.58881226e-03 -7.93439611e-03 7.56308833e+00] [-1.59853747e-03 9.99997979e-01 -1.21951137e-03 3.44705707e-01] [ 7.93244250e-03 1.23215487e-03 9.99967779e-01 1.26772952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.4325578440001 meters Centerline goodness [0,1] 0.2639378664301322 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:1.27 [[ 9.99966604e-01 1.43821056e-03 -8.04497911e-03 7.56371686e+00] [-1.45158857e-03 9.99997573e-01 -1.65730923e-03 3.46707528e-01] [ 8.04257603e-03 1.66893189e-03 9.99966265e-01 1.26708690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46255784400006 meters Centerline goodness [0,1] 0.26587016604644076 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.27 [[ 9.99963234e-01 1.29424253e-03 -8.47679409e-03 7.56533285e+00] [-1.31236893e-03 9.99996864e-01 -2.13314236e-03 3.48983752e-01] [ 8.47400670e-03 2.14418861e-03 9.99961796e-01 1.26604388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49255784400003 meters Centerline goodness [0,1] 0.2654082871012483 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.26 [[ 9.99957842e-01 1.25170180e-03 -9.09655896e-03 7.56745678e+00] [-1.27467200e-03 9.99996013e-01 -2.51979348e-03 3.51272591e-01] [ 9.09336866e-03 2.53128238e-03 9.99955451e-01 1.26487366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52255784400006 meters Centerline goodness [0,1] 0.26451879029981984 Centerline is valid? [False, False] Translation: X:7.57, Y:0.36, Z:1.26 [[ 9.99952367e-01 1.21858718e-03 -9.68392346e-03 7.56929601e+00] [-1.24959983e-03 9.99994109e-01 -3.19708394e-03 3.55781104e-01] [ 9.67997048e-03 3.20903268e-03 9.99947999e-01 1.26403333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.55255784400003 meters Centerline goodness [0,1] 0.2665300963256767 Centerline is valid? [False, False] Translation: X:7.57, Y:0.36, Z:1.26 [[ 9.99953725e-01 1.07806825e-03 -9.55953230e-03 7.56878029e+00] [-1.11236305e-03 9.99992963e-01 -3.58290740e-03 3.57658276e-01] [ 9.55560241e-03 3.59337528e-03 9.99947888e-01 1.26434789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58255784400006 meters Centerline goodness [0,1] 0.2628559055970553 Centerline is valid? [False, False] Translation: X:7.57, Y:0.36, Z:1.26 [[ 9.99955357e-01 8.85979535e-04 -9.40737785e-03 7.56825896e+00] [-9.24284452e-04 9.99991298e-01 -4.06822864e-03 3.59898411e-01] [ 9.40369161e-03 4.07674212e-03 9.99947474e-01 1.26454419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.61255784400004 meters Centerline goodness [0,1] 0.2678083240382302 Centerline is valid? [False, False] Translation: X:7.57, Y:0.36, Z:1.26 [[ 9.99956079e-01 7.08651960e-04 -9.34548544e-03 7.56823626e+00] [-7.51177254e-04 9.99989377e-01 -4.54763209e-03 3.62183965e-01] [ 9.34216348e-03 4.55445247e-03 9.99945989e-01 1.26426593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64255784400007 meters Centerline goodness [0,1] 0.2641864692897027 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.26 [[ 9.99938185e-01 -4.41044801e-03 -1.02066175e-02 7.59078048e+00] [ 4.39429268e-03 9.99989057e-01 -1.60471437e-03 3.68823955e-01] [ 1.02135833e-02 1.55976431e-03 9.99946624e-01 1.26418669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.67255784400004 meters Centerline goodness [0,1] 0.2663525922048463 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.26 [[ 9.99934320e-01 -4.67163127e-03 -1.04657001e-02 7.59162071e+00] [ 4.64639426e-03 9.99986242e-01 -2.43442007e-03 3.73734448e-01] [ 1.04769289e-02 2.38563241e-03 9.99942270e-01 1.26371237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70255784400007 meters Centerline goodness [0,1] 0.2667420912928071 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.26 [[ 9.99934902e-01 -4.79850741e-03 -1.03520797e-02 7.59099031e+00] [ 4.77054973e-03 9.99984912e-01 -2.72368797e-03 3.75274264e-01] [ 1.03649932e-02 2.67412555e-03 9.99942706e-01 1.26424599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.73255784400004 meters Centerline goodness [0,1] 0.2639820061421342 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.27 [[ 9.99937003e-01 -4.90773503e-03 -1.00947683e-02 7.58979591e+00] [ 4.87873837e-03 9.99983908e-01 -2.89506676e-03 3.76180219e-01] [ 1.01088141e-02 2.84563465e-03 9.99944856e-01 1.26515279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76255784400007 meters Centerline goodness [0,1] 0.2627025631093034 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.27 [[ 9.99941524e-01 -5.30590660e-03 -9.42315380e-03 7.58745360e+00] [ 5.27638922e-03 9.99981104e-01 -3.15453487e-03 3.76986000e-01] [ 9.43971341e-03 3.10463018e-03 9.99950625e-01 1.26636609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.79255784400004 meters Centerline goodness [0,1] 0.2624463658121132 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.27 [[ 9.99938573e-01 -5.39515918e-03 -9.68204806e-03 7.58820138e+00] [ 5.36519328e-03 9.99980745e-01 -3.11830546e-03 3.76511716e-01] [ 9.69868539e-03 3.06616785e-03 9.99948266e-01 1.26625756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8225578440001 meters Centerline goodness [0,1] 0.26254692961636383 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.27 [[ 9.99932211e-01 -5.52797015e-03 -1.02476499e-02 7.59000355e+00] [ 5.49636790e-03 9.99980060e-01 -3.10945655e-03 3.75921824e-01] [ 1.02646346e-02 3.05292091e-03 9.99942657e-01 1.26560242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.85255784400005 meters Centerline goodness [0,1] 0.2651806469834235 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.27 [[ 9.99929376e-01 -5.51719422e-03 -1.05263082e-02 7.59092691e+00] [ 5.48693492e-03 9.99980738e-01 -2.90135334e-03 3.74743248e-01] [ 1.05421128e-02 2.84339127e-03 9.99940388e-01 1.26522391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8825578440001 meters Centerline goodness [0,1] 0.26638126856543776 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.27 [[ 9.99931459e-01 -5.38910528e-03 -1.03940242e-02 7.59034022e+00] [ 5.36383312e-03 9.99982594e-01 -2.45775805e-03 3.72923722e-01] [ 1.04070884e-02 2.40183778e-03 9.99942960e-01 1.26574048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.91255784400005 meters Centerline goodness [0,1] 0.2627974588133951 Centerline is valid? [False, False] Translation: X:7.61, Y:0.37, Z:1.27 [[ 9.99957693e-01 2.84341921e-03 -8.74794600e-03 7.60986041e+00] [-2.87489081e-03 9.99989434e-01 -3.58712965e-03 3.70034972e-01] [ 8.73765385e-03 3.61212727e-03 9.99955302e-01 1.26666345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9425578440001 meters Centerline goodness [0,1] 0.2664024562855214 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.27 [[ 9.99943072e-01 -5.79393871e-03 -8.96009460e-03 7.58989846e+00] [ 5.77217090e-03 9.99980331e-01 -2.45337243e-03 3.73035555e-01] [ 8.97413305e-03 2.40151357e-03 9.99956848e-01 1.26533681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.97255784400005 meters Centerline goodness [0,1] 0.26548193683845966 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.27 [[ 9.99942044e-01 -5.78664709e-03 -9.07870976e-03 7.59025479e+00] [ 5.76536131e-03 9.99980574e-01 -2.36900384e-03 3.72358008e-01] [ 9.09224199e-03 2.31652450e-03 9.99955981e-01 1.26523818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0025578440001 meters Centerline goodness [0,1] 0.2649204459357073 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.27 [[ 9.99941189e-01 -5.74923162e-03 -9.19595137e-03 7.59057829e+00] [ 5.72872044e-03 9.99981048e-01 -2.25524567e-03 3.71686628e-01] [ 9.20874302e-03 2.20243200e-03 9.99955173e-01 1.26517696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.03255784400005 meters Centerline goodness [0,1] 0.26495095911813216 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.27 [[ 9.99942861e-01 -5.67007931e-03 -9.06229789e-03 7.59018012e+00] [ 5.65211676e-03 9.99982014e-01 -2.00650255e-03 3.70368620e-01] [ 9.07351192e-03 1.95516673e-03 9.99956923e-01 1.26533431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0625578440001 meters Centerline goodness [0,1] 0.2662653744187057 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.27 [[ 9.99944251e-01 -5.62322248e-03 -8.93724074e-03 7.58974422e+00] [ 5.60645576e-03 9.99982479e-01 -1.89999881e-03 3.69832446e-01] [ 8.94776827e-03 1.84978664e-03 9.99958257e-01 1.26555162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.09255784400005 meters Centerline goodness [0,1] 0.263647923446626 Centerline is valid? [False, False] Translation: X:7.61, Y:0.37, Z:1.27 [[ 9.99960278e-01 2.61715726e-03 -8.52015969e-03 7.60892820e+00] [-2.64392736e-03 9.99991599e-01 -3.13222656e-03 3.66087166e-01] [ 8.51189058e-03 3.15462883e-03 9.99958797e-01 1.26714338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1225578440001 meters Centerline goodness [0,1] 0.2643860641120438 Centerline is valid? [False, False] Translation: X:7.61, Y:0.37, Z:1.27 [[ 9.99959594e-01 2.64052009e-03 -8.59291994e-03 7.60916465e+00] [-2.66673615e-03 9.99991821e-01 -3.04086527e-03 3.65516455e-01] [ 8.58482020e-03 3.06365745e-03 9.99958457e-01 1.26706909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.15255784400006 meters Centerline goodness [0,1] 0.26656903034012414 Centerline is valid? [False, False] Translation: X:7.61, Y:0.36, Z:1.27 [[ 9.99956115e-01 2.70541476e-03 -8.96929453e-03 7.61036702e+00] [-2.72853777e-03 9.99992983e-01 -2.56678527e-03 3.62479852e-01] [ 8.96228738e-03 2.59114569e-03 9.99956481e-01 1.26662791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1825578440001 meters Centerline goodness [0,1] 0.2620936449081659 Centerline is valid? [False, False] Translation: X:7.63, Y:0.36, Z:1.27 [[ 9.99947175e-01 -5.52936907e-03 -8.66448883e-03 7.63137568e+00] [ 5.51318576e-03 9.99983015e-01 -1.89054779e-03 3.64498739e-01] [ 8.67479520e-03 1.84267898e-03 9.99960675e-01 1.26699196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.21255784400006 meters Centerline goodness [0,1] 0.26368277592696754 Centerline is valid? [False, False] Translation: X:7.63, Y:0.36, Z:1.27 [[ 9.99947807e-01 -5.39153445e-03 -8.67845376e-03 7.63136252e+00] [ 5.37959895e-03 9.99984553e-01 -1.39805937e-03 3.61793729e-01] [ 8.68585738e-03 1.35129980e-03 9.99961364e-01 1.26713637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24255784400003 meters Centerline goodness [0,1] 0.26447922288181325 Centerline is valid? [False, False] Translation: X:7.63, Y:0.36, Z:1.27 [[ 9.99948805e-01 -5.21690523e-03 -8.67012565e-03 7.63124858e+00] [ 5.20991017e-03 9.99986085e-01 -8.29190498e-04 3.58838347e-01] [ 8.67433081e-03 7.83977472e-04 9.99962070e-01 1.26738026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.27255784400006 meters Centerline goodness [0,1] 0.26460773408362237 Centerline is valid? [False, False] Translation: X:7.61, Y:0.35, Z:1.27 [[ 9.99978107e-01 1.63997236e-03 -6.41067047e-03 7.61214396e+00] [-1.64459936e-03 9.99998391e-01 -7.16561137e-04 3.46771242e-01] [ 6.40948501e-03 7.27088434e-04 9.99979195e-01 1.26548413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30255784400003 meters Centerline goodness [0,1] 0.2633523463831994 Centerline is valid? [False, False] Translation: X:7.61, Y:0.34, Z:1.27 [[ 9.99977108e-01 1.77992797e-03 -6.52799707e-03 7.61261230e+00] [-1.78213122e-03 9.99998357e-01 -3.31707038e-04 3.44814721e-01] [ 6.52739593e-03 3.43333192e-04 9.99978637e-01 1.26525132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.33255784400006 meters Centerline goodness [0,1] 0.2619514402050973 Centerline is valid? [False, False] Translation: X:7.61, Y:0.34, Z:1.26 [[ 9.99976725e-01 1.91186282e-03 -6.54940267e-03 7.61289269e+00] [-1.91198332e-03 9.99998172e-01 -1.21368520e-05 3.43217634e-01] [ 6.54936749e-03 2.46589182e-05 9.99978552e-01 1.26493996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36255784400004 meters Centerline goodness [0,1] 0.265320288943361 Centerline is valid? [False, False] Translation: X:7.61, Y:0.34, Z:1.26 [[ 9.99977076e-01 2.04578169e-03 -6.45464169e-03 7.61264147e+00] [-2.04418923e-03 9.99997879e-01 2.53302919e-04 3.42027729e-01] [ 6.45514620e-03 -2.40102604e-04 9.99979137e-01 1.26494720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.39255784400007 meters Centerline goodness [0,1] 0.26507201981359574 Centerline is valid? [False, False] Translation: X:7.61, Y:0.34, Z:1.27 [[ 9.99977973e-01 2.17888779e-03 -6.26941866e-03 7.61214672e+00] [-2.17573078e-03 9.99997503e-01 5.10333137e-04 3.40945181e-01] [ 6.27051496e-03 -4.96681329e-04 9.99980217e-01 1.26503772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42255784400004 meters Centerline goodness [0,1] 0.2657818836336825 Centerline is valid? [False, False] Translation: X:7.61, Y:0.34, Z:1.26 [[ 9.99977305e-01 2.48026895e-03 -6.26398608e-03 7.61224807e+00] [-2.47335324e-03 9.99996323e-01 1.11154742e-03 3.38131960e-01] [ 6.26671998e-03 -1.09602914e-03 9.99979763e-01 1.26486362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.45255784400007 meters Centerline goodness [0,1] 0.26495540569936915 Centerline is valid? [False, False] Translation: X:7.61, Y:0.34, Z:1.26 [[ 9.99975741e-01 2.58011002e-03 -6.46993645e-03 7.61301004e+00] [-2.57102138e-03 9.99995697e-01 1.41267422e-03 3.36535560e-01] [ 6.47355347e-03 -1.39600560e-03 9.99978072e-01 1.26445135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48255784400004 meters Centerline goodness [0,1] 0.2673088238498921 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:1.26 [[ 9.99974028e-01 2.69298106e-03 -6.68519703e-03 7.61377124e+00] [-2.68134607e-03 9.99994876e-01 1.74876429e-03 3.34816975e-01] [ 6.68987217e-03 -1.73079355e-03 9.99976125e-01 1.26405203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.51255784400007 meters Centerline goodness [0,1] 0.2644283948207431 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:1.26 [[ 9.99973080e-01 2.86442500e-03 -6.75532528e-03 7.61408160e+00] [-2.84967147e-03 9.99993536e-01 2.19259982e-03 3.32707751e-01] [ 6.76156215e-03 -2.17329034e-03 9.99974779e-01 1.26388275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54255784400004 meters Centerline goodness [0,1] 0.26511063433240145 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:1.26 [[ 9.99973185e-01 3.02253368e-03 -6.67032039e-03 7.61386713e+00] [-3.00481493e-03 9.99991935e-01 2.66478117e-03 3.30360664e-01] [ 6.67832098e-03 -2.64466663e-03 9.99974203e-01 1.26397022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5725578440001 meters Centerline goodness [0,1] 0.26744868035190617 Centerline is valid? [False, False] Translation: X:7.61, Y:0.32, Z:1.27 [[ 9.99985493e-01 4.85825600e-04 -5.36440305e-03 7.60923010e+00] [-4.81558716e-04 9.99999567e-01 7.96670107e-04 3.24397079e-01] [ 5.36478777e-03 -7.94075275e-04 9.99985294e-01 1.26577243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60255784400005 meters Centerline goodness [0,1] 0.26679554290927254 Centerline is valid? [False, False] Translation: X:7.61, Y:0.32, Z:1.27 [[ 9.99985079e-01 6.32413168e-04 -5.42606708e-03 7.60935637e+00] [-6.25169833e-04 9.99998911e-01 1.33650672e-03 3.21456092e-01] [ 5.42690640e-03 -1.33309456e-03 9.99984386e-01 1.26586127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6325578440001 meters Centerline goodness [0,1] 0.2683492257895197 Centerline is valid? [False, False] Translation: X:7.61, Y:0.32, Z:1.27 [[ 9.99984353e-01 7.94299964e-04 -5.53741836e-03 7.60973131e+00] [-7.84101191e-04 9.99997993e-01 1.84371980e-03 3.18896203e-01] [ 5.53887171e-03 -1.83934906e-03 9.99982969e-01 1.26572410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66255784400005 meters Centerline goodness [0,1] 0.2662671973695596 Centerline is valid? [False, False] Translation: X:7.61, Y:0.32, Z:1.27 [[ 9.99983414e-01 9.72183108e-04 -5.67686059e-03 7.61009606e+00] [-9.59107325e-04 9.99996882e-01 2.30561583e-03 3.16818445e-01] [ 5.67908437e-03 -2.30013287e-03 9.99981229e-01 1.26570815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6925578440001 meters Centerline goodness [0,1] 0.2669946235388868 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.27 [[ 9.99981634e-01 1.19326645e-03 -5.94209790e-03 7.61097735e+00] [-1.17655584e-03 9.99995346e-01 2.81494259e-03 3.14489714e-01] [ 5.94542922e-03 -2.80789968e-03 9.99978384e-01 1.26537712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72255784400005 meters Centerline goodness [0,1] 0.266490077728082 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.26 [[ 9.99980249e-01 1.17919997e-03 -6.17346273e-03 7.61182311e+00] [-1.16174682e-03 9.99995321e-01 2.82994770e-03 3.14061150e-01] [ 6.17677092e-03 -2.82271980e-03 9.99976940e-01 1.26494781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7525578440001 meters Centerline goodness [0,1] 0.2679845163535143 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.26 [[ 9.99979740e-01 1.13619912e-03 -6.26334172e-03 7.61221099e+00] [-1.11889905e-03 9.99995552e-01 2.76492706e-03 3.14054850e-01] [ 6.26645536e-03 -2.75786300e-03 9.99976563e-01 1.26463653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78255784400005 meters Centerline goodness [0,1] 0.26693746334470103 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.26 [[ 9.99978988e-01 1.14005638e-03 -6.38150310e-03 7.61258755e+00] [-1.12247634e-03 9.99995567e-01 2.75774711e-03 3.14025795e-01] [ 6.38461880e-03 -2.75052608e-03 9.99975835e-01 1.26445972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8125578440001 meters Centerline goodness [0,1] 0.265003459010723 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.26 [[ 9.99979884e-01 1.19709693e-03 -6.22892829e-03 7.61199618e+00] [-1.17998068e-03 9.99995520e-01 2.75081340e-03 3.14386273e-01] [ 6.23219338e-03 -2.74340805e-03 9.99976816e-01 1.26473216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84255784400005 meters Centerline goodness [0,1] 0.2652747062139543 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.26 [[ 9.99980660e-01 1.19729054e-03 -6.10297454e-03 7.61158999e+00] [-1.18040858e-03 9.99995470e-01 2.76903678e-03 3.14242784e-01] [ 6.10626224e-03 -2.76177923e-03 9.99977543e-01 1.26488876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8725578440001 meters Centerline goodness [0,1] 0.26659258290844123 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.27 [[ 9.99980909e-01 1.21369605e-03 -6.05867908e-03 7.61136784e+00] [-1.19658297e-03 9.99995287e-01 2.82738310e-03 3.14007069e-01] [ 6.06208211e-03 -2.82007941e-03 9.99977649e-01 1.26506923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90255784400006 meters Centerline goodness [0,1] 0.2666332293870074 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.27 [[ 9.99981320e-01 1.23969968e-03 -5.98513522e-03 7.61105224e+00] [-1.22240182e-03 9.99995068e-01 2.89293146e-03 3.13833024e-01] [ 5.98869207e-03 -2.88556118e-03 9.99977904e-01 1.26528171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.9325578440001 meters Centerline goodness [0,1] 0.2667595940236094 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.27 [[ 9.99982127e-01 1.25061034e-03 -5.84645800e-03 7.61061941e+00] [-1.23356045e-03 9.99994979e-01 2.91897505e-03 3.14018362e-01] [ 5.85007914e-03 -2.91171092e-03 9.99978649e-01 1.26539495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96255784400006 meters Centerline goodness [0,1] 0.2653230019153753 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.27 [[ 9.99982134e-01 1.21049932e-03 -5.85381329e-03 7.61064783e+00] [-1.19385358e-03 9.99995237e-01 2.84622958e-03 3.14363607e-01] [ 5.85723077e-03 -2.83919014e-03 9.99978816e-01 1.26539431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99255784400003 meters Centerline goodness [0,1] 0.26410322915315787 Centerline is valid? [False, False] Translation: X:7.61, Y:0.31, Z:1.27 [[ 9.99981730e-01 1.16715432e-03 -5.93108964e-03 7.61076805e+00] [-1.15062999e-03 9.99995450e-01 2.78870288e-03 3.14579211e-01] [ 5.93431750e-03 -2.78182744e-03 9.99978522e-01 1.26553412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02255784400006 meters Centerline goodness [0,1] 0.25333649554774584 Centerline is valid? [False, False] Translation: X:7.61, Y:0.32, Z:1.27 [[ 9.99980945e-01 1.09580680e-03 -6.07520610e-03 7.61118528e+00] [-1.07971651e-03 9.99995903e-01 2.65116505e-03 3.15172586e-01] [ 6.07808638e-03 -2.64455504e-03 9.99978031e-01 1.26542632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.05255784400003 meters Centerline goodness [0,1] 0.2641607370720419 Centerline is valid? [False, False] Translation: X:7.61, Y:0.32, Z:1.27 [[ 9.99980582e-01 1.04345850e-03 -6.14387338e-03 7.61144333e+00] [-1.02822420e-03 9.99996391e-01 2.48222953e-03 3.16056211e-01] [ 6.14644131e-03 -2.47586405e-03 9.99978045e-01 1.26527063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08255784400006 meters Centerline goodness [0,1] 0.2694585727811172 Centerline is valid? [False, False] Translation: X:7.56, Y:0.31, Z:1.27 [[ 9.99966565e-01 5.54817592e-04 -8.15851060e-03 7.56435987e+00] [-5.31965808e-04 9.99995930e-01 2.80287837e-03 3.14921043e-01] [ 8.16003248e-03 -2.79844461e-03 9.99962791e-01 1.26659272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.11255784400004 meters Centerline goodness [0,1] 0.2694585727811172 Centerline is valid? [False, False] Translation: X:7.56, Y:0.31, Z:1.27 [[ 9.99966565e-01 5.54817592e-04 -8.15851060e-03 7.56435987e+00] [-5.31965808e-04 9.99995930e-01 2.80287837e-03 3.14921043e-01] [ 8.16003248e-03 -2.79844461e-03 9.99962791e-01 1.26659272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14255784400007 meters Centerline goodness [0,1] 0.2664706522922792 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99968743e-01 5.19137386e-04 -7.88951097e-03 7.56353370e+00] [-4.98386850e-04 9.99996412e-01 2.63188074e-03 3.15853920e-01] [ 7.89084897e-03 -2.62786644e-03 9.99965414e-01 1.26683545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.17255784400004 meters Centerline goodness [0,1] 0.2631103074141049 Centerline is valid? [False, False] Translation: X:7.58, Y:0.31, Z:1.27 [[ 9.99941795e-01 8.90888697e-03 -6.08598274e-03 7.58280866e+00] [-8.90145900e-03 9.99959604e-01 1.24650388e-03 3.14564615e-01] [ 6.09684186e-03 -1.19225720e-03 9.99980703e-01 1.26753982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20255784400007 meters Centerline goodness [0,1] 0.26597724027519365 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99981912e-01 4.01833367e-04 -6.00118094e-03 7.56329664e+00] [-3.86201446e-04 9.99996530e-01 2.60573932e-03 3.18512048e-01] [ 6.00220719e-03 -2.60337452e-03 9.99978598e-01 1.26566915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.23255784400004 meters Centerline goodness [0,1] 0.2551942971398765 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99980435e-01 2.95310008e-04 -6.24840248e-03 7.56416414e+00] [-2.79944341e-04 9.99996935e-01 2.45986700e-03 3.18858796e-01] [ 6.24910975e-03 -2.45806967e-03 9.99977453e-01 1.26520989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26255784400007 meters Centerline goodness [0,1] 0.2519908742628384 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99979829e-01 2.04181191e-04 -6.34826104e-03 7.56457226e+00] [-1.89388835e-04 9.99997266e-01 2.33065673e-03 3.19203406e-01] [ 6.34871956e-03 -2.32940743e-03 9.99977134e-01 1.26495748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.29255784400004 meters Centerline goodness [0,1] 0.2663856050069541 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99980274e-01 1.79246847e-04 -6.27844195e-03 7.56437043e+00] [-1.64846856e-04 9.99997355e-01 2.29400363e-03 3.19326795e-01] [ 6.27883654e-03 -2.29292339e-03 9.99977659e-01 1.26499030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3225578440001 meters Centerline goodness [0,1] 0.26584995663486555 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99981520e-01 1.85484287e-04 -6.07656823e-03 7.56365158e+00] [-1.71554031e-04 9.99997357e-01 2.29289548e-03 3.19467649e-01] [ 6.07697746e-03 -2.29181065e-03 9.99978909e-01 1.26533683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.35255784400005 meters Centerline goodness [0,1] 0.26561525055403745 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99983786e-01 2.20567791e-04 -5.69032210e-03 7.56216172e+00] [-2.06998266e-04 9.99997134e-01 2.38514601e-03 3.19345295e-01] [ 5.69083188e-03 -2.38392945e-03 9.99980965e-01 1.26624265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3825578440001 meters Centerline goodness [0,1] 0.2548490798075471 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99984413e-01 2.07286111e-04 -5.57956605e-03 7.56179599e+00] [-1.93817069e-04 9.99997066e-01 2.41442701e-03 3.19067066e-01] [ 5.58005016e-03 -2.41330796e-03 9.99981519e-01 1.26640587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.41255784400005 meters Centerline goodness [0,1] 0.2668608315764307 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99984440e-01 1.94573746e-04 -5.57509155e-03 7.56177152e+00] [-1.81008322e-04 9.99997022e-01 2.43362120e-03 3.18856522e-01] [ 5.57554846e-03 -2.43257419e-03 9.99981498e-01 1.26645683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4425578440001 meters Centerline goodness [0,1] 0.2681845965770171 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99983930e-01 1.70496339e-04 -5.66668251e-03 7.56223860e+00] [-1.57011214e-04 9.99997155e-01 2.38008091e-03 3.19003985e-01] [ 5.66707219e-03 -2.37915293e-03 9.99981112e-01 1.26605367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.47255784400005 meters Centerline goodness [0,1] 0.26651332349622425 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99983245e-01 1.33963331e-04 -5.78712532e-03 7.56266848e+00] [-1.21018732e-04 9.99997490e-01 2.23708494e-03 3.19708197e-01] [ 5.78741048e-03 -2.23634710e-03 9.99980752e-01 1.26579816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5025578440001 meters Centerline goodness [0,1] 0.25677139761646806 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99983497e-01 8.67559783e-05 -5.74448298e-03 7.56260418e+00] [-7.47361253e-05 9.99997808e-01 2.09259846e-03 3.20444673e-01] [ 5.74465193e-03 -2.09213460e-03 9.99981311e-01 1.26570221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.53255784400005 meters Centerline goodness [0,1] 0.26638926814468067 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99984022e-01 2.97807061e-05 -5.65292840e-03 7.56236777e+00] [-1.89168010e-05 9.99998153e-01 1.92186273e-03 3.21216930e-01] [ 5.65297520e-03 -1.92172508e-03 9.99982175e-01 1.26571428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5625578440001 meters Centerline goodness [0,1] 0.25496209585106155 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.27 [[ 9.99984287e-01 -3.20938466e-05 -5.60570773e-03 7.56240982e+00] [ 4.11324785e-05 9.99998699e-01 1.61229015e-03 3.22793573e-01] [ 5.60564869e-03 -1.61249539e-03 9.99982988e-01 1.26541211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.59255784400005 meters Centerline goodness [0,1] 0.2655943422669743 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99983520e-01 -7.66570119e-05 -5.74059483e-03 7.56304553e+00] [ 8.46789754e-05 9.99999020e-01 1.39717978e-03 3.23965906e-01] [ 5.74048211e-03 -1.39764286e-03 9.99982547e-01 1.26485269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6225578440001 meters Centerline goodness [0,1] 0.2577640427430412 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99982827e-01 -9.16200991e-05 -5.85976421e-03 7.56359128e+00] [ 9.89203336e-05 9.99999219e-01 1.24554625e-03 3.24898712e-01] [ 5.85964552e-03 -1.24610451e-03 9.99982056e-01 1.26437827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.65255784400006 meters Centerline goodness [0,1] 0.25318997344387595 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:1.26 [[ 9.99982267e-01 -7.07543879e-05 -5.95492003e-03 7.56407705e+00] [ 7.78119253e-05 9.99999295e-01 1.18493741e-03 3.25415759e-01] [ 5.95483199e-03 -1.18537976e-03 9.99981567e-01 1.26390851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6825578440001 meters Centerline goodness [0,1] 0.2581183611532625 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99982107e-01 -5.01007944e-05 -5.98186443e-03 7.56414136e+00] [ 5.75201042e-05 9.99999229e-01 1.24013497e-03 3.24943452e-01] [ 5.98179769e-03 -1.24045686e-03 9.99981340e-01 1.26389632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.71255784400006 meters Centerline goodness [0,1] 0.2684565217391305 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99982389e-01 -2.09395613e-05 -5.93467726e-03 7.56369599e+00] [ 2.92889325e-05 9.99999010e-01 1.40679531e-03 3.23913669e-01] [ 5.93464193e-03 -1.40694435e-03 9.99981400e-01 1.26444766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74255784400003 meters Centerline goodness [0,1] 0.26798561151079137 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99982672e-01 1.77980608e-05 -5.88694333e-03 7.56332411e+00] [-8.28468321e-06 9.99998694e-01 1.61603354e-03 3.22677268e-01] [ 5.88696441e-03 -1.61595677e-03 9.99981366e-01 1.26489456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.77255784400006 meters Centerline goodness [0,1] 0.25684374796800835 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99982724e-01 1.06905526e-04 -5.87703171e-03 7.56336640e+00] [-9.57772635e-05 9.99998202e-01 1.89376640e-03 3.21340341e-01] [ 5.87722360e-03 -1.89317080e-03 9.99980937e-01 1.26480163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80255784400003 meters Centerline goodness [0,1] 0.26874334282546786 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99982244e-01 1.61384047e-04 -5.95702606e-03 7.56366500e+00] [-1.48630205e-04 9.99997696e-01 2.14135537e-03 3.20013170e-01] [ 5.95735791e-03 -2.14043196e-03 9.99979964e-01 1.26463816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.83255784400006 meters Centerline goodness [0,1] 0.25754326683561857 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99980817e-01 1.92425598e-04 -6.19103286e-03 7.56445919e+00] [-1.76164741e-04 9.99996534e-01 2.62695577e-03 3.17103650e-01] [ 6.19151689e-03 -2.62581474e-03 9.99977385e-01 1.26437489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86255784400004 meters Centerline goodness [0,1] 0.25622937026729664 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:1.26 [[ 9.99980303e-01 2.79048507e-04 -6.27018402e-03 7.56460230e+00] [-2.60535198e-04 9.99995605e-01 2.95321708e-03 3.15400779e-01] [ 6.27098055e-03 -2.95152531e-03 9.99975981e-01 1.26448563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.89255784400007 meters Centerline goodness [0,1] 0.2509568303790972 Centerline is valid? [False, False] Translation: X:7.57, Y:0.31, Z:1.26 [[ 9.99979346e-01 3.32670923e-04 -6.41850074e-03 7.56507391e+00] [-3.12114152e-04 9.99994820e-01 3.20347309e-03 3.13998033e-01] [ 6.41953320e-03 -3.20140362e-03 9.99974270e-01 1.26433800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92255784400004 meters Centerline goodness [0,1] 0.2678122562191211 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:1.26 [[ 9.99950973e-01 -5.52986270e-04 -9.88663506e-03 7.52193130e+00] [ 5.90391426e-04 9.99992678e-01 3.78088804e-03 3.08727665e-01] [ 9.88447190e-03 -3.78653966e-03 9.99943978e-01 1.26435287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.95255784400007 meters Centerline goodness [0,1] 0.2589276011215197 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:1.26 [[ 9.99950307e-01 -5.52761056e-04 -9.95380825e-03 7.52225392e+00] [ 5.90603336e-04 9.99992608e-01 3.79925103e-03 3.08545567e-01] [ 9.95163460e-03 -3.80494099e-03 9.99943242e-01 1.26407706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98255784400004 meters Centerline goodness [0,1] 0.2541249136143746 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:1.26 [[ 9.99950276e-01 -5.28259366e-04 -9.95824202e-03 7.52218730e+00] [ 5.66393349e-04 9.99992517e-01 3.82695788e-03 3.08461393e-01] [ 9.95614588e-03 -3.83240787e-03 9.99943092e-01 1.26419788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.01255784400007 meters Centerline goodness [0,1] 0.2594565098766779 Centerline is valid? [False, False] Translation: X:7.51, Y:0.30, Z:1.26 [[ 9.99963979e-01 5.02312182e-03 -6.84170630e-03 7.50546442e+00] [-5.00337965e-03 9.99983279e-01 2.89962836e-03 3.02993693e-01] [ 6.85615708e-03 -2.86529226e-03 9.99972391e-01 1.26113804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04255784400004 meters Centerline goodness [0,1] 0.2709400405396569 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:1.26 [[ 9.99966136e-01 5.10497459e-03 -6.45491300e-03 7.50404983e+00] [-5.08527820e-03 9.99982375e-01 3.06411992e-03 3.02352291e-01] [ 6.47044149e-03 -3.03119112e-03 9.99974472e-01 1.26195150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0725578440001 meters Centerline goodness [0,1] 0.2576761508812957 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:1.26 [[ 9.99968342e-01 5.17439341e-03 -6.04480858e-03 7.50260820e+00] [-5.15483315e-03 9.99981442e-01 3.24698905e-03 3.01504577e-01] [ 6.06149760e-03 -3.21572628e-03 9.99976458e-01 1.26270594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10255784400005 meters Centerline goodness [0,1] 0.2534556258881282 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:1.26 [[ 9.99969922e-01 5.22258218e-03 -5.73413029e-03 7.50176695e+00] [-5.20305493e-03 9.99980632e-01 3.41509561e-03 3.00386978e-01] [ 5.75185485e-03 -3.38515790e-03 9.99977728e-01 1.26287357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1325578440001 meters Centerline goodness [0,1] 0.26553974537284686 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:1.26 [[ 9.99969455e-01 5.19715902e-03 -5.83765630e-03 7.50233397e+00] [-5.17740973e-03 9.99980840e-01 3.39311855e-03 3.00238486e-01] [ 5.85517903e-03 -3.36279097e-03 9.99977204e-01 1.26238367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16255784400005 meters Centerline goodness [0,1] 0.2572139303482587 Centerline is valid? [False, False] Translation: X:7.48, Y:0.30, Z:1.26 [[ 9.99967958e-01 -3.65950615e-03 -7.11979508e-03 7.48305018e+00] [ 3.69182149e-03 9.99982920e-01 4.53096589e-03 3.03548832e-01] [ 7.10309237e-03 -4.55710572e-03 9.99964389e-01 1.26072164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1925578440001 meters Centerline goodness [0,1] 0.25714162702085974 Centerline is valid? [False, False] Translation: X:7.48, Y:0.30, Z:1.26 [[ 9.99967035e-01 -3.66107497e-03 -7.24742019e-03 7.48366832e+00] [ 3.69349387e-03 9.99983211e-01 4.46484543e-03 3.03987102e-01] [ 7.23095238e-03 -4.49146655e-03 9.99963769e-01 1.26018358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22255784400005 meters Centerline goodness [0,1] 0.25734911550468265 Centerline is valid? [False, False] Translation: X:7.48, Y:0.30, Z:1.26 [[ 9.99967978e-01 -3.62657972e-03 -7.13376957e-03 7.48332671e+00] [ 3.65863403e-03 9.99983248e-01 4.48541368e-03 3.04096462e-01] [ 7.11738335e-03 -4.51136990e-03 9.99964495e-01 1.26025813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2525578440001 meters Centerline goodness [0,1] 0.2581489978788797 Centerline is valid? [False, False] Translation: X:7.48, Y:0.30, Z:1.26 [[ 9.99970667e-01 -3.56574996e-03 -6.77874875e-03 7.48190342e+00] [ 3.59622615e-03 9.99983458e-01 4.48898228e-03 3.04473542e-01] [ 6.76263003e-03 -4.51322852e-03 9.99966948e-01 1.26116805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28255784400005 meters Centerline goodness [0,1] 0.25901169730245877 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:1.26 [[ 9.99969986e-01 -3.64273321e-03 -6.83791463e-03 7.48228031e+00] [ 3.67217453e-03 9.99984021e-01 4.29799352e-03 3.05293918e-01] [ 6.82214893e-03 -4.32297453e-03 9.99967385e-01 1.26076820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3125578440001 meters Centerline goodness [0,1] 0.26784285745173075 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:1.26 [[ 9.99967721e-01 -3.82940953e-03 -7.06352153e-03 7.48331831e+00] [ 3.85728200e-03 9.99984812e-01 3.93658084e-03 3.06547743e-01] [ 7.04833947e-03 -3.96369976e-03 9.99967304e-01 1.25996008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34255784400005 meters Centerline goodness [0,1] 0.2708165793649069 Centerline is valid? [False, False] Translation: X:7.49, Y:0.31, Z:1.26 [[ 9.99963650e-01 -4.03433860e-03 -7.51148203e-03 7.48505130e+00] [ 4.05888858e-03 9.99986462e-01 3.25595525e-03 3.09880853e-01] [ 7.49824471e-03 -3.28632516e-03 9.99966488e-01 1.25870969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3725578440001 meters Centerline goodness [0,1] 0.2698958174739544 Centerline is valid? [False, False] Translation: X:7.49, Y:0.31, Z:1.26 [[ 9.99962293e-01 -4.12099206e-03 -7.64389717e-03 7.48566968e+00] [ 4.14294873e-03 9.99987331e-01 2.85883792e-03 3.12254875e-01] [ 7.63201909e-03 -2.89039840e-03 9.99966698e-01 1.25810863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40255784400006 meters Centerline goodness [0,1] 0.25723736838691547 Centerline is valid? [False, False] Translation: X:7.49, Y:0.31, Z:1.26 [[ 9.99962056e-01 -4.19145821e-03 -7.63658645e-03 7.48575999e+00] [ 4.21071927e-03 9.99987990e-01 2.50787795e-03 3.14479914e-01] [ 7.62598307e-03 -2.53993832e-03 9.99967696e-01 1.25783726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.4325578440001 meters Centerline goodness [0,1] 0.2571804949682547 Centerline is valid? [False, False] Translation: X:7.49, Y:0.32, Z:1.26 [[ 9.99961624e-01 -4.31208938e-03 -7.62601404e-03 7.48574527e+00] [ 4.32866322e-03 9.99988302e-01 2.15816189e-03 3.16352673e-01] [ 7.61661865e-03 -2.19108952e-03 9.99968593e-01 1.25775333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46255784400006 meters Centerline goodness [0,1] 0.2600056461595257 Centerline is valid? [False, False] Translation: X:7.49, Y:0.32, Z:1.26 [[ 9.99960419e-01 -4.44449652e-03 -7.70757727e-03 7.48596903e+00] [ 4.45930939e-03 9.99988241e-01 1.90573934e-03 3.17401186e-01] [ 7.69901659e-03 -1.94003439e-03 9.99968480e-01 1.25768747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49255784400003 meters Centerline goodness [0,1] 0.2591071235542104 Centerline is valid? [False, False] Translation: X:7.49, Y:0.32, Z:1.26 [[ 9.99951550e-01 -4.92322772e-03 -8.52403714e-03 7.48793358e+00] [ 4.93655689e-03 9.99986624e-01 1.54338301e-03 3.17742116e-01] [ 8.51632470e-03 -1.58538763e-03 9.99962479e-01 1.25767555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52255784400006 meters Centerline goodness [0,1] 0.27128609381124513 Centerline is valid? [False, False] Translation: X:7.49, Y:0.32, Z:1.26 [[ 9.99949561e-01 -5.00315641e-03 -8.70886577e-03 7.48834154e+00] [ 5.01789453e-03 9.99986014e-01 1.67128471e-03 3.16711603e-01] [ 8.70038227e-03 -1.71490058e-03 9.99960680e-01 1.25780380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.55255784400003 meters Centerline goodness [0,1] 0.27145948545323395 Centerline is valid? [False, False] Translation: X:7.49, Y:0.32, Z:1.26 [[ 9.99949398e-01 -5.08918116e-03 -8.67762675e-03 7.48804400e+00] [ 5.10586156e-03 9.99985158e-01 1.90116175e-03 3.15070194e-01] [ 8.66782260e-03 -1.94537231e-03 9.99960541e-01 1.25826344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58255784400006 meters Centerline goodness [0,1] 0.27255043385133215 Centerline is valid? [False, False] Translation: X:7.49, Y:0.31, Z:1.26 [[ 9.99950568e-01 -5.13916195e-03 -8.51177422e-03 7.48741081e+00] [ 5.15762549e-03 9.99984391e-01 2.14864795e-03 3.13483754e-01] [ 8.50059911e-03 -2.19244228e-03 9.99961466e-01 1.25874506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.61255784400004 meters Centerline goodness [0,1] 0.271407110665999 Centerline is valid? [False, False] Translation: X:7.49, Y:0.31, Z:1.26 [[ 9.99951486e-01 -5.62990635e-03 -8.08268640e-03 7.48601819e+00] [ 5.65047542e-03 9.99980850e-01 2.52425366e-03 3.09515254e-01] [ 8.06832031e-03 -2.56980222e-03 9.99964149e-01 1.25965595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64255784400007 meters Centerline goodness [0,1] 0.25456851700563277 Centerline is valid? [False, False] Translation: X:7.51, Y:0.31, Z:1.26 [[ 9.99980209e-01 3.99798267e-04 -6.27864408e-03 7.50788215e+00] [-4.01763539e-04 9.99999871e-01 -3.11750941e-04 3.06505107e-01] [ 6.27851863e-03 3.14267301e-04 9.99980241e-01 1.25892787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.67255784400004 meters Centerline goodness [0,1] 0.27209022227088575 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:1.26 [[ 9.99962021e-01 -1.21522798e-03 -8.63017082e-03 7.46180605e+00] [ 1.21410789e-03 9.99999254e-01 -1.35025821e-04 3.00441747e-01] [ 8.63032847e-03 1.24542734e-04 9.99962750e-01 1.26039709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70255784400007 meters Centerline goodness [0,1] 0.2719986022233385 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:1.26 [[ 9.99961075e-01 -1.11346212e-03 -8.75267606e-03 7.46212167e+00] [ 1.11667079e-03 9.99999311e-01 3.61714521e-04 2.97637264e-01] [ 8.75226728e-03 -3.71474299e-04 9.99961629e-01 1.26045925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.73255784400004 meters Centerline goodness [0,1] 0.2712994227208365 Centerline is valid? [False, False] Translation: X:7.46, Y:0.29, Z:1.26 [[ 9.99959694e-01 -9.89515059e-04 -8.92359567e-03 7.46262708e+00] [ 9.97433177e-04 9.99999113e-01 8.82916997e-04 2.94616910e-01] [ 8.92271409e-03 -8.91782101e-04 9.99959794e-01 1.26036005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76255784400007 meters Centerline goodness [0,1] 0.25609941228774047 Centerline is valid? [False, False] Translation: X:7.46, Y:0.29, Z:1.26 [[ 9.99959815e-01 -5.71071345e-04 -8.94662690e-03 7.46242428e+00] [ 5.89323644e-04 9.99997750e-01 2.03762851e-03 2.88559234e-01] [ 8.94544314e-03 -2.04281909e-03 9.99957902e-01 1.26088712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.79255784400004 meters Centerline goodness [0,1] 0.2554131300883423 Centerline is valid? [False, False] Translation: X:7.46, Y:0.29, Z:1.26 [[ 9.99960376e-01 -3.29903868e-04 -8.89592848e-03 7.46223392e+00] [ 3.52972532e-04 9.99996579e-01 2.59172561e-03 2.86061614e-01] [ 8.89504302e-03 -2.59476294e-03 9.99957072e-01 1.26102990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8225578440001 meters Centerline goodness [0,1] 0.27198185624563853 Centerline is valid? [False, False] Translation: X:7.46, Y:0.28, Z:1.26 [[ 9.99960818e-01 -7.96483883e-05 -8.85193703e-03 7.46223591e+00] [ 1.07421626e-04 9.99995074e-01 3.13710111e-03 2.83631090e-01] [ 8.85164356e-03 -3.13792908e-03 9.99955900e-01 1.26089110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.85255784400005 meters Centerline goodness [0,1] 0.27138129245776 Centerline is valid? [False, False] Translation: X:7.46, Y:0.28, Z:1.26 [[ 9.99960971e-01 7.86415070e-05 -8.83458747e-03 7.46237486e+00] [-4.73248068e-05 9.99993716e-01 3.54493667e-03 2.81453297e-01] [ 8.83481073e-03 -3.54438022e-03 9.99954691e-01 1.26069462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8825578440001 meters Centerline goodness [0,1] 0.2544480540435877 Centerline is valid? [False, False] Translation: X:7.48, Y:0.28, Z:1.26 [[ 9.99926794e-01 8.59206743e-03 -8.51951184e-03 7.48195705e+00] [-8.57234515e-03 9.99960498e-01 2.34877555e-03 2.75169677e-01] [ 8.53935614e-03 -2.27557141e-03 9.99960950e-01 1.26230500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.91255784400005 meters Centerline goodness [0,1] 0.2563670169066459 Centerline is valid? [False, False] Translation: X:7.48, Y:0.27, Z:1.26 [[ 9.99922819e-01 9.02713715e-03 -8.53618881e-03 7.48173088e+00] [-8.99964103e-03 9.99954208e-01 3.25406883e-03 2.70456955e-01] [ 8.56517284e-03 -3.17699504e-03 9.99958271e-01 1.26279893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9425578440001 meters Centerline goodness [0,1] 0.2704776685635455 Centerline is valid? [False, False] Translation: X:7.48, Y:0.27, Z:1.26 [[ 9.99921724e-01 9.20553108e-03 -8.47368749e-03 7.48135845e+00] [-9.17461744e-03 9.99951141e-01 3.67986379e-03 2.68127154e-01] [ 8.50714858e-03 -3.60183290e-03 9.99957327e-01 1.26315404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.97255784400005 meters Centerline goodness [0,1] 0.25755026318060226 Centerline is valid? [False, False] Translation: X:7.48, Y:0.27, Z:1.26 [[ 9.99920824e-01 9.38896478e-03 -8.37810834e-03 7.48081439e+00] [-9.35488116e-03 9.99947844e-01 4.09813501e-03 2.65917270e-01] [ 8.41614862e-03 -4.01943433e-03 9.99956505e-01 1.26365482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0025578440001 meters Centerline goodness [0,1] 0.25364854484936417 Centerline is valid? [False, False] Translation: X:7.50, Y:0.27, Z:1.26 [[ 9.99970755e-01 2.14333304e-03 -7.34127410e-03 7.49966408e+00] [-2.10298832e-03 9.99982670e-01 5.49892012e-03 2.66304428e-01] [ 7.35293289e-03 -5.48332070e-03 9.99957933e-01 1.26438709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.03255784400005 meters Centerline goodness [0,1] 0.25364854484936417 Centerline is valid? [False, False] Translation: X:7.50, Y:0.27, Z:1.26 [[ 9.99970755e-01 2.14333304e-03 -7.34127410e-03 7.49966408e+00] [-2.10298832e-03 9.99982670e-01 5.49892012e-03 2.66304428e-01] [ 7.35293289e-03 -5.48332070e-03 9.99957933e-01 1.26438709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0625578440001 meters Centerline goodness [0,1] 0.25720899041685596 Centerline is valid? [False, False] Translation: X:7.45, Y:0.26, Z:1.27 [[ 9.99947056e-01 1.40283896e-03 -1.01940015e-02 7.45424334e+00] [-1.33745411e-03 9.99978510e-01 6.41804021e-03 2.60759894e-01] [ 1.02027859e-02 -6.40406640e-03 9.99927443e-01 1.26546714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.09255784400005 meters Centerline goodness [0,1] 0.2544067067927773 Centerline is valid? [False, False] Translation: X:7.45, Y:0.26, Z:1.27 [[ 9.99945583e-01 1.44212386e-03 -1.03320302e-02 7.45481180e+00] [-1.37439625e-03 9.99977544e-01 6.55921548e-03 2.59766984e-01] [ 1.03412574e-02 -6.54465825e-03 9.99925110e-01 1.26514937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1225578440001 meters Centerline goodness [0,1] 0.2541497125879998 Centerline is valid? [False, False] Translation: X:7.46, Y:0.26, Z:1.26 [[ 9.99942737e-01 1.44272381e-03 -1.06037862e-02 7.45564586e+00] [-1.37213445e-03 9.99976872e-01 6.66125839e-03 2.58818656e-01] [ 1.06131513e-02 -6.64632713e-03 9.99921591e-01 1.26496241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.15255784400006 meters Centerline goodness [0,1] 0.27398841412953523 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99893672e-01 8.73391588e-03 -1.16775086e-02 7.43715726e+00] [-8.67177300e-03 9.99948025e-01 5.36167376e-03 2.51904766e-01] [ 1.17237301e-02 -5.25983896e-03 9.99917441e-01 1.26324711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1825578440001 meters Centerline goodness [0,1] 0.2715371254884933 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99890677e-01 8.81360980e-03 -1.18724317e-02 7.43783042e+00] [-8.74820748e-03 9.99946335e-01 5.54947073e-03 2.50936532e-01] [ 1.19207055e-02 -5.44500154e-03 9.99914121e-01 1.26292735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.21255784400006 meters Centerline goodness [0,1] 0.2591587222306674 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99888867e-01 9.02328520e-03 -1.18673162e-02 7.43821507e+00] [-8.95426330e-03 9.99942760e-01 5.85646454e-03 2.50210245e-01] [ 1.19194815e-02 -5.74955062e-03 9.99912430e-01 1.26229711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2425578440001 meters Centerline goodness [0,1] 0.2568801384681956 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99889167e-01 9.05728151e-03 -1.18160820e-02 7.43816928e+00] [-8.98810612e-03 9.99942234e-01 5.89437047e-03 2.50173565e-01] [ 1.18687864e-02 -5.78751298e-03 9.99912815e-01 1.26216954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.27255784400006 meters Centerline goodness [0,1] 0.2718812224049866 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99889719e-01 9.02748835e-03 -1.17921420e-02 7.43815320e+00] [-8.95940374e-03 9.99942962e-01 5.81385105e-03 2.50588105e-01] [ 1.18439539e-02 -5.70755933e-03 9.99913569e-01 1.26208357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30255784400003 meters Centerline goodness [0,1] 0.2715341156019122 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99889717e-01 8.92569000e-03 -1.18695593e-02 7.43845403e+00] [-8.86107667e-03 9.99945696e-01 5.48511140e-03 2.52329443e-01] [ 1.19178731e-02 -5.37932941e-03 9.99914510e-01 1.26182762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.33255784400006 meters Centerline goodness [0,1] 0.2696543948657907 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99890877e-01 8.85360124e-03 -1.18256928e-02 7.43845180e+00] [-8.79241506e-03 9.99947742e-01 5.21601243e-03 2.53895013e-01] [ 1.18712553e-02 -5.11146685e-03 9.99916470e-01 1.26158820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36255784400004 meters Centerline goodness [0,1] 0.2694207744579873 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99894278e-01 8.79490533e-03 -1.15794253e-02 7.43792733e+00] [-8.73849602e-03 9.99949749e-01 4.91312935e-03 2.55778461e-01] [ 1.16220539e-02 -4.81142316e-03 9.99920886e-01 1.26142397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.39255784400007 meters Centerline goodness [0,1] 0.2558084654495527 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99898526e-01 8.66127908e-03 -1.13101777e-02 7.43725967e+00] [-8.61063896e-03 9.99952719e-01 4.51844075e-03 2.57882920e-01] [ 1.13487784e-02 -4.42059439e-03 9.99925829e-01 1.26138297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42255784400004 meters Centerline goodness [0,1] 0.2710347374595381 Centerline is valid? [False, False] Translation: X:7.42, Y:0.26, Z:1.26 [[ 9.99944091e-01 -5.89925228e-04 -1.05577408e-02 7.41587788e+00] [ 6.40163120e-04 9.99988487e-01 4.75564753e-03 2.64223985e-01] [ 1.05548138e-02 -4.76214033e-03 9.99932957e-01 1.26027566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.45255784400007 meters Centerline goodness [0,1] 0.26800129157248953 Centerline is valid? [False, False] Translation: X:7.44, Y:0.27, Z:1.26 [[ 9.99933323e-01 7.45979570e-03 -8.81483736e-03 7.43539244e+00] [-7.44031506e-03 9.99969810e-01 2.24071456e-03 2.67974998e-01] [ 8.83128651e-03 -2.17497999e-03 9.99958638e-01 1.26108943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48255784400004 meters Centerline goodness [0,1] 0.2749719169181296 Centerline is valid? [False, False] Translation: X:7.39, Y:0.27, Z:1.26 [[ 9.99909798e-01 6.16087526e-03 -1.19347900e-02 7.39053712e+00] [-6.13340994e-03 9.99978461e-01 2.33651876e-03 2.68124187e-01] [ 1.19489279e-02 -2.26310704e-03 9.99926048e-01 1.26205109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.51255784400007 meters Centerline goodness [0,1] 0.269763528091827 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99919655e-01 7.57655646e-03 -1.01625971e-02 7.43527067e+00] [-7.55887094e-03 9.99969851e-01 1.77753862e-03 2.75159428e-01] [ 1.01757584e-02 -1.70057805e-03 9.99946780e-01 1.26141640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54255784400004 meters Centerline goodness [0,1] 0.2688926421549521 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99921098e-01 7.39281993e-03 -1.01559346e-02 7.43539175e+00] [-7.38017968e-03 9.99971945e-01 1.28153180e-03 2.77743730e-01] [ 1.01651238e-02 -1.20647806e-03 9.99947606e-01 1.26114378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5725578440001 meters Centerline goodness [0,1] 0.2691742960787701 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99922670e-01 7.24071888e-03 -1.01106454e-02 7.43535823e+00] [-7.23208542e-03 9.99973452e-01 8.90199296e-04 2.79673967e-01] [ 1.01168227e-02 -8.17009407e-04 9.99948490e-01 1.26095672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60255784400005 meters Centerline goodness [0,1] 0.26979676122160634 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99924832e-01 6.97857015e-03 -1.00812057e-02 7.43510888e+00] [-6.97587118e-03 9.99975622e-01 3.02861667e-04 2.82210786e-01] [ 1.00830735e-02 -2.32513709e-04 9.99949137e-01 1.26120005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6325578440001 meters Centerline goodness [0,1] 0.26916089965397927 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99925582e-01 6.83650082e-03 -1.01041036e-02 7.43510537e+00] [-6.83644983e-03 9.99976630e-01 3.95854995e-05 2.83323642e-01] [ 1.01041381e-02 2.94936439e-05 9.99948951e-01 1.26127483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66255784400005 meters Centerline goodness [0,1] 0.26969795388113027 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99926118e-01 6.73923731e-03 -1.01163622e-02 7.43500145e+00] [-6.74061078e-03 9.99977277e-01 -1.01676929e-04 2.83805043e-01] [ 1.01154471e-02 1.69859877e-04 9.99948823e-01 1.26147472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6925578440001 meters Centerline goodness [0,1] 0.2550827828772412 Centerline is valid? [False, False] Translation: X:7.45, Y:0.29, Z:1.26 [[ 9.99958400e-01 -1.28950417e-03 -9.02969263e-03 7.45475790e+00] [ 1.29684583e-03 9.99998833e-01 8.07250436e-04 2.88286106e-01] [ 9.02864114e-03 -8.18926974e-04 9.99958906e-01 1.26297981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72255784400005 meters Centerline goodness [0,1] 0.2703132142002046 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:1.26 [[ 9.99929748e-01 -2.98752770e-03 -1.14705649e-02 7.40847186e+00] [ 3.00020815e-03 9.99994907e-01 1.08842865e-03 2.83219359e-01] [ 1.14672547e-02 -1.12276627e-03 9.99933619e-01 1.26445670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7525578440001 meters Centerline goodness [0,1] 0.2662425584044359 Centerline is valid? [False, False] Translation: X:7.43, Y:0.28, Z:1.26 [[ 9.99938685e-01 2.83618360e-03 -1.07043458e-02 7.43053264e+00] [-2.86071362e-03 9.99993316e-01 -2.27697904e-03 2.81113945e-01] [ 1.06978164e-02 2.30746149e-03 9.99940114e-01 1.26420134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78255784400005 meters Centerline goodness [0,1] 0.2695533450360835 Centerline is valid? [False, False] Translation: X:7.43, Y:0.28, Z:1.26 [[ 9.99934328e-01 2.79328568e-03 -1.11147611e-02 7.43172574e+00] [-2.81536955e-03 9.99994093e-01 -1.97174549e-03 2.78877356e-01] [ 1.11091878e-02 2.00290816e-03 9.99936285e-01 1.26393919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8125578440001 meters Centerline goodness [0,1] 0.26779624433412474 Centerline is valid? [False, False] Translation: X:7.43, Y:0.28, Z:1.26 [[ 9.99930148e-01 2.73901340e-03 -1.14976638e-02 7.43277091e+00] [-2.75880754e-03 9.99994739e-01 -1.70607209e-03 2.76817707e-01] [ 1.14929304e-02 1.73767276e-03 9.99932444e-01 1.26383823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84255784400005 meters Centerline goodness [0,1] 0.2700567922188133 Centerline is valid? [False, False] Translation: X:7.43, Y:0.27, Z:1.26 [[ 9.99928903e-01 2.82808975e-03 -1.15840768e-02 7.43315142e+00] [-2.84354122e-03 9.99995089e-01 -1.31760126e-03 2.74630781e-01] [ 1.15802936e-02 1.35044738e-03 9.99932034e-01 1.26357133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8725578440001 meters Centerline goodness [0,1] 0.2684233355020603 Centerline is valid? [False, False] Translation: X:7.43, Y:0.27, Z:1.26 [[ 9.99929242e-01 3.04757018e-03 -1.14988579e-02 7.43325421e+00] [-3.05591850e-03 9.99995080e-01 -7.08512343e-04 2.71753462e-01] [ 1.14966420e-02 7.43601783e-04 9.99933635e-01 1.26310714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90255784400006 meters Centerline goodness [0,1] 0.27105555919115243 Centerline is valid? [False, False] Translation: X:7.43, Y:0.27, Z:1.26 [[ 9.99929218e-01 3.12793407e-03 -1.14793493e-02 7.43321744e+00] [-3.13393760e-03 9.99994962e-01 -5.05034220e-04 2.70791937e-01] [ 1.14777118e-02 5.40974037e-04 9.99933983e-01 1.26309773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9325578440001 meters Centerline goodness [0,1] 0.2710057115555845 Centerline is valid? [False, False] Translation: X:7.43, Y:0.27, Z:1.26 [[ 9.99927783e-01 3.16825178e-03 -1.15927044e-02 7.43344523e+00] [-3.17270524e-03 9.99994900e-01 -3.65789653e-04 2.69994383e-01] [ 1.15914864e-02 4.02543471e-04 9.99932735e-01 1.26320449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96255784400006 meters Centerline goodness [0,1] 0.2584812108559499 Centerline is valid? [False, False] Translation: X:7.43, Y:0.27, Z:1.26 [[ 9.99925499e-01 3.19966621e-03 -1.17796134e-02 7.43388726e+00] [-3.20276326e-03 9.99994841e-01 -2.44060877e-04 2.69202511e-01] [ 1.17787717e-02 2.81770007e-04 9.99930588e-01 1.26323595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9925578440001 meters Centerline goodness [0,1] 0.27234153665382854 Centerline is valid? [False, False] Translation: X:7.43, Y:0.27, Z:1.26 [[ 9.99924674e-01 3.36000098e-03 -1.18049442e-02 7.43376956e+00] [-3.35807534e-03 9.99994345e-01 1.82939217e-04 2.67230102e-01] [ 1.18054922e-02 -1.43283545e-04 9.99930302e-01 1.26349788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02255784400006 meters Centerline goodness [0,1] 0.27178221038269124 Centerline is valid? [False, False] Translation: X:7.43, Y:0.27, Z:1.26 [[ 9.99925804e-01 3.45405356e-03 -1.16814788e-02 7.43329522e+00] [-3.44884778e-03 9.99993944e-01 4.65758990e-04 2.65889479e-01] [ 1.16830169e-02 -4.25436790e-04 9.99931661e-01 1.26379409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.05255784400003 meters Centerline goodness [0,1] 0.2703656888811402 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99927708e-01 3.51335472e-03 -1.14993321e-02 7.43274673e+00] [-3.50577948e-03 9.99993624e-01 6.78846352e-04 2.64714409e-01] [ 1.15016438e-02 -6.38483154e-04 9.99933650e-01 1.26398490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08255784400006 meters Centerline goodness [0,1] 0.26924913194444444 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99928316e-01 3.55644351e-03 -1.14330481e-02 7.43248931e+00] [-3.54646001e-03 9.99993312e-01 8.93369776e-04 2.63424431e-01] [ 1.14361489e-02 -8.52758888e-04 9.99934241e-01 1.26418033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.11255784400004 meters Centerline goodness [0,1] 0.2710767765948239 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99925734e-01 3.55548792e-03 -1.16569504e-02 7.43306013e+00] [-3.54378292e-03 9.99993196e-01 1.02462351e-03 2.62306854e-01] [ 1.16605142e-02 -9.83237712e-04 9.99931530e-01 1.26414357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14255784400007 meters Centerline goodness [0,1] 0.2709671799115796 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99924188e-01 3.54143638e-03 -1.17930518e-02 7.43345499e+00] [-3.52971447e-03 9.99993256e-01 1.01463355e-03 2.62275524e-01] [ 1.17965655e-02 -9.72930519e-04 9.99929945e-01 1.26404119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.17255784400004 meters Centerline goodness [0,1] 0.2708573166228633 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99923209e-01 3.55543183e-03 -1.18715802e-02 7.43376635e+00] [-3.54314312e-03 9.99993165e-01 1.05600899e-03 2.62045191e-01] [ 1.18752537e-02 -1.01386520e-03 9.99928973e-01 1.26384901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20255784400007 meters Centerline goodness [0,1] 0.2704288157239647 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99922310e-01 3.56371900e-03 -1.19446285e-02 7.43402129e+00] [-3.55108611e-03 9.99993113e-01 1.07866266e-03 2.61856060e-01] [ 1.19483903e-02 -1.03616246e-03 9.99928079e-01 1.26372998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.23255784400004 meters Centerline goodness [0,1] 0.25516868512110724 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99920625e-01 3.56393569e-03 -1.20847871e-02 7.43449565e+00] [-3.55080153e-03 9.99993082e-01 1.10811644e-03 2.61583161e-01] [ 1.20886527e-02 -1.06511780e-03 9.99926362e-01 1.26352684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26255784400007 meters Centerline goodness [0,1] 0.2703889722349053 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99918223e-01 3.61725133e-03 -1.22663519e-02 7.43510956e+00] [-3.60220358e-03 9.99992733e-01 1.24862253e-03 2.60801946e-01] [ 1.22707793e-02 -1.20433452e-03 9.99923986e-01 1.26327984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.29255784400004 meters Centerline goodness [0,1] 0.26935326616834576 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99917617e-01 3.64936499e-03 -1.23061250e-02 7.43534580e+00] [-3.63290557e-03 9.99992477e-01 1.35958777e-03 2.60131979e-01] [ 1.23109940e-02 -1.31476878e-03 9.99923352e-01 1.26308057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3225578440001 meters Centerline goodness [0,1] 0.27207867758435234 Centerline is valid? [False, False] Translation: X:7.41, Y:0.26, Z:1.26 [[ 9.99902123e-01 -5.44749258e-03 -1.28867987e-02 7.41448931e+00] [ 5.48005536e-03 9.99981877e-01 2.49287132e-03 2.62089604e-01] [ 1.28729853e-02 -2.56324769e-03 9.99913854e-01 1.26228783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.35255784400005 meters Centerline goodness [0,1] 0.2568690509594008 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99950189e-01 8.82991068e-04 -9.94179992e-03 7.43586770e+00] [-8.86525660e-04 9.99999545e-01 -3.51127009e-04 2.59851269e-01] [ 9.94148536e-03 3.59923180e-04 9.99950517e-01 1.26182239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3825578440001 meters Centerline goodness [0,1] 0.2526744559974273 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99950691e-01 9.32910165e-04 -9.88662002e-03 7.43569086e+00] [-9.34501993e-04 9.99999551e-01 -1.56389871e-04 2.58745567e-01] [ 9.88646968e-03 1.65621226e-04 9.99951114e-01 1.26191735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.41255784400005 meters Centerline goodness [0,1] 0.25488340074003957 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99950653e-01 1.01152306e-03 -9.88274111e-03 7.43575953e+00] [-1.01132363e-03 9.99999488e-01 2.51770519e-05 2.57910191e-01] [ 9.88276152e-03 -1.51811599e-05 9.99951164e-01 1.26179642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4425578440001 meters Centerline goodness [0,1] 0.25719416677484963 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99950847e-01 1.07005418e-03 -9.85694602e-03 7.43587238e+00] [-1.06866249e-03 9.99999418e-01 1.46454372e-04 2.57402312e-01] [ 9.85709700e-03 -1.35913425e-04 9.99951408e-01 1.26150282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.47255784400005 meters Centerline goodness [0,1] 0.2686783473934674 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99950567e-01 1.17126233e-03 -9.87382778e-03 7.43611380e+00] [-1.16835467e-03 9.99999272e-01 3.00244573e-04 2.56760471e-01] [ 9.87417226e-03 -2.88693598e-04 9.99951207e-01 1.26119392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5025578440001 meters Centerline goodness [0,1] 0.2582030318145345 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99950915e-01 1.20742584e-03 -9.83408424e-03 7.43600112e+00] [-1.20418427e-03 9.99999219e-01 3.35540906e-04 2.56611769e-01] [ 9.83448169e-03 -3.23682387e-04 9.99951588e-01 1.26118845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.53255784400005 meters Centerline goodness [0,1] 0.25204856493200056 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99950086e-01 1.19119271e-03 -9.92004022e-03 7.43622701e+00] [-1.18885558e-03 9.99999264e-01 2.41490116e-04 2.57099145e-01] [ 9.92032058e-03 -2.29684567e-04 9.99950766e-01 1.26117465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5625578440001 meters Centerline goodness [0,1] 0.26706269774649705 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99949989e-01 1.18417508e-03 -9.93065591e-03 7.43624568e+00] [-1.18295502e-03 9.99999292e-01 1.28731633e-04 2.57847232e-01] [ 9.93080132e-03 -1.16977676e-04 9.99950682e-01 1.26114235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.59255784400005 meters Centerline goodness [0,1] 0.2698958174739544 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99951584e-01 1.19752396e-03 -9.76706537e-03 7.43576157e+00] [-1.19718671e-03 9.99999283e-01 4.03754426e-05 2.58541960e-01] [ 9.76710672e-03 -2.86804869e-05 9.99952300e-01 1.26125399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6225578440001 meters Centerline goodness [0,1] 0.269905650146405 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99953680e-01 1.21307713e-03 -9.54806852e-03 7.43511867e+00] [-1.21337078e-03 9.99999264e-01 -2.49626973e-05 2.59084834e-01] [ 9.54803121e-03 3.65468884e-05 9.99954416e-01 1.26137290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.65255784400006 meters Centerline goodness [0,1] 0.2701044386422976 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99957043e-01 1.23640117e-03 -9.18606857e-03 7.43415399e+00] [-1.23772131e-03 9.99999224e-01 -1.38026631e-04 2.60031843e-01] [ 9.18589079e-03 1.49390494e-04 9.99957798e-01 1.26145824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6825578440001 meters Centerline goodness [0,1] 0.26934227607096495 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99957498e-01 1.22511644e-03 -9.13786921e-03 7.43407657e+00] [-1.22622780e-03 9.99999241e-01 -1.16020303e-04 2.59803876e-01] [ 9.13772014e-03 1.27220481e-04 9.99958242e-01 1.26138548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.71255784400006 meters Centerline goodness [0,1] 0.26628883020974214 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99955906e-01 1.18037021e-03 -9.31629295e-03 7.43461647e+00] [-1.18098467e-03 9.99999301e-01 -6.04542285e-05 2.59268326e-01] [ 9.31621508e-03 7.14539620e-05 9.99956601e-01 1.26123611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7425578440001 meters Centerline goodness [0,1] 0.25297113752122236 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99953910e-01 1.14757665e-03 -9.53215262e-03 7.43534280e+00] [-1.14727256e-03 9.99999341e-01 3.73694301e-05 2.58505808e-01] [ 9.53218923e-03 -2.64317306e-05 9.99954567e-01 1.26092870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.77255784400006 meters Centerline goodness [0,1] 0.26609257265877284 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99949431e-01 1.01853368e-03 -1.00048505e-02 7.43666434e+00] [-1.01586435e-03 9.99999447e-01 2.71882669e-04 2.56646298e-01] [ 1.00051219e-02 -2.61705349e-04 9.99949913e-01 1.26071011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80255784400003 meters Centerline goodness [0,1] 0.26767906202003156 Centerline is valid? [False, False] Translation: X:7.44, Y:0.26, Z:1.26 [[ 9.99948976e-01 1.09446055e-03 -1.00422419e-02 7.43656575e+00] [-1.08902836e-03 9.99999258e-01 5.46386596e-04 2.55222411e-01] [ 1.00428324e-02 -5.35422431e-04 9.99949426e-01 1.26103790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.83255784400006 meters Centerline goodness [0,1] 0.2682227148259225 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99948941e-01 1.15619045e-03 -1.00388177e-02 7.43642513e+00] [-1.14871469e-03 9.99999059e-01 7.50418761e-04 2.54124607e-01] [ 1.00396759e-02 -7.38848708e-04 9.99949328e-01 1.26127393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86255784400004 meters Centerline goodness [0,1] 0.26844448286294675 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99947623e-01 1.22303561e-03 -1.01614362e-02 7.43676438e+00] [-1.21348663e-03 9.99998816e-01 9.45840023e-04 2.53113439e-01] [ 1.01625810e-02 -9.33459717e-04 9.99947924e-01 1.26123826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.89255784400007 meters Centerline goodness [0,1] 0.26908421736306565 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99946148e-01 1.27009561e-03 -1.02999229e-02 7.43743062e+00] [-1.25852777e-03 9.99998570e-01 1.12950313e-03 2.52062210e-01] [ 1.03013428e-02 -1.11647957e-03 9.99946316e-01 1.26072563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92255784400004 meters Centerline goodness [0,1] 0.26908421736306565 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99946148e-01 1.27009561e-03 -1.02999229e-02 7.43743062e+00] [-1.25852777e-03 9.99998570e-01 1.12950313e-03 2.52062210e-01] [ 1.03013428e-02 -1.11647957e-03 9.99946316e-01 1.26072563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.95255784400007 meters Centerline goodness [0,1] 0.2648959545043298 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99942412e-01 1.35566904e-03 -1.06458464e-02 7.43914674e+00] [-1.33921712e-03 9.99997898e-01 1.55236022e-03 2.49179099e-01] [ 1.06479285e-02 -1.53801373e-03 9.99942126e-01 1.25947251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98255784400004 meters Centerline goodness [0,1] 0.26881206405771274 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:1.26 [[ 9.99940963e-01 1.48145862e-03 -1.07645357e-02 7.43945527e+00] [-1.46063575e-03 9.99997048e-01 1.94199929e-03 2.47004205e-01] [ 1.07673809e-02 -1.92616158e-03 9.99940175e-01 1.25949450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.01255784400007 meters Centerline goodness [0,1] 0.2715865868054037 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99940403e-01 1.62490179e-03 -1.07958637e-02 7.43935293e+00] [-1.59939465e-03 9.99995910e-01 2.37089043e-03 2.44729402e-01] [ 1.07996720e-02 -2.35348229e-03 9.99938912e-01 1.25981320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04255784400004 meters Centerline goodness [0,1] 0.2692441430868866 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99940656e-01 1.78421615e-03 -1.07471269e-02 7.43908455e+00] [-1.75431268e-03 9.99994566e-01 2.79124664e-03 2.42619773e-01] [ 1.07520487e-02 -2.77222718e-03 9.99938352e-01 1.26010262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0725578440001 meters Centerline goodness [0,1] 0.27024967892204876 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99941807e-01 2.03485227e-03 -1.05944229e-02 7.43843767e+00] [-1.99860148e-03 9.99992116e-01 3.43114976e-03 2.39352091e-01] [ 1.06013212e-02 -3.40977606e-03 9.99937991e-01 1.26061828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10255784400005 meters Centerline goodness [0,1] 0.26776463477810397 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99942123e-01 2.12145562e-03 -1.05475576e-02 7.43841642e+00] [-2.08328225e-03 9.99991246e-01 3.62883702e-03 2.38368340e-01] [ 1.05551637e-02 -3.60665345e-03 9.99937788e-01 1.26052223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1325578440001 meters Centerline goodness [0,1] 0.2709626821776354 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99943062e-01 2.23148769e-03 -1.04351584e-02 7.43825170e+00] [-2.19188067e-03 9.99990357e-01 3.80543360e-03 2.37741808e-01] [ 1.04435495e-02 -3.78234430e-03 9.99938311e-01 1.26032521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16255784400005 meters Centerline goodness [0,1] 0.2690237444111646 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99944373e-01 2.37529676e-03 -1.02765891e-02 7.43802784e+00] [-2.33480493e-03 9.99989471e-01 3.95040658e-03 2.37501671e-01] [ 1.02858643e-02 -3.92619300e-03 9.99939391e-01 1.26004907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1925578440001 meters Centerline goodness [0,1] 0.2641787852865697 Centerline is valid? [False, False] Translation: X:7.46, Y:0.24, Z:1.26 [[ 9.99891354e-01 1.15237893e-02 -9.19139338e-03 7.45821509e+00] [-1.14966541e-02 9.99929412e-01 2.99962935e-03 2.35029038e-01] [ 9.22531168e-03 -2.89363319e-03 9.99953259e-01 1.26065015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22255784400005 meters Centerline goodness [0,1] 0.2692407922168172 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99944037e-01 2.34397746e-03 -1.03164148e-02 7.43762316e+00] [-2.30635586e-03 9.99990653e-01 3.65715871e-03 2.38112288e-01] [ 1.03248906e-02 -3.63316072e-03 9.99940097e-01 1.26025098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2525578440001 meters Centerline goodness [0,1] 0.2669137292079634 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99942408e-01 2.28117818e-03 -1.04869972e-02 7.43821520e+00] [-2.24454904e-03 9.99991345e-01 3.50325908e-03 2.38653989e-01] [ 1.04948980e-02 -3.47951874e-03 9.99938873e-01 1.25995316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28255784400005 meters Centerline goodness [0,1] 0.26814201491243284 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99942399e-01 2.26695555e-03 -1.04909579e-02 7.43827984e+00] [-2.23170989e-03 9.99991831e-01 3.37011143e-03 2.39524783e-01] [ 1.04985121e-02 -3.34650453e-03 9.99939289e-01 1.25979570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3125578440001 meters Centerline goodness [0,1] 0.26831170519292014 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99944542e-01 2.29460823e-03 -1.02784616e-02 7.43778631e+00] [-2.26155083e-03 9.99992237e-01 3.22665117e-03 2.40696940e-01] [ 1.02857857e-02 -3.20322696e-03 9.99941969e-01 1.25971201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34255784400005 meters Centerline goodness [0,1] 0.26969446378830086 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:1.26 [[ 9.99952129e-01 2.43045355e-03 -9.47805187e-03 7.43559324e+00] [-2.40165648e-03 9.99992469e-01 3.04848866e-03 2.42481538e-01] [ 9.48538971e-03 -3.02557970e-03 9.99950435e-01 1.26007584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3725578440001 meters Centerline goodness [0,1] 0.26870961467810606 Centerline is valid? [False, False] Translation: X:7.43, Y:0.24, Z:1.26 [[ 9.99954665e-01 2.35616755e-03 -9.22588323e-03 7.43486183e+00] [-2.33081672e-03 9.99993481e-01 2.75758269e-03 2.44076971e-01] [ 9.23232042e-03 -2.73595383e-03 9.99953638e-01 1.26020085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40255784400006 meters Centerline goodness [0,1] 0.2692150317648325 Centerline is valid? [False, False] Translation: X:7.43, Y:0.25, Z:1.26 [[ 9.99956374e-01 2.28394426e-03 -9.05720695e-03 7.43441043e+00] [-2.26191701e-03 9.99994461e-01 2.44151203e-03 2.46009787e-01] [ 9.06273307e-03 -2.42091887e-03 9.99956002e-01 1.26020500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4325578440001 meters Centerline goodness [0,1] 0.2664883751024457 Centerline is valid? [False, False] Translation: X:7.43, Y:0.25, Z:1.26 [[ 9.99958501e-01 2.17539591e-03 -8.84667524e-03 7.43389914e+00] [-2.15737697e-03 9.99995580e-01 2.04583604e-03 2.48277429e-01] [ 8.85108665e-03 -2.02666552e-03 9.99958775e-01 1.26010088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46255784400006 meters Centerline goodness [0,1] 0.2675822874733602 Centerline is valid? [False, False] Translation: X:7.43, Y:0.25, Z:1.26 [[ 9.99957917e-01 1.87997134e-03 -8.97944424e-03 7.43464503e+00] [-1.86999209e-03 9.99997625e-01 1.11961081e-03 2.53141321e-01] [ 8.98152775e-03 -1.10277220e-03 9.99959057e-01 1.25926505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4925578440001 meters Centerline goodness [0,1] 0.2716715055993364 Centerline is valid? [False, False] Translation: X:7.39, Y:0.25, Z:1.26 [[ 9.99924864e-01 6.49848747e-04 -1.22410497e-02 7.39032826e+00] [-6.31358700e-04 9.99998654e-01 1.51429904e-03 2.51654466e-01] [ 1.22420173e-02 -1.50645676e-03 9.99923929e-01 1.25999096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52255784400006 meters Centerline goodness [0,1] 0.26904782495892066 Centerline is valid? [False, False] Translation: X:7.39, Y:0.25, Z:1.26 [[ 9.99924687e-01 4.78413670e-04 -1.22634155e-02 7.39035664e+00] [-4.65167771e-04 9.99999305e-01 1.08294464e-03 2.53724626e-01] [ 1.22639251e-02 -1.07715853e-03 9.99924215e-01 1.25996810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.55255784400003 meters Centerline goodness [0,1] 0.27116794692737434 Centerline is valid? [False, False] Translation: X:7.39, Y:0.26, Z:1.26 [[ 9.99925437e-01 3.63046396e-04 -1.22060812e-02 7.38991640e+00] [-3.53459188e-04 9.99999627e-01 7.87593356e-04 2.55230773e-01] [ 1.22063626e-02 -7.83220279e-04 9.99925193e-01 1.26038535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58255784400006 meters Centerline goodness [0,1] 0.2682454668645544 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99953759e-01 1.41243759e-03 -9.51238608e-03 7.43261001e+00] [-1.41243720e-03 9.99999002e-01 6.75944113e-06 2.61136341e-01] [ 9.51238614e-03 6.67651936e-06 9.99954756e-01 1.26075925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.61255784400004 meters Centerline goodness [0,1] 0.2690135664365926 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99954133e-01 1.34888791e-03 -9.48219881e-03 7.43236235e+00] [-1.35015877e-03 9.99999080e-01 -1.27626202e-04 2.61885073e-01] [ 9.48201794e-03 1.40422822e-04 9.99955035e-01 1.26100897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64255784400007 meters Centerline goodness [0,1] 0.26844235821024076 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99952006e-01 1.11455226e-03 -9.73364204e-03 7.43321328e+00] [-1.11878155e-03 9.99999282e-01 -4.29067764e-04 2.63122297e-01] [ 9.73315683e-03 4.39936990e-04 9.99952535e-01 1.26057149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.67255784400004 meters Centerline goodness [0,1] 0.26499314599040436 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99950229e-01 1.00322430e-03 -9.92640345e-03 7.43391252e+00] [-1.00883497e-03 9.99999334e-01 -5.60235384e-04 2.63602006e-01] [ 9.92583480e-03 5.70221603e-04 9.99950575e-01 1.26024734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70255784400007 meters Centerline goodness [0,1] 0.26630703432268044 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99948488e-01 8.82185185e-04 -1.01115354e-02 7.43450045e+00] [-8.89167771e-04 9.99999369e-01 -6.86081725e-04 2.63758098e-01] [ 1.01109238e-02 6.95037235e-04 9.99948642e-01 1.26006102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.73255784400004 meters Centerline goodness [0,1] 0.26934278014431023 Centerline is valid? [False, False] Translation: X:7.43, Y:0.26, Z:1.26 [[ 9.99946449e-01 6.64139216e-04 -1.03275390e-02 7.43492060e+00] [-6.74622001e-04 9.99999261e-01 -1.01158171e-03 2.64916496e-01] [ 1.03268595e-02 1.01849472e-03 9.99946158e-01 1.26019388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76255784400007 meters Centerline goodness [0,1] 0.27078849540207395 Centerline is valid? [False, False] Translation: X:7.43, Y:0.27, Z:1.26 [[ 9.99946346e-01 6.18358405e-04 -1.03403595e-02 7.43497458e+00] [-6.30721906e-04 9.99999090e-01 -1.19243657e-03 2.66106786e-01] [ 1.03396127e-02 1.19889448e-03 9.99945826e-01 1.26012097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.79255784400004 meters Centerline goodness [0,1] 0.2661910576943677 Centerline is valid? [False, False] Translation: X:7.46, Y:0.27, Z:1.26 [[ 9.99934694e-01 -4.57032719e-03 -1.04747314e-02 7.45686105e+00] [ 4.58612076e-03 9.99988382e-01 1.48425408e-03 2.71690212e-01] [ 1.04678262e-02 -1.53219553e-03 9.99944037e-01 1.26019572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8225578440001 meters Centerline goodness [0,1] 0.2696738918180043 Centerline is valid? [False, False] Translation: X:7.44, Y:0.27, Z:1.26 [[ 9.99935687e-01 3.08275530e-03 -1.09141357e-02 7.43653529e+00] [-3.07956110e-03 9.99995210e-01 3.09460024e-04 2.68676304e-01] [ 1.09150374e-02 -2.75829374e-04 9.99940391e-01 1.25899047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.85255784400005 meters Centerline goodness [0,1] 0.26825620461688526 Centerline is valid? [False, False] Translation: X:7.44, Y:0.27, Z:1.26 [[ 9.99936932e-01 2.85672094e-03 -1.08614143e-02 7.43639699e+00] [-2.85979770e-03 9.99995875e-01 -2.67754307e-04 2.71340511e-01] [ 1.08606046e-02 2.98798868e-04 9.99940977e-01 1.25894236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8825578440001 meters Centerline goodness [0,1] 0.2691270497151059 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99939689e-01 2.64571505e-03 -1.06591793e-02 7.43589442e+00] [-2.65824705e-03 9.99995792e-01 -1.16170373e-03 2.76754442e-01] [ 1.06560609e-02 1.18996840e-03 9.99942515e-01 1.25872929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.91255784400005 meters Centerline goodness [0,1] 0.26995157332406783 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99940648e-01 2.51039138e-03 -1.06018559e-02 7.43572603e+00] [-2.52736493e-03 9.99995545e-01 -1.58790392e-03 2.79132792e-01] [ 1.05978225e-02 1.61460444e-03 9.99942538e-01 1.25869713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9425578440001 meters Centerline goodness [0,1] 0.27087691771269173 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99942938e-01 2.39109660e-03 -1.04117145e-02 7.43519963e+00] [-2.41058257e-03 9.99995366e-01 -1.85939627e-03 2.80468477e-01] [ 1.04072202e-02 1.88438847e-03 9.99944068e-01 1.25874766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.97255784400005 meters Centerline goodness [0,1] 0.26991467465641894 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99942826e-01 2.25439201e-03 -1.04528561e-02 7.43519844e+00] [-2.27536704e-03 9.99995421e-01 -1.99517359e-03 2.80809034e-01] [ 1.04483103e-02 2.01884360e-03 9.99943377e-01 1.25892851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0025578440001 meters Centerline goodness [0,1] 0.2681372973910029 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99940875e-01 2.04925854e-03 -1.06792919e-02 7.43575075e+00] [-2.07150729e-03 9.99995706e-01 -2.07270999e-03 2.80443156e-01] [ 1.06749985e-02 2.09470968e-03 9.99940827e-01 1.25894588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.03255784400005 meters Centerline goodness [0,1] 0.2685757674368153 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99934981e-01 1.37445289e-03 -1.13201344e-02 7.43761861e+00] [-1.39977252e-03 9.99996536e-01 -2.22907004e-03 2.79063569e-01] [ 1.13170314e-02 2.24477072e-03 9.99933441e-01 1.25861235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0625578440001 meters Centerline goodness [0,1] 0.26983332608033417 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99932595e-01 1.38715521e-03 -1.15274203e-02 7.43813004e+00] [-1.40995765e-03 9.99997065e-01 -1.97021310e-03 2.77700860e-01] [ 1.15246535e-02 1.98633347e-03 9.99931616e-01 1.25865144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.09255784400005 meters Centerline goodness [0,1] 0.27038793943726036 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99932982e-01 1.37893115e-03 -1.14947460e-02 7.43788642e+00] [-1.39966532e-03 9.99997408e-01 -1.79594589e-03 2.76660311e-01] [ 1.14922398e-02 1.81191433e-03 9.99932320e-01 1.25898229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1225578440001 meters Centerline goodness [0,1] 0.26912494312888624 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99934094e-01 1.40656222e-03 -1.13943055e-02 7.43737222e+00] [-1.42579758e-03 9.99997572e-01 -1.68020824e-03 2.75993401e-01] [ 1.13919146e-02 1.69634348e-03 9.99933671e-01 1.25946462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.15255784400006 meters Centerline goodness [0,1] 0.26935354281123103 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99936416e-01 1.47441836e-03 -1.11798732e-02 7.43697201e+00] [-1.49512062e-03 9.99997183e-01 -1.84361182e-03 2.77223797e-01] [ 1.11771234e-02 1.86020986e-03 9.99935804e-01 1.25925243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1825578440001 meters Centerline goodness [0,1] 0.26979198332392407 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99933551e-01 1.54781333e-03 -1.14236089e-02 7.43798766e+00] [-1.57175932e-03 9.99996586e-01 -2.08750440e-03 2.79006000e-01] [ 1.14203389e-02 2.10532085e-03 9.99932569e-01 1.25849894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.21255784400006 meters Centerline goodness [0,1] 0.27067064018620435 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99931238e-01 1.64206345e-03 -1.16113258e-02 7.43888965e+00] [-1.67011417e-03 9.99995710e-01 -2.40652238e-03 2.81148523e-01] [ 1.16073243e-02 2.42574915e-03 9.99929690e-01 1.25770145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2425578440001 meters Centerline goodness [0,1] 0.27129864773935886 Centerline is valid? [False, False] Translation: X:7.44, Y:0.28, Z:1.26 [[ 9.99927552e-01 1.64960816e-03 -1.19234965e-02 7.43993468e+00] [-1.68387323e-03 9.99994480e-01 -2.86427588e-03 2.83578477e-01] [ 1.19187058e-02 2.88414603e-03 9.99924810e-01 1.25712558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.27255784400006 meters Centerline goodness [0,1] 0.2726317402631522 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:1.26 [[ 9.99926905e-01 1.58930172e-03 -1.19858151e-02 7.44019724e+00] [-1.62955290e-03 9.99993064e-01 -3.34921676e-03 2.85988776e-01] [ 1.19804091e-02 3.36850347e-03 9.99922558e-01 1.25683460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30255784400003 meters Centerline goodness [0,1] 0.27000217060994136 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:1.26 [[ 9.99931019e-01 2.10943639e-03 -1.15545205e-02 7.43869650e+00] [-2.14997289e-03 9.99991574e-01 -3.49698326e-03 2.89141331e-01] [ 1.15470465e-02 3.52158395e-03 9.99927129e-01 1.25722656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.33255784400006 meters Centerline goodness [0,1] 0.2662291401308262 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:1.26 [[ 9.99935323e-01 2.15911402e-03 -1.11663476e-02 7.43763889e+00] [-2.20046552e-03 9.99990763e-01 -3.69226586e-03 2.90941928e-01] [ 1.11582724e-02 3.71659822e-03 9.99930838e-01 1.25730458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36255784400004 meters Centerline goodness [0,1] 0.26680463933083254 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:1.26 [[ 9.99938862e-01 2.12489996e-03 -1.08516059e-02 7.43680118e+00] [-2.16695564e-03 9.99990182e-01 -3.86524008e-03 2.92007313e-01] [ 1.08432861e-02 3.88851872e-03 9.99933649e-01 1.25738234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.39255784400007 meters Centerline goodness [0,1] 0.2670225819645663 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:1.26 [[ 9.99941094e-01 2.07064880e-03 -1.06546451e-02 7.43624646e+00] [-2.11316034e-03 9.99989846e-01 -3.98024399e-03 2.92429508e-01] [ 1.06462952e-02 4.00252450e-03 9.99935316e-01 1.25747353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42255784400004 meters Centerline goodness [0,1] 0.27051895472948106 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:1.26 [[ 9.99942152e-01 2.03893671e-03 -1.05610005e-02 7.43576752e+00] [-2.08226293e-03 9.99989455e-01 -4.09310338e-03 2.93024625e-01] [ 1.05525435e-02 4.11485738e-03 9.99935854e-01 1.25780987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.45255784400007 meters Centerline goodness [0,1] 0.2695396839105276 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:1.26 [[ 9.99942986e-01 2.08119784e-03 -1.04734269e-02 7.43554866e+00] [-2.12438762e-03 9.99989280e-01 -4.11431453e-03 2.93647085e-01] [ 1.04647519e-02 4.13632957e-03 9.99936688e-01 1.25777503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48255784400004 meters Centerline goodness [0,1] 0.27068206939899 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:1.26 [[ 9.99943646e-01 2.07297203e-03 -1.04118673e-02 7.43541394e+00] [-2.11648655e-03 9.99989066e-01 -4.17004126e-03 2.94082107e-01] [ 1.04031091e-02 4.19184283e-03 9.99937100e-01 1.25771322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.51255784400007 meters Centerline goodness [0,1] 0.26675651969278824 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:1.26 [[ 9.99937900e-01 -5.93748964e-03 -9.43092500e-03 7.45510079e+00] [ 5.90056092e-03 9.99974835e-01 -3.93871501e-03 2.99762555e-01] [ 9.45407375e-03 3.88282267e-03 9.99947771e-01 1.25872847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54255784400004 meters Centerline goodness [0,1] 0.26795716462433206 Centerline is valid? [False, False] Translation: X:7.45, Y:0.30, Z:1.26 [[ 9.99937909e-01 -5.98244797e-03 -9.40151352e-03 7.45497493e+00] [ 5.94469697e-03 9.99974176e-01 -4.03824551e-03 3.00227307e-01] [ 9.42542933e-03 3.98210563e-03 9.99947651e-01 1.25877969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5725578440001 meters Centerline goodness [0,1] 0.2722048066875653 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:1.26 [[ 9.99951743e-01 2.18225679e-03 -9.57859768e-03 7.43394798e+00] [-2.22496655e-03 9.99987621e-01 -4.45048472e-03 2.95509346e-01] [ 9.56876701e-03 4.47158202e-03 9.99944220e-01 1.25800566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60255784400005 meters Centerline goodness [0,1] 0.2663888888888889 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:1.26 [[ 9.99953378e-01 -3.09299971e-03 -9.14741563e-03 7.45625108e+00] [ 3.07952670e-03 9.99994153e-01 -1.48659409e-03 3.00057607e-01] [ 9.15196019e-03 1.45835507e-03 9.99957056e-01 1.25777291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6325578440001 meters Centerline goodness [0,1] 0.27312364425162694 Centerline is valid? [False, False] Translation: X:7.41, Y:0.30, Z:1.26 [[ 9.99925242e-01 -3.77897779e-03 -1.16288731e-02 7.41010149e+00] [ 3.76925868e-03 9.99992529e-01 -8.57577551e-04 2.97030994e-01] [ 1.16320270e-02 8.13681209e-04 9.99932015e-01 1.25845847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66255784400005 meters Centerline goodness [0,1] 0.27132675676850204 Centerline is valid? [False, False] Translation: X:7.41, Y:0.30, Z:1.26 [[ 9.99925990e-01 -3.99648110e-03 -1.14909965e-02 7.40972393e+00] [ 3.98091346e-03 9.99991128e-01 -1.37732222e-03 2.99248391e-01] [ 1.14963990e-02 1.33147562e-03 9.99933028e-01 1.25845994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6925578440001 meters Centerline goodness [0,1] 0.2711018530573276 Centerline is valid? [False, False] Translation: X:7.41, Y:0.30, Z:1.26 [[ 9.99924359e-01 -4.08491980e-03 -1.16012930e-02 7.41009034e+00] [ 4.06553184e-03 9.99990300e-01 -1.69428130e-03 3.00944119e-01] [ 1.16081014e-02 1.64698772e-03 9.99931267e-01 1.25820215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72255784400005 meters Centerline goodness [0,1] 0.2687314619782487 Centerline is valid? [False, False] Translation: X:7.41, Y:0.30, Z:1.26 [[ 9.99922115e-01 -4.11394665e-03 -1.17830027e-02 7.41080157e+00] [ 4.09044622e-03 9.99989598e-01 -2.01784080e-03 3.03107606e-01] [ 1.17911815e-02 1.96948590e-03 9.99928542e-01 1.25764222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7525578440001 meters Centerline goodness [0,1] 0.27135547654149683 Centerline is valid? [False, False] Translation: X:7.41, Y:0.31, Z:1.26 [[ 9.99921950e-01 -4.17492124e-03 -1.17755279e-02 7.41098403e+00] [ 4.14703751e-03 9.99988542e-01 -2.39136400e-03 3.05399033e-01] [ 1.17853767e-02 2.34234380e-03 9.99927807e-01 1.25722133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78255784400005 meters Centerline goodness [0,1] 0.26925320256637364 Centerline is valid? [False, False] Translation: X:7.41, Y:0.31, Z:1.26 [[ 9.99924403e-01 -4.40368159e-03 -1.14802303e-02 7.41013398e+00] [ 4.36626749e-03 9.99985082e-01 -3.28203202e-03 3.09956916e-01] [ 1.14945121e-02 3.23165815e-03 9.99928714e-01 1.25722986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8125578440001 meters Centerline goodness [0,1] 0.26686261048657 Centerline is valid? [False, False] Translation: X:7.41, Y:0.31, Z:1.26 [[ 9.99922667e-01 -4.58469581e-03 -1.15603139e-02 7.41028930e+00] [ 4.54097392e-03 9.99982449e-01 -3.80548419e-03 3.12394217e-01] [ 1.15775580e-02 3.75269481e-03 9.99925936e-01 1.25719736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84255784400005 meters Centerline goodness [0,1] 0.26686261048657 Centerline is valid? [False, False] Translation: X:7.41, Y:0.31, Z:1.26 [[ 9.99922667e-01 -4.58469581e-03 -1.15603139e-02 7.41028930e+00] [ 4.54097392e-03 9.99982449e-01 -3.80548419e-03 3.12394217e-01] [ 1.15775580e-02 3.75269481e-03 9.99925936e-01 1.25719736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8725578440001 meters Centerline goodness [0,1] 0.27023688259899004 Centerline is valid? [False, False] Translation: X:7.39, Y:0.31, Z:1.26 [[ 9.99924369e-01 3.19879324e-03 -1.18753319e-02 7.39076868e+00] [-3.25878506e-03 9.99982010e-01 -5.03589349e-03 3.10124798e-01] [ 1.18590095e-02 5.07421178e-03 9.99916805e-01 1.25544790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90255784400006 meters Centerline goodness [0,1] 0.2692407471463162 Centerline is valid? [False, False] Translation: X:7.39, Y:0.31, Z:1.26 [[ 9.99924527e-01 3.07665507e-03 -1.18942661e-02 7.39102237e+00] [-3.14289622e-03 9.99979635e-01 -5.55449192e-03 3.13261548e-01] [ 1.18769346e-02 5.59145515e-03 9.99913833e-01 1.25500158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9325578440001 meters Centerline goodness [0,1] 0.26883318258172895 Centerline is valid? [False, False] Translation: X:7.39, Y:0.32, Z:1.25 [[ 9.99922263e-01 2.79112851e-03 -1.21522341e-02 7.39237658e+00] [-2.86974009e-03 9.99975040e-01 -6.45627469e-03 3.18831242e-01] [ 1.21339105e-02 6.49064656e-03 9.99905315e-01 1.25382271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96255784400006 meters Centerline goodness [0,1] 0.26759530791788855 Centerline is valid? [False, False] Translation: X:7.39, Y:0.32, Z:1.25 [[ 9.99919745e-01 2.54849053e-03 -1.24100092e-02 7.39316041e+00] [-2.63372425e-03 9.99973025e-01 -6.85665081e-03 3.20305581e-01] [ 1.23922003e-02 6.88878508e-03 9.99899484e-01 1.25357326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9925578440001 meters Centerline goodness [0,1] 0.26827635358400104 Centerline is valid? [False, False] Translation: X:7.39, Y:0.32, Z:1.25 [[ 9.99917738e-01 2.33911105e-03 -1.26113711e-02 7.39360384e+00] [-2.42928118e-03 9.99971564e-01 -7.13933559e-03 3.21202417e-01] [ 1.25943128e-02 7.16938485e-03 9.99894986e-01 1.25365188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02255784400006 meters Centerline goodness [0,1] 0.27197288960333665 Centerline is valid? [False, False] Translation: X:7.39, Y:0.32, Z:1.25 [[ 9.99917756e-01 2.19860620e-03 -1.26351438e-02 7.39351503e+00] [-2.29130709e-03 9.99970532e-01 -7.32696294e-03 3.21994982e-01] [ 1.26186624e-02 7.35531134e-03 9.99893329e-01 1.25387858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.05255784400003 meters Centerline goodness [0,1] 0.27048523069588015 Centerline is valid? [False, False] Translation: X:7.39, Y:0.32, Z:1.25 [[ 9.99918875e-01 2.10287516e-03 -1.25627047e-02 7.39290001e+00] [-2.19749936e-03 9.99969286e-01 -7.52310219e-03 3.23132971e-01] [ 1.25464987e-02 7.55009841e-03 9.99892785e-01 1.25459053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08255784400006 meters Centerline goodness [0,1] 0.2693381827628759 Centerline is valid? [False, False] Translation: X:7.39, Y:0.32, Z:1.26 [[ 9.99921756e-01 2.00624011e-03 -1.23473722e-02 7.39200807e+00] [-2.10200639e-03 9.99967775e-01 -7.74792008e-03 3.24429791e-01] [ 1.23314301e-02 7.77326810e-03 9.99893750e-01 1.25515152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.11255784400004 meters Centerline goodness [0,1] 0.27036699635606454 Centerline is valid? [False, False] Translation: X:7.39, Y:0.33, Z:1.26 [[ 9.99925719e-01 1.74309411e-03 -1.20630996e-02 7.39084745e+00] [-1.84429651e-03 9.99963158e-01 -8.38338609e-03 3.27673238e-01] [ 1.20480421e-02 8.40501130e-03 9.99892094e-01 1.25585270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14255784400007 meters Centerline goodness [0,1] 0.2653889707924706 Centerline is valid? [False, False] Translation: X:7.41, Y:0.34, Z:1.26 [[ 9.99907834e-01 -5.45447263e-03 -1.24326859e-02 7.40974393e+00] [ 5.36141554e-03 9.99957457e-01 -7.50595526e-03 3.35789538e-01] [ 1.24730980e-02 7.43860667e-03 9.99894539e-01 1.25759126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.17255784400004 meters Centerline goodness [0,1] 0.2690684353331323 Centerline is valid? [False, False] Translation: X:7.41, Y:0.34, Z:1.26 [[ 9.99906903e-01 -5.59163546e-03 -1.24466827e-02 7.40996670e+00] [ 5.49440377e-03 9.99954232e-01 -7.83239054e-03 3.37347356e-01] [ 1.24899090e-02 7.76327427e-03 9.99891861e-01 1.25722862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20255784400007 meters Centerline goodness [0,1] 0.2686403272688126 Centerline is valid? [False, False] Translation: X:7.41, Y:0.34, Z:1.26 [[ 9.99896727e-01 -6.04238681e-03 -1.30393780e-02 7.41185473e+00] [ 5.93130454e-03 9.99945935e-01 -8.54090817e-03 3.39890183e-01] [ 1.30902805e-02 8.46268560e-03 9.99878506e-01 1.25647891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.23255784400004 meters Centerline goodness [0,1] 0.26888956205643066 Centerline is valid? [False, False] Translation: X:7.41, Y:0.34, Z:1.26 [[ 9.99891717e-01 -6.15406729e-03 -1.33671873e-02 7.41267632e+00] [ 6.03827872e-03 9.99944051e-01 -8.68530517e-03 3.40400361e-01] [ 1.34198894e-02 8.60364990e-03 9.99872934e-01 1.25644313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26255784400007 meters Centerline goodness [0,1] 0.2688251218191662 Centerline is valid? [False, False] Translation: X:7.41, Y:0.34, Z:1.26 [[ 9.99889838e-01 -6.21340773e-03 -1.34798064e-02 7.41280277e+00] [ 6.09659096e-03 9.99943657e-01 -8.68990921e-03 3.40363970e-01] [ 1.35330409e-02 8.60677104e-03 9.99871382e-01 1.25665098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.29255784400004 meters Centerline goodness [0,1] 0.26956634416033176 Centerline is valid? [False, False] Translation: X:7.41, Y:0.34, Z:1.26 [[ 9.99890200e-01 -6.27752662e-03 -1.34231685e-02 7.41242622e+00] [ 6.16293331e-03 9.99944359e-01 -8.56137025e-03 3.39521886e-01] [ 1.34761659e-02 8.47770411e-03 9.99873253e-01 1.25706762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3225578440001 meters Centerline goodness [0,1] 0.2727054195804196 Centerline is valid? [False, False] Translation: X:7.39, Y:0.33, Z:1.26 [[ 9.99917985e-01 8.79113720e-04 -1.27769710e-02 7.39255768e+00] [-1.00243413e-03 9.99952949e-01 -9.64857454e-03 3.33192061e-01] [ 1.27678876e-02 9.66059128e-03 9.99871819e-01 1.25557767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.35255784400005 meters Centerline goodness [0,1] 0.2702772851148505 Centerline is valid? [False, False] Translation: X:7.41, Y:0.34, Z:1.26 [[ 9.99897357e-01 -7.24928480e-03 -1.23581154e-02 7.41308792e+00] [ 7.14162209e-03 9.99936356e-01 -8.73388678e-03 3.37398987e-01] [ 1.24206433e-02 8.64473332e-03 9.99885492e-01 1.25672482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3825578440001 meters Centerline goodness [0,1] 0.26881882312456984 Centerline is valid? [False, False] Translation: X:7.41, Y:0.34, Z:1.26 [[ 9.99900462e-01 -7.46305427e-03 -1.19737113e-02 7.41201242e+00] [ 7.36035341e-03 9.99935944e-01 -8.59845713e-03 3.36196917e-01] [ 1.20371151e-02 8.50947050e-03 9.99891342e-01 1.25698958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.41255784400005 meters Centerline goodness [0,1] 0.2715598313695816 Centerline is valid? [False, False] Translation: X:7.41, Y:0.34, Z:1.26 [[ 9.99902333e-01 -7.44919894e-03 -1.18251155e-02 7.41145751e+00] [ 7.34985952e-03 9.99937522e-01 -8.42206101e-03 3.35218992e-01] [ 1.18871143e-02 8.33432552e-03 9.99894612e-01 1.25733803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4425578440001 meters Centerline goodness [0,1] 0.26968978888410167 Centerline is valid? [False, False] Translation: X:7.41, Y:0.33, Z:1.26 [[ 9.99901612e-01 -7.41247043e-03 -1.19088858e-02 7.41153986e+00] [ 7.31491265e-03 9.99939503e-01 -8.21479400e-03 3.34089567e-01] [ 1.19690573e-02 8.12687330e-03 9.99895342e-01 1.25753118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.47255784400005 meters Centerline goodness [0,1] 0.2725035927361408 Centerline is valid? [False, False] Translation: X:7.39, Y:0.33, Z:1.26 [[ 9.99926961e-01 1.96012392e-04 -1.20844261e-02 7.39335910e+00] [-3.03560114e-04 9.99960361e-01 -8.89850456e-03 3.26848078e-01] [ 1.20822029e-02 8.90152297e-03 9.99887385e-01 1.25547865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5025578440001 meters Centerline goodness [0,1] 0.27154250145886016 Centerline is valid? [False, False] Translation: X:7.39, Y:0.33, Z:1.26 [[ 9.99925519e-01 2.00795813e-04 -1.22031542e-02 7.39368528e+00] [-3.07896068e-04 9.99961450e-01 -8.77519545e-03 3.26112347e-01] [ 1.22009217e-02 8.77829916e-03 9.99887033e-01 1.25544047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.53255784400005 meters Centerline goodness [0,1] 0.2721871679784904 Centerline is valid? [False, False] Translation: X:7.39, Y:0.32, Z:1.26 [[ 9.99924830e-01 2.75690840e-04 -1.22579594e-02 7.39382050e+00] [-3.80265002e-04 9.99963550e-01 -8.52961111e-03 3.24885295e-01] [ 1.22551611e-02 8.53363121e-03 9.99888488e-01 1.25543461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5625578440001 meters Centerline goodness [0,1] 0.2699705572629 Centerline is valid? [False, False] Translation: X:7.41, Y:0.33, Z:1.26 [[ 9.99899260e-01 -7.54450958e-03 -1.20228748e-02 7.41358750e+00] [ 7.45614683e-03 9.99944988e-01 -7.37750678e-03 3.27987815e-01] [ 1.20778730e-02 7.28711925e-03 9.99900506e-01 1.25688308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.59255784400005 meters Centerline goodness [0,1] 0.2730350245215052 Centerline is valid? [False, False] Translation: X:7.39, Y:0.32, Z:1.25 [[ 9.99932130e-01 2.02356907e-04 -1.16488189e-02 7.39457852e+00] [-2.98113332e-04 9.99966178e-01 -8.21911962e-03 3.21877004e-01] [ 1.16467617e-02 8.22203445e-03 9.99898370e-01 1.25464281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6225578440001 meters Centerline goodness [0,1] 0.2712741764310931 Centerline is valid? [False, False] Translation: X:7.40, Y:0.32, Z:1.25 [[ 9.99930463e-01 2.45315016e-04 -1.17902461e-02 7.39511676e+00] [-3.40975678e-04 9.99967037e-01 -8.11221722e-03 3.21441745e-01] [ 1.17878674e-02 8.11567331e-03 9.99897586e-01 1.25431338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.65255784400006 meters Centerline goodness [0,1] 0.270269684826167 Centerline is valid? [False, False] Translation: X:7.40, Y:0.32, Z:1.25 [[ 9.99927329e-01 2.38396779e-04 -1.20532487e-02 7.39611658e+00] [-3.36760368e-04 9.99966655e-01 -8.15938239e-03 3.21808311e-01] [ 1.20509016e-02 8.16284849e-03 9.99894066e-01 1.25370905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6825578440001 meters Centerline goodness [0,1] 0.27305149617258173 Centerline is valid? [False, False] Translation: X:7.40, Y:0.32, Z:1.25 [[ 9.99927223e-01 2.18722834e-04 -1.20624042e-02 7.39596373e+00] [-3.17369976e-04 9.99966519e-01 -8.17675866e-03 3.21781222e-01] [ 1.20602119e-02 8.17999183e-03 9.99893814e-01 1.25399858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.71255784400006 meters Centerline goodness [0,1] 0.27323681533900324 Centerline is valid? [False, False] Translation: X:7.40, Y:0.32, Z:1.25 [[ 9.99929309e-01 2.07796636e-04 -1.18884297e-02 7.39525347e+00] [-3.04440205e-04 9.99966921e-01 -8.12798024e-03 3.21427560e-01] [ 1.18863474e-02 8.13102498e-03 9.99896295e-01 1.25443191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7425578440001 meters Centerline goodness [0,1] 0.2726388378477702 Centerline is valid? [False, False] Translation: X:7.39, Y:0.32, Z:1.25 [[ 9.99930470e-01 2.31898956e-04 -1.17898533e-02 7.39480244e+00] [-3.26645966e-04 9.99967665e-01 -8.03502761e-03 3.21043078e-01] [ 1.17876087e-02 8.03832005e-03 9.99898214e-01 1.25473510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.77255784400006 meters Centerline goodness [0,1] 0.2736917625062504 Centerline is valid? [False, False] Translation: X:7.40, Y:0.32, Z:1.25 [[ 9.99926602e-01 1.26332985e-04 -1.21150613e-02 7.39589594e+00] [-2.21925121e-04 9.99968854e-01 -7.88933538e-03 3.20039844e-01] [ 1.21136873e-02 7.89144495e-03 9.99895486e-01 1.25420627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80255784400003 meters Centerline goodness [0,1] 0.272790294627383 Centerline is valid? [False, False] Translation: X:7.40, Y:0.32, Z:1.25 [[ 9.99922724e-01 7.33933577e-05 -1.24314260e-02 7.39697062e+00] [-1.69961797e-04 9.99969820e-01 -7.76721189e-03 3.19090099e-01] [ 1.24304808e-02 7.76872454e-03 9.99892559e-01 1.25369590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.83255784400006 meters Centerline goodness [0,1] 0.27163965990956884 Centerline is valid? [False, False] Translation: X:7.40, Y:0.32, Z:1.25 [[ 9.99918365e-01 4.34960969e-05 -1.27773926e-02 7.39804030e+00] [-1.40624520e-04 9.99971104e-01 -7.60078395e-03 3.17860967e-01] [ 1.27766927e-02 7.60196028e-03 9.99889477e-01 1.25333177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86255784400004 meters Centerline goodness [0,1] 0.27447121415286124 Centerline is valid? [False, False] Translation: X:7.40, Y:0.32, Z:1.25 [[ 9.99915327e-01 -9.60677989e-06 -1.30130055e-02 7.39866219e+00] [-8.77999797e-05 9.99971985e-01 -7.48474715e-03 3.16845857e-01] [ 1.30127129e-02 7.48525594e-03 9.99887314e-01 1.25322959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.89255784400007 meters Centerline goodness [0,1] 0.271512456284271 Centerline is valid? [False, False] Translation: X:7.40, Y:0.32, Z:1.25 [[ 9.99913449e-01 -1.21936159e-04 -1.31559389e-02 7.39900030e+00] [ 2.66098757e-05 9.99973748e-01 -7.24580628e-03 3.15010136e-01] [ 1.31564771e-02 7.24482908e-03 9.99887203e-01 1.25321507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92255784400004 meters Centerline goodness [0,1] 0.272609203861639 Centerline is valid? [False, False] Translation: X:7.40, Y:0.31, Z:1.25 [[ 9.99912301e-01 -7.93072684e-05 -1.32432877e-02 7.39920605e+00] [-1.48978577e-05 9.99974701e-01 -7.11317428e-03 3.14410226e-01] [ 1.32435168e-02 7.11274775e-03 9.99887003e-01 1.25321433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.95255784400007 meters Centerline goodness [0,1] 0.27564060554426895 Centerline is valid? [False, False] Translation: X:7.40, Y:0.31, Z:1.25 [[ 9.99911095e-01 -5.79916115e-05 -1.33340941e-02 7.39949710e+00] [-3.59049310e-05 9.99975208e-01 -7.04149169e-03 3.14071287e-01] [ 1.33341718e-02 7.04134443e-03 9.99886303e-01 1.25307956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98255784400004 meters Centerline goodness [0,1] 0.27352074850558783 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:1.26 [[ 9.99866998e-01 -7.56667968e-03 -1.44475820e-02 7.41926635e+00] [ 7.48000876e-03 9.99953761e-01 -6.04363434e-03 3.18098126e-01] [ 1.44926442e-02 5.93476248e-03 9.99877363e-01 1.25503528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.01255784400007 meters Centerline goodness [0,1] 0.27341464999891674 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:1.26 [[ 9.99867400e-01 -7.46792422e-03 -1.44710978e-02 7.41898364e+00] [ 7.38601472e-03 9.99956447e-01 -5.70541639e-03 3.16483271e-01] [ 1.45130751e-02 5.59777611e-03 9.99879010e-01 1.25554371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04255784400004 meters Centerline goodness [0,1] 0.2745391131041355 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:1.26 [[ 9.99873040e-01 -7.38058681e-03 -1.41220030e-02 7.41758546e+00] [ 7.30380963e-03 9.99958308e-01 -5.48057978e-03 3.15519796e-01] [ 1.41618642e-02 5.37673954e-03 9.99885260e-01 1.25641816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0725578440001 meters Centerline goodness [0,1] 0.27583273345985215 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:1.26 [[ 9.99879006e-01 -7.31646929e-03 -1.37274706e-02 7.41605197e+00] [ 7.24462237e-03 9.99959837e-01 -5.27625409e-03 3.14582655e-01] [ 1.37655228e-02 5.17616535e-03 9.99891853e-01 1.25735441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10255784400005 meters Centerline goodness [0,1] 0.27314734467198887 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:1.26 [[ 9.99880569e-01 -7.32420647e-03 -1.36089618e-02 7.41545140e+00] [ 7.25352559e-03 9.99959985e-01 -5.23582207e-03 3.14226267e-01] [ 1.36467655e-02 5.13648380e-03 9.99893686e-01 1.25787044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1325578440001 meters Centerline goodness [0,1] 0.27708234071122273 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:1.26 [[ 9.99877856e-01 -7.39170646e-03 -1.37708004e-02 7.41585936e+00] [ 7.31786582e-03 9.99958618e-01 -5.40481153e-03 3.15051899e-01] [ 1.38101813e-02 5.30337850e-03 9.99890571e-01 1.25785446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16255784400005 meters Centerline goodness [0,1] 0.2735591900311527 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:1.26 [[ 9.99877399e-01 -7.43700023e-03 -1.37796235e-02 7.41600600e+00] [ 7.36139183e-03 9.99957616e-01 -5.52959296e-03 3.15755212e-01] [ 1.38201630e-02 5.42747782e-03 9.99889767e-01 1.25765165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1925578440001 meters Centerline goodness [0,1] 0.25945724570517104 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:1.26 [[ 9.99894899e-01 -4.52569691e-03 -1.37735225e-02 7.41548772e+00] [ 4.49103410e-03 9.99986673e-01 -2.54651727e-03 3.16264984e-01] [ 1.37848637e-02 2.48439227e-03 9.99901898e-01 1.25825325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22255784400005 meters Centerline goodness [0,1] 0.27579416601748463 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:1.26 [[ 9.99896118e-01 -4.57356096e-03 -1.36688156e-02 7.41502301e+00] [ 4.53552693e-03 9.99985760e-01 -2.81224514e-03 3.17967581e-01] [ 1.36814829e-02 2.74995772e-03 9.99902623e-01 1.25856504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2525578440001 meters Centerline goodness [0,1] 0.2758284811359554 Centerline is valid? [False, False] Translation: X:7.41, Y:0.32, Z:1.26 [[ 9.99896708e-01 -4.67153087e-03 -1.35922501e-02 7.41464203e+00] [ 4.62892627e-03 9.99984280e-01 -3.16425110e-03 3.19905101e-01] [ 1.36068184e-02 3.10100673e-03 9.99902614e-01 1.25889600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28255784400005 meters Centerline goodness [0,1] 0.2744725008647527 Centerline is valid? [False, False] Translation: X:7.41, Y:0.32, Z:1.26 [[ 9.99895378e-01 -4.95422463e-03 -1.35900515e-02 7.41457259e+00] [ 4.90180792e-03 9.99980429e-01 -3.88759299e-03 3.23268605e-01] [ 1.36090455e-02 3.82057044e-03 9.99900094e-01 1.25902966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3125578440001 meters Centerline goodness [0,1] 0.27736017604636465 Centerline is valid? [False, False] Translation: X:7.41, Y:0.32, Z:1.26 [[ 9.99895007e-01 -5.07684760e-03 -1.35720715e-02 7.41454053e+00] [ 5.02068233e-03 9.99978705e-01 -4.16917171e-03 3.24481922e-01] [ 1.35929488e-02 4.10059292e-03 9.99899203e-01 1.25899472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34255784400005 meters Centerline goodness [0,1] 0.2609156376375943 Centerline is valid? [False, False] Translation: X:7.41, Y:0.33, Z:1.26 [[ 9.99894335e-01 -5.19672900e-03 -1.35761917e-02 7.41453745e+00] [ 5.13710818e-03 9.99977024e-01 -4.42275960e-03 3.25633208e-01] [ 1.35988636e-02 4.35254990e-03 9.99898058e-01 1.25901372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3725578440001 meters Centerline goodness [0,1] 0.27484020918070884 Centerline is valid? [False, False] Translation: X:7.41, Y:0.33, Z:1.26 [[ 9.99893593e-01 -5.27204457e-03 -1.36017382e-02 7.41467047e+00] [ 5.20968380e-03 9.99975775e-01 -4.61613072e-03 3.26745976e-01] [ 1.36257452e-02 4.54477878e-03 9.99896837e-01 1.25887946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40255784400006 meters Centerline goodness [0,1] 0.27083778813668047 Centerline is valid? [False, False] Translation: X:7.42, Y:0.33, Z:1.26 [[ 9.99891318e-01 -5.38554721e-03 -1.37240325e-02 7.41522461e+00] [ 5.31746238e-03 9.99973399e-01 -4.99266419e-03 3.29087642e-01] [ 1.37505556e-02 4.91914454e-03 9.99893356e-01 1.25851660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4325578440001 meters Centerline goodness [0,1] 0.2742364883876972 Centerline is valid? [False, False] Translation: X:7.40, Y:0.33, Z:1.26 [[ 9.99901148e-01 2.75774385e-03 -1.37872892e-02 7.39509047e+00] [-2.84105541e-03 9.99977803e-01 -6.02670583e-03 3.26120578e-01] [ 1.37703631e-02 6.06528053e-03 9.99886788e-01 1.25696862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46255784400006 meters Centerline goodness [0,1] 0.26309397297707604 Centerline is valid? [False, False] Translation: X:7.40, Y:0.33, Z:1.26 [[ 9.99900570e-01 2.62840306e-03 -1.38543046e-02 7.39522544e+00] [-2.71704943e-03 9.99975934e-01 -6.38353724e-03 3.27771652e-01] [ 1.38371927e-02 6.42054535e-03 9.99883648e-01 1.25704265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4925578440001 meters Centerline goodness [0,1] 0.2777923325473758 Centerline is valid? [False, False] Translation: X:7.40, Y:0.33, Z:1.26 [[ 9.99901447e-01 2.45133304e-03 -1.38234389e-02 7.39521844e+00] [-2.54816148e-03 9.99972313e-01 -6.99139927e-03 3.30747456e-01] [ 1.38059180e-02 7.02593460e-03 9.99880009e-01 1.25704766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52255784400006 meters Centerline goodness [0,1] 0.2760309616477894 Centerline is valid? [False, False] Translation: X:7.40, Y:0.34, Z:1.26 [[ 9.99883497e-01 5.94319872e-03 -1.40595596e-02 7.39628706e+00] [-6.00775707e-03 9.99971584e-01 -4.55400568e-03 3.37842601e-01] [ 1.40320947e-02 4.63794154e-03 9.99890789e-01 1.25647239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.55255784400003 meters Centerline goodness [0,1] 0.25793513886493014 Centerline is valid? [False, False] Translation: X:7.40, Y:0.34, Z:1.26 [[ 9.99858290e-01 7.04889316e-03 -1.52876754e-02 7.39991821e+00] [-7.11199115e-03 9.99966398e-01 -4.07694476e-03 3.43724965e-01] [ 1.52584237e-02 4.18509283e-03 9.99874825e-01 1.25569771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58255784400006 meters Centerline goodness [0,1] 0.26257431758017624 Centerline is valid? [False, False] Translation: X:7.40, Y:0.35, Z:1.26 [[ 9.99852532e-01 6.97134538e-03 -1.56943889e-02 7.40113236e+00] [-7.04718998e-03 9.99963732e-01 -4.78248654e-03 3.47811174e-01] [ 1.56604793e-02 4.89238262e-03 9.99865398e-01 1.25534050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.61255784400004 meters Centerline goodness [0,1] 0.2586057775471372 Centerline is valid? [False, False] Translation: X:7.40, Y:0.35, Z:1.26 [[ 9.99850536e-01 6.74620194e-03 -1.59183846e-02 7.40175710e+00] [-6.83482706e-03 9.99961409e-01 -5.51964966e-03 3.51521338e-01] [ 1.58805336e-02 5.62762407e-03 9.99858059e-01 1.25520094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64255784400007 meters Centerline goodness [0,1] 0.2595009680436816 Centerline is valid? [False, False] Translation: X:7.40, Y:0.36, Z:1.26 [[ 9.99849616e-01 6.40968523e-03 -1.61139924e-02 7.40229632e+00] [-6.51382269e-03 9.99958186e-01 -6.41839100e-03 3.55721348e-01] [ 1.60721788e-02 6.52238947e-03 9.99849560e-01 1.25512465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.67255784400004 meters Centerline goodness [0,1] 0.27803784532208087 Centerline is valid? [False, False] Translation: X:7.38, Y:0.36, Z:1.25 [[ 9.99867324e-01 -2.03013020e-03 -1.61620697e-02 7.38266443e+00] [ 1.94287075e-03 9.99983463e-01 -5.41289866e-03 3.61599550e-01] [ 1.61727913e-02 5.38077969e-03 9.99854733e-01 1.25355968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70255784400007 meters Centerline goodness [0,1] 0.27608392218441946 Centerline is valid? [False, False] Translation: X:7.38, Y:0.36, Z:1.25 [[ 9.99866897e-01 -2.11264250e-03 -1.61779042e-02 7.38256866e+00] [ 2.02246165e-03 9.99982338e-01 -5.58865547e-03 3.62385689e-01] [ 1.61894253e-02 5.55519242e-03 9.99853510e-01 1.25378665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.73255784400004 meters Centerline goodness [0,1] 0.27608392218441946 Centerline is valid? [False, False] Translation: X:7.38, Y:0.36, Z:1.25 [[ 9.99866897e-01 -2.11264250e-03 -1.61779042e-02 7.38256866e+00] [ 2.02246165e-03 9.99982338e-01 -5.58865547e-03 3.62385689e-01] [ 1.61894253e-02 5.55519242e-03 9.99853510e-01 1.25378665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76255784400007 meters Centerline goodness [0,1] 0.26239219444202455 Centerline is valid? [False, False] Translation: X:7.38, Y:0.36, Z:1.25 [[ 9.99865241e-01 -2.19368887e-03 -1.62692240e-02 7.38268666e+00] [ 2.10051298e-03 9.99981308e-01 -5.74200404e-03 3.62993263e-01] [ 1.62815160e-02 5.70705654e-03 9.99851160e-01 1.25396570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.79255784400004 meters Centerline goodness [0,1] 0.25915267439847667 Centerline is valid? [False, False] Translation: X:7.38, Y:0.36, Z:1.25 [[ 9.99861808e-01 -2.23689933e-03 -1.64730670e-02 7.38317068e+00] [ 2.14107064e-03 9.99980698e-01 -5.83263533e-03 3.63449189e-01] [ 1.64857961e-02 5.79655930e-03 9.99847298e-01 1.25400078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8225578440001 meters Centerline goodness [0,1] 0.25893166840097126 Centerline is valid? [False, False] Translation: X:7.38, Y:0.36, Z:1.25 [[ 9.99859463e-01 -2.24582497e-03 -1.66135815e-02 7.38355326e+00] [ 2.14809545e-03 9.99980299e-01 -5.89801524e-03 3.63959243e-01] [ 1.66265001e-02 5.86149879e-03 9.99844589e-01 1.25397581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.85255784400005 meters Centerline goodness [0,1] 0.2746368617900322 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.25 [[ 9.99857994e-01 -2.25613484e-03 -1.67003315e-02 7.38371530e+00] [ 2.15353687e-03 9.99978715e-01 -6.15890537e-03 3.65681069e-01] [ 1.67138714e-02 6.12206599e-03 9.99841571e-01 1.25409616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8825578440001 meters Centerline goodness [0,1] 0.2621859706362153 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.25 [[ 9.99855867e-01 -2.29303920e-03 -1.68222119e-02 7.38404240e+00] [ 2.18650835e-03 9.99977458e-01 -6.34841084e-03 3.66636886e-01] [ 1.68363899e-02 6.31071392e-03 9.99838342e-01 1.25404187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.91255784400005 meters Centerline goodness [0,1] 0.27353004990236496 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.25 [[ 9.99851358e-01 -2.32578453e-03 -1.70837138e-02 7.38472774e+00] [ 2.21377938e-03 9.99975952e-01 -6.57224109e-03 3.67862746e-01] [ 1.70985886e-02 6.53344460e-03 9.99832462e-01 1.25396237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9425578440001 meters Centerline goodness [0,1] 0.2589470507071404 Centerline is valid? [False, False] Translation: X:7.39, Y:0.37, Z:1.25 [[ 9.99847506e-01 -2.29621545e-03 -1.73116059e-02 7.38537499e+00] [ 2.17993701e-03 9.99974959e-01 -6.73267211e-03 3.69054726e-01] [ 1.73266321e-02 6.69390721e-03 9.99827475e-01 1.25382030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.97255784400005 meters Centerline goodness [0,1] 0.26053798018425167 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.25 [[ 9.99859536e-01 -1.96420132e-03 -1.66448430e-02 7.38370233e+00] [ 1.84995092e-03 9.99974644e-01 -6.87663100e-03 3.71191309e-01] [ 1.66579281e-02 6.84487294e-03 9.99837817e-01 1.25394091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0025578440001 meters Centerline goodness [0,1] 0.2615277988347664 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.25 [[ 9.99863346e-01 -2.02196163e-03 -1.64073361e-02 7.38299007e+00] [ 1.90447689e-03 9.99972460e-01 -7.17296913e-03 3.72711513e-01] [ 1.64213878e-02 7.14074153e-03 9.99839661e-01 1.25416866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.03255784400005 meters Centerline goodness [0,1] 0.2563476984195526 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.25 [[ 9.99865354e-01 -2.10592503e-03 -1.62738903e-02 7.38257210e+00] [ 1.98382422e-03 9.99969791e-01 -7.51537018e-03 3.74480713e-01] [ 1.62892255e-02 7.48207372e-03 9.99839327e-01 1.25429856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0625578440001 meters Centerline goodness [0,1] 0.2573378986583974 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.25 [[ 9.99866298e-01 -2.13030967e-03 -1.62125936e-02 7.38238966e+00] [ 2.00317950e-03 9.99967153e-01 -7.85364972e-03 3.76564575e-01] [ 1.62287918e-02 7.82012294e-03 9.99837723e-01 1.25432437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.09255784400005 meters Centerline goodness [0,1] 0.25859875358506024 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.25 [[ 9.99866589e-01 -2.18669064e-03 -1.61870913e-02 7.38230163e+00] [ 2.05389201e-03 9.99964138e-01 -8.21606675e-03 3.78692687e-01] [ 1.62044768e-02 8.18172410e-03 9.99835224e-01 1.25434166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1225578440001 meters Centerline goodness [0,1] 0.26203418691466374 Centerline is valid? [False, False] Translation: X:7.36, Y:0.38, Z:1.25 [[ 9.99848684e-01 6.71451839e-03 -1.60475853e-02 7.35914445e+00] [-6.85810050e-03 9.99936796e-01 -8.90905100e-03 3.78086913e-01] [ 1.59867510e-02 9.01775887e-03 9.99831538e-01 1.25431236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.15255784400006 meters Centerline goodness [0,1] 0.2595313271903258 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.26 [[ 9.99877968e-01 -1.03108728e-03 -1.55879875e-02 7.37809246e+00] [ 9.05867131e-04 9.99967284e-01 -8.03804619e-03 3.84401998e-01] [ 1.55957654e-02 8.02294465e-03 9.99846190e-01 1.25593305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1825578440001 meters Centerline goodness [0,1] 0.27148939849136533 Centerline is valid? [False, False] Translation: X:7.38, Y:0.39, Z:1.26 [[ 9.99878177e-01 -1.09079715e-03 -1.55705586e-02 7.37796707e+00] [ 9.62974741e-04 9.99965798e-01 -8.21437537e-03 3.85293229e-01] [ 1.55789863e-02 8.19838061e-03 9.99845029e-01 1.25605776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.21255784400006 meters Centerline goodness [0,1] 0.25347782149691456 Centerline is valid? [False, False] Translation: X:7.38, Y:0.39, Z:1.26 [[ 9.99878513e-01 -1.05760469e-03 -1.55512188e-02 7.37789903e+00] [ 9.29625546e-04 9.99965664e-01 -8.23445194e-03 3.85674826e-01] [ 1.55593936e-02 8.21899475e-03 9.99845165e-01 1.25607333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2425578440001 meters Centerline goodness [0,1] 0.26291335834569407 Centerline is valid? [False, False] Translation: X:7.33, Y:0.38, Z:1.26 [[ 9.99830494e-01 -1.55539746e-03 -1.83456559e-02 7.33258699e+00] [ 1.40156940e-03 9.99963780e-01 -8.39486472e-03 3.83795072e-01] [ 1.83580488e-02 8.36772903e-03 9.99796461e-01 1.25642303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.27255784400006 meters Centerline goodness [0,1] 0.2725572087357522 Centerline is valid? [False, False] Translation: X:7.33, Y:0.38, Z:1.26 [[ 9.99826196e-01 -1.57985630e-03 -1.85763950e-02 7.33328578e+00] [ 1.42404703e-03 9.99963724e-01 -8.39772536e-03 3.83532906e-01] [ 1.85889884e-02 8.36981214e-03 9.99792176e-01 1.25623247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30255784400003 meters Centerline goodness [0,1] 0.25845238864826425 Centerline is valid? [False, False] Translation: X:7.33, Y:0.38, Z:1.26 [[ 9.99821743e-01 -1.60181305e-03 -1.88126734e-02 7.33411761e+00] [ 1.44404451e-03 9.99963703e-01 -8.39688278e-03 3.83271834e-01] [ 1.88254408e-02 8.36821964e-03 9.99787765e-01 1.25583484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.33255784400006 meters Centerline goodness [0,1] 0.2533264324685687 Centerline is valid? [False, False] Translation: X:7.33, Y:0.38, Z:1.26 [[ 9.99822118e-01 -1.59328900e-03 -1.87934722e-02 7.33395884e+00] [ 1.43300003e-03 9.99962512e-01 -8.53935602e-03 3.84358681e-01] [ 1.88063734e-02 8.51090598e-03 9.99786920e-01 1.25599061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36255784400004 meters Centerline goodness [0,1] 0.2600520494469746 Centerline is valid? [False, False] Translation: X:7.33, Y:0.39, Z:1.26 [[ 9.99826606e-01 -1.60374437e-03 -1.85522587e-02 7.33315083e+00] [ 1.44268629e-03 9.99961188e-01 -8.69144767e-03 3.85347236e-01] [ 1.85654775e-02 8.66317554e-03 9.99790114e-01 1.25632376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.39255784400007 meters Centerline goodness [0,1] 0.2611686085616959 Centerline is valid? [False, False] Translation: X:7.33, Y:0.39, Z:1.26 [[ 9.99829090e-01 -1.67542098e-03 -1.84115245e-02 7.33265230e+00] [ 1.51187382e-03 9.99959312e-01 -8.89320093e-03 3.86327107e-01] [ 1.84256752e-02 8.86384509e-03 9.99790942e-01 1.25654836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42255784400004 meters Centerline goodness [0,1] 0.2612870364349654 Centerline is valid? [False, False] Translation: X:7.33, Y:0.39, Z:1.26 [[ 9.99828334e-01 -1.74003784e-03 -1.84465474e-02 7.33275614e+00] [ 1.57288959e-03 9.99957613e-01 -9.07186054e-03 3.87172194e-01] [ 1.84615508e-02 9.04128883e-03 9.99788691e-01 1.25650246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.45255784400007 meters Centerline goodness [0,1] 0.2525764342150464 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:1.26 [[ 0.99977224 -0.0090985 -0.01930498 7.35230836] [ 0.00894542 0.99992798 -0.00800143 0.3932062 ] [ 0.01937639 0.00782692 0.99978162 1.25807763] [ 0. 0. 0. 1. ]] SLAMing on 483.48255784400004 meters Centerline goodness [0,1] 0.2610958665447102 Centerline is valid? [False, False] Translation: X:7.33, Y:0.39, Z:1.26 [[ 9.99771914e-01 -5.31596743e-04 -2.13503547e-02 7.33240189e+00] [ 3.48220532e-04 9.99963030e-01 -8.59170651e-03 3.89286074e-01] [ 2.13541327e-02 8.58231223e-03 9.99735137e-01 1.25695546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.51255784400007 meters Centerline goodness [0,1] 0.25735119625482705 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:1.26 [[ 0.99973883 -0.00856704 -0.02118685 7.35249775] [ 0.00840739 0.99993568 -0.00761306 0.39348498] [ 0.02125071 0.00743294 0.99974655 1.25826614] [ 0. 0. 0. 1. ]] SLAMing on 483.54255784400004 meters Centerline goodness [0,1] 0.2568716074479358 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:1.26 [[ 9.99737035e-01 -8.50899957e-03 -2.12945496e-02 7.35284794e+00] [ 8.35289855e-03 9.99937667e-01 -7.40880479e-03 3.92303517e-01] [ 2.13562638e-02 7.22898532e-03 9.99745794e-01 1.25813928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5725578440001 meters Centerline goodness [0,1] 0.25803928385190333 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:1.26 [[ 9.99734271e-01 -8.43544634e-03 -2.14529656e-02 7.35325292e+00] [ 8.28299085e-03 9.99939879e-01 -7.18545689e-03 3.91150574e-01] [ 2.15122884e-02 7.00585279e-03 9.99744037e-01 1.25813052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60255784400005 meters Centerline goodness [0,1] 0.2602212706762015 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:1.26 [[ 9.99734273e-01 -8.33084340e-03 -2.14937113e-02 7.35327296e+00] [ 8.18376117e-03 9.99942555e-01 -6.92194566e-03 3.89962123e-01] [ 2.15501423e-02 6.74420692e-03 9.99745021e-01 1.25826568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6325578440001 meters Centerline goodness [0,1] 0.2517324495329919 Centerline is valid? [False, False] Translation: X:7.37, Y:0.38, Z:1.26 [[ 9.99789421e-01 3.90041385e-04 -2.05173457e-02 7.37275967e+00] [-5.33233173e-04 9.99975539e-01 -6.97405231e-03 3.84111447e-01] [ 2.05141236e-02 6.98352426e-03 9.99765173e-01 1.25949028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66255784400005 meters Centerline goodness [0,1] 0.25928998733679753 Centerline is valid? [False, False] Translation: X:7.33, Y:0.38, Z:1.26 [[ 9.99737008e-01 2.38183003e-04 -2.29315818e-02 7.32621015e+00] [-3.94188164e-04 9.99976810e-01 -6.79879033e-03 3.81615749e-01] [ 2.29294307e-02 6.80604166e-03 9.99713919e-01 1.26055565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6925578440001 meters Centerline goodness [0,1] 0.2504680539714649 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:1.26 [[ 9.99716601e-01 -7.47783314e-03 -2.26008647e-02 7.34539660e+00] [ 7.34924075e-03 9.99956362e-01 -5.76742685e-03 3.86005053e-01] [ 2.26430063e-02 5.59969317e-03 9.99727932e-01 1.26226434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72255784400005 meters Centerline goodness [0,1] 0.25619709467212226 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:1.26 [[ 9.99715763e-01 -7.42839791e-03 -2.26541955e-02 7.34552386e+00] [ 7.30036414e-03 9.99956940e-01 -5.72913473e-03 3.85963133e-01] [ 2.26957783e-02 5.56212242e-03 9.99726945e-01 1.26224449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7525578440001 meters Centerline goodness [0,1] 0.25853403824815613 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:1.26 [[ 9.99715233e-01 -7.36265290e-03 -2.26989983e-02 7.34572295e+00] [ 7.23493303e-03 9.99957561e-01 -5.70367357e-03 3.86071169e-01] [ 2.27400292e-02 5.53782362e-03 9.99726074e-01 1.26208993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78255784400005 meters Centerline goodness [0,1] 0.25756129312215226 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:1.26 [[ 9.99711564e-01 -7.22630752e-03 -2.29034653e-02 7.34634205e+00] [ 7.09816442e-03 9.99958725e-01 -5.67129043e-03 3.86109988e-01] [ 2.29435024e-02 5.50708207e-03 9.99721595e-01 1.26183517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8125578440001 meters Centerline goodness [0,1] 0.2549433507086546 Centerline is valid? [False, False] Translation: X:7.37, Y:0.38, Z:1.26 [[ 9.99725269e-01 9.95334717e-04 -2.34178378e-02 7.36631815e+00] [-1.15343323e-03 9.99976630e-01 -6.73866194e-03 3.82029645e-01] [ 2.34105833e-02 6.76382154e-03 9.99703054e-01 1.26379726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84255784400005 meters Centerline goodness [0,1] 0.25640803414729274 Centerline is valid? [False, False] Translation: X:7.37, Y:0.38, Z:1.26 [[ 9.99724979e-01 1.09727146e-03 -2.34256959e-02 7.36624425e+00] [-1.25074309e-03 9.99977846e-01 -6.53777599e-03 3.81166970e-01] [ 2.34180033e-02 6.56527748e-03 9.99704203e-01 1.26394229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8725578440001 meters Centerline goodness [0,1] 0.25255634727574106 Centerline is valid? [False, False] Translation: X:7.37, Y:0.38, Z:1.26 [[ 9.99725414e-01 1.19634322e-03 -2.34022314e-02 7.36614243e+00] [-1.34469972e-03 9.99979095e-01 -6.32470761e-03 3.80188904e-01] [ 2.33941757e-02 6.35443991e-03 9.99706124e-01 1.26402384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90255784400006 meters Centerline goodness [0,1] 0.25720673786576365 Centerline is valid? [False, False] Translation: X:7.37, Y:0.38, Z:1.26 [[ 9.99725152e-01 1.32938932e-03 -2.34062788e-02 7.36631481e+00] [-1.46677242e-03 9.99981794e-01 -5.85330823e-03 3.77378062e-01] [ 2.33980714e-02 5.88603114e-03 9.99708900e-01 1.26380505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9325578440001 meters Centerline goodness [0,1] 0.2507552222817354 Centerline is valid? [False, False] Translation: X:7.39, Y:0.38, Z:1.26 [[ 9.99714532e-01 -6.79540324e-03 -2.29058501e-02 7.38666683e+00] [ 6.68179358e-03 9.99965012e-01 -5.03274708e-03 3.80155327e-01] [ 2.29392482e-02 4.87825823e-03 9.99724959e-01 1.26455883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96255784400006 meters Centerline goodness [0,1] 0.25755570501833325 Centerline is valid? [False, False] Translation: X:7.37, Y:0.37, Z:1.26 [[ 9.99742336e-01 1.07119152e-03 -2.26740803e-02 7.36711227e+00] [-1.20338887e-03 9.99982354e-01 -5.81748754e-03 3.72667109e-01] [ 2.26674486e-02 5.84327432e-03 9.99725984e-01 1.26280381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9925578440001 meters Centerline goodness [0,1] 0.2567433643571182 Centerline is valid? [False, False] Translation: X:7.39, Y:0.38, Z:1.26 [[ 9.99727842e-01 -6.40606716e-03 -2.24322214e-02 7.38554624e+00] [ 6.31201013e-03 9.99971000e-01 -4.26124178e-03 3.76215204e-01] [ 2.24588687e-02 4.11848964e-03 9.99739285e-01 1.26496916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02255784400006 meters Centerline goodness [0,1] 0.256297895304911 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.27 [[ 9.99734549e-01 -6.14827408e-03 -2.22043045e-02 7.38457646e+00] [ 6.06363305e-03 9.99974099e-01 -3.87723826e-03 3.75028694e-01] [ 2.22275677e-02 3.74157029e-03 9.99745936e-01 1.26564060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.05255784400003 meters Centerline goodness [0,1] 0.2568155137179877 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99734037e-01 -6.12448862e-03 -2.22339101e-02 7.38481539e+00] [ 6.04028214e-03 9.99974336e-01 -3.85248479e-03 3.74914507e-01] [ 2.22569340e-02 3.71716108e-03 9.99745373e-01 1.26537391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08255784400006 meters Centerline goodness [0,1] 0.25624728850325384 Centerline is valid? [False, False] Translation: X:7.39, Y:0.38, Z:1.26 [[ 9.99730616e-01 -6.10826706e-03 -2.23916167e-02 7.38543270e+00] [ 6.02217949e-03 9.99974222e-01 -3.91005244e-03 3.75183750e-01] [ 2.24149231e-02 3.77415280e-03 9.99741630e-01 1.26498988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.11255784400004 meters Centerline goodness [0,1] 0.25679039065036247 Centerline is valid? [False, False] Translation: X:7.39, Y:0.38, Z:1.26 [[ 9.99728918e-01 -6.12082464e-03 -2.24638977e-02 7.38571665e+00] [ 6.03061327e-03 9.99973487e-01 -4.08138763e-03 3.76126129e-01] [ 2.24882835e-02 3.94481015e-03 9.99739324e-01 1.26478749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14255784400007 meters Centerline goodness [0,1] 0.2543774424077553 Centerline is valid? [False, False] Translation: X:7.39, Y:0.38, Z:1.27 [[ 9.99745801e-01 -2.86643131e-03 -2.23632882e-02 7.38519515e+00] [ 2.84886158e-03 9.99995608e-01 -8.17469815e-04 3.75979659e-01] [ 2.23655332e-02 7.53552102e-04 9.99749576e-01 1.26512492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.17255784400004 meters Centerline goodness [0,1] 0.25379497448485244 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.27 [[ 9.99751967e-01 -2.78503236e-03 -2.20963261e-02 7.38438483e+00] [ 2.76562600e-03 9.99995763e-01 -9.08771902e-04 3.76968878e-01] [ 2.20987634e-02 8.47436323e-04 9.99755433e-01 1.26530739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20255784400007 meters Centerline goodness [0,1] 0.25545546406381014 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.27 [[ 9.99758501e-01 -2.79678473e-03 -2.17972021e-02 7.38336079e+00] [ 2.77448942e-03 9.99995597e-01 -1.05302657e-03 3.77691066e-01] [ 2.18000512e-02 9.92296155e-04 9.99761858e-01 1.26568896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.23255784400004 meters Centerline goodness [0,1] 0.25372204438524504 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.27 [[ 9.99754018e-01 -2.79999313e-03 -2.20014480e-02 7.38395507e+00] [ 2.77825078e-03 9.99995622e-01 -1.01872808e-03 3.77254661e-01] [ 2.20042041e-02 9.57351948e-04 9.99757420e-01 1.26555881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26255784400007 meters Centerline goodness [0,1] 0.2560699255422467 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.27 [[ 9.99747103e-01 -2.76234581e-03 -2.23181600e-02 7.38482537e+00] [ 2.74284978e-03 9.99995830e-01 -9.04114570e-04 3.76644611e-01] [ 2.23205644e-02 8.42670561e-04 9.99750510e-01 1.26543028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.29255784400004 meters Centerline goodness [0,1] 0.25216042066245714 Centerline is valid? [False, False] Translation: X:7.39, Y:0.38, Z:1.27 [[ 9.99742662e-01 -2.68211406e-03 -2.25259065e-02 7.38542136e+00] [ 2.66606647e-03 9.99996170e-01 -7.42407370e-04 3.76103674e-01] [ 2.25278114e-02 6.82160756e-04 9.99745984e-01 1.26529192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3225578440001 meters Centerline goodness [0,1] 0.24820066370727922 Centerline is valid? [False, False] Translation: X:7.39, Y:0.38, Z:1.27 [[ 9.99740016e-01 -2.62291357e-03 -2.26499725e-02 7.38560710e+00] [ 2.60993458e-03 9.99996413e-01 -6.02566953e-04 3.75502943e-01] [ 2.26514717e-02 5.43295348e-04 9.99743275e-01 1.26550660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.35255784400005 meters Centerline goodness [0,1] 0.25836831459207865 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99742220e-01 -2.68675079e-03 -2.25449672e-02 7.38478505e+00] [ 2.67692342e-03 9.99996308e-01 -4.66069035e-04 3.74177728e-01] [ 2.25461362e-02 4.05597741e-04 9.99745721e-01 1.26645839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3825578440001 meters Centerline goodness [0,1] 0.25671279226131094 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99744428e-01 -2.64428394e-03 -2.24518686e-02 7.38425097e+00] [ 2.63848526e-03 9.99996478e-01 -2.87890580e-04 3.73176068e-01] [ 2.24525508e-02 2.28578079e-04 9.99747884e-01 1.26695954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.41255784400005 meters Centerline goodness [0,1] 0.2546150188059314 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99747201e-01 -2.50895107e-03 -2.23436688e-02 7.38384646e+00] [ 2.50875588e-03 9.99996852e-01 -3.67669556e-05 3.72313932e-01] [ 2.23436907e-02 -1.92971493e-05 9.99750348e-01 1.26718119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4425578440001 meters Centerline goodness [0,1] 0.25548940943013676 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99750300e-01 -2.39264199e-03 -2.22174077e-02 7.38342778e+00] [ 2.39738757e-03 9.99997109e-01 1.86964604e-04 3.71530431e-01] [ 2.22168961e-02 -2.40181656e-04 9.99753145e-01 1.26735041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.47255784400005 meters Centerline goodness [0,1] 0.25708827232860054 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99753071e-01 -2.30826564e-03 -2.21013165e-02 7.38307840e+00] [ 2.31689756e-03 9.99997249e-01 3.64963149e-04 3.70766066e-01] [ 2.21004132e-02 -4.16079516e-04 9.99755669e-01 1.26749525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5025578440001 meters Centerline goodness [0,1] 0.25700508275772194 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99752231e-01 -2.25660370e-03 -2.21446167e-02 7.38309345e+00] [ 2.26696756e-03 9.99997332e-01 4.42915652e-04 3.70279843e-01] [ 2.21435582e-02 -4.93007039e-04 9.99754680e-01 1.26763027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.53255784400005 meters Centerline goodness [0,1] 0.25071445454350116 Centerline is valid? [False, False] Translation: X:7.40, Y:0.37, Z:1.27 [[ 9.99740867e-01 6.17796291e-03 -2.19096068e-02 7.40361638e+00] [-6.19435867e-03 9.99980583e-01 -6.80548648e-04 3.67409505e-01] [ 2.19049770e-02 8.16088259e-04 9.99759724e-01 1.26911710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5625578440001 meters Centerline goodness [0,1] 0.25010757314974186 Centerline is valid? [False, False] Translation: X:7.40, Y:0.37, Z:1.27 [[ 9.99740208e-01 6.17974063e-03 -2.19391574e-02 7.40383137e+00] [-6.19799448e-03 9.99980500e-01 -7.64120502e-04 3.67927213e-01] [ 2.19340075e-02 8.99900766e-04 9.99759016e-01 1.26889896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.59255784400005 meters Centerline goodness [0,1] 0.25714410081180494 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99753053e-01 -1.92977504e-03 -2.21384140e-02 7.38480659e+00] [ 1.94193171e-03 9.99997975e-01 5.27635522e-04 3.72531886e-01] [ 2.21373509e-02 -5.70496512e-04 9.99754776e-01 1.26698360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6225578440001 meters Centerline goodness [0,1] 0.25552878876662977 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99753089e-01 -1.97142207e-03 -2.21330966e-02 7.38480135e+00] [ 1.97840139e-03 9.99998000e-01 2.93442013e-04 3.73639047e-01] [ 2.21324738e-02 -3.37157709e-04 9.99754990e-01 1.26689921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.65255784400006 meters Centerline goodness [0,1] 0.25552878876662977 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99753089e-01 -1.97142207e-03 -2.21330966e-02 7.38480135e+00] [ 1.97840139e-03 9.99998000e-01 2.93442013e-04 3.73639047e-01] [ 2.21324738e-02 -3.37157709e-04 9.99754990e-01 1.26689921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6825578440001 meters Centerline goodness [0,1] 0.25482129641722173 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.27 [[ 9.99761863e-01 -1.86090347e-03 -2.17428981e-02 7.38361275e+00] [ 1.86265128e-03 9.99998263e-01 6.01334256e-05 3.75288508e-01] [ 2.17427484e-02 -1.00618543e-04 9.99763593e-01 1.26714933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.71255784400006 meters Centerline goodness [0,1] 0.25529157667386604 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.27 [[ 9.99768651e-01 -1.78391436e-03 -2.14350513e-02 7.38260745e+00] [ 1.78524166e-03 9.99998406e-01 4.27862158e-05 3.75835992e-01] [ 2.14349408e-02 -8.10430638e-05 9.99770242e-01 1.26747754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7425578440001 meters Centerline goodness [0,1] 0.2540772903030696 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.27 [[ 9.99773400e-01 -1.72938349e-03 -2.12169352e-02 7.38177683e+00] [ 1.73210684e-03 9.99998494e-01 1.09980930e-04 3.75812897e-01] [ 2.12167131e-02 -1.46706007e-04 9.99774889e-01 1.26791807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.77255784400006 meters Centerline goodness [0,1] 0.2514026526795503 Centerline is valid? [False, False] Translation: X:7.38, Y:0.38, Z:1.27 [[ 9.99774313e-01 -1.69906405e-03 -2.11763265e-02 7.38169858e+00] [ 1.70436237e-03 9.99998521e-01 2.32154497e-04 3.75152666e-01] [ 2.11759007e-02 -2.68194236e-04 9.99775730e-01 1.26790590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80255784400003 meters Centerline goodness [0,1] 0.25168766392913966 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99767331e-01 -1.72946279e-03 -2.15010099e-02 7.38264267e+00] [ 1.73776767e-03 9.99998423e-01 3.67577480e-04 3.73964702e-01] [ 2.15003403e-02 -4.04855715e-04 9.99768759e-01 1.26771478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.83255784400006 meters Centerline goodness [0,1] 0.2550544997507964 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99753130e-01 -1.96476132e-03 -2.21318637e-02 7.38441727e+00] [ 1.98211441e-03 9.99997745e-01 7.62168213e-04 3.70552988e-01] [ 2.21303164e-02 -8.05847943e-04 9.99754770e-01 1.26748276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86255784400004 meters Centerline goodness [0,1] 0.25351565031430234 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99755880e-01 -1.76784842e-03 -2.20239860e-02 7.38413030e+00] [ 1.79692111e-03 9.99997540e-01 1.30032649e-03 3.68152456e-01] [ 2.20216330e-02 -1.33958442e-03 9.99756597e-01 1.26756773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.89255784400007 meters Centerline goodness [0,1] 0.24611326742864492 Centerline is valid? [False, False] Translation: X:7.38, Y:0.37, Z:1.27 [[ 9.99758387e-01 -1.59887855e-03 -2.19228487e-02 7.38378831e+00] [ 1.63930809e-03 9.99996989e-01 1.82632614e-03 3.65537766e-01] [ 2.19198627e-02 -1.86182318e-03 9.99757997e-01 1.26777799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92255784400004 meters Centerline goodness [0,1] 0.25166304277625884 Centerline is valid? [False, False] Translation: X:7.38, Y:0.36, Z:1.27 [[ 9.99759260e-01 -1.50865982e-03 -2.18893962e-02 7.38375089e+00] [ 1.55818184e-03 9.99996265e-01 2.24549536e-03 3.63019093e-01] [ 2.18859267e-02 -2.27906244e-03 9.99757877e-01 1.26783560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.95255784400007 meters Centerline goodness [0,1] 0.257085108232635 Centerline is valid? [False, False] Translation: X:7.38, Y:0.36, Z:1.27 [[ 9.99754505e-01 -1.43033844e-03 -2.21107207e-02 7.38437304e+00] [ 1.48847498e-03 9.99995478e-01 2.61310318e-03 3.60805326e-01] [ 2.21068831e-02 -2.64537293e-03 9.99752113e-01 1.26778746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98255784400004 meters Centerline goodness [0,1] 0.2512951131065446 Centerline is valid? [False, False] Translation: X:7.39, Y:0.36, Z:1.27 [[ 9.99735225e-01 -1.06641564e-03 -2.29857120e-02 7.38723879e+00] [ 1.14242135e-03 9.99993923e-01 3.29377227e-03 3.58121817e-01] [ 2.29820597e-02 -3.31915952e-03 9.99730368e-01 1.26666096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.01255784400007 meters Centerline goodness [0,1] 0.2551409817476067 Centerline is valid? [False, False] Translation: X:7.39, Y:0.36, Z:1.27 [[ 9.99730507e-01 -9.33694185e-04 -2.31957049e-02 7.38819142e+00] [ 1.01595505e-03 9.99993236e-01 3.53485202e-03 3.57122259e-01] [ 2.31922475e-02 -3.55746520e-03 9.99724694e-01 1.26598560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04255784400004 meters Centerline goodness [0,1] 0.25163532738930505 Centerline is valid? [False, False] Translation: X:7.41, Y:0.35, Z:1.27 [[ 9.99709023e-01 7.26679871e-03 -2.30013523e-02 7.40855640e+00] [-7.21884475e-03 9.99971595e-01 2.16717947e-03 3.52582668e-01] [ 2.30164474e-02 -2.00050568e-03 9.99733085e-01 1.26742605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0725578440001 meters Centerline goodness [0,1] 0.25460694619086854 Centerline is valid? [False, False] Translation: X:7.41, Y:0.35, Z:1.27 [[ 9.99711115e-01 7.27738467e-03 -2.29069066e-02 7.40819053e+00] [-7.22751887e-03 9.99971330e-01 2.25892876e-03 3.51639675e-01] [ 2.29226889e-02 -2.09271609e-03 9.99735050e-01 1.26762740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10255784400005 meters Centerline goodness [0,1] 0.2535382214612367 Centerline is valid? [False, False] Translation: X:7.41, Y:0.35, Z:1.27 [[ 9.99716342e-01 7.34571492e-03 -2.26555960e-02 7.40724734e+00] [-7.29389785e-03 9.99970593e-01 2.36895245e-03 3.51104391e-01] [ 2.26723315e-02 -2.20303288e-03 9.99740522e-01 1.26812052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1325578440001 meters Centerline goodness [0,1] 0.2580575149213239 Centerline is valid? [False, False] Translation: X:7.41, Y:0.35, Z:1.27 [[ 9.99721228e-01 7.47965620e-03 -2.23946440e-02 7.40637979e+00] [-7.42493156e-03 9.99969245e-01 2.52580327e-03 3.50692876e-01] [ 2.24128474e-02 -2.35882045e-03 9.99746018e-01 1.26846604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16255784400005 meters Centerline goodness [0,1] 0.2534972630115562 Centerline is valid? [False, False] Translation: X:7.41, Y:0.35, Z:1.27 [[ 9.99721216e-01 7.64189630e-03 -2.23403516e-02 7.40635941e+00] [-7.58438995e-03 9.99967706e-01 2.65770073e-03 3.50546515e-01] [ 2.23599400e-02 -2.48752187e-03 9.99746891e-01 1.26822295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1925578440001 meters Centerline goodness [0,1] 0.2573470143563602 Centerline is valid? [False, False] Translation: X:7.41, Y:0.35, Z:1.27 [[ 9.99719344e-01 7.63685107e-03 -2.24257069e-02 7.40670250e+00] [-7.57867739e-03 9.99967696e-01 2.67790821e-03 3.50244922e-01] [ 2.24454332e-02 -2.50719944e-03 9.99744926e-01 1.26800529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22255784400005 meters Centerline goodness [0,1] 0.2520339276441059 Centerline is valid? [False, False] Translation: X:7.43, Y:0.35, Z:1.27 [[ 9.99765444e-01 -2.12617868e-04 -2.16566736e-02 7.42572631e+00] [ 2.93957198e-04 9.99992915e-01 3.75274099e-03 3.53301496e-01] [ 2.16557223e-02 -3.75822690e-03 9.99758424e-01 1.26935287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2525578440001 meters Centerline goodness [0,1] 0.2546578462205834 Centerline is valid? [False, False] Translation: X:7.42, Y:0.35, Z:1.27 [[ 9.99770036e-01 -1.21543164e-04 -2.14443526e-02 7.42478888e+00] [ 2.07022440e-04 9.99992043e-01 3.98392235e-03 3.52317368e-01] [ 2.14436978e-02 -3.98744565e-03 9.99762106e-01 1.27005213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28255784400005 meters Centerline goodness [0,1] 0.25110113228627295 Centerline is valid? [False, False] Translation: X:7.44, Y:0.35, Z:1.27 [[ 9.99768898e-01 8.02079231e-03 -1.99453677e-02 7.44373986e+00] [-7.96939128e-03 9.99964719e-01 2.65524247e-03 3.48614603e-01] [ 1.99659612e-02 -2.49567639e-03 9.99797546e-01 1.27173722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3125578440001 meters Centerline goodness [0,1] 0.25668495775629296 Centerline is valid? [False, False] Translation: X:7.42, Y:0.35, Z:1.27 [[ 9.99796207e-01 -1.41357511e-03 -2.01381590e-02 7.42139713e+00] [ 1.47806712e-03 9.99993826e-01 3.18795358e-03 3.50239953e-01] [ 2.01335282e-02 -3.21706945e-03 9.99792124e-01 1.27128414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34255784400005 meters Centerline goodness [0,1] 0.2527980640421762 Centerline is valid? [False, False] Translation: X:7.42, Y:0.35, Z:1.27 [[ 9.99791455e-01 -1.39346873e-03 -2.03741204e-02 7.42193038e+00] [ 1.46459969e-03 9.99992884e-01 3.47673628e-03 3.48490320e-01] [ 2.03691306e-02 -3.50585115e-03 9.99786381e-01 1.27142827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3725578440001 meters Centerline goodness [0,1] 0.2541440055470088 Centerline is valid? [False, False] Translation: X:7.42, Y:0.35, Z:1.27 [[ 9.99789009e-01 -1.28635970e-03 -2.05008010e-02 7.42213412e+00] [ 1.36661332e-03 9.99991457e-01 3.90112868e-03 3.46246496e-01] [ 2.04956076e-02 -3.92832224e-03 9.99782225e-01 1.27170443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40255784400006 meters Centerline goodness [0,1] 0.2528065723256915 Centerline is valid? [False, False] Translation: X:7.44, Y:0.34, Z:1.27 [[ 9.99824073e-01 4.35874153e-03 -1.82434736e-02 7.44265760e+00] [-4.34141360e-03 9.99990087e-01 9.89312065e-04 3.40635846e-01] [ 1.82476049e-02 -9.09935554e-04 9.99833085e-01 1.27207900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4325578440001 meters Centerline goodness [0,1] 0.25620841125559957 Centerline is valid? [False, False] Translation: X:7.42, Y:0.34, Z:1.27 [[ 9.99818710e-01 -4.49870977e-03 -1.85016124e-02 7.42181422e+00] [ 4.54407637e-03 9.99986770e-01 2.41072614e-03 3.40213412e-01] [ 1.84905224e-02 -2.49436184e-03 9.99825924e-01 1.27085643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46255784400006 meters Centerline goodness [0,1] 0.252432011760128 Centerline is valid? [False, False] Translation: X:7.42, Y:0.34, Z:1.27 [[ 9.99814600e-01 -4.36225129e-03 -1.87546587e-02 7.42242203e+00] [ 4.41843558e-03 9.99985872e-01 2.95535888e-03 3.37142742e-01] [ 1.87415017e-02 -3.03767721e-03 9.99819748e-01 1.27098930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4925578440001 meters Centerline goodness [0,1] 0.25391037949558803 Centerline is valid? [False, False] Translation: X:7.42, Y:0.33, Z:1.27 [[ 9.99811315e-01 -4.23628179e-03 -1.89575276e-02 7.42302985e+00] [ 4.30336789e-03 9.99984618e-01 3.49936399e-03 3.34116666e-01] [ 1.89424117e-02 -3.58028492e-03 9.99814166e-01 1.27092717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52255784400006 meters Centerline goodness [0,1] 0.25247941920010375 Centerline is valid? [False, False] Translation: X:7.42, Y:0.33, Z:1.27 [[ 9.99810366e-01 -3.93787916e-03 -1.90715964e-02 7.42335977e+00] [ 4.02626490e-03 9.99981323e-01 4.59823934e-03 3.28275043e-01] [ 1.90531329e-02 -4.67415465e-03 9.99807547e-01 1.27104388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.55255784400003 meters Centerline goodness [0,1] 0.2537107054121206 Centerline is valid? [False, False] Translation: X:7.42, Y:0.33, Z:1.27 [[ 9.99810434e-01 -3.72114582e-03 -1.91115171e-02 7.42341737e+00] [ 3.81972807e-03 9.99979575e-01 5.12435323e-03 3.25844425e-01] [ 1.90920583e-02 -5.19638263e-03 9.99804226e-01 1.27118609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58255784400006 meters Centerline goodness [0,1] 0.255163325267888 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:1.27 [[ 9.99811144e-01 -3.55720745e-03 -1.91055814e-02 7.42338865e+00] [ 3.66268013e-03 9.99978231e-01 5.48836458e-03 3.24145862e-01] [ 1.90856423e-02 -5.55730570e-03 9.99802408e-01 1.27127541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.61255784400004 meters Centerline goodness [0,1] 0.2599860608964586 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:1.27 [[ 9.99812538e-01 -3.41751429e-03 -1.90580486e-02 7.42320001e+00] [ 3.52674222e-03 9.99977532e-01 5.70066704e-03 3.23265975e-01] [ 1.90381383e-02 -5.76681121e-03 9.99802127e-01 1.27145386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64255784400007 meters Centerline goodness [0,1] 0.2552564907646001 Centerline is valid? [False, False] Translation: X:7.44, Y:0.32, Z:1.27 [[ 9.99811156e-01 5.52940516e-03 -1.86300469e-02 7.44355220e+00] [-5.44721576e-03 9.99975220e-01 4.45951913e-03 3.21136734e-01] [ 1.86542437e-02 -4.35719509e-03 9.99816500e-01 1.27300117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.67255784400004 meters Centerline goodness [0,1] 0.25818552409037687 Centerline is valid? [False, False] Translation: X:7.44, Y:0.32, Z:1.27 [[ 9.99809808e-01 5.84749238e-03 -1.86052295e-02 7.44360701e+00] [-5.76681619e-03 9.99973749e-01 4.38691146e-03 3.22459880e-01] [ 1.86303935e-02 -4.27878417e-03 9.99817284e-01 1.27268536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70255784400007 meters Centerline goodness [0,1] 0.25802739844988165 Centerline is valid? [False, False] Translation: X:7.44, Y:0.33, Z:1.27 [[ 0.99977843 0.01018685 -0.01842074 7.44358306] [-0.0100468 0.99992004 0.00767925 0.32718235] [ 0.0184975 -0.00749247 0.99980083 1.2719043 ] [ 0. 0. 0. 1. ]] SLAMing on 485.73255784400004 meters Centerline goodness [0,1] 0.2515705679862307 Centerline is valid? [False, False] Translation: X:7.44, Y:0.33, Z:1.27 [[ 9.99777825e-01 1.06357337e-02 -1.81983866e-02 7.44314091e+00] [-1.05018372e-02 9.99917195e-01 7.43742143e-03 3.30141206e-01] [ 1.82759821e-02 -7.24465253e-03 9.99806733e-01 1.27144346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76255784400007 meters Centerline goodness [0,1] 0.2530216182563706 Centerline is valid? [False, False] Translation: X:7.44, Y:0.33, Z:1.27 [[ 9.99777158e-01 1.07052865e-02 -1.81942718e-02 7.44324550e+00] [-1.05819732e-02 9.99920475e-01 6.86040374e-03 3.33655430e-01] [ 1.82662675e-02 -6.66634366e-03 9.99810934e-01 1.27103431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.79255784400004 meters Centerline goodness [0,1] 0.2532651779332452 Centerline is valid? [False, False] Translation: X:7.45, Y:0.34, Z:1.27 [[ 9.99765888e-01 1.06160298e-02 -1.88539090e-02 7.44527174e+00] [-1.05095514e-02 9.99928312e-01 5.73768763e-03 3.40368479e-01] [ 1.89134689e-02 -5.53819825e-03 9.99805786e-01 1.26997470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8225578440001 meters Centerline goodness [0,1] 0.2525241605949884 Centerline is valid? [False, False] Translation: X:7.45, Y:0.34, Z:1.27 [[ 9.99765888e-01 1.03735832e-02 -1.89883401e-02 7.44581011e+00] [-1.02770021e-02 9.99933789e-01 5.17687223e-03 3.42802747e-01] [ 1.90407856e-02 -4.98051705e-03 9.99806303e-01 1.26952221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.85255784400005 meters Centerline goodness [0,1] 0.2525241605949884 Centerline is valid? [False, False] Translation: X:7.45, Y:0.34, Z:1.27 [[ 9.99765888e-01 1.03735832e-02 -1.89883401e-02 7.44581011e+00] [-1.02770021e-02 9.99933789e-01 5.17687223e-03 3.42802747e-01] [ 1.90407856e-02 -4.98051705e-03 9.99806303e-01 1.26952221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8825578440001 meters Centerline goodness [0,1] 0.24867656552614592 Centerline is valid? [False, False] Translation: X:7.46, Y:0.35, Z:1.27 [[ 9.99815807e-01 2.92505537e-03 -1.89682705e-02 7.46401628e+00] [-2.80937937e-03 9.99977313e-01 6.12217678e-03 3.52384712e-01] [ 1.89857478e-02 -6.06776005e-03 9.99801342e-01 1.27183277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.91255784400005 meters Centerline goodness [0,1] 0.2503955096114253 Centerline is valid? [False, False] Translation: X:7.46, Y:0.35, Z:1.27 [[ 9.99820331e-01 2.83452925e-03 -1.87422159e-02 7.46319722e+00] [-2.72281074e-03 9.99978391e-01 5.98362844e-03 3.53188210e-01] [ 1.87587717e-02 -5.93152187e-03 9.99806444e-01 1.27223409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9425578440001 meters Centerline goodness [0,1] 0.2501509271237602 Centerline is valid? [False, False] Translation: X:7.46, Y:0.35, Z:1.27 [[ 9.99821830e-01 2.69681738e-03 -1.86824880e-02 7.46274630e+00] [-2.58716393e-03 9.99979301e-01 5.89100215e-03 3.53497647e-01] [ 1.86979882e-02 -5.84161789e-03 9.99808112e-01 1.27277498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.97255784400005 meters Centerline goodness [0,1] 0.24712446351931328 Centerline is valid? [False, False] Translation: X:7.46, Y:0.35, Z:1.27 [[ 9.99817297e-01 2.54713179e-03 -1.89442664e-02 7.46325045e+00] [-2.43770500e-03 9.99980225e-01 5.79709975e-03 3.53648927e-01] [ 1.89586577e-02 -5.74986007e-03 9.99803735e-01 1.27311040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0025578440001 meters Centerline goodness [0,1] 0.24682207954496493 Centerline is valid? [False, False] Translation: X:7.47, Y:0.35, Z:1.27 [[ 9.99790870e-01 1.76122542e-03 -2.03743783e-02 7.46726195e+00] [-1.65567315e-03 9.99985128e-01 5.19634685e-03 3.54280922e-01] [ 2.03832272e-02 -5.16152683e-03 9.99778917e-01 1.27246927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.03255784400005 meters Centerline goodness [0,1] 0.2524817786621104 Centerline is valid? [False, False] Translation: X:7.47, Y:0.35, Z:1.27 [[ 9.99783557e-01 1.67464063e-03 -2.07372704e-02 7.46821640e+00] [-1.56551982e-03 9.99984850e-01 5.27717886e-03 3.53441623e-01] [ 2.07457936e-02 -5.24357204e-03 9.99771032e-01 1.27246783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0625578440001 meters Centerline goodness [0,1] 0.2571814066852368 Centerline is valid? [False, False] Translation: X:7.47, Y:0.35, Z:1.27 [[ 9.99782477e-01 1.66736314e-03 -2.07898862e-02 7.46806081e+00] [-1.55420124e-03 9.99983897e-01 5.45809307e-03 3.52365523e-01] [ 2.07986520e-02 -5.42459414e-03 9.99768968e-01 1.27297911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.09255784400005 meters Centerline goodness [0,1] 0.2542159522517634 Centerline is valid? [False, False] Translation: X:7.47, Y:0.35, Z:1.27 [[ 9.99785664e-01 1.67495775e-03 -2.06354370e-02 7.46734877e+00] [-1.55880213e-03 9.99982859e-01 5.64373901e-03 3.51386381e-01] [ 2.06445364e-02 -5.61036279e-03 9.99771137e-01 1.27360935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1225578440001 meters Centerline goodness [0,1] 0.2461601254538034 Centerline is valid? [False, False] Translation: X:7.47, Y:0.35, Z:1.27 [[ 9.99786041e-01 1.71418149e-03 -2.06139087e-02 7.46700069e+00] [-1.59369583e-03 9.99981561e-01 5.85987985e-03 3.50358136e-01] [ 2.06235735e-02 -5.82577378e-03 9.99770338e-01 1.27412136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.15255784400006 meters Centerline goodness [0,1] 0.2548047788070297 Centerline is valid? [False, False] Translation: X:7.47, Y:0.35, Z:1.27 [[ 9.99781069e-01 1.73505246e-03 -2.08519667e-02 7.46771962e+00] [-1.60720261e-03 9.99979818e-01 6.14650441e-03 3.48688504e-01] [ 2.08622104e-02 -6.11164542e-03 9.99763680e-01 1.27402506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1825578440001 meters Centerline goodness [0,1] 0.25654803341454924 Centerline is valid? [False, False] Translation: X:7.47, Y:0.35, Z:1.27 [[ 9.99779969e-01 1.78462441e-03 -2.09004599e-02 7.46776227e+00] [-1.65196846e-03 9.99978394e-01 6.36258120e-03 3.47435952e-01] [ 2.09113631e-02 -6.32665433e-03 9.99761316e-01 1.27422700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.21255784400006 meters Centerline goodness [0,1] 0.2553854813916734 Centerline is valid? [False, False] Translation: X:7.47, Y:0.35, Z:1.27 [[ 9.99780799e-01 1.82007570e-03 -2.08576664e-02 7.46741203e+00] [-1.68286163e-03 9.99976842e-01 6.59425652e-03 3.45992560e-01] [ 2.08691854e-02 -6.55771049e-03 9.99760708e-01 1.27469837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2425578440001 meters Centerline goodness [0,1] 0.25471718550291367 Centerline is valid? [False, False] Translation: X:7.47, Y:0.34, Z:1.28 [[ 9.99781133e-01 1.90342411e-03 -2.08341937e-02 7.46712603e+00] [-1.76029701e-03 9.99974742e-01 6.88600144e-03 3.44420485e-01] [ 2.08467744e-02 -6.84781995e-03 9.99759231e-01 1.27513061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.27255784400006 meters Centerline goodness [0,1] 0.25914547791794673 Centerline is valid? [False, False] Translation: X:7.47, Y:0.34, Z:1.28 [[ 9.99779409e-01 2.01335524e-03 -2.09064412e-02 7.46713468e+00] [-1.86338384e-03 9.99972412e-01 7.19045854e-03 3.42933115e-01] [ 2.09203414e-02 -7.14991566e-03 9.99755579e-01 1.27543969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30255784400003 meters Centerline goodness [0,1] 0.2538900414937759 Centerline is valid? [False, False] Translation: X:7.47, Y:0.34, Z:1.28 [[ 9.99775233e-01 2.23058660e-03 -2.10833576e-02 7.46787909e+00] [-2.06721968e-03 9.99967698e-01 7.76724026e-03 3.40098423e-01] [ 2.11000021e-02 -7.72191051e-03 9.99747549e-01 1.27504204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.33255784400006 meters Centerline goodness [0,1] 0.25913301870302397 Centerline is valid? [False, False] Translation: X:7.47, Y:0.34, Z:1.27 [[ 9.99774306e-01 2.29540646e-03 -2.11203412e-02 7.46809999e+00] [-2.12779224e-03 9.99966093e-01 7.95520378e-03 3.39025725e-01] [ 2.11378855e-02 -7.90846864e-03 9.99745291e-01 1.27485356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36255784400004 meters Centerline goodness [0,1] 0.2601251881093106 Centerline is valid? [False, False] Translation: X:7.47, Y:0.34, Z:1.27 [[ 9.99773833e-01 2.34483131e-03 -2.11372985e-02 7.46809832e+00] [-2.17429764e-03 9.99964934e-01 8.08727778e-03 3.38269633e-01] [ 2.11555206e-02 -8.03948993e-03 9.99743872e-01 1.27496224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.39255784400007 meters Centerline goodness [0,1] 0.2594110171348438 Centerline is valid? [False, False] Translation: X:7.47, Y:0.34, Z:1.28 [[ 9.99775118e-01 2.38766915e-03 -2.10716026e-02 7.46789842e+00] [-2.21609134e-03 9.99964233e-01 8.16220680e-03 3.37902164e-01] [ 2.10903375e-02 -8.11367467e-03 9.99744650e-01 1.27502673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42255784400004 meters Centerline goodness [0,1] 0.251989788256495 Centerline is valid? [False, False] Translation: X:7.51, Y:0.34, Z:1.28 [[ 9.99813549e-01 3.44865762e-03 -1.89992922e-02 7.51217806e+00] [-3.30090252e-03 9.99964110e-01 7.80275306e-03 3.41800300e-01] [ 1.90255193e-02 -7.73858342e-03 9.99789050e-01 1.27505226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.45255784400007 meters Centerline goodness [0,1] 0.25271039362922243 Centerline is valid? [False, False] Translation: X:7.51, Y:0.34, Z:1.27 [[ 9.99815778e-01 3.40558512e-03 -1.88894758e-02 7.51201608e+00] [-3.26255224e-03 9.99965814e-01 7.59774873e-03 3.42932200e-01] [ 1.89147048e-02 -7.53472116e-03 9.99792709e-01 1.27479831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48255784400004 meters Centerline goodness [0,1] 0.25144708423326134 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.27 [[ 9.99814722e-01 3.44799640e-03 -1.89375953e-02 7.51247889e+00] [-3.31554884e-03 9.99969857e-01 7.02084496e-03 3.46413584e-01] [ 1.89612323e-02 -6.95675563e-03 9.99796017e-01 1.27407021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.51255784400007 meters Centerline goodness [0,1] 0.2515174424883897 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.27 [[ 9.99815109e-01 3.30074548e-03 -1.89434183e-02 7.51265416e+00] [-3.17689377e-03 9.99973408e-01 6.56435476e-03 3.48565619e-01] [ 1.89645818e-02 -6.50295985e-03 9.99799008e-01 1.27370392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54255784400004 meters Centerline goodness [0,1] 0.2515174424883897 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.27 [[ 9.99815109e-01 3.30074548e-03 -1.89434183e-02 7.51265416e+00] [-3.17689377e-03 9.99973408e-01 6.56435476e-03 3.48565619e-01] [ 1.89645818e-02 -6.50295985e-03 9.99799008e-01 1.27370392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5725578440001 meters Centerline goodness [0,1] 0.2515553443359544 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.27 [[ 9.99817637e-01 3.12504038e-03 -1.88395199e-02 7.51234922e+00] [-3.01052111e-03 9.99976839e-01 6.10397200e-03 3.50714484e-01] [ 1.88581587e-02 -6.04614209e-03 9.99803888e-01 1.27368164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60255784400005 meters Centerline goodness [0,1] 0.2573589977023454 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.27 [[ 9.99820271e-01 3.00416161e-03 -1.87190051e-02 7.51183875e+00] [-2.89607645e-03 9.99978995e-01 5.79852210e-03 3.52221049e-01] [ 1.87360316e-02 -5.74326827e-03 9.99807970e-01 1.27397646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6325578440001 meters Centerline goodness [0,1] 0.255249740753543 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.27 [[ 9.99820593e-01 2.83523723e-03 -1.87281606e-02 7.51154486e+00] [-2.73178113e-03 9.99980882e-01 5.54736775e-03 3.53440729e-01] [ 1.87435306e-02 -5.49521127e-03 9.99809223e-01 1.27441463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66255784400005 meters Centerline goodness [0,1] 0.2547320656871218 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.27 [[ 9.99816001e-01 2.68727181e-03 -1.89932321e-02 7.51224324e+00] [-2.58279721e-03 9.99981413e-01 5.52301364e-03 3.53054699e-01] [ 1.90077209e-02 -5.47294174e-03 9.99804358e-01 1.27441137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6925578440001 meters Centerline goodness [0,1] 0.252402085397906 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.27 [[ 9.99809885e-01 2.49416068e-03 -1.93383998e-02 7.51307499e+00] [-2.38774582e-03 9.99981892e-01 5.52391341e-03 3.52296274e-01] [ 1.93518271e-02 -5.47668805e-03 9.99797736e-01 1.27449534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72255784400005 meters Centerline goodness [0,1] 0.2499085962535217 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.27 [[ 9.99810794e-01 2.34060375e-03 -1.93105841e-02 7.51284514e+00] [-2.23225901e-03 9.99981658e-01 5.63028918e-03 3.51111614e-01] [ 1.93234082e-02 -5.58611766e-03 9.99797680e-01 1.27485405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7525578440001 meters Centerline goodness [0,1] 0.25387057070674357 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.28 [[ 9.99813590e-01 2.34365281e-03 -1.91648842e-02 7.51215116e+00] [-2.23189759e-03 9.99980395e-01 5.85056084e-03 3.49910683e-01] [ 1.91782201e-02 -5.80669618e-03 9.99799219e-01 1.27547386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78255784400005 meters Centerline goodness [0,1] 0.2580925106309121 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.28 [[ 9.99813700e-01 2.35384230e-03 -1.91579042e-02 7.51189978e+00] [-2.24078584e-03 9.99979962e-01 5.92062464e-03 3.49642708e-01] [ 1.91714566e-02 -5.87659286e-03 9.99798940e-01 1.27590874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8125578440001 meters Centerline goodness [0,1] 0.2588151258685253 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:1.28 [[ 9.99807776e-01 2.26681126e-03 -1.94749391e-02 7.51293161e+00] [-2.15740999e-03 9.99981786e-01 5.63671548e-03 3.51211638e-01] [ 1.94873618e-02 -5.59361654e-03 9.99794456e-01 1.27548375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84255784400005 meters Centerline goodness [0,1] 0.2631949022192924 Centerline is valid? [False, False] Translation: X:7.47, Y:0.35, Z:1.28 [[ 9.99748386e-01 1.90543223e-03 -2.23502653e-02 7.46825250e+00] [-1.77304323e-03 9.99980776e-01 5.94169647e-03 3.49930373e-01] [ 2.23611571e-02 -5.90057347e-03 9.99732545e-01 1.27562685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8725578440001 meters Centerline goodness [0,1] 0.25890206107366553 Centerline is valid? [False, False] Translation: X:7.49, Y:0.35, Z:1.28 [[ 9.99714238e-01 1.06477801e-02 -2.14025242e-02 7.48893884e+00] [-1.05470154e-02 9.99932784e-01 4.81545479e-03 3.49500601e-01] [ 2.14523595e-02 -4.58834596e-03 9.99759343e-01 1.27682196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90255784400006 meters Centerline goodness [0,1] 0.2608515374375314 Centerline is valid? [False, False] Translation: X:7.47, Y:0.36, Z:1.27 [[ 9.99819216e-01 3.70396850e-03 -1.86498292e-02 7.46723649e+00] [-3.58824370e-03 9.99974126e-01 6.23478403e-03 3.56028051e-01] [ 1.86724401e-02 -6.16673675e-03 9.99806637e-01 1.27464828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9325578440001 meters Centerline goodness [0,1] 0.25718173571212577 Centerline is valid? [False, False] Translation: X:7.47, Y:0.36, Z:1.27 [[ 9.99822699e-01 3.66228258e-03 -1.84704544e-02 7.46676360e+00] [-3.55075280e-03 9.99975289e-01 6.06746470e-03 3.56939344e-01] [ 1.84922187e-02 -6.00080492e-03 9.99810996e-01 1.27466737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96255784400006 meters Centerline goodness [0,1] 0.25900106085864605 Centerline is valid? [False, False] Translation: X:7.47, Y:0.36, Z:1.27 [[ 9.99823923e-01 3.61740251e-03 -1.84129874e-02 7.46670062e+00] [-3.50811192e-03 9.99976059e-01 5.96435980e-03 3.57398880e-01] [ 1.84341221e-02 -5.89871479e-03 9.99812677e-01 1.27450594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9925578440001 meters Centerline goodness [0,1] 0.2596498079802122 Centerline is valid? [False, False] Translation: X:7.47, Y:0.36, Z:1.27 [[ 9.99823728e-01 3.59789470e-03 -1.84273847e-02 7.46686296e+00] [-3.48986119e-03 9.99976555e-01 5.89146700e-03 3.57853416e-01] [ 1.84481496e-02 -5.82611949e-03 9.99812844e-01 1.27428713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02255784400006 meters Centerline goodness [0,1] 0.258026979269922 Centerline is valid? [False, False] Translation: X:7.47, Y:0.36, Z:1.27 [[ 9.99821453e-01 3.59220766e-03 -1.85515119e-02 7.46718136e+00] [-3.48404995e-03 9.99976766e-01 5.85916174e-03 3.58167016e-01] [ 1.85721282e-02 -5.79348121e-03 9.99810738e-01 1.27425728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.05255784400003 meters Centerline goodness [0,1] 0.2571248997637676 Centerline is valid? [False, False] Translation: X:7.47, Y:0.36, Z:1.27 [[ 9.99822693e-01 3.58875121e-03 -1.84852473e-02 7.46690824e+00] [-3.48127423e-03 9.99976869e-01 5.84310405e-03 3.58374510e-01] [ 1.85057892e-02 -5.77771581e-03 9.99812059e-01 1.27442162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08255784400006 meters Centerline goodness [0,1] 0.2559216076488784 Centerline is valid? [False, False] Translation: X:7.47, Y:0.36, Z:1.28 [[ 9.99827024e-01 3.59280267e-03 -1.82486544e-02 7.46591675e+00] [-3.48571300e-03 9.99976539e-01 5.89678115e-03 3.58036119e-01] [ 1.82694122e-02 -5.83215157e-03 9.99816090e-01 1.27510637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.11255784400004 meters Centerline goodness [0,1] 0.25111001480019735 Centerline is valid? [False, False] Translation: X:7.47, Y:0.36, Z:1.28 [[ 9.99829385e-01 3.55013416e-03 -1.81272533e-02 7.46564921e+00] [-3.44516010e-03 9.99977135e-01 5.81890066e-03 3.58216207e-01] [ 1.81474967e-02 -5.75545658e-03 9.99818755e-01 1.27506564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14255784400007 meters Centerline goodness [0,1] 0.25251487521938276 Centerline is valid? [False, False] Translation: X:7.47, Y:0.36, Z:1.28 [[ 9.99832632e-01 3.47466853e-03 -1.79620216e-02 7.46509525e+00] [-3.37446262e-03 9.99978592e-01 5.60606700e-03 3.59235081e-01] [ 1.79811163e-02 -5.54451655e-03 9.99822953e-01 1.27524753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.17255784400004 meters Centerline goodness [0,1] 0.25917763228970847 Centerline is valid? [False, False] Translation: X:7.46, Y:0.36, Z:1.28 [[ 9.99837572e-01 3.42863772e-03 -1.76938790e-02 7.46435373e+00] [-3.33454138e-03 9.99980157e-01 5.34478228e-03 3.60731015e-01] [ 1.77118532e-02 -5.28491317e-03 9.99829165e-01 1.27531855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20255784400007 meters Centerline goodness [0,1] 0.25655362250274183 Centerline is valid? [False, False] Translation: X:7.46, Y:0.36, Z:1.28 [[ 9.99838685e-01 3.37039612e-03 -1.76421243e-02 7.46424742e+00] [-3.28440610e-03 9.99982597e-01 4.90083808e-03 3.63342164e-01] [ 1.76583350e-02 -4.84210360e-03 9.99832355e-01 1.27518082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.23255784400004 meters Centerline goodness [0,1] 0.252419285775456 Centerline is valid? [False, False] Translation: X:7.47, Y:0.37, Z:1.27 [[ 9.99834823e-01 3.29600478e-03 -1.78735073e-02 7.46509927e+00] [-3.21877809e-03 9.99985368e-01 4.34778296e-03 3.66462608e-01] [ 1.78875761e-02 -4.28953395e-03 9.99830803e-01 1.27458501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26255784400007 meters Centerline goodness [0,1] 0.2525802012556979 Centerline is valid? [False, False] Translation: X:7.47, Y:0.37, Z:1.27 [[ 9.99832232e-01 3.08053157e-03 -1.80559882e-02 7.46602580e+00] [-3.01579220e-03 9.99988931e-01 3.61161228e-03 3.70054512e-01] [ 1.80669140e-02 -3.55655325e-03 9.99830454e-01 1.27365947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.29255784400004 meters Centerline goodness [0,1] 0.25231436733466506 Centerline is valid? [False, False] Translation: X:7.47, Y:0.37, Z:1.27 [[ 9.99830109e-01 2.83747557e-03 -1.82126751e-02 7.46669574e+00] [-2.78514066e-03 9.99991921e-01 2.89826525e-03 3.73447912e-01] [ 1.82207517e-02 -2.84704800e-03 9.99829935e-01 1.27306158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3225578440001 meters Centerline goodness [0,1] 0.25921824104234525 Centerline is valid? [False, False] Translation: X:7.47, Y:0.38, Z:1.27 [[ 9.99828946e-01 2.47079475e-03 -1.83295953e-02 7.46720482e+00] [-2.43611400e-03 9.99995201e-01 1.91415023e-03 3.78387865e-01] [ 1.83342368e-02 -1.86916982e-03 9.99830167e-01 1.27250770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.35255784400005 meters Centerline goodness [0,1] 0.2572490385030898 Centerline is valid? [False, False] Translation: X:7.47, Y:0.38, Z:1.27 [[ 9.99824913e-01 2.30366578e-03 -1.85697765e-02 7.46794740e+00] [-2.27546152e-03 9.99996226e-01 1.53981215e-03 3.80210348e-01] [ 1.85732536e-02 -1.49728773e-03 9.99826381e-01 1.27221174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3825578440001 meters Centerline goodness [0,1] 0.2551365073901164 Centerline is valid? [False, False] Translation: X:7.47, Y:0.38, Z:1.27 [[ 9.99819080e-01 2.14359921e-03 -1.89000580e-02 7.46891463e+00] [-2.11930352e-03 9.99996902e-01 1.30541799e-03 3.81133299e-01] [ 1.89027977e-02 -1.26512686e-03 9.99820526e-01 1.27196079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.41255784400005 meters Centerline goodness [0,1] 0.25519076044640543 Centerline is valid? [False, False] Translation: X:7.47, Y:0.38, Z:1.27 [[ 9.99816469e-01 1.97493084e-03 -1.90559425e-02 7.46915531e+00] [-1.95317569e-03 9.99997420e-01 1.16019045e-03 3.81342608e-01] [ 1.90581847e-02 -1.12275792e-03 9.99817746e-01 1.27224614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4425578440001 meters Centerline goodness [0,1] 0.2574798369612349 Centerline is valid? [False, False] Translation: X:7.47, Y:0.38, Z:1.27 [[ 9.99821060e-01 1.87158535e-03 -1.88240697e-02 7.46811276e+00] [-1.85042034e-03 9.99997636e-01 1.14171369e-03 3.81149113e-01] [ 1.88261620e-02 -1.10667695e-03 9.99822160e-01 1.27306256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.47255784400005 meters Centerline goodness [0,1] 0.26021407127006924 Centerline is valid? [False, False] Translation: X:7.47, Y:0.38, Z:1.27 [[ 9.99830937e-01 1.77504927e-03 -1.83015668e-02 7.46629800e+00] [-1.75445309e-03 9.99997810e-01 1.14137256e-03 3.81016170e-01] [ 1.83035527e-02 -1.10907035e-03 9.99831861e-01 1.27401850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5025578440001 meters Centerline goodness [0,1] 0.252923287788581 Centerline is valid? [False, False] Translation: X:7.49, Y:0.38, Z:1.27 [[ 9.99883149e-01 -4.56083803e-03 -1.45906472e-02 7.48566580e+00] [ 4.61327807e-03 9.99983013e-01 3.56244961e-03 3.84357754e-01] [ 1.45741516e-02 -3.62934405e-03 9.99887205e-01 1.27426050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.53255784400005 meters Centerline goodness [0,1] 0.2587915290460462 Centerline is valid? [False, False] Translation: X:7.49, Y:0.38, Z:1.27 [[ 9.99884303e-01 -4.56011232e-03 -1.45115555e-02 7.48545977e+00] [ 4.61204497e-03 9.99983073e-01 3.54725824e-03 3.84653864e-01] [ 1.44951340e-02 -3.61377578e-03 9.99888410e-01 1.27430124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5625578440001 meters Centerline goodness [0,1] 0.2694479433609869 Centerline is valid? [False, False] Translation: X:7.49, Y:0.39, Z:1.27 [[ 9.99881497e-01 -4.63423987e-03 -1.46804287e-02 7.48608848e+00] [ 4.68468030e-03 9.99983235e-01 3.40337352e-03 3.85207554e-01] [ 1.46644105e-02 -3.47174333e-03 9.99886445e-01 1.27393559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.59255784400005 meters Centerline goodness [0,1] 0.2694367055545882 Centerline is valid? [False, False] Translation: X:7.49, Y:0.39, Z:1.27 [[ 9.99876048e-01 -4.76531940e-03 -1.50060360e-02 7.48711931e+00] [ 4.81279329e-03 9.99983523e-01 3.12913098e-03 3.86290279e-01] [ 1.49908774e-02 -3.20096407e-03 9.99882507e-01 1.27353659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6225578440001 meters Centerline goodness [0,1] 0.2558440159431218 Centerline is valid? [False, False] Translation: X:7.51, Y:0.39, Z:1.27 [[ 9.99876605e-01 3.45146909e-03 -1.53252041e-02 7.50824768e+00] [-3.42599119e-03 9.99992706e-01 1.68842621e-03 3.85132161e-01] [ 1.53309199e-02 -1.63571385e-03 9.99881137e-01 1.27464794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.65255784400006 meters Centerline goodness [0,1] 0.25396654770606697 Centerline is valid? [False, False] Translation: X:7.51, Y:0.39, Z:1.27 [[ 9.99875174e-01 3.35376432e-03 -1.54398516e-02 7.50864635e+00] [-3.33318742e-03 9.99993522e-01 1.35825446e-03 3.86906203e-01] [ 1.54443068e-02 -1.30662099e-03 9.99879876e-01 1.27438931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6825578440001 meters Centerline goodness [0,1] 0.26604223506412594 Centerline is valid? [False, False] Translation: X:7.51, Y:0.39, Z:1.27 [[ 9.99874590e-01 3.15706474e-03 -1.55189457e-02 7.50893357e+00] [-3.14661730e-03 9.99994806e-01 6.97576666e-04 3.90490356e-01] [ 1.55210674e-02 -6.48656999e-04 9.99879331e-01 1.27416615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.71255784400006 meters Centerline goodness [0,1] 0.2577539415869734 Centerline is valid? [False, False] Translation: X:7.51, Y:0.39, Z:1.27 [[ 9.99874268e-01 2.99949048e-03 -1.55708299e-02 7.50923723e+00] [-2.99536113e-03 9.99995472e-01 2.88512780e-04 3.92425438e-01] [ 1.55716248e-02 -2.41836246e-04 9.99878726e-01 1.27380086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7425578440001 meters Centerline goodness [0,1] 0.2642252793386295 Centerline is valid? [False, False] Translation: X:7.51, Y:0.39, Z:1.27 [[ 9.99875176e-01 2.86343172e-03 -1.55381379e-02 7.50923290e+00] [-2.86529589e-03 9.99995890e-01 -9.77133596e-05 3.94462486e-01] [ 1.55377943e-02 1.42222525e-04 9.99879271e-01 1.27363222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.77255784400006 meters Centerline goodness [0,1] 0.25424019923569063 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:1.27 [[ 9.99878417e-01 2.76991921e-03 -1.53453210e-02 7.50854519e+00] [-2.77648129e-03 9.99996063e-01 -4.06339527e-04 3.96255655e-01] [ 1.53441351e-02 4.48896120e-04 9.99882171e-01 1.27395231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80255784400003 meters Centerline goodness [0,1] 0.2680140217250184 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:1.27 [[ 9.99883666e-01 2.65204171e-03 -1.50206889e-02 7.50732957e+00] [-2.66348000e-03 9.99996178e-01 -7.41549262e-04 3.98024388e-01] [ 1.50186649e-02 7.81470300e-04 9.99886908e-01 1.27457894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.83255784400006 meters Centerline goodness [0,1] 0.26780971301474876 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:1.28 [[ 9.99886351e-01 2.53666316e-03 -1.48610479e-02 7.50648235e+00] [-2.55237251e-03 9.99996204e-01 -1.03821119e-03 3.99517651e-01] [ 1.48583579e-02 1.07602413e-03 9.99889030e-01 1.27527483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86255784400004 meters Centerline goodness [0,1] 0.25459646094087185 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:1.28 [[ 9.99888891e-01 2.34892468e-03 -1.47203451e-02 7.50600938e+00] [-2.37078688e-03 9.99996112e-01 -1.46789514e-03 4.01508855e-01] [ 1.47168399e-02 1.50263084e-03 9.99890572e-01 1.27543294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.89255784400007 meters Centerline goodness [0,1] 0.2581377744133232 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:1.28 [[ 9.99889526e-01 2.29299126e-03 -1.46859679e-02 7.50592591e+00] [-2.31625796e-03 9.99996089e-01 -1.56746777e-03 4.01904521e-01] [ 1.46823163e-02 1.60131110e-03 9.99890927e-01 1.27545710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92255784400004 meters Centerline goodness [0,1] 0.2674559542876932 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:1.28 [[ 9.99891516e-01 2.23704417e-03 -1.45585835e-02 7.50559015e+00] [-2.26140358e-03 9.99996070e-01 -1.65695184e-03 4.02210589e-01] [ 1.45548197e-02 1.68969492e-03 9.99892645e-01 1.27548869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.95255784400007 meters Centerline goodness [0,1] 0.25425146361862283 Centerline is valid? [False, False] Translation: X:7.52, Y:0.41, Z:1.28 [[ 9.99886498e-01 -5.37443274e-03 -1.40750457e-02 7.52466513e+00] [ 5.36889154e-03 9.99985494e-01 -4.31446218e-04 4.07922579e-01] [ 1.40771603e-02 3.55829854e-04 9.99900849e-01 1.27700984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98255784400004 meters Centerline goodness [0,1] 0.25480800223478095 Centerline is valid? [False, False] Translation: X:7.52, Y:0.41, Z:1.28 [[ 9.99886931e-01 -5.34025149e-03 -1.40573064e-02 7.52454536e+00] [ 5.33574906e-03 9.99985701e-01 -3.57776929e-04 4.07661836e-01] [ 1.40590160e-02 2.82730216e-04 9.99901127e-01 1.27713463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.01255784400007 meters Centerline goodness [0,1] 0.25790885878738046 Centerline is valid? [False, False] Translation: X:7.52, Y:0.41, Z:1.28 [[ 9.99886914e-01 -5.27118690e-03 -1.40845231e-02 7.52461431e+00] [ 5.26916409e-03 9.99986102e-01 -1.80724830e-04 4.06743501e-01] [ 1.40852799e-02 1.06490729e-04 9.99900792e-01 1.27717684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04255784400004 meters Centerline goodness [0,1] 0.25413298454017197 Centerline is valid? [False, False] Translation: X:7.55, Y:0.40, Z:1.28 [[ 9.99887921e-01 2.67360376e-04 -1.49691253e-02 7.54781778e+00] [-3.18136141e-04 9.99994204e-01 -3.38975443e-03 4.02029539e-01] [ 1.49681322e-02 3.39413673e-03 9.99882210e-01 1.27736728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0725578440001 meters Centerline goodness [0,1] 0.2576088130467653 Centerline is valid? [False, False] Translation: X:7.55, Y:0.40, Z:1.28 [[ 9.99887440e-01 4.25587191e-04 -1.49975639e-02 7.54792762e+00] [-4.69339704e-04 9.99995644e-01 -2.91390909e-03 3.99537071e-01] [ 1.49962585e-02 2.92062005e-03 9.99883284e-01 1.27734816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10255784400005 meters Centerline goodness [0,1] 0.25667431093418713 Centerline is valid? [False, False] Translation: X:7.55, Y:0.40, Z:1.28 [[ 9.99886063e-01 6.48867076e-04 -1.50811015e-02 7.54836609e+00] [-6.84441812e-04 9.99996995e-01 -2.35385344e-03 3.96872059e-01] [ 1.50795289e-02 2.36390739e-03 9.99883503e-01 1.27700110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1325578440001 meters Centerline goodness [0,1] 0.260275159787672 Centerline is valid? [False, False] Translation: X:7.55, Y:0.39, Z:1.28 [[ 9.99882112e-01 8.66013421e-04 -1.53300994e-02 7.54916733e+00] [-8.93602229e-04 9.99997994e-01 -1.79289123e-03 3.94097430e-01] [ 1.53285160e-02 1.80637888e-03 9.99880880e-01 1.27678000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16255784400005 meters Centerline goodness [0,1] 0.25435615023878155 Centerline is valid? [False, False] Translation: X:7.55, Y:0.39, Z:1.28 [[ 9.99878001e-01 1.03835766e-03 -1.55854292e-02 7.54992919e+00] [-1.05853964e-03 9.99998612e-01 -1.28673295e-03 3.91333522e-01] [ 1.55840715e-02 1.30307377e-03 9.99877712e-01 1.27664447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1925578440001 meters Centerline goodness [0,1] 0.2584608051306496 Centerline is valid? [False, False] Translation: X:7.55, Y:0.39, Z:1.28 [[ 9.99875284e-01 1.19805789e-03 -1.57474294e-02 7.55033489e+00] [-1.21176122e-03 9.99998895e-01 -8.60681844e-04 3.88959870e-01] [ 1.57463809e-02 8.79656628e-04 9.99875631e-01 1.27670688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22255784400005 meters Centerline goodness [0,1] 0.2577123872804936 Centerline is valid? [False, False] Translation: X:7.55, Y:0.39, Z:1.28 [[ 9.99875777e-01 1.54539688e-03 -1.56857680e-02 7.55015912e+00] [-1.55103325e-03 9.99998737e-01 -3.47171580e-04 3.86829999e-01] [ 1.56852116e-02 3.71457601e-04 9.99876911e-01 1.27675789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2525578440001 meters Centerline goodness [0,1] 0.25713180127695257 Centerline is valid? [False, False] Translation: X:7.55, Y:0.39, Z:1.28 [[ 9.99873725e-01 1.66801045e-03 -1.58035574e-02 7.55075540e+00] [-1.67369535e-03 9.99998539e-01 -3.46503608e-04 3.87291791e-01] [ 1.58029564e-02 3.72910193e-04 9.99875056e-01 1.27622837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28255784400005 meters Centerline goodness [0,1] 0.2574613137106374 Centerline is valid? [False, False] Translation: X:7.55, Y:0.39, Z:1.28 [[ 9.99868430e-01 1.78877668e-03 -1.61221491e-02 7.55196716e+00] [-1.79636017e-03 9.99998283e-01 -4.55907585e-04 3.88208629e-01] [ 1.61213059e-02 4.84808787e-04 9.99869926e-01 1.27539815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3125578440001 meters Centerline goodness [0,1] 0.2665441176470589 Centerline is valid? [False, False] Translation: X:7.55, Y:0.39, Z:1.27 [[ 9.99863870e-01 1.90606020e-03 -1.63892510e-02 7.55297313e+00] [-1.91673535e-03 9.99997961e-01 -6.35667220e-04 3.89540966e-01] [ 1.63880059e-02 6.66994544e-04 9.99865485e-01 1.27471728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34255784400005 meters Centerline goodness [0,1] 0.26587894133177514 Centerline is valid? [False, False] Translation: X:7.55, Y:0.39, Z:1.27 [[ 9.99862512e-01 2.09580637e-03 -1.64488714e-02 7.55316112e+00] [-2.10924393e-03 9.99997456e-01 -7.99622681e-04 3.91131810e-01] [ 1.64471537e-02 8.34207424e-04 9.99864388e-01 1.27447351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3725578440001 meters Centerline goodness [0,1] 0.25747047307617843 Centerline is valid? [False, False] Translation: X:7.55, Y:0.39, Z:1.27 [[ 9.99848072e-01 6.12670623e-03 -1.63185688e-02 7.55241571e+00] [-6.08312399e-03 9.99977801e-01 2.71901467e-03 3.93691066e-01] [ 1.63348652e-02 -2.61933370e-03 9.99863146e-01 1.27494469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40255784400006 meters Centerline goodness [0,1] 0.25901482751883287 Centerline is valid? [False, False] Translation: X:7.55, Y:0.40, Z:1.27 [[ 9.99854666e-01 6.16628800e-03 -1.58941574e-02 7.55126522e+00] [-6.12921942e-03 9.99978384e-01 2.37987277e-03 3.95952320e-01] [ 1.59084888e-02 -2.28210812e-03 9.99870848e-01 1.27496837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4325578440001 meters Centerline goodness [0,1] 0.2591453509778866 Centerline is valid? [False, False] Translation: X:7.55, Y:0.40, Z:1.27 [[ 9.99859892e-01 6.10741489e-03 -1.55851156e-02 7.55043355e+00] [-6.07765780e-03 9.99979618e-01 1.95597795e-03 3.98357647e-01] [ 1.55967439e-02 -1.86098291e-03 9.99876632e-01 1.27490978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46255784400006 meters Centerline goodness [0,1] 0.2591453509778866 Centerline is valid? [False, False] Translation: X:7.55, Y:0.40, Z:1.27 [[ 9.99859892e-01 6.10741489e-03 -1.55851156e-02 7.55043355e+00] [-6.07765780e-03 9.99979618e-01 1.95597795e-03 3.98357647e-01] [ 1.55967439e-02 -1.86098291e-03 9.99876632e-01 1.27490978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4925578440001 meters Centerline goodness [0,1] 0.25631505526344023 Centerline is valid? [False, False] Translation: X:7.57, Y:0.41, Z:1.28 [[ 9.99879127e-01 -9.87650691e-04 -1.55163181e-02 7.56791914e+00] [ 1.02829548e-03 9.99996061e-01 2.61172689e-03 4.07792426e-01] [ 1.55136775e-02 -2.62736656e-03 9.99876204e-01 1.27651282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52255784400006 meters Centerline goodness [0,1] 0.2690126349442705 Centerline is valid? [False, False] Translation: X:7.52, Y:0.41, Z:1.28 [[ 9.99847150e-01 -9.80717655e-04 -1.74560594e-02 7.52087575e+00] [ 1.03247963e-03 9.99995097e-01 2.95650748e-03 4.06114689e-01] [ 1.74530743e-02 -2.97407861e-03 9.99843260e-01 1.27743510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.55255784400003 meters Centerline goodness [0,1] 0.2650458953931417 Centerline is valid? [False, False] Translation: X:7.54, Y:0.41, Z:1.28 [[ 9.99862137e-01 7.94939245e-03 -1.45778607e-02 7.54204441e+00] [-7.91746238e-03 9.99966132e-01 2.24671950e-03 4.12608153e-01] [ 1.45952270e-02 -2.13099010e-03 9.99891213e-01 1.27734298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58255784400006 meters Centerline goodness [0,1] 0.26637687459247994 Centerline is valid? [False, False] Translation: X:7.54, Y:0.42, Z:1.28 [[ 9.99867197e-01 7.72521995e-03 -1.43495446e-02 7.54113181e+00] [-7.70176629e-03 9.99968915e-01 1.68899710e-03 4.15397724e-01] [ 1.43621464e-02 -1.57825596e-03 9.99895613e-01 1.27780627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.61255784400004 meters Centerline goodness [0,1] 0.26539617988708386 Centerline is valid? [False, False] Translation: X:7.54, Y:0.42, Z:1.28 [[ 9.99871031e-01 7.49970417e-03 -1.42012335e-02 7.54041106e+00] [-7.48375862e-03 9.99971305e-01 1.17563837e-03 4.17893665e-01] [ 1.42096429e-02 -1.06920815e-03 9.99898466e-01 1.27833549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64255784400007 meters Centerline goodness [0,1] 0.25192944949225016 Centerline is valid? [False, False] Translation: X:7.56, Y:0.43, Z:1.28 [[ 9.99908899e-01 -4.22974538e-04 -1.34913111e-02 7.55895453e+00] [ 4.46458829e-04 9.99998390e-01 1.73773315e-03 4.26822700e-01] [ 1.34905543e-02 -1.74359815e-03 9.99907478e-01 1.28008214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.67255784400004 meters Centerline goodness [0,1] 0.2567979724214958 Centerline is valid? [False, False] Translation: X:7.56, Y:0.43, Z:1.28 [[ 9.99907910e-01 -9.04950735e-04 -1.35407421e-02 7.55863112e+00] [ 9.15978775e-04 9.99999254e-01 8.08254319e-04 4.31255615e-01] [ 1.35400006e-02 -8.20582920e-04 9.99907993e-01 1.28064707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70255784400007 meters Centerline goodness [0,1] 0.2605327505247441 Centerline is valid? [False, False] Translation: X:7.56, Y:0.43, Z:1.28 [[ 9.99903998e-01 -1.12652548e-03 -1.38103562e-02 7.55938877e+00] [ 1.13099979e-03 9.99999310e-01 3.16176584e-04 4.33666720e-01] [ 1.38099905e-02 -3.31765740e-04 9.99904582e-01 1.28046277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.73255784400004 meters Centerline goodness [0,1] 0.2562077720876189 Centerline is valid? [False, False] Translation: X:7.56, Y:0.44, Z:1.28 [[ 9.99900568e-01 -1.32989267e-03 -1.40387052e-02 7.56013229e+00] [ 1.32796480e-03 9.99999108e-01 -1.46646024e-04 4.36159736e-01] [ 1.40388877e-02 1.27988536e-04 9.99901442e-01 1.28013357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76255784400007 meters Centerline goodness [0,1] 0.2564251707275038 Centerline is valid? [False, False] Translation: X:7.56, Y:0.44, Z:1.28 [[ 9.99900791e-01 -1.53635679e-03 -1.40017047e-02 7.56006218e+00] [ 1.52785895e-03 9.99998642e-01 -6.17591001e-04 4.38537793e-01] [ 1.40026346e-02 5.96137101e-04 9.99901781e-01 1.28004848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.79255784400004 meters Centerline goodness [0,1] 0.25645752502625885 Centerline is valid? [False, False] Translation: X:7.56, Y:0.44, Z:1.28 [[ 9.99900445e-01 -1.76024960e-03 -1.40000810e-02 7.55996388e+00] [ 1.74512365e-03 9.99997880e-01 -1.09256160e-03 4.40791312e-01] [ 1.40019745e-02 1.06802095e-03 9.99901397e-01 1.28017390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8225578440001 meters Centerline goodness [0,1] 0.26071575840440997 Centerline is valid? [False, False] Translation: X:7.54, Y:0.44, Z:1.28 [[ 9.99875228e-01 5.97696206e-03 -1.46220830e-02 7.54041776e+00] [-6.01543672e-03 9.99978556e-01 -2.58870537e-03 4.37658451e-01] [ 1.46062969e-02 2.67634058e-03 9.99889741e-01 1.27938848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.85255784400005 meters Centerline goodness [0,1] 0.2551454401675608 Centerline is valid? [False, False] Translation: X:7.56, Y:0.45, Z:1.28 [[ 9.99883735e-01 -1.44385110e-03 -1.51800028e-02 7.55916931e+00] [ 1.41600400e-03 9.99997295e-01 -1.84504731e-03 4.46725323e-01] [ 1.51826257e-02 1.82333785e-03 9.99883075e-01 1.28133723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8825578440001 meters Centerline goodness [0,1] 0.2589182968929804 Centerline is valid? [False, False] Translation: X:7.51, Y:0.45, Z:1.28 [[ 9.99834781e-01 -1.99304895e-03 -1.80676323e-02 7.51438475e+00] [ 1.95464039e-03 9.99995793e-01 -2.14323154e-03 4.48697987e-01] [ 1.80718279e-02 2.10756172e-03 9.99834470e-01 1.28182390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.91255784400005 meters Centerline goodness [0,1] 0.25861395591043224 Centerline is valid? [False, False] Translation: X:7.51, Y:0.45, Z:1.28 [[ 9.99835778e-01 -2.13421923e-03 -1.79961478e-02 7.51415217e+00] [ 2.09020433e-03 9.99994779e-01 -2.46425061e-03 4.50310589e-01] [ 1.80013131e-02 2.42623030e-03 9.99835019e-01 1.28190889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9425578440001 meters Centerline goodness [0,1] 0.25882072817005064 Centerline is valid? [False, False] Translation: X:7.51, Y:0.45, Z:1.28 [[ 9.99836382e-01 -2.27490698e-03 -1.79453070e-02 7.51393692e+00] [ 2.22634533e-03 9.99993807e-01 -2.72560562e-03 4.51494869e-01] [ 1.79513963e-02 2.68520721e-03 9.99835255e-01 1.28207074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.97255784400005 meters Centerline goodness [0,1] 0.2556355532699066 Centerline is valid? [False, False] Translation: X:7.51, Y:0.45, Z:1.28 [[ 9.99834316e-01 -2.40750488e-03 -1.80428581e-02 7.51420337e+00] [ 2.35485830e-03 9.99992910e-01 -2.93854070e-03 4.52445487e-01] [ 1.80498048e-02 2.89556545e-03 9.99832896e-01 1.28204270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0025578440001 meters Centerline goodness [0,1] 0.259664653424329 Centerline is valid? [False, False] Translation: X:7.47, Y:0.45, Z:1.28 [[ 9.99776630e-01 -3.30074569e-03 -2.08757116e-02 7.46977176e+00] [ 3.22966719e-03 9.99988876e-01 -3.43764050e-03 4.50375778e-01] [ 2.08868261e-02 3.36945103e-03 9.99776169e-01 1.28176054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.03255784400005 meters Centerline goodness [0,1] 0.2586723396865367 Centerline is valid? [False, False] Translation: X:7.47, Y:0.45, Z:1.28 [[ 9.99761208e-01 -3.61843476e-03 -2.15507301e-02 7.47170854e+00] [ 3.53701674e-03 9.99986468e-01 -3.81488990e-03 4.51545984e-01] [ 2.15642424e-02 3.73775364e-03 9.99760478e-01 1.28132245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0625578440001 meters Centerline goodness [0,1] 0.25676406341241864 Centerline is valid? [False, False] Translation: X:7.47, Y:0.45, Z:1.28 [[ 9.99756093e-01 -3.66393760e-03 -2.17791333e-02 7.47229031e+00] [ 3.58182908e-03 9.99986335e-01 -3.80786897e-03 4.51367794e-01] [ 2.17927875e-02 3.72893107e-03 9.99755555e-01 1.28134634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.09255784400005 meters Centerline goodness [0,1] 0.2686508628202894 Centerline is valid? [False, False] Translation: X:7.47, Y:0.45, Z:1.28 [[ 9.99755162e-01 -3.70327054e-03 -2.18151678e-02 7.47225960e+00] [ 3.62146164e-03 9.99986266e-01 -3.78840614e-03 4.51150087e-01] [ 2.18288977e-02 3.70847581e-03 9.99754843e-01 1.28156964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1225578440001 meters Centerline goodness [0,1] 0.2572383313571197 Centerline is valid? [False, False] Translation: X:7.49, Y:0.45, Z:1.28 [[ 9.99768246e-01 4.15028377e-03 -2.11241615e-02 7.49207334e+00] [-4.25627759e-03 9.99978566e-01 -4.97517324e-03 4.48403067e-01] [ 2.11030604e-02 5.06393051e-03 9.99764481e-01 1.28294727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.15255784400006 meters Centerline goodness [0,1] 0.25618069638003194 Centerline is valid? [False, False] Translation: X:7.49, Y:0.45, Z:1.28 [[ 9.99767505e-01 4.13386063e-03 -2.11623812e-02 7.49228301e+00] [-4.23859224e-03 9.99978980e-01 -4.90649200e-03 4.47864497e-01] [ 2.11416536e-02 4.99504997e-03 9.99764012e-01 1.28279773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1825578440001 meters Centerline goodness [0,1] 0.25993308696507844 Centerline is valid? [False, False] Translation: X:7.47, Y:0.45, Z:1.28 [[ 9.99750878e-01 -4.48528734e-03 -2.18646864e-02 7.47152431e+00] [ 4.40117946e-03 9.99982736e-01 -3.89334989e-03 4.49931861e-01] [ 2.18817717e-02 3.79614956e-03 9.99753358e-01 1.28130857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.21255784400006 meters Centerline goodness [0,1] 0.2586955577749793 Centerline is valid? [False, False] Translation: X:7.47, Y:0.45, Z:1.28 [[ 9.99748128e-01 -4.43979279e-03 -2.19992847e-02 7.47204437e+00] [ 4.35950655e-03 9.99983667e-01 -3.69610942e-03 4.48749383e-01] [ 2.20153354e-02 3.59927245e-03 9.99751154e-01 1.28103284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2425578440001 meters Centerline goodness [0,1] 0.26104927067159445 Centerline is valid? [False, False] Translation: X:7.47, Y:0.45, Z:1.28 [[ 9.99746601e-01 -4.34013053e-03 -2.20884003e-02 7.47232895e+00] [ 4.26534192e-03 9.99985014e-01 -3.43186495e-03 4.47493600e-01] [ 2.21029641e-02 3.33678074e-03 9.99750131e-01 1.28093748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.27255784400006 meters Centerline goodness [0,1] 0.2678474528445226 Centerline is valid? [False, False] Translation: X:7.47, Y:0.44, Z:1.28 [[ 9.99745229e-01 -4.10794076e-03 -2.21946305e-02 7.47255465e+00] [ 4.04632440e-03 9.99987836e-01 -2.82037910e-03 4.44602415e-01] [ 2.22059465e-02 2.72985387e-03 9.99749691e-01 1.28106310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30255784400003 meters Centerline goodness [0,1] 0.25434768589178613 Centerline is valid? [False, False] Translation: X:7.49, Y:0.44, Z:1.28 [[ 9.99763304e-01 3.86967981e-03 -2.14093923e-02 7.49203024e+00] [-3.95321446e-03 9.99984733e-01 -3.86082984e-03 4.39305813e-01] [ 2.13941253e-02 3.94455191e-03 9.99763338e-01 1.28269111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.33255784400006 meters Centerline goodness [0,1] 0.2659679993099582 Centerline is valid? [False, False] Translation: X:7.49, Y:0.44, Z:1.28 [[ 9.99763760e-01 4.00831764e-03 -2.13625078e-02 7.49185159e+00] [-4.08256347e-03 9.99985773e-01 -3.43304207e-03 4.37013623e-01] [ 2.13484431e-02 3.51944485e-03 9.99765901e-01 1.28282192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36255784400004 meters Centerline goodness [0,1] 0.26968284194628667 Centerline is valid? [False, False] Translation: X:7.47, Y:0.44, Z:1.28 [[ 9.99736535e-01 -4.76119182e-03 -2.24542210e-02 7.47025109e+00] [ 4.70759093e-03 9.99985944e-01 -2.43937448e-03 4.36615321e-01] [ 2.24655197e-02 2.33302650e-03 9.99744896e-01 1.28228253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.39255784400007 meters Centerline goodness [0,1] 0.26612833578029194 Centerline is valid? [False, False] Translation: X:7.49, Y:0.43, Z:1.28 [[ 9.99749964e-01 1.35199300e-03 -2.23199868e-02 7.49376731e+00] [-1.46009570e-03 9.99987281e-01 -4.82772769e-03 4.31503757e-01] [ 2.23131758e-02 4.85910990e-03 9.99739222e-01 1.28236033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42255784400004 meters Centerline goodness [0,1] 0.26732737823563935 Centerline is valid? [False, False] Translation: X:7.49, Y:0.43, Z:1.28 [[ 9.99750382e-01 1.50050847e-03 -2.22917663e-02 7.49367138e+00] [-1.60028608e-03 9.99988779e-01 -4.45882061e-03 4.29739106e-01] [ 2.22848257e-02 4.49338081e-03 9.99741565e-01 1.28242956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.45255784400007 meters Centerline goodness [0,1] 0.2658030076166916 Centerline is valid? [False, False] Translation: X:7.49, Y:0.43, Z:1.28 [[ 9.99754663e-01 1.62637441e-03 -2.20900249e-02 7.49303037e+00] [-1.71846207e-03 9.99989910e-01 -4.15040126e-03 4.28162243e-01] [ 2.20830519e-02 4.18734388e-03 9.99747371e-01 1.28268171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48255784400004 meters Centerline goodness [0,1] 0.26567048321366193 Centerline is valid? [False, False] Translation: X:7.49, Y:0.43, Z:1.28 [[ 9.99758536e-01 1.70960687e-03 -2.19076857e-02 7.49231525e+00] [-1.79519968e-03 9.99990831e-01 -3.88790564e-03 4.26621017e-01] [ 2.19008380e-02 3.92629552e-03 9.99752438e-01 1.28313430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.51255784400007 meters Centerline goodness [0,1] 0.26756933828346796 Centerline is valid? [False, False] Translation: X:7.47, Y:0.43, Z:1.28 [[ 9.99739708e-01 -6.58132113e-03 -2.18449476e-02 7.47184577e+00] [ 6.52643268e-03 9.99975367e-01 -2.58298209e-03 4.28166669e-01] [ 2.18614089e-02 2.43974018e-03 9.99758034e-01 1.28155961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54255784400004 meters Centerline goodness [0,1] 0.26732673267326734 Centerline is valid? [False, False] Translation: X:7.47, Y:0.42, Z:1.28 [[ 9.99742289e-01 -6.22715906e-03 -2.18306466e-02 7.47220714e+00] [ 6.18846368e-03 9.99979159e-01 -1.83963543e-03 4.24986840e-01] [ 2.18416474e-02 1.70406318e-03 9.99759991e-01 1.28099894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5725578440001 meters Centerline goodness [0,1] 0.2668055826875909 Centerline is valid? [False, False] Translation: X:7.47, Y:0.42, Z:1.28 [[ 9.99743488e-01 -6.01720485e-03 -2.18346231e-02 7.47235680e+00] [ 5.99038924e-03 9.99981221e-01 -1.29332265e-03 4.22318106e-01] [ 2.18419952e-02 1.16219301e-03 9.99760760e-01 1.28082422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60255784400005 meters Centerline goodness [0,1] 0.2662434733626535 Centerline is valid? [False, False] Translation: X:7.47, Y:0.42, Z:1.28 [[ 9.99744022e-01 -5.83116697e-03 -2.18606268e-02 7.47243606e+00] [ 5.81626674e-03 9.99982808e-01 -7.45120769e-04 4.19369563e-01] [ 2.18645959e-02 6.17782798e-04 9.99760750e-01 1.28089818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6325578440001 meters Centerline goodness [0,1] 0.2636490400085809 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99767587e-01 1.75294221e-03 -2.14871982e-02 7.49202854e+00] [-1.80144591e-03 9.99995873e-01 -2.23818146e-03 4.12991477e-01] [ 2.14831861e-02 2.27636930e-03 9.99766618e-01 1.28291628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66255784400005 meters Centerline goodness [0,1] 0.2649947121921741 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99767082e-01 1.92158832e-03 -2.14962683e-02 7.49208062e+00] [-1.96007456e-03 9.99996514e-01 -1.76944256e-03 4.10500709e-01] [ 2.14927933e-02 1.81116472e-03 9.99767363e-01 1.28290917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6925578440001 meters Centerline goodness [0,1] 0.26733168166210286 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99765210e-01 2.06668723e-03 -2.15697559e-02 7.49232212e+00] [-2.09803477e-03 9.99996776e-01 -1.43078151e-03 4.08853819e-01] [ 2.15667294e-02 1.47569968e-03 9.99766322e-01 1.28281380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72255784400005 meters Centerline goodness [0,1] 0.2672979825340759 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99764771e-01 2.34881170e-03 -2.15611904e-02 7.49276705e+00] [-2.37144642e-03 9.99996664e-01 -1.02428110e-03 4.07333083e-01] [ 2.15587126e-02 1.07517137e-03 9.99767006e-01 1.28205659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7525578440001 meters Centerline goodness [0,1] 0.2640369733447979 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99763535e-01 2.39943262e-03 -2.16128696e-02 7.49316583e+00] [-2.42263285e-03 9.99996517e-01 -1.04732608e-03 4.07520471e-01] [ 2.16102813e-02 1.09943847e-03 9.99765866e-01 1.28158436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78255784400005 meters Centerline goodness [0,1] 0.2659825507133424 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99762116e-01 2.42397883e-03 -2.16757124e-02 7.49351728e+00] [-2.44826076e-03 9.99996405e-01 -1.09377019e-03 4.07841071e-01] [ 2.16729832e-02 1.14657780e-03 9.99764456e-01 1.28123542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8125578440001 meters Centerline goodness [0,1] 0.2660823763060185 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99760645e-01 2.44083536e-03 -2.17415721e-02 7.49392558e+00] [-2.46680302e-03 9.99996276e-01 -1.16763920e-03 4.08401362e-01] [ 2.17386411e-02 1.22099189e-03 9.99762942e-01 1.28077573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84255784400005 meters Centerline goodness [0,1] 0.26648887732535453 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99759012e-01 2.45651090e-03 -2.18147494e-02 7.49416144e+00] [-2.48486410e-03 9.99996103e-01 -1.27271444e-03 4.09231260e-01] [ 2.18115379e-02 1.32661442e-03 9.99761220e-01 1.28061580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8725578440001 meters Centerline goodness [0,1] 0.26727739576986687 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99758754e-01 2.43628608e-03 -2.18288353e-02 7.49419540e+00] [-2.46749180e-03 9.99995972e-01 -1.40274382e-03 4.10041782e-01] [ 2.18253299e-02 1.45626789e-03 9.99760739e-01 1.28060180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90255784400006 meters Centerline goodness [0,1] 0.26550048590864916 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99763759e-01 2.38555576e-03 -2.16040484e-02 7.49356996e+00] [-2.41888348e-03 9.99995924e-01 -1.51666054e-03 4.10472931e-01] [ 2.16003422e-02 1.56855992e-03 9.99765455e-01 1.28066498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9325578440001 meters Centerline goodness [0,1] 0.2648942363671648 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99764109e-01 2.39712694e-03 -2.15865898e-02 7.49345116e+00] [-2.42849673e-03 9.99996033e-01 -1.42710985e-03 4.09934501e-01] [ 2.15830832e-02 1.47919617e-03 9.99765964e-01 1.28079303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96255784400006 meters Centerline goodness [0,1] 0.264729463260309 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99762883e-01 2.45652727e-03 -2.16366110e-02 7.49345490e+00] [-2.48382251e-03 9.99996153e-01 -1.23474681e-03 4.09108646e-01] [ 2.16334946e-02 1.28819553e-03 9.99765139e-01 1.28101155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9925578440001 meters Centerline goodness [0,1] 0.2673972722122968 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99757747e-01 2.48039523e-03 -2.18699343e-02 7.49400899e+00] [-2.50411116e-03 9.99996306e-01 -1.05708879e-03 4.08189817e-01] [ 2.18672315e-02 1.11159745e-03 9.99760266e-01 1.28109456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02255784400006 meters Centerline goodness [0,1] 0.2655918632330664 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99749341e-01 2.48865149e-03 -2.22499807e-02 7.49497207e+00] [-2.50891470e-03 9.99996463e-01 -8.82838009e-04 4.07121773e-01] [ 2.22477049e-02 9.38440022e-04 9.99752049e-01 1.28108630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.05255784400003 meters Centerline goodness [0,1] 0.2666941199419146 Centerline is valid? [False, False] Translation: X:7.50, Y:0.41, Z:1.28 [[ 9.99743873e-01 2.48704979e-03 -2.24944956e-02 7.49543536e+00] [-2.50331667e-03 9.99996625e-01 -6.95019410e-04 4.05819082e-01] [ 2.24926912e-02 7.51152243e-04 9.99746725e-01 1.28133924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08255784400006 meters Centerline goodness [0,1] 0.26658274005903804 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99750532e-01 2.53661217e-03 -2.21909542e-02 7.49444809e+00] [-2.55107257e-03 9.99996552e-01 -6.23350414e-04 4.05657744e-01] [ 2.21892964e-02 6.79805642e-04 9.99753556e-01 1.28172348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.11255784400004 meters Centerline goodness [0,1] 0.2663275067397165 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99760783e-01 2.56224059e-03 -2.17212476e-02 7.49296048e+00] [-2.57746647e-03 9.99996452e-01 -6.72999796e-04 4.06159436e-01] [ 2.17194462e-02 7.28824590e-04 9.99763839e-01 1.28226728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14255784400007 meters Centerline goodness [0,1] 0.26557433746919723 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99767016e-01 2.54049698e-03 -2.14349898e-02 7.49215399e+00] [-2.55862956e-03 9.99996392e-01 -8.18550809e-04 4.07042790e-01] [ 2.14328330e-02 8.73204299e-04 9.99769909e-01 1.28240180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.17255784400004 meters Centerline goodness [0,1] 0.2626918282250784 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99767533e-01 2.46550625e-03 -2.14196291e-02 7.49240629e+00] [-2.48834245e-03 9.99996364e-01 -1.03954692e-03 4.08067371e-01] [ 2.14169882e-02 1.09260463e-03 9.99770033e-01 1.28188761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20255784400007 meters Centerline goodness [0,1] 0.26260936695831194 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99765160e-01 2.41682304e-03 -2.15356252e-02 7.49300017e+00] [-2.44285265e-03 9.99996317e-01 -1.18245120e-03 4.08701055e-01] [ 2.15326881e-02 1.23478187e-03 9.99767382e-01 1.28136254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.23255784400004 meters Centerline goodness [0,1] 0.2633818252143456 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99762963e-01 2.44016976e-03 -2.16347757e-02 7.49337901e+00] [-2.46567693e-03 9.99996296e-01 -1.15239207e-03 4.08535148e-01] [ 2.16318836e-02 1.20546327e-03 9.99765277e-01 1.28115747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26255784400007 meters Centerline goodness [0,1] 0.26416435170230634 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:1.28 [[ 9.99767375e-01 2.54941452e-03 -2.14171802e-02 7.49230921e+00] [-2.56437210e-03 9.99996487e-01 -6.70956792e-04 4.05905139e-01] [ 2.14153944e-02 7.25722331e-04 9.99770401e-01 1.28200332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.29255784400004 meters Centerline goodness [0,1] 0.2666666666666667 Centerline is valid? [False, False] Translation: X:7.49, Y:0.40, Z:1.28 [[ 9.99770036e-01 2.65414924e-03 -2.12798301e-02 7.49160575e+00] [-2.65969530e-03 9.99996436e-01 -2.32327277e-04 4.03612261e-01] [ 2.12791376e-02 2.88871714e-04 9.99773532e-01 1.28265938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3225578440001 meters Centerline goodness [0,1] 0.2623839009287926 Centerline is valid? [False, False] Translation: X:7.51, Y:0.41, Z:1.28 [[ 9.99773225e-01 -5.49512849e-03 -2.05743009e-02 7.51223873e+00] [ 5.51354600e-03 9.99984449e-01 8.38552547e-04 4.05576272e-01] [ 2.05693730e-02 -9.51799739e-04 9.99787975e-01 1.28355365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.35255784400005 meters Centerline goodness [0,1] 0.2623839009287926 Centerline is valid? [False, False] Translation: X:7.51, Y:0.41, Z:1.28 [[ 9.99773225e-01 -5.49512849e-03 -2.05743009e-02 7.51223873e+00] [ 5.51354600e-03 9.99984449e-01 8.38552547e-04 4.05576272e-01] [ 2.05693730e-02 -9.51799739e-04 9.99787975e-01 1.28355365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3825578440001 meters Centerline goodness [0,1] 0.2653333908021206 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:1.28 [[ 9.99770143e-01 -5.36895967e-03 -2.07565979e-02 7.51298007e+00] [ 5.39857152e-03 9.99984488e-01 1.37085228e-03 4.02513246e-01] [ 2.07489159e-02 -1.48259316e-03 9.99783619e-01 1.28318191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.41255784400005 meters Centerline goodness [0,1] 0.2685749086479903 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:1.28 [[ 9.99765190e-01 -5.21995207e-03 -2.10313468e-02 7.51401166e+00] [ 5.26119285e-03 9.99984343e-01 1.90606530e-03 3.99450627e-01] [ 2.10210679e-02 -2.01626771e-03 9.99777000e-01 1.28273158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4425578440001 meters Centerline goodness [0,1] 0.26949922807627913 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:1.28 [[ 9.99763214e-01 -5.04628116e-03 -2.11671952e-02 7.51442074e+00] [ 5.09891803e-03 9.99984039e-01 2.43348525e-03 3.96625768e-01] [ 2.11545773e-02 -2.54083883e-03 9.99772988e-01 1.28268191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.47255784400005 meters Centerline goodness [0,1] 0.26624593447778233 Centerline is valid? [False, False] Translation: X:7.53, Y:0.39, Z:1.28 [[ 9.99819505e-01 3.13842958e-03 -1.87378477e-02 7.53262803e+00] [-3.10698571e-03 9.99993716e-01 1.70696968e-03 3.88702654e-01] [ 1.87430872e-02 -1.64844336e-03 9.99822974e-01 1.28493053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5025578440001 meters Centerline goodness [0,1] 0.2647355867374347 Centerline is valid? [False, False] Translation: X:7.53, Y:0.39, Z:1.29 [[ 9.99822147e-01 3.33152097e-03 -1.85627544e-02 7.53186920e+00] [-3.29190932e-03 9.99992240e-01 2.16407924e-03 3.86565723e-01] [ 1.85698200e-02 -2.10258745e-03 9.99825355e-01 1.28546071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.53255784400005 meters Centerline goodness [0,1] 0.26568793036247884 Centerline is valid? [False, False] Translation: X:7.53, Y:0.38, Z:1.29 [[ 9.99821435e-01 3.45500554e-03 -1.85785090e-02 7.53195882e+00] [-3.40897036e-03 9.99991042e-01 2.50897156e-03 3.84664272e-01] [ 1.85870111e-02 -2.44518996e-03 9.99824257e-01 1.28541088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5625578440001 meters Centerline goodness [0,1] 0.2668989848704574 Centerline is valid? [False, False] Translation: X:7.53, Y:0.38, Z:1.29 [[ 9.99817192e-01 3.57513581e-03 -1.87830182e-02 7.53271096e+00] [-3.52170812e-03 9.99989661e-01 2.87677566e-03 3.82637028e-01] [ 1.87931089e-02 -2.81010145e-03 9.99819445e-01 1.28501581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.59255784400005 meters Centerline goodness [0,1] 0.2679350066164826 Centerline is valid? [False, False] Translation: X:7.53, Y:0.38, Z:1.28 [[ 9.99812115e-01 3.71311166e-03 -1.90249214e-02 7.53354995e+00] [-3.65180974e-03 9.99988032e-01 3.25591893e-03 3.80683533e-01] [ 1.90367833e-02 -3.18583180e-03 9.99813708e-01 1.28463567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6225578440001 meters Centerline goodness [0,1] 0.26550295602641005 Centerline is valid? [False, False] Translation: X:7.53, Y:0.38, Z:1.28 [[ 9.99809383e-01 3.88664238e-03 -1.91335241e-02 7.53391386e+00] [-3.81638977e-03 9.99985847e-01 3.70684854e-03 3.78561384e-01] [ 1.91476605e-02 -3.63312097e-03 9.99810066e-01 1.28448816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.65255784400006 meters Centerline goodness [0,1] 0.26789441642024703 Centerline is valid? [False, False] Translation: X:7.53, Y:0.37, Z:1.28 [[ 9.99809072e-01 4.17448303e-03 -1.90890710e-02 7.53355123e+00] [-4.08605040e-03 9.99980751e-01 4.66929052e-03 3.73541916e-01] [ 1.91081954e-02 -4.59040011e-03 9.99806884e-01 1.28498548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6825578440001 meters Centerline goodness [0,1] 0.2688286334056399 Centerline is valid? [False, False] Translation: X:7.53, Y:0.37, Z:1.29 [[ 9.99824266e-01 5.41909697e-04 -1.87388104e-02 7.53266938e+00] [-5.17243161e-04 9.99998994e-01 1.32115575e-03 3.72159909e-01] [ 1.87395075e-02 -1.31123106e-03 9.99823540e-01 1.28500088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.71255784400006 meters Centerline goodness [0,1] 0.2665354501016568 Centerline is valid? [False, False] Translation: X:7.53, Y:0.37, Z:1.29 [[ 9.99822163e-01 4.91115207e-04 -1.88521002e-02 7.53289378e+00] [-4.56071032e-04 9.99998160e-01 1.86315464e-03 3.68516028e-01] [ 1.88529805e-02 -1.85422541e-03 9.99820547e-01 1.28518525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7425578440001 meters Centerline goodness [0,1] 0.2701017894897447 Centerline is valid? [False, False] Translation: X:7.53, Y:0.37, Z:1.29 [[ 9.99817592e-01 4.55446134e-04 -1.90938800e-02 7.53356924e+00] [-4.09929559e-04 9.99997065e-01 2.38767675e-03 3.65052390e-01] [ 1.90949114e-02 -2.37941407e-03 9.99814844e-01 1.28514919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.77255784400006 meters Centerline goodness [0,1] 0.2664287259355397 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:1.28 [[ 9.99804320e-01 3.85164848e-04 -1.97781275e-02 7.53540750e+00] [-3.29336941e-04 9.99995953e-01 2.82588898e-03 3.61943251e-01] [ 1.97791359e-02 -2.81882234e-03 9.99800400e-01 1.28493038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80255784400003 meters Centerline goodness [0,1] 0.2676863411551953 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:1.28 [[ 9.99797871e-01 4.76190902e-04 -2.00995125e-02 7.53633560e+00] [-4.08299882e-04 9.99994199e-01 3.38171320e-03 3.58811034e-01] [ 2.01010062e-02 -3.37282303e-03 9.99792265e-01 1.28476328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.83255784400006 meters Centerline goodness [0,1] 0.2699511045141011 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.29 [[ 9.99798328e-01 3.49259352e-04 -2.00793627e-02 7.53603855e+00] [-2.67570258e-04 9.99991678e-01 4.07085376e-03 3.54036482e-01] [ 2.00806174e-02 -4.06466014e-03 9.99790102e-01 1.28534426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86255784400004 meters Centerline goodness [0,1] 0.26853776853776856 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:1.29 [[ 9.99801812e-01 4.23725640e-04 -1.99036878e-02 7.53524611e+00] [-3.33188167e-04 9.99989585e-01 4.55187476e-03 3.51199168e-01] [ 1.99054092e-02 -4.54434096e-03 9.99791540e-01 1.28598226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.89255784400007 meters Centerline goodness [0,1] 0.2661714039621016 Centerline is valid? [False, False] Translation: X:7.53, Y:0.35, Z:1.29 [[ 9.99807704e-01 3.85257232e-04 -1.96062959e-02 7.53412253e+00] [-2.88556332e-04 9.99987783e-01 4.93472517e-03 3.48466202e-01] [ 1.96079575e-02 -4.92811872e-03 9.99795600e-01 1.28668277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92255784400004 meters Centerline goodness [0,1] 0.2711912382694276 Centerline is valid? [False, False] Translation: X:7.53, Y:0.34, Z:1.29 [[ 9.99808319e-01 -3.23764641e-03 -1.93091194e-02 7.53306515e+00] [ 3.27604858e-03 9.99992718e-01 1.95750983e-03 3.44543989e-01] [ 1.93026411e-02 -2.02039223e-03 9.99811645e-01 1.28722291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.95255784400007 meters Centerline goodness [0,1] 0.2707935405452335 Centerline is valid? [False, False] Translation: X:7.53, Y:0.34, Z:1.29 [[ 9.99806731e-01 -3.10627437e-03 -1.94126582e-02 7.53346243e+00] [ 3.15706948e-03 9.99991671e-01 2.58649894e-03 3.41295084e-01] [ 1.94044621e-02 -2.64728616e-03 9.99808211e-01 1.28703439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98255784400004 meters Centerline goodness [0,1] 0.27168850389587773 Centerline is valid? [False, False] Translation: X:7.53, Y:0.34, Z:1.29 [[ 9.99802678e-01 -3.06484848e-03 -1.96268305e-02 7.53420645e+00] [ 3.12696699e-03 9.99990197e-01 3.13507214e-03 3.38065297e-01] [ 1.96170295e-02 -3.19582597e-03 9.99802460e-01 1.28671664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.01255784400007 meters Centerline goodness [0,1] 0.2702971797147248 Centerline is valid? [False, False] Translation: X:7.54, Y:0.33, Z:1.29 [[ 9.99793785e-01 -3.16783624e-03 -2.00587270e-02 7.53542583e+00] [ 3.23985438e-03 9.99988419e-01 3.55888620e-03 3.34801828e-01] [ 2.00472207e-02 -3.62313966e-03 9.99792469e-01 1.28651937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04255784400004 meters Centerline goodness [0,1] 0.2711732375470637 Centerline is valid? [False, False] Translation: X:7.54, Y:0.33, Z:1.29 [[ 9.99793802e-01 -3.24722852e-03 -2.00451959e-02 7.53538536e+00] [ 3.32841787e-03 9.99986387e-01 4.01828167e-03 3.31505395e-01] [ 2.00318748e-02 -4.08417190e-03 9.99791000e-01 1.28660064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0725578440001 meters Centerline goodness [0,1] 0.2696791744030399 Centerline is valid? [False, False] Translation: X:7.53, Y:0.33, Z:1.29 [[ 9.99795292e-01 -3.24591681e-03 -1.99709422e-02 7.53495837e+00] [ 3.33571466e-03 9.99984469e-01 4.46475718e-03 3.28755748e-01] [ 1.99561398e-02 -4.53046057e-03 9.99790592e-01 1.28700368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10255784400005 meters Centerline goodness [0,1] 0.270890129386819 Centerline is valid? [False, False] Translation: X:7.53, Y:0.33, Z:1.29 [[ 9.99805888e-01 -3.43315110e-03 -1.94010061e-02 7.53334825e+00] [ 3.53090851e-03 9.99981232e-01 5.00677386e-03 3.25101057e-01] [ 1.93834530e-02 -5.07430517e-03 9.99799246e-01 1.28746479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1325578440001 meters Centerline goodness [0,1] 0.27364009429843705 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:1.29 [[ 9.99806855e-01 -3.39869073e-03 -1.93572002e-02 7.53324423e+00] [ 3.50312952e-03 9.99979478e-01 5.36399509e-03 3.23014647e-01] [ 1.93385724e-02 -5.43076985e-03 9.99798243e-01 1.28746630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16255784400005 meters Centerline goodness [0,1] 0.2739800465146608 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:1.29 [[ 9.99804347e-01 -3.46552688e-03 -1.94745691e-02 7.53355041e+00] [ 3.57665406e-03 9.99977504e-01 5.67434148e-03 3.20672911e-01] [ 1.94544665e-02 -5.74288507e-03 9.99794250e-01 1.28744804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1925578440001 meters Centerline goodness [0,1] 0.2711890078978687 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:1.29 [[ 9.99802229e-01 -3.52383727e-03 -1.95725774e-02 7.53388129e+00] [ 3.64191474e-03 9.99975365e-01 6.00043687e-03 3.18303203e-01] [ 1.95509507e-02 -6.07053181e-03 9.99790433e-01 1.28728706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22255784400005 meters Centerline goodness [0,1] 0.2710126746550158 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:1.29 [[ 9.99801824e-01 -3.47138072e-03 -1.96025930e-02 7.53387744e+00] [ 3.59756634e-03 9.99973013e-01 6.40559932e-03 3.16044820e-01] [ 1.95798277e-02 -6.47485152e-03 9.99787331e-01 1.28740347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2525578440001 meters Centerline goodness [0,1] 0.27331350283344547 Centerline is valid? [False, False] Translation: X:7.54, Y:0.31, Z:1.29 [[ 9.99791765e-01 -3.89911966e-03 -2.00305880e-02 7.53520855e+00] [ 4.03241608e-03 9.99969967e-01 6.61856921e-03 3.13132688e-01] [ 2.00041798e-02 -6.69796265e-03 9.99777460e-01 1.28697156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28255784400005 meters Centerline goodness [0,1] 0.25812607064639936 Centerline is valid? [False, False] Translation: X:7.54, Y:0.31, Z:1.29 [[ 9.99785611e-01 -3.96277512e-03 -2.03230911e-02 7.53601218e+00] [ 4.10236483e-03 9.99968250e-01 6.83144243e-03 3.11456952e-01] [ 2.02953744e-02 -6.91335058e-03 9.99770125e-01 1.28678749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3125578440001 meters Centerline goodness [0,1] 0.2714732588955989 Centerline is valid? [False, False] Translation: X:7.54, Y:0.31, Z:1.29 [[ 9.99780914e-01 -3.98127438e-03 -2.05492797e-02 7.53654335e+00] [ 4.12796732e-03 9.99966266e-01 7.10111833e-03 3.09723342e-01] [ 2.05203150e-02 -7.18438933e-03 9.99763623e-01 1.28677202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34255784400005 meters Centerline goodness [0,1] 0.27241379310344827 Centerline is valid? [False, False] Translation: X:7.56, Y:0.31, Z:1.29 [[ 9.99785558e-01 1.94228591e-03 -2.06171412e-02 7.55753537e+00] [-1.85879310e-03 9.99989998e-01 4.06807065e-03 3.05343004e-01] [ 2.06248363e-02 -4.02887529e-03 9.99779168e-01 1.28747385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3725578440001 meters Centerline goodness [0,1] 0.27222403835676146 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99783046e-01 2.05377594e-03 -2.07278487e-02 7.55767488e+00] [-1.96154250e-03 9.99988090e-01 4.46908646e-03 3.03444677e-01] [ 2.07367803e-02 -4.42745832e-03 9.99775167e-01 1.28763016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40255784400006 meters Centerline goodness [0,1] 0.27360759082342234 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99780164e-01 1.99954383e-03 -2.08716347e-02 7.55802568e+00] [-1.89972278e-03 9.99986669e-01 4.80134977e-03 3.01242978e-01] [ 2.08809570e-02 -4.76064394e-03 9.99770635e-01 1.28763167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4325578440001 meters Centerline goodness [0,1] 0.2733729873412205 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99783027e-01 1.97457777e-03 -2.07364372e-02 7.55770485e+00] [-1.87403069e-03 9.99986399e-01 4.86712535e-03 3.00590533e-01] [ 2.07457657e-02 -4.82720859e-03 9.99773130e-01 1.28761970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46255784400006 meters Centerline goodness [0,1] 0.2714282626083573 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99783150e-01 1.95474925e-03 -2.07323975e-02 7.55765864e+00] [-1.85352092e-03 9.99986274e-01 4.90070863e-03 3.00270278e-01] [ 2.07416926e-02 -4.86121797e-03 9.99773050e-01 1.28766003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4925578440001 meters Centerline goodness [0,1] 0.2718484396288847 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99782733e-01 1.97248958e-03 -2.07508112e-02 7.55788709e+00] [-1.87099369e-03 9.99986198e-01 4.90945491e-03 3.00367342e-01] [ 2.07602086e-02 -4.86956361e-03 9.99772625e-01 1.28734245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52255784400006 meters Centerline goodness [0,1] 0.2719736099657103 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99780797e-01 1.97885792e-03 -2.08432792e-02 7.55814547e+00] [-1.87657436e-03 9.99986108e-01 4.92568446e-03 3.00435593e-01] [ 2.08527369e-02 -4.88549077e-03 9.99770621e-01 1.28726996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.55255784400003 meters Centerline goodness [0,1] 0.27107883636996133 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99778631e-01 1.93979301e-03 -2.09505825e-02 7.55852856e+00] [-1.83785532e-03 9.99986385e-01 4.88378436e-03 3.00447229e-01] [ 2.09597708e-02 -4.84419910e-03 9.99768584e-01 1.28707239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58255784400006 meters Centerline goodness [0,1] 0.2728125886640913 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99777135e-01 1.91295726e-03 -2.10243069e-02 7.55856855e+00] [-1.81037710e-03 9.99986371e-01 4.89707288e-03 3.00119136e-01] [ 2.10333882e-02 -4.85791957e-03 9.99766971e-01 1.28724294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.61255784400004 meters Centerline goodness [0,1] 0.27440356549855804 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99781509e-01 1.93642367e-03 -2.08130808e-02 7.55756838e+00] [-1.83226872e-03 9.99985710e-01 5.02220728e-03 2.99413575e-01] [ 2.08225085e-02 -4.98297482e-03 9.99770770e-01 1.28802263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64255784400007 meters Centerline goodness [0,1] 0.27442194331455416 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99785314e-01 1.92077791e-03 -2.06309661e-02 7.55684870e+00] [-1.81773375e-03 9.99985787e-01 5.01222762e-03 2.99412333e-01] [ 2.06403003e-02 -4.97364996e-03 9.99774595e-01 1.28845322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.67255784400004 meters Centerline goodness [0,1] 0.2731665904786782 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99787174e-01 1.89006117e-03 -2.05434798e-02 7.55648205e+00] [-1.78878527e-03 9.99986163e-01 4.94709041e-03 2.99680076e-01] [ 2.05525458e-02 -4.90928966e-03 9.99776721e-01 1.28866745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70255784400007 meters Centerline goodness [0,1] 0.27740688685874915 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99786761e-01 1.86935598e-03 -2.05654769e-02 7.55661649e+00] [-1.76890401e-03 9.99986423e-01 4.90160232e-03 2.99929007e-01] [ 2.05743605e-02 -4.86417875e-03 9.99776493e-01 1.28851095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.73255784400004 meters Centerline goodness [0,1] 0.2706550237264631 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99783436e-01 1.86359836e-03 -2.07269746e-02 7.55723263e+00] [-1.76235080e-03 9.99986432e-01 4.90201450e-03 3.00038902e-01] [ 2.07358288e-02 -4.86442470e-03 9.99773156e-01 1.28812300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76255784400007 meters Centerline goodness [0,1] 0.2753739956013327 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99782385e-01 1.87701610e-03 -2.07764364e-02 7.55743348e+00] [-1.77466586e-03 9.99986206e-01 4.94360761e-03 2.99946721e-01] [ 2.07854291e-02 -4.90566057e-03 9.99771924e-01 1.28795248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.79255784400004 meters Centerline goodness [0,1] 0.27486220944164874 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99784425e-01 1.87583553e-03 -2.06781440e-02 7.55684213e+00] [-1.77094300e-03 9.99985479e-01 5.08977345e-03 2.99065477e-01] [ 2.06873914e-02 -5.05205641e-03 9.99773229e-01 1.28844747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8225578440001 meters Centerline goodness [0,1] 0.27497237928121143 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99784891e-01 1.84917017e-03 -2.06579867e-02 7.55657420e+00] [-1.74262849e-03 9.99985095e-01 5.17422034e-03 2.98384807e-01] [ 2.06672468e-02 -5.13710812e-03 9.99773212e-01 1.28876536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.85255784400005 meters Centerline goodness [0,1] 0.2730092622719681 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99785048e-01 1.83784135e-03 -2.06513754e-02 7.55657167e+00] [-1.72838267e-03 9.99984371e-01 5.31690858e-03 2.97434066e-01] [ 2.06608243e-02 -5.28007223e-03 9.99772600e-01 1.28870234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8825578440001 meters Centerline goodness [0,1] 0.2587424671144999 Centerline is valid? [False, False] Translation: X:7.56, Y:0.30, Z:1.29 [[ 9.99780518e-01 1.83635441e-03 -2.08696673e-02 7.55736395e+00] [-1.72131040e-03 9.99983233e-01 5.52912575e-03 2.96154316e-01] [ 2.08794708e-02 -5.49198904e-03 9.99766916e-01 1.28823131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.91255784400005 meters Centerline goodness [0,1] 0.26938819707634 Centerline is valid? [False, False] Translation: X:7.56, Y:0.29, Z:1.29 [[ 9.99766800e-01 1.58065969e-03 -2.15371135e-02 7.55967268e+00] [-1.45437235e-03 9.99981666e-01 5.87811008e-03 2.93272327e-01] [ 2.15460099e-02 -5.84541632e-03 9.99750769e-01 1.28696114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9425578440001 meters Centerline goodness [0,1] 0.25774350579416705 Centerline is valid? [False, False] Translation: X:7.56, Y:0.29, Z:1.29 [[ 9.99771580e-01 1.63639515e-03 -2.13098396e-02 7.55899158e+00] [-1.50392250e-03 9.99979456e-01 6.23104459e-03 2.91320209e-01] [ 2.13195982e-02 -6.19757295e-03 9.99753502e-01 1.28710683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.97255784400005 meters Centerline goodness [0,1] 0.2655834690902855 Centerline is valid? [False, False] Translation: X:7.56, Y:0.29, Z:1.29 [[ 9.99779406e-01 1.68107667e-03 -2.09359340e-02 7.55776496e+00] [-1.54428220e-03 9.99977367e-01 6.54841001e-03 2.89488791e-01] [ 2.09464685e-02 -6.51463448e-03 9.99759374e-01 1.28754567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0025578440001 meters Centerline goodness [0,1] 0.2749167084031967 Centerline is valid? [False, False] Translation: X:7.51, Y:0.29, Z:1.29 [[ 9.99738616e-01 5.63688996e-04 -2.28556716e-02 7.51057468e+00] [-4.11995497e-04 9.99977862e-01 6.64118348e-03 2.89296221e-01] [ 2.28589092e-02 -6.63003115e-03 9.99716716e-01 1.28852437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.03255784400005 meters Centerline goodness [0,1] 0.2724659771366358 Centerline is valid? [False, False] Translation: X:7.51, Y:0.29, Z:1.29 [[ 9.99736392e-01 5.80472256e-04 -2.29523480e-02 7.51077057e+00] [-4.25173745e-04 9.99976990e-01 6.77042863e-03 2.88410247e-01] [ 2.29557499e-02 -6.75888515e-03 9.99713635e-01 1.28858027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0625578440001 meters Centerline goodness [0,1] 0.27107125797906984 Centerline is valid? [False, False] Translation: X:7.51, Y:0.29, Z:1.29 [[ 9.99729318e-01 5.61638019e-04 -2.32588813e-02 7.51186560e+00] [-4.04204533e-04 9.99976982e-01 6.77289534e-03 2.88192927e-01] [ 2.32621499e-02 -6.76166069e-03 9.99706533e-01 1.28802358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.09255784400005 meters Centerline goodness [0,1] 0.27017710173654497 Centerline is valid? [False, False] Translation: X:7.51, Y:0.29, Z:1.29 [[ 9.99706145e-01 8.09813289e-04 -2.42274149e-02 7.51482667e+00] [-6.45767314e-04 9.99976820e-01 6.77814644e-03 2.89393587e-01] [ 2.42323423e-02 -6.76050938e-03 9.99683494e-01 1.28705903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1225578440001 meters Centerline goodness [0,1] 0.2703640266244607 Centerline is valid? [False, False] Translation: X:7.51, Y:0.29, Z:1.29 [[ 9.99706883e-01 8.29446280e-04 -2.41962723e-02 7.51469848e+00] [-6.70399140e-04 9.99978123e-01 6.58057975e-03 2.90911892e-01] [ 2.42012012e-02 -6.56242971e-03 9.99685569e-01 1.28719437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.15255784400006 meters Centerline goodness [0,1] 0.2717606384135337 Centerline is valid? [False, False] Translation: X:7.51, Y:0.29, Z:1.29 [[ 9.99712516e-01 8.42469134e-04 -2.39619516e-02 7.51396942e+00] [-6.90535423e-04 9.99979612e-01 6.34819127e-03 2.92524976e-01] [ 2.39668112e-02 -6.32981969e-03 9.99692715e-01 1.28747992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1825578440001 meters Centerline goodness [0,1] 0.2709299804899198 Centerline is valid? [False, False] Translation: X:7.51, Y:0.29, Z:1.29 [[ 9.99713706e-01 7.41180503e-04 -2.39156250e-02 7.51381498e+00] [-5.97679984e-04 9.99981780e-01 6.00687320e-03 2.94209097e-01] [ 2.39196414e-02 -5.99085958e-03 9.99695934e-01 1.28761134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.21255784400006 meters Centerline goodness [0,1] 0.26885959243462154 Centerline is valid? [False, False] Translation: X:7.51, Y:0.30, Z:1.29 [[ 9.99711744e-01 5.77027208e-04 -2.40020098e-02 7.51413200e+00] [-4.41982753e-04 9.99984046e-01 5.63130568e-03 2.95794199e-01] [ 2.40048763e-02 -5.61907395e-03 9.99696050e-01 1.28746019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2425578440001 meters Centerline goodness [0,1] 0.26981937319480964 Centerline is valid? [False, False] Translation: X:7.52, Y:0.30, Z:1.29 [[ 9.99704455e-01 3.66874227e-04 -2.43077634e-02 7.51537260e+00] [-2.42401285e-04 9.99986846e-01 5.12345601e-03 2.98181066e-01] [ 2.43093233e-02 -5.11604957e-03 9.99691394e-01 1.28665185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.27255784400006 meters Centerline goodness [0,1] 0.26981937319480964 Centerline is valid? [False, False] Translation: X:7.52, Y:0.30, Z:1.29 [[ 9.99704455e-01 3.66874227e-04 -2.43077634e-02 7.51537260e+00] [-2.42401285e-04 9.99986846e-01 5.12345601e-03 2.98181066e-01] [ 2.43093233e-02 -5.11604957e-03 9.99691394e-01 1.28665185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30255784400003 meters Centerline goodness [0,1] 0.2701289118451322 Centerline is valid? [False, False] Translation: X:7.52, Y:0.30, Z:1.29 [[ 9.99702598e-01 3.00825652e-04 -2.43849262e-02 7.51568922e+00] [-1.80357658e-04 9.99987770e-01 4.94231366e-03 2.99224094e-01] [ 2.43861148e-02 -4.93644580e-03 9.99690427e-01 1.28645483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.33255784400006 meters Centerline goodness [0,1] 0.2688430252682589 Centerline is valid? [False, False] Translation: X:7.52, Y:0.30, Z:1.29 [[ 9.99699616e-01 2.25675126e-04 -2.45077004e-02 7.51602012e+00] [-1.07921851e-04 9.99988445e-01 4.80596234e-03 2.99846388e-01] [ 2.45085018e-02 -4.80187379e-03 9.99688089e-01 1.28637824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36255784400004 meters Centerline goodness [0,1] 0.2712078621080386 Centerline is valid? [False, False] Translation: X:7.52, Y:0.30, Z:1.29 [[ 9.99696899e-01 1.19285655e-04 -2.46190256e-02 7.51630227e+00] [-5.59138237e-06 9.99989336e-01 4.61816391e-03 3.00549931e-01] [ 2.46193140e-02 -4.61662648e-03 9.99686239e-01 1.28634766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.39255784400007 meters Centerline goodness [0,1] 0.2689033874870377 Centerline is valid? [False, False] Translation: X:7.52, Y:0.30, Z:1.29 [[ 9.99694056e-01 1.32096608e-06 -2.47344756e-02 7.51657693e+00] [ 1.08620480e-04 9.99990122e-01 4.44352259e-03 3.01150756e-01] [ 2.47342372e-02 -4.44484979e-03 9.99684181e-01 1.28633230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42255784400004 meters Centerline goodness [0,1] 0.26958695652173914 Centerline is valid? [False, False] Translation: X:7.52, Y:0.30, Z:1.29 [[ 9.99694653e-01 -7.06265669e-05 -2.47102264e-02 7.51651568e+00] [ 1.77217708e-04 9.99990690e-01 4.31148158e-03 3.01761035e-01] [ 2.47096918e-02 -4.31454418e-03 9.99685358e-01 1.28629071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.45255784400007 meters Centerline goodness [0,1] 0.26959234068362004 Centerline is valid? [False, False] Translation: X:7.52, Y:0.30, Z:1.29 [[ 9.99699525e-01 -2.72238431e-04 -2.45109274e-02 7.51590584e+00] [ 3.67586818e-04 9.99992383e-01 3.88561428e-03 3.03798211e-01] [ 2.45096829e-02 -3.89345665e-03 9.99692011e-01 1.28647814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48255784400004 meters Centerline goodness [0,1] 0.2707340324118208 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:1.29 [[ 9.99704074e-01 -4.33954102e-04 -2.43223343e-02 7.51535375e+00] [ 5.20323079e-04 9.99993582e-01 3.54479895e-03 3.05289396e-01] [ 2.43206399e-02 -3.55640543e-03 9.99697884e-01 1.28662199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.51255784400007 meters Centerline goodness [0,1] 0.27028438390739573 Centerline is valid? [False, False] Translation: X:7.51, Y:0.31, Z:1.29 [[ 9.99707991e-01 -6.06903412e-04 -2.41570794e-02 7.51494121e+00] [ 6.81836315e-04 9.99994982e-01 3.09378652e-03 3.07460876e-01] [ 2.41550805e-02 -3.10935428e-03 9.99703388e-01 1.28664882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54255784400004 meters Centerline goodness [0,1] 0.27220030944234996 Centerline is valid? [False, False] Translation: X:7.51, Y:0.31, Z:1.29 [[ 9.99709540e-01 -7.58917092e-04 -2.40885697e-02 7.51491305e+00] [ 8.22656924e-04 9.99996187e-01 2.63626185e-03 3.09916299e-01] [ 2.40864771e-02 -2.65531276e-03 9.99706352e-01 1.28646265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5725578440001 meters Centerline goodness [0,1] 0.2684135672111365 Centerline is valid? [False, False] Translation: X:7.54, Y:0.31, Z:1.29 [[ 9.99711032e-01 7.87251336e-03 -2.27128835e-02 7.53608624e+00] [-7.83936219e-03 9.99968073e-01 1.54824685e-03 3.12164833e-01] [ 2.27243469e-02 -1.36974494e-03 9.99740830e-01 1.28620511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60255784400005 meters Centerline goodness [0,1] 0.2716710380855353 Centerline is valid? [False, False] Translation: X:7.54, Y:0.31, Z:1.29 [[ 9.99715587e-01 7.65031440e-03 -2.25880084e-02 7.53570640e+00] [-7.62942092e-03 9.99970384e-01 1.01101511e-03 3.14700572e-01] [ 2.25950740e-02 -8.38394145e-04 9.99744347e-01 1.28636215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6325578440001 meters Centerline goodness [0,1] 0.27004437551161087 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:1.29 [[ 9.99751441e-01 -1.24897185e-04 -2.22944123e-02 7.55459065e+00] [ 1.66000648e-04 9.99998290e-01 1.84182545e-03 3.20364178e-01] [ 2.22941441e-02 -1.84506853e-03 9.99749752e-01 1.28877358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66255784400005 meters Centerline goodness [0,1] 0.26977473991918155 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:1.29 [[ 9.99755656e-01 -3.62851774e-04 -2.21019720e-02 7.55395785e+00] [ 3.91889230e-04 9.99999066e-01 1.30947764e-03 3.22818787e-01] [ 2.21014763e-02 -1.31781920e-03 9.99754864e-01 1.28901426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6925578440001 meters Centerline goodness [0,1] 0.2727567707882669 Centerline is valid? [False, False] Translation: X:7.55, Y:0.33, Z:1.29 [[ 9.99757854e-01 -5.40907810e-04 -2.19986459e-02 7.55378664e+00] [ 5.60265902e-04 9.99999461e-01 8.73813658e-04 3.25035396e-01] [ 2.19981614e-02 -8.85927159e-04 9.99757619e-01 1.28890480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72255784400005 meters Centerline goodness [0,1] 0.2679817383064863 Centerline is valid? [False, False] Translation: X:7.55, Y:0.33, Z:1.29 [[ 9.99757505e-01 -7.01100971e-04 -2.20099701e-02 7.55400554e+00] [ 7.11175625e-04 9.99999646e-01 4.49907313e-04 3.27323871e-01] [ 2.20096469e-02 -4.65451167e-04 9.99757650e-01 1.28861405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7525578440001 meters Centerline goodness [0,1] 0.27249542244310754 Centerline is valid? [False, False] Translation: X:7.55, Y:0.33, Z:1.29 [[ 9.99756863e-01 -1.03119249e-03 -2.20261735e-02 7.55425740e+00] [ 1.02482355e-03 9.99999430e-01 -3.00439401e-04 3.30938136e-01] [ 2.20264707e-02 2.77793411e-04 9.99757349e-01 1.28829821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78255784400005 meters Centerline goodness [0,1] 0.27067378022545396 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:1.29 [[ 9.99764018e-01 4.91338348e-03 -2.11605048e-02 7.57656254e+00] [-4.99188300e-03 9.99980848e-01 -3.65849619e-03 3.30510017e-01] [ 2.11421240e-02 3.76326361e-03 9.99769398e-01 1.28814706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8125578440001 meters Centerline goodness [0,1] 0.26948626148470867 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:1.29 [[ 9.99762808e-01 4.71134228e-03 -2.12633616e-02 7.57687884e+00] [-4.79837835e-03 9.99980310e-01 -4.04407833e-03 3.32155762e-01] [ 2.12438899e-02 4.14514876e-03 9.99765730e-01 1.28804213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84255784400005 meters Centerline goodness [0,1] 0.26915592839228575 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:1.29 [[ 9.99760615e-01 4.53534002e-03 -2.14042878e-02 7.57751672e+00] [-4.63162134e-03 9.99979369e-01 -4.45079721e-03 3.34227398e-01] [ 2.13836604e-02 4.54886831e-03 9.99760995e-01 1.28755791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8725578440001 meters Centerline goodness [0,1] 0.25616429537114527 Centerline is valid? [False, False] Translation: X:7.60, Y:0.34, Z:1.29 [[ 9.99731865e-01 -2.57817552e-03 -2.30119960e-02 7.59820969e+00] [ 2.50016084e-03 9.99991032e-01 -3.41830157e-03 3.40966990e-01] [ 2.30206026e-02 3.35985131e-03 9.99729345e-01 1.28952989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90255784400006 meters Centerline goodness [0,1] 0.2706123696041203 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:1.29 [[ 9.99652173e-01 -2.23931592e-03 -2.62777124e-02 7.55501466e+00] [ 2.16240533e-03 9.99993296e-01 -2.95488928e-03 3.50159458e-01] [ 2.62841531e-02 2.89703843e-03 9.99650314e-01 1.28886119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9325578440001 meters Centerline goodness [0,1] 0.26658053402239446 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.29 [[ 9.99667850e-01 5.56178583e-03 -2.51645924e-02 7.57442336e+00] [-5.68198758e-03 9.99972776e-01 -4.70764159e-03 3.48903451e-01] [ 2.51377244e-02 4.84906285e-03 9.99672237e-01 1.28997594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96255784400006 meters Centerline goodness [0,1] 0.27089537638849637 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.29 [[ 9.99670942e-01 5.29541897e-03 -2.50991206e-02 7.57418048e+00] [-5.43060626e-03 9.99971097e-01 -5.32103744e-03 3.51727028e-01] [ 2.50702180e-02 5.45558995e-03 9.99670806e-01 1.29015514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9925578440001 meters Centerline goodness [0,1] 0.2706441944311715 Centerline is valid? [False, False] Translation: X:7.57, Y:0.35, Z:1.29 [[ 9.99671735e-01 5.04461944e-03 -2.51191919e-02 7.57426719e+00] [-5.19493725e-03 9.99968968e-01 -5.92252520e-03 3.54570215e-01] [ 2.50885355e-02 6.05107367e-03 9.99666919e-01 1.29016342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02255784400006 meters Centerline goodness [0,1] 0.2690517931736034 Centerline is valid? [False, False] Translation: X:7.57, Y:0.36, Z:1.29 [[ 9.99669896e-01 4.80301403e-03 -2.52394546e-02 7.57484009e+00] [-4.96819479e-03 9.99966624e-01 -6.48591823e-03 3.57313805e-01] [ 2.52074603e-02 6.60917173e-03 9.99660394e-01 1.28979041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.05255784400003 meters Centerline goodness [0,1] 0.2679301616148504 Centerline is valid? [False, False] Translation: X:7.58, Y:0.36, Z:1.29 [[ 9.99668391e-01 4.59644446e-03 -2.53373450e-02 7.57546397e+00] [-4.77406496e-03 9.99964423e-01 -6.95419757e-03 3.59651824e-01] [ 2.53044790e-02 7.07285363e-03 9.99654769e-01 1.28920612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08255784400006 meters Centerline goodness [0,1] 0.2690543172473491 Centerline is valid? [False, False] Translation: X:7.58, Y:0.36, Z:1.29 [[ 9.99663709e-01 4.27914152e-03 -2.55765063e-02 7.57654231e+00] [-4.47443403e-03 9.99961236e-01 -7.58327456e-03 3.62845783e-01] [ 2.55430649e-02 7.69516477e-03 9.99644105e-01 1.28846874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.11255784400004 meters Centerline goodness [0,1] 0.267544619649974 Centerline is valid? [False, False] Translation: X:7.58, Y:0.36, Z:1.29 [[ 9.99663186e-01 4.13431695e-03 -2.56207215e-02 7.57663721e+00] [-4.33614469e-03 9.99959967e-01 -7.82697588e-03 3.63843240e-01] [ 2.55873366e-02 7.93543481e-03 9.99641094e-01 1.28849700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14255784400007 meters Centerline goodness [0,1] 0.2672022806790203 Centerline is valid? [False, False] Translation: X:7.58, Y:0.36, Z:1.29 [[ 9.99664351e-01 3.96385209e-03 -2.56021973e-02 7.57655147e+00] [-4.17141587e-03 9.99958825e-01 -8.05895098e-03 3.64614300e-01] [ 2.55691986e-02 8.16304341e-03 9.99639726e-01 1.28851731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.17255784400004 meters Centerline goodness [0,1] 0.2645370708742665 Centerline is valid? [False, False] Translation: X:7.58, Y:0.36, Z:1.29 [[ 9.99666757e-01 3.81405314e-03 -2.55309096e-02 7.57638845e+00] [-4.02462358e-03 9.99958269e-01 -8.20136987e-03 3.64904528e-01] [ 2.54985637e-02 8.30138912e-03 9.99640390e-01 1.28849362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20255784400007 meters Centerline goodness [0,1] 0.2655993786139639 Centerline is valid? [False, False] Translation: X:7.58, Y:0.36, Z:1.29 [[ 9.99669962e-01 3.76993956e-03 -2.54117051e-02 7.57608918e+00] [-3.97935010e-03 9.99958501e-01 -8.19518628e-03 3.64736067e-01] [ 2.53797551e-02 8.29360363e-03 9.99643479e-01 1.28841687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.23255784400004 meters Centerline goodness [0,1] 0.2697262829132868 Centerline is valid? [False, False] Translation: X:7.58, Y:0.36, Z:1.29 [[ 9.99676281e-01 3.75640424e-03 -2.51639228e-02 7.57534594e+00] [-3.96111479e-03 9.99959428e-01 -8.09017989e-03 3.64093628e-01] [ 2.51325119e-02 8.18723813e-03 9.99650602e-01 1.28855003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26255784400007 meters Centerline goodness [0,1] 0.2663566492281858 Centerline is valid? [False, False] Translation: X:7.60, Y:0.36, Z:1.29 [[ 9.99724584e-01 -5.33739881e-03 -2.28531688e-02 7.59502417e+00] [ 5.16547850e-03 9.99957966e-01 -7.57525644e-03 3.63296963e-01] [ 2.28926403e-02 7.45512254e-03 9.99710132e-01 1.28972192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.29255784400004 meters Centerline goodness [0,1] 0.2663017507276597 Centerline is valid? [False, False] Translation: X:7.60, Y:0.36, Z:1.29 [[ 9.99724089e-01 -5.30183686e-03 -2.28831086e-02 7.59509985e+00] [ 5.13398516e-03 9.99959531e-01 -7.38770534e-03 3.62133535e-01] [ 2.29213509e-02 7.26818545e-03 9.99710851e-01 1.28965906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3225578440001 meters Centerline goodness [0,1] 0.2598353552859619 Centerline is valid? [False, False] Translation: X:7.60, Y:0.36, Z:1.29 [[ 9.99722086e-01 -5.24527851e-03 -2.29834430e-02 7.59554932e+00] [ 5.08086334e-03 9.99961127e-01 -7.20620090e-03 3.61157870e-01] [ 2.30203481e-02 7.08742246e-03 9.99709874e-01 1.28928220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.35255784400005 meters Centerline goodness [0,1] 0.2672411926466449 Centerline is valid? [False, False] Translation: X:7.60, Y:0.36, Z:1.29 [[ 9.99722128e-01 -5.15227721e-03 -2.30026393e-02 7.59574082e+00] [ 4.99270883e-03 9.99963113e-01 -6.98900933e-03 3.60218524e-01] [ 2.30378002e-02 6.87222180e-03 9.99710974e-01 1.28900730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3825578440001 meters Centerline goodness [0,1] 0.2663211985863273 Centerline is valid? [False, False] Translation: X:7.60, Y:0.36, Z:1.29 [[ 9.99723510e-01 -5.05777618e-03 -2.29634981e-02 7.59556610e+00] [ 4.90217598e-03 9.99964678e-01 -6.82722436e-03 3.59620778e-01] [ 2.29972176e-02 6.71276560e-03 9.99712992e-01 1.28913255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.41255784400005 meters Centerline goodness [0,1] 0.2653149173651662 Centerline is valid? [False, False] Translation: X:7.61, Y:0.36, Z:1.29 [[ 9.99757484e-01 3.79203570e-03 -2.16931553e-02 7.61450632e+00] [-3.95509969e-03 9.99964211e-01 -7.47888122e-03 3.55062586e-01] [ 2.16640187e-02 7.56286607e-03 9.99736702e-01 1.29102609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4425578440001 meters Centerline goodness [0,1] 0.2652464584363379 Centerline is valid? [False, False] Translation: X:7.61, Y:0.36, Z:1.29 [[ 9.99761012e-01 3.81079183e-03 -2.15266534e-02 7.61371046e+00] [-3.97825837e-03 9.99962116e-01 -7.74203703e-03 3.56624876e-01] [ 2.14963346e-02 7.82582536e-03 9.99738298e-01 1.29179030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.47255784400005 meters Centerline goodness [0,1] 0.2636192190647636 Centerline is valid? [False, False] Translation: X:7.61, Y:0.36, Z:1.29 [[ 9.99761461e-01 3.75636663e-03 -2.15153533e-02 7.61360161e+00] [-3.93046651e-03 9.99959831e-01 -8.05532676e-03 3.58241280e-01] [ 2.14842303e-02 8.13797063e-03 9.99736066e-01 1.29201951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5025578440001 meters Centerline goodness [0,1] 0.26968422429010397 Centerline is valid? [False, False] Translation: X:7.59, Y:0.36, Z:1.29 [[ 9.99742269e-01 -2.25704870e-03 -2.25898638e-02 7.59099066e+00] [ 2.13854926e-03 9.99983835e-01 -5.26847486e-03 3.63407890e-01] [ 2.26013898e-02 5.21880747e-03 9.99730934e-01 1.29216123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.53255784400005 meters Centerline goodness [0,1] 0.26700246443858355 Centerline is valid? [False, False] Translation: X:7.59, Y:0.36, Z:1.29 [[ 9.99735297e-01 -2.31257555e-03 -2.28907994e-02 7.59210624e+00] [ 2.18634732e-03 9.99982276e-01 -5.53785735e-03 3.64936278e-01] [ 2.29032004e-02 5.48634422e-03 9.99722633e-01 1.29159879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5625578440001 meters Centerline goodness [0,1] 0.269438246062523 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.29 [[ 9.99731800e-01 -2.37320506e-03 -2.30368396e-02 7.59290336e+00] [ 2.24108588e-03 9.99980904e-01 -5.75925008e-03 3.66327159e-01] [ 2.30500676e-02 5.70607792e-03 9.99718028e-01 1.29089069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.59255784400005 meters Centerline goodness [0,1] 0.26856548315775786 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.29 [[ 9.99731935e-01 -2.47177915e-03 -2.30206271e-02 7.59310381e+00] [ 2.33482308e-03 9.99979428e-01 -5.97425564e-03 3.67694303e-01] [ 2.30349205e-02 5.91890506e-03 9.99717139e-01 1.29044457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6225578440001 meters Centerline goodness [0,1] 0.26698316788951226 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.29 [[ 9.99735012e-01 -2.55743275e-03 -2.28771636e-02 7.59271692e+00] [ 2.42032898e-03 9.99978958e-01 -6.01872278e-03 3.67723423e-01] [ 2.28920747e-02 5.96175763e-03 9.99720166e-01 1.29043013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.65255784400006 meters Centerline goodness [0,1] 0.267481418882316 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.29 [[ 9.99734562e-01 -2.64651932e-03 -2.28867013e-02 7.59290302e+00] [ 2.50842371e-03 9.99978489e-01 -6.06048530e-03 3.67720369e-01] [ 2.29022482e-02 6.00146707e-03 9.99719695e-01 1.29011712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6825578440001 meters Centerline goodness [0,1] 0.2689009963315896 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.29 [[ 9.99728566e-01 -2.72230311e-03 -2.31383547e-02 7.59394461e+00] [ 2.58241178e-03 9.99978221e-01 -6.07359480e-03 3.67610792e-01] [ 2.31543850e-02 6.01219346e-03 9.99713823e-01 1.28935477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.71255784400006 meters Centerline goodness [0,1] 0.2585523322572958 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.29 [[ 9.99714743e-01 -2.85256392e-03 -2.37127654e-02 7.59618034e+00] [ 2.70699900e-03 9.99977311e-01 -6.16850806e-03 3.68272573e-01] [ 2.37298234e-02 6.10255802e-03 9.99699782e-01 1.28798455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7425578440001 meters Centerline goodness [0,1] 0.25833568039517296 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.29 [[ 9.99715448e-01 -2.89160310e-03 -2.36782933e-02 7.59623768e+00] [ 2.74458559e-03 9.99976770e-01 -6.23910340e-03 3.68680981e-01] [ 2.36957843e-02 6.17234094e-03 9.99700161e-01 1.28774914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.77255784400006 meters Centerline goodness [0,1] 0.259305829557526 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.29 [[ 9.99717469e-01 -2.93500927e-03 -2.35874480e-02 7.59591712e+00] [ 2.78644937e-03 9.99976092e-01 -6.32866216e-03 3.69106061e-01] [ 2.36054588e-02 6.26114888e-03 9.99701746e-01 1.28789396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80255784400003 meters Centerline goodness [0,1] 0.2667606244579358 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.29 [[ 9.99719386e-01 -3.00413125e-03 -2.34973166e-02 7.59566492e+00] [ 2.85293439e-03 9.99975029e-01 -6.46552200e-03 3.69619019e-01] [ 2.35161531e-02 6.39667138e-03 9.99702992e-01 1.28795058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.83255784400006 meters Centerline goodness [0,1] 0.25780101996715366 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.29 [[ 9.99718854e-01 -3.05293717e-03 -2.35136492e-02 7.59576214e+00] [ 2.89875695e-03 9.99974095e-01 -6.58834793e-03 3.70159118e-01] [ 2.35331539e-02 6.51833529e-03 9.99701807e-01 1.28787382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86255784400004 meters Centerline goodness [0,1] 0.2588691675877165 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.29 [[ 9.99717692e-01 -3.09825259e-03 -2.35570858e-02 7.59593841e+00] [ 2.94032950e-03 9.99972993e-01 -6.73553129e-03 3.70904618e-01] [ 2.35773180e-02 6.66436421e-03 9.99699803e-01 1.28779107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.89255784400007 meters Centerline goodness [0,1] 0.2685987192011289 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.29 [[ 9.99720895e-01 -3.17849170e-03 -2.34100373e-02 7.59539995e+00] [ 3.01418003e-03 9.99970600e-01 -7.05079998e-03 3.72496023e-01] [ 2.34317599e-02 6.97827000e-03 9.99701084e-01 1.28815750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92255784400004 meters Centerline goodness [0,1] 0.2672400686344779 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.29 [[ 9.99722525e-01 -3.18159989e-03 -2.33398875e-02 7.59504152e+00] [ 3.01563707e-03 9.99969945e-01 -7.14244908e-03 3.73038935e-01] [ 2.33619105e-02 7.07008260e-03 9.99702073e-01 1.28853120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.95255784400007 meters Centerline goodness [0,1] 0.2553587264508035 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.29 [[ 9.99722019e-01 -3.22736032e-03 -2.33552827e-02 7.59492461e+00] [ 3.05746687e-03 9.99968634e-01 -7.30636183e-03 3.73773699e-01] [ 2.33781304e-02 7.23292279e-03 9.99700529e-01 1.28886291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98255784400004 meters Centerline goodness [0,1] 0.26707187817698086 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.29 [[ 9.99718991e-01 -3.25033894e-03 -2.34813513e-02 7.59517636e+00] [ 3.07591714e-03 9.99967440e-01 -7.46040223e-03 3.74486581e-01] [ 2.35048356e-02 7.38607910e-03 9.99696438e-01 1.28903391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.01255784400007 meters Centerline goodness [0,1] 0.2578997284131569 Centerline is valid? [False, False] Translation: X:7.60, Y:0.38, Z:1.29 [[ 9.99714485e-01 -3.21543534e-03 -2.36772100e-02 7.59574400e+00] [ 3.03712218e-03 9.99966787e-01 -7.56311698e-03 3.75205057e-01] [ 2.37007423e-02 7.48904701e-03 9.99691047e-01 1.28897566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04255784400004 meters Centerline goodness [0,1] 0.2686215104955637 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99738881e-01 -7.21065616e-04 -2.28396540e-02 7.59111721e+00] [ 5.99314748e-04 9.99985578e-01 -5.33707564e-03 3.75750183e-01] [ 2.28431730e-02 5.32199388e-03 9.99724895e-01 1.29180391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0725578440001 meters Centerline goodness [0,1] 0.2692607847387817 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99743789e-01 -6.30738377e-04 -2.26264940e-02 7.59014644e+00] [ 5.10977563e-04 9.99985833e-01 -5.29833729e-03 3.75819506e-01] [ 2.26295154e-02 5.28541816e-03 9.99729948e-01 1.29257151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10255784400005 meters Centerline goodness [0,1] 0.25608280392411076 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99745517e-01 -5.71339073e-04 -2.25516047e-02 7.58970405e+00] [ 4.53166852e-04 9.99986143e-01 -5.24484304e-03 3.75575355e-01] [ 2.25542888e-02 5.23328867e-03 9.99731922e-01 1.29300812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1325578440001 meters Centerline goodness [0,1] 0.2603533599583261 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.29 [[ 9.99745997e-01 -5.19300892e-04 -2.25315642e-02 7.58941108e+00] [ 4.03816384e-04 9.99986761e-01 -5.12970173e-03 3.74881337e-01] [ 2.25339297e-02 5.11930016e-03 9.99732972e-01 1.29341570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16255784400005 meters Centerline goodness [0,1] 0.2603533599583261 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.29 [[ 9.99745997e-01 -5.19300892e-04 -2.25315642e-02 7.58941108e+00] [ 4.03816384e-04 9.99986761e-01 -5.12970173e-03 3.74881337e-01] [ 2.25339297e-02 5.11930016e-03 9.99732972e-01 1.29341570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1925578440001 meters Centerline goodness [0,1] 0.25671616170285816 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.30 [[ 9.99741343e-01 -8.21267384e-03 -2.12084641e-02 7.60858906e+00] [ 8.13628070e-03 9.99960107e-01 -3.68579326e-03 3.75844780e-01] [ 2.12378883e-02 3.51228189e-03 9.99768281e-01 1.29534484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22255784400005 meters Centerline goodness [0,1] 0.2705661694146384 Centerline is valid? [False, False] Translation: X:7.59, Y:0.37, Z:1.29 [[ 9.99771492e-01 8.29390794e-04 -2.13606180e-02 7.58638958e+00] [-9.12840581e-04 9.99991989e-01 -3.89725801e-03 3.72790443e-01] [ 2.13572145e-02 3.91586629e-03 9.99764240e-01 1.29435232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2525578440001 meters Centerline goodness [0,1] 0.26793731652564323 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.30 [[ 9.99749495e-01 -6.88886091e-03 -2.12953319e-02 7.60677716e+00] [ 6.83546881e-03 9.99973312e-01 -2.57899593e-03 3.75261448e-01] [ 2.13125299e-02 2.43278630e-03 9.99769902e-01 1.29578275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28255784400005 meters Centerline goodness [0,1] 0.25853026869537066 Centerline is valid? [False, False] Translation: X:7.61, Y:0.37, Z:1.30 [[ 9.99749136e-01 -6.87146292e-03 -2.13177779e-02 7.60685988e+00] [ 6.81890973e-03 9.99973533e-01 -2.53694065e-03 3.74871749e-01] [ 2.13346462e-02 2.39094022e-03 9.99769532e-01 1.29575056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3125578440001 meters Centerline goodness [0,1] 0.268405934820638 Centerline is valid? [False, False] Translation: X:7.61, Y:0.37, Z:1.30 [[ 9.99749282e-01 -6.92214343e-03 -2.12945240e-02 7.60661550e+00] [ 6.86879040e-03 9.99973087e-01 -2.57760479e-03 3.74606972e-01] [ 2.13117935e-02 2.43069091e-03 9.99769923e-01 1.29609373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34255784400005 meters Centerline goodness [0,1] 0.2693879315936264 Centerline is valid? [False, False] Translation: X:7.61, Y:0.37, Z:1.30 [[ 9.99750108e-01 -6.90792230e-03 -2.12603495e-02 7.60631821e+00] [ 6.85536676e-03 9.99973266e-01 -2.54388855e-03 3.74395188e-01] [ 2.12773541e-02 2.39750536e-03 9.99770737e-01 1.29635456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3725578440001 meters Centerline goodness [0,1] 0.2715168392655122 Centerline is valid? [False, False] Translation: X:7.61, Y:0.37, Z:1.30 [[ 9.99763742e-01 -3.23431569e-03 -2.14941546e-02 7.60718268e+00] [ 3.26514324e-03 9.99993690e-01 1.39928948e-03 3.73609882e-01] [ 2.14894933e-02 -1.46914038e-03 9.99767995e-01 1.29570575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40255784400006 meters Centerline goodness [0,1] 0.2709192756958617 Centerline is valid? [False, False] Translation: X:7.61, Y:0.37, Z:1.30 [[ 9.99761865e-01 -3.20555936e-03 -2.15855850e-02 7.60763820e+00] [ 3.23593711e-03 9.99993822e-01 1.37253450e-03 3.74073602e-01] [ 2.15810520e-02 -1.44205725e-03 9.99766062e-01 1.29532600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4325578440001 meters Centerline goodness [0,1] 0.27049677335527744 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.30 [[ 9.99761648e-01 -3.30173879e-03 -2.15811289e-02 7.60759040e+00] [ 3.32709723e-03 9.99993816e-01 1.13922821e-03 3.75135047e-01] [ 2.15772340e-02 -1.21075919e-03 9.99766451e-01 1.29542010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46255784400006 meters Centerline goodness [0,1] 0.25738551639184837 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.30 [[ 9.99760593e-01 -3.44848491e-03 -2.16070566e-02 7.60762292e+00] [ 3.46586897e-03 9.99993700e-01 7.67158046e-04 3.76847416e-01] [ 2.16042750e-02 -8.41861609e-04 9.99766246e-01 1.29552000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4925578440001 meters Centerline goodness [0,1] 0.2666537065837221 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.30 [[ 9.99756930e-01 -3.61628695e-03 -2.17486427e-02 7.60818922e+00] [ 3.62433451e-03 9.99993377e-01 3.30620142e-04 3.78980712e-01] [ 2.17473031e-02 -4.09364134e-04 9.99763416e-01 1.29519086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52255784400006 meters Centerline goodness [0,1] 0.2687009363984343 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.29 [[ 9.99752082e-01 -3.76969732e-03 -2.19445544e-02 7.60906524e+00] [ 3.76889009e-03 9.99992895e-01 -7.81431796e-05 3.81065083e-01] [ 2.19446930e-02 -4.58280697e-06 9.99759186e-01 1.29455772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.55255784400003 meters Centerline goodness [0,1] 0.25760200987611537 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.29 [[ 9.99744267e-01 -4.04029912e-03 -2.22503255e-02 7.61057057e+00] [ 4.02779565e-03 9.99991704e-01 -6.06732072e-04 3.83517702e-01] [ 2.22525923e-02 5.16957146e-04 9.99752247e-01 1.29334473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58255784400006 meters Centerline goodness [0,1] 0.2681151594997948 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.29 [[ 9.99739772e-01 -4.18637746e-03 -2.24245987e-02 7.61116368e+00] [ 4.17046608e-03 9.99991018e-01 -7.56270027e-04 3.83885316e-01] [ 2.24275633e-02 6.62552196e-04 9.99748251e-01 1.29302412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.61255784400004 meters Centerline goodness [0,1] 0.2538679123987485 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.29 [[ 9.99738027e-01 -4.28828120e-03 -2.24830729e-02 7.61135481e+00] [ 4.27138631e-03 9.99990558e-01 -7.99418519e-04 3.83832554e-01] [ 2.24862887e-02 7.03175203e-04 9.99746904e-01 1.29291279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64255784400007 meters Centerline goodness [0,1] 0.2599587539346575 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99734944e-01 3.80896745e-03 -2.27053575e-02 7.59096211e+00] [-3.85080835e-03 9.99990967e-01 -1.79933884e-03 3.80941650e-01] [ 2.26982987e-02 1.88629590e-03 9.99740581e-01 1.29130705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.67255784400004 meters Centerline goodness [0,1] 0.2596670656076596 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99734462e-01 3.76863018e-03 -2.27333124e-02 7.59107610e+00] [-3.81074320e-03 9.99991102e-01 -1.80944396e-03 3.81004274e-01] [ 2.27262910e-02 1.89559430e-03 9.99739927e-01 1.29118257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70255784400007 meters Centerline goodness [0,1] 0.2707469104967096 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99736835e-01 3.72553230e-03 -2.26358335e-02 7.59090598e+00] [-3.76759462e-03 9.99991254e-01 -1.81585546e-03 3.80934332e-01] [ 2.26288705e-02 1.90066024e-03 9.99742128e-01 1.29102912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.73255784400004 meters Centerline goodness [0,1] 0.2601138486942163 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99741558e-01 3.55253195e-03 -2.24543138e-02 7.59030427e+00] [-3.59576368e-03 9.99991758e-01 -1.88523739e-03 3.80398470e-01] [ 2.24474313e-02 1.96549057e-03 9.99746093e-01 1.29123852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76255784400007 meters Centerline goodness [0,1] 0.2599834875939686 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99742194e-01 3.54985690e-03 -2.24264026e-02 7.59011830e+00] [-3.59171331e-03 9.99991882e-01 -1.82638603e-03 3.79996346e-01] [ 2.24197371e-02 1.90646438e-03 9.99746828e-01 1.29139137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.79255784400004 meters Centerline goodness [0,1] 0.2701860666378191 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99741657e-01 3.57936880e-03 -2.24456565e-02 7.59011406e+00] [-3.62020408e-03 9.99991865e-01 -1.77892506e-03 3.79918183e-01] [ 2.24391064e-02 1.85972334e-03 9.99746482e-01 1.29149772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8225578440001 meters Centerline goodness [0,1] 0.2526071842410197 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.29 [[ 9.99751114e-01 -4.10398380e-03 -2.19287047e-02 7.60941380e+00] [ 4.10113227e-03 9.99991575e-01 -1.75006608e-04 3.82530164e-01] [ 2.19292382e-02 8.50305329e-05 9.99759522e-01 1.29345804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.85255784400005 meters Centerline goodness [0,1] 0.2709892117626588 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99751258e-01 4.63087965e-03 -2.18168997e-02 7.58769643e+00] [-4.64955240e-03 9.99988867e-01 -8.05236959e-04 3.80237389e-01] [ 2.18129278e-02 9.06475481e-04 9.99761659e-01 1.29198208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8825578440001 meters Centerline goodness [0,1] 0.260759438391161 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:1.29 [[ 9.99750218e-01 4.63988304e-03 -2.18625964e-02 7.58777458e+00] [-4.65859374e-03 9.99988825e-01 -8.04978486e-04 3.80267909e-01] [ 2.18586170e-02 9.06626371e-04 9.99760661e-01 1.29207857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.91255784400005 meters Centerline goodness [0,1] 0.26000954322647807 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.29 [[ 9.99749948e-01 -3.17314377e-03 -2.21353480e-02 7.60680060e+00] [ 3.18254879e-03 9.99994860e-01 3.89671701e-04 3.82026514e-01] [ 2.21339977e-02 -4.60021088e-04 9.99754907e-01 1.29464246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9425578440001 meters Centerline goodness [0,1] 0.26076866351451 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.30 [[ 9.99751074e-01 -3.13317052e-03 -2.20901239e-02 7.60643377e+00] [ 3.14446315e-03 9.99994943e-01 4.76490557e-04 3.81567241e-01] [ 2.20885193e-02 -5.45833527e-04 9.99755870e-01 1.29504918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.97255784400005 meters Centerline goodness [0,1] 0.26096937670550524 Centerline is valid? [False, False] Translation: X:7.61, Y:0.38, Z:1.30 [[ 9.99753914e-01 -3.05724856e-03 -2.19719155e-02 7.60574262e+00] [ 3.07184195e-03 9.99995083e-01 6.30463229e-04 3.80883320e-01] [ 2.19698800e-02 -6.97802332e-04 9.99758390e-01 1.29565929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0025578440001 meters Centerline goodness [0,1] 0.27046255649503703 Centerline is valid? [False, False] Translation: X:7.60, Y:0.38, Z:1.30 [[ 9.99759213e-01 -2.83439236e-03 -2.17596327e-02 7.60471125e+00] [ 2.85898060e-03 9.99995309e-01 1.09896744e-03 3.79093588e-01] [ 2.17564157e-02 -1.16091319e-03 9.99762627e-01 1.29642577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.03255784400005 meters Centerline goodness [0,1] 0.2721870391255313 Centerline is valid? [False, False] Translation: X:7.60, Y:0.38, Z:1.30 [[ 9.99760853e-01 -2.68532679e-03 -2.17031241e-02 7.60453852e+00] [ 2.71772323e-03 9.99995236e-01 1.46335146e-03 3.77485715e-01] [ 2.16990911e-02 -1.52198459e-03 9.99763389e-01 1.29641774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0625578440001 meters Centerline goodness [0,1] 0.2603244837758112 Centerline is valid? [False, False] Translation: X:7.60, Y:0.38, Z:1.30 [[ 9.99764114e-01 -2.55484580e-03 -2.15682514e-02 7.60421032e+00] [ 2.59522511e-03 9.99994932e-01 1.84438154e-03 3.75545703e-01] [ 2.15634299e-02 -1.89992095e-03 9.99765677e-01 1.29633156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.09255784400005 meters Centerline goodness [0,1] 0.2734171678512849 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.30 [[ 9.99767542e-01 -2.40672906e-03 -2.14258962e-02 7.60387571e+00] [ 2.45730373e-03 9.99994256e-01 2.33443066e-03 3.72937136e-01] [ 2.14201548e-02 -2.38653794e-03 9.99767714e-01 1.29624866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1225578440001 meters Centerline goodness [0,1] 0.2722403657740039 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.30 [[ 9.99768496e-01 -2.27894137e-03 -2.13953625e-02 7.60374428e+00] [ 2.34016467e-03 9.99993238e-01 2.83692136e-03 3.70029979e-01] [ 2.13887526e-02 -2.88633327e-03 9.99767068e-01 1.29623668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.15255784400006 meters Centerline goodness [0,1] 0.2612994350282486 Centerline is valid? [False, False] Translation: X:7.60, Y:0.37, Z:1.30 [[ 9.99768214e-01 -2.13196035e-03 -2.14236559e-02 7.60386323e+00] [ 2.20508003e-03 9.99991823e-01 3.38999162e-03 3.67107792e-01] [ 2.14162534e-02 -3.43644674e-03 9.99764740e-01 1.29604204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1825578440001 meters Centerline goodness [0,1] 0.2667785234899329 Centerline is valid? [False, False] Translation: X:7.63, Y:0.36, Z:1.30 [[ 9.99706529e-01 2.90575746e-03 -2.40501897e-02 7.62526175e+00] [-2.87279787e-03 9.99994887e-01 1.40488734e-03 3.56587048e-01] [ 2.40541490e-02 -1.33538371e-03 9.99709765e-01 1.29721280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.21255784400006 meters Centerline goodness [0,1] 0.2700082418774129 Centerline is valid? [False, False] Translation: X:7.62, Y:0.35, Z:1.30 [[ 9.99708226e-01 3.12278828e-03 -2.39522637e-02 7.62495045e+00] [-3.07596015e-03 9.99993286e-01 1.99165496e-03 3.53723782e-01] [ 2.39583224e-02 -1.91739764e-03 9.99711119e-01 1.29721380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2425578440001 meters Centerline goodness [0,1] 0.26890447922288185 Centerline is valid? [False, False] Translation: X:7.62, Y:0.35, Z:1.30 [[ 9.99711798e-01 3.30229053e-03 -2.37784908e-02 7.62440014e+00] [-3.24258359e-03 9.99991494e-01 2.54908377e-03 3.50751088e-01] [ 2.37867063e-02 -2.47124537e-03 9.99714002e-01 1.29732760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.27255784400006 meters Centerline goodness [0,1] 0.2676329334740378 Centerline is valid? [False, False] Translation: X:7.62, Y:0.35, Z:1.30 [[ 9.99717880e-01 3.51964679e-03 -2.34898491e-02 7.62345668e+00] [-3.44663807e-03 9.99989106e-01 3.14785908e-03 3.47581909e-01] [ 2.35006726e-02 -3.06601000e-03 9.99719120e-01 1.29760560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30255784400003 meters Centerline goodness [0,1] 0.2712480149666079 Centerline is valid? [False, False] Translation: X:7.62, Y:0.34, Z:1.30 [[ 9.99720591e-01 3.95873808e-03 -2.33038303e-02 7.62232677e+00] [-3.85978741e-03 9.99983351e-01 4.28956193e-03 3.41316464e-01] [ 2.33204236e-02 -4.19841556e-03 9.99719226e-01 1.29844041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.33255784400006 meters Centerline goodness [0,1] 0.2696147738890218 Centerline is valid? [False, False] Translation: X:7.62, Y:0.34, Z:1.30 [[ 9.99716238e-01 4.20029837e-03 -2.34478474e-02 7.62265952e+00] [-4.08706805e-03 9.99979766e-01 4.87486469e-03 3.38495585e-01] [ 2.34678488e-02 -4.77764844e-03 9.99713176e-01 1.29841109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36255784400004 meters Centerline goodness [0,1] 0.2720458071988985 Centerline is valid? [False, False] Translation: X:7.62, Y:0.34, Z:1.30 [[ 9.99710728e-01 4.41863010e-03 -2.36418246e-02 7.62310351e+00] [-4.29185511e-03 9.99976154e-01 5.41037527e-03 3.35830496e-01] [ 2.36651673e-02 -5.30734291e-03 9.99705853e-01 1.29841642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.39255784400007 meters Centerline goodness [0,1] 0.26972295230298593 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:1.30 [[ 9.99733263e-01 -3.47921032e-03 -2.28319554e-02 7.64356075e+00] [ 3.62877626e-03 9.99972209e-01 6.51256990e-03 3.34874165e-01] [ 2.28086623e-02 -6.59368481e-03 9.99718104e-01 1.29947948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42255784400004 meters Centerline goodness [0,1] 0.27253870171837813 Centerline is valid? [False, False] Translation: X:7.62, Y:0.33, Z:1.30 [[ 9.99749295e-01 4.62737955e-03 -2.19074063e-02 7.62258176e+00] [-4.49932277e-03 9.99972525e-01 5.89105116e-03 3.28887544e-01] [ 2.19340646e-02 -5.79100576e-03 9.99742647e-01 1.29770353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.45255784400007 meters Centerline goodness [0,1] 0.2694807297851668 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:1.30 [[ 9.99776154e-01 -2.16767620e-03 -2.10462171e-02 7.64157003e+00] [ 2.33206082e-03 9.99966944e-01 7.78925026e-03 3.26916961e-01] [ 2.10286368e-02 -7.83658772e-03 9.99748160e-01 1.29869598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48255784400004 meters Centerline goodness [0,1] 0.2704390243902439 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:1.30 [[ 9.99774230e-01 -2.00933127e-03 -2.11530472e-02 7.64188950e+00] [ 2.18024669e-03 9.99965141e-01 8.05998444e-03 3.25657615e-01] [ 2.11361146e-02 -8.10428360e-03 9.99743760e-01 1.29870187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.51255784400007 meters Centerline goodness [0,1] 0.2721053087382004 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:1.30 [[ 9.99774338e-01 -1.91092270e-03 -2.11570865e-02 7.64182480e+00] [ 2.08442111e-03 9.99964359e-01 8.18147356e-03 3.24964800e-01] [ 2.11406983e-02 -8.22372759e-03 9.99742687e-01 1.29888451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54255784400004 meters Centerline goodness [0,1] 0.2731956502674735 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:1.30 [[ 9.99773460e-01 -1.78401358e-03 -2.12095591e-02 7.64182850e+00] [ 1.95958928e-03 9.99963964e-01 8.26024053e-03 3.24735369e-01] [ 2.11940584e-02 -8.29993128e-03 9.99740928e-01 1.29916802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5725578440001 meters Centerline goodness [0,1] 0.27267992013195586 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:1.30 [[ 9.99741225e-01 7.55287552e-03 -2.14578139e-02 7.66334541e+00] [-7.38283707e-03 9.99940805e-01 7.99251290e-03 3.19175832e-01] [ 2.15169101e-02 -7.83202509e-03 9.99737807e-01 1.30021196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60255784400005 meters Centerline goodness [0,1] 0.2732371098165377 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:1.30 [[ 9.99737256e-01 7.60813966e-03 -2.16225655e-02 7.66377328e+00] [-7.43666322e-03 9.99940348e-01 7.99981552e-03 3.19381211e-01] [ 2.16821394e-02 -7.83691387e-03 9.99734198e-01 1.30021793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6325578440001 meters Centerline goodness [0,1] 0.2708865140829836 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:1.30 [[ 9.99735263e-01 7.68043867e-03 -2.16890293e-02 7.66392089e+00] [-7.50606806e-03 9.99938945e-01 8.10957525e-03 3.19039169e-01] [ 2.17499902e-02 -7.94462902e-03 9.99731874e-01 1.30023136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66255784400005 meters Centerline goodness [0,1] 0.2698625110617081 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:1.30 [[ 9.99737452e-01 7.69098353e-03 -2.15841466e-02 7.66353341e+00] [-7.51672525e-03 9.99938593e-01 8.14299057e-03 3.18763711e-01] [ 2.16454488e-02 -7.97861055e-03 9.99733873e-01 1.30047404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6925578440001 meters Centerline goodness [0,1] 0.27237599044827965 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:1.30 [[ 9.99741086e-01 7.68744189e-03 -2.14164428e-02 7.66285604e+00] [-7.51337113e-03 9.99938181e-01 8.19654557e-03 3.18193336e-01] [ 2.14781294e-02 -8.03351368e-03 9.99737042e-01 1.30087485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72255784400005 meters Centerline goodness [0,1] 0.27403846153846156 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:1.30 [[ 9.99744530e-01 7.62164896e-03 -2.12787408e-02 7.66228378e+00] [-7.44962551e-03 9.99939023e-01 8.15188520e-03 3.17909491e-01] [ 2.13395741e-02 -7.99128399e-03 9.99740347e-01 1.30126294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7525578440001 meters Centerline goodness [0,1] 0.2731229597388466 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:1.30 [[ 9.99741286e-01 7.58210056e-03 -2.14446585e-02 7.66294387e+00] [-7.41176836e-03 9.99940441e-01 8.01123250e-03 3.18737686e-01] [ 2.15041232e-02 -7.85021704e-03 9.99737939e-01 1.30085365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78255784400005 meters Centerline goodness [0,1] 0.26962038928917087 Centerline is valid? [False, False] Translation: X:7.68, Y:0.32, Z:1.30 [[ 9.99738965e-01 2.63536673e-04 -2.28458479e-02 7.68433075e+00] [-6.21320298e-05 9.99961136e-01 8.81607112e-03 3.24408808e-01] [ 2.28472834e-02 -8.81235036e-03 9.99700127e-01 1.30231353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8125578440001 meters Centerline goodness [0,1] 0.2701951660850459 Centerline is valid? [False, False] Translation: X:7.69, Y:0.33, Z:1.30 [[ 9.99732918e-01 2.08081858e-04 -2.31094976e-02 7.68546664e+00] [-1.20472582e-05 9.99964021e-01 8.48267384e-03 3.26579080e-01] [ 2.31104313e-02 -8.48012987e-03 9.99696952e-01 1.30163945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84255784400005 meters Centerline goodness [0,1] 0.26922164470420773 Centerline is valid? [False, False] Translation: X:7.69, Y:0.33, Z:1.30 [[ 9.99726926e-01 4.53142661e-05 -2.33681637e-02 7.68631653e+00] [ 1.36395433e-04 9.99969770e-01 7.77429864e-03 3.30370491e-01] [ 2.33678096e-02 -7.77536300e-03 9.99696699e-01 1.30135526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8725578440001 meters Centerline goodness [0,1] 0.2702241241435951 Centerline is valid? [False, False] Translation: X:7.69, Y:0.33, Z:1.30 [[ 9.99727576e-01 -1.43891806e-04 -2.33399406e-02 7.68610379e+00] [ 3.14648789e-04 9.99973213e-01 7.31257731e-03 3.32427023e-01] [ 2.33382632e-02 -7.31792907e-03 9.99700842e-01 1.30159305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90255784400006 meters Centerline goodness [0,1] 0.2705020739716557 Centerline is valid? [False, False] Translation: X:7.69, Y:0.33, Z:1.30 [[ 9.99729830e-01 -2.86042373e-04 -2.32418897e-02 7.68566255e+00] [ 4.45719872e-04 9.99976334e-01 6.86535608e-03 3.34678592e-01] [ 2.32393759e-02 -6.87386064e-03 9.99706298e-01 1.30195893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.9325578440001 meters Centerline goodness [0,1] 0.27049553949339067 Centerline is valid? [False, False] Translation: X:7.69, Y:0.34, Z:1.30 [[ 9.99730197e-01 -4.44080941e-04 -2.32236248e-02 7.68542877e+00] [ 5.92390825e-04 9.99979474e-01 6.37967464e-03 3.37236289e-01] [ 2.32203151e-02 -6.39171084e-03 9.99709939e-01 1.30226844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96255784400006 meters Centerline goodness [0,1] 0.2702878305503216 Centerline is valid? [False, False] Translation: X:7.69, Y:0.34, Z:1.30 [[ 9.99727721e-01 -6.08476392e-04 -2.33262309e-02 7.68562361e+00] [ 7.45910646e-04 9.99982413e-01 5.88358487e-03 3.39787921e-01] [ 2.33222407e-02 -5.89938218e-03 9.99710593e-01 1.30239794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.9925578440001 meters Centerline goodness [0,1] 0.271974508486333 Centerline is valid? [False, False] Translation: X:7.69, Y:0.34, Z:1.30 [[ 9.99731344e-01 -9.30800132e-04 -2.31597556e-02 7.68527537e+00] [ 1.04424264e-03 9.99987515e-01 4.88664845e-03 3.44756699e-01] [ 2.31549180e-02 -4.90952002e-03 9.99719834e-01 1.30241626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02255784400006 meters Centerline goodness [0,1] 0.26894184691102185 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:1.30 [[ 9.99738669e-01 -1.09482988e-03 -2.28340588e-02 7.68421551e+00] [ 1.19437710e-03 9.99989841e-01 4.34641157e-03 3.47558376e-01] [ 2.28290683e-02 -4.37254819e-03 9.99729821e-01 1.30287729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.05255784400003 meters Centerline goodness [0,1] 0.2707416040749374 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:1.30 [[ 9.99748415e-01 -1.18293120e-03 -2.23988187e-02 7.68289466e+00] [ 1.26940637e-03 9.99991795e-01 3.84687755e-03 3.50537605e-01] [ 2.23940844e-02 -3.87434294e-03 9.99741714e-01 1.30333252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08255784400006 meters Centerline goodness [0,1] 0.2707416040749374 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:1.30 [[ 9.99748415e-01 -1.18293120e-03 -2.23988187e-02 7.68289466e+00] [ 1.26940637e-03 9.99991795e-01 3.84687755e-03 3.50537605e-01] [ 2.23940844e-02 -3.87434294e-03 9.99741714e-01 1.30333252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.11255784400004 meters Centerline goodness [0,1] 0.27229925273206346 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:1.30 [[ 9.99753329e-01 -1.29594079e-03 -2.21720757e-02 7.68217623e+00] [ 1.36905535e-03 9.99993675e-01 3.28273541e-03 3.53808855e-01] [ 2.21676812e-02 -3.31228046e-03 9.99748780e-01 1.30368819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14255784400007 meters Centerline goodness [0,1] 0.26717245529573586 Centerline is valid? [False, False] Translation: X:7.68, Y:0.36, Z:1.30 [[ 9.99753189e-01 -1.28196669e-03 -2.21792114e-02 7.68244076e+00] [ 1.33569176e-03 9.99996210e-01 2.40767180e-03 3.59547383e-01] [ 2.21760407e-02 -2.43670215e-03 9.99751112e-01 1.30345201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.17255784400004 meters Centerline goodness [0,1] 0.27054993856037257 Centerline is valid? [False, False] Translation: X:7.68, Y:0.36, Z:1.30 [[ 9.99752203e-01 -1.46811142e-03 -2.22120757e-02 7.68261884e+00] [ 1.50969646e-03 9.99997139e-01 1.85552877e-03 3.62214563e-01] [ 2.22092880e-02 -1.88860247e-03 9.99751559e-01 1.30335723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20255784400007 meters Centerline goodness [0,1] 0.27326291899441346 Centerline is valid? [False, False] Translation: X:7.66, Y:0.36, Z:1.30 [[ 9.99732611e-01 6.96437794e-03 -2.20500475e-02 7.66149964e+00] [-6.95035662e-03 9.99975592e-01 7.12460610e-04 3.61594767e-01] [ 2.20544712e-02 -5.59014412e-04 9.99756614e-01 1.30193047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.23255784400004 meters Centerline goodness [0,1] 0.27145241346424775 Centerline is valid? [False, False] Translation: X:7.68, Y:0.37, Z:1.30 [[ 9.99767521e-01 -1.71922741e-04 -2.15609622e-02 7.67901006e+00] [ 2.18593001e-04 9.99997638e-01 2.16223410e-03 3.67811302e-01] [ 2.15605395e-02 -2.16644450e-03 9.99765197e-01 1.30440257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26255784400007 meters Centerline goodness [0,1] 0.271194531843333 Centerline is valid? [False, False] Translation: X:7.68, Y:0.37, Z:1.30 [[ 9.99787179e-01 -1.52193669e-05 -2.06299920e-02 7.67659393e+00] [ 4.83397825e-05 9.99998711e-01 1.60495203e-03 3.71719731e-01] [ 2.06299410e-02 -1.60560771e-03 9.99785891e-01 1.30485425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.29255784400004 meters Centerline goodness [0,1] 0.2737183392810515 Centerline is valid? [False, False] Translation: X:7.68, Y:0.37, Z:1.31 [[ 9.99789948e-01 -1.11933365e-04 -2.04950537e-02 7.67617751e+00] [ 1.35526035e-04 9.99999330e-01 1.14975439e-03 3.73940969e-01] [ 2.04949112e-02 -1.15229050e-03 9.99789293e-01 1.30503840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3225578440001 meters Centerline goodness [0,1] 0.26997387906655446 Centerline is valid? [False, False] Translation: X:7.68, Y:0.38, Z:1.31 [[ 9.99787090e-01 -1.10812456e-04 -2.06340285e-02 7.67643815e+00] [ 1.26660419e-04 9.99999698e-01 7.66744596e-04 3.76253766e-01] [ 2.06339373e-02 -7.69194863e-04 9.99786802e-01 1.30517571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.35255784400005 meters Centerline goodness [0,1] 0.271001947630383 Centerline is valid? [False, False] Translation: X:7.68, Y:0.38, Z:1.31 [[ 9.99787347e-01 -3.76171657e-05 -2.06218134e-02 7.67637492e+00] [ 4.69620240e-05 9.99999896e-01 4.52669965e-04 3.78569390e-01] [ 2.06217943e-02 -4.53542145e-04 9.99787245e-01 1.30525383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3825578440001 meters Centerline goodness [0,1] 0.27137030287251585 Centerline is valid? [False, False] Translation: X:7.68, Y:0.38, Z:1.31 [[ 9.99788726e-01 -8.56363648e-06 -2.05548922e-02 7.67626752e+00] [ 1.18399348e-05 9.99999987e-01 1.59270937e-04 3.80596090e-01] [ 2.05548906e-02 -1.59480655e-04 9.99788713e-01 1.30519654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.41255784400005 meters Centerline goodness [0,1] 0.2704095999306865 Centerline is valid? [False, False] Translation: X:7.68, Y:0.38, Z:1.31 [[ 9.99790395e-01 -1.36467594e-05 -2.04735294e-02 7.67615247e+00] [ 1.11900766e-05 9.99999993e-01 -1.20107680e-04 3.82320599e-01] [ 2.04735309e-02 1.19853405e-04 9.99790388e-01 1.30510233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4425578440001 meters Centerline goodness [0,1] 0.2694468452895419 Centerline is valid? [False, False] Translation: X:7.68, Y:0.39, Z:1.30 [[ 9.99789471e-01 2.08550317e-04 -2.05175776e-02 7.67650990e+00] [-2.18440958e-04 9.99999861e-01 -4.79816930e-04 3.85025548e-01] [ 2.05174747e-02 4.84197794e-04 9.99789377e-01 1.30472360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.47255784400005 meters Centerline goodness [0,1] 0.26935058192359274 Centerline is valid? [False, False] Translation: X:7.68, Y:0.39, Z:1.30 [[ 9.99785247e-01 2.00832009e-04 -2.07224446e-02 7.67716875e+00] [-2.17959687e-04 9.99999637e-01 -8.24272641e-04 3.87005326e-01] [ 2.07222716e-02 8.28612283e-04 9.99784927e-01 1.30445912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5025578440001 meters Centerline goodness [0,1] 0.27118792770661515 Centerline is valid? [False, False] Translation: X:7.63, Y:0.39, Z:1.30 [[ 9.99722130e-01 1.26821027e-03 -2.35383659e-02 7.63255134e+00] [-1.26988668e-03 9.99999192e-01 -5.62728130e-05 3.89497526e-01] [ 2.35382755e-02 8.61482337e-05 9.99722933e-01 1.30427083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.53255784400005 meters Centerline goodness [0,1] 0.26716901741053223 Centerline is valid? [False, False] Translation: X:7.68, Y:0.39, Z:1.30 [[ 9.99749232e-01 2.55195118e-03 -2.22477211e-02 7.67845666e+00] [-2.54886290e-03 9.99996738e-01 1.67168702e-04 3.93105805e-01] [ 2.22480751e-02 -1.10420390e-04 9.99752475e-01 1.30428035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5625578440001 meters Centerline goodness [0,1] 0.26913138969036643 Centerline is valid? [False, False] Translation: X:7.68, Y:0.40, Z:1.30 [[ 9.99740642e-01 3.17051039e-03 -2.25520997e-02 7.67932344e+00] [-3.17428388e-03 9.99994953e-01 -1.31527572e-04 3.98784696e-01] [ 2.25515689e-02 2.03080226e-04 9.99745660e-01 1.30406310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.59255784400005 meters Centerline goodness [0,1] 0.2693311866324355 Centerline is valid? [False, False] Translation: X:7.68, Y:0.40, Z:1.30 [[ 9.99740588e-01 3.11164163e-03 -2.25626946e-02 7.67928884e+00] [-3.12762467e-03 9.99994882e-01 -6.73129981e-04 4.01900868e-01] [ 2.25604846e-02 7.43523003e-04 9.99745203e-01 1.30415111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6225578440001 meters Centerline goodness [0,1] 0.26922911097697677 Centerline is valid? [False, False] Translation: X:7.68, Y:0.41, Z:1.30 [[ 9.99739935e-01 3.03553289e-03 -2.26019643e-02 7.67934471e+00] [-3.06488313e-03 9.99994504e-01 -1.26404319e-03 4.05319620e-01] [ 2.25980031e-02 1.33298684e-03 9.99743744e-01 1.30413912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.65255784400006 meters Centerline goodness [0,1] 0.2693224157352049 Centerline is valid? [False, False] Translation: X:7.68, Y:0.41, Z:1.30 [[ 9.99741046e-01 2.90239338e-03 -2.25702757e-02 7.67922335e+00] [-2.94485241e-03 9.99993956e-01 -1.84818294e-03 4.08571369e-01] [ 2.25647751e-02 1.91417048e-03 9.99743551e-01 1.30421717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6825578440001 meters Centerline goodness [0,1] 0.267918494349489 Centerline is valid? [False, False] Translation: X:7.68, Y:0.41, Z:1.30 [[ 9.99754326e-01 2.87811780e-03 -2.19773696e-02 7.67780657e+00] [-2.93776799e-03 9.99992087e-01 -2.68236065e-03 4.14401076e-01] [ 2.19694755e-02 2.74626608e-03 9.99754870e-01 1.30415725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.71255784400006 meters Centerline goodness [0,1] 0.2688636265023647 Centerline is valid? [False, False] Translation: X:7.68, Y:0.42, Z:1.30 [[ 9.99757216e-01 2.67220271e-03 -2.18716555e-02 7.67761433e+00] [-2.74397748e-03 9.99990947e-01 -3.25228127e-03 4.17191419e-01] [ 2.18627668e-02 3.31150700e-03 9.99755497e-01 1.30402659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7425578440001 meters Centerline goodness [0,1] 0.26758525365527075 Centerline is valid? [False, False] Translation: X:7.68, Y:0.42, Z:1.30 [[ 9.99757033e-01 2.47643772e-03 -2.19029967e-02 7.67791679e+00] [-2.55979108e-03 9.99989586e-01 -3.77835079e-03 4.19859368e-01] [ 2.18934117e-02 3.83349987e-03 9.99752961e-01 1.30363607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.77255784400006 meters Centerline goodness [0,1] 0.2699213012692636 Centerline is valid? [False, False] Translation: X:7.66, Y:0.42, Z:1.30 [[ 9.99712015e-01 -4.14756110e-03 -2.36365215e-02 7.65589105e+00] [ 4.11700362e-03 9.99990626e-01 -1.34132403e-03 4.24109417e-01] [ 2.36418631e-02 1.24362610e-03 9.99719719e-01 1.30374034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80255784400003 meters Centerline goodness [0,1] 0.26951203586819306 Centerline is valid? [False, False] Translation: X:7.66, Y:0.43, Z:1.30 [[ 9.99706016e-01 -4.29097563e-03 -2.38635536e-02 7.65652407e+00] [ 4.24952485e-03 9.99989373e-01 -1.78743178e-03 4.26504272e-01] [ 2.38709698e-02 1.68549754e-03 9.99713627e-01 1.30357712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.83255784400006 meters Centerline goodness [0,1] 0.26931381439737445 Centerline is valid? [False, False] Translation: X:7.68, Y:0.43, Z:1.30 [[ 9.99727454e-01 3.85687596e-03 -2.30248379e-02 7.67648620e+00] [-3.93669830e-03 9.99986394e-01 -3.42247315e-03 4.29715944e-01] [ 2.30113246e-02 3.51218221e-03 9.99729035e-01 1.30493000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86255784400004 meters Centerline goodness [0,1] 0.26696117282747567 Centerline is valid? [False, False] Translation: X:7.68, Y:0.43, Z:1.31 [[ 9.99731050e-01 3.67860288e-03 -2.28974935e-02 7.67603309e+00] [-3.76905455e-03 9.99985259e-01 -3.90838483e-03 4.32174360e-01] [ 2.28827785e-02 3.99363558e-03 9.99730178e-01 1.30514698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.89255784400007 meters Centerline goodness [0,1] 0.26647215085136955 Centerline is valid? [False, False] Translation: X:7.68, Y:0.43, Z:1.31 [[ 9.99733362e-01 3.50411757e-03 -2.28237867e-02 7.67580020e+00] [-3.60455244e-03 9.99983995e-01 -4.36079447e-03 4.34415487e-01] [ 2.28081407e-02 4.44190126e-03 9.99729993e-01 1.30520455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92255784400004 meters Centerline goodness [0,1] 0.26673898893469294 Centerline is valid? [False, False] Translation: X:7.68, Y:0.44, Z:1.31 [[ 9.99734735e-01 3.37086813e-03 -2.27836915e-02 7.67567776e+00] [-3.47876676e-03 9.99982914e-01 -4.69780923e-03 4.36117595e-01] [ 2.27674665e-02 4.77582221e-03 9.99729380e-01 1.30525509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.95255784400007 meters Centerline goodness [0,1] 0.26789090513962843 Centerline is valid? [False, False] Translation: X:7.68, Y:0.44, Z:1.31 [[ 9.99737123e-01 3.17890414e-03 -2.27063802e-02 7.67520236e+00] [-3.29744221e-03 9.99981121e-01 -5.18494159e-03 4.38487865e-01] [ 2.26894691e-02 5.25845156e-03 9.99728732e-01 1.30571297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98255784400004 meters Centerline goodness [0,1] 0.26628699628958497 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.31 [[ 9.99747961e-01 -4.30004295e-03 -2.20345960e-02 7.69271883e+00] [ 4.22107487e-03 9.99984506e-01 -3.62908106e-03 4.44405781e-01] [ 2.20498598e-02 3.53515671e-03 9.99750622e-01 1.30830065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.01255784400007 meters Centerline goodness [0,1] 0.26537300560586463 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99752947e-01 -4.39474813e-03 -2.17883472e-02 7.69188784e+00] [ 4.31028678e-03 9.99983020e-01 -3.92189433e-03 4.45962146e-01] [ 2.18052130e-02 3.82701138e-03 9.99754913e-01 1.30864949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04255784400004 meters Centerline goodness [0,1] 0.26815124601189966 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99766718e-01 -4.30393141e-03 -2.11656778e-02 7.69022728e+00] [ 4.21249357e-03 9.99981610e-01 -4.36278920e-03 4.49118139e-01] [ 2.11840657e-02 4.27261116e-03 9.99766463e-01 1.30885601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0725578440001 meters Centerline goodness [0,1] 0.26770855787885317 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99765182e-01 -4.40914213e-03 -2.12165322e-02 7.69045131e+00] [ 4.30841207e-03 9.99979241e-01 -4.79108571e-03 4.51394338e-01] [ 2.12372164e-02 4.69855111e-03 9.99763424e-01 1.30867024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10255784400005 meters Centerline goodness [0,1] 0.26911720005210826 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99759953e-01 -4.50031478e-03 -2.14425593e-02 7.69108800e+00] [ 4.38878109e-03 9.99976610e-01 -5.24573328e-03 4.53829685e-01] [ 2.14656652e-02 5.15036736e-03 9.99756320e-01 1.30843147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1325578440001 meters Centerline goodness [0,1] 0.2658861073376889 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99750147e-01 -4.56055910e-03 -2.18825314e-02 7.69229619e+00] [ 4.43656649e-03 9.99973848e-01 -5.71148868e-03 4.56385715e-01] [ 2.19080067e-02 5.61297834e-03 9.99744234e-01 1.30810817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16255784400005 meters Centerline goodness [0,1] 0.26565428109854605 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99743593e-01 -4.62477738e-03 -2.21666213e-02 7.69306642e+00] [ 4.49056359e-03 9.99971308e-01 -6.10072693e-03 4.58615806e-01] [ 2.21941998e-02 5.99962204e-03 9.99735676e-01 1.30789834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1925578440001 meters Centerline goodness [0,1] 0.27070244328097737 Centerline is valid? [False, False] Translation: X:7.67, Y:0.46, Z:1.31 [[ 9.99762235e-01 4.50272899e-03 -2.13353974e-02 7.66971958e+00] [-4.64107799e-03 9.99968497e-01 -6.43940971e-03 4.57063400e-01] [ 2.13057303e-02 6.53689789e-03 9.99751637e-01 1.30730986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22255784400005 meters Centerline goodness [0,1] 0.25436307639661215 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99797441e-01 -3.36165062e-03 -1.98438174e-02 7.68827877e+00] [ 3.25650281e-03 9.99980500e-01 -5.32870726e-03 4.62562306e-01] [ 1.98613437e-02 5.26300643e-03 9.99788892e-01 1.30873217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2525578440001 meters Centerline goodness [0,1] 0.26395971716305977 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99799293e-01 -3.40139116e-03 -1.97434717e-02 7.68803010e+00] [ 3.29511379e-03 9.99979921e-01 -5.41294988e-03 4.62871677e-01] [ 1.97614868e-02 5.34680648e-03 9.99790426e-01 1.30869753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28255784400005 meters Centerline goodness [0,1] 0.26549277716044106 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99795938e-01 -3.42789447e-03 -1.99081080e-02 7.68872169e+00] [ 3.31999077e-03 9.99979634e-01 -5.45061231e-03 4.62984130e-01] [ 1.99263867e-02 5.38340531e-03 9.99786956e-01 1.30823733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3125578440001 meters Centerline goodness [0,1] 0.266908396117854 Centerline is valid? [False, False] Translation: X:7.65, Y:0.46, Z:1.31 [[ 9.99705473e-01 -3.41750403e-03 -2.40268187e-02 7.64845772e+00] [ 3.28581199e-03 9.99979375e-01 -5.51838814e-03 4.62806937e-01] [ 2.40451823e-02 5.43781521e-03 9.99696084e-01 1.30601320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34255784400005 meters Centerline goodness [0,1] 0.2673594504108874 Centerline is valid? [False, False] Translation: X:7.65, Y:0.46, Z:1.31 [[ 9.99704760e-01 -3.48630121e-03 -2.40465785e-02 7.64863323e+00] [ 3.35047537e-03 9.99978219e-01 -5.68642635e-03 4.63646296e-01] [ 2.40658794e-02 5.60418002e-03 9.99694667e-01 1.30580081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3725578440001 meters Centerline goodness [0,1] 0.2673009818158174 Centerline is valid? [False, False] Translation: X:7.65, Y:0.46, Z:1.31 [[ 9.99706659e-01 -3.55335566e-03 -2.39576607e-02 7.64818848e+00] [ 3.41429221e-03 9.99977101e-01 -5.84295923e-03 4.64412558e-01] [ 2.39778742e-02 5.75944680e-03 9.99695899e-01 1.30614413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40255784400006 meters Centerline goodness [0,1] 0.2663892003795394 Centerline is valid? [False, False] Translation: X:7.65, Y:0.47, Z:1.31 [[ 9.99707943e-01 -3.62139275e-03 -2.38938230e-02 7.64782633e+00] [ 3.47896094e-03 9.99975949e-01 -5.99990935e-03 4.65122975e-01] [ 2.39149763e-02 5.91503136e-03 9.99696497e-01 1.30643093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4325578440001 meters Centerline goodness [0,1] 0.2678869997611447 Centerline is valid? [False, False] Translation: X:7.65, Y:0.47, Z:1.31 [[ 9.99705851e-01 -3.74235523e-03 -2.39626073e-02 7.64808357e+00] [ 3.59036120e-03 9.99973184e-01 -6.38285181e-03 4.67300259e-01] [ 2.39858516e-02 6.29493989e-03 9.99692479e-01 1.30621512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46255784400006 meters Centerline goodness [0,1] 0.2679346300813886 Centerline is valid? [False, False] Translation: X:7.65, Y:0.47, Z:1.31 [[ 9.99702491e-01 -3.78362742e-03 -2.40959453e-02 7.64876094e+00] [ 3.62676068e-03 9.99971969e-01 -6.55046619e-03 4.68355955e-01] [ 2.41200544e-02 6.46112713e-03 9.99688190e-01 1.30565506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4925578440001 meters Centerline goodness [0,1] 0.26838586437440304 Centerline is valid? [False, False] Translation: X:7.65, Y:0.47, Z:1.31 [[ 9.99698101e-01 -3.83189139e-03 -2.42698171e-02 7.64948743e+00] [ 3.67119485e-03 9.99971067e-01 -6.66234948e-03 4.68867599e-01] [ 2.42946443e-02 6.57123889e-03 9.99683244e-01 1.30517395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52255784400006 meters Centerline goodness [0,1] 0.26839601121032397 Centerline is valid? [False, False] Translation: X:7.65, Y:0.47, Z:1.30 [[ 9.99692884e-01 -3.88259989e-03 -2.44757665e-02 7.65018429e+00] [ 3.71877682e-03 9.99970403e-01 -6.73524406e-03 4.68964205e-01] [ 2.45011924e-02 6.64215564e-03 9.99677735e-01 1.30484834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.55255784400003 meters Centerline goodness [0,1] 0.2697749688367923 Centerline is valid? [False, False] Translation: X:7.65, Y:0.47, Z:1.30 [[ 9.99689890e-01 -3.87765882e-03 -2.45985476e-02 7.65047642e+00] [ 3.71483832e-03 9.99970913e-01 -6.66135776e-03 4.68431370e-01] [ 2.46236626e-02 6.56791238e-03 9.99675216e-01 1.30484467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58255784400006 meters Centerline goodness [0,1] 0.2684648294134254 Centerline is valid? [False, False] Translation: X:7.65, Y:0.47, Z:1.31 [[ 9.99690059e-01 -3.81050013e-03 -2.46021641e-02 7.65036928e+00] [ 3.65206051e-03 9.99972324e-01 -6.48179098e-03 4.67619729e-01] [ 2.46261821e-02 6.38993341e-03 9.99676308e-01 1.30502265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.61255784400004 meters Centerline goodness [0,1] 0.26834708417245934 Centerline is valid? [False, False] Translation: X:7.65, Y:0.47, Z:1.31 [[ 9.99706066e-01 -3.68279670e-03 -2.39628671e-02 7.64844279e+00] [ 3.53798209e-03 9.99975240e-01 -6.08288478e-03 4.65924086e-01] [ 2.39846758e-02 5.99631662e-03 9.99694343e-01 1.30570444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64255784400007 meters Centerline goodness [0,1] 0.2693267915680698 Centerline is valid? [False, False] Translation: X:7.65, Y:0.46, Z:1.31 [[ 9.99711889e-01 -3.61429458e-03 -2.37292261e-02 7.64773848e+00] [ 3.47522008e-03 9.99976559e-01 -5.89951927e-03 4.64882711e-01] [ 2.37499924e-02 5.81535527e-03 9.99701015e-01 1.30590098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.67255784400004 meters Centerline goodness [0,1] 0.2702214287269481 Centerline is valid? [False, False] Translation: X:7.65, Y:0.46, Z:1.31 [[ 9.99710334e-01 -3.55086597e-03 -2.38041818e-02 7.64790636e+00] [ 3.41486226e-03 9.99977628e-01 -5.75165498e-03 4.64015378e-01] [ 2.38240726e-02 5.66870092e-03 9.99700095e-01 1.30592520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70255784400007 meters Centerline goodness [0,1] 0.2661004193097516 Centerline is valid? [False, False] Translation: X:7.67, Y:0.46, Z:1.31 [[ 9.99700592e-01 4.63182770e-03 -2.40264864e-02 7.66902912e+00] [-4.78954365e-03 9.99967334e-01 -6.51086566e-03 4.59869897e-01] [ 2.39955443e-02 6.62399217e-03 9.99690120e-01 1.30702042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.73255784400004 meters Centerline goodness [0,1] 0.2710731526178982 Centerline is valid? [False, False] Translation: X:7.62, Y:0.46, Z:1.31 [[ 9.99613277e-01 7.14197889e-03 -2.68754216e-02 7.62471128e+00] [-7.27432771e-03 9.99961877e-01 -4.82998739e-03 4.57971579e-01] [ 2.68399013e-02 5.02362015e-03 9.99627122e-01 1.30671520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76255784400007 meters Centerline goodness [0,1] 0.2681358444502572 Centerline is valid? [False, False] Translation: X:7.62, Y:0.46, Z:1.31 [[ 9.99618363e-01 7.19721643e-03 -2.66707558e-02 7.62412387e+00] [-7.33064294e-03 9.99961084e-01 -4.90833317e-03 4.58589966e-01] [ 2.66343915e-02 5.10197375e-03 9.99632222e-01 1.30682393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.79255784400004 meters Centerline goodness [0,1] 0.26973356168838203 Centerline is valid? [False, False] Translation: X:7.62, Y:0.46, Z:1.31 [[ 9.99623197e-01 7.21850299e-03 -2.64831375e-02 7.62358501e+00] [-7.35346877e-03 9.99960450e-01 -5.00244595e-03 4.59020200e-01] [ 2.64459799e-02 5.19530394e-03 9.99636744e-01 1.30686699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8225578440001 meters Centerline goodness [0,1] 0.2670363470952649 Centerline is valid? [False, False] Translation: X:7.62, Y:0.46, Z:1.31 [[ 9.99628064e-01 7.19411869e-03 -2.63054810e-02 7.62312596e+00] [-7.33023628e-03 9.99960221e-01 -5.08173151e-03 4.59109489e-01] [ 2.62678760e-02 5.27266682e-03 9.99641034e-01 1.30682955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.85255784400005 meters Centerline goodness [0,1] 0.26675446929786684 Centerline is valid? [False, False] Translation: X:7.62, Y:0.46, Z:1.31 [[ 9.99629285e-01 7.23196889e-03 -2.62486402e-02 7.62297197e+00] [-7.36597683e-03 9.99960309e-01 -5.01223312e-03 4.58625379e-01] [ 2.62113501e-02 5.20372188e-03 9.99642879e-01 1.30679264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8825578440001 meters Centerline goodness [0,1] 0.271170562732838 Centerline is valid? [False, False] Translation: X:7.62, Y:0.46, Z:1.31 [[ 9.99631387e-01 7.43128351e-03 -2.61125516e-02 7.62252518e+00] [-7.55359100e-03 9.99960944e-01 -4.58834413e-03 4.56707171e-01] [ 2.60774344e-02 4.78389635e-03 9.99648479e-01 1.30692456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.91255784400005 meters Centerline goodness [0,1] 0.2655498281786941 Centerline is valid? [False, False] Translation: X:7.64, Y:0.46, Z:1.31 [[ 9.99674833e-01 -2.19944931e-04 -2.54986158e-02 7.64175100e+00] [ 1.41377402e-04 9.99995238e-01 -3.08300867e-03 4.60302598e-01] [ 2.54991724e-02 3.07840125e-03 9.99670103e-01 1.30828591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9425578440001 meters Centerline goodness [0,1] 0.26854924414947834 Centerline is valid? [False, False] Translation: X:7.64, Y:0.46, Z:1.31 [[ 9.99672797e-01 -7.26154161e-05 -2.55791645e-02 7.64208792e+00] [ 1.96410155e-06 9.99996185e-01 -2.76207928e-03 4.58861508e-01] [ 2.55792675e-02 2.76112528e-03 9.99668984e-01 1.30806637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.97255784400005 meters Centerline goodness [0,1] 0.26854924414947834 Centerline is valid? [False, False] Translation: X:7.64, Y:0.46, Z:1.31 [[ 9.99672797e-01 -7.26154161e-05 -2.55791645e-02 7.64208792e+00] [ 1.96410155e-06 9.99996185e-01 -2.76207928e-03 4.58861508e-01] [ 2.55792675e-02 2.76112528e-03 9.99668984e-01 1.30806637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0025578440001 meters Centerline goodness [0,1] 0.267061801033983 Centerline is valid? [False, False] Translation: X:7.64, Y:0.45, Z:1.31 [[ 9.99667184e-01 1.79575416e-04 -2.57970718e-02 7.64317056e+00] [-2.31383708e-04 9.99997963e-01 -2.00533030e-03 4.54631752e-01] [ 2.57966592e-02 2.01063192e-03 9.99665189e-01 1.30727421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.03255784400005 meters Centerline goodness [0,1] 0.26358963375455124 Centerline is valid? [False, False] Translation: X:7.66, Y:0.46, Z:1.31 [[ 9.99643278e-01 -7.96100409e-03 -2.54938966e-02 7.66328690e+00] [ 7.94292478e-03 9.99968126e-01 -8.10349769e-04 4.56570033e-01] [ 2.54995352e-02 6.07564597e-04 9.99674649e-01 1.30839836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0625578440001 meters Centerline goodness [0,1] 0.2665489469830742 Centerline is valid? [False, False] Translation: X:7.66, Y:0.45, Z:1.31 [[ 9.99641998e-01 -7.75573505e-03 -2.56071113e-02 7.66356108e+00] [ 7.75047832e-03 9.99969918e-01 -3.04528804e-04 4.54118368e-01] [ 2.56087028e-02 1.05952421e-04 9.99672038e-01 1.30847147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.09255784400005 meters Centerline goodness [0,1] 0.2679644942162033 Centerline is valid? [False, False] Translation: X:7.65, Y:0.45, Z:1.30 [[ 9.99738656e-01 -1.94252831e-03 -2.27781766e-02 7.64817596e+00] [ 1.92203115e-03 9.99997728e-01 -9.21717934e-04 4.46488857e-01] [ 2.27799153e-02 8.77696684e-04 9.99740119e-01 1.30499279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1225578440001 meters Centerline goodness [0,1] 0.2688679245283019 Centerline is valid? [False, False] Translation: X:7.65, Y:0.44, Z:1.30 [[ 9.99735611e-01 -1.69645624e-03 -2.29309854e-02 7.64860491e+00] [ 1.69051797e-03 9.99998532e-01 -2.78345389e-04 4.43061686e-01] [ 2.29314240e-02 2.39506555e-04 9.99737012e-01 1.30496237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.15255784400006 meters Centerline goodness [0,1] 0.26983400862632334 Centerline is valid? [False, False] Translation: X:7.65, Y:0.44, Z:1.30 [[ 9.99734993e-01 -1.63819054e-03 -2.29621278e-02 7.64885389e+00] [ 1.63611012e-03 9.99998656e-01 -1.09388729e-04 4.42027840e-01] [ 2.29622761e-02 7.17911702e-05 9.99736330e-01 1.30466915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1825578440001 meters Centerline goodness [0,1] 0.26691077696407683 Centerline is valid? [False, False] Translation: X:7.65, Y:0.44, Z:1.30 [[ 9.99735525e-01 -1.56797409e-03 -2.29438674e-02 7.64888717e+00] [ 1.56822018e-03 9.99998770e-01 -7.26740571e-06 4.41530568e-01] [ 2.29438505e-02 -2.87155521e-05 9.99736755e-01 1.30453125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.21255784400006 meters Centerline goodness [0,1] 0.2633443552196505 Centerline is valid? [False, False] Translation: X:7.67, Y:0.44, Z:1.31 [[ 9.99723490e-01 6.63885409e-03 -2.25581145e-02 7.66838791e+00] [-6.66590765e-03 9.99977151e-01 -1.12429902e-03 4.38368163e-01] [ 2.25501350e-02 1.27435845e-03 9.99744901e-01 1.30641235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2425578440001 meters Centerline goodness [0,1] 0.26742473467619665 Centerline is valid? [False, False] Translation: X:7.67, Y:0.44, Z:1.31 [[ 9.99724101e-01 6.89558485e-03 -2.24537952e-02 7.66839428e+00] [-6.91797581e-03 9.99975648e-01 -9.19676247e-04 4.38326067e-01] [ 2.24469067e-02 1.07475732e-03 9.99747459e-01 1.30596589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.27255784400006 meters Centerline goodness [0,1] 0.26793583259166 Centerline is valid? [False, False] Translation: X:7.67, Y:0.44, Z:1.31 [[ 9.99723035e-01 6.90669293e-03 -2.24977904e-02 7.66875662e+00] [-6.92995490e-03 9.99975530e-01 -9.56166219e-04 4.38471589e-01] [ 2.24906359e-02 1.11181007e-03 9.99746435e-01 1.30552302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30255784400003 meters Centerline goodness [0,1] 0.2680937818552498 Centerline is valid? [False, False] Translation: X:7.67, Y:0.44, Z:1.31 [[ 9.99720969e-01 6.88194473e-03 -2.25969682e-02 7.66928153e+00] [-6.90752827e-03 9.99975587e-01 -1.05430627e-03 4.38854751e-01] [ 2.25891609e-02 1.21010129e-03 9.99744100e-01 1.30503836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.33255784400006 meters Centerline goodness [0,1] 0.26675926126869076 Centerline is valid? [False, False] Translation: X:7.67, Y:0.44, Z:1.30 [[ 9.99719859e-01 6.84234513e-03 -2.26580350e-02 7.66962530e+00] [-6.87136159e-03 9.99975668e-01 -1.20301648e-03 4.39503895e-01] [ 2.26492522e-02 1.35837102e-03 9.99742550e-01 1.30465313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36255784400004 meters Centerline goodness [0,1] 0.2669326164252883 Centerline is valid? [False, False] Translation: X:7.67, Y:0.44, Z:1.30 [[ 9.99722733e-01 6.80852669e-03 -2.25411020e-02 7.66939095e+00] [-6.84180673e-03 9.99975615e-01 -1.39962364e-03 4.40614702e-01] [ 2.25310229e-02 1.55345743e-03 9.99744937e-01 1.30451274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.39255784400007 meters Centerline goodness [0,1] 0.2666232780127996 Centerline is valid? [False, False] Translation: X:7.67, Y:0.44, Z:1.30 [[ 9.99727230e-01 6.77999817e-03 -2.23494564e-02 7.66885073e+00] [-6.81819987e-03 9.99975422e-01 -1.63353133e-03 4.42051497e-01] [ 2.23378318e-02 1.78546881e-03 9.99748885e-01 1.30457468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42255784400004 meters Centerline goodness [0,1] 0.2669685218483936 Centerline is valid? [False, False] Translation: X:7.67, Y:0.45, Z:1.30 [[ 9.99731211e-01 6.83632701e-03 -2.21533574e-02 7.66843812e+00] [-6.88554570e-03 9.99973991e-01 -2.14620890e-03 4.45487932e-01] [ 2.21381091e-02 2.29816998e-03 9.99752281e-01 1.30432436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.45255784400007 meters Centerline goodness [0,1] 0.26319850813452506 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99743255e-01 -3.76437316e-04 -2.26557512e-02 7.68718576e+00] [ 3.48692138e-04 9.99999185e-01 -1.22857971e-03 4.53609265e-01] [ 2.26561952e-02 1.22036440e-03 9.99742571e-01 1.30605584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48255784400004 meters Centerline goodness [0,1] 0.2676391654402216 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99744027e-01 -4.78990497e-04 -2.26196860e-02 7.68716886e+00] [ 4.44146499e-04 9.99998707e-01 -1.54542678e-03 4.55311035e-01] [ 2.26203970e-02 1.53498474e-03 9.99742948e-01 1.30585888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.51255784400007 meters Centerline goodness [0,1] 0.2654379467746103 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99744914e-01 -6.16814417e-04 -2.25771094e-02 7.68707875e+00] [ 5.73451110e-04 9.99997979e-01 -1.92709963e-03 4.57422396e-01] [ 2.25782525e-02 1.91366119e-03 9.99743247e-01 1.30577845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54255784400004 meters Centerline goodness [0,1] 0.2657883369330454 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99746415e-01 -6.56031308e-04 -2.25094716e-02 7.68684038e+00] [ 6.12360248e-04 9.99997917e-01 -1.94695728e-03 4.57263095e-01] [ 2.25107020e-02 1.93267966e-03 9.99744734e-01 1.30589958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5725578440001 meters Centerline goodness [0,1] 0.2651857294120189 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99750162e-01 -6.53721671e-04 -2.23424907e-02 7.68630513e+00] [ 6.13262050e-04 9.99998160e-01 -1.81768608e-03 4.56349623e-01] [ 2.23436379e-02 1.80353015e-03 9.99748723e-01 1.30613125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60255784400005 meters Centerline goodness [0,1] 0.26540335446039753 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.31 [[ 9.99754032e-01 -5.89438024e-04 -2.21704417e-02 7.68577173e+00] [ 5.54165746e-04 9.99998571e-01 -1.59706981e-03 4.55201001e-01] [ 2.21713514e-02 1.58439088e-03 9.99752930e-01 1.30636464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6325578440001 meters Centerline goodness [0,1] 0.26601653319555674 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99755506e-01 -5.03791727e-04 -2.21059748e-02 7.68568006e+00] [ 4.75025953e-04 9.99999034e-01 -1.30649876e-03 4.53766097e-01] [ 2.21066116e-02 1.29567842e-03 9.99754779e-01 1.30630231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66255784400005 meters Centerline goodness [0,1] 0.2638781638781639 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99750439e-01 -4.55551528e-04 -2.23349977e-02 7.68645357e+00] [ 4.29263289e-04 9.99999210e-01 -1.18177792e-03 4.53122159e-01] [ 2.23355184e-02 1.17189540e-03 9.99749844e-01 1.30601770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6925578440001 meters Centerline goodness [0,1] 0.2645079446988755 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99746714e-01 -4.06899645e-04 -2.25020452e-02 7.68715956e+00] [ 3.81517010e-04 9.99999286e-01 -1.13229610e-03 4.53077199e-01] [ 2.25024899e-02 1.12342439e-03 9.99746156e-01 1.30555886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72255784400005 meters Centerline goodness [0,1] 0.2647350707628582 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99745651e-01 -3.69981743e-04 -2.25498600e-02 7.68750203e+00] [ 3.44081704e-04 9.99999277e-01 -1.15243677e-03 4.53479987e-01] [ 2.25502701e-02 1.14438465e-03 9.99745055e-01 1.30519111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7525578440001 meters Centerline goodness [0,1] 0.26603151337486264 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99748566e-01 -3.65969206e-04 -2.24203164e-02 7.68717801e+00] [ 3.38834058e-04 9.99999206e-01 -1.21407973e-03 4.53937126e-01] [ 2.24207429e-02 1.20617770e-03 9.99747896e-01 1.30515198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78255784400005 meters Centerline goodness [0,1] 0.26593511243858625 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99754756e-01 -4.36245809e-04 -2.21413050e-02 7.68616420e+00] [ 4.06751430e-04 9.99999024e-01 -1.33658369e-03 4.54018924e-01] [ 2.21418665e-02 1.32724990e-03 9.99753958e-01 1.30558779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8125578440001 meters Centerline goodness [0,1] 0.2675879396984925 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.31 [[ 9.99752112e-01 -4.64626106e-04 -2.22598128e-02 7.68652560e+00] [ 4.33706624e-04 9.99998935e-01 -1.39383463e-03 4.54222266e-01] [ 2.22604367e-02 1.38383489e-03 9.99751248e-01 1.30544118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84255784400005 meters Centerline goodness [0,1] 0.26557263626732397 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.30 [[ 9.99749038e-01 -4.27507300e-04 -2.23981786e-02 7.68716322e+00] [ 3.96540566e-04 9.99998960e-01 -1.38697910e-03 4.54499555e-01] [ 2.23987483e-02 1.37774923e-03 9.99748167e-01 1.30492311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8725578440001 meters Centerline goodness [0,1] 0.267436549879298 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.30 [[ 9.99745951e-01 -4.00127694e-04 -2.25360583e-02 7.68777850e+00] [ 3.69087987e-04 9.99998978e-01 -1.38147782e-03 4.54775697e-01] [ 2.25365881e-02 1.37280907e-03 9.99745076e-01 1.30446434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90255784400006 meters Centerline goodness [0,1] 0.26492673795640853 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.30 [[ 9.99740514e-01 -4.34461775e-04 -2.27753200e-02 7.68882130e+00] [ 4.05462385e-04 9.99999101e-01 -1.27788375e-03 4.53840200e-01] [ 2.27758548e-02 1.26831762e-03 9.99739792e-01 1.30380439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9325578440001 meters Centerline goodness [0,1] 0.2659921741574248 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.30 [[ 9.99738994e-01 -4.14482006e-04 -2.28423121e-02 7.68907603e+00] [ 3.88313008e-04 9.99999263e-01 -1.15006067e-03 4.52900683e-01] [ 2.28427720e-02 1.14089053e-03 9.99738419e-01 1.30369819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96255784400006 meters Centerline goodness [0,1] 0.26299351670364224 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.30 [[ 9.99737189e-01 -3.92623558e-04 -2.29215599e-02 7.68933125e+00] [ 3.69431983e-04 9.99999416e-01 -1.01600575e-03 4.52075134e-01] [ 2.29219454e-02 1.00727078e-03 9.99736750e-01 1.30361922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9925578440001 meters Centerline goodness [0,1] 0.26658166021914376 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.30 [[ 9.99735022e-01 -3.53130369e-04 -2.30165229e-02 7.68963058e+00] [ 3.32862523e-04 9.99999554e-01 -8.84403325e-04 4.51348840e-01] [ 2.30168249e-02 8.76507640e-04 9.99734694e-01 1.30355114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02255784400006 meters Centerline goodness [0,1] 0.26553184135487773 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.30 [[ 9.99732587e-01 -2.89599344e-04 -2.31229636e-02 7.68979061e+00] [ 2.73903040e-04 9.99999730e-01 -6.81983144e-04 4.50275652e-01] [ 2.31231548e-02 6.75467323e-04 9.99732396e-01 1.30375092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.05255784400003 meters Centerline goodness [0,1] 0.26402654485908816 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.30 [[ 9.99732211e-01 -2.05347982e-04 -2.31401117e-02 7.68963148e+00] [ 1.95999569e-04 9.99999898e-01 -4.06258996e-04 4.48721135e-01] [ 2.31401928e-02 4.01614752e-04 9.99732149e-01 1.30412400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08255784400006 meters Centerline goodness [0,1] 0.26584977172883106 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.30 [[ 9.99738430e-01 -9.30953441e-05 -2.28705546e-02 7.68851411e+00] [ 9.64248369e-05 9.99999985e-01 1.44477141e-04 4.45542874e-01] [ 2.28705408e-02 -1.46644640e-04 9.99738424e-01 1.30494160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.11255784400004 meters Centerline goodness [0,1] 0.2649907451250484 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.31 [[ 9.99741205e-01 5.69567431e-05 -2.27490584e-02 7.68818544e+00] [-4.45277037e-05 9.99999849e-01 5.46860191e-04 4.43603214e-01] [ 2.27490861e-02 -5.45705703e-04 9.99741057e-01 1.30503818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14255784400007 meters Centerline goodness [0,1] 0.2692492047583773 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.31 [[ 9.99744146e-01 1.72458397e-04 -2.26188755e-02 7.68783819e+00] [-1.52683967e-04 9.99999605e-01 8.75968700e-04 4.41902883e-01] [ 2.26190176e-02 -8.72291040e-04 9.99743777e-01 1.30515173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.17255784400004 meters Centerline goodness [0,1] 0.26394028052663276 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.31 [[ 9.99755389e-01 6.64218733e-03 -2.10960513e-02 7.70940309e+00] [-6.68045714e-03 9.99976164e-01 -1.74411869e-03 4.38227165e-01] [ 2.10839637e-02 1.88462333e-03 9.99775932e-01 1.30502935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20255784400007 meters Centerline goodness [0,1] 0.26559534081104397 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.30 [[ 9.99753160e-01 6.70644003e-03 -2.11811730e-02 7.70979810e+00] [-6.74170741e-03 9.99976004e-01 -1.59406623e-03 4.37462056e-01] [ 2.11699742e-02 1.73647002e-03 9.99774383e-01 1.30475021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.23255784400004 meters Centerline goodness [0,1] 0.26517737544829967 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.30 [[ 9.99748460e-01 6.73705018e-03 -2.13922448e-02 7.71048075e+00] [-6.77237792e-03 9.99975820e-01 -1.57940979e-03 4.37501447e-01] [ 2.13810870e-02 1.72388887e-03 9.99769912e-01 1.30444366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26255784400007 meters Centerline goodness [0,1] 0.2675058153438118 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.30 [[ 9.99745903e-01 6.76861411e-03 -2.15015124e-02 7.71085236e+00] [-6.80508561e-03 9.99975527e-01 -1.62351323e-03 4.37980029e-01] [ 2.14899972e-02 1.76942033e-03 9.99767498e-01 1.30422792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.29255784400004 meters Centerline goodness [0,1] 0.26312182795468664 Centerline is valid? [False, False] Translation: X:7.73, Y:0.44, Z:1.30 [[ 9.99776792e-01 1.08165318e-03 -2.10996968e-02 7.73295355e+00] [-1.05661502e-03 9.99998724e-01 1.19777174e-03 4.41750111e-01] [ 2.11009654e-02 -1.17521013e-03 9.99776659e-01 1.30409615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3225578440001 meters Centerline goodness [0,1] 0.263902649149257 Centerline is valid? [False, False] Translation: X:7.73, Y:0.44, Z:1.30 [[ 9.99779492e-01 1.06684409e-03 -2.09720968e-02 7.73270093e+00] [-1.04360351e-03 9.99998829e-01 1.11907976e-03 4.42166359e-01] [ 2.09732661e-02 -1.09694644e-03 9.99779435e-01 1.30398308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.35255784400005 meters Centerline goodness [0,1] 0.2610033988157585 Centerline is valid? [False, False] Translation: X:7.73, Y:0.44, Z:1.30 [[ 9.99786357e-01 1.02388241e-03 -2.06444310e-02 7.73190587e+00] [-1.00457961e-03 9.99999049e-01 9.45361200e-04 4.43065900e-01] [ 2.06453793e-02 -9.24420256e-04 9.99786434e-01 1.30386678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3825578440001 meters Centerline goodness [0,1] 0.2662669186817007 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.30 [[ 9.99733432e-01 1.11216557e-03 -2.30613980e-02 7.68526926e+00] [-1.08206179e-03 9.99998546e-01 1.31781304e-03 4.40189056e-01] [ 2.30628301e-02 -1.29250790e-03 9.99733182e-01 1.30459321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.41255784400005 meters Centerline goodness [0,1] 0.267237465135889 Centerline is valid? [False, False] Translation: X:7.68, Y:0.44, Z:1.30 [[ 9.99736116e-01 1.09440213e-03 -2.29455849e-02 7.68491717e+00] [-1.06827509e-03 9.99998767e-01 1.15087895e-03 4.41396813e-01] [ 2.29468161e-02 -1.12606306e-03 9.99736053e-01 1.30463357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4425578440001 meters Centerline goodness [0,1] 0.26850187347036014 Centerline is valid? [False, False] Translation: X:7.68, Y:0.44, Z:1.30 [[ 9.99749815e-01 1.07048537e-03 -2.23419378e-02 7.68321021e+00] [-1.05366458e-03 9.99999153e-01 7.64637879e-04 4.43768003e-01] [ 2.23427374e-02 -7.40905670e-04 9.99750095e-01 1.30489934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.47255784400005 meters Centerline goodness [0,1] 0.2661358192529294 Centerline is valid? [False, False] Translation: X:7.68, Y:0.45, Z:1.30 [[ 9.99753312e-01 9.37854878e-04 -2.21908719e-02 7.68275656e+00] [-9.29487000e-04 9.99999493e-01 3.87397849e-04 4.45556771e-01] [ 2.21912240e-02 -3.66676156e-04 9.99753677e-01 1.30495965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5025578440001 meters Centerline goodness [0,1] 0.26915285250615373 Centerline is valid? [False, False] Translation: X:7.68, Y:0.45, Z:1.30 [[ 9.99754367e-01 8.35483629e-04 -2.21474034e-02 7.68265758e+00] [-8.35574288e-04 9.99999651e-01 5.16056913e-06 4.47550309e-01] [ 2.21473999e-02 1.33464993e-05 9.99754716e-01 1.30483494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.53255784400005 meters Centerline goodness [0,1] 0.26726024132926063 Centerline is valid? [False, False] Translation: X:7.68, Y:0.45, Z:1.30 [[ 9.99750659e-01 7.37986459e-04 -2.23175993e-02 7.68329153e+00] [-7.48224067e-04 9.99999619e-01 -4.50376684e-04 4.50150869e-01] [ 2.23172585e-02 4.66962952e-04 9.99750830e-01 1.30435043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5625578440001 meters Centerline goodness [0,1] 0.26423430024567907 Centerline is valid? [False, False] Translation: X:7.68, Y:0.45, Z:1.30 [[ 9.99745608e-01 6.59228864e-04 -2.25451721e-02 7.68416010e+00] [-6.79648683e-04 9.99999366e-01 -8.98078733e-04 4.52815915e-01] [ 2.25445658e-02 9.13173065e-04 9.99745422e-01 1.30374721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.59255784400005 meters Centerline goodness [0,1] 0.265860634425377 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.30 [[ 9.99733436e-01 4.43955198e-04 -2.30837564e-02 7.68594373e+00] [-4.83384826e-04 9.99998434e-01 -1.70255954e-03 4.57076153e-01] [ 2.30829643e-02 1.71326404e-03 9.99732085e-01 1.30279132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6225578440001 meters Centerline goodness [0,1] 0.2647375910992281 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.30 [[ 9.99729079e-01 2.82830264e-04 -2.32741966e-02 7.68644512e+00] [-3.29844398e-04 9.99997913e-01 -2.01619689e-03 4.58365795e-01] [ 2.32735778e-02 2.02332753e-03 9.99727086e-01 1.30268999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.65255784400006 meters Centerline goodness [0,1] 0.2668455446401523 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.30 [[ 9.99724784e-01 1.82162655e-04 -2.34589452e-02 7.68671687e+00] [-2.33332598e-04 9.99997600e-01 -2.17853628e-03 4.59021968e-01] [ 2.34584920e-02 2.18341045e-03 9.99722427e-01 1.30298579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6825578440001 meters Centerline goodness [0,1] 0.26430623663347086 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.30 [[ 9.99722516e-01 1.68716348e-04 -2.35555195e-02 7.68670568e+00] [-2.20514864e-04 9.99997564e-01 -2.19641676e-03 4.59340315e-01] [ 2.35550916e-02 2.20100163e-03 9.99720117e-01 1.30337226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.71255784400006 meters Centerline goodness [0,1] 0.2652285634082615 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.30 [[ 9.99720279e-01 1.19258913e-04 -2.36505551e-02 7.68686313e+00] [-1.73092315e-04 9.99997399e-01 -2.27416625e-03 4.59831092e-01] [ 2.36502224e-02 2.27762385e-03 9.99717700e-01 1.30354698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7425578440001 meters Centerline goodness [0,1] 0.26400618915608276 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.30 [[ 9.99718040e-01 7.56881326e-05 -2.37452212e-02 7.68733296e+00] [-1.31089115e-04 9.99997273e-01 -2.33159449e-03 4.60173244e-01] [ 2.37449800e-02 2.33404982e-03 9.99715324e-01 1.30323527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.77255784400006 meters Centerline goodness [0,1] 0.26423543088415746 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.30 [[ 9.99711038e-01 -1.38560700e-04 -2.40379075e-02 7.68831064e+00] [ 7.86568987e-05 9.99996889e-01 -2.49298321e-03 4.60185667e-01] [ 2.40381781e-02 2.49037208e-03 9.99707939e-01 1.30286051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80255784400003 meters Centerline goodness [0,1] 0.2674711346471048 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.30 [[ 9.99708938e-01 -1.31458919e-04 -2.41251288e-02 7.68845353e+00] [ 7.33498885e-05 9.99997094e-01 -2.40952073e-03 4.59764588e-01] [ 2.41253755e-02 2.40704983e-03 9.99706043e-01 1.30299449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.83255784400006 meters Centerline goodness [0,1] 0.2651332760103181 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.30 [[ 9.99675520e-01 -8.19606307e-03 -2.41180280e-02 7.70853798e+00] [ 8.17009659e-03 9.99965934e-01 -1.17498403e-03 4.64575798e-01] [ 2.41268366e-02 9.77556157e-04 9.99708428e-01 1.30492891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86255784400004 meters Centerline goodness [0,1] 0.2656500108154878 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.31 [[ 9.99672794e-01 -8.18579896e-03 -2.42342200e-02 7.70878002e+00] [ 8.16159390e-03 9.99966091e-01 -1.09753958e-03 4.64019267e-01] [ 2.42423825e-02 8.99390594e-04 9.99705706e-01 1.30507901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.89255784400007 meters Centerline goodness [0,1] 0.2656500108154878 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.31 [[ 9.99672794e-01 -8.18579896e-03 -2.42342200e-02 7.70878002e+00] [ 8.16159390e-03 9.99966091e-01 -1.09753958e-03 4.64019267e-01] [ 2.42423825e-02 8.99390594e-04 9.99705706e-01 1.30507901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92255784400004 meters Centerline goodness [0,1] 0.2630697554587028 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99715223e-01 -2.83492317e-04 -2.38619293e-02 7.72856983e+00] [ 2.24505631e-04 9.99996913e-01 -2.47464252e-03 4.61036181e-01] [ 2.38625571e-02 2.46858066e-03 9.99712201e-01 1.30684562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.95255784400007 meters Centerline goodness [0,1] 0.26427817394489084 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99717753e-01 -2.93710726e-04 -2.37555700e-02 7.72839366e+00] [ 2.34216280e-04 9.99996830e-01 -2.50718554e-03 4.61193658e-01] [ 2.37562311e-02 2.50091396e-03 9.99714653e-01 1.30670191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98255784400004 meters Centerline goodness [0,1] 0.2673307889686698 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99724328e-01 -2.62387260e-04 -2.34776291e-02 7.72757600e+00] [ 2.02757037e-04 9.99996748e-01 -2.54221859e-03 4.61699740e-01] [ 2.34782198e-02 2.53675751e-03 9.99721130e-01 1.30685680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.01255784400007 meters Centerline goodness [0,1] 0.26687329316398634 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99732465e-01 -2.48293057e-04 -2.31287011e-02 7.72638159e+00] [ 1.87920662e-04 9.99996570e-01 -2.61241730e-03 4.62349424e-01] [ 2.31292704e-02 2.60737202e-03 9.99729083e-01 1.30732741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04255784400004 meters Centerline goodness [0,1] 0.26642155281773416 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99738162e-01 -2.80707662e-04 -2.28807513e-02 7.72515316e+00] [ 2.19570424e-04 9.99996400e-01 -2.67446284e-03 4.62569428e-01] [ 2.28814197e-02 2.66873863e-03 9.99734624e-01 1.30827759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0725578440001 meters Centerline goodness [0,1] 0.267967634459781 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99735754e-01 -2.61096503e-04 -2.29859357e-02 7.72535429e+00] [ 2.01106513e-04 9.99996568e-01 -2.61212928e-03 4.62207546e-01] [ 2.29865389e-02 2.60681641e-03 9.99732376e-01 1.30835619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10255784400005 meters Centerline goodness [0,1] 0.26752088654170814 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99733897e-01 -2.05906737e-04 -2.30671439e-02 7.72560854e+00] [ 1.48146233e-04 9.99996850e-01 -2.50569718e-03 4.61839300e-01] [ 2.30675872e-02 2.50161310e-03 9.99730778e-01 1.30826318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1325578440001 meters Centerline goodness [0,1] 0.2640575798470536 Centerline is valid? [False, False] Translation: X:7.74, Y:0.47, Z:1.31 [[ 9.99707400e-01 -7.77477354e-03 -2.29056352e-02 7.74442808e+00] [ 7.75101315e-03 9.99969327e-01 -1.12591779e-03 4.67207761e-01] [ 2.29136863e-02 9.48046462e-04 9.99736998e-01 1.30986124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16255784400005 meters Centerline goodness [0,1] 0.26743479581651697 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99711711e-01 1.76558741e-04 -2.40096684e-02 7.72600600e+00] [-2.33145086e-04 9.99997202e-01 -2.35403609e-03 4.60253257e-01] [ 2.40091856e-02 2.35895518e-03 9.99708955e-01 1.30761333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1925578440001 meters Centerline goodness [0,1] 0.2659843233788949 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99707298e-01 1.83498184e-04 -2.41926364e-02 7.72667831e+00] [-2.40775599e-04 9.99997175e-01 -2.36466405e-03 4.60285710e-01] [ 2.41921342e-02 2.36979690e-03 9.99704519e-01 1.30725106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22255784400005 meters Centerline goodness [0,1] 0.269453669336459 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99705807e-01 2.03236891e-04 -2.42540489e-02 7.72685473e+00] [-2.62666605e-04 9.99996971e-01 -2.44714007e-03 4.61020809e-01] [ 2.42534781e-02 2.45279086e-03 9.99702832e-01 1.30715563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2525578440001 meters Centerline goodness [0,1] 0.2645383951682485 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99704697e-01 2.57451310e-04 -2.42992195e-02 7.72691372e+00] [-3.21198053e-04 9.99996517e-01 -2.61954043e-03 4.62463313e-01] [ 2.42984605e-02 2.62657174e-03 9.99701298e-01 1.30713952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28255784400005 meters Centerline goodness [0,1] 0.2661749118518679 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.31 [[ 9.99709188e-01 2.52293200e-04 -2.41138091e-02 7.72625173e+00] [-3.21375426e-04 9.99995856e-01 -2.86100842e-03 4.64044066e-01] [ 2.41129874e-02 2.86792599e-03 9.99705126e-01 1.30738056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3125578440001 meters Centerline goodness [0,1] 0.26398657804736403 Centerline is valid? [False, False] Translation: X:7.72, Y:0.47, Z:1.31 [[ 9.99722994e-01 3.94559875e-04 -2.35325367e-02 7.72429947e+00] [-4.69885387e-04 9.99994784e-01 -3.19546548e-03 4.66767534e-01] [ 2.35311531e-02 3.20563791e-03 9.99717965e-01 1.30804239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34255784400005 meters Centerline goodness [0,1] 0.26438438696905797 Centerline is valid? [False, False] Translation: X:7.72, Y:0.47, Z:1.31 [[ 9.99724777e-01 2.97128339e-04 -2.34580987e-02 7.72396378e+00] [-3.79838087e-04 9.99993727e-01 -3.52147346e-03 4.68496076e-01] [ 2.34569053e-02 3.52941455e-03 9.99718619e-01 1.30816073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3725578440001 meters Centerline goodness [0,1] 0.2570945150028914 Centerline is valid? [False, False] Translation: X:7.72, Y:0.47, Z:1.31 [[ 9.99723210e-01 1.79302000e-04 -2.35259749e-02 7.72411813e+00] [-2.70826407e-04 9.99992408e-01 -3.88722708e-03 4.70408074e-01] [ 2.35250993e-02 3.89252259e-03 9.99715669e-01 1.30811699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40255784400006 meters Centerline goodness [0,1] 0.2643061747539359 Centerline is valid? [False, False] Translation: X:7.72, Y:0.47, Z:1.31 [[ 9.99722544e-01 4.11396162e-05 -2.35549208e-02 7.72417938e+00] [-1.41053247e-04 9.99991001e-01 -4.24008495e-03 4.72120683e-01] [ 2.35545344e-02 4.24223101e-03 9.99713553e-01 1.30804804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4325578440001 meters Centerline goodness [0,1] 0.2651216835581951 Centerline is valid? [False, False] Translation: X:7.72, Y:0.47, Z:1.31 [[ 9.99717947e-01 -1.02527526e-04 -2.37490311e-02 7.72469150e+00] [-6.77431659e-06 9.99989410e-01 -4.60224441e-03 4.73784298e-01] [ 2.37492515e-02 4.60110722e-03 9.99707359e-01 1.30791952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46255784400006 meters Centerline goodness [0,1] 0.2659535386277688 Centerline is valid? [False, False] Translation: X:7.73, Y:0.48, Z:1.31 [[ 9.99715529e-01 -2.38732332e-04 -2.38496070e-02 7.72503480e+00] [ 1.21432112e-04 9.99987891e-01 -4.91965646e-03 4.75305831e-01] [ 2.38504927e-02 4.91536086e-03 9.99703453e-01 1.30771178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4925578440001 meters Centerline goodness [0,1] 0.2654247873371379 Centerline is valid? [False, False] Translation: X:7.73, Y:0.48, Z:1.31 [[ 9.99708028e-01 -5.03389869e-04 -2.41579379e-02 7.72565504e+00] [ 3.76752645e-04 9.99986167e-01 -5.24631959e-03 4.76480302e-01] [ 2.41602446e-02 5.23568625e-03 9.99694388e-01 1.30795236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52255784400006 meters Centerline goodness [0,1] 0.26816440490877214 Centerline is valid? [False, False] Translation: X:7.73, Y:0.48, Z:1.31 [[ 9.99705634e-01 -5.66163932e-04 -2.42553877e-02 7.72568399e+00] [ 4.40710810e-04 9.99986501e-01 -5.17720891e-03 4.75938979e-01] [ 2.42579915e-02 5.16499530e-03 9.99692389e-01 1.30835020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.55255784400003 meters Centerline goodness [0,1] 0.26219765333100264 Centerline is valid? [False, False] Translation: X:7.73, Y:0.48, Z:1.31 [[ 9.99701632e-01 -6.24082553e-04 -2.44183856e-02 7.72586556e+00] [ 5.00976271e-04 9.99987137e-01 -5.04733325e-03 4.75055531e-01] [ 2.44212215e-02 5.03359425e-03 9.99689085e-01 1.30878041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58255784400006 meters Centerline goodness [0,1] 0.26963828216596464 Centerline is valid? [False, False] Translation: X:7.73, Y:0.47, Z:1.31 [[ 9.99695254e-01 -6.96620093e-04 -2.46761654e-02 7.72635906e+00] [ 5.77256426e-04 9.99988101e-01 -4.84399794e-03 4.73708350e-01] [ 2.46792462e-02 4.82827728e-03 9.99683761e-01 1.30910452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.61255784400004 meters Centerline goodness [0,1] 0.25217894083131676 Centerline is valid? [False, False] Translation: X:7.75, Y:0.47, Z:1.31 [[ 9.99672211e-01 -1.06335333e-02 -2.32894326e-02 7.74684407e+00] [ 1.05233887e-02 9.99932881e-01 -4.84684981e-03 4.74262141e-01] [ 2.33394086e-02 4.60017731e-03 9.99717015e-01 1.30990736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64255784400007 meters Centerline goodness [0,1] 0.2548319056433215 Centerline is valid? [False, False] Translation: X:7.75, Y:0.47, Z:1.31 [[ 9.99676094e-01 -1.05357369e-02 -2.31668990e-02 7.74631026e+00] [ 1.04369392e-02 9.99935935e-01 -4.38139335e-03 4.71755501e-01] [ 2.32115760e-02 4.13818268e-03 9.99722010e-01 1.31044134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.67255784400004 meters Centerline goodness [0,1] 0.2592305372452717 Centerline is valid? [False, False] Translation: X:7.75, Y:0.47, Z:1.31 [[ 9.99680437e-01 -1.03659956e-02 -2.30558052e-02 7.74598731e+00] [ 1.02779705e-02 9.99939445e-01 -3.93314624e-03 4.69762210e-01] [ 2.30951800e-02 3.69492247e-03 9.99726443e-01 1.31061442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70255784400007 meters Centerline goodness [0,1] 0.2597239919659633 Centerline is valid? [False, False] Translation: X:7.75, Y:0.47, Z:1.31 [[ 9.99681254e-01 -1.02346893e-02 -2.30790284e-02 7.74601400e+00] [ 1.01536463e-02 9.99941876e-01 -3.62599649e-03 4.68384595e-01] [ 2.31147979e-02 3.39050442e-03 9.99727068e-01 1.31071623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.73255784400004 meters Centerline goodness [0,1] 0.2696529284164859 Centerline is valid? [False, False] Translation: X:7.75, Y:0.47, Z:1.31 [[ 9.99681613e-01 -1.01564134e-02 -2.30980689e-02 7.74606742e+00] [ 1.00803801e-02 9.99943392e-01 -3.40581958e-03 4.67214162e-01] [ 2.31313523e-02 3.17189790e-03 9.99727403e-01 1.31073568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76255784400007 meters Centerline goodness [0,1] 0.2709437733553489 Centerline is valid? [False, False] Translation: X:7.75, Y:0.47, Z:1.31 [[ 9.99680030e-01 -1.00812768e-02 -2.31992456e-02 7.74648413e+00] [ 1.00089887e-02 9.99944692e-01 -3.22998108e-03 4.66180318e-01] [ 2.32305249e-02 2.99674660e-03 9.99725643e-01 1.31048206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.79255784400004 meters Centerline goodness [0,1] 0.2694013543627356 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.31 [[ 9.99705366e-01 -1.92930717e-03 -2.41962621e-02 7.76741670e+00] [ 1.82419045e-03 9.99988807e-01 -4.36565778e-03 4.62518596e-01] [ 2.42044140e-02 4.32023292e-03 9.99697695e-01 1.31266809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8225578440001 meters Centerline goodness [0,1] 0.2696926919318059 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.31 [[ 9.99704913e-01 -1.88914566e-03 -2.42181212e-02 7.76740695e+00] [ 1.78271992e-03 9.99988663e-01 -4.41530445e-03 4.63073575e-01] [ 2.42261878e-02 4.37082743e-03 9.99696948e-01 1.31271042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.85255784400005 meters Centerline goodness [0,1] 0.2580956880261124 Centerline is valid? [False, False] Translation: X:7.79, Y:0.46, Z:1.31 [[ 9.99705545e-01 6.70337441e-03 -2.33214226e-02 7.78848262e+00] [-6.82754363e-03 9.99962917e-01 -5.24871034e-03 4.61990707e-01] [ 2.32853737e-02 5.40639285e-03 9.99714240e-01 1.31361675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8825578440001 meters Centerline goodness [0,1] 0.26744336569579286 Centerline is valid? [False, False] Translation: X:7.79, Y:0.46, Z:1.31 [[ 9.99709535e-01 6.70239827e-03 -2.31500016e-02 7.78799950e+00] [-6.83061388e-03 9.99961744e-01 -5.46384258e-03 4.63371014e-01] [ 2.31124952e-02 5.62038425e-03 9.99717072e-01 1.31362500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.91255784400005 meters Centerline goodness [0,1] 0.26676589227550207 Centerline is valid? [False, False] Translation: X:7.79, Y:0.47, Z:1.31 [[ 9.99731472e-01 6.91278805e-03 -2.21177956e-02 7.78522718e+00] [-7.03909503e-03 9.99959332e-01 -5.63789991e-03 4.65263284e-01] [ 2.20779225e-02 5.79207524e-03 9.99739475e-01 1.31392331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9425578440001 meters Centerline goodness [0,1] 0.2553635280095352 Centerline is valid? [False, False] Translation: X:7.81, Y:0.47, Z:1.31 [[ 9.99779972e-01 1.23100108e-03 -2.09402232e-02 7.80669120e+00] [-1.28960346e-03 9.99995290e-01 -2.78528237e-03 4.69800832e-01] [ 2.09366958e-02 2.81167412e-03 9.99776850e-01 1.31381667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.97255784400005 meters Centerline goodness [0,1] 0.2588387096774194 Centerline is valid? [False, False] Translation: X:7.81, Y:0.47, Z:1.31 [[ 9.99783289e-01 1.14856410e-03 -2.07859315e-02 7.80622095e+00] [-1.21207230e-03 9.99994635e-01 -3.04300527e-03 4.71108313e-01] [ 2.07823249e-02 3.06753987e-03 9.99779318e-01 1.31389119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0025578440001 meters Centerline goodness [0,1] 0.2698051455447905 Centerline is valid? [False, False] Translation: X:7.81, Y:0.47, Z:1.31 [[ 9.99782940e-01 1.05848923e-03 -2.08075278e-02 7.80634321e+00] [-1.12745776e-03 9.99993909e-01 -3.30314337e-03 4.72388239e-01] [ 2.08039048e-02 3.32588600e-03 9.99778043e-01 1.31372752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.03255784400005 meters Centerline goodness [0,1] 0.2684695573349448 Centerline is valid? [False, False] Translation: X:7.81, Y:0.47, Z:1.31 [[ 9.99779276e-01 9.79702235e-04 -2.09866311e-02 7.80696194e+00] [-1.05476712e-03 9.99993085e-01 -3.56602480e-03 4.73686572e-01] [ 2.09829923e-02 3.58737370e-03 9.99773397e-01 1.31337776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0625578440001 meters Centerline goodness [0,1] 0.25937358343946293 Centerline is valid? [False, False] Translation: X:7.81, Y:0.48, Z:1.31 [[ 9.99767396e-01 8.22369315e-04 -2.15517604e-02 7.80874296e+00] [-9.14201323e-04 9.99990544e-01 -4.25149197e-03 4.77349223e-01] [ 2.15480604e-02 4.27020570e-03 9.99758694e-01 1.31255429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.09255784400005 meters Centerline goodness [0,1] 0.2628402083197141 Centerline is valid? [False, False] Translation: X:7.81, Y:0.48, Z:1.31 [[ 9.99764117e-01 6.96350682e-04 -2.17077328e-02 7.80928040e+00] [-7.97624954e-04 9.99988838e-01 -4.65704546e-03 4.79546904e-01] [ 2.17042475e-02 4.67326157e-03 9.99753513e-01 1.31221656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1225578440001 meters Centerline goodness [0,1] 0.2584264823070793 Centerline is valid? [False, False] Translation: X:7.83, Y:0.49, Z:1.31 [[ 9.99746127e-01 -4.76080398e-03 -2.20230672e-02 7.83177227e+00] [ 4.72433767e-03 9.99987382e-01 -1.70755602e-03 4.85689015e-01] [ 2.20309187e-02 1.60307811e-03 9.99756005e-01 1.31219237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.15255784400006 meters Centerline goodness [0,1] 0.25854383358098065 Centerline is valid? [False, False] Translation: X:7.83, Y:0.49, Z:1.31 [[ 9.99745642e-01 -4.92135617e-03 -2.20098013e-02 7.83171368e+00] [ 4.87474338e-03 9.99985762e-01 -2.17097138e-03 4.88154227e-01] [ 2.20201721e-02 2.06312704e-03 9.99755398e-01 1.31213745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1825578440001 meters Centerline goodness [0,1] 0.25672019924424594 Centerline is valid? [False, False] Translation: X:7.83, Y:0.49, Z:1.31 [[ 9.99746954e-01 -5.28476250e-03 -2.18654856e-02 7.83105827e+00] [ 5.21555055e-03 9.99981211e-01 -3.22116933e-03 4.93734385e-01] [ 2.18820979e-02 3.10631368e-03 9.99755732e-01 1.31238808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.21255784400006 meters Centerline goodness [0,1] 0.2565172723770387 Centerline is valid? [False, False] Translation: X:7.83, Y:0.50, Z:1.31 [[ 9.99745817e-01 -5.47669188e-03 -2.18702451e-02 7.83104330e+00] [ 5.39569829e-03 9.99978372e-01 -3.76066372e-03 4.96596302e-01] [ 2.18903680e-02 3.64170258e-03 9.99753745e-01 1.31231259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2425578440001 meters Centerline goodness [0,1] 0.25784459212422306 Centerline is valid? [False, False] Translation: X:7.83, Y:0.50, Z:1.31 [[ 9.99745127e-01 -5.66884653e-03 -2.18528253e-02 7.83091780e+00] [ 5.57740668e-03 9.99975444e-01 -4.24302984e-03 4.99054610e-01] [ 2.18763418e-02 4.12006631e-03 9.99752195e-01 1.31237376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.27255784400006 meters Centerline goodness [0,1] 0.25677244582043346 Centerline is valid? [False, False] Translation: X:7.83, Y:0.50, Z:1.31 [[ 9.99746273e-01 -5.81874329e-03 -2.17607852e-02 7.83065765e+00] [ 5.71931729e-03 9.99972933e-01 -4.62849355e-03 5.01137293e-01] [ 2.17871282e-02 4.50286234e-03 9.99752492e-01 1.31236212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30255784400003 meters Centerline goodness [0,1] 0.26122103985609324 Centerline is valid? [False, False] Translation: X:7.83, Y:0.51, Z:1.31 [[ 9.99750068e-01 -6.13404193e-03 -2.14982458e-02 7.82964535e+00] [ 6.01861696e-03 9.99967147e-01 -5.42963810e-03 5.05090429e-01] [ 2.15308452e-02 5.29889136e-03 9.99754142e-01 1.31280487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.33255784400006 meters Centerline goodness [0,1] 0.25205203488995087 Centerline is valid? [False, False] Translation: X:7.85, Y:0.51, Z:1.31 [[ 9.99792594e-01 1.89096558e-03 -2.02779173e-02 7.84972612e+00] [-2.02551292e-03 9.99976058e-01 -6.61668107e-03 5.05434238e-01] [ 2.02649199e-02 6.65638191e-03 9.99772487e-01 1.31395263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36255784400004 meters Centerline goodness [0,1] 0.2612256424738775 Centerline is valid? [False, False] Translation: X:7.83, Y:0.51, Z:1.31 [[ 9.99771958e-01 -6.07800488e-03 -2.04716621e-02 7.82993185e+00] [ 5.96766527e-03 9.99967360e-01 -5.44665602e-03 5.10816522e-01] [ 2.05040987e-02 5.32324593e-03 9.99775597e-01 1.31210599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.39255784400007 meters Centerline goodness [0,1] 0.2624891209747606 Centerline is valid? [False, False] Translation: X:7.83, Y:0.51, Z:1.31 [[ 9.99769368e-01 -6.16505629e-03 -2.05718979e-02 7.83001140e+00] [ 6.04864411e-03 9.99965369e-01 -5.71622957e-03 5.12434816e-01] [ 2.06064264e-02 5.59047913e-03 9.99772035e-01 1.31232669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42255784400004 meters Centerline goodness [0,1] 0.25657908847184985 Centerline is valid? [False, False] Translation: X:7.85, Y:0.51, Z:1.31 [[ 9.99804331e-01 2.08813411e-03 -1.96707874e-02 7.85087138e+00] [-2.21633308e-03 9.99976434e-01 -6.49768141e-03 5.11778892e-01] [ 1.96567558e-02 6.54000703e-03 9.99785397e-01 1.31323508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.45255784400007 meters Centerline goodness [0,1] 0.2561958601122025 Centerline is valid? [False, False] Translation: X:7.85, Y:0.51, Z:1.31 [[ 9.99806559e-01 2.02886873e-03 -1.95634346e-02 7.85036138e+00] [-2.15865644e-03 9.99975788e-01 -6.61536514e-03 5.12415893e-01] [ 1.95495392e-02 6.65631619e-03 9.99786732e-01 1.31362582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48255784400004 meters Centerline goodness [0,1] 0.2617277011543949 Centerline is valid? [False, False] Translation: X:7.85, Y:0.51, Z:1.31 [[ 9.99809540e-01 1.92958548e-03 -1.94206239e-02 7.84978995e+00] [-2.06165139e-03 9.99974873e-01 -6.78256953e-03 5.13033396e-01] [ 1.94070484e-02 6.82131628e-03 9.99788396e-01 1.31399687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.51255784400007 meters Centerline goodness [0,1] 0.2582075735721513 Centerline is valid? [False, False] Translation: X:7.85, Y:0.51, Z:1.31 [[ 9.99809742e-01 1.89835871e-03 -1.94132973e-02 7.84990538e+00] [-2.03218489e-03 9.99974294e-01 -6.87612905e-03 5.13650275e-01] [ 1.93997449e-02 6.91427222e-03 9.99787899e-01 1.31380940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54255784400004 meters Centerline goodness [0,1] 0.2613024991322458 Centerline is valid? [False, False] Translation: X:7.85, Y:0.51, Z:1.31 [[ 9.99809790e-01 1.84029594e-03 -1.94163898e-02 7.84991271e+00] [-1.97702036e-03 9.99973371e-01 -7.02485765e-03 5.14433219e-01] [ 1.94029449e-02 7.06190805e-03 9.99786805e-01 1.31380667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5725578440001 meters Centerline goodness [0,1] 0.2607659131791682 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.31 [[ 9.99809535e-01 1.75734921e-03 -1.94372380e-02 7.85014426e+00] [-1.89773685e-03 9.99972232e-01 -7.20652716e-03 5.15242421e-01] [ 1.94240339e-02 7.24204133e-03 9.99785107e-01 1.31348104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60255784400005 meters Centerline goodness [0,1] 0.2584403490915391 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.31 [[ 9.99808992e-01 1.69658268e-03 -1.94705384e-02 7.85023590e+00] [-1.84001688e-03 9.99971287e-01 -7.35118110e-03 5.15889850e-01] [ 1.94575075e-02 7.38560308e-03 9.99783406e-01 1.31342502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6325578440001 meters Centerline goodness [0,1] 0.2605084045491117 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.31 [[ 9.99809292e-01 1.63486647e-03 -1.94604126e-02 7.85026792e+00] [-1.78184153e-03 9.99970005e-01 -7.53757338e-03 5.16922278e-01] [ 1.94475059e-02 7.57081127e-03 9.99782215e-01 1.31329695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66255784400005 meters Centerline goodness [0,1] 0.260022043092084 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.31 [[ 9.99786294e-01 3.11413270e-03 -2.04369575e-02 7.85445884e+00] [-3.24530466e-03 9.99974328e-01 -6.38834658e-03 5.20264823e-01] [ 2.04165387e-02 6.45330550e-03 9.99770734e-01 1.31137774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6925578440001 meters Centerline goodness [0,1] 0.2567460061493474 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.31 [[ 9.99784578e-01 2.96751094e-03 -2.05424236e-02 7.85491076e+00] [-3.10749897e-03 9.99972146e-01 -6.78601825e-03 5.22221232e-01] [ 2.05217138e-02 6.84839195e-03 9.99765952e-01 1.31101694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72255784400005 meters Centerline goodness [0,1] 0.25971383423166006 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.31 [[ 9.99784314e-01 2.79984946e-03 -2.05787734e-02 7.85498397e+00] [-2.94805046e-03 9.99969915e-01 -7.17483882e-03 5.23878857e-01] [ 2.05580658e-02 7.23395857e-03 9.99762490e-01 1.31096853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7525578440001 meters Centerline goodness [0,1] 0.2546072604438363 Centerline is valid? [False, False] Translation: X:7.87, Y:0.53, Z:1.31 [[ 9.99785575e-01 -5.07180385e-03 -2.00768795e-02 7.87334576e+00] [ 4.94754149e-03 9.99968328e-01 -6.23416613e-03 5.31211373e-01] [ 2.01078621e-02 6.13349818e-03 9.99779003e-01 1.31248697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78255784400005 meters Centerline goodness [0,1] 0.2546072604438363 Centerline is valid? [False, False] Translation: X:7.87, Y:0.53, Z:1.31 [[ 9.99785575e-01 -5.07180385e-03 -2.00768795e-02 7.87334576e+00] [ 4.94754149e-03 9.99968328e-01 -6.23416613e-03 5.31211373e-01] [ 2.01078621e-02 6.13349818e-03 9.99779003e-01 1.31248697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8125578440001 meters Centerline goodness [0,1] 0.2539090148639084 Centerline is valid? [False, False] Translation: X:7.87, Y:0.53, Z:1.31 [[ 9.99788559e-01 -5.14247193e-03 -1.99095792e-02 7.87269015e+00] [ 5.01530462e-03 9.99966738e-01 -6.43191411e-03 5.32368677e-01] [ 1.99419930e-02 6.33070154e-03 9.99781096e-01 1.31278091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84255784400005 meters Centerline goodness [0,1] 0.25820554789800143 Centerline is valid? [False, False] Translation: X:7.87, Y:0.53, Z:1.31 [[ 9.99787755e-01 -5.26254222e-03 -1.99186101e-02 7.87251669e+00] [ 5.12933511e-03 9.99964179e-01 -6.73276262e-03 5.34032126e-01] [ 1.99533280e-02 6.62916440e-03 9.99778935e-01 1.31306515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8725578440001 meters Centerline goodness [0,1] 0.2629246354030216 Centerline is valid? [False, False] Translation: X:7.85, Y:0.53, Z:1.31 [[ 9.99778416e-01 2.69116063e-03 -2.08776444e-02 7.85384907e+00] [-2.86334851e-03 9.99962099e-01 -8.22197187e-03 5.28484533e-01] [ 2.08547264e-02 8.27992998e-03 9.99748230e-01 1.31155006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90255784400006 meters Centerline goodness [0,1] 0.2669924958370278 Centerline is valid? [False, False] Translation: X:7.87, Y:0.53, Z:1.31 [[ 9.99760960e-01 -5.43281220e-03 -2.11780114e-02 7.87305746e+00] [ 5.27717015e-03 9.99958708e-01 -7.39820056e-03 5.34755946e-01] [ 2.12173299e-02 7.28467213e-03 9.99748348e-01 1.31310393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9325578440001 meters Centerline goodness [0,1] 0.2560257096946974 Centerline is valid? [False, False] Translation: X:7.87, Y:0.54, Z:1.31 [[ 9.99759104e-01 -5.46699871e-03 -2.12566652e-02 7.87287170e+00] [ 5.30907542e-03 9.99957940e-01 -7.47870326e-03 5.35487583e-01] [ 2.12966573e-02 7.36404843e-03 9.99746079e-01 1.31368436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96255784400006 meters Centerline goodness [0,1] 0.257532956685499 Centerline is valid? [False, False] Translation: X:7.87, Y:0.54, Z:1.31 [[ 9.99759546e-01 -5.43762382e-03 -2.12434253e-02 7.87270170e+00] [ 5.28087495e-03 9.99958469e-01 -7.42784390e-03 5.35469721e-01] [ 2.12829329e-02 7.31387397e-03 9.99746740e-01 1.31391382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9925578440001 meters Centerline goodness [0,1] 0.2698900811305941 Centerline is valid? [False, False] Translation: X:7.83, Y:0.53, Z:1.31 [[ 9.99702561e-01 -5.99111850e-03 -2.36409690e-02 7.82725561e+00] [ 5.80302154e-03 9.99951025e-01 -8.01699760e-03 5.31127720e-01] [ 2.36878420e-02 7.87742398e-03 9.99688368e-01 1.31424275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02255784400006 meters Centerline goodness [0,1] 0.2575940367960705 Centerline is valid? [False, False] Translation: X:7.85, Y:0.53, Z:1.32 [[ 9.99718197e-01 1.54965411e-03 -2.36880885e-02 7.84754784e+00] [-1.76332944e-03 9.99957925e-01 -9.00214542e-03 5.27197172e-01] [ 2.36731416e-02 9.04137849e-03 9.99678866e-01 1.31568902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.05255784400003 meters Centerline goodness [0,1] 0.2574410846873991 Centerline is valid? [False, False] Translation: X:7.85, Y:0.53, Z:1.32 [[ 9.99716310e-01 1.58913037e-03 -2.37649615e-02 7.84765936e+00] [-1.79724442e-03 9.99960204e-01 -8.73838718e-03 5.25676910e-01] [ 2.37501293e-02 8.77861963e-03 9.99679382e-01 1.31588169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08255784400006 meters Centerline goodness [0,1] 0.25880630436654894 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.32 [[ 9.99719139e-01 1.62286974e-03 -2.36433976e-02 7.84727745e+00] [-1.82292378e-03 9.99962702e-01 -8.44221212e-03 5.24083289e-01] [ 2.36288152e-02 8.48294114e-03 9.99684810e-01 1.31610543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.11255784400004 meters Centerline goodness [0,1] 0.2592456579970621 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.32 [[ 9.99727003e-01 1.49584516e-03 -2.33169791e-02 7.84623398e+00] [-1.68232594e-03 9.99966744e-01 -7.98007592e-03 5.20989738e-01] [ 2.33042667e-02 8.01712415e-03 9.99696272e-01 1.31667576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14255784400007 meters Centerline goodness [0,1] 0.25765448533516555 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.32 [[ 9.99725367e-01 1.58184587e-03 -2.33813591e-02 7.84638753e+00] [-1.76184753e-03 9.99968957e-01 -7.67991754e-03 5.19392479e-01] [ 2.33684848e-02 7.71900278e-03 9.99697120e-01 1.31674842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.17255784400004 meters Centerline goodness [0,1] 0.25870399930972 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.32 [[ 9.99724891e-01 1.63488474e-03 -2.33980455e-02 7.84651287e+00] [-1.81096098e-03 9.99970189e-01 -7.50604442e-03 5.18353903e-01] [ 2.33850765e-02 7.54635240e-03 9.99698050e-01 1.31665575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20255784400007 meters Centerline goodness [0,1] 0.2584669846957498 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.32 [[ 9.99722627e-01 1.69012363e-03 -2.34907103e-02 7.84722737e+00] [-1.86426761e-03 9.99970931e-01 -7.39339125e-03 5.17706805e-01] [ 2.34775317e-02 7.43513349e-03 9.99696716e-01 1.31588227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.23255784400004 meters Centerline goodness [0,1] 0.26930847943687675 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.32 [[ 9.99722460e-01 1.71569583e-03 -2.34959281e-02 7.84725413e+00] [-1.89023667e-03 9.99970771e-01 -7.40836360e-03 5.18003336e-01] [ 2.34825309e-02 7.45072035e-03 9.99696483e-01 1.31580193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26255784400007 meters Centerline goodness [0,1] 0.2576964477933261 Centerline is valid? [False, False] Translation: X:7.87, Y:0.52, Z:1.32 [[ 9.99713922e-01 -6.02851714e-03 -2.31458582e-02 7.86596849e+00] [ 5.88825686e-03 9.99963917e-01 -6.12322264e-03 5.23645152e-01] [ 2.31819370e-02 5.98518216e-03 9.99713347e-01 1.31723454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.29255784400004 meters Centerline goodness [0,1] 0.259590486759362 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.32 [[ 9.99733922e-01 2.15547851e-03 -2.29660398e-02 7.84673803e+00] [-2.31969168e-03 9.99971919e-01 -7.12602107e-03 5.17260298e-01] [ 2.29500349e-02 7.17739912e-03 9.99710849e-01 1.31547938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3225578440001 meters Centerline goodness [0,1] 0.25978740516922805 Centerline is valid? [False, False] Translation: X:7.85, Y:0.52, Z:1.32 [[ 9.99734427e-01 2.22061517e-03 -2.29378185e-02 7.84656975e+00] [-2.38016775e-03 9.99973148e-01 -6.93091623e-03 5.16135255e-01] [ 2.29218117e-02 6.98367143e-03 9.99712868e-01 1.31565249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.35255784400005 meters Centerline goodness [0,1] 0.2594276021051716 Centerline is valid? [False, False] Translation: X:7.85, Y:0.51, Z:1.32 [[ 9.99739013e-01 2.35811961e-03 -2.27232337e-02 7.84580027e+00] [-2.50395126e-03 9.99976440e-01 -6.39141883e-03 5.13176080e-01] [ 2.27076266e-02 6.44664862e-03 9.99721363e-01 1.31611903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3825578440001 meters Centerline goodness [0,1] 0.2584361784758782 Centerline is valid? [False, False] Translation: X:7.86, Y:0.52, Z:1.32 [[ 9.99736307e-01 -5.55678856e-03 -2.22809071e-02 7.86496569e+00] [ 5.44954521e-03 9.99973287e-01 -4.87107272e-03 5.16916675e-01] [ 2.23073794e-02 4.74836744e-03 9.99739883e-01 1.31765461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.41255784400005 meters Centerline goodness [0,1] 0.25656644202522894 Centerline is valid? [False, False] Translation: X:7.87, Y:0.52, Z:1.32 [[ 9.99736683e-01 -5.40573755e-03 -2.23011831e-02 7.86519368e+00] [ 5.30656403e-03 9.99975778e-01 -4.50379191e-03 5.15110934e-01] [ 2.23249892e-02 4.38426333e-03 9.99741153e-01 1.31741054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4425578440001 meters Centerline goodness [0,1] 0.2579263808988278 Centerline is valid? [False, False] Translation: X:7.87, Y:0.51, Z:1.32 [[ 9.99736948e-01 -5.25658850e-03 -2.23249438e-02 7.86540419e+00] [ 5.16642011e-03 9.99978271e-01 -4.09466662e-03 5.12966483e-01] [ 2.23459827e-02 3.97824947e-03 9.99742382e-01 1.31723121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.47255784400005 meters Centerline goodness [0,1] 0.2601102941176471 Centerline is valid? [False, False] Translation: X:7.85, Y:0.50, Z:1.32 [[ 9.99752130e-01 2.71615585e-03 -2.20975513e-02 7.84652260e+00] [-2.82676337e-03 9.99983626e-01 -4.97572454e-03 5.04338651e-01] [ 2.20836746e-02 5.03695575e-03 9.99743437e-01 1.31522529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5025578440001 meters Centerline goodness [0,1] 0.2525788704547408 Centerline is valid? [False, False] Translation: X:7.89, Y:0.50, Z:1.32 [[ 9.99791666e-01 2.68086648e-03 -2.02345761e-02 7.89047817e+00] [-2.77118172e-03 9.99986318e-01 -4.43669193e-03 5.01611732e-01] [ 2.02224051e-02 4.49184130e-03 9.99785416e-01 1.31572504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.53255784400005 meters Centerline goodness [0,1] 0.2543363782912412 Centerline is valid? [False, False] Translation: X:7.89, Y:0.50, Z:1.32 [[ 9.99793801e-01 2.79394531e-03 -2.01134104e-02 7.89017324e+00] [-2.87805248e-03 9.99987231e-01 -4.15391517e-03 5.00085710e-01] [ 2.01015477e-02 4.21094609e-03 9.99789076e-01 1.31575408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5625578440001 meters Centerline goodness [0,1] 0.25953270216277247 Centerline is valid? [False, False] Translation: X:7.89, Y:0.50, Z:1.32 [[ 9.99794368e-01 2.89412200e-03 -2.00709981e-02 7.89012199e+00] [-2.97377107e-03 9.99987818e-01 -3.93965570e-03 4.98895262e-01] [ 2.00593517e-02 3.99853213e-03 9.99790795e-01 1.31563423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.59255784400005 meters Centerline goodness [0,1] 0.25824151990977706 Centerline is valid? [False, False] Translation: X:7.89, Y:0.50, Z:1.32 [[ 9.99792186e-01 2.96382750e-03 -2.01693195e-02 7.89054669e+00] [-3.04139939e-03 9.99988092e-01 -3.81644714e-03 4.98240937e-01] [ 2.01577680e-02 3.87699698e-03 9.99789294e-01 1.31530150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6225578440001 meters Centerline goodness [0,1] 0.2556522490228681 Centerline is valid? [False, False] Translation: X:7.89, Y:0.50, Z:1.31 [[ 9.99773113e-01 3.47715569e-03 -2.10150614e-02 7.89314539e+00] [-3.55099215e-03 9.99987650e-01 -3.47720769e-03 4.97902871e-01] [ 2.10027111e-02 3.55104308e-03 9.99773112e-01 1.31427588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.65255784400006 meters Centerline goodness [0,1] 0.2549150931167091 Centerline is valid? [False, False] Translation: X:7.89, Y:0.50, Z:1.31 [[ 9.99772458e-01 3.57355710e-03 -2.10300397e-02 7.89335010e+00] [-3.64760407e-03 9.99987279e-01 -3.48370438e-03 4.98393813e-01] [ 2.10173229e-02 3.55962095e-03 9.99772775e-01 1.31392758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6825578440001 meters Centerline goodness [0,1] 0.2534320265094462 Centerline is valid? [False, False] Translation: X:7.89, Y:0.50, Z:1.31 [[ 9.99775767e-01 3.60276859e-03 -2.08670792e-02 7.89280806e+00] [-3.67763578e-03 9.99986934e-01 -3.55055082e-03 4.98869269e-01] [ 2.08540147e-02 3.62649618e-03 9.99775954e-01 1.31405533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.71255784400006 meters Centerline goodness [0,1] 0.2555834487534626 Centerline is valid? [False, False] Translation: X:7.89, Y:0.50, Z:1.31 [[ 9.99779142e-01 3.57385341e-03 -2.07097838e-02 7.89233337e+00] [-3.65039064e-03 9.99986643e-01 -3.65907963e-03 4.99348388e-01] [ 2.06964302e-02 3.73387029e-03 9.99778834e-01 1.31411791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7425578440001 meters Centerline goodness [0,1] 0.25383110881853543 Centerline is valid? [False, False] Translation: X:7.89, Y:0.50, Z:1.31 [[ 9.99782861e-01 3.50443442e-03 -2.05414248e-02 7.89183468e+00] [-3.58450767e-03 9.99986116e-01 -3.86261258e-03 5.00315474e-01] [ 2.05276033e-02 3.93540475e-03 9.99781541e-01 1.31415978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.77255784400006 meters Centerline goodness [0,1] 0.2589951589689913 Centerline is valid? [False, False] Translation: X:7.87, Y:0.50, Z:1.31 [[ 9.99774622e-01 -4.71185238e-03 -2.07003485e-02 7.87066145e+00] [ 4.65036306e-03 9.99984634e-01 -3.01758232e-03 5.04347891e-01] [ 2.07142488e-02 2.92063808e-03 9.99781171e-01 1.31296074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80255784400003 meters Centerline goodness [0,1] 0.2560041430205209 Centerline is valid? [False, False] Translation: X:7.89, Y:0.51, Z:1.31 [[ 9.99770708e-01 4.14879223e-03 -2.10075728e-02 7.89365722e+00] [-4.22860320e-03 9.99984005e-01 -3.75615694e-03 5.06211475e-01] [ 2.09916533e-02 3.84412837e-03 9.99772261e-01 1.31342240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.83255784400006 meters Centerline goodness [0,1] 0.2574021529597782 Centerline is valid? [False, False] Translation: X:7.89, Y:0.51, Z:1.31 [[ 9.99765346e-01 4.03154518e-03 -2.12837716e-02 7.89460311e+00] [-4.12341362e-03 9.99982364e-01 -4.27424078e-03 5.08948330e-01] [ 2.12661644e-02 4.36099960e-03 9.99764338e-01 1.31281516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86255784400004 meters Centerline goodness [0,1] 0.25466643622537155 Centerline is valid? [False, False] Translation: X:7.90, Y:0.51, Z:1.31 [[ 9.99759531e-01 3.90626395e-03 -2.15782597e-02 7.89561861e+00] [-4.01162343e-03 9.99980233e-01 -4.84154064e-03 5.12094364e-01] [ 2.15589208e-02 4.92694025e-03 9.99755439e-01 1.31218350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.89255784400007 meters Centerline goodness [0,1] 0.25535481062255116 Centerline is valid? [False, False] Translation: X:7.90, Y:0.52, Z:1.31 [[ 9.99742019e-01 4.17753870e-03 -2.23258522e-02 7.89774234e+00] [-4.29951793e-03 9.99976077e-01 -5.41838127e-03 5.19315279e-01] [ 2.23026826e-02 5.51297383e-03 9.99736064e-01 1.31147084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92255784400004 meters Centerline goodness [0,1] 0.2566277836691411 Centerline is valid? [False, False] Translation: X:7.91, Y:0.53, Z:1.31 [[ 9.99710994e-01 -2.05740506e-03 -2.39519286e-02 7.91294405e+00] [ 1.95775154e-03 9.99989334e-01 -4.18327004e-03 5.28067404e-01] [ 2.39602799e-02 4.13516913e-03 9.99704359e-01 1.31488587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.95255784400007 meters Centerline goodness [0,1] 0.25671635323684894 Centerline is valid? [False, False] Translation: X:7.91, Y:0.53, Z:1.32 [[ 9.99715363e-01 -2.18864749e-03 -2.37571632e-02 7.91210231e+00] [ 2.08282035e-03 9.99987803e-01 -4.47836702e-03 5.29603063e-01] [ 2.37666750e-02 4.42761041e-03 9.99707728e-01 1.31541488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98255784400004 meters Centerline goodness [0,1] 0.25732522928784607 Centerline is valid? [False, False] Translation: X:7.91, Y:0.53, Z:1.32 [[ 9.99721714e-01 -2.31589946e-03 -2.34761803e-02 7.91078697e+00] [ 2.20851029e-03 9.99986984e-01 -4.59928403e-03 5.30074180e-01] [ 2.34865262e-02 4.54615672e-03 9.99713817e-01 1.31645703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.01255784400007 meters Centerline goodness [0,1] 0.2513829397963796 Centerline is valid? [False, False] Translation: X:7.93, Y:0.54, Z:1.32 [[ 9.99692970e-01 -1.08319593e-02 -2.22853156e-02 7.93001276e+00] [ 1.07534862e-02 9.99935561e-01 -3.63812607e-03 5.35196597e-01] [ 2.23232876e-02 3.39736422e-03 9.99745032e-01 1.31832056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04255784400004 meters Centerline goodness [0,1] 0.2558270513820293 Centerline is valid? [False, False] Translation: X:7.93, Y:0.53, Z:1.32 [[ 9.99694614e-01 -1.09976138e-02 -2.21298576e-02 7.92947291e+00] [ 1.09215753e-02 9.99934042e-01 -3.55394944e-03 5.34331207e-01] [ 2.21674830e-02 3.31117121e-03 9.99748788e-01 1.31873676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0725578440001 meters Centerline goodness [0,1] 0.25367377720318895 Centerline is valid? [False, False] Translation: X:7.93, Y:0.53, Z:1.32 [[ 9.99684483e-01 -1.16839018e-02 -2.22355576e-02 7.92990805e+00] [ 1.16035876e-02 9.99925691e-01 -3.73758077e-03 5.33256602e-01] [ 2.22775748e-02 3.47838926e-03 9.99745773e-01 1.31872967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10255784400005 meters Centerline goodness [0,1] 0.2568345167524374 Centerline is valid? [False, False] Translation: X:7.91, Y:0.53, Z:1.32 [[ 9.99772864e-01 -4.03090999e-03 -2.09277891e-02 7.91077231e+00] [ 3.93482788e-03 9.99981539e-01 -4.63027562e-03 5.26065240e-01] [ 2.09460670e-02 4.54687667e-03 9.99770268e-01 1.31678093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1325578440001 meters Centerline goodness [0,1] 0.2536987474574457 Centerline is valid? [False, False] Translation: X:7.95, Y:0.53, Z:1.32 [[ 9.99825987e-01 -4.60087337e-03 -1.80783782e-02 7.95303065e+00] [ 4.51689666e-03 9.99978832e-01 -4.68323605e-03 5.28461491e-01] [ 1.80995425e-02 4.60076294e-03 9.99825605e-01 1.31775828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16255784400005 meters Centerline goodness [0,1] 0.25463841905419404 Centerline is valid? [False, False] Translation: X:7.95, Y:0.53, Z:1.32 [[ 9.99829015e-01 -4.55577471e-03 -1.79216740e-02 7.95234044e+00] [ 4.47539157e-03 9.99979757e-01 -4.52279986e-03 5.27646059e-01] [ 1.79419160e-02 4.44182002e-03 9.99829164e-01 1.31826422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1925578440001 meters Centerline goodness [0,1] 0.25297854591345637 Centerline is valid? [False, False] Translation: X:7.97, Y:0.52, Z:1.32 [[ 9.99831642e-01 2.99780229e-03 -1.81025253e-02 7.97128183e+00] [-3.09963284e-03 9.99979517e-01 -5.59977672e-03 5.23800173e-01] [ 1.80853675e-02 5.65494513e-03 9.99820454e-01 1.32042676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22255784400005 meters Centerline goodness [0,1] 0.2546482385056854 Centerline is valid? [False, False] Translation: X:7.97, Y:0.52, Z:1.32 [[ 9.99832363e-01 3.03792679e-03 -1.80559106e-02 7.97114807e+00] [-3.13656660e-03 9.99980299e-01 -5.43721476e-03 5.22748268e-01] [ 1.80390370e-02 5.49293685e-03 9.99822195e-01 1.32048277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2525578440001 meters Centerline goodness [0,1] 0.25538016992280155 Centerline is valid? [False, False] Translation: X:7.97, Y:0.52, Z:1.32 [[ 9.99832688e-01 3.22329518e-03 -1.80057274e-02 7.97121663e+00] [-3.31275319e-03 9.99982307e-01 -4.94069345e-03 5.20136345e-01] [ 1.79894835e-02 4.99951534e-03 9.99825676e-01 1.32021656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28255784400005 meters Centerline goodness [0,1] 0.25296729570489285 Centerline is valid? [False, False] Translation: X:7.99, Y:0.52, Z:1.32 [[ 9.99830706e-01 -4.71581458e-03 -1.77854177e-02 7.99071080e+00] [ 4.65145358e-03 9.99982490e-01 -3.65838422e-03 5.23626768e-01] [ 1.78023585e-02 3.57503683e-03 9.99835134e-01 1.32109899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3125578440001 meters Centerline goodness [0,1] 0.2555322869664717 Centerline is valid? [False, False] Translation: X:7.97, Y:0.51, Z:1.32 [[ 9.99837474e-01 2.95991653e-03 -1.77838390e-02 7.97307891e+00] [-3.04715018e-03 9.99983449e-01 -4.88012754e-03 5.14673305e-01] [ 1.77690999e-02 4.93352442e-03 9.99829945e-01 1.31860185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34255784400005 meters Centerline goodness [0,1] 0.25421384735067853 Centerline is valid? [False, False] Translation: X:7.97, Y:0.51, Z:1.32 [[ 9.99832426e-01 3.18914668e-03 -1.80263257e-02 7.97408795e+00] [-3.26318611e-03 9.99986355e-01 -4.07937401e-03 5.09672698e-01] [ 1.80130700e-02 4.13751367e-03 9.99829191e-01 1.31802218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3725578440001 meters Centerline goodness [0,1] 0.2549116760017234 Centerline is valid? [False, False] Translation: X:7.97, Y:0.51, Z:1.32 [[ 9.99829758e-01 3.39112943e-03 -1.81370990e-02 7.97469640e+00] [-3.45743426e-03 9.99987450e-01 -3.62565056e-03 5.07545089e-01] [ 1.81245763e-02 3.68774115e-03 9.99828936e-01 1.31751825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40255784400006 meters Centerline goodness [0,1] 0.2544382532072049 Centerline is valid? [False, False] Translation: X:7.98, Y:0.51, Z:1.32 [[ 9.99826538e-01 3.55386005e-03 -1.82828661e-02 7.97531208e+00] [-3.61425993e-03 9.99988117e-01 -3.27165222e-03 5.05795089e-01] [ 1.82710219e-02 3.33716374e-03 9.99827502e-01 1.31709292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4325578440001 meters Centerline goodness [0,1] 0.25260803166204215 Centerline is valid? [False, False] Translation: X:7.98, Y:0.50, Z:1.32 [[ 9.99824658e-01 3.67456664e-03 -1.83616906e-02 7.97591698e+00] [-3.73091582e-03 9.99988433e-01 -3.03553145e-03 5.04559520e-01] [ 1.83503240e-02 3.10350512e-03 9.99826802e-01 1.31643412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46255784400006 meters Centerline goodness [0,1] 0.2542838004278398 Centerline is valid? [False, False] Translation: X:7.98, Y:0.50, Z:1.32 [[ 9.99821307e-01 3.74881839e-03 -1.85283452e-02 7.97674993e+00] [-3.80462549e-03 9.99988329e-01 -2.97765366e-03 5.04255070e-01] [ 1.85169663e-02 3.04761499e-03 9.99823901e-01 1.31568731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4925578440001 meters Centerline goodness [0,1] 0.25623612380828 Centerline is valid? [False, False] Translation: X:7.98, Y:0.50, Z:1.31 [[ 9.99815406e-01 3.88265329e-03 -1.88169960e-02 7.97783891e+00] [-3.93862929e-03 9.99987926e-01 -2.93861082e-03 5.04430546e-01] [ 1.88053592e-02 3.01218155e-03 9.99818626e-01 1.31493078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52255784400006 meters Centerline goodness [0,1] 0.2557453820137022 Centerline is valid? [False, False] Translation: X:7.98, Y:0.51, Z:1.31 [[ 9.99795538e-01 4.67582688e-03 -1.96727967e-02 7.98056636e+00] [-4.72809062e-03 9.99985414e-01 -2.61097738e-03 5.05550349e-01] [ 1.96603012e-02 2.70345830e-03 9.99803063e-01 1.31368456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.55255784400003 meters Centerline goodness [0,1] 0.2515840797302231 Centerline is valid? [False, False] Translation: X:8.00, Y:0.51, Z:1.31 [[ 9.99788158e-01 -1.06872566e-03 -2.05547069e-02 8.00167270e+00] [ 1.06760309e-03 9.99999428e-01 -6.55872768e-05 5.10938995e-01] [ 2.05547653e-02 4.36291142e-05 9.99788728e-01 1.31448062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58255784400006 meters Centerline goodness [0,1] 0.2531051196607089 Centerline is valid? [False, False] Translation: X:8.00, Y:0.51, Z:1.31 [[ 9.99790597e-01 -1.11264023e-03 -2.04334227e-02 8.00116317e+00] [ 1.10720073e-03 9.99999349e-01 -2.77517395e-04 5.11951483e-01] [ 2.04337182e-02 2.54835382e-04 9.99791177e-01 1.31470468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.61255784400004 meters Centerline goodness [0,1] 0.2546155011579335 Centerline is valid? [False, False] Translation: X:8.00, Y:0.51, Z:1.32 [[ 9.99798027e-01 -1.11461548e-03 -2.00664400e-02 7.99977973e+00] [ 1.10754894e-03 9.99999321e-01 -3.63267376e-04 5.12613523e-01] [ 2.00668313e-02 3.40969441e-04 9.99798583e-01 1.31536237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64255784400007 meters Centerline goodness [0,1] 0.25102757321459157 Centerline is valid? [False, False] Translation: X:8.02, Y:0.51, Z:1.32 [[ 9.99861090e-01 6.24343809e-03 -1.54538320e-02 8.01874490e+00] [-6.26428001e-03 9.99979533e-01 -1.30061747e-03 5.13566463e-01] [ 1.54453954e-02 1.39724393e-03 9.99879737e-01 1.31588846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.67255784400004 meters Centerline goodness [0,1] 0.253122522869936 Centerline is valid? [False, False] Translation: X:8.02, Y:0.51, Z:1.32 [[ 9.99863130e-01 6.23524490e-03 -1.53246153e-02 8.01837792e+00] [-6.25570062e-03 9.99979604e-01 -1.28725416e-03 5.13552410e-01] [ 1.53162764e-02 1.38294418e-03 9.99881743e-01 1.31596629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70255784400007 meters Centerline goodness [0,1] 0.253122522869936 Centerline is valid? [False, False] Translation: X:8.02, Y:0.51, Z:1.32 [[ 9.99863130e-01 6.23524490e-03 -1.53246153e-02 8.01837792e+00] [-6.25570062e-03 9.99979604e-01 -1.28725416e-03 5.13552410e-01] [ 1.53162764e-02 1.38294418e-03 9.99881743e-01 1.31596629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.73255784400004 meters Centerline goodness [0,1] 0.2554880694143167 Centerline is valid? [False, False] Translation: X:8.00, Y:0.52, Z:1.31 [[ 9.99879617e-01 -2.46156745e-03 -1.53196684e-02 7.99634175e+00] [ 2.45239149e-03 9.99996802e-01 -6.17723658e-04 5.16301313e-01] [ 1.53211399e-02 5.80079470e-04 9.99882456e-01 1.31486971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76255784400007 meters Centerline goodness [0,1] 0.25710805107790036 Centerline is valid? [False, False] Translation: X:8.00, Y:0.52, Z:1.32 [[ 9.99879297e-01 -2.48823823e-03 -1.53362435e-02 7.99612199e+00] [ 2.48010324e-03 9.99996774e-01 -5.49438071e-04 5.15762359e-01] [ 1.53375612e-02 5.11336285e-04 9.99882242e-01 1.31533836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.79255784400004 meters Centerline goodness [0,1] 0.25321073193895827 Centerline is valid? [False, False] Translation: X:8.00, Y:0.52, Z:1.32 [[ 9.99879709e-01 -2.49266697e-03 -1.53086391e-02 7.99560998e+00] [ 2.48611928e-03 9.99996810e-01 -4.46728156e-04 5.15123514e-01] [ 1.53097038e-02 4.08615316e-04 9.99882716e-01 1.31608517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8225578440001 meters Centerline goodness [0,1] 0.25650195058517555 Centerline is valid? [False, False] Translation: X:7.99, Y:0.51, Z:1.32 [[ 9.99881497e-01 -2.52259704e-03 -1.51864523e-02 7.99488092e+00] [ 2.51685117e-03 9.99996754e-01 -3.97455501e-04 5.14739796e-01] [ 1.51874056e-02 3.59186361e-04 9.99884600e-01 1.31681802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.85255784400005 meters Centerline goodness [0,1] 0.2548515364999784 Centerline is valid? [False, False] Translation: X:7.99, Y:0.51, Z:1.32 [[ 9.99890176e-01 -2.63559405e-03 -1.45839136e-02 7.99298015e+00] [ 2.63129279e-03 9.99996489e-01 -3.14112638e-04 5.14155805e-01] [ 1.45846903e-02 2.75703594e-04 9.99893600e-01 1.31763202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8825578440001 meters Centerline goodness [0,1] 0.2555084106915936 Centerline is valid? [False, False] Translation: X:7.99, Y:0.51, Z:1.32 [[ 9.99891582e-01 -2.63953826e-03 -1.44864303e-02 7.99275199e+00] [ 2.63555615e-03 9.99996484e-01 -2.93970193e-04 5.14071933e-01] [ 1.44871553e-02 2.55758521e-04 9.99895023e-01 1.31764847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.91255784400005 meters Centerline goodness [0,1] 0.25478311511831064 Centerline is valid? [False, False] Translation: X:7.99, Y:0.51, Z:1.32 [[ 9.99891108e-01 -2.64110812e-03 -1.45188239e-02 7.99285057e+00] [ 2.63733085e-03 9.99996483e-01 -2.79303534e-04 5.14043342e-01] [ 1.45195105e-02 2.40982178e-04 9.99894557e-01 1.31762732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9425578440001 meters Centerline goodness [0,1] 0.25698906060079874 Centerline is valid? [False, False] Translation: X:7.99, Y:0.51, Z:1.32 [[ 9.99888101e-01 -2.68305389e-03 -1.47168893e-02 7.99349203e+00] [ 2.67767802e-03 9.99996341e-01 -3.84978020e-04 5.14510291e-01] [ 1.47178684e-02 3.45527850e-04 9.99891627e-01 1.31736746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.97255784400005 meters Centerline goodness [0,1] 0.2525165619891594 Centerline is valid? [False, False] Translation: X:8.01, Y:0.51, Z:1.32 [[ 9.99874315e-01 4.71033936e-03 -1.51382536e-02 8.01297863e+00] [-4.74123090e-03 9.99986749e-01 -2.00538697e-03 5.11672313e-01] [ 1.51286070e-02 2.07690887e-03 9.99883399e-01 1.31960155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0025578440001 meters Centerline goodness [0,1] 0.25607121251404374 Centerline is valid? [False, False] Translation: X:8.01, Y:0.51, Z:1.32 [[ 9.99875114e-01 4.70074197e-03 -1.50883598e-02 8.01284672e+00] [-4.73094176e-03 9.99986876e-01 -1.96646006e-03 5.11072853e-01] [ 1.50789180e-02 2.03759663e-03 9.99884231e-01 1.31958520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.03255784400005 meters Centerline goodness [0,1] 0.2534732676674265 Centerline is valid? [False, False] Translation: X:8.01, Y:0.51, Z:1.32 [[ 9.99876647e-01 4.73594993e-03 -1.49753860e-02 8.01247542e+00] [-4.76402737e-03 9.99986960e-01 -1.83978832e-03 5.10336793e-01] [ 1.49664776e-02 1.91090452e-03 9.99886170e-01 1.31973274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0625578440001 meters Centerline goodness [0,1] 0.25741026253501553 Centerline is valid? [False, False] Translation: X:7.99, Y:0.51, Z:1.32 [[ 9.99887361e-01 -3.28820299e-03 -1.46442441e-02 7.99219037e+00] [ 3.28104374e-03 9.99994486e-01 -5.12876756e-04 5.12769918e-01] [ 1.46458498e-02 4.64770580e-04 9.99892636e-01 1.31780880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.09255784400005 meters Centerline goodness [0,1] 0.2604621839605209 Centerline is valid? [False, False] Translation: X:7.99, Y:0.51, Z:1.32 [[ 9.99884295e-01 -3.16839130e-03 -1.48780899e-02 7.99328046e+00] [ 3.16571655e-03 9.99994968e-01 -2.03325295e-04 5.11130992e-01] [ 1.48786592e-02 1.56201954e-04 9.99889294e-01 1.31702620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1225578440001 meters Centerline goodness [0,1] 0.2550190843809975 Centerline is valid? [False, False] Translation: X:7.99, Y:0.51, Z:1.32 [[ 9.99881936e-01 -3.11522762e-03 -1.50468860e-02 7.99408210e+00] [ 3.11528878e-03 9.99995147e-01 -1.93747297e-05 5.09808956e-01] [ 1.50468733e-02 -2.75029528e-05 9.99886789e-01 1.31642110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.15255784400006 meters Centerline goodness [0,1] 0.2544115752865914 Centerline is valid? [False, False] Translation: X:7.99, Y:0.51, Z:1.32 [[ 9.99883653e-01 -3.04757739e-03 -1.49463274e-02 7.99384769e+00] [ 3.05075203e-03 9.99995328e-01 1.89606920e-04 5.08544254e-01] [ 1.49456798e-02 -2.35182398e-04 9.99888279e-01 1.31639302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1825578440001 meters Centerline goodness [0,1] 0.257867247007617 Centerline is valid? [False, False] Translation: X:7.97, Y:0.50, Z:1.32 [[ 9.99881979e-01 5.06704217e-03 -1.45035446e-02 7.97369426e+00] [-5.07622153e-03 9.99986938e-01 -5.96160294e-04 5.01411694e-01] [ 1.45003344e-02 6.69713140e-04 9.99894640e-01 1.31521125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.21255784400006 meters Centerline goodness [0,1] 0.2600026265102434 Centerline is valid? [False, False] Translation: X:7.97, Y:0.50, Z:1.32 [[ 9.99880272e-01 5.20805723e-03 -1.45711477e-02 7.97384772e+00] [-5.21229750e-03 9.99986384e-01 -2.53042952e-04 4.99747465e-01] [ 1.45696314e-02 3.28961812e-04 9.99893803e-01 1.31522988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2425578440001 meters Centerline goodness [0,1] 0.25220496493567957 Centerline is valid? [False, False] Translation: X:7.99, Y:0.50, Z:1.32 [[ 9.99879095e-01 -2.86772904e-03 -1.52830790e-02 7.99472494e+00] [ 2.87574579e-03 9.99995739e-01 5.02600288e-04 5.03866543e-01] [ 1.52815726e-02 -5.46489771e-04 9.99883081e-01 1.31585496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.27255784400006 meters Centerline goodness [0,1] 0.2558476058832423 Centerline is valid? [False, False] Translation: X:8.00, Y:0.50, Z:1.32 [[ 9.99875560e-01 -2.80002039e-03 -1.55249626e-02 7.99550431e+00] [ 2.81202808e-03 9.99995764e-01 7.51668360e-04 5.02317182e-01] [ 1.55227921e-02 -7.95231454e-04 9.99879198e-01 1.31558008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30255784400003 meters Centerline goodness [0,1] 0.25327765998874996 Centerline is valid? [False, False] Translation: X:8.00, Y:0.50, Z:1.32 [[ 9.99874708e-01 -2.67609799e-03 -1.56014687e-02 7.99567969e+00] [ 2.69415320e-03 9.99995725e-01 1.13637328e-03 5.00257041e-01] [ 1.55983609e-02 -1.17826365e-03 9.99877644e-01 1.31565013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.33255784400006 meters Centerline goodness [0,1] 0.25407629181295366 Centerline is valid? [False, False] Translation: X:8.00, Y:0.50, Z:1.32 [[ 9.99873876e-01 -2.50421654e-03 -1.56831452e-02 7.99586846e+00] [ 2.53036132e-03 9.99995442e-01 1.64744047e-03 4.97672040e-01] [ 1.56789481e-02 -1.68691671e-03 9.99875655e-01 1.31574875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36255784400004 meters Centerline goodness [0,1] 0.25499695837316416 Centerline is valid? [False, False] Translation: X:8.00, Y:0.49, Z:1.32 [[ 9.99873032e-01 -2.32998658e-03 -1.57636020e-02 7.99612899e+00] [ 2.36544347e-03 9.99994714e-01 2.23101756e-03 4.94573664e-01] [ 1.57583205e-02 -2.26802220e-03 9.99873258e-01 1.31575982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.39255784400007 meters Centerline goodness [0,1] 0.2541312508089917 Centerline is valid? [False, False] Translation: X:8.00, Y:0.49, Z:1.32 [[ 9.99855889e-01 -5.92000462e-03 -1.59108579e-02 7.99680253e+00] [ 5.91284876e-03 9.99982396e-01 -4.96752113e-04 4.88537665e-01] [ 1.59135186e-02 4.02602029e-04 9.99873291e-01 1.31552122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42255784400004 meters Centerline goodness [0,1] 0.2556458111021581 Centerline is valid? [False, False] Translation: X:7.98, Y:0.48, Z:1.31 [[ 9.99909254e-01 -3.85055303e-04 -1.34660624e-02 7.98020355e+00] [ 3.62028027e-04 9.99998468e-01 -1.71241877e-03 4.77936877e-01] [ 1.34667011e-02 1.70738829e-03 9.99907862e-01 1.31223210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.45255784400007 meters Centerline goodness [0,1] 0.2545497980280589 Centerline is valid? [False, False] Translation: X:7.98, Y:0.47, Z:1.31 [[ 9.99909938e-01 -2.57962151e-04 -1.34182619e-02 7.98013482e+00] [ 2.45882480e-04 9.99999563e-01 -9.01883075e-04 4.73156197e-01] [ 1.34184887e-02 8.98502533e-04 9.99909564e-01 1.31232477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48255784400004 meters Centerline goodness [0,1] 0.253272562319091 Centerline is valid? [False, False] Translation: X:7.98, Y:0.47, Z:1.31 [[ 9.99909188e-01 -4.89682284e-05 -1.34763928e-02 7.98030499e+00] [ 4.83509123e-05 9.99999998e-01 -4.61330324e-05 4.68236347e-01] [ 1.34763951e-02 4.54772471e-05 9.99909188e-01 1.31241059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.51255784400007 meters Centerline goodness [0,1] 0.253217586594109 Centerline is valid? [False, False] Translation: X:7.98, Y:0.46, Z:1.31 [[ 9.99911187e-01 2.50056417e-04 -1.33250292e-02 7.97997540e+00] [-2.34229251e-04 9.99999265e-01 1.18932460e-03 4.58829571e-01] [ 1.33253168e-02 -1.18609786e-03 9.99910511e-01 1.31256355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54255784400004 meters Centerline goodness [0,1] 0.2538200523028378 Centerline is valid? [False, False] Translation: X:7.98, Y:0.46, Z:1.31 [[ 9.99911361e-01 4.99544384e-04 -1.33049317e-02 7.98001067e+00] [-4.75422629e-04 9.99998238e-01 1.81609466e-03 4.55534765e-01] [ 1.33058155e-02 -1.80960822e-03 9.99909836e-01 1.31248277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5725578440001 meters Centerline goodness [0,1] 0.2551233703264735 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99911239e-01 7.09802533e-04 -1.33044871e-02 7.97998577e+00] [-6.79035155e-04 9.99997085e-01 2.31693120e-03 4.52925727e-01] [ 1.33060928e-02 -2.30769133e-03 9.99908807e-01 1.31256787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60255784400005 meters Centerline goodness [0,1] 0.2549510830831696 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99912163e-01 8.78962384e-04 -1.32247704e-02 7.97988956e+00] [-8.44016505e-04 9.99996138e-01 2.64780562e-03 4.51267293e-01] [ 1.32270467e-02 -2.63641111e-03 9.99909043e-01 1.31240372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6325578440001 meters Centerline goodness [0,1] 0.25670098614188275 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99913949e-01 1.04908739e-03 -1.30764552e-02 7.97961814e+00] [-1.01131843e-03 9.99995299e-01 2.89459535e-03 4.50253932e-01] [ 1.30794304e-02 -2.88112181e-03 9.99910310e-01 1.31222710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66255784400005 meters Centerline goodness [0,1] 0.2554575714347469 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99913797e-01 1.20192378e-03 -1.30749477e-02 7.97974797e+00] [-1.16267372e-03 9.99994797e-01 3.00911571e-03 4.49963202e-01] [ 1.30784964e-02 -2.99365442e-03 9.99909991e-01 1.31195857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6925578440001 meters Centerline goodness [0,1] 0.2580833405377366 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99911298e-01 1.72845851e-03 -1.32063804e-02 7.98046577e+00] [-1.68555316e-03 9.99993268e-01 3.25927517e-03 4.49930966e-01] [ 1.32119250e-02 -3.23672601e-03 9.99907480e-01 1.31110658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72255784400005 meters Centerline goodness [0,1] 0.2491138159299594 Centerline is valid? [False, False] Translation: X:8.00, Y:0.45, Z:1.31 [[ 9.99865300e-01 1.03161573e-02 -1.27655135e-02 8.00150480e+00] [-1.02876941e-02 9.99944450e-01 2.29335887e-03 4.47966800e-01] [ 1.27884630e-02 -2.16172226e-03 9.99915888e-01 1.31190782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7525578440001 meters Centerline goodness [0,1] 0.2565208018969606 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99922509e-01 1.92937071e-03 -1.22985576e-02 7.98040585e+00] [-1.89120115e-03 9.99993362e-01 3.11445484e-03 4.51386661e-01] [ 1.23044849e-02 -3.09095445e-03 9.99919520e-01 1.31068615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78255784400005 meters Centerline goodness [0,1] 0.2577665282104534 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99924078e-01 1.92513118e-03 -1.21709140e-02 7.97979104e+00] [-1.88698235e-03 9.99993274e-01 3.14513290e-03 4.51018900e-01] [ 1.21768869e-02 -3.12192782e-03 9.99920985e-01 1.31112608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8125578440001 meters Centerline goodness [0,1] 0.2572999415571766 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99924534e-01 1.95036075e-03 -1.21294237e-02 7.97946184e+00] [-1.90856865e-03 9.99992206e-01 3.45613603e-03 4.48860777e-01] [ 1.21360698e-02 -3.43272537e-03 9.99920463e-01 1.31152657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84255784400005 meters Centerline goodness [0,1] 0.2572259352486763 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99924411e-01 2.03731342e-03 -1.21252273e-02 7.97944253e+00] [-1.99261351e-03 9.99991179e-01 3.69746136e-03 4.47773399e-01] [ 1.21326533e-02 -3.67302098e-03 9.99919651e-01 1.31155070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8725578440001 meters Centerline goodness [0,1] 0.26878429486478805 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99923976e-01 2.13284959e-03 -1.21446689e-02 7.97948192e+00] [-2.08564778e-03 9.99990228e-01 3.89796714e-03 4.47123073e-01] [ 1.21528640e-02 -3.87234130e-03 9.99918653e-01 1.31161053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90255784400006 meters Centerline goodness [0,1] 0.2560880660928241 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99924856e-01 2.14736224e-03 -1.20694153e-02 7.97937603e+00] [-2.09968555e-03 9.99989949e-01 3.96149140e-03 4.46985846e-01] [ 1.20778008e-02 -3.93585174e-03 9.99919315e-01 1.31151201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9325578440001 meters Centerline goodness [0,1] 0.2577629671304611 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99925368e-01 2.11568534e-03 -1.20325301e-02 7.97926320e+00] [-2.06874046e-03 9.99990206e-01 3.91260699e-03 4.47142618e-01] [ 1.20406901e-02 -3.88742281e-03 9.99919952e-01 1.31156103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96255784400006 meters Centerline goodness [0,1] 0.2548014813538886 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99925501e-01 2.01336435e-03 -1.20390925e-02 7.97868651e+00] [-1.96851989e-03 9.99991085e-01 3.73559435e-03 4.47713707e-01] [ 1.20465063e-02 -3.71161686e-03 9.99920550e-01 1.31244926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9925578440001 meters Centerline goodness [0,1] 0.2686127885936035 Centerline is valid? [False, False] Translation: X:7.96, Y:0.45, Z:1.31 [[ 9.99899645e-01 -6.37744819e-03 -1.26502441e-02 7.95778418e+00] [ 6.43968065e-03 9.99967334e-01 4.88484932e-03 4.50681843e-01] [ 1.26186780e-02 -4.96582263e-03 9.99908051e-01 1.31149720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02255784400006 meters Centerline goodness [0,1] 0.25669546436285096 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99924756e-01 1.89801787e-03 -1.21194052e-02 7.97783688e+00] [-1.85229519e-03 9.99991130e-01 3.78279473e-03 4.48863115e-01] [ 1.21264776e-02 -3.76006138e-03 9.99919402e-01 1.31273059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.05255784400003 meters Centerline goodness [0,1] 0.26685905224787365 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99924738e-01 1.88019463e-03 -1.21236221e-02 7.97792296e+00] [-1.83425858e-03 9.99991102e-01 3.79897729e-03 4.48581808e-01] [ 1.21306570e-02 -3.77645352e-03 9.99919290e-01 1.31259193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08255784400006 meters Centerline goodness [0,1] 0.26776891739620357 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99923568e-01 1.90370075e-03 -1.22161675e-02 7.97819807e+00] [-1.85576814e-03 9.99990540e-01 3.93383932e-03 4.47616851e-01] [ 1.22235408e-02 -3.91086827e-03 9.99917642e-01 1.31252843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.11255784400004 meters Centerline goodness [0,1] 0.2569682257575101 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:1.31 [[ 9.99921885e-01 1.95169242e-03 -1.23456229e-02 7.97859057e+00] [-1.90035099e-03 9.99989504e-01 4.16903988e-03 4.46139100e-01] [ 1.23536300e-02 -4.14525320e-03 9.99915099e-01 1.31243744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14255784400007 meters Centerline goodness [0,1] 0.2537499195296238 Centerline is valid? [False, False] Translation: X:7.98, Y:0.44, Z:1.31 [[ 9.99912259e-01 1.98369229e-03 -1.30973182e-02 7.98073611e+00] [-1.92348478e-03 9.99987534e-01 4.60793120e-03 4.43641497e-01] [ 1.31062957e-02 -4.58233440e-03 9.99903609e-01 1.31200759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.17255784400004 meters Centerline goodness [0,1] 0.2549053393353292 Centerline is valid? [False, False] Translation: X:7.98, Y:0.44, Z:1.31 [[ 9.99911989e-01 2.06355937e-03 -1.31055478e-02 7.98087013e+00] [-2.00041298e-03 9.99986337e-01 4.82957708e-03 4.42476520e-01] [ 1.31153349e-02 -4.80293552e-03 9.99902455e-01 1.31189972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20255784400007 meters Centerline goodness [0,1] 0.26851066605779894 Centerline is valid? [False, False] Translation: X:7.98, Y:0.44, Z:1.31 [[ 9.99913091e-01 2.12725914e-03 -1.30109892e-02 7.98064317e+00] [-2.06171880e-03 9.99985130e-01 5.04864684e-03 4.41119975e-01] [ 1.30215355e-02 -5.02138307e-03 9.99902608e-01 1.31193398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.23255784400004 meters Centerline goodness [0,1] 0.2658435149869631 Centerline is valid? [False, False] Translation: X:7.98, Y:0.44, Z:1.31 [[ 9.99912543e-01 2.14988053e-03 -1.30493121e-02 7.98075011e+00] [-2.08197169e-03 9.99984233e-01 5.21537198e-03 4.39773521e-01] [ 1.30603188e-02 -5.18774756e-03 9.99901253e-01 1.31195663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26255784400007 meters Centerline goodness [0,1] 0.254496615450736 Centerline is valid? [False, False] Translation: X:7.98, Y:0.44, Z:1.31 [[ 9.99910451e-01 2.19401479e-03 -1.32014047e-02 7.98121752e+00] [-2.12305476e-03 9.99983237e-01 5.38680278e-03 4.38650252e-01] [ 1.32130022e-02 -5.35829309e-03 9.99898347e-01 1.31183665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.29255784400004 meters Centerline goodness [0,1] 0.2673155715493507 Centerline is valid? [False, False] Translation: X:7.98, Y:0.44, Z:1.31 [[ 9.99910199e-01 2.24571488e-03 -1.32117680e-02 7.98126539e+00] [-2.17312835e-03 9.99982481e-01 5.50587440e-03 4.38037908e-01] [ 1.32239011e-02 -5.47666910e-03 9.99897562e-01 1.31175357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3225578440001 meters Centerline goodness [0,1] 0.26641708203643644 Centerline is valid? [False, False] Translation: X:7.98, Y:0.44, Z:1.31 [[ 9.99912139e-01 2.35845822e-03 -1.30442160e-02 7.98080217e+00] [-2.28423918e-03 9.99981136e-01 5.70177933e-03 4.37303443e-01] [ 1.30574173e-02 -5.67148225e-03 9.99898664e-01 1.31184415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.35255784400005 meters Centerline goodness [0,1] 0.2682852543184092 Centerline is valid? [False, False] Translation: X:7.98, Y:0.44, Z:1.31 [[ 9.99913434e-01 2.36150943e-03 -1.29440367e-02 7.98056771e+00] [-2.28711337e-03 9.99980800e-01 5.75930920e-03 4.36677178e-01] [ 1.29573888e-02 -5.72920616e-03 9.99899636e-01 1.31183068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3825578440001 meters Centerline goodness [0,1] 0.2650047360716439 Centerline is valid? [False, False] Translation: X:8.00, Y:0.43, Z:1.31 [[ 9.99874380e-01 1.04270065e-02 -1.19374349e-02 8.00026417e+00] [-1.03762477e-02 9.99936893e-01 4.30613803e-03 4.33299441e-01] [ 1.19815817e-02 -4.18173131e-03 9.99919474e-01 1.31316394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.41255784400005 meters Centerline goodness [0,1] 0.2548058315056122 Centerline is valid? [False, False] Translation: X:8.00, Y:0.43, Z:1.31 [[ 9.99874559e-01 1.04389522e-02 -1.19119897e-02 8.00019612e+00] [-1.03874513e-02 9.99936469e-01 4.37716289e-03 4.32627800e-01] [ 1.19569260e-02 -4.25287859e-03 9.99919469e-01 1.31313568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4425578440001 meters Centerline goodness [0,1] 0.26870851589952716 Centerline is valid? [False, False] Translation: X:7.98, Y:0.44, Z:1.31 [[ 9.99925844e-01 1.65887277e-03 -1.20646322e-02 7.97918832e+00] [-1.59615011e-03 9.99985171e-01 5.20665871e-03 4.35169012e-01] [ 1.20730905e-02 -5.18701564e-03 9.99913664e-01 1.31190602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.47255784400005 meters Centerline goodness [0,1] 0.26649608604202357 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:1.31 [[ 9.99926867e-01 1.74800332e-03 -1.19668208e-02 7.97881700e+00] [-1.68288368e-03 9.99983735e-01 5.44959174e-03 4.33966733e-01] [ 1.19761521e-02 -5.42905443e-03 9.99913545e-01 1.31211348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5025578440001 meters Centerline goodness [0,1] 0.25591633380578105 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:1.31 [[ 9.99926999e-01 1.77222332e-03 -1.19521955e-02 7.97863915e+00] [-1.70604979e-03 9.99983174e-01 5.54444189e-03 4.33405260e-01] [ 1.19618204e-02 -5.52364610e-03 9.99913198e-01 1.31237773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.53255784400005 meters Centerline goodness [0,1] 0.26485217803234207 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:1.31 [[ 9.99927773e-01 1.79509599e-03 -1.18838909e-02 7.97829860e+00] [-1.72801239e-03 9.99982530e-01 5.65278257e-03 4.32711715e-01] [ 1.18938305e-02 -5.63183877e-03 9.99913406e-01 1.31265561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5625578440001 meters Centerline goodness [0,1] 0.264155805114771 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:1.31 [[ 9.99928981e-01 1.82740798e-03 -1.17768502e-02 7.97786509e+00] [-1.75923014e-03 9.99981650e-01 5.79690194e-03 4.31844472e-01] [ 1.17872274e-02 -5.77577206e-03 9.99913847e-01 1.31293135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.59255784400005 meters Centerline goodness [0,1] 0.264155805114771 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:1.31 [[ 9.99928981e-01 1.82740798e-03 -1.17768502e-02 7.97786509e+00] [-1.75923014e-03 9.99981650e-01 5.79690194e-03 4.31844472e-01] [ 1.17872274e-02 -5.77577206e-03 9.99913847e-01 1.31293135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6225578440001 meters Centerline goodness [0,1] 0.2670712218718957 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:1.31 [[ 9.99929831e-01 1.90104832e-03 -1.16926721e-02 7.97751396e+00] [-1.83074778e-03 9.99980203e-01 6.02012724e-03 4.30704439e-01] [ 1.17038852e-02 -5.99829848e-03 9.99913516e-01 1.31320043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.65255784400006 meters Centerline goodness [0,1] 0.2679195329962457 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:1.31 [[ 9.99930212e-01 1.99110651e-03 -1.16450604e-02 7.97729860e+00] [-1.91767394e-03 9.99978230e-01 6.31366940e-03 4.29134787e-01] [ 1.16573781e-02 -6.29089735e-03 9.99912261e-01 1.31341333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6825578440001 meters Centerline goodness [0,1] 0.26832755632582317 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:1.31 [[ 9.99935868e-01 1.98410076e-03 -1.11500776e-02 7.97583212e+00] [-1.90711940e-03 9.99974304e-01 6.91050646e-03 4.25309421e-01] [ 1.11635022e-02 -6.88879875e-03 9.99913957e-01 1.31409336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.71255784400006 meters Centerline goodness [0,1] 0.2645978739396543 Centerline is valid? [False, False] Translation: X:7.98, Y:0.42, Z:1.31 [[ 9.99935271e-01 2.02088806e-03 -1.11968921e-02 7.97589973e+00] [-1.93981534e-03 9.99971860e-01 7.24678038e-03 4.23067704e-01] [ 1.12112219e-02 -7.22459140e-03 9.99911053e-01 1.31426913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7425578440001 meters Centerline goodness [0,1] 0.2661923242777059 Centerline is valid? [False, False] Translation: X:7.98, Y:0.42, Z:1.31 [[ 9.99933686e-01 2.10305113e-03 -1.13226060e-02 7.97629673e+00] [-2.01711464e-03 9.99969116e-01 7.59589352e-03 4.20982657e-01] [ 1.13382309e-02 -7.57255081e-03 9.99907046e-01 1.31420581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.77255784400006 meters Centerline goodness [0,1] 0.2655082051722657 Centerline is valid? [False, False] Translation: X:7.98, Y:0.42, Z:1.31 [[ 9.99931682e-01 2.20445172e-03 -1.14791602e-02 7.97683731e+00] [-2.11304915e-03 9.99966018e-01 7.96852922e-03 4.18907178e-01] [ 1.14963364e-02 -7.94372880e-03 9.99902361e-01 1.31401294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80255784400003 meters Centerline goodness [0,1] 0.26556284270508546 Centerline is valid? [False, False] Translation: X:7.98, Y:0.42, Z:1.31 [[ 9.99930040e-01 2.35210747e-03 -1.15923684e-02 7.97726144e+00] [-2.25456563e-03 9.99962008e-01 8.42021254e-03 4.16657915e-01] [ 1.16117332e-02 -8.39348771e-03 9.99897353e-01 1.31381475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.83255784400006 meters Centerline goodness [0,1] 0.2667341270695631 Centerline is valid? [False, False] Translation: X:7.98, Y:0.41, Z:1.31 [[ 9.99928793e-01 2.48638065e-03 -1.16715927e-02 7.97754639e+00] [-2.38312128e-03 9.99957975e-01 8.85265351e-03 4.14363600e-01] [ 1.16931133e-02 -8.82420832e-03 9.99892696e-01 1.31377286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86255784400004 meters Centerline goodness [0,1] 0.267356014161126 Centerline is valid? [False, False] Translation: X:7.98, Y:0.41, Z:1.31 [[ 9.99935403e-01 -1.25184407e-03 -1.12969982e-02 7.97664181e+00] [ 1.31372833e-03 9.99984165e-01 5.47218134e-03 4.11738906e-01] [ 1.12899690e-02 -5.48666904e-03 9.99921213e-01 1.31381923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.89255784400007 meters Centerline goodness [0,1] 0.2685916348490107 Centerline is valid? [False, False] Translation: X:7.98, Y:0.41, Z:1.31 [[ 9.99934312e-01 -1.11357038e-03 -1.14074923e-02 7.97681178e+00] [ 1.18119738e-03 9.99981760e-01 5.92327507e-03 4.09253536e-01] [ 1.14006883e-02 -5.93636048e-03 9.99917389e-01 1.31406150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92255784400004 meters Centerline goodness [0,1] 0.27000739805909746 Centerline is valid? [False, False] Translation: X:7.98, Y:0.41, Z:1.31 [[ 9.99932955e-01 -9.60680061e-04 -1.15396168e-02 7.97722779e+00] [ 1.03417226e-03 9.99979212e-01 6.36440819e-03 4.06956144e-01] [ 1.15332627e-02 -6.37591544e-03 9.99913162e-01 1.31394451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.95255784400007 meters Centerline goodness [0,1] 0.26647126015646894 Centerline is valid? [False, False] Translation: X:8.00, Y:0.40, Z:1.31 [[ 9.99898640e-01 7.14723173e-03 -1.23136782e-02 7.99849291e+00] [-7.07813110e-03 9.99959010e-01 5.64616833e-03 4.01185560e-01] [ 1.23535280e-02 -5.55843821e-03 9.99908243e-01 1.31491670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98255784400004 meters Centerline goodness [0,1] 0.26719993100623096 Centerline is valid? [False, False] Translation: X:8.00, Y:0.40, Z:1.31 [[ 9.99913461e-01 4.05916410e-03 -1.25137430e-02 7.99940963e+00] [-4.02755804e-03 9.99988638e-01 2.54987503e-03 4.00558066e-01] [ 1.25239512e-02 -2.49925454e-03 9.99918449e-01 1.31421463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.01255784400007 meters Centerline goodness [0,1] 0.26831430548348034 Centerline is valid? [False, False] Translation: X:8.00, Y:0.40, Z:1.31 [[ 9.99926182e-01 5.39612688e-04 -1.21383272e-02 7.99881730e+00] [-5.47887828e-04 9.99999620e-01 -6.78421470e-04 3.98019440e-01] [ 1.21379565e-02 6.85021832e-04 9.99926098e-01 1.31374508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04255784400004 meters Centerline goodness [0,1] 0.2664179584485753 Centerline is valid? [False, False] Translation: X:8.00, Y:0.40, Z:1.31 [[ 9.99927227e-01 6.95527870e-04 -1.20439239e-02 7.99839409e+00] [-6.98404223e-04 9.99999729e-01 -2.34617663e-04 3.95631678e-01] [ 1.20437574e-02 2.43012117e-04 9.99927442e-01 1.31406231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0725578440001 meters Centerline goodness [0,1] 0.2669870482511907 Centerline is valid? [False, False] Translation: X:8.00, Y:0.39, Z:1.31 [[ 9.99928350e-01 8.79551781e-04 -1.19382272e-02 7.99788453e+00] [-8.76575277e-04 9.99999583e-01 2.54555707e-04 3.93111469e-01] [ 1.19384462e-02 -2.44072713e-04 9.99928704e-01 1.31447749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10255784400005 meters Centerline goodness [0,1] 0.26829321235537995 Centerline is valid? [False, False] Translation: X:8.00, Y:0.39, Z:1.31 [[ 9.99928691e-01 1.04904555e-03 -1.18959004e-02 7.99769297e+00] [-1.04034542e-03 9.99999187e-01 7.37519672e-04 3.90571907e-01] [ 1.18966644e-02 -7.25091235e-04 9.99928969e-01 1.31467630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1325578440001 meters Centerline goodness [0,1] 0.26650166792209184 Centerline is valid? [False, False] Translation: X:8.00, Y:0.39, Z:1.31 [[ 9.99927142e-01 1.16423682e-03 -1.20147603e-02 7.99805848e+00] [-1.15084576e-03 9.99998709e-01 1.12140370e-03 3.88367192e-01] [ 1.20160503e-02 -1.10749486e-03 9.99927191e-01 1.31455353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16255784400005 meters Centerline goodness [0,1] 0.2662460297021203 Centerline is valid? [False, False] Translation: X:8.00, Y:0.39, Z:1.31 [[ 9.99924477e-01 1.28025092e-03 -1.22230018e-02 7.99886335e+00] [-1.26268089e-03 9.99998159e-01 1.44506506e-03 3.86530170e-01] [ 1.22248293e-02 -1.42952218e-03 9.99924252e-01 1.31412592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1925578440001 meters Centerline goodness [0,1] 0.2650222869878279 Centerline is valid? [False, False] Translation: X:8.00, Y:0.38, Z:1.31 [[ 9.99921660e-01 1.47772625e-03 -1.24293868e-02 7.99965915e+00] [-1.45409311e-03 9.99997118e-01 1.91021514e-03 3.83986117e-01] [ 1.24321737e-02 -1.89199201e-03 9.99920928e-01 1.31373672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22255784400005 meters Centerline goodness [0,1] 0.26653633805237487 Centerline is valid? [False, False] Translation: X:8.00, Y:0.38, Z:1.31 [[ 9.99922081e-01 1.49010481e-03 -1.23940112e-02 7.99952882e+00] [-1.46561762e-03 9.99996957e-01 1.98457539e-03 3.83258017e-01] [ 1.23969307e-02 -1.96625587e-03 9.99921222e-01 1.31377892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2525578440001 meters Centerline goodness [0,1] 0.2672235172235172 Centerline is valid? [False, False] Translation: X:8.00, Y:0.38, Z:1.31 [[ 9.99924310e-01 1.51851411e-03 -1.22093736e-02 7.99891426e+00] [-1.49378033e-03 9.99996814e-01 2.03466661e-03 3.82866201e-01] [ 1.22124243e-02 -2.01627449e-03 9.99923393e-01 1.31400122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28255784400005 meters Centerline goodness [0,1] 0.2703428559052219 Centerline is valid? [False, False] Translation: X:8.00, Y:0.38, Z:1.31 [[ 9.99926215e-01 1.58923567e-03 -1.20431976e-02 7.99830523e+00] [-1.56332028e-03 9.99996443e-01 2.16097756e-03 3.82373155e-01] [ 1.20465890e-02 -2.14199074e-03 9.99925143e-01 1.31429464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3125578440001 meters Centerline goodness [0,1] 0.2667826684711392 Centerline is valid? [False, False] Translation: X:8.00, Y:0.38, Z:1.31 [[ 9.99926905e-01 1.68546002e-03 -1.19725962e-02 7.99802905e+00] [-1.65772310e-03 9.99995920e-01 2.32624621e-03 3.81893805e-01] [ 1.19764681e-02 -2.30622892e-03 9.99925620e-01 1.31445689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34255784400005 meters Centerline goodness [0,1] 0.26695470862621185 Centerline is valid? [False, False] Translation: X:8.00, Y:0.38, Z:1.31 [[ 9.99922437e-01 1.75981394e-03 -1.23297279e-02 7.99935312e+00] [-1.72883561e-03 9.99995324e-01 2.52269912e-03 3.80827103e-01] [ 1.23341097e-02 -2.50118738e-03 9.99920804e-01 1.31375450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3725578440001 meters Centerline goodness [0,1] 0.2708772692683987 Centerline is valid? [False, False] Translation: X:7.96, Y:0.38, Z:1.31 [[ 9.99872944e-01 2.49926058e-04 -1.59384287e-02 7.95684484e+00] [-2.18012853e-04 9.99997968e-01 2.00398661e-03 3.77062571e-01] [ 1.59388972e-02 -2.00025721e-03 9.99870967e-01 1.31310976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40255784400006 meters Centerline goodness [0,1] 0.2705601389491967 Centerline is valid? [False, False] Translation: X:7.96, Y:0.38, Z:1.31 [[ 9.99868786e-01 2.53677078e-04 -1.61971296e-02 7.95789683e+00] [-2.18509644e-04 9.99997615e-01 2.17294679e-03 3.75837891e-01] [ 1.61976422e-02 -2.16912244e-03 9.99866457e-01 1.31241714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4325578440001 meters Centerline goodness [0,1] 0.26892322361150234 Centerline is valid? [False, False] Translation: X:7.96, Y:0.37, Z:1.31 [[ 9.99869231e-01 3.21186190e-04 -1.61684265e-02 7.95784550e+00] [-2.81835042e-04 9.99996993e-01 2.43604639e-03 3.74435450e-01] [ 1.61691603e-02 -2.43117100e-03 9.99866315e-01 1.31241633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46255784400006 meters Centerline goodness [0,1] 0.2698622996394596 Centerline is valid? [False, False] Translation: X:7.96, Y:0.37, Z:1.31 [[ 9.99872929e-01 4.16184793e-04 -1.59359135e-02 7.95699455e+00] [-3.72092777e-04 9.99996095e-01 2.76969834e-03 3.72772188e-01] [ 1.59370040e-02 -2.76341675e-03 9.99869179e-01 1.31292462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4925578440001 meters Centerline goodness [0,1] 0.2707904375907584 Centerline is valid? [False, False] Translation: X:7.95, Y:0.37, Z:1.31 [[ 9.99889755e-01 3.07708382e-04 -1.48452968e-02 7.95381662e+00] [-2.59724012e-04 9.99994737e-01 3.23411405e-03 3.69338903e-01] [ 1.48462138e-02 -3.22990183e-03 9.99884572e-01 1.31402634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52255784400006 meters Centerline goodness [0,1] 0.27316828005157 Centerline is valid? [False, False] Translation: X:7.95, Y:0.37, Z:1.31 [[ 9.99890809e-01 3.97931168e-04 -1.47719762e-02 7.95359970e+00] [-3.46385732e-04 9.99993844e-01 3.49180147e-03 3.67940582e-01] [ 1.47732748e-02 -3.48630339e-03 9.99884791e-01 1.31411020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5525578440001 meters Centerline goodness [0,1] 0.27070201191606946 Centerline is valid? [False, False] Translation: X:7.97, Y:0.36, Z:1.31 [[ 9.99861589e-01 8.90601539e-03 -1.40529809e-02 7.97385127e+00] [-8.87171091e-03 9.99957517e-01 2.50153835e-03 3.64344057e-01] [ 1.40746626e-02 -2.37651812e-03 9.99898123e-01 1.31486671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58255784400006 meters Centerline goodness [0,1] 0.26753414345628557 Centerline is valid? [False, False] Translation: X:7.97, Y:0.36, Z:1.31 [[ 9.99860211e-01 8.94592913e-03 -1.41254345e-02 7.97427682e+00] [-8.91060675e-03 9.99957019e-01 2.56158305e-03 3.64154760e-01] [ 1.41477431e-02 -2.43535878e-03 9.99896950e-01 1.31445267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.61255784400004 meters Centerline goodness [0,1] 0.2688813296589735 Centerline is valid? [False, False] Translation: X:7.97, Y:0.36, Z:1.31 [[ 9.99859802e-01 8.98047335e-03 -1.41324747e-02 7.97458260e+00] [-8.94467086e-03 9.99956630e-01 2.59452241e-03 3.64061720e-01] [ 1.41551618e-02 -2.46774833e-03 9.99896765e-01 1.31398525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64255784400007 meters Centerline goodness [0,1] 0.27021138912855913 Centerline is valid? [False, False] Translation: X:7.98, Y:0.36, Z:1.31 [[ 9.99858167e-01 9.00159298e-03 -1.42343352e-02 7.97503078e+00] [-8.96448554e-03 9.99956257e-01 2.66855743e-03 3.63452788e-01] [ 1.42577338e-02 -2.54057545e-03 9.99895126e-01 1.31365610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.67255784400004 meters Centerline goodness [0,1] 0.2689374353671148 Centerline is valid? [False, False] Translation: X:7.98, Y:0.36, Z:1.31 [[ 9.99857729e-01 9.00108426e-03 -1.42654490e-02 7.97513757e+00] [-8.96393051e-03 9.99956269e-01 2.66626205e-03 3.63384658e-01] [ 1.42888244e-02 -2.53800823e-03 9.99894688e-01 1.31356294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70255784400007 meters Centerline goodness [0,1] 0.2701455525606469 Centerline is valid? [False, False] Translation: X:7.98, Y:0.36, Z:1.31 [[ 9.99858328e-01 8.99087742e-03 -1.42298391e-02 7.97504274e+00] [-8.95457822e-03 9.99956494e-01 2.61258449e-03 3.63747710e-01] [ 1.42527094e-02 -2.48479215e-03 9.99895338e-01 1.31356964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.73255784400004 meters Centerline goodness [0,1] 0.26797103947595247 Centerline is valid? [False, False] Translation: X:7.97, Y:0.36, Z:1.31 [[ 9.99860404e-01 8.96553843e-03 -1.40993818e-02 7.97473960e+00] [-8.93073474e-03 9.99956921e-01 2.52948395e-03 3.64226440e-01] [ 1.41214526e-02 -2.40321301e-03 9.99897399e-01 1.31351917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76255784400007 meters Centerline goodness [0,1] 0.27021785506496865 Centerline is valid? [False, False] Translation: X:7.97, Y:0.36, Z:1.31 [[ 9.99861364e-01 8.90679961e-03 -1.40684359e-02 7.97455969e+00] [-8.87387329e-03 9.99957744e-01 2.40113279e-03 3.64696427e-01] [ 1.40892278e-02 -2.27595839e-03 9.99898152e-01 1.31365913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.79255784400004 meters Centerline goodness [0,1] 0.268604726170254 Centerline is valid? [False, False] Translation: X:7.97, Y:0.37, Z:1.31 [[ 9.99861705e-01 8.81783288e-03 -1.41002663e-02 7.97464718e+00] [-8.78715446e-03 9.99958892e-01 2.23620989e-03 3.65243283e-01] [ 1.41194052e-02 -2.11199942e-03 9.99898086e-01 1.31362119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8225578440001 meters Centerline goodness [0,1] 0.26980224709408895 Centerline is valid? [False, False] Translation: X:7.97, Y:0.37, Z:1.31 [[ 9.99863658e-01 8.73459446e-03 -1.40132861e-02 7.97457805e+00] [-8.70871750e-03 9.99960261e-01 1.90656317e-03 3.67135889e-01] [ 1.40293823e-02 -1.78426547e-03 9.99899991e-01 1.31329966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.85255784400005 meters Centerline goodness [0,1] 0.26692680416791736 Centerline is valid? [False, False] Translation: X:7.99, Y:0.37, Z:1.32 [[ 9.99889044e-01 1.80456011e-03 -1.47865598e-02 7.99269301e+00] [-1.76284530e-03 9.99994431e-01 2.83367844e-03 3.73853323e-01] [ 1.47915910e-02 -2.80729761e-03 9.99886658e-01 1.31513658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8825578440001 meters Centerline goodness [0,1] 0.2712395693717844 Centerline is valid? [False, False] Translation: X:7.99, Y:0.37, Z:1.32 [[ 9.99891480e-01 1.75399950e-03 -1.46271005e-02 7.99233752e+00] [-1.71445028e-03 9.99994842e-01 2.71593360e-03 3.74371251e-01] [ 1.46317888e-02 -2.69056143e-03 9.99889330e-01 1.31505649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.91255784400005 meters Centerline goodness [0,1] 0.27158965000325885 Centerline is valid? [False, False] Translation: X:7.99, Y:0.37, Z:1.32 [[ 9.99891522e-01 1.67900953e-03 -1.46330230e-02 7.99227252e+00] [-1.64147199e-03 9.99995333e-01 2.57689580e-03 3.74861601e-01] [ 1.46372813e-02 -2.55259656e-03 9.99889611e-01 1.31514622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9425578440001 meters Centerline goodness [0,1] 0.27010812094006953 Centerline is valid? [False, False] Translation: X:7.99, Y:0.37, Z:1.32 [[ 9.99889852e-01 1.68323490e-03 -1.47462184e-02 7.99251069e+00] [-1.64504031e-03 9.99995262e-01 2.60187466e-03 3.74678507e-01] [ 1.47505281e-02 -2.57732994e-03 9.99887883e-01 1.31516915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.97255784400005 meters Centerline goodness [0,1] 0.2682512002411247 Centerline is valid? [False, False] Translation: X:7.99, Y:0.37, Z:1.31 [[ 9.99887494e-01 1.71693495e-03 -1.49013859e-02 7.99308123e+00] [-1.67695362e-03 9.99994962e-01 2.69514173e-03 3.74206658e-01] [ 1.49059382e-02 -2.66984958e-03 9.99885336e-01 1.31488500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0025578440001 meters Centerline goodness [0,1] 0.2675417866196881 Centerline is valid? [False, False] Translation: X:8.00, Y:0.37, Z:1.31 [[ 9.99875787e-01 1.66019649e-03 -1.56733543e-02 7.99558465e+00] [-1.61460581e-03 9.99994430e-01 2.92100788e-03 3.72166952e-01] [ 1.56781165e-02 -2.89533877e-03 9.99872899e-01 1.31398153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.03255784400005 meters Centerline goodness [0,1] 0.2691297420660552 Centerline is valid? [False, False] Translation: X:8.00, Y:0.37, Z:1.31 [[ 9.99874937e-01 1.65311000e-03 -1.57282704e-02 7.99590186e+00] [-1.60546228e-03 9.99994086e-01 3.04157579e-03 3.71005149e-01] [ 1.57332055e-02 -3.01594425e-03 9.99871677e-01 1.31372627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0625578440001 meters Centerline goodness [0,1] 0.27125365695091563 Centerline is valid? [False, False] Translation: X:8.00, Y:0.37, Z:1.31 [[ 9.99876008e-01 1.65778275e-03 -1.56595082e-02 7.99562133e+00] [-1.60974713e-03 9.99993962e-01 3.07961166e-03 3.70563238e-01] [ 1.56645190e-02 -3.05402197e-03 9.99872640e-01 1.31392300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.09255784400005 meters Centerline goodness [0,1] 0.26848332581760403 Centerline is valid? [False, False] Translation: X:7.99, Y:0.37, Z:1.31 [[ 9.99880048e-01 1.68869530e-03 -1.53960146e-02 7.99485921e+00] [-1.64182502e-03 9.99993981e-01 3.05644392e-03 3.70961314e-01] [ 1.54010833e-02 -3.03079973e-03 9.99876803e-01 1.31407829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1225578440001 meters Centerline goodness [0,1] 0.27217934264157484 Centerline is valid? [False, False] Translation: X:7.99, Y:0.37, Z:1.31 [[ 9.99885320e-01 1.73773900e-03 -1.50441462e-02 7.99387436e+00] [-1.69287678e-03 9.99994084e-01 2.99426012e-03 3.71770026e-01] [ 1.50492605e-02 -2.96844886e-03 9.99882347e-01 1.31424458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.15255784400006 meters Centerline goodness [0,1] 0.2538795119255134 Centerline is valid? [False, False] Translation: X:8.04, Y:0.38, Z:1.31 [[ 9.99924108e-01 2.98300378e-03 -1.19532714e-02 8.03644986e+00] [-2.95055999e-03 9.99991918e-01 2.73093524e-03 3.77104976e-01] [ 1.19613211e-02 -2.69545914e-03 9.99924828e-01 1.31441917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1825578440001 meters Centerline goodness [0,1] 0.26968465854130397 Centerline is valid? [False, False] Translation: X:8.02, Y:0.38, Z:1.31 [[ 9.99910752e-01 -5.62021159e-03 -1.21203133e-02 8.01658792e+00] [ 5.66651603e-03 9.99976765e-01 3.78944821e-03 3.81269047e-01] [ 1.20987341e-02 -3.85778996e-03 9.99919366e-01 1.31273251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.21255784400006 meters Centerline goodness [0,1] 0.2708360393124648 Centerline is valid? [False, False] Translation: X:8.02, Y:0.38, Z:1.31 [[ 9.99909132e-01 -5.63896120e-03 -1.22445784e-02 8.01712335e+00] [ 5.68496726e-03 9.99976900e-01 3.72570941e-03 3.81709868e-01] [ 1.22232864e-02 -3.79498089e-03 9.99918091e-01 1.31228376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2425578440001 meters Centerline goodness [0,1] 0.2697696407082689 Centerline is valid? [False, False] Translation: X:8.04, Y:0.38, Z:1.31 [[ 9.99913452e-01 2.43057491e-03 -1.29298411e-02 8.03685688e+00] [-2.39742386e-03 9.99993801e-01 2.57880015e-03 3.78807763e-01] [ 1.29360289e-02 -2.54757865e-03 9.99913081e-01 1.31363469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.27255784400006 meters Centerline goodness [0,1] 0.26971796033749806 Centerline is valid? [False, False] Translation: X:8.04, Y:0.38, Z:1.31 [[ 9.99910189e-01 2.39776279e-03 -1.31857564e-02 8.03769278e+00] [-2.36294111e-03 9.99993682e-01 2.65580111e-03 3.78094207e-01] [ 1.31920411e-02 -2.62440543e-03 9.99909537e-01 1.31332568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3025578440001 meters Centerline goodness [0,1] 0.2710520025208075 Centerline is valid? [False, False] Translation: X:8.04, Y:0.38, Z:1.31 [[ 9.99905082e-01 2.32140147e-03 -1.35808018e-02 8.03867818e+00] [-2.28363774e-03 9.99993485e-01 2.79551700e-03 3.76700530e-01] [ 1.35872029e-02 -2.76423802e-03 9.99903869e-01 1.31330646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.33255784400006 meters Centerline goodness [0,1] 0.26797075506286794 Centerline is valid? [False, False] Translation: X:8.04, Y:0.38, Z:1.31 [[ 9.99900769e-01 2.14905672e-03 -1.39223995e-02 8.03931429e+00] [-2.10859810e-03 9.99993514e-01 2.92003696e-03 3.75061396e-01] [ 1.39285845e-02 -2.89039046e-03 9.99898815e-01 1.31368642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36255784400004 meters Centerline goodness [0,1] 0.27097026944674185 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.32 [[ 9.99912811e-01 -2.41270992e-04 -1.32027522e-02 8.03580087e+00] [ 2.55690108e-04 9.99999373e-01 1.09045247e-03 3.71823762e-01] [ 1.32024808e-02 -1.09373321e-03 9.99912245e-01 1.31576769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.39255784400007 meters Centerline goodness [0,1] 0.2724331835254782 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.32 [[ 9.99914433e-01 -1.65901978e-04 -1.30804934e-02 8.03560374e+00] [ 1.83973371e-04 9.99999030e-01 1.38036165e-03 3.70409424e-01] [ 1.30802517e-02 -1.38265000e-03 9.99913494e-01 1.31564006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42255784400004 meters Centerline goodness [0,1] 0.2738996172581768 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.32 [[ 9.99914480e-01 -1.09069771e-04 -1.30775223e-02 8.03569217e+00] [ 1.29782279e-04 9.99998739e-01 1.58298691e-03 3.69332138e-01] [ 1.30773332e-02 -1.58454876e-03 9.99913233e-01 1.31554137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.45255784400007 meters Centerline goodness [0,1] 0.27346680624618336 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.32 [[ 9.99914613e-01 -1.08810504e-04 -1.30673425e-02 8.03584580e+00] [ 1.30888580e-04 9.99998566e-01 1.68871796e-03 3.68535871e-01] [ 1.30671400e-02 -1.69028413e-03 9.99913193e-01 1.31528724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48255784400004 meters Centerline goodness [0,1] 0.27074103031882546 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.31 [[ 9.99913023e-01 -1.22513654e-04 -1.31883160e-02 8.03638447e+00] [ 1.45248663e-04 9.99998505e-01 1.72293099e-03 3.68022548e-01] [ 1.31880852e-02 -1.72469671e-03 9.99911546e-01 1.31488335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.51255784400007 meters Centerline goodness [0,1] 0.27074103031882546 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.31 [[ 9.99913023e-01 -1.22513654e-04 -1.31883160e-02 8.03638447e+00] [ 1.45248663e-04 9.99998505e-01 1.72293099e-03 3.68022548e-01] [ 1.31880852e-02 -1.72469671e-03 9.99911546e-01 1.31488335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54255784400004 meters Centerline goodness [0,1] 0.2701939655172414 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.31 [[ 9.99911914e-01 -1.14292354e-04 -1.32721888e-02 8.03668183e+00] [ 1.37305921e-04 9.99998489e-01 1.73307093e-03 3.67958982e-01] [ 1.32719706e-02 -1.73474062e-03 9.99910419e-01 1.31474153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5725578440001 meters Centerline goodness [0,1] 0.2709094446486089 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.32 [[ 9.99911972e-01 -5.04620444e-05 -1.32681992e-02 8.03644814e+00] [ 7.45657260e-05 9.99998348e-01 1.81616215e-03 3.67753222e-01] [ 1.32680856e-02 -1.81699163e-03 9.99910324e-01 1.31508419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60255784400005 meters Centerline goodness [0,1] 0.25437430311347453 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.32 [[ 9.99911876e-01 -4.28474328e-05 -1.32754806e-02 8.03639524e+00] [ 6.79382105e-05 9.99998212e-01 1.88956378e-03 3.67138907e-01] [ 1.32753759e-02 -1.89029917e-03 9.99910092e-01 1.31521636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6325578440001 meters Centerline goodness [0,1] 0.269171993715159 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.32 [[ 9.99912364e-01 -2.61742411e-05 -1.32387144e-02 8.03622419e+00] [ 5.28120384e-05 9.99997975e-01 2.01176800e-03 3.66198258e-01] [ 1.32386349e-02 -2.01229086e-03 9.99910341e-01 1.31533943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66255784400005 meters Centerline goodness [0,1] 0.2709142709142709 Centerline is valid? [False, False] Translation: X:8.04, Y:0.37, Z:1.32 [[ 9.99913406e-01 3.86005982e-06 -1.31598181e-02 8.03601399e+00] [ 2.48825027e-05 9.99997615e-01 2.18395106e-03 3.65055727e-01] [ 1.31597951e-02 -2.18408939e-03 9.99911021e-01 1.31538121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6925578440001 meters Centerline goodness [0,1] 0.2562049295016683 Centerline is valid? [False, False] Translation: X:8.04, Y:0.36, Z:1.32 [[ 9.99913887e-01 8.03596554e-05 -1.31229383e-02 8.03593588e+00] [-4.83894204e-05 9.99997031e-01 2.43650946e-03 3.63717469e-01] [ 1.31230951e-02 -2.43566463e-03 9.99910922e-01 1.31539103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72255784400005 meters Centerline goodness [0,1] 0.27270362260714986 Centerline is valid? [False, False] Translation: X:8.04, Y:0.36, Z:1.32 [[ 9.99914039e-01 1.93172371e-04 -1.31102302e-02 8.03600319e+00] [-1.56875572e-04 9.99996152e-01 2.76955786e-03 3.62026303e-01] [ 1.31107148e-02 -2.76726311e-03 9.99910222e-01 1.31525062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7525578440001 meters Centerline goodness [0,1] 0.2587594082533091 Centerline is valid? [False, False] Translation: X:8.04, Y:0.36, Z:1.31 [[ 9.99905461e-01 2.33924379e-04 -1.37482469e-02 8.03777470e+00] [-1.87828794e-04 9.99994358e-01 3.35402927e-03 3.58231338e-01] [ 1.37489539e-02 -3.35112986e-03 9.99899863e-01 1.31498470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78255784400005 meters Centerline goodness [0,1] 0.27274890229922355 Centerline is valid? [False, False] Translation: X:8.04, Y:0.36, Z:1.32 [[ 9.99902084e-01 4.09327377e-04 -1.39877040e-02 8.03829689e+00] [-3.54642025e-04 9.99992286e-01 3.91178707e-03 3.55278220e-01] [ 1.39891973e-02 -3.90644342e-03 9.99894515e-01 1.31510408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8125578440001 meters Centerline goodness [0,1] 0.27094000475295443 Centerline is valid? [False, False] Translation: X:8.04, Y:0.35, Z:1.32 [[ 9.99899895e-01 6.11397098e-04 -1.41359729e-02 8.03857258e+00] [-5.47690744e-04 9.99989679e-01 4.51011554e-03 3.52152883e-01] [ 1.41385845e-02 -4.50192191e-03 9.99889911e-01 1.31533294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84255784400005 meters Centerline goodness [0,1] 0.27182591339061013 Centerline is valid? [False, False] Translation: X:8.04, Y:0.35, Z:1.32 [[ 9.99898143e-01 8.50908224e-04 -1.42470845e-02 8.03873532e+00] [-7.77450511e-04 9.99986381e-01 5.16072702e-03 3.48812973e-01] [ 1.42512818e-02 -5.14912496e-03 9.99885187e-01 1.31559214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8725578440001 meters Centerline goodness [0,1] 0.27514670273336095 Centerline is valid? [False, False] Translation: X:8.04, Y:0.34, Z:1.31 [[ 9.99891136e-01 1.18334881e-03 -1.47076831e-02 8.04042784e+00] [-1.09368000e-03 9.99980777e-01 6.10328104e-03 3.42659306e-01] [ 1.47146226e-02 -6.08653111e-03 9.99873209e-01 1.31489341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90255784400006 meters Centerline goodness [0,1] 0.27241694207688294 Centerline is valid? [False, False] Translation: X:8.04, Y:0.34, Z:1.31 [[ 9.99889238e-01 1.36963287e-03 -1.48201283e-02 8.04091432e+00] [-1.27273367e-03 9.99977766e-01 6.54580807e-03 3.40349920e-01] [ 1.48287641e-02 -6.52622097e-03 9.99868749e-01 1.31461790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9325578440001 meters Centerline goodness [0,1] 0.2584027268412651 Centerline is valid? [False, False] Translation: X:8.06, Y:0.33, Z:1.32 [[ 9.99869954e-01 1.05075736e-02 -1.22337669e-02 8.05940564e+00] [-1.04340407e-02 9.99927207e-01 6.05904332e-03 3.32990169e-01] [ 1.22965422e-02 -5.93060775e-03 9.99906807e-01 1.31601427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96255784400006 meters Centerline goodness [0,1] 0.2590005373455132 Centerline is valid? [False, False] Translation: X:8.06, Y:0.33, Z:1.32 [[ 9.99871998e-01 1.07651078e-02 -1.18363573e-02 8.05789231e+00] [-1.06879081e-02 9.99921323e-01 6.56628325e-03 3.30625333e-01] [ 1.19061128e-02 -6.43893686e-03 9.99908388e-01 1.31693238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9925578440001 meters Centerline goodness [0,1] 0.2588111407203645 Centerline is valid? [False, False] Translation: X:8.06, Y:0.33, Z:1.32 [[ 9.99872048e-01 1.09603671e-02 -1.16515258e-02 8.05718009e+00] [-1.08789197e-02 9.99916105e-01 7.03082472e-03 3.28196054e-01] [ 1.17276087e-02 -6.90316910e-03 9.99907400e-01 1.31735116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02255784400006 meters Centerline goodness [0,1] 0.2729968399636379 Centerline is valid? [False, False] Translation: X:8.04, Y:0.33, Z:1.32 [[ 9.99919346e-01 2.09961502e-03 -1.25257276e-02 8.03745598e+00] [-1.99431334e-03 9.99962618e-01 8.41340717e-03 3.27992546e-01] [ 1.25429242e-02 -8.38774836e-03 9.99886154e-01 1.31631649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0525578440001 meters Centerline goodness [0,1] 0.27147005054306916 Centerline is valid? [False, False] Translation: X:8.04, Y:0.32, Z:1.32 [[ 9.99914467e-01 2.47654789e-03 -1.28423243e-02 8.03844034e+00] [-2.35584277e-03 9.99952991e-01 9.40563360e-03 3.22333121e-01] [ 1.28650141e-02 -9.37457461e-03 9.99873296e-01 1.31615723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08255784400006 meters Centerline goodness [0,1] 0.272680178721751 Centerline is valid? [False, False] Translation: X:8.04, Y:0.32, Z:1.32 [[ 9.99913015e-01 2.69202348e-03 -1.29118503e-02 8.03852264e+00] [-2.56411427e-03 9.99947581e-01 9.91268714e-03 3.19793750e-01] [ 1.29378586e-02 -9.87871743e-03 9.99867503e-01 1.31638306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.11255784400004 meters Centerline goodness [0,1] 0.25939623290616665 Centerline is valid? [False, False] Translation: X:8.04, Y:0.32, Z:1.32 [[ 9.99913444e-01 3.05818722e-03 -1.27965663e-02 8.03774818e+00] [-2.92049919e-03 9.99937795e-01 1.07646521e-02 3.15452065e-01] [ 1.28286906e-02 -1.07263480e-02 9.99860175e-01 1.31726565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14255784400007 meters Centerline goodness [0,1] 0.2749431264218395 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:1.32 [[ 9.99914818e-01 3.22073832e-03 -1.26484899e-02 8.03732621e+00] [-3.07970701e-03 9.99933052e-01 1.11537450e-02 3.13562707e-01] [ 1.26835664e-02 -1.11138412e-02 9.99857795e-01 1.31739689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.17255784400004 meters Centerline goodness [0,1] 0.27427841413507137 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:1.32 [[ 9.99916153e-01 3.35689089e-03 -1.25067545e-02 8.03701791e+00] [-3.21331891e-03 9.99928916e-01 1.14820180e-02 3.11977827e-01] [ 1.25444094e-02 -1.14408670e-02 9.99855862e-01 1.31738774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20255784400007 meters Centerline goodness [0,1] 0.27491268164374105 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:1.32 [[ 9.99928151e-01 4.61438507e-05 -1.19871152e-02 8.03607962e+00] [ 5.39072493e-05 9.99965169e-01 8.34609647e-03 3.09845681e-01] [ 1.19870828e-02 -8.34614300e-03 9.99893320e-01 1.31697861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.23255784400004 meters Centerline goodness [0,1] 0.25959532973530863 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:1.32 [[ 9.99925219e-01 1.14601140e-04 -1.22288208e-02 8.03692646e+00] [-8.43241699e-06 9.99962315e-01 8.68154306e-03 3.07679384e-01] [ 1.22293549e-02 -8.68079073e-03 9.99887537e-01 1.31670500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26255784400007 meters Centerline goodness [0,1] 0.27216539248411753 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:1.32 [[ 9.99921603e-01 2.02945210e-04 -1.25198823e-02 8.03793678e+00] [-9.01780899e-05 9.99959433e-01 9.00695023e-03 3.05771837e-01] [ 1.25212023e-02 -9.00511509e-03 9.99881057e-01 1.31631447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.29255784400004 meters Centerline goodness [0,1] 0.27345322339803935 Centerline is valid? [False, False] Translation: X:8.04, Y:0.30, Z:1.32 [[ 9.99917959e-01 3.10732869e-04 -1.28054539e-02 8.03895205e+00] [-1.91708843e-04 9.99956782e-01 9.29497124e-03 3.04209365e-01] [ 1.28077887e-02 -9.29175375e-03 9.99874804e-01 1.31583752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3225578440001 meters Centerline goodness [0,1] 0.2771717788734238 Centerline is valid? [False, False] Translation: X:8.04, Y:0.30, Z:1.31 [[ 9.99913608e-01 4.53937514e-04 -1.31365870e-02 8.04035249e+00] [-3.26898501e-04 9.99953180e-01 9.67115748e-03 3.02270590e-01] [ 1.31403620e-02 -9.66602764e-03 9.99866941e-01 1.31494433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.35255784400005 meters Centerline goodness [0,1] 0.27112199523103697 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 0.99987819 0.00905415 -0.01271348 8.06046307] [-0.00894817 0.99992495 0.00836851 0.29874768] [ 0.01278829 -0.00825373 0.99988416 1.31604063] [ 0. 0. 0. 1. ]] SLAMing on 508.3825578440001 meters Centerline goodness [0,1] 0.2727075984158245 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 0.99987807 0.0090975 -0.0126915 8.06050701] [-0.00899067 0.99992389 0.00844885 0.29836939] [ 0.01276739 -0.00833371 0.99988376 1.31588917] [ 0. 0. 0. 1. ]] SLAMing on 508.41255784400005 meters Centerline goodness [0,1] 0.2729001447803444 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 0.99987828 0.00914893 -0.01263793 8.06027771] [-0.0090408 0.99992226 0.00858673 0.29775151] [ 0.0127155 -0.00847143 0.99988327 1.31605775] [ 0. 0. 0. 1. ]] SLAMing on 508.4425578440001 meters Centerline goodness [0,1] 0.2592177083558068 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 0.99987789 0.00924049 -0.01260231 8.06012066] [-0.00912936 0.99991919 0.00884691 0.29641842] [ 0.01268304 -0.00873078 0.99988145 1.31619724] [ 0. 0. 0. 1. ]] SLAMing on 508.47255784400005 meters Centerline goodness [0,1] 0.27068384196420847 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 9.99906017e-01 5.95524945e-03 -1.23488028e-02 8.05966144e+00] [-5.88881244e-03 9.99968029e-01 5.40943685e-03 2.97189263e-01] [ 1.23806225e-02 -5.33620867e-03 9.99909118e-01 1.31582720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5025578440001 meters Centerline goodness [0,1] 0.2730197805994644 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 9.99921640e-01 2.30700871e-03 -1.23041627e-02 8.05970111e+00] [-2.28545531e-03 9.99995830e-01 1.76548937e-03 2.97531570e-01] [ 1.23081844e-02 -1.73723041e-03 9.99922742e-01 1.31552357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.53255784400005 meters Centerline goodness [0,1] 0.26083846353940865 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 9.99922181e-01 2.35658047e-03 -1.22506483e-02 8.05932312e+00] [-2.33339743e-03 9.99995461e-01 1.90634193e-03 2.96813354e-01] [ 1.22550851e-02 -1.87760795e-03 9.99923141e-01 1.31590860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5625578440001 meters Centerline goodness [0,1] 0.2627933154385661 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 9.99923707e-01 2.41236499e-03 -1.21145084e-02 8.05873830e+00] [-2.38796640e-03 9.99995092e-01 2.02805863e-03 2.96367836e-01] [ 1.21193414e-02 -1.99897486e-03 9.99924560e-01 1.31636300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.59255784400005 meters Centerline goodness [0,1] 0.2737997847147471 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 9.99929467e-01 2.51755024e-03 -1.16069917e-02 8.05706060e+00] [-2.49473041e-03 9.99994928e-01 1.98010129e-03 2.97433681e-01] [ 1.16119179e-02 -1.95100531e-03 9.99930676e-01 1.31704709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6225578440001 meters Centerline goodness [0,1] 0.2735475494969166 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 9.99931539e-01 2.45900381e-03 -1.14398632e-02 8.05684630e+00] [-2.43940107e-03 9.99995533e-01 1.72718528e-03 2.98909977e-01] [ 1.14440592e-02 -1.69916062e-03 9.99933071e-01 1.31673583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.65255784400006 meters Centerline goodness [0,1] 0.27389922041722925 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 9.99929444e-01 2.41284620e-03 -1.16311812e-02 8.05752430e+00] [-2.39848157e-03 9.99996344e-01 1.24880066e-03 3.01793580e-01] [ 1.16341518e-02 -1.22081538e-03 9.99931576e-01 1.31630082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6825578440001 meters Centerline goodness [0,1] 0.2621346667816191 Centerline is valid? [False, False] Translation: X:8.08, Y:0.31, Z:1.32 [[ 9.99919385e-01 -4.36012021e-03 -1.19253078e-02 8.07595915e+00] [ 4.38660093e-03 9.99987969e-01 2.19529368e-03 3.09060383e-01] [ 1.19155926e-02 -2.24742828e-03 9.99926481e-01 1.31799868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.71255784400006 meters Centerline goodness [0,1] 0.2600918021534898 Centerline is valid? [False, False] Translation: X:8.08, Y:0.31, Z:1.32 [[ 9.99919826e-01 -4.37312013e-03 -1.18835197e-02 8.07588904e+00] [ 4.39830567e-03 9.99988135e-01 2.09405886e-03 3.09750009e-01] [ 1.18742211e-02 -2.14615832e-03 9.99927196e-01 1.31796312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7425578440001 meters Centerline goodness [0,1] 0.2647983862221548 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:1.32 [[ 9.99929757e-01 2.75387481e-03 -1.15281243e-02 8.05695319e+00] [-2.74333861e-03 9.99995805e-01 9.29669886e-04 3.04556882e-01] [ 1.15306361e-02 -8.97979034e-04 9.99933117e-01 1.31616945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.77255784400006 meters Centerline goodness [0,1] 0.2733291503494234 Centerline is valid? [False, False] Translation: X:8.06, Y:0.31, Z:1.32 [[ 9.99931018e-01 2.59851686e-03 -1.14545800e-02 8.05690761e+00] [-2.59016037e-03 9.99996369e-01 7.44306753e-04 3.05066129e-01] [ 1.14564725e-02 -7.14586210e-04 9.99934117e-01 1.31603023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8025578440001 meters Centerline goodness [0,1] 0.27337380745880313 Centerline is valid? [False, False] Translation: X:8.06, Y:0.31, Z:1.32 [[ 9.99930824e-01 2.51093556e-03 -1.14909436e-02 8.05720856e+00] [-2.50456690e-03 9.99996702e-01 5.68589856e-04 3.05924339e-01] [ 1.14923334e-02 -5.39770687e-04 9.99933815e-01 1.31573532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.83255784400006 meters Centerline goodness [0,1] 0.26083001212961354 Centerline is valid? [False, False] Translation: X:8.06, Y:0.31, Z:1.32 [[ 9.99931918e-01 2.43970564e-03 -1.14108714e-02 8.05733191e+00] [-2.43607920e-03 9.99996978e-01 3.31694582e-04 3.07337775e-01] [ 1.14116462e-02 -3.03874213e-04 9.99934839e-01 1.31528486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86255784400004 meters Centerline goodness [0,1] 0.2613335628375325 Centerline is valid? [False, False] Translation: X:8.06, Y:0.31, Z:1.32 [[ 9.99934359e-01 2.37642487e-03 -1.12084523e-02 8.05690354e+00] [-2.37639719e-03 9.99997176e-01 1.57878953e-05 3.09484754e-01] [ 1.12084581e-02 1.08488755e-05 9.99937183e-01 1.31523460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.89255784400007 meters Centerline goodness [0,1] 0.25616661243084937 Centerline is valid? [False, False] Translation: X:8.06, Y:0.31, Z:1.32 [[ 9.99941198e-01 2.54886053e-03 -1.05405369e-02 8.05524073e+00] [-2.55503170e-03 9.99996572e-01 -5.72045888e-04 3.14417867e-01] [ 1.05390427e-02 5.98943657e-04 9.99944283e-01 1.31514621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92255784400004 meters Centerline goodness [0,1] 0.2590264862438274 Centerline is valid? [False, False] Translation: X:8.06, Y:0.32, Z:1.31 [[ 9.99940744e-01 2.40796009e-03 -1.06165450e-02 8.05603741e+00] [-2.42167431e-03 9.99996250e-01 -1.27911212e-03 3.18289617e-01] [ 1.06134252e-02 1.30474614e-03 9.99942825e-01 1.31417710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.95255784400007 meters Centerline goodness [0,1] 0.25339160914814896 Centerline is valid? [False, False] Translation: X:8.04, Y:0.33, Z:1.31 [[ 9.99910200e-01 -3.07909088e-03 -1.30426285e-02 8.03554234e+00] [ 3.10201492e-03 9.99993679e-01 1.73775907e-03 3.27420208e-01] [ 1.30371953e-02 -1.77806145e-03 9.99913431e-01 1.31337066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98255784400004 meters Centerline goodness [0,1] 0.2530793375906484 Centerline is valid? [False, False] Translation: X:8.04, Y:0.33, Z:1.31 [[ 9.99911546e-01 -3.23331664e-03 -1.29013614e-02 8.03558163e+00] [ 3.24797788e-03 9.99994103e-01 1.11561943e-03 3.31226221e-01] [ 1.28976782e-02 -1.15742409e-03 9.99916152e-01 1.31271068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.01255784400007 meters Centerline goodness [0,1] 0.2518504090377873 Centerline is valid? [False, False] Translation: X:8.04, Y:0.33, Z:1.31 [[ 9.99913477e-01 -3.42968124e-03 -1.26994709e-02 8.03518577e+00] [ 3.43674689e-03 9.99993951e-01 5.34592021e-04 3.34521179e-01] [ 1.26975606e-02 -5.78190634e-04 9.99919216e-01 1.31254769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04255784400004 meters Centerline goodness [0,1] 0.26244324230376503 Centerline is valid? [False, False] Translation: X:8.03, Y:0.34, Z:1.31 [[ 9.99915505e-01 -3.79848234e-03 -1.24320106e-02 8.03406003e+00] [ 3.79548252e-03 9.99992762e-01 -2.64882964e-04 3.38566046e-01] [ 1.24329268e-02 2.17675103e-04 9.99922684e-01 1.31329508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0725578440001 meters Centerline goodness [0,1] 0.26059280749994584 Centerline is valid? [False, False] Translation: X:8.03, Y:0.34, Z:1.31 [[ 9.99915261e-01 -3.90649015e-03 -1.24181215e-02 8.03412480e+00] [ 3.90069287e-03 9.99992272e-01 -4.91026076e-04 3.39882406e-01] [ 1.24199437e-02 4.42545189e-04 9.99922772e-01 1.31321072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10255784400005 meters Centerline goodness [0,1] 0.26220362622036264 Centerline is valid? [False, False] Translation: X:8.03, Y:0.34, Z:1.31 [[ 9.99915253e-01 -3.94893649e-03 -1.24053178e-02 8.03441643e+00] [ 3.94112305e-03 9.99992020e-01 -6.54229220e-04 3.41220649e-01] [ 1.24078023e-02 6.05282892e-04 9.99922837e-01 1.31281399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1325578440001 meters Centerline goodness [0,1] 0.259239118613099 Centerline is valid? [False, False] Translation: X:8.04, Y:0.34, Z:1.31 [[ 9.99914138e-01 -4.09594395e-03 -1.24474996e-02 8.03518473e+00] [ 4.08467781e-03 9.99991225e-01 -9.30381032e-04 3.43049241e-01] [ 1.24512012e-02 8.79457122e-04 9.99922094e-01 1.31201471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16255784400005 meters Centerline goodness [0,1] 0.2573435642494326 Centerline is valid? [False, False] Translation: X:8.04, Y:0.34, Z:1.31 [[ 9.99914573e-01 -4.14313828e-03 -1.23967992e-02 8.03527450e+00] [ 4.13101450e-03 9.99990964e-01 -1.00342325e-03 3.43518626e-01] [ 1.24008445e-02 9.52126178e-04 9.99922653e-01 1.31182380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1925578440001 meters Centerline goodness [0,1] 0.25277448550802717 Centerline is valid? [False, False] Translation: X:8.03, Y:0.34, Z:1.31 [[ 9.99916474e-01 -4.18030601e-03 -1.22299028e-02 8.03499451e+00] [ 4.16747373e-03 9.99990739e-01 -1.07455182e-03 3.44133040e-01] [ 1.22342815e-02 1.02349427e-03 9.99924635e-01 1.31174489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22255784400005 meters Centerline goodness [0,1] 0.2538143263511766 Centerline is valid? [False, False] Translation: X:8.03, Y:0.34, Z:1.31 [[ 9.99918756e-01 -4.17822891e-03 -1.20425572e-02 8.03446842e+00] [ 4.16544634e-03 9.99990734e-01 -1.08633652e-03 3.44542593e-01] [ 1.20469846e-02 1.03608563e-03 9.99926896e-01 1.31198803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2525578440001 meters Centerline goodness [0,1] 0.2519526165061182 Centerline is valid? [False, False] Translation: X:8.03, Y:0.35, Z:1.31 [[ 9.99922019e-01 -4.26890761e-03 -1.17359392e-02 8.03352528e+00] [ 4.25452973e-03 9.99990168e-01 -1.24980899e-03 3.45578410e-01] [ 1.17411592e-02 1.19978063e-03 9.99930350e-01 1.31249343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28255784400005 meters Centerline goodness [0,1] 0.25492578769204066 Centerline is valid? [False, False] Translation: X:8.03, Y:0.35, Z:1.31 [[ 9.99924945e-01 -4.28949895e-03 -1.14762785e-02 8.03313192e+00] [ 4.27472556e-03 9.99990003e-01 -1.31151808e-03 3.46133736e-01] [ 1.14817895e-02 1.26236171e-03 9.99933285e-01 1.31227894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3125578440001 meters Centerline goodness [0,1] 0.24430477497962155 Centerline is valid? [False, False] Translation: X:8.05, Y:0.35, Z:1.31 [[ 9.99935318e-01 3.69699583e-03 -1.07560441e-02 8.05276217e+00] [-3.73067742e-03 9.99988195e-01 -3.11303330e-03 3.45618405e-01] [ 1.07444083e-02 3.15295927e-03 9.99937306e-01 1.31385186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34255784400005 meters Centerline goodness [0,1] 0.24393279402613566 Centerline is valid? [False, False] Translation: X:8.05, Y:0.35, Z:1.31 [[ 9.99943594e-01 3.73403473e-03 -9.94312092e-03 8.05099651e+00] [-3.76707687e-03 9.99987438e-01 -3.30646261e-03 3.47801841e-01] [ 9.93064957e-03 3.34373260e-03 9.99945099e-01 1.31367305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3725578440001 meters Centerline goodness [0,1] 0.25056541405706334 Centerline is valid? [False, False] Translation: X:8.03, Y:0.35, Z:1.31 [[ 9.99963671e-01 -3.80657541e-03 -7.62676481e-03 8.03035406e+00] [ 3.79633960e-03 9.99991874e-01 -1.35611883e-03 3.51712689e-01] [ 7.63186501e-03 1.32711577e-03 9.99969996e-01 1.30980094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40255784400006 meters Centerline goodness [0,1] 0.25056541405706334 Centerline is valid? [False, False] Translation: X:8.03, Y:0.35, Z:1.31 [[ 9.99963671e-01 -3.80657541e-03 -7.62676481e-03 8.03035406e+00] [ 3.79633960e-03 9.99991874e-01 -1.35611883e-03 3.51712689e-01] [ 7.63186501e-03 1.32711577e-03 9.99969996e-01 1.30980094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4325578440001 meters Centerline goodness [0,1] 0.2538729539627933 Centerline is valid? [False, False] Translation: X:8.03, Y:0.35, Z:1.31 [[ 9.99967553e-01 -3.80595794e-03 -7.09977740e-03 8.02927656e+00] [ 3.79626394e-03 9.99991844e-01 -1.37837106e-03 3.52213973e-01] [ 7.10496552e-03 1.35137370e-03 9.99973846e-01 1.30965195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46255784400006 meters Centerline goodness [0,1] 0.24549568965517243 Centerline is valid? [False, False] Translation: X:8.07, Y:0.36, Z:1.31 [[ 9.99983210e-01 -3.67368944e-03 -4.48139128e-03 8.07206938e+00] [ 3.66514323e-03 9.99991452e-01 -1.91376674e-03 3.55790505e-01] [ 4.48838356e-03 1.89730967e-03 9.99988127e-01 1.30930943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4925578440001 meters Centerline goodness [0,1] 0.24043528554903393 Centerline is valid? [False, False] Translation: X:8.07, Y:0.35, Z:1.31 [[ 9.99984506e-01 -3.60445707e-03 -4.24212150e-03 8.07199417e+00] [ 3.59754329e-03 9.99992190e-01 -1.63629614e-03 3.54561458e-01] [ 4.24798632e-03 1.62100957e-03 9.99989663e-01 1.30875637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52255784400006 meters Centerline goodness [0,1] 0.24456498342589006 Centerline is valid? [False, False] Translation: X:8.07, Y:0.35, Z:1.31 [[ 9.99985852e-01 -3.54024603e-03 -3.97026398e-03 8.07173690e+00] [ 3.53501787e-03 9.99992877e-01 -1.32307500e-03 3.52902222e-01] [ 3.97491971e-03 1.30902133e-03 9.99991243e-01 1.30835323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5525578440001 meters Centerline goodness [0,1] 0.24741954410134948 Centerline is valid? [False, False] Translation: X:8.07, Y:0.35, Z:1.31 [[ 9.99988948e-01 -3.61983136e-03 -3.00022385e-03 8.07028545e+00] [ 3.61729627e-03 9.99993096e-01 -8.49965979e-04 3.49402170e-01] [ 3.00327987e-03 8.39103886e-04 9.99995138e-01 1.30752622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58255784400006 meters Centerline goodness [0,1] 0.24535074820517255 Centerline is valid? [False, False] Translation: X:8.07, Y:0.35, Z:1.31 [[ 9.99990545e-01 -3.48491574e-03 -2.60112733e-03 8.07012568e+00] [ 3.48375533e-03 9.99993830e-01 -4.50518129e-04 3.47532343e-01] [ 2.60268130e-03 4.41452178e-04 9.99996516e-01 1.30650439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.61255784400004 meters Centerline goodness [0,1] 0.24489973276555066 Centerline is valid? [False, False] Translation: X:8.07, Y:0.35, Z:1.31 [[ 9.99992096e-01 -3.33908807e-03 -2.15851183e-03 8.06999915e+00] [ 3.33887351e-03 9.99994421e-01 -1.02999574e-04 3.46113286e-01] [ 2.15884372e-03 9.57917616e-05 9.99997665e-01 1.30517908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64255784400007 meters Centerline goodness [0,1] 0.2417364813404418 Centerline is valid? [False, False] Translation: X:8.07, Y:0.34, Z:1.30 [[ 9.99994548e-01 -3.09729299e-03 -1.14451501e-03 8.07004695e+00] [ 3.09763559e-03 9.99995158e-01 2.97687172e-04 3.44181887e-01] [ 1.14358745e-03 -3.01230840e-04 9.99999301e-01 1.30198053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.67255784400004 meters Centerline goodness [0,1] 0.2348902281532501 Centerline is valid? [False, False] Translation: X:8.09, Y:0.34, Z:1.30 [[ 9.99989800e-01 4.44504869e-03 -8.00577906e-04 8.09238214e+00] [-4.44694525e-03 9.99987273e-01 -2.38299765e-03 3.44141034e-01] [ 7.89975176e-04 2.38653347e-03 9.99996840e-01 1.30211657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70255784400007 meters Centerline goodness [0,1] 0.24490868479831818 Centerline is valid? [False, False] Translation: X:8.09, Y:0.34, Z:1.30 [[ 9.99989706e-01 4.53532581e-03 -1.35111997e-04 8.09199237e+00] [-4.53563483e-03 9.99986877e-01 -2.38206997e-03 3.44782920e-01] [ 1.24306761e-04 2.38265826e-03 9.99997154e-01 1.30027273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.73255784400004 meters Centerline goodness [0,1] 0.23757906215921487 Centerline is valid? [False, False] Translation: X:8.11, Y:0.35, Z:1.30 [[ 9.99998250e-01 1.86753670e-03 1.15045892e-04 8.11060379e+00] [-1.86763837e-03 9.99997860e-01 8.90048574e-04 3.48908183e-01] [-1.13383447e-04 -8.90261880e-04 9.99999597e-01 1.29693063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76255784400007 meters Centerline goodness [0,1] 0.2437360619178801 Centerline is valid? [False, False] Translation: X:8.11, Y:0.35, Z:1.29 [[ 9.99997781e-01 1.91112013e-03 8.86601169e-04 8.11015356e+00] [-1.91171141e-03 9.99997951e-01 6.66539669e-04 3.50791799e-01] [-8.85325514e-04 -6.68233115e-04 9.99999385e-01 1.29472751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.79255784400004 meters Centerline goodness [0,1] 0.23853211009174313 Centerline is valid? [False, False] Translation: X:8.11, Y:0.35, Z:1.29 [[ 9.99996651e-01 1.93242543e-03 1.72131332e-03 8.10958411e+00] [-1.93315684e-03 9.99998042e-01 4.23352603e-04 3.52822965e-01] [-1.72049185e-03 -4.26678754e-04 9.99998429e-01 1.29240453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8225578440001 meters Centerline goodness [0,1] 0.24192946649987934 Centerline is valid? [False, False] Translation: X:8.11, Y:0.36, Z:1.29 [[ 9.99995396e-01 1.86067411e-03 2.39720076e-03 8.10933976e+00] [-1.86094255e-03 9.99998262e-01 1.09755749e-04 3.55016431e-01] [-2.39699238e-03 -1.14216297e-04 9.99997121e-01 1.29017526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.85255784400005 meters Centerline goodness [0,1] 0.23439451370478293 Centerline is valid? [False, False] Translation: X:8.11, Y:0.36, Z:1.29 [[ 9.99992435e-01 1.59308478e-03 3.54866496e-03 8.11008842e+00] [-1.59104700e-03 9.99998568e-01 -5.76988297e-04 3.58759816e-01] [-3.54957907e-03 5.71337839e-04 9.99993537e-01 1.28559784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8825578440001 meters Centerline goodness [0,1] 0.23224987969727462 Centerline is valid? [False, False] Translation: X:8.11, Y:0.36, Z:1.28 [[ 9.99989600e-01 1.46551342e-03 4.31876516e-03 8.10937285e+00] [-1.46177867e-03 9.99998555e-01 -8.67801449e-04 3.60457572e-01] [-4.32003069e-03 8.61479345e-04 9.99990298e-01 1.28383744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.91255784400005 meters Centerline goodness [0,1] 0.2233154571403858 Centerline is valid? [False, False] Translation: X:8.13, Y:0.37, Z:1.28 [[ 9.99959371e-01 -3.54727783e-03 8.28689375e-03 8.13066180e+00] [ 3.53072119e-03 9.99991743e-01 2.01170766e-03 3.66264776e-01] [-8.29396142e-03 -1.98236722e-03 9.99963640e-01 1.28009453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9425578440001 meters Centerline goodness [0,1] 0.2189706710566217 Centerline is valid? [False, False] Translation: X:8.13, Y:0.37, Z:1.28 [[ 9.99948088e-01 -3.71086581e-03 9.48946500e-03 8.12883682e+00] [ 3.69320264e-03 9.99991416e-01 1.87819160e-03 3.67467063e-01] [-9.49635327e-03 -1.84304759e-03 9.99953210e-01 1.27863486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.97255784400005 meters Centerline goodness [0,1] 0.21783221388120633 Centerline is valid? [False, False] Translation: X:8.13, Y:0.37, Z:1.28 [[ 9.99935649e-01 -3.90628942e-03 1.06507953e-02 8.12737789e+00] [ 3.88845786e-03 9.99991004e-01 1.69439379e-03 3.68382197e-01] [-1.06573183e-02 -1.65286959e-03 9.99941843e-01 1.27683922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0025578440001 meters Centerline goodness [0,1] 0.2114611552914446 Centerline is valid? [False, False] Translation: X:8.13, Y:0.37, Z:1.27 [[ 9.99904775e-01 -3.65595951e-03 1.33069675e-02 8.12838978e+00] [ 3.62555353e-03 9.99990763e-01 2.30837378e-03 3.70924189e-01] [-1.33152839e-02 -2.25990884e-03 9.99908794e-01 1.26888975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.03255784400005 meters Centerline goodness [0,1] 0.08588425936202804 Centerline is valid? [False, False] Translation: X:8.13, Y:0.37, Z:1.27 [[ 9.99888151e-01 -3.90344206e-03 1.44377176e-02 8.12804704e+00] [ 3.87693427e-03 9.99990748e-01 1.86354258e-03 3.73592949e-01] [-1.44448583e-02 -1.80736007e-03 9.99894034e-01 1.26564284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0625578440001 meters Centerline goodness [0,1] 0.0829701086355289 Centerline is valid? [False, False] Translation: X:8.13, Y:0.38, Z:1.26 [[ 9.99864603e-01 -4.12200666e-03 1.59306369e-02 8.12692207e+00] [ 4.09745243e-03 9.99990367e-01 1.57365384e-03 3.75423425e-01] [-1.59369700e-02 -1.50816575e-03 9.99871861e-01 1.26276731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.09255784400005 meters Centerline goodness [0,1] 0.07587841729806366 Centerline is valid? [False, False] Translation: X:8.12, Y:0.38, Z:1.26 [[ 9.99801555e-01 -4.55683278e-03 1.93929558e-02 8.12418460e+00] [ 4.52894181e-03 9.99988646e-01 1.48187761e-03 3.76406174e-01] [-1.93994883e-02 -1.39375397e-03 9.99810841e-01 1.25835787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1225578440001 meters Centerline goodness [0,1] 0.07420619192319544 Centerline is valid? [False, False] Translation: X:8.12, Y:0.38, Z:1.26 [[ 9.99769583e-01 -4.60001958e-03 2.09671190e-02 8.12307903e+00] [ 4.56428163e-03 9.99988049e-01 1.75201301e-03 3.75332815e-01] [-2.09749277e-02 -1.65590949e-03 9.99778631e-01 1.25624135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.15255784400006 meters Centerline goodness [0,1] 0.07110076918104846 Centerline is valid? [False, False] Translation: X:8.12, Y:0.37, Z:1.25 [[ 9.99726047e-01 -4.54679695e-03 2.29599274e-02 8.12218832e+00] [ 4.49498798e-03 9.99987235e-01 2.30760075e-03 3.73799630e-01] [-2.29701265e-02 -2.20376398e-03 9.99733723e-01 1.25241748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1825578440001 meters Centerline goodness [0,1] 0.19534614642926018 Centerline is valid? [False, False] Translation: X:8.13, Y:0.37, Z:1.24 [[ 9.99659994e-01 -5.17796068e-03 2.55555136e-02 8.12616421e+00] [ 5.12751762e-03 9.99984775e-01 2.03899699e-03 3.73673906e-01] [-2.55656824e-02 -1.90726737e-03 9.99671325e-01 1.24349296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.21255784400006 meters Centerline goodness [0,1] 0.1993850883935434 Centerline is valid? [False, False] Translation: X:8.13, Y:0.37, Z:1.24 [[ 9.99614753e-01 -5.19648757e-03 2.72643155e-02 8.12524917e+00] [ 5.13811874e-03 9.99984357e-01 2.21047119e-03 3.72784942e-01] [-2.72753757e-02 -2.06953232e-03 9.99625815e-01 1.23963891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2425578440001 meters Centerline goodness [0,1] 0.21453947368421056 Centerline is valid? [False, False] Translation: X:8.12, Y:0.37, Z:1.24 [[ 9.99567854e-01 -5.24742880e-03 2.89235251e-02 8.12446974e+00] [ 5.18788682e-03 9.99984267e-01 2.13325820e-03 3.72651497e-01] [-2.89342642e-02 -1.98228435e-03 9.99579351e-01 1.23627601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.27255784400006 meters Centerline goodness [0,1] 0.20718232044198892 Centerline is valid? [False, False] Translation: X:8.12, Y:0.37, Z:1.23 [[ 9.99503941e-01 -5.20215885e-03 3.10613755e-02 8.12312321e+00] [ 5.13833442e-03 9.99984521e-01 2.13425259e-03 3.73192464e-01] [-3.10719974e-02 -1.97359014e-03 9.99515200e-01 1.23216303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3025578440001 meters Centerline goodness [0,1] 0.21335745647905036 Centerline is valid? [False, False] Translation: X:8.13, Y:0.38, Z:1.22 [[ 9.99455401e-01 -3.02634908e-03 3.28594473e-02 8.12782452e+00] [ 2.89062505e-03 9.99987098e-01 4.17716124e-03 3.75482358e-01] [-3.28716649e-02 -4.07990202e-03 9.99451253e-01 1.22460051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.33255784400006 meters Centerline goodness [0,1] 0.216080510767233 Centerline is valid? [False, False] Translation: X:8.13, Y:0.38, Z:1.22 [[ 9.99373629e-01 -2.59890428e-03 3.52929987e-02 8.12732816e+00] [ 2.43505789e-03 9.99986062e-01 4.68465211e-03 3.76204070e-01] [-3.53046817e-02 -4.59577729e-03 9.99366028e-01 1.21751831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36255784400004 meters Centerline goodness [0,1] 0.21439500053873506 Centerline is valid? [False, False] Translation: X:8.13, Y:0.38, Z:1.21 [[ 9.99314482e-01 -2.76069280e-03 3.69180856e-02 8.12676405e+00] [ 2.60143810e-03 9.99987107e-01 4.36107229e-03 3.77253168e-01] [-3.69296491e-02 -4.26204258e-03 9.99308779e-01 1.21359005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.39255784400007 meters Centerline goodness [0,1] 0.22035784420685145 Centerline is valid? [False, False] Translation: X:8.13, Y:0.38, Z:1.21 [[ 9.99215689e-01 -3.87223470e-03 3.94082763e-02 8.12921652e+00] [ 3.75519606e-03 9.99988318e-01 3.04348876e-03 3.80687185e-01] [-3.94196010e-02 -2.89311592e-03 9.99218557e-01 1.20688694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42255784400004 meters Centerline goodness [0,1] 0.21857105100872165 Centerline is valid? [False, False] Translation: X:8.13, Y:0.38, Z:1.20 [[ 9.99162074e-01 -4.05756378e-03 4.07269794e-02 8.12949218e+00] [ 3.93145479e-03 9.99987228e-01 3.17606240e-03 3.80941597e-01] [-4.07393463e-02 -3.01328482e-03 9.99165264e-01 1.20236357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.45255784400007 meters Centerline goodness [0,1] 0.23187742469813866 Centerline is valid? [False, False] Translation: X:8.16, Y:0.38, Z:1.20 [[ 9.99075913e-01 -1.08712667e-02 4.15828792e-02 8.15671329e+00] [ 1.06822855e-02 9.99931593e-01 4.76419202e-03 3.82398581e-01] [-4.16318274e-02 -4.31558930e-03 9.99123699e-01 1.19612684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48255784400004 meters Centerline goodness [0,1] 0.23147887476449314 Centerline is valid? [False, False] Translation: X:8.16, Y:0.38, Z:1.19 [[ 9.99015128e-01 -1.11539213e-02 4.29460694e-02 8.15723154e+00] [ 1.09525303e-02 9.99927906e-01 4.92184266e-03 3.81703112e-01] [-4.29978711e-02 -4.44662715e-03 9.99065268e-01 1.19082896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.51255784400007 meters Centerline goodness [0,1] 0.24041441600991764 Centerline is valid? [False, False] Translation: X:8.16, Y:0.38, Z:1.19 [[ 9.98956696e-01 -1.12573652e-02 4.42582270e-02 8.15731340e+00] [ 1.10377579e-02 9.99925544e-01 5.20321032e-03 3.80470884e-01] [-4.43135062e-02 -4.70927020e-03 9.99006575e-01 1.18717119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54255784400004 meters Centerline goodness [0,1] 0.2295278073819519 Centerline is valid? [False, False] Translation: X:8.20, Y:0.39, Z:1.18 [[ 9.98869332e-01 -1.06186069e-02 4.63389922e-02 8.20284873e+00] [ 1.04091384e-02 9.99934497e-01 4.75932134e-03 3.85660673e-01] [-4.63864942e-02 -4.27159114e-03 9.98914434e-01 1.18444739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5725578440001 meters Centerline goodness [0,1] 0.25003831920996733 Centerline is valid? [False, False] Translation: X:8.24, Y:0.39, Z:1.19 [[ 9.99124119e-01 -1.08184079e-02 4.04222360e-02 8.24493362e+00] [ 1.06625830e-02 9.99934876e-01 4.06854077e-03 3.89704420e-01] [-4.04636187e-02 -3.63397176e-03 9.99174404e-01 1.19432313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60255784400005 meters Centerline goodness [0,1] 0.24752951464801054 Centerline is valid? [False, False] Translation: X:8.25, Y:0.39, Z:1.19 [[ 9.99089844e-01 -9.50072853e-03 4.15838961e-02 8.24738244e+00] [ 9.27090316e-03 9.99940686e-01 5.71615076e-03 3.87755715e-01] [-4.16357372e-02 -5.32542790e-03 9.99118664e-01 1.18712318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6325578440001 meters Centerline goodness [0,1] 0.2405635762741346 Centerline is valid? [False, False] Translation: X:8.25, Y:0.39, Z:1.18 [[ 9.99061268e-01 -8.17701447e-03 4.25407923e-02 8.25080510e+00] [ 7.87667942e-03 9.99942893e-01 7.22276569e-03 3.86277765e-01] [-4.25974236e-02 -6.88090527e-03 9.99068623e-01 1.17856694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66255784400005 meters Centerline goodness [0,1] 0.2537014719807179 Centerline is valid? [False, False] Translation: X:8.30, Y:0.39, Z:1.18 [[ 9.99278483e-01 -5.72503766e-03 3.75464639e-02 8.29936209e+00] [ 5.48657389e-03 9.99964140e-01 6.45113021e-03 3.92558073e-01] [-3.75820504e-02 -6.24047416e-03 9.99274059e-01 1.18111777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6925578440001 meters Centerline goodness [0,1] 0.23791797702329764 Centerline is valid? [False, False] Translation: X:8.30, Y:0.39, Z:1.18 [[ 9.99227039e-01 -5.80028409e-03 3.88803341e-02 8.29953928e+00] [ 5.55920427e-03 9.99964665e-01 6.30580776e-03 3.94818959e-01] [-3.89155357e-02 -6.08478990e-03 9.99223977e-01 1.17764944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72255784400005 meters Centerline goodness [0,1] 0.23956996858824053 Centerline is valid? [False, False] Translation: X:8.30, Y:0.40, Z:1.18 [[ 9.99165988e-01 -5.91383240e-03 4.04024132e-02 8.29918488e+00] [ 5.67959790e-03 9.99966407e-01 5.90986206e-03 3.97626694e-01] [-4.04360059e-02 -5.67546371e-03 9.99166012e-01 1.17526582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7525578440001 meters Centerline goodness [0,1] 0.16753756423321264 Centerline is valid? [False, False] Translation: X:8.34, Y:0.41, Z:1.17 [[ 9.99043960e-01 -4.19306292e-03 4.35153399e-02 8.34350422e+00] [ 3.95299318e-03 9.99976498e-01 5.60148250e-03 4.05366746e-01] [-4.35378045e-02 -5.42411142e-03 9.99037056e-01 1.17185661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78255784400005 meters Centerline goodness [0,1] 0.16817735066069672 Centerline is valid? [False, False] Translation: X:8.34, Y:0.41, Z:1.17 [[ 9.98993448e-01 -4.29423331e-03 4.46503123e-02 8.34394063e+00] [ 4.06355760e-03 9.99977932e-01 5.25575547e-03 4.07807922e-01] [-4.46718964e-02 -5.06902616e-03 9.98988852e-01 1.16782327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8125578440001 meters Centerline goodness [0,1] 0.16798648737578692 Centerline is valid? [False, False] Translation: X:8.39, Y:0.42, Z:1.17 [[ 9.99211530e-01 -1.78930293e-03 3.96625403e-02 8.39440812e+00] [ 1.61112666e-03 9.99988470e-01 4.52381405e-03 4.17058209e-01] [-3.96701775e-02 -4.45634578e-03 9.99202891e-01 1.17026225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84255784400005 meters Centerline goodness [0,1] 0.09278788007383987 Centerline is valid? [False, False] Translation: X:8.44, Y:0.42, Z:1.18 [[ 9.99434753e-01 -1.37897372e-03 3.35897631e-02 8.44017501e+00] [ 1.24762159e-03 9.99991495e-01 3.93112678e-03 4.23271358e-01] [-3.35948984e-02 -3.88699741e-03 9.99427973e-01 1.17905101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8725578440001 meters Centerline goodness [0,1] 0.16657542645674117 Centerline is valid? [False, False] Translation: X:8.44, Y:0.43, Z:1.17 [[ 9.99404464e-01 -1.55414629e-03 3.44717465e-02 8.44109281e+00] [ 1.43071244e-03 9.99992478e-01 3.60510323e-03 4.26186266e-01] [-3.44770901e-02 -3.55363711e-03 9.99399170e-01 1.17497921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90255784400006 meters Centerline goodness [0,1] 0.1628028132326127 Centerline is valid? [False, False] Translation: X:8.49, Y:0.43, Z:1.18 [[ 9.99575693e-01 -1.71504006e-04 2.91273997e-02 8.49086366e+00] [ 1.09854275e-04 9.99997751e-01 2.11814162e-03 4.34948597e-01] [-2.91276974e-02 -2.11404310e-03 9.99573463e-01 1.17940822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9325578440001 meters Centerline goodness [0,1] 0.16167534249558946 Centerline is valid? [False, False] Translation: X:8.50, Y:0.44, Z:1.17 [[ 9.99560372e-01 9.79938348e-04 2.96327792e-02 8.49527600e+00] [-1.07663156e-03 9.99994148e-01 3.24726966e-03 4.35653606e-01] [-2.96294236e-02 -3.27774565e-03 9.99555578e-01 1.17138094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96255784400006 meters Centerline goodness [0,1] 0.16216157347912263 Centerline is valid? [False, False] Translation: X:8.50, Y:0.44, Z:1.17 [[ 9.99533767e-01 7.52425907e-04 3.05234878e-02 8.49674181e+00] [-8.42337557e-04 9.99995344e-01 2.93290293e-03 4.38968820e-01] [-3.05211388e-02 -2.95724660e-03 9.99529747e-01 1.16641676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9925578440001 meters Centerline goodness [0,1] 0.15962339933922132 Centerline is valid? [False, False] Translation: X:8.50, Y:0.44, Z:1.16 [[ 9.99510769e-01 1.73414513e-03 3.12284243e-02 8.50102861e+00] [-1.85653346e-03 9.99990708e-01 3.89056361e-03 4.39810768e-01] [-3.12213873e-02 -3.94663685e-03 9.99504702e-01 1.15804596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02255784400006 meters Centerline goodness [0,1] 0.15659182498560742 Centerline is valid? [False, False] Translation: X:8.55, Y:0.45, Z:1.16 [[ 9.99648875e-01 2.68150546e-03 2.63616540e-02 8.55216591e+00] [-2.74424750e-03 9.99993487e-01 2.34415983e-03 4.50625332e-01] [-2.63551964e-02 -2.41567964e-03 9.99649723e-01 1.16213213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0525578440001 meters Centerline goodness [0,1] 0.2961460881507232 Centerline is valid? [False, False] Translation: X:8.56, Y:0.45, Z:1.16 [[ 9.99637062e-01 2.77843314e-03 2.67959658e-02 8.55556543e+00] [-2.84173175e-03 9.99993261e-01 2.32445289e-03 4.53516554e-01] [-2.67893269e-02 -2.39975620e-03 9.99638221e-01 1.15556106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08255784400006 meters Centerline goodness [0,1] 0.29857038907674527 Centerline is valid? [False, False] Translation: X:8.56, Y:0.46, Z:1.15 [[ 9.99632484e-01 3.40961712e-03 2.68937153e-02 8.56174312e+00] [-3.48622389e-03 9.99989997e-01 2.80212765e-03 4.55644466e-01] [-2.68838921e-02 -2.89485533e-03 9.99634371e-01 1.14641660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.11255784400004 meters Centerline goodness [0,1] 0.29380065345610384 Centerline is valid? [False, False] Translation: X:8.60, Y:0.46, Z:1.15 [[ 9.99762177e-01 2.66562189e-04 2.18063986e-02 8.59923428e+00] [-3.10287078e-04 9.99997948e-01 2.00178141e-03 4.64457817e-01] [-2.18058202e-02 -2.00807158e-03 9.99760208e-01 1.15090746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14255784400007 meters Centerline goodness [0,1] 0.29875598908536194 Centerline is valid? [False, False] Translation: X:8.60, Y:0.47, Z:1.15 [[ 9.99757513e-01 -1.67421329e-04 2.20201327e-02 8.60235726e+00] [ 1.35469237e-04 9.99998936e-01 1.45252361e-03 4.67452033e-01] [-2.20203525e-02 -1.44918834e-03 9.99756472e-01 1.14513732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.17255784400004 meters Centerline goodness [0,1] 0.2997631862217438 Centerline is valid? [False, False] Translation: X:8.61, Y:0.47, Z:1.14 [[ 9.99745239e-01 6.20754322e-04 2.25626342e-02 8.60627367e+00] [-6.75003839e-04 9.99996900e-01 2.39686009e-03 4.67586215e-01] [-2.25610764e-02 -2.41147933e-03 9.99742558e-01 1.13809333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20255784400007 meters Centerline goodness [0,1] 0.29927534691969315 Centerline is valid? [False, False] Translation: X:8.66, Y:0.48, Z:1.14 [[ 9.99853430e-01 8.55582011e-04 1.70993037e-02 8.65889122e+00] [-8.74238340e-04 9.99999031e-01 1.08361263e-03 4.77853422e-01] [-1.70983600e-02 -1.09840268e-03 9.99853209e-01 1.14385444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.23255784400004 meters Centerline goodness [0,1] 0.15855890776751302 Centerline is valid? [False, False] Translation: X:8.66, Y:0.48, Z:1.14 [[ 9.99849068e-01 6.19891877e-04 1.73625285e-02 8.66132501e+00] [-6.31705778e-04 9.99999573e-01 6.74948990e-04 4.80596634e-01] [-1.73621027e-02 -6.85815128e-04 9.99849032e-01 1.13937804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26255784400007 meters Centerline goodness [0,1] 0.15753585203179266 Centerline is valid? [False, False] Translation: X:8.69, Y:0.49, Z:1.14 [[ 9.99867839e-01 -2.97962907e-03 1.59820466e-02 8.68721659e+00] [ 2.92521797e-03 9.99989850e-01 3.42681110e-03 4.86220605e-01] [-1.59920950e-02 -3.37960724e-03 9.99866407e-01 1.13916188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.29255784400004 meters Centerline goodness [0,1] 0.15745274914089347 Centerline is valid? [False, False] Translation: X:8.69, Y:0.49, Z:1.13 [[ 9.99862348e-01 -3.15265987e-03 1.62894105e-02 8.69003584e+00] [ 3.10288427e-03 9.99990443e-01 3.08007363e-03 4.89996836e-01] [-1.62989653e-02 -3.02910550e-03 9.99862575e-01 1.13436655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3225578440001 meters Centerline goodness [0,1] 0.15745274914089347 Centerline is valid? [False, False] Translation: X:8.69, Y:0.49, Z:1.13 [[ 9.99862348e-01 -3.15265987e-03 1.62894105e-02 8.69003584e+00] [ 3.10288427e-03 9.99990443e-01 3.08007363e-03 4.89996836e-01] [-1.62989653e-02 -3.02910550e-03 9.99862575e-01 1.13436655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.35255784400005 meters Centerline goodness [0,1] 0.1569585821450581 Centerline is valid? [False, False] Translation: X:8.70, Y:0.49, Z:1.12 [[ 9.99866210e-01 -2.17653833e-03 1.62118887e-02 8.69745394e+00] [ 2.11534896e-03 9.99990578e-01 3.79054404e-03 4.92176500e-01] [-1.62199862e-02 -3.75574310e-03 9.99861394e-01 1.12498936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3825578440001 meters Centerline goodness [0,1] 0.156744313742054 Centerline is valid? [False, False] Translation: X:8.70, Y:0.49, Z:1.12 [[ 9.99864341e-01 -1.67989577e-03 1.63853129e-02 8.70373106e+00] [ 1.61198623e-03 9.99990061e-01 4.15686483e-03 4.93552300e-01] [-1.63921331e-02 -4.12988802e-03 9.99857111e-01 1.11634908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.41255784400005 meters Centerline goodness [0,1] 0.16048142289110268 Centerline is valid? [False, False] Translation: X:8.71, Y:0.50, Z:1.11 [[ 9.99839697e-01 -3.37846196e-03 1.75831194e-02 8.71186772e+00] [ 3.33607332e-03 9.99991460e-01 2.43953177e-03 4.98750222e-01] [-1.75912111e-02 -2.38048213e-03 9.99842429e-01 1.11093872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4425578440001 meters Centerline goodness [0,1] 0.1612028966653658 Centerline is valid? [False, False] Translation: X:8.72, Y:0.50, Z:1.11 [[ 9.99837395e-01 -3.68924828e-03 1.76514053e-02 8.71521748e+00] [ 3.64656583e-03 9.99990351e-01 2.44965200e-03 4.98905436e-01] [-1.76602723e-02 -2.38488666e-03 9.99841201e-01 1.10732153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.47255784400005 meters Centerline goodness [0,1] 0.15813298031344747 Centerline is valid? [False, False] Translation: X:8.72, Y:0.50, Z:1.10 [[ 9.99838189e-01 -4.02929866e-03 1.75317284e-02 8.72280772e+00] [ 3.98812077e-03 9.99989208e-01 2.38309226e-03 4.99710726e-01] [-1.75411414e-02 -2.31278799e-03 9.99843467e-01 1.09843301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5025578440001 meters Centerline goodness [0,1] 0.1639127851972454 Centerline is valid? [False, False] Translation: X:8.73, Y:0.50, Z:1.09 [[ 9.99805571e-01 -5.60921511e-03 1.89038600e-02 8.73063576e+00] [ 5.58784754e-03 9.99983688e-01 1.18296025e-03 5.02663959e-01] [-1.89101872e-02 -1.07709836e-03 9.99820606e-01 1.09290414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.53255784400005 meters Centerline goodness [0,1] 0.16585322368567668 Centerline is valid? [False, False] Translation: X:8.73, Y:0.50, Z:1.09 [[ 9.99805149e-01 -5.64677600e-03 1.89150115e-02 8.73364030e+00] [ 5.62258840e-03 9.99983306e-01 1.33168837e-03 5.02109590e-01] [-1.89222155e-02 -1.22507756e-03 9.99820208e-01 1.08921097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5625578440001 meters Centerline goodness [0,1] 0.17741583813012385 Centerline is valid? [False, False] Translation: X:8.74, Y:0.50, Z:1.08 [[ 9.99811836e-01 -5.13137927e-03 1.87072613e-02 8.74139182e+00] [ 5.09629100e-03 9.99985165e-01 1.92284064e-03 5.01248698e-01] [-1.87168506e-02 -1.82714118e-03 9.99823155e-01 1.08001893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.59255784400005 meters Centerline goodness [0,1] 0.16490076436768952 Centerline is valid? [False, False] Translation: X:8.77, Y:0.50, Z:1.07 [[ 9.99677918e-01 1.80845595e-03 2.53138081e-02 8.76607813e+00] [-1.81215762e-03 9.99998350e-01 1.23291792e-04 5.03369349e-01] [-2.53135434e-02 -1.69124692e-04 9.99679547e-01 1.07204678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6225578440001 meters Centerline goodness [0,1] 0.18016971079001032 Centerline is valid? [False, False] Translation: X:8.77, Y:0.50, Z:1.06 [[ 9.99690174e-01 2.76076325e-03 2.47372842e-02 8.77403452e+00] [-2.78563104e-03 9.99995649e-01 9.70872126e-04 5.02659098e-01] [-2.47344963e-02 -1.03948027e-03 9.99693515e-01 1.06373907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.65255784400006 meters Centerline goodness [0,1] 0.16381924897994804 Centerline is valid? [False, False] Translation: X:8.78, Y:0.50, Z:1.06 [[ 9.99704099e-01 3.51008857e-03 2.40705935e-02 8.78228769e+00] [-3.54868986e-03 9.99992485e-01 1.56114215e-03 5.02612150e-01] [-2.40649329e-02 -1.64609928e-03 9.99709042e-01 1.05540131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6825578440001 meters Centerline goodness [0,1] 0.18172681988988904 Centerline is valid? [False, False] Translation: X:8.81, Y:0.50, Z:1.06 [[ 9.99733082e-01 -7.63614431e-04 2.30907426e-02 8.80803462e+00] [ 6.59590172e-04 9.99989602e-01 4.51230076e-03 5.04557582e-01] [-2.30939481e-02 -4.49586591e-03 9.99723190e-01 1.05524176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.71255784400006 meters Centerline goodness [0,1] 0.1816848514477456 Centerline is valid? [False, False] Translation: X:8.81, Y:0.51, Z:1.05 [[ 9.99746214e-01 -1.23394938e-03 2.24941285e-02 8.81320243e+00] [ 1.15075311e-03 9.99992452e-01 3.71114612e-03 5.07936084e-01] [-2.24985381e-02 -3.68431909e-03 9.99740087e-01 1.05019478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7425578440001 meters Centerline goodness [0,1] 0.1671825935906287 Centerline is valid? [False, False] Translation: X:8.82, Y:0.51, Z:1.04 [[ 9.99768128e-01 -1.29221566e-03 2.14946625e-02 8.82075291e+00] [ 1.22173840e-03 9.99993836e-01 3.29163488e-03 5.10789715e-01] [-2.14987835e-02 -3.26461079e-03 9.99763544e-01 1.04386647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.77255784400006 meters Centerline goodness [0,1] 0.1644008165747296 Centerline is valid? [False, False] Translation: X:8.85, Y:0.52, Z:1.04 [[ 9.99626575e-01 -7.27111059e-03 2.63408846e-02 8.84546014e+00] [ 7.13048645e-03 9.99959842e-01 5.42862748e-03 5.17645415e-01] [-2.63792990e-02 -5.23877698e-03 9.99638278e-01 1.03717922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8025578440001 meters Centerline goodness [0,1] 0.17785855915399873 Centerline is valid? [False, False] Translation: X:8.85, Y:0.52, Z:1.03 [[ 9.99629864e-01 -7.92561574e-03 2.60253754e-02 8.84989459e+00] [ 7.80541099e-03 9.99958411e-01 4.71709622e-03 5.20404650e-01] [-2.60616789e-02 -4.51221150e-03 9.99650153e-01 1.03268751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.83255784400006 meters Centerline goodness [0,1] 0.17836862849889767 Centerline is valid? [False, False] Translation: X:8.86, Y:0.52, Z:1.03 [[ 9.99638498e-01 -9.04144104e-03 2.53204464e-02 8.85631501e+00] [ 8.95660975e-03 9.99953897e-01 3.46171925e-03 5.23937516e-01] [-2.53505780e-02 -3.23368247e-03 9.99673392e-01 1.02697904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86255784400004 meters Centerline goodness [0,1] 0.17913295177948818 Centerline is valid? [False, False] Translation: X:8.86, Y:0.53, Z:1.02 [[ 9.99649406e-01 -1.03864552e-02 2.43554218e-02 8.86436619e+00] [ 1.03413039e-02 9.99944569e-01 1.97907567e-03 5.27612503e-01] [-2.43746273e-02 -1.72651500e-03 9.99701404e-01 1.02016624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.89255784400007 meters Centerline goodness [0,1] 0.17369966259147274 Centerline is valid? [False, False] Translation: X:8.89, Y:0.53, Z:1.02 [[ 9.99523269e-01 -1.77009112e-02 2.52964734e-02 8.89094008e+00] [ 1.76030991e-02 9.99836712e-01 4.08411412e-03 5.29900932e-01] [-2.53646353e-02 -3.63687077e-03 9.99671650e-01 1.01685751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92255784400004 meters Centerline goodness [0,1] 0.1718439899905082 Centerline is valid? [False, False] Translation: X:8.90, Y:0.53, Z:1.01 [[ 9.99551937e-01 -1.71129088e-02 2.45575636e-02 8.89896253e+00] [ 1.69991962e-02 9.99843828e-01 4.83178328e-03 5.29544347e-01] [-2.46364143e-02 -4.41215949e-03 9.99686741e-01 1.00950141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.95255784400007 meters SLAMing on 511.98255784400004 meters Centerline goodness [0,1] 0.1750981392357338 Centerline is valid? [False, False] Translation: X:8.95, Y:0.53, Z:1.00 [[ 9.99401546e-01 -1.82542102e-02 2.93825394e-02 8.94817180e+00] [ 1.81544004e-02 9.99828496e-01 3.66012467e-03 5.33734800e-01] [-2.94443129e-02 -3.12451187e-03 9.99561539e-01 1.00226921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.012557844 meters Centerline goodness [0,1] 0.1716857574629317 Centerline is valid? [False, False] Translation: X:8.95, Y:0.54, Z:1.00 [[ 9.99408747e-01 -1.91675663e-02 2.85440241e-02 8.95482710e+00] [ 1.90972314e-02 9.99813891e-01 2.73468447e-03 5.35378505e-01] [-2.85911290e-02 -2.18795574e-03 9.99588796e-01 9.96742741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.042557844 meters Centerline goodness [0,1] 0.25794180459156435 Centerline is valid? [False, False] Translation: X:8.96, Y:0.53, Z:0.99 [[ 9.99429386e-01 -1.92044460e-02 2.77865367e-02 8.95914575e+00] [ 1.91331267e-02 9.99812939e-01 2.83030909e-03 5.34612412e-01] [-2.78356934e-02 -2.29705075e-03 9.99609873e-01 9.93782373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.072557844 meters Centerline goodness [0,1] 0.23266105949183147 Centerline is valid? [False, False] Translation: X:8.98, Y:0.54, Z:0.99 [[ 9.99385816e-01 -1.32078002e-02 3.24583684e-02 8.98113886e+00] [ 1.32055037e-02 9.99912763e-01 2.85131946e-04 5.35488405e-01] [-3.24593028e-02 1.43672281e-04 9.99473048e-01 9.90453388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.102557844 meters Centerline goodness [0,1] 0.2570750532292406 Centerline is valid? [False, False] Translation: X:8.99, Y:0.53, Z:0.99 [[ 9.99417188e-01 -1.24317199e-02 3.17920929e-02 8.98698380e+00] [ 1.23928552e-02 9.99922198e-01 1.41922830e-03 5.31779818e-01] [-3.18072628e-02 -1.02440635e-03 9.99493496e-01 9.85271656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.132557844 meters Centerline goodness [0,1] 0.2586332282874584 Centerline is valid? [False, False] Translation: X:8.99, Y:0.53, Z:0.98 [[ 9.99442569e-01 -1.21862439e-02 3.10813023e-02 8.99176487e+00] [ 1.21343723e-02 9.99924651e-01 1.85698307e-03 5.29747834e-01] [-3.11015900e-02 -1.47879583e-03 9.99515135e-01 9.81482043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.162557844 meters Centerline goodness [0,1] 0.19844557277748087 Centerline is valid? [False, False] Translation: X:9.00, Y:0.53, Z:0.98 [[ 9.99478623e-01 -1.12205977e-02 3.02750845e-02 8.99788779e+00] [ 1.11299844e-02 9.99933067e-01 3.15986622e-03 5.25664066e-01] [-3.03085137e-02 -2.82125752e-03 9.99536610e-01 9.76579869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.192557844 meters Centerline goodness [0,1] 0.18745664869218892 Centerline is valid? [False, False] Translation: X:9.02, Y:0.53, Z:0.97 [[ 9.99413972e-01 -3.72501522e-03 3.40270138e-02 9.02030158e+00] [ 3.70074295e-03 9.99992851e-01 7.76276697e-04 5.25009535e-01] [-3.40296622e-02 -6.49896546e-04 9.99420612e-01 9.73894023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.222557844 meters Centerline goodness [0,1] 0.2057703252922376 Centerline is valid? [False, False] Translation: X:9.03, Y:0.52, Z:0.97 [[ 9.99461462e-01 -2.64142242e-03 3.27079393e-02 9.02841876e+00] [ 2.57831958e-03 9.99994733e-01 1.97130903e-03 5.21397323e-01] [-3.27129741e-02 -1.88591589e-03 9.99463008e-01 9.68392200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.252557844 meters Centerline goodness [0,1] 0.16282716731087798 Centerline is valid? [False, False] Translation: X:9.05, Y:0.52, Z:0.96 [[ 9.99296680e-01 5.09097372e-03 3.71514153e-02 9.05066484e+00] [-5.08658440e-03 9.99987041e-01 -2.12666043e-04 5.20807376e-01] [-3.71520166e-02 2.35426609e-05 9.99309625e-01 9.64669832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.282557844 meters Centerline goodness [0,1] 0.26102181916135403 Centerline is valid? [False, False] Translation: X:9.06, Y:0.52, Z:0.96 [[ 9.99328987e-01 5.20801566e-03 3.62553664e-02 9.05545435e+00] [-5.20591266e-03 9.99986438e-01 -1.52407762e-04 5.20429302e-01] [-3.62556684e-02 -3.64367762e-05 9.99342546e-01 9.61450417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.312557844 meters Centerline goodness [0,1] 0.24187256176853056 Centerline is valid? [False, False] Translation: X:9.08, Y:0.52, Z:0.96 [[ 9.99364624e-01 1.25276406e-02 3.33677552e-02 9.08456879e+00] [-1.24841723e-02 9.99920928e-01 -1.51073631e-03 5.18480682e-01] [-3.33840427e-02 1.09320762e-03 9.99442000e-01 9.58134945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.342557844 meters Centerline goodness [0,1] 0.17186448770536278 Centerline is valid? [False, False] Translation: X:9.09, Y:0.52, Z:0.95 [[ 9.99225090e-01 1.31396721e-02 3.71021433e-02 9.08726584e+00] [-1.31142419e-02 9.99913573e-01 -9.28706112e-04 5.15500764e-01] [-3.71111396e-02 4.41419965e-04 9.99311047e-01 9.51919991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.372557844 meters SLAMing on 512.4025578440001 meters Centerline goodness [0,1] 0.21698714426986043 Centerline is valid? [False, False] Translation: X:9.11, Y:0.51, Z:0.95 [[ 9.99077263e-01 8.02005166e-03 4.21936138e-02 9.10936963e+00] [-8.13068955e-03 9.99963941e-01 2.45119062e-03 5.13324589e-01] [-4.21724336e-02 -2.79199199e-03 9.99106446e-01 9.46302312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.432557844 meters Centerline goodness [0,1] 0.21794391699892068 Centerline is valid? [False, False] Translation: X:9.13, Y:0.51, Z:0.94 [[ 9.98886960e-01 2.35466879e-03 4.71094161e-02 9.13217800e+00] [-2.63042038e-03 9.99979765e-01 5.79229146e-03 5.12446685e-01] [-4.70948239e-02 -5.90976197e-03 9.98872941e-01 9.40836838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.462557844 meters Centerline goodness [0,1] 0.12310057092665794 Centerline is valid? [False, False] Translation: X:9.14, Y:0.51, Z:0.94 [[ 9.98946857e-01 1.50136453e-03 4.58576380e-02 9.13991727e+00] [-1.72561710e-03 9.99986745e-01 4.85099451e-03 5.14145704e-01] [-4.58497471e-02 -4.92501845e-03 9.98936207e-01 9.35640010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.492557844 meters Centerline goodness [0,1] 0.11768487320446885 Centerline is valid? [False, False] Translation: X:9.15, Y:0.52, Z:0.93 [[ 9.99005293e-01 5.52957325e-04 4.45883253e-02 9.14799968e+00] [-7.25679309e-04 9.99992296e-01 3.85761079e-03 5.15210930e-01] [-4.45858487e-02 -3.88613043e-03 9.98997998e-01 9.30098255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5225578440001 meters Centerline goodness [0,1] 0.12345189298779147 Centerline is valid? [False, False] Translation: X:9.15, Y:0.51, Z:0.92 [[ 9.98810502e-01 -4.32709478e-04 4.87585325e-02 9.15249390e+00] [ 2.75235624e-04 9.99994725e-01 3.23633539e-03 5.13684025e-01] [-4.87596757e-02 -3.21906569e-03 9.98805352e-01 9.21939397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.552557844 meters SLAMing on 512.582557844 meters Centerline goodness [0,1] 0.12960955646499284 Centerline is valid? [False, False] Translation: X:9.18, Y:0.51, Z:0.91 [[ 9.98501441e-01 -4.63109476e-03 5.45291159e-02 9.17619390e+00] [ 4.22005236e-03 9.99961828e-01 7.65076806e-03 5.11743604e-01] [-5.45624658e-02 -7.40918722e-03 9.98482870e-01 9.14598293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.612557844 meters SLAMing on 512.642557844 meters Centerline goodness [0,1] 0.34068311444242916 Centerline is valid? [False, False] Translation: X:9.25, Y:0.52, Z:0.91 [[ 9.98612373e-01 -3.15317116e-03 5.25679232e-02 9.25234290e+00] [ 2.85753726e-03 9.99979683e-01 5.69805732e-03 5.17091565e-01] [-5.25848222e-02 -5.53993574e-03 9.98601094e-01 9.10743458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.672557844 meters Centerline goodness [0,1] 0.3410801820728291 Centerline is valid? [False, False] Translation: X:9.26, Y:0.52, Z:0.91 [[ 9.98696104e-01 -2.85061571e-03 5.09702502e-02 9.26149510e+00] [ 2.55772558e-03 9.99979847e-01 5.81059899e-03 5.17778673e-01] [-5.09857868e-02 -5.67265465e-03 9.98683268e-01 9.05067002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.702557844 meters Centerline goodness [0,1] 0.340269117164424 Centerline is valid? [False, False] Translation: X:9.27, Y:0.52, Z:0.90 [[ 9.98774922e-01 -2.92075065e-03 4.93976215e-02 9.27029193e+00] [ 2.65160634e-03 9.99981287e-01 5.51318212e-03 5.19109736e-01] [-4.94127998e-02 -5.37544500e-03 9.98763976e-01 8.99804082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.732557844 meters Centerline goodness [0,1] 0.345134096269765 Centerline is valid? [False, False] Translation: X:9.29, Y:0.52, Z:0.89 [[ 9.98872626e-01 -4.16482240e-03 4.72877578e-02 9.28706073e+00] [ 3.95913902e-03 9.99982295e-01 4.44244094e-03 5.18173065e-01] [-4.73054226e-02 -4.25021383e-03 9.98871430e-01 8.88330040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.762557844 meters Centerline goodness [0,1] 0.13701880822640178 Centerline is valid? [False, False] Translation: X:9.30, Y:0.52, Z:0.88 [[ 9.98932393e-01 -5.14621321e-03 4.59085133e-02 9.29543439e+00] [ 4.98993394e-03 9.99981362e-01 3.51809783e-03 5.19285519e-01] [-4.59257625e-02 -3.28526143e-03 9.98939453e-01 8.83387788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.792557844 meters Centerline goodness [0,1] 0.135548638814607 Centerline is valid? [False, False] Translation: X:9.30, Y:0.52, Z:0.88 [[ 9.98989984e-01 -6.13624831e-03 4.45124526e-02 9.30391319e+00] [ 6.02817141e-03 9.99978549e-01 2.56184086e-03 5.20780778e-01] [-4.45272179e-02 -2.29092467e-03 9.99005545e-01 8.78564964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.822557844 meters Centerline goodness [0,1] 0.12711040396004591 Centerline is valid? [False, False] Translation: X:9.31, Y:0.52, Z:0.87 [[ 9.98805001e-01 -8.67960809e-03 4.80960983e-02 9.30827700e+00] [ 8.63907548e-03 9.99962131e-01 1.05055525e-03 5.18769837e-01] [-4.81033953e-02 -6.33794017e-04 9.98842161e-01 8.72030985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.852557844 meters Centerline goodness [0,1] 0.12957795605162192 Centerline is valid? [False, False] Translation: X:9.32, Y:0.52, Z:0.87 [[ 9.98858026e-01 -9.48614910e-03 4.68258246e-02 9.31665059e+00] [ 9.47808593e-03 9.99955004e-01 3.94228133e-04 5.18479517e-01] [-4.68274574e-02 5.00412546e-05 9.98902992e-01 8.66785777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.882557844 meters Centerline goodness [0,1] 0.1506593406593406 Centerline is valid? [False, False] Translation: X:9.32, Y:0.52, Z:0.86 [[ 9.98911065e-01 -9.85513111e-03 4.56022094e-02 9.32353730e+00] [ 9.85284731e-03 9.99951422e-01 2.74858954e-04 5.16935434e-01] [-4.56027029e-02 1.74751956e-04 9.98959640e-01 8.62933405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.912557844 meters Centerline goodness [0,1] 0.1365633018744835 Centerline is valid? [False, False] Translation: X:9.38, Y:0.51, Z:0.86 [[ 9.99227508e-01 -8.15186816e-03 3.84439223e-02 9.37936345e+00] [ 8.11609049e-03 9.99966474e-01 1.08662140e-03 5.13334803e-01] [-3.84514914e-02 -7.73767645e-04 9.99260168e-01 8.59047220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.942557844 meters Centerline goodness [0,1] 0.13507483700478695 Centerline is valid? [False, False] Translation: X:9.38, Y:0.51, Z:0.86 [[ 9.99258623e-01 -7.96846300e-03 3.76657375e-02 9.38400371e+00] [ 7.91962526e-03 9.99967594e-01 1.44563579e-03 5.10953777e-01] [-3.76760364e-02 -1.14626550e-03 9.99289349e-01 8.56408972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.972557844 meters Centerline goodness [0,1] 0.1285985966292872 Centerline is valid? [False, False] Translation: X:9.39, Y:0.51, Z:0.85 [[ 9.99289642e-01 -7.76565798e-03 3.68769003e-02 9.38861308e+00] [ 7.70534111e-03 9.99968734e-01 1.77747074e-03 5.08722361e-01] [-3.68895505e-02 -1.49205900e-03 9.99318235e-01 8.53925379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.002557844 meters SLAMing on 513.032557844 meters SLAMing on 513.062557844 meters SLAMing on 513.092557844 meters SLAMing on 513.122557844 meters SLAMing on 513.1525578440001 meters Centerline goodness [0,1] 0.08012972972972976 Centerline is valid? [False, False] Translation: X:9.55, Y:0.51, Z:0.85 [[ 9.99438010e-01 7.91551217e-04 3.35117571e-02 9.55475052e+00] [-8.94886165e-04 9.99994891e-01 3.06865661e-03 5.05778492e-01] [-3.35091569e-02 -3.09692126e-03 9.99433612e-01 8.47948106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.182557844 meters Centerline goodness [0,1] 0.08012972972972976 Centerline is valid? [False, False] Translation: X:9.55, Y:0.51, Z:0.85 [[ 9.99438010e-01 7.91551217e-04 3.35117571e-02 9.55475052e+00] [-8.94886165e-04 9.99994891e-01 3.06865661e-03 5.05778492e-01] [-3.35091569e-02 -3.09692126e-03 9.99433612e-01 8.47948106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.212557844 meters SLAMing on 513.242557844 meters SLAMing on 513.2725578440001 meters Centerline goodness [0,1] 0.05633955240032895 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.83 [[ 9.99250339e-01 3.83353439e-03 3.85235567e-02 9.61527300e+00] [-3.98902209e-03 9.99984202e-01 3.96011849e-03 5.10275758e-01] [-3.85077669e-02 -4.11082106e-03 9.99249845e-01 8.31765680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.302557844 meters Centerline goodness [0,1] 0.058460468553049094 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.83 [[ 9.99280659e-01 3.51079253e-03 3.77602837e-02 9.62033050e+00] [-3.63970479e-03 9.99987779e-01 3.34576350e-03 5.13073217e-01] [-3.77480760e-02 -3.48079304e-03 9.99281225e-01 8.28691601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.332557844 meters SLAMing on 513.362557844 meters Centerline goodness [0,1] 0.06084185885208948 Centerline is valid? [False, False] Translation: X:9.67, Y:0.52, Z:0.82 [[ 9.99049247e-01 6.59940333e-03 4.30934987e-02 9.66704031e+00] [-6.79685997e-03 9.99967057e-01 4.43714079e-03 5.20760704e-01] [-4.30627966e-02 -4.72582264e-03 9.99061190e-01 8.22590612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.392557844 meters Centerline goodness [0,1] 0.0588816354578251 Centerline is valid? [False, False] Translation: X:9.67, Y:0.52, Z:0.82 [[ 9.99085359e-01 6.27941414e-03 4.22967446e-02 9.67230149e+00] [-6.43948557e-03 9.99972607e-01 3.64930250e-03 5.24879303e-01] [-4.22726705e-02 -3.91833398e-03 9.99098428e-01 8.19617645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.422557844 meters Centerline goodness [0,1] 0.06110329051557273 Centerline is valid? [False, False] Translation: X:9.69, Y:0.53, Z:0.81 [[ 9.99145272e-01 7.13068482e-03 4.07170484e-02 9.68661903e+00] [-7.28446727e-03 9.99966880e-01 3.62974212e-03 5.31677477e-01] [-4.06898173e-02 -3.92324168e-03 9.99164124e-01 8.09205710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.452557844 meters Centerline goodness [0,1] 0.06002880335166272 Centerline is valid? [False, False] Translation: X:9.69, Y:0.54, Z:0.81 [[ 9.99175061e-01 6.69248030e-03 4.00550755e-02 9.69137557e+00] [-6.80828835e-03 9.99973027e-01 2.75550963e-03 5.36166697e-01] [-4.00355539e-02 -3.02594301e-03 9.99193674e-01 8.06274803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.482557844 meters SLAMing on 513.512557844 meters Centerline goodness [0,1] 0.06080373505541492 Centerline is valid? [False, False] Translation: X:9.75, Y:0.55, Z:0.80 [[ 9.99027706e-01 5.94812396e-03 4.36836732e-02 9.75354748e+00] [-6.13081014e-03 9.99973008e-01 4.04924234e-03 5.50333366e-01] [-4.36584087e-02 -4.31312159e-03 9.99037207e-01 8.02390063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.542557844 meters Centerline goodness [0,1] 0.06092977250247278 Centerline is valid? [False, False] Translation: X:9.76, Y:0.56, Z:0.80 [[ 9.99064359e-01 5.30357137e-03 4.29217797e-02 9.75880374e+00] [-5.43989716e-03 9.99980522e-01 3.05996871e-03 5.55593269e-01] [-4.29047149e-02 -3.29059575e-03 9.99073750e-01 7.99737576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.572557844 meters Centerline goodness [0,1] 0.06148297812248804 Centerline is valid? [False, False] Translation: X:9.76, Y:0.56, Z:0.80 [[ 9.99096123e-01 4.55588158e-03 4.22632414e-02 9.76430280e+00] [-4.64464657e-03 9.99987209e-01 2.00233268e-03 5.60985857e-01] [-4.22535784e-02 -2.19682063e-03 9.99104504e-01 7.96441612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.602557844 meters Centerline goodness [0,1] 0.06643263419836476 Centerline is valid? [False, False] Translation: X:9.77, Y:0.57, Z:0.79 [[ 9.99130608e-01 3.89617823e-03 4.15072006e-02 9.76951950e+00] [-3.94273930e-03 9.99991687e-01 1.03995615e-03 5.65745827e-01] [-4.15028037e-02 -1.20270409e-03 9.99137664e-01 7.93567824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.632557844 meters Centerline goodness [0,1] 0.0653926803432846 Centerline is valid? [False, False] Translation: X:9.83, Y:0.58, Z:0.80 [[ 9.99459142e-01 2.63734111e-03 3.27790707e-02 9.83282968e+00] [-2.63190964e-03 9.99996515e-01 -2.08845410e-04 5.77236261e-01] [-3.27795073e-02 1.22460902e-04 9.99462600e-01 7.95774764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.662557844 meters Centerline goodness [0,1] 0.06726916376306624 Centerline is valid? [False, False] Translation: X:9.84, Y:0.58, Z:0.79 [[ 9.99488967e-01 1.84669793e-03 3.19122960e-02 9.83916329e+00] [-1.80946491e-03 9.99997648e-01 -1.19556969e-03 5.81896514e-01] [-3.19144288e-02 1.13721453e-03 9.99489958e-01 7.92902371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.692557844 meters Centerline goodness [0,1] 0.0619816955270055 Centerline is valid? [False, False] Translation: X:9.91, Y:0.59, Z:0.80 [[ 9.99758107e-01 1.18196108e-03 2.19620152e-02 9.90850929e+00] [-1.12435380e-03 9.99995896e-01 -2.63520450e-03 5.92342182e-01] [-2.19650398e-02 2.60987399e-03 9.99755333e-01 7.99385745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.722557844 meters Centerline goodness [0,1] 0.09651763155003845 Centerline is valid? [False, False] Translation: X:9.91, Y:0.60, Z:0.80 [[ 9.99774775e-01 6.91799393e-04 2.12113333e-02 9.91372673e+00] [-6.21677853e-04 9.99994321e-01 -3.31226843e-03 5.95862956e-01] [-2.12135042e-02 3.29833581e-03 9.99769528e-01 7.97332123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.752557844 meters Centerline goodness [0,1] 0.06561985286043703 Centerline is valid? [False, False] Translation: X:9.92, Y:0.60, Z:0.79 [[ 9.99790336e-01 1.19537099e-04 2.04760791e-02 9.91925334e+00] [-3.65000612e-05 9.99991775e-01 -4.05564496e-03 5.99652707e-01] [-2.04763955e-02 4.05404726e-03 9.99782117e-01 7.94840534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.782557844 meters Centerline goodness [0,1] 0.09902706450844001 Centerline is valid? [False, False] Translation: X:9.92, Y:0.60, Z:0.79 [[ 9.99803559e-01 -5.47430562e-04 1.98127386e-02 9.92485755e+00] [ 6.44559361e-04 9.99987805e-01 -4.89628711e-03 6.03790708e-01] [-1.98098166e-02 4.90809576e-03 9.99791719e-01 7.91587163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.812557844 meters Centerline goodness [0,1] 0.10124418478848862 Centerline is valid? [False, False] Translation: X:9.94, Y:0.61, Z:0.78 [[ 9.99836334e-01 -1.22219566e-03 1.80502208e-02 9.94163324e+00] [ 1.32508282e-03 9.99982938e-01 -5.68919021e-03 6.08891000e-01] [-1.80429595e-02 5.71217712e-03 9.99820895e-01 7.81539886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.842557844 meters Centerline goodness [0,1] 0.09799005929543081 Centerline is valid? [False, False] Translation: X:9.95, Y:0.61, Z:0.78 [[ 9.99848748e-01 -1.51706763e-03 1.73257026e-02 9.94663557e+00] [ 1.62062858e-03 9.99980897e-01 -5.96482629e-03 6.10273035e-01] [-1.73163225e-02 5.99200262e-03 9.99832106e-01 7.79744070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.872557844 meters Centerline goodness [0,1] 0.09708886507294245 Centerline is valid? [False, False] Translation: X:9.95, Y:0.61, Z:0.78 [[ 9.99860620e-01 -1.77873688e-03 1.66005249e-02 9.95171728e+00] [ 1.88032660e-03 9.99979590e-01 -6.10606872e-03 6.10809897e-01] [-1.65893250e-02 6.13643206e-03 9.99843557e-01 7.78148879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9025578440001 meters Centerline goodness [0,1] 0.07043552885646853 Centerline is valid? [False, False] Translation: X:9.96, Y:0.61, Z:0.78 [[ 9.99872193e-01 -2.31821749e-03 1.58184588e-02 9.95829578e+00] [ 2.42104104e-03 9.99976047e-01 -6.48417465e-03 6.11718178e-01] [-1.58030482e-02 6.52164307e-03 9.99853855e-01 7.75553835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.932557844 meters Centerline goodness [0,1] 0.06868421052631579 Centerline is valid? [False, False] Translation: X:9.99, Y:0.62, Z:0.77 [[ 9.99891694e-01 -8.60191637e-03 1.19418699e-02 9.99384247e+00] [ 8.67740024e-03 9.99942608e-01 -6.28358352e-03 6.16500653e-01] [-1.18871337e-02 6.38652736e-03 9.99908950e-01 7.72521769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 23856.41 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/17105 [00:00